version: 66.04
glider: 165
mission: 2
dive: 108
start: 6 6 109 8 55 13
data:
$ID,165
$MISSION,2
$DIVE,108
$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,-119035.45
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,084906,2520.794,12255.302,30,1.2,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-74.2
$GPS2,085508,2520.861,12255.344,14,1.3,14,-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,320.0,36550,-18.3,-12.000
$D_GRID,1136
$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,-194.7,0.0,0.0,0,56,0.00,0.00,-42.62,0.000,2,0.000,0.000,162,2089,2045
$GC,58,-0.96,-194.7,3.2,-4.8,7,116,8.88,2.28,-44.40,0.000,4,0.225,0.064,2494,3486,3554
$GC,253,-0.20,-194.7,56.6,-35.5,42,260,0.77,2.20,0.00,0.000,6,0.153,0.037,2743,2073,3556
$GC,580,-0.64,-194.7,93.8,-9.0,103,587,0.35,2.17,0.00,0.000,4,0.040,0.046,2574,667,3558
$GC,634,-0.36,-194.7,103.8,-21.0,113,640,0.38,2.20,0.00,0.000,6,0.140,0.041,2698,2075,3557
$GC,960,-0.67,-194.7,128.9,-4.6,174,966,0.25,0.00,0.00,0.000,6,0.046,0.000,2573,2075,3559
$GC,1285,-0.42,-194.7,187.2,-18.6,235,1293,0.35,2.22,0.00,0.000,4,0.137,0.057,2684,3476,3560
$GC,1329,-0.78,-194.7,193.0,-10.9,243,1336,0.28,2.15,0.00,0.000,6,0.034,0.038,2529,2064,3560
$GC,1656,-0.36,-194.7,260.1,-15.9,304,1664,0.52,2.15,0.00,0.000,4,0.142,0.050,2697,660,3561
$GC,1678,-0.36,-194.7,262.4,-10.5,308,1687,0.00,2.20,0.00,0.000,6,0.000,0.042,2698,2073,3561
$GC,2006,-1.30,-194.7,280.9,-11.2,369,2013,0.80,2.20,0.00,0.000,4,0.069,0.056,2392,3489,3561
$GC,2097,-0.64,-194.7,302.5,-29.1,385,2104,0.68,2.12,0.00,0.000,6,0.156,0.037,2607,2097,3561
$GC,2413,-0.78,-194.7,342.5,-9.0,416,2417,0.12,2.20,0.00,0.000,4,0.067,0.059,2536,3471,3561
$GC,2439,-0.74,-194.7,345.4,-11.5,418,2446,0.10,2.10,0.00,0.000,6,0.129,0.038,2573,2094,3561
$GC,2755,-0.74,-194.7,386.8,-14.0,449,2759,0.00,2.22,0.00,0.000,4,0.000,0.052,2574,674,3561
$GC,2780,-0.74,-194.7,390.6,-15.0,451,2789,0.00,2.22,0.00,0.000,6,0.000,0.044,2574,2095,3561
$GC,3096,-0.74,-194.7,431.6,-11.7,482,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2574,2095,3559
$GC,3407,-0.74,-194.7,463.2,-9.5,512,3411,0.00,2.25,0.00,0.000,4,0.000,0.054,2574,678,3558
$GC,3450,-0.83,-194.7,467.4,-9.4,516,3454,0.00,2.20,0.00,0.000,6,0.000,0.045,2574,2086,3557
$GC,3771,-0.93,-194.7,499.9,-9.8,547,3776,0.15,2.20,0.00,0.000,4,0.063,0.064,2494,3481,3556
$GC,3829,-0.72,-194.7,507.7,-14.3,550,3835,0.25,2.12,0.00,0.000,6,0.130,0.039,2581,2099,3555
$GC,4139,-0.87,-194.7,538.5,-10.5,566,4140,0.12,0.00,0.00,0.000,6,0.071,0.000,2517,2095,3553
$GC,4444,-0.73,-194.7,583.2,-13.9,581,4446,0.22,0.00,0.00,0.000,6,0.137,0.000,2586,2094,3551
$GC,4749,-0.95,-194.7,602.6,-5.2,596,4751,0.20,0.00,0.00,0.000,6,0.057,0.000,2492,2094,3549
