version: 66.04
glider: 165
mission: 2
dive: 125
start: 6 8 109 19 41 25
data:
$ID,165
$MISSION,2
$DIVE,125
$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,-2
$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,-119370.68
$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,38
$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
$GPS1,193507,2529.104,12304.943,39,1.1,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-65.3
$GPS2,194120,2529.149,12304.987,12,1.1,12,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,163.7,33739,-18.3,-12.000
$D_GRID,921
$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,-194.7,0.0,0.0,0,67,0.00,0.00,-53.00,0.000,2,0.000,0.000,161,2095,2029
$GC,69,-0.96,-194.7,3.2,-4.1,8,133,8.80,2.22,-46.92,0.000,4,0.224,0.064,2495,3473,3555
$GC,143,-0.14,-194.7,13.9,-29.9,20,150,0.82,2.17,0.00,0.000,6,0.146,0.036,2760,2070,3556
$GC,469,-0.49,-194.7,48.4,-8.6,81,477,0.28,2.25,0.00,0.000,4,0.045,0.054,2629,3470,3558
$GC,508,-0.35,-194.7,54.5,-18.8,88,515,0.20,2.12,0.00,0.000,6,0.122,0.035,2699,2083,3558
$GC,834,-0.48,-194.7,101.1,-12.1,149,842,0.10,2.17,0.00,0.000,4,0.074,0.049,2643,680,3559
$GC,857,-0.48,-194.7,104.3,-14.9,153,865,0.00,2.17,0.00,0.000,6,0.000,0.044,2642,2082,3559
$GC,1185,-0.54,-194.7,144.8,-10.7,214,1191,0.00,2.20,0.00,0.000,4,0.000,0.059,2642,3465,3560
$GC,1217,-0.67,-194.7,148.4,-10.9,220,1223,0.08,2.05,0.00,0.000,6,0.056,0.034,2577,2109,3560
$GC,1543,-0.43,-194.7,206.5,-16.5,281,1550,0.32,2.20,0.00,0.000,4,0.132,0.049,2682,667,3561
$GC,1581,-0.73,-194.7,210.5,-8.0,288,1588,0.22,2.22,0.00,0.000,6,0.037,0.046,2555,2104,3561
$GC,1908,-0.55,-194.7,262.6,-13.1,349,1915,0.28,2.20,0.00,0.000,4,0.133,0.048,2643,675,3562
$GC,1935,-0.67,-194.7,265.6,-10.2,354,1942,0.10,2.20,0.00,0.000,6,0.049,0.041,2569,2094,3561
$GC,2260,-0.57,-194.7,307.2,-14.1,410,2264,0.20,2.20,0.00,0.000,4,0.132,0.059,2632,3481,3561
$GC,2318,-0.92,-194.7,312.8,-8.0,415,2325,0.25,2.10,0.00,0.000,6,0.038,0.035,2498,2097,3562
$GC,2634,-0.50,-194.7,375.5,-21.0,446,2638,0.50,2.17,0.00,0.000,4,0.142,0.061,2657,3472,3561
$GC,2714,-1.04,-194.7,382.8,-6.5,453,2722,0.40,2.08,0.00,0.000,6,0.032,0.035,2452,2103,3562
$GC,3029,-0.48,-194.7,453.5,-24.0,484,3034,0.65,2.17,0.00,0.000,4,0.146,0.061,2657,3480,3561
$GC,3050,-0.35,-194.7,457.0,-17.1,486,3055,0.12,2.10,0.00,0.000,6,0.097,0.037,2709,2104,3561
$GC,3371,-1.29,-194.7,482.1,-8.7,517,3375,0.82,2.17,0.00,0.000,4,0.067,0.058,2393,3485,3559
$GC,3397,-1.20,-194.7,485.1,-12.9,519,3404,0.10,2.10,0.00,0.000,6,0.174,0.037,2424,2105,3558
$GC,3710,-0.65,-194.7,551.2,-23.0,539,3714,0.55,2.20,0.00,0.000,4,0.153,0.051,2601,679,3556
$GC,3730,-0.42,-194.7,555.0,-18.4,540,3735,0.20,2.25,0.00,0.000,6,0.107,0.044,2678,2114,3556
$GC,4053,-1.36,-194.7,583.5,-10.3,556,4057,0.77,2.15,0.00,0.000,4,0.069,0.059,2378,3484,3554
