version: 66.04
glider: 165
mission: 2
dive: 111
start: 6 6 109 20 38 7
data:
$ID,165
$MISSION,2
$DIVE,111
$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,-119095.84
$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,34
$R_STBD_OVSHOOT,37
$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
$GPS1,203225,2529.719,12252.893,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.9
$GPS2,203802,2529.780,12253.001,10,1.1,10,-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,343.6,19579,-18.3,-12.000
$D_GRID,974
$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,-50.30,0.000,2,0.000,0.000,167,2084,2091
$GC,66,-0.96,-194.7,3.3,-4.5,8,123,8.82,2.25,-40.28,0.000,4,0.226,0.066,2498,3473,3555
$GC,244,-0.22,-194.7,54.7,-36.2,40,251,0.75,2.17,0.00,0.000,6,0.156,0.035,2735,2063,3557
$GC,571,-0.62,-194.7,85.3,-5.7,101,577,0.30,0.00,0.00,0.000,6,0.043,0.000,2589,2058,3559
$GC,896,-0.34,-194.7,153.2,-21.4,162,904,0.38,0.00,0.00,0.000,6,0.133,0.000,2710,2058,3561
$GC,1223,-0.84,-194.7,173.1,-5.0,223,1230,0.43,2.22,0.00,0.000,4,0.038,0.056,2509,3476,3562
$GC,1245,-0.84,-194.7,175.3,-10.2,227,1252,0.08,2.15,0.00,0.000,6,0.150,0.035,2537,2063,3561
$GC,1571,-0.48,-194.7,231.2,-14.3,288,1578,0.40,2.15,0.00,0.000,4,0.141,0.050,2665,678,3562
$GC,1668,-0.89,-194.7,236.2,-3.8,306,1676,0.32,2.15,0.00,0.000,6,0.035,0.040,2500,2066,3562
$GC,2000,-0.45,-194.7,305.0,-21.9,366,2002,0.52,0.00,0.00,0.000,6,0.145,0.000,2667,2067,3562
$GC,2312,-0.91,-194.7,325.3,-3.6,396,2314,0.38,0.00,0.00,0.000,6,0.042,0.000,2494,2067,3562
$GC,2621,-0.50,-194.7,383.7,-22.3,426,2625,0.50,2.22,0.00,0.000,4,0.143,0.060,2644,3467,3562
$GC,2658,-0.81,-194.7,389.2,-11.1,429,2665,0.20,2.12,0.00,0.000,6,0.039,0.037,2532,2079,3562
$GC,2973,-0.65,-194.7,440.5,-15.0,460,2975,0.25,0.00,0.00,0.000,6,0.131,0.000,2611,2075,3562
$GC,3285,-0.89,-194.7,457.8,-4.8,490,3286,0.22,0.00,0.00,0.000,6,0.053,0.000,2506,2075,3561
$GC,3596,-0.62,-194.7,500.8,-15.3,520,3600,0.32,2.20,0.00,0.000,4,0.138,0.054,2614,662,3558
$GC,3626,-0.75,-194.7,504.5,-10.3,521,3633,0.08,2.20,0.00,0.000,6,0.057,0.045,2559,2065,3558
$GC,3937,-0.83,-194.7,539.6,-11.4,537,3941,0.00,2.28,0.00,0.000,4,0.000,0.063,2551,3479,3556
$GC,4032,-0.94,-194.7,549.8,-10.7,541,4038,0.08,2.17,0.00,0.000,6,0.059,0.039,2494,2067,3555
$GC,4349,-0.73,-194.7,595.1,-13.8,557,4350,0.30,0.00,0.00,0.000,6,0.137,0.000,2588,2063,3552
$GC,4653,-0.95,-194.7,618.8,-7.1,572,4657,0.22,2.28,0.00,0.000,4,0.055,0.065,2482,3466,3550
$GC,4707,-0.77,-194.7,625.3,-13.5,574,4711,0.28,2.12,0.00,0.000,6,0.137,0.041,2567,2075,3548
$GC,5023,-0.91,-194.7,651.3,-8.0,590,5027,0.12,2.28,0.00,0.000,4,0.073,0.066,2506,3482,3546
$GC,5070,-0.84,-194.7,656.5,-11.8,592,5075,0.10,2.17,0.00,0.000,6,0.138,0.041,2542,2080,3546