$GC,5055,-0.73,-194.7,644.7,-15.1,611,5059,0.30,2.25,0.00,0.000,4,0.140,0.058,2584,679,3546
$GC,5113,-0.96,-194.7,650.9,-8.7,613,5120,0.17,2.22,0.00,0.000,6,0.048,0.048,2491,2088,3545
$GC,5423,-0.77,-194.7,696.7,-15.2,629,5428,0.25,2.25,0.00,0.000,4,0.143,0.067,2563,3479,3542
$GC,5498,-0.97,-194.7,704.6,-9.8,632,5502,0.12,2.15,0.00,0.000,6,0.052,0.042,2488,2096,3542
$GC,5814,-0.77,-194.7,750.1,-13.8,648,5815,0.28,0.00,0.00,0.000,6,0.144,0.000,2571,2092,3540
$GC,6119,-0.95,-194.7,772.8,-7.1,663,6120,0.17,0.00,0.00,0.000,6,0.064,0.000,2492,2092,3538
$GC,6424,-0.78,-194.7,810.5,-13.1,678,6425,0.25,0.00,0.00,0.000,6,0.143,0.000,2567,2092,3536
$GC,6729,-0.96,-194.7,836.2,-8.5,693,6733,0.17,2.28,0.00,0.000,4,0.064,0.071,2482,3475,3535
$GC,6776,-0.82,-194.7,842.2,-14.1,695,6782,0.20,2.15,0.00,0.000,6,0.136,0.045,2550,2103,3533
$GC,7099,-0.92,-194.7,874.2,-9.5,711,7102,0.00,2.28,0.00,0.000,4,0.000,0.061,2550,663,3532
$GC,7140,-1.04,-194.7,878.2,-9.8,713,7145,0.15,2.28,0.00,0.000,6,0.054,0.051,2473,2089,3532
$GC,7466,-0.82,-194.7,922.7,-14.6,729,7468,0.28,0.00,0.00,0.000,6,0.150,0.000,2555,2089,3529
$GC,7772,-0.95,-194.7,949.5,-8.4,744,7776,0.12,2.25,0.00,0.000,4,0.076,0.071,2494,3471,3529
$GC,7814,-0.88,-194.7,953.8,-10.5,746,7819,0.10,2.15,0.00,0.000,6,0.144,0.044,2529,2093,3528
$GC,8140,-0.88,-194.7,984.1,-9.2,762,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2092,3526
$STATE,8200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8200,begin apogee
$GC,8203,-0.20,0.0,990.1,10.0,765,8364,0.68,0.00,155.98,1.387,6,0.128,0.000,2752,2533,2759
$STATE,8365,end apogee,CONTROL_FINISHED_OK
$STATE,8365,begin climb
$GC,8366,0.96,194.7,995.1,0.0,773,8539,1.00,2.05,164.62,1.342,4,0.042,0.071,3136,3681,1964
$GC,8773,0.21,194.7,915.3,27.6,792,8778,0.85,1.88,0.00,0.000,6,0.180,0.045,2897,2528,1958
$GC,9095,0.56,287.4,886.4,8.2,808,9189,0.28,2.42,81.80,1.258,4,0.054,0.056,3022,1117,1586
$GC,9216,0.43,287.4,868.0,16.8,813,9223,0.17,2.38,0.00,0.000,6,0.146,0.052,2968,2514,1582
$GC,9527,0.49,287.4,827.0,12.8,829,9530,0.00,2.25,0.00,0.000,4,0.000,0.054,2977,1120,1580
$GC,9552,0.55,287.4,823.7,12.3,830,9556,0.00,2.28,0.00,0.000,6,0.000,0.051,2977,2512,1579
$GC,9873,0.55,287.4,780.8,13.5,846,9877,0.00,1.92,0.00,0.000,4,0.000,0.067,2977,3685,1577
$GC,9948,0.55,287.4,769.0,16.1,849,9952,0.00,1.85,0.00,0.000,6,0.000,0.044,2985,2508,1577
$GC,10264,0.55,287.4,719.8,15.4,865,10268,0.00,2.22,0.00,0.000,4,0.000,0.054,2995,1125,1576
$GC,10306,0.55,287.4,713.1,15.6,867,10310,0.00,2.22,0.00,0.000,6,0.000,0.050,2995,2507,1575
$GC,10633,0.50,287.4,660.8,15.8,883,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2508,1575
$GC,10938,0.45,287.4,615.2,15.1,898,10942,0.12,1.90,0.00,0.000,4,0.155,0.067,2962,3683,1574
$GC,10969,0.45,287.4,610.5,14.4,899,10973,0.00,1.83,0.00,0.000,6,0.000,0.043,2969,2508,1574
