version: 66.04
glider: 165
mission: 2
dive: 103
start: 6 5 109 11 25 13
data:
$ID,165
$MISSION,2
$DIVE,103
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52067
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,435
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-118957.02
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.66094
$PRESSURE_SLOPE,0.000116182
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043383995
$SEABIRD_T_H,0.00062454981
$SEABIRD_T_I,2.3067754e-05
$SEABIRD_T_J,2.3616824e-06
$SEABIRD_C_G,-9.9113674
$SEABIRD_C_H,1.100266
$SEABIRD_C_I,0.0005534364
$SEABIRD_C_J,6.0498875e-05
$GPS1,111907,2512.596,12257.403,35,1.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-74.5
$GPS2,112508,2512.558,12257.352,13,1.9,13,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,207.0,3084,-18.3,-12.000
$D_GRID,1589
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.96,-194.7,0.0,0.0,0,58,0.00,0.00,-44.58,0.000,2,0.000,0.000,161,2057,2082
$GC,60,-0.96,-194.7,3.2,-4.7,7,117,8.98,2.20,-40.53,0.000,4,0.232,0.063,2503,676,3555
$GC,297,-0.18,-194.7,79.1,-38.3,50,304,0.82,2.20,0.00,0.000,6,0.167,0.042,2747,2069,3557
$GC,624,-0.71,-194.7,107.1,-3.7,111,630,0.40,2.22,0.00,0.000,4,0.037,0.056,2551,3470,3559
$GC,688,-0.37,-194.7,118.0,-20.0,123,695,0.43,2.10,0.00,0.000,6,0.132,0.036,2696,2090,3559
$GC,1015,-0.71,-194.7,147.6,-7.7,184,1021,0.28,2.20,0.00,0.000,4,0.045,0.054,2562,678,3560
$GC,1041,-0.64,-194.7,150.9,-14.6,189,1050,0.12,2.20,0.00,0.000,6,0.133,0.042,2606,2089,3560
$GC,1369,-0.57,-194.7,201.2,-14.7,250,1376,0.10,2.20,0.00,0.000,4,0.152,0.058,2632,3476,3561
$GC,1460,-0.83,-194.7,211.4,-9.5,267,1467,0.17,2.10,0.00,0.000,6,0.041,0.036,2529,2096,3561
$GC,1788,-0.48,-194.7,275.5,-18.3,328,1794,0.38,2.20,0.00,0.000,4,0.140,0.050,2655,669,3561
$GC,1846,-0.85,-194.7,281.9,-7.7,339,1852,0.22,2.17,0.00,0.000,6,0.038,0.042,2516,2069,3562
$GC,2170,-0.49,-194.7,340.3,-18.2,380,2171,0.45,0.00,0.00,0.000,6,0.141,0.000,2660,2069,3562
$GC,2481,-0.93,-194.7,356.1,-5.0,410,2485,0.38,2.20,0.00,0.000,4,0.041,0.061,2484,3472,3562
$GC,2576,-0.54,-194.7,371.9,-20.1,419,2580,0.47,2.12,0.00,0.000,6,0.140,0.038,2654,2082,3561
$GC,2897,-0.97,-194.7,394.7,-5.8,450,2901,0.38,2.22,0.00,0.000,4,0.043,0.061,2480,3470,3561
$GC,2923,-0.83,-194.7,398.0,-13.9,452,2930,0.20,2.10,0.00,0.000,6,0.139,0.038,2548,2094,3560
$GC,3239,-0.70,-194.7,443.5,-14.1,483,3243,0.15,2.22,0.00,0.000,4,0.146,0.063,2589,3473,3559
$GC,3282,-0.87,-194.7,448.2,-9.9,487,3286,0.15,2.08,0.00,0.000,6,0.061,0.038,2513,2117,3559
$GC,3603,-0.61,-194.7,500.6,-17.5,518,3606,0.35,2.22,0.00,0.000,4,0.141,0.054,2624,674,3557
$GC,3645,-0.93,-194.7,505.4,-8.8,520,3649,0.22,2.22,0.00,0.000,6,0.039,0.045,2489,2096,3557
$GC,3971,-0.68,-194.7,560.9,-16.6,536,3973,0.35,0.00,0.00,0.000,6,0.145,0.000,2598,2096,3555
$GC,4276,-0.94,-194.7,585.6,-7.6,551,4280,0.22,2.22,0.00,0.000,4,0.054,0.066,2493,3478,3554
$GC,4366,-0.78,-194.7,597.9,-14.6,555,4371,0.20,2.10,0.00,0.000,6,0.131,0.041,2562,2118,3551
$GC,4689,-0.88,-194.7,630.2,-9.7,571,4692,0.00,2.28,0.00,0.000,4,0.000,0.057,2562,660,3551
