version: 66.04
glider: 165
mission: 2
dive: 107
start: 6 6 109 4 34 18
data:
$ID,165
$MISSION,2
$DIVE,107
$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,-119018.53
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,042831,2517.815,12256.213,40,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-72.9
$GPS2,043413,2517.902,12256.237,8,1.0,13,-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,312.9,42228,-18.3,-12.000
$D_GRID,1318
$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,-194.7,0.0,0.0,0,70,0.00,0.00,-56.55,0.000,2,0.000,0.000,158,2049,2108
$GC,72,-0.96,-194.7,3.4,-5.1,9,129,8.90,2.33,-40.78,0.000,4,0.227,0.067,2494,3475,3555
$GC,336,-0.17,-194.7,83.4,-36.9,57,343,0.82,2.17,0.00,0.000,6,0.148,0.037,2758,2074,3557
$GC,663,-0.97,-194.7,117.4,-10.5,118,670,0.68,2.22,0.00,0.000,4,0.050,0.051,2484,3482,3559
$GC,696,-0.71,-194.7,121.8,-14.7,124,703,0.30,2.15,0.00,0.000,6,0.135,0.035,2584,2075,3559
$GC,1022,-0.51,-194.7,180.4,-17.9,185,1029,0.22,2.17,0.00,0.000,4,0.133,0.046,2657,673,3560
$GC,1087,-0.83,-194.7,187.9,-8.4,197,1094,0.25,2.17,0.00,0.000,6,0.038,0.039,2521,2082,3561
$GC,1414,-0.40,-194.7,251.9,-20.1,258,1421,0.52,2.17,0.00,0.000,4,0.143,0.047,2688,669,3561
$GC,1468,-0.90,-194.7,257.8,-6.1,268,1476,0.38,2.17,0.00,0.000,6,0.038,0.038,2504,2077,3562
$GC,1792,-0.51,-194.7,325.2,-22.3,318,1793,0.45,0.00,0.00,0.000,6,0.137,0.000,2649,2077,3562
$GC,2103,-0.88,-194.7,350.5,-5.8,348,2107,0.28,2.20,0.00,0.000,4,0.047,0.058,2510,3476,3562
$GC,2144,-0.68,-194.7,355.0,-12.9,351,2151,0.25,2.12,0.00,0.000,6,0.127,0.037,2596,2084,3561
$GC,2460,-0.82,-194.7,378.8,-7.8,382,2464,0.12,2.22,0.00,0.000,4,0.071,0.059,2533,3471,3561
$GC,2497,-0.75,-194.7,383.0,-12.9,385,2503,0.10,2.10,0.00,0.000,6,0.132,0.038,2569,2097,3561
$GC,2812,-0.75,-194.7,427.6,-14.3,416,2816,0.00,2.22,0.00,0.000,4,0.000,0.052,2569,676,3561
$GC,2838,-0.75,-194.7,431.4,-14.6,418,2847,0.00,2.20,0.00,0.000,6,0.000,0.045,2569,2082,3560
$GC,3155,-0.81,-194.7,465.0,-9.2,449,3159,0.00,2.20,0.00,0.000,4,0.000,0.053,2569,667,3558
$GC,3186,-0.90,-194.7,468.2,-10.1,452,3190,0.08,2.22,0.00,0.000,6,0.062,0.045,2515,2089,3558
$GC,3515,-0.77,-194.7,511.3,-13.6,480,3520,0.20,2.22,0.00,0.000,4,0.139,0.064,2575,3474,3556
$GC,3569,-1.00,-194.7,516.7,-8.9,482,3573,0.17,2.12,0.00,0.000,6,0.046,0.039,2479,2093,3555
$GC,3885,-0.72,-194.7,570.9,-17.3,498,3889,0.35,2.20,0.00,0.000,4,0.143,0.056,2587,676,3553
$GC,3938,-0.95,-194.7,577.2,-10.4,500,3942,0.17,2.22,0.00,0.000,6,0.048,0.047,2494,2088,3553
$GC,4254,-0.75,-194.7,628.5,-17.3,516,4255,0.28,0.00,0.00,0.000,6,0.140,0.000,2578,2088,3550
$GC,4559,-0.96,-194.7,661.6,-10.4,531,4563,0.20,2.22,0.00,0.000,4,0.061,0.067,2482,3466,3548
$GC,4601,-0.81,-194.7,667.7,-15.9,533,4605,0.20,2.12,0.00,0.000,6,0.134,0.042,2551,2099,3547
$GC,4928,-0.90,-194.7,704.4,-10.4,549,4931,0.00,2.25,0.00,0.000,4,0.000,0.058,2551,667,3544
