version: 66.04
glider: 165
mission: 2
dive: 106
start: 6 6 109 0 9 7
data:
$ID,165
$MISSION,2
$DIVE,106
$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,-119002.35
$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,54
$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
$GPS1,000301,2514.782,12256.900,38,1.3,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.9
$GPS2,000902,2514.777,12256.874,13,1.6,13,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,311.9,48102,-18.3,-12.000
$D_GRID,1430
$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,-194.7,0.0,0.0,0,64,0.00,0.00,-50.50,0.000,2,0.000,0.000,159,2053,1985
$GC,66,-0.96,-194.7,3.0,-3.8,8,129,8.93,2.30,-45.58,0.000,4,0.229,0.065,2497,3470,3554
$GC,266,-0.33,-194.7,61.3,-30.4,44,273,0.62,2.15,0.00,0.000,6,0.142,0.037,2702,2083,3556
$GC,593,-0.58,-194.7,99.2,-7.6,105,600,0.20,2.22,0.00,0.000,4,0.054,0.054,2601,3473,3558
$GC,706,-0.42,-194.7,117.4,-18.5,126,714,0.22,2.12,0.00,0.000,6,0.121,0.040,2681,2082,3558
$GC,1034,-0.71,-194.7,149.7,-9.3,187,1040,0.25,0.00,0.00,0.000,6,0.048,0.000,2558,2078,3559
$GC,1359,-0.44,-194.7,209.5,-18.5,248,1366,0.38,2.17,0.00,0.000,4,0.134,0.050,2679,670,3560
$GC,1423,-0.93,-194.7,215.5,-5.6,260,1431,0.38,2.20,0.00,0.000,6,0.033,0.038,2485,2097,3561
$GC,1751,-0.44,-194.7,285.5,-23.0,321,1757,0.57,2.20,0.00,0.000,4,0.146,0.046,2670,673,3561
$GC,1787,-0.73,-194.7,291.1,-10.5,328,1795,0.20,2.15,0.00,0.000,6,0.038,0.040,2549,2064,3561
$GC,2106,-0.55,-194.7,338.2,-15.3,365,2107,0.30,0.00,0.00,0.000,6,0.133,0.000,2645,2065,3561
$GC,2417,-0.91,-194.7,358.9,-5.5,395,2421,0.30,2.20,0.00,0.000,4,0.046,0.058,2499,3469,3561
$GC,2474,-0.64,-194.7,366.4,-15.9,400,2479,0.32,2.15,0.00,0.000,6,0.133,0.038,2609,2062,3561
$GC,2796,-0.83,-194.7,396.9,-9.6,431,2797,0.17,0.00,0.00,0.000,6,0.058,0.000,2523,2058,3560
$GC,3106,-0.62,-194.7,448.2,-16.8,461,3107,0.30,0.00,0.00,0.000,6,0.136,0.000,2617,2057,3558
$GC,3416,-0.90,-194.7,476.7,-8.2,491,3420,0.25,2.25,0.00,0.000,4,0.051,0.063,2503,3473,3556
$GC,3474,-0.73,-194.7,484.8,-15.3,496,3482,0.22,2.15,0.00,0.000,6,0.131,0.040,2579,2077,3555
$GC,3788,-0.88,-194.7,512.0,-7.1,519,3792,0.12,2.17,0.00,0.000,4,0.071,0.054,2517,666,3554
$GC,3819,-0.79,-194.7,515.5,-12.0,520,3824,0.12,2.20,0.00,0.000,6,0.133,0.046,2560,2066,3553
$GC,4136,-0.86,-194.7,547.5,-10.2,536,4139,0.00,2.25,0.00,0.000,4,0.000,0.064,2560,3477,3552
$GC,4178,-1.00,-194.7,551.6,-9.3,538,4182,0.15,2.17,0.00,0.000,6,0.049,0.040,2476,2070,3551
$GC,4504,-0.72,-194.7,607.9,-17.9,554,4508,0.35,2.25,0.00,0.000,4,0.146,0.064,2576,3473,3549
$GC,4551,-0.95,-194.7,613.8,-9.0,556,4556,0.15,2.17,0.00,0.000,6,0.049,0.041,2492,2072,3548
$GC,4867,-0.75,-194.7,657.3,-13.4,572,4871,0.28,2.30,0.00,0.000,4,0.139,0.067,2576,3478,3546
$GC,4893,-0.85,-194.7,660.1,-10.5,573,4897,0.00,2.17,0.00,0.000,6,0.000,0.041,2576,2073,3546
$GC,5215,-1.05,-194.7,687.5,-9.5,589,5219,0.28,2.20,0.00,0.000,4,0.053,0.058,2457,661,3543