$GC,4714,-0.98,-194.7,632.8,-10.5,572,4718,0.12,2.30,0.00,0.000,6,0.052,0.048,2491,2115,3550
$GC,5036,-0.76,-194.7,675.7,-13.2,588,5040,0.22,2.20,0.00,0.000,4,0.142,0.067,2562,3493,3547
$GC,5094,-0.93,-194.7,681.1,-7.9,591,5098,0.10,2.12,0.00,0.000,6,0.055,0.041,2498,2123,3546
$GC,5421,-0.75,-194.7,726.3,-15.3,607,5425,0.22,2.20,0.00,0.000,4,0.143,0.067,2571,3477,3544
$GC,5441,-0.75,-194.7,728.8,-11.6,608,5445,0.00,2.10,0.00,0.000,6,0.000,0.041,2572,2122,3543
$GC,5767,-0.94,-194.7,755.9,-8.0,624,5772,0.17,2.20,0.00,0.000,4,0.062,0.067,2482,3473,3541
$GC,5815,-0.77,-194.7,761.9,-13.7,626,5820,0.25,2.08,0.00,0.000,6,0.132,0.041,2566,2130,3540
$GC,6137,-0.94,-194.7,787.6,-7.4,642,6141,0.15,2.17,0.00,0.000,4,0.069,0.067,2495,3479,3538
$GC,6162,-0.94,-194.7,790.3,-10.9,643,6167,0.00,2.10,0.00,0.000,6,0.000,0.042,2495,2129,3538
$GC,6484,-0.80,-194.7,829.3,-11.9,659,6488,0.22,2.33,0.00,0.000,4,0.143,0.058,2564,663,3536
$GC,6547,-0.98,-194.7,834.7,-7.2,662,6552,0.12,2.33,0.00,0.000,6,0.057,0.050,2494,2122,3536
$GC,6875,-0.85,-194.7,870.8,-11.4,678,6876,0.17,0.00,0.00,0.000,6,0.147,0.000,2545,2122,3534
$GC,7179,-0.93,-194.7,895.5,-7.8,693,7183,0.00,2.20,0.00,0.000,4,0.000,0.070,2545,3472,3533
$GC,7200,-1.03,-194.7,897.1,-8.3,694,7204,0.12,2.10,0.00,0.000,6,0.054,0.043,2474,2122,3533
$GC,7527,-0.82,-194.7,938.7,-13.4,710,7531,0.28,2.30,0.00,0.000,4,0.150,0.060,2556,658,3531
$GC,7563,-0.94,-194.7,942.5,-8.9,711,7570,0.08,2.33,0.00,0.000,6,0.065,0.050,2503,2115,3531
$GC,7875,-0.87,-194.7,978.0,-11.8,727,7876,0.12,0.00,0.00,0.000,6,0.153,0.000,2537,2115,3530
$STATE,7994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7994,begin apogee
$GC,7998,-0.20,0.0,990.2,9.7,733,8158,0.65,0.00,156.25,1.381,6,0.126,0.000,2751,2522,2759
$STATE,8158,end apogee,CONTROL_FINISHED_OK
$STATE,8158,begin climb
$GC,8160,0.96,194.7,996.3,0.0,741,8333,1.02,2.47,164.80,1.338,4,0.044,0.058,3153,1130,1964
$GC,8386,0.34,194.7,966.2,22.6,751,8393,0.75,2.40,0.00,0.000,6,0.183,0.054,2935,2527,1959
$GC,8696,0.46,223.6,930.5,10.8,767,8726,0.00,2.38,25.30,1.269,4,0.000,0.055,2944,1129,1846
$GC,8759,0.59,223.8,923.6,12.0,770,8763,0.15,2.33,0.00,0.000,6,0.054,0.051,3016,2518,1843
$GC,9085,0.39,223.8,869.4,16.4,786,9086,0.25,0.00,0.00,0.000,6,0.155,0.000,2944,2518,1841
$GC,9390,0.49,242.8,834.7,11.2,801,9414,0.10,0.00,16.85,1.213,6,0.085,0.000,2988,2518,1769
$GC,9716,0.42,242.8,787.3,14.6,817,9720,0.12,2.25,0.00,0.000,4,0.159,0.054,2965,1129,1766
$GC,9758,0.52,247.5,781.8,11.8,819,9767,0.00,2.25,5.53,0.963,6,0.000,0.050,2965,2514,1748
$GC,10084,0.52,248.5,742.2,12.0,835,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2514,1747
$GC,10389,0.52,248.5,704.2,12.2,850,10393,0.00,1.90,0.00,0.000,4,0.000,0.067,2965,3685,1747
$GC,10431,0.52,248.5,698.4,14.6,852,10436,0.00,1.83,0.00,0.000,6,0.000,0.043,2973,2515,1745
$GC,10759,0.52,248.5,656.9,12.9,868,10759,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2511,1745
$GC,11063,0.52,248.5,614.5,13.8,883,11067,0.00,1.92,0.00,0.000,4,0.000,0.067,2973,3693,1745
$GC,11089,0.52,248.5,610.5,15.1,884,11093,0.00,1.80,0.00,0.000,6,0.000,0.041,2981,2528,1744