$GC,4132,-0.79,-194.7,597.6,-21.6,560,4136,0.60,2.08,0.00,0.000,6,0.156,0.039,2562,2133,3552
$GC,4458,-0.91,-194.7,630.3,-8.7,576,4459,0.10,0.00,0.00,0.000,6,0.083,0.000,2515,2128,3551
$GC,4763,-0.81,-194.7,668.1,-12.2,591,4767,0.15,2.20,0.00,0.000,4,0.141,0.066,2559,3482,3548
$GC,4816,-0.99,-194.7,673.1,-8.2,593,4820,0.12,2.08,0.00,0.000,6,0.051,0.040,2481,2140,3547
$GC,5131,-0.74,-194.7,718.2,-14.2,609,5136,0.32,2.30,0.00,0.000,4,0.140,0.056,2582,680,3544
$GC,5195,-0.99,-194.7,723.4,-6.6,612,5200,0.17,2.28,0.00,0.000,6,0.049,0.047,2484,2121,3543
$GC,5523,-0.79,-194.7,763.8,-12.7,628,5526,0.25,2.17,0.00,0.000,4,0.143,0.067,2559,3490,3541
$GC,5596,-1.00,-194.7,769.6,-6.3,631,5600,0.15,2.10,0.00,0.000,6,0.050,0.041,2477,2132,3540
$GC,5912,-0.76,-194.7,811.8,-13.4,647,5916,0.30,2.20,0.00,0.000,4,0.144,0.067,2563,3476,3538
$GC,5938,-0.76,-194.7,814.3,-9.5,648,5942,0.00,2.08,0.00,0.000,6,0.000,0.041,2563,2137,3537
$GC,6259,-0.93,-194.7,835.1,-6.3,664,6263,0.12,2.17,0.00,0.000,4,0.074,0.066,2496,3470,3536
$GC,6291,-0.85,-194.7,838.0,-10.3,665,6295,0.12,2.05,0.00,0.000,6,0.134,0.040,2540,2148,3535
$GC,6607,-0.91,-194.7,865.2,-9.0,681,6610,0.00,2.35,0.00,0.000,4,0.000,0.058,2540,675,3533
$GC,6643,-1.00,-194.7,868.9,-9.5,682,6650,0.08,2.33,0.00,0.000,6,0.066,0.049,2486,2142,3533
$GC,6954,-0.82,-194.7,906.5,-12.5,698,6958,0.22,2.17,0.00,0.000,4,0.145,0.068,2549,3476,3530
$GC,6996,-0.97,-194.7,911.0,-9.0,700,7001,0.10,2.05,0.00,0.000,6,0.058,0.042,2485,2157,3530
$STATE,7077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7077,begin apogee
$GC,7080,-0.20,0.0,921.3,13.4,704,7241,0.82,0.00,154.88,1.331,6,0.140,0.000,2749,2521,2757
$STATE,7241,end apogee,CONTROL_FINISHED_OK
$STATE,7241,begin climb
$GC,7243,0.96,194.7,927.9,0.0,712,7415,1.00,2.05,161.52,1.291,4,0.042,0.070,3139,3678,1963
$GC,7499,0.22,194.7,889.2,26.9,724,7503,0.85,1.85,0.00,0.000,6,0.179,0.044,2894,2543,1960
$GC,7825,0.54,253.5,854.7,9.6,740,7880,0.28,2.38,49.90,1.244,4,0.052,0.054,3025,1120,1725
$GC,7953,0.42,253.5,833.5,18.0,746,7957,0.25,2.30,0.00,0.000,6,0.152,0.051,2955,2517,1720
$GC,8274,0.51,253.5,788.7,13.2,762,8278,0.00,1.92,0.00,0.000,4,0.000,0.067,2955,3692,1718
$GC,8300,0.56,253.5,785.1,14.1,763,8305,0.08,1.85,0.00,0.000,6,0.064,0.041,3007,2511,1718
$GC,8621,0.43,253.5,731.4,17.3,779,8625,0.17,1.95,0.00,0.000,4,0.153,0.066,2959,3696,1717
$GC,8664,0.43,253.5,724.7,16.0,781,8668,0.00,1.83,0.00,0.000,6,0.000,0.041,2966,2524,1717
$GC,8990,0.43,253.5,681.9,13.7,797,8994,0.00,2.22,0.00,0.000,4,0.000,0.051,2976,1129,1715
$GC,9033,0.51,253.5,676.0,13.9,799,9037,0.00,2.25,0.00,0.000,6,0.000,0.049,2976,2533,1714
$GC,9358,0.51,253.5,628.3,14.3,815,9363,0.00,2.25,0.00,0.000,4,0.000,0.051,2985,1130,1713
$GC,9396,0.56,253.5,623.3,14.0,816,9404,0.00,2.22,0.00,0.000,6,0.000,0.048,2985,2516,1712
$GC,9706,0.56,253.5,580.8,13.7,832,9710,0.00,1.90,0.00,0.000,4,0.000,0.064,2986,3693,1712