$GC,5257,-0.76,-194.7,694.3,-17.9,591,5261,0.35,2.25,0.00,0.000,6,0.146,0.051,2569,2073,3542
$GC,5585,-0.93,-194.7,731.5,-10.8,607,5588,0.15,2.28,0.00,0.000,4,0.068,0.067,2494,3492,3540
$GC,5647,-0.85,-194.7,740.7,-15.2,610,5651,0.12,2.20,0.00,0.000,6,0.137,0.042,2539,2078,3539
$GC,5969,-0.85,-194.7,776.9,-10.2,626,5972,0.00,2.25,0.00,0.000,4,0.000,0.059,2539,667,3538
$GC,6005,-0.85,-194.7,780.9,-10.6,627,6012,0.00,2.25,0.00,0.000,6,0.000,0.050,2536,2083,3537
$GC,6316,-0.85,-194.7,810.6,-8.9,643,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2083,3536
$GC,6621,-0.85,-194.7,837.6,-8.8,658,6625,0.00,2.28,0.00,0.000,4,0.000,0.070,2536,3473,3533
$GC,6652,-0.93,-194.7,840.4,-9.5,659,6657,0.00,2.17,0.00,0.000,6,0.000,0.044,2536,2080,3532
$GC,6968,-0.98,-194.7,870.8,-10.1,675,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2079,3531
$GC,7273,-1.04,-194.7,904.2,-11.1,690,7278,0.15,2.25,0.00,0.000,4,0.071,0.061,2468,673,3530
$GC,7305,-0.82,-194.7,908.9,-15.9,691,7309,0.25,2.25,0.00,0.000,6,0.148,0.054,2549,2079,3529
$GC,7621,-0.94,-194.7,940.5,-9.1,707,7622,0.10,0.00,0.00,0.000,6,0.083,0.000,2503,2080,3528
$GC,7926,-0.86,-194.7,975.7,-12.0,722,7931,0.15,2.28,0.00,0.000,4,0.151,0.062,2546,674,3527
$GC,7958,-0.93,-194.7,979.2,-10.0,723,7962,0.00,2.25,0.00,0.000,6,0.000,0.053,2546,2083,3527
$STATE,8089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8089,begin apogee
$GC,8092,-0.20,0.0,990.9,8.7,730,8252,0.62,0.00,156.05,1.388,6,0.123,0.000,2756,2536,2759
$STATE,8253,end apogee,CONTROL_FINISHED_OK
$STATE,8253,begin climb
$GC,8254,0.96,194.7,996.4,0.0,738,8426,1.02,2.47,164.55,1.344,4,0.044,0.057,3153,1122,1964
$GC,8462,0.34,194.7,968.5,24.3,748,8466,0.80,2.42,0.00,0.000,6,0.183,0.054,2932,2517,1960
$GC,8783,0.43,204.4,930.1,11.6,764,8797,0.00,2.33,8.88,1.134,4,0.000,0.055,2941,1128,1925
$GC,8830,0.54,204.4,924.5,12.2,766,8835,0.10,2.33,0.00,0.000,6,0.061,0.051,2997,2526,1924
$GC,9151,0.37,204.4,871.5,17.2,782,9152,0.20,0.00,0.00,0.000,6,0.156,0.000,2942,2526,1921
$GC,9456,0.43,204.4,832.6,12.2,797,9460,0.00,2.28,0.00,0.000,4,0.000,0.054,2952,1123,1921
$GC,9477,0.52,224.9,830.2,11.2,798,9502,0.08,2.25,18.58,1.233,6,0.067,0.051,2996,2513,1841
$GC,9804,0.39,224.9,782.5,14.4,814,9807,0.17,1.90,0.00,0.000,4,0.156,0.066,2948,3699,1837
$GC,9867,0.40,232.7,774.9,11.7,817,9878,0.00,1.85,7.80,1.083,6,0.000,0.043,2956,2521,1810
$GC,10188,0.49,268.3,740.1,10.5,833,10230,0.00,2.35,32.10,1.211,4,0.000,0.054,2965,1129,1663
$GC,10293,0.65,298.0,729.0,10.8,838,10325,0.15,2.30,26.98,1.180,6,0.055,0.050,3038,2516,1543
$GC,10642,0.43,298.0,667.5,18.3,855,10645,0.28,2.25,0.00,0.000,4,0.152,0.054,2968,1120,1538
$GC,10672,0.50,298.0,662.8,13.8,856,10677,0.00,2.28,0.00,0.000,6,0.000,0.049,2968,2511,1537
$GC,10988,0.58,298.0,622.6,12.7,872,10993,0.12,1.90,0.00,0.000,4,0.074,0.065,3024,3682,1538