$GC,5385,-0.84,-194.7,689.1,-10.9,608,5389,0.00,2.22,0.00,0.000,4,0.000,0.056,2542,675,3543
$GC,5417,-0.84,-194.7,692.9,-11.7,609,5421,0.00,2.22,0.00,0.000,6,0.000,0.048,2537,2076,3543
$GC,5733,-0.84,-194.7,724.6,-9.6,625,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2076,3540
$GC,6038,-0.84,-194.7,752.5,-8.0,640,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2076,3539
$GC,6344,-0.84,-194.7,777.5,-7.3,655,6347,0.00,2.25,0.00,0.000,4,0.000,0.070,2535,3480,3537
$GC,6434,-0.92,-194.7,784.2,-7.5,659,6438,0.00,2.17,0.00,0.000,6,0.000,0.044,2535,2091,3536
$GC,6755,-0.92,-194.7,814.5,-9.9,675,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2091,3534
$GC,7060,-0.92,-194.7,846.9,-11.6,690,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2090,3533
$GC,7365,-0.92,-194.7,883.0,-12.4,705,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2089,3531
$GC,7670,-0.92,-194.7,924.0,-13.5,720,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2088,3530
$STATE,7692,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7692,begin apogee
$GC,7696,-0.20,0.0,926.7,13.5,721,7853,0.65,0.00,155.10,1.345,6,0.125,0.000,2753,2528,2758
$STATE,7854,end apogee,CONTROL_FINISHED_OK
$STATE,7854,begin climb
$GC,7855,0.96,194.7,936.0,0.0,729,8022,1.00,0.00,163.55,1.305,6,0.042,0.000,3135,2528,1964
$GC,8321,0.31,194.7,850.7,23.4,752,8325,0.73,1.92,0.00,0.000,4,0.177,0.069,2923,3699,1957
$GC,8363,0.31,194.7,843.6,14.6,754,8367,0.00,1.88,0.00,0.000,6,0.000,0.044,2931,2522,1957
$GC,8689,0.40,194.7,803.0,12.0,770,8693,0.00,2.28,0.00,0.000,4,0.000,0.055,2942,1122,1955
$GC,8721,0.51,194.7,799.3,12.3,771,8726,0.08,2.28,0.00,0.000,6,0.066,0.051,2990,2516,1955
$GC,9037,0.36,194.7,751.5,15.8,787,9041,0.20,1.90,0.00,0.000,4,0.153,0.067,2933,3687,1954
$GC,9089,0.36,194.7,743.9,14.4,789,9094,0.00,1.83,0.00,0.000,6,0.000,0.042,2941,2525,1954
$GC,9406,0.46,227.3,708.8,10.7,805,9434,0.00,0.00,27.15,1.189,6,0.000,0.000,2941,2522,1832
$GC,9730,0.53,227.3,669.4,13.1,821,9735,0.15,2.25,0.00,0.000,4,0.071,0.054,3016,1129,1827
$GC,9783,0.40,227.3,660.1,18.7,823,9788,0.20,2.28,0.00,0.000,6,0.151,0.051,2953,2524,1825
$GC,10099,0.47,229.2,619.4,11.9,839,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2524,1825
$GC,10404,0.52,229.2,582.2,13.3,854,10409,0.00,1.90,0.00,0.000,4,0.000,0.067,2954,3691,1824
$GC,10516,0.52,229.2,566.7,13.9,859,10521,0.00,1.80,0.00,0.000,6,0.000,0.043,2961,2533,1824
$GC,10837,0.57,229.2,525.4,12.5,875,10839,0.12,0.00,0.00,0.000,6,0.076,0.000,3017,2528,1823
$GC,11146,0.38,229.2,476.2,15.2,897,11150,0.25,2.20,0.00,0.000,4,0.156,0.053,2954,1128,1823
$GC,11167,0.38,229.2,473.7,12.3,899,11170,0.00,2.25,0.00,0.000,6,0.000,0.051,2954,2531,1823