$GC,4985,-1.01,-194.7,710.6,-11.0,551,4992,0.12,2.25,0.00,0.000,6,0.056,0.049,2480,2086,3543
$GC,5296,-0.80,-194.7,756.2,-15.1,567,5300,0.28,2.28,0.00,0.000,4,0.146,0.058,2564,666,3542
$GC,5322,-0.80,-194.7,759.2,-11.4,568,5326,0.00,2.25,0.00,0.000,6,0.000,0.049,2563,2082,3542
$GC,5643,-0.96,-194.7,786.4,-8.3,584,5648,0.15,2.25,0.00,0.000,4,0.069,0.068,2492,3469,3538
$GC,5702,-0.87,-194.7,793.1,-11.9,586,5710,0.12,2.17,0.00,0.000,6,0.140,0.044,2535,2078,3538
$GC,6012,-0.87,-194.7,824.6,-9.2,602,6017,0.00,2.25,0.00,0.000,4,0.000,0.058,2535,668,3537
$GC,6097,-0.94,-194.7,832.9,-9.3,606,6101,0.00,2.25,0.00,0.000,6,0.000,0.051,2535,2079,3536
$GC,6424,-0.99,-194.7,862.4,-8.6,622,6427,0.00,2.28,0.00,0.000,4,0.000,0.069,2535,3473,3534
$GC,6450,-1.06,-194.7,864.7,-9.5,623,6454,0.12,2.17,0.00,0.000,6,0.058,0.043,2468,2081,3533
$GC,6771,-0.83,-194.7,905.6,-12.9,639,6775,0.28,2.22,0.00,0.000,4,0.150,0.060,2550,667,3532
$GC,6850,-0.96,-194.7,912.8,-7.7,642,6859,0.08,2.25,0.00,0.000,6,0.067,0.051,2502,2076,3532
$GC,7161,-0.88,-194.7,946.6,-12.8,658,7162,0.12,0.00,0.00,0.000,6,0.153,0.000,2537,2076,3530
$GC,7467,-0.95,-194.7,978.2,-11.1,673,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2076,3529
$STATE,7587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7587,begin apogee
$GC,7591,-0.20,0.0,991.0,10.2,679,7751,0.65,0.00,156.50,1.389,6,0.127,0.000,2752,2527,2759
$STATE,7751,end apogee,CONTROL_FINISHED_OK
$STATE,7751,begin climb
$GC,7753,0.96,194.7,997.8,0.0,687,7922,1.05,0.00,166.18,1.345,6,0.048,0.000,3141,2527,1965
$GC,8214,0.31,194.7,913.2,23.3,710,8218,0.77,1.92,0.00,0.000,4,0.180,0.070,2921,3696,1957
$GC,8272,0.45,234.5,905.3,10.4,712,8313,0.08,1.88,34.80,1.265,6,0.072,0.042,2971,2519,1801
$GC,8625,0.45,235.6,863.4,12.0,730,8628,0.00,2.25,0.00,0.000,4,0.000,0.055,2981,1128,1795
$GC,8660,0.45,235.6,859.0,12.1,731,8667,0.00,2.30,0.00,0.000,6,0.000,0.053,2982,2523,1794
$GC,8971,0.39,235.6,819.0,12.9,747,8972,0.12,0.00,0.00,0.000,6,0.159,0.000,2949,2523,1793
$GC,9276,0.53,282.6,788.4,10.1,762,9322,0.12,2.40,41.22,1.238,4,0.077,0.057,3012,1126,1606
$GC,9379,0.48,282.6,774.7,13.6,766,9387,0.10,2.33,0.00,0.000,6,0.146,0.051,2980,2519,1601
$GC,9689,0.48,282.6,735.5,12.7,782,9694,0.00,1.92,0.00,0.000,4,0.000,0.067,2980,3689,1600
$GC,9748,0.48,282.6,727.5,13.8,784,9755,0.00,1.83,0.00,0.000,6,0.000,0.043,2987,2531,1599
$GC,10058,0.48,282.6,687.2,13.4,800,10062,0.00,2.25,0.00,0.000,4,0.000,0.054,2997,1129,1598
$GC,10122,0.48,282.6,678.1,14.5,803,10126,0.00,2.28,0.00,0.000,6,0.000,0.051,2997,2535,1597
$GC,10449,0.42,282.6,624.4,16.4,819,10450,0.15,0.00,0.00,0.000,6,0.153,0.000,2956,2535,1597
$GC,10753,0.56,282.6,584.4,12.7,834,10758,0.12,2.28,0.00,0.000,4,0.075,0.054,3021,1123,1597
$GC,10844,0.50,282.6,570.2,15.5,838,10849,0.10,2.25,0.00,0.000,6,0.149,0.051,2987,2515,1596