$GC,11020,0.41,298.0,617.1,18.0,873,11025,0.25,1.85,0.00,0.000,6,0.146,0.043,2953,2508,1537
$GC,11336,0.58,303.2,577.0,11.8,889,11345,0.15,2.20,4.90,0.854,4,0.069,0.054,3028,1126,1522
$GC,11410,0.50,303.2,564.9,17.7,892,11414,0.12,2.22,0.00,0.000,6,0.144,0.051,2986,2496,1521
$GC,11725,0.50,303.2,520.7,13.3,908,11730,0.00,1.95,0.00,0.000,4,0.000,0.066,2986,3693,1522
$GC,11784,0.50,303.2,512.1,14.5,910,11792,0.00,1.88,0.00,0.000,6,0.000,0.041,2994,2501,1521
$GC,12099,0.50,303.2,466.7,14.5,937,12102,0.00,2.20,0.00,0.000,4,0.000,0.052,3004,1120,1520
$GC,12172,0.57,303.2,455.6,15.4,944,12177,0.00,2.20,0.00,0.000,6,0.000,0.049,3004,2492,1520
$GC,12494,0.57,303.2,405.2,14.3,975,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2492,1520
$GC,12804,0.57,303.2,362.8,14.2,1005,12805,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2492,1520
$GC,13115,0.57,303.2,319.7,13.5,1035,13115,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2492,1520
$GC,13430,0.63,310.6,278.2,11.7,1080,13443,0.00,2.17,7.68,0.807,4,0.000,0.051,3014,1115,1491
$GC,13516,0.75,327.8,268.6,11.3,1096,13537,0.10,2.17,16.20,0.863,6,0.058,0.047,3071,2479,1421
$GC,13857,0.58,327.8,210.0,17.8,1159,13863,0.22,1.90,0.00,0.000,4,0.150,0.061,3005,3683,1420
$GC,13915,0.69,327.8,201.1,12.7,1170,13923,0.00,1.88,0.00,0.000,6,0.000,0.040,3013,2472,1420
$GC,14243,0.92,398.0,168.4,9.1,1231,14307,0.28,2.25,58.28,0.794,4,0.051,0.051,3144,1115,1135
$GC,14386,0.71,398.0,140.6,21.6,1256,14393,0.30,2.20,0.00,0.000,6,0.148,0.045,3050,2468,1131
$GC,14712,0.99,458.8,102.7,9.5,1317,14770,0.25,2.22,49.60,0.726,4,0.052,0.049,3170,1126,887
$GC,14796,0.81,458.8,88.4,19.4,1331,14802,0.28,2.17,0.00,0.000,6,0.137,0.044,3082,2466,885
$GC,15122,1.16,501.6,49.3,10.2,1392,15168,0.30,2.03,35.33,0.667,4,0.045,0.055,3216,3690,712
$GC,15215,0.99,501.6,30.9,19.2,1408,15221,0.28,1.92,0.00,0.000,6,0.143,0.037,3139,2468,711
$STATE,15411,end climb,SURFACE_DEPTH_REACHED
$STATE,15411,begin surface coast
$FINISH,1.7,1.003951
$STATE,15433,end surface coast,CONTROL_FINISHED_OK
$STATE,15433,begin surface
$SM_CCo,15506,0.00,0.000,0,0,710,502.62
$SM_GC,2.32,7.65,0.00,0.00,0.036,0.000,0.000,158,2049,710,-8.22,-0.62,502.62
$IRIDIUM_FIX,2500.82,12219.51,300898,191919
$TT8_MAMPS,0.047554
$HUMID,1548
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.30
$XPDR_PINGS,114
$24V_AH,23.6,23.616
$10V_AH,10.7,17.452
$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,30.075,136.575,586.900,0.000,0.000,27.946,39.716,193.815,36.500,0.000,0.000,14.693,0.000,11339.520,716.538,3334.469,449.285,0.000,1979.637,0.000,2798.697,0.000,54.939,0.000
$DEVICE_MAMPS,228.566,69.797,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,981.310,1003.310,1567.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82047,1449
$CAP_FILE_SIZE,165972,0
$CFSIZE,260165632,249610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218, 45.1,1
$GPS,060609,042831,2517.815,12256.213,40,0.9,40,-3.7