$GC,11410,0.52,248.5,569.2,12.6,900,11414,0.00,2.22,0.00,0.000,4,0.000,0.052,2991,1128,1745
$GC,11490,0.57,285.7,560.0,10.5,903,11527,0.00,2.22,33.15,1.101,6,0.000,0.049,2991,2514,1594
$GC,11838,0.57,285.7,514.7,13.4,921,11841,0.00,1.92,0.00,0.000,4,0.000,0.065,2991,3687,1589
$GC,11879,0.57,285.7,508.5,14.9,923,11884,0.00,1.88,0.00,0.000,6,0.000,0.041,3000,2501,1589
$GC,12200,0.57,285.7,460.9,15.2,950,12204,0.00,2.17,0.00,0.000,4,0.000,0.052,3010,1124,1588
$GC,12253,0.57,285.7,453.0,15.1,955,12257,0.00,2.22,0.00,0.000,6,0.000,0.049,3010,2508,1587
$GC,12573,0.51,285.7,406.3,15.0,986,12578,0.00,1.90,0.00,0.000,4,0.000,0.064,3010,3681,1586
$GC,12600,0.42,285.7,402.3,14.9,988,12607,0.17,1.85,0.00,0.000,6,0.139,0.042,2961,2495,1586
$GC,12917,0.69,338.8,370.3,9.8,1019,12966,0.22,2.22,45.10,0.961,4,0.056,0.053,3067,1126,1375
$GC,13002,0.57,338.8,356.0,19.3,1026,13010,0.20,2.25,0.00,0.000,6,0.149,0.048,3004,2493,1373
$GC,13318,0.67,338.8,311.0,13.0,1057,13322,0.00,2.20,0.00,0.000,4,0.000,0.051,3013,1129,1371
$GC,13382,0.81,338.8,301.5,14.4,1063,13386,0.15,2.15,0.00,0.000,6,0.052,0.048,3092,2470,1370
$GC,13708,0.57,338.8,229.0,20.3,1123,13714,0.30,1.95,0.00,0.000,4,0.150,0.061,3003,3687,1370
$GC,13734,0.57,338.8,224.5,15.1,1128,13741,0.00,1.90,0.00,0.000,6,0.000,0.040,3011,2461,1369
$GC,14061,0.78,394.2,186.3,9.7,1189,14112,0.15,2.15,45.50,0.803,4,0.063,0.051,3095,1123,1150
$GC,14193,0.73,394.2,164.5,17.6,1212,14199,0.15,2.15,0.00,0.000,6,0.149,0.046,3055,2471,1148
$GC,14518,0.86,401.7,121.2,11.7,1273,14533,0.12,2.17,6.88,0.640,4,0.070,0.048,3123,1125,1121
$GC,14574,0.77,401.7,113.2,15.0,1283,14581,0.15,2.15,0.00,0.000,6,0.134,0.044,3073,2472,1121
$GC,14901,0.89,403.5,74.4,11.9,1344,14907,0.00,1.95,0.00,0.000,4,0.000,0.058,3073,3693,1120
$GC,14960,1.06,403.5,67.0,12.8,1355,14966,0.17,1.85,0.00,0.000,6,0.047,0.038,3171,2482,1120
$GC,15286,0.95,403.5,14.5,16.2,1416,15293,0.17,1.92,0.00,0.000,4,0.149,0.056,3120,3693,1120
$GC,15302,0.91,403.5,12.2,14.5,1419,15309,0.00,1.85,0.00,0.000,6,0.000,0.036,3128,2475,1120
$STATE,15381,end climb,SURFACE_DEPTH_REACHED
$STATE,15381,begin surface coast
$FINISH,1.7,1.015783
$STATE,15408,end surface coast,CONTROL_FINISHED_OK
$STATE,15408,begin surface
$SM_CCo,15421,27.67,0.627,0,0,984,435.16
$SM_GC,2.75,0.00,0.00,27.67,0.000,0.000,0.627,160,2058,984,-8.31,-0.37,435.16
$IRIDIUM_FIX,2500.82,12259.14,300898,070749
$TT8_MAMPS,0.049088
$HUMID,1564
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.10
$XPDR_PINGS,104
$24V_AH,23.6,22.998
$10V_AH,10.7,17.067
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,30.350,146.925,499.350,27.675,0.000,31.219,33.174,196.454,34.000,0.000,0.000,15.339,0.000,11290.426,682.582,3359.538,451.117,0.000,1939.049,0.000,2811.009,0.000,53.969,0.000
$DEVICE_MAMPS,231.634,69.797,1380.600,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,975.567,1001.231,1562.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82063,1439
$CAP_FILE_SIZE,169014,0
$CFSIZE,260165632,249864192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237, 31.4,1
$GPS,050609,154337,2512.026,12257.342,35,1.1,35,-3.7