$GC,11165,0.50,282.6,525.8,13.2,854,11169,0.00,2.22,0.00,0.000,4,0.000,0.052,2996,1130,1595
$GC,11196,0.50,282.6,521.9,12.5,855,11201,0.00,2.22,0.00,0.000,6,0.000,0.049,2996,2514,1596
$GC,11515,0.50,282.6,481.2,14.0,878,11519,0.00,1.90,0.00,0.000,4,0.000,0.065,2996,3687,1596
$GC,11627,0.44,282.6,464.3,14.7,888,11634,0.12,1.80,0.00,0.000,6,0.146,0.041,2963,2531,1596
$GC,11943,0.63,305.0,428.9,11.1,919,11966,0.17,2.30,18.70,1.006,4,0.067,0.054,3048,1126,1514
$GC,12098,0.52,305.0,405.3,14.1,933,12105,0.17,2.25,0.00,0.000,6,0.150,0.048,2992,2514,1511
$GC,12414,0.62,323.6,369.9,11.2,964,12436,0.00,1.92,17.02,0.950,4,0.000,0.065,2991,3698,1438
$GC,12468,0.69,323.6,363.3,13.2,969,12472,0.08,1.85,0.00,0.000,6,0.064,0.041,3044,2522,1438
$GC,12788,0.59,323.6,307.2,18.4,1000,12793,0.12,2.22,0.00,0.000,4,0.156,0.049,3020,1123,1436
$GC,12884,0.67,323.6,293.5,13.9,1013,12890,0.00,2.25,0.00,0.000,6,0.000,0.048,3020,2518,1434
$GC,13210,0.74,344.5,251.2,11.1,1074,13235,0.12,2.25,18.65,0.852,4,0.073,0.051,3088,1123,1353
$GC,13255,0.59,344.5,245.1,14.4,1082,13264,0.22,2.25,0.00,0.000,6,0.150,0.046,3017,2512,1351
$GC,13583,0.73,344.5,211.8,14.0,1143,13589,0.12,0.00,0.00,0.000,6,0.072,0.000,3074,2512,1352
$GC,13909,0.65,344.5,154.4,13.3,1204,13915,0.17,1.88,0.00,0.000,4,0.148,0.060,3024,3690,1351
$GC,13967,0.79,349.4,147.3,11.8,1215,13981,0.10,1.83,5.40,0.616,6,0.055,0.038,3093,2498,1334
$GC,14301,0.79,349.4,108.7,12.6,1277,14307,0.00,2.12,0.00,0.000,4,0.000,0.048,3103,1128,1334
$GC,14467,0.84,349.4,86.8,13.2,1308,14473,0.00,2.15,0.00,0.000,6,0.000,0.044,3103,2495,1334
$GC,14793,0.95,381.8,46.6,10.7,1369,14824,0.00,0.00,27.30,0.666,6,0.000,0.000,3103,2495,1202
$GC,15144,1.15,413.3,10.1,10.7,1434,15178,0.22,2.17,26.55,0.622,4,0.052,0.044,3218,1117,1072
$STATE,15191,end climb,SURFACE_DEPTH_REACHED
$STATE,15191,begin surface coast
$FINISH,1.5,1.008855
$STATE,15207,end surface coast,CONTROL_FINISHED_OK
$STATE,15207,begin surface
$SM_CCo,15222,16.80,0.597,0,0,985,435.16
$SM_GC,2.58,0.00,0.00,16.80,0.000,0.000,0.597,163,2087,985,-8.30,0.45,435.16
$IRIDIUM_FIX,2505.59,12257.14,310898,000028
$TT8_MAMPS,0.048321
$HUMID,1533
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.80
$XPDR_PINGS,105
$24V_AH,23.5,23.813
$10V_AH,10.7,17.581
$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,29.000,138.850,512.325,16.800,0.000,23.070,33.804,184.862,34.250,0.000,0.000,15.548,0.000,11037.791,738.114,3329.548,449.564,0.000,1970.739,0.000,2809.840,0.000,55.972,0.000
$DEVICE_MAMPS,227.032,69.797,1389.037,596.726,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,978.332,997.597,1555.084,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82090,1445
$CAP_FILE_SIZE,164840,0
$CFSIZE,260165632,249520128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186, 42.7,1
$GPS,060609,084906,2520.794,12255.302,30,1.2,30,-3.7