$GC,11488,0.56,284.4,441.3,9.7,930,11545,0.12,2.35,47.17,1.035,4,0.076,0.053,3020,1131,1598
$GC,11591,0.56,284.4,426.6,15.8,939,11598,0.00,2.30,0.00,0.000,6,0.000,0.049,3020,2517,1595
$GC,11908,0.45,284.4,376.2,15.9,970,11911,0.20,2.22,0.00,0.000,4,0.145,0.051,2971,1126,1592
$GC,11922,0.45,284.4,373.9,15.1,971,11929,0.00,2.28,0.00,0.000,6,0.000,0.048,2972,2527,1592
$GC,12239,0.61,311.0,339.1,10.9,1002,12266,0.12,1.92,22.50,0.940,4,0.074,0.064,3028,3686,1490
$GC,12309,0.47,311.0,327.9,18.1,1008,12316,0.17,1.83,0.00,0.000,6,0.142,0.041,2980,2531,1489
$GC,12628,0.62,311.0,286.9,12.5,1048,12634,0.12,2.28,0.00,0.000,4,0.071,0.051,3047,1124,1488
$GC,12692,0.56,311.0,277.1,14.8,1060,12699,0.12,2.25,0.00,0.000,6,0.144,0.047,3006,2517,1486
$GC,13018,0.64,311.0,237.7,13.3,1121,13025,0.00,2.22,0.00,0.000,4,0.000,0.050,3015,1127,1486
$GC,13055,0.75,311.0,232.4,15.1,1128,13062,0.10,2.22,0.00,0.000,6,0.057,0.046,3077,2517,1486
$GC,13382,0.57,311.0,174.9,14.7,1189,13388,0.25,0.00,0.00,0.000,6,0.150,0.000,3004,2517,1486
$GC,13707,0.77,330.9,146.6,11.2,1250,13734,0.17,2.28,17.33,0.767,4,0.061,0.049,3098,1116,1409
$GC,13850,0.69,330.9,120.2,18.5,1276,13857,0.17,2.25,0.00,0.000,6,0.143,0.045,3041,2523,1407
$GC,14178,0.91,373.6,89.7,10.2,1337,14218,0.17,1.92,35.08,0.723,4,0.057,0.058,3129,3690,1236
$GC,14457,0.83,373.6,45.2,13.2,1388,14464,0.15,1.75,0.00,0.000,6,0.133,0.038,3087,2548,1234
$GC,14784,1.10,427.9,15.8,9.8,1449,14835,0.22,2.28,44.17,0.647,4,0.052,0.047,3201,1126,1013
$GC,14860,0.93,427.9,3.7,16.7,1462,14869,0.25,2.28,0.00,0.000,6,0.143,0.041,3122,2541,1012
$STATE,14871,end climb,SURFACE_DEPTH_REACHED
$STATE,14871,begin surface coast
$FINISH,1.5,1.010958
$STATE,14888,end surface coast,CONTROL_FINISHED_OK
$STATE,14888,begin surface
$SM_CCo,14901,5.32,0.489,0,0,984,435.16
$SM_GC,3.85,0.00,0.00,5.32,0.000,0.000,0.489,160,2056,984,-8.31,-0.42,435.16
$IRIDIUM_FIX,2517.50,12252.43,310898,161659
$TT8_MAMPS,0.048321
$HUMID,1571
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.40
$XPDR_PINGS,132
$ALTIM_BOTTOM_PING,926.7,21.0
$24V_AH,23.7,24.623
$10V_AH,10.7,18.075
$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,28.450,104.900,512.050,5.325,0.000,29.631,35.607,177.206,40.750,0.000,0.000,13.112,0.000,10844.176,677.237,3255.745,442.657,0.000,1863.055,0.000,2754.012,0.000,54.240,0.000
$DEVICE_MAMPS,226.265,69.797,1345.318,488.579,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.705,1037.964,1631.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82204,1467
$CAP_FILE_SIZE,153545,0
$CFSIZE,260165632,249192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179,353.1,1
$GPS,070609,004730,2533.368,12251.961,37,1.1,37,-3.7