$GC,9775,0.47,253.5,569.9,16.2,835,9779,0.00,1.80,0.00,0.000,6,0.000,0.041,2994,2525,1712
$GC,10096,0.42,253.5,522.7,15.0,851,10098,0.15,0.00,0.00,0.000,6,0.160,0.000,2953,2523,1712
$GC,10404,0.60,272.1,485.8,11.2,871,10427,0.17,1.92,14.93,1.030,4,0.063,0.064,3030,3692,1649
$GC,10442,0.42,272.1,480.0,17.3,874,10449,0.25,1.77,0.00,0.000,6,0.143,0.041,2957,2551,1648
$GC,10758,0.61,282.5,441.9,11.6,905,10772,0.17,2.30,10.23,0.952,4,0.062,0.052,3046,1130,1606
$GC,10832,0.49,282.5,429.9,16.8,912,10836,0.20,2.25,0.00,0.000,6,0.146,0.048,2981,2523,1604
$GC,11153,0.60,282.5,389.9,12.6,943,11154,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2523,1603
$GC,11464,0.78,329.9,355.1,10.0,973,11510,0.22,2.33,40.80,0.944,4,0.060,0.051,3092,1130,1412
$GC,11552,0.56,329.9,339.5,18.3,981,11555,0.28,2.28,0.00,0.000,6,0.150,0.047,2997,2515,1408
$GC,11872,0.70,329.9,298.9,12.5,1012,11880,0.15,1.88,0.00,0.000,4,0.065,0.061,3065,3683,1408
$GC,11911,0.55,329.9,292.5,17.7,1019,11917,0.22,1.80,0.00,0.000,6,0.141,0.040,2999,2525,1408
$GC,12237,0.73,330.1,253.2,12.0,1080,12245,0.15,2.22,0.00,0.000,4,0.064,0.049,3081,1116,1408
$GC,12387,0.65,330.1,228.0,15.2,1108,12396,0.15,2.20,0.00,0.000,6,0.145,0.044,3032,2496,1407
$GC,12717,0.77,361.5,190.1,10.7,1169,12749,0.10,2.20,26.67,0.792,4,0.077,0.048,3095,1116,1283
$GC,12780,0.70,361.5,181.1,14.7,1180,12788,0.15,2.17,0.00,0.000,6,0.137,0.044,3046,2474,1281
$GC,13107,0.81,361.5,140.9,14.6,1241,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2474,1281
$GC,13432,1.20,456.6,101.1,8.1,1302,13515,0.43,2.20,77.10,0.709,4,0.041,0.047,3239,1112,896
$GC,13648,0.88,456.6,57.8,22.4,1340,13656,0.43,2.17,0.00,0.000,6,0.143,0.043,3105,2468,891
$GC,13976,1.19,510.1,20.9,9.8,1401,14027,0.28,0.00,45.22,0.630,6,0.046,0.000,3231,2468,676
$STATE,14072,end climb,SURFACE_DEPTH_REACHED
$STATE,14072,begin surface coast
$FINISH,1.7,1.021830
$STATE,14084,end surface coast,CONTROL_FINISHED_OK
$STATE,14084,begin surface
$SM_CCo,14158,0.00,0.000,0,0,669,512.68
$SM_GC,2.38,7.95,0.00,0.00,0.038,0.000,0.000,163,2037,669,-8.21,-0.96,512.68
$IRIDIUM_FIX,2522.28,12305.64,020998,161625
$TT8_MAMPS,0.048321
$HUMID,1544
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.50
$XPDR_PINGS,153
$24V_AH,23.8,27.171
$10V_AH,10.7,19.682
$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,33.500,142.250,581.250,0.000,0.000,28.391,35.599,214.254,45.500,0.000,0.000,14.201,0.000,9985.058,737.848,3313.153,472.914,0.000,1999.278,0.000,2786.060,0.000,49.013,0.000
$DEVICE_MAMPS,223.964,69.797,1330.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,958.093,1002.870,1585.957,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82138,1420
$CAP_FILE_SIZE,164825,0
$CFSIZE,260165632,248107008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202, 32.6,1
$GPS,080609,233807,2527.966,12306.523,26,1.6,26,-3.7