$GC,11285,0.54,292.3,572.3,11.8,915,11289,0.00,2.20,0.00,0.000,4,0.000,0.053,2979,1125,1574
$GC,11397,0.66,292.3,558.2,12.4,920,11401,0.12,2.17,0.00,0.000,6,0.061,0.049,3044,2489,1573
$GC,11708,0.45,292.3,497.2,20.3,936,11709,0.28,0.00,0.00,0.000,6,0.152,0.000,2964,2489,1573
$GC,12019,0.68,354.0,460.7,9.4,966,12080,0.20,0.00,55.67,1.040,6,0.061,0.000,3049,2489,1314
$GC,12388,0.53,354.0,386.2,20.6,1002,12393,0.20,1.95,0.00,0.000,4,0.150,0.064,2991,3684,1309
$GC,12415,0.53,354.0,381.2,19.6,1004,12423,0.00,1.90,0.00,0.000,6,0.000,0.042,2999,2477,1308
$GC,12732,0.63,354.0,337.1,14.8,1035,12735,0.00,2.15,0.00,0.000,4,0.000,0.053,3009,1119,1307
$GC,12784,0.75,354.0,329.2,15.3,1040,12788,0.10,2.17,0.00,0.000,6,0.062,0.048,3068,2471,1306
$GC,13105,0.56,354.0,269.1,16.9,1086,13112,0.25,1.95,0.00,0.000,4,0.149,0.063,2994,3681,1306
$GC,13132,0.56,354.0,264.8,14.9,1091,13138,0.00,1.88,0.00,0.000,6,0.000,0.041,3002,2469,1307
$GC,13458,0.72,354.0,219.7,12.9,1152,13466,0.15,2.12,0.00,0.000,4,0.064,0.051,3084,1125,1306
$GC,13539,0.60,354.0,205.2,18.1,1167,13546,0.20,2.12,0.00,0.000,6,0.153,0.046,3019,2468,1306
$GC,13866,0.74,359.2,165.5,11.8,1228,13874,0.12,1.98,4.43,0.588,4,0.071,0.060,3080,3687,1294
$GC,13916,0.61,359.2,156.3,18.2,1237,13923,0.20,1.88,0.00,0.000,6,0.145,0.039,3022,2469,1294
$GC,14243,0.95,429.8,118.3,9.1,1298,14307,0.28,2.17,58.45,0.753,4,0.049,0.051,3154,1111,1007
$GC,14396,0.84,429.8,91.2,14.0,1325,14403,0.20,2.20,0.00,0.000,6,0.137,0.044,3090,2473,1003
$GC,14723,1.08,449.4,53.7,11.2,1386,14744,0.22,2.20,16.80,0.663,4,0.053,0.048,3203,1123,926
$GC,14807,0.93,449.4,40.2,16.7,1401,14815,0.25,2.15,0.00,0.000,6,0.139,0.043,3121,2472,923
$STATE,15111,end climb,SURFACE_DEPTH_REACHED
$STATE,15111,begin surface coast
$FINISH,1.7,1.011107
$STATE,15139,end surface coast,CONTROL_FINISHED_OK
$STATE,15140,begin surface
$SM_CCo,15212,0.00,0.000,0,0,922,450.37
$SM_GC,2.43,7.53,0.00,0.00,0.035,0.000,0.000,161,2060,922,-8.21,-0.31,450.37
$IRIDIUM_FIX,2507.97,12258.43,310898,040453
$TT8_MAMPS,0.049088
$HUMID,1550
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.40
$XPDR_PINGS,131
$24V_AH,23.6,24.017
$10V_AH,10.7,17.712
$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,30.400,121.475,537.750,0.000,0.000,27.414,34.515,198.818,40.750,0.000,0.000,16.296,0.000,11051.085,682.579,3365.618,447.346,0.000,1936.334,0.000,2833.637,0.000,53.987,0.000
$DEVICE_MAMPS,224.731,70.564,1386.736,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,991.147,1023.012,1605.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85131,1463
$CAP_FILE_SIZE,160939,0
$CFSIZE,260165632,249438208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.219,  3.7,1
$GPS,060609,130937,2524.643,12253.646,34,1.3,34,-3.7