version: 66.04
glider: 165
mission: 2
dive: 130
start: 6 9 109 14 45 12
data:
$ID,165
$MISSION,2
$DIVE,130
$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,330
$T_MISSION,396
$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,175
$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,-119483.75
$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,42
$R_STBD_OVSHOOT,36
$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
$GPS1,143907,2524.160,12311.990,36,0.8,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.1
$GPS2,144507,2524.224,12312.002,13,1.0,13,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_4
$TGT_LATLONG,2506.900,12323.900
$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,196.8,37783,-16.8,-10.000
$D_GRID,1097
$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,-0.87,-170.3,0.0,0.0,0,72,0.00,0.00,-58.42,0.000,2,0.000,0.000,159,2092,2104
$GC,74,-0.87,-170.3,3.3,-4.2,9,131,9.15,2.28,-39.33,0.000,4,0.232,0.058,2536,660,3456
$GC,157,-0.09,-170.3,17.4,-31.3,23,165,0.80,2.22,0.00,0.000,6,0.153,0.047,2778,2066,3457
$GC,485,-0.53,-170.3,50.5,-7.9,84,491,0.35,2.25,0.00,0.000,4,0.039,0.054,2603,3483,3459
$GC,560,-0.19,-170.3,64.6,-22.5,98,567,0.43,2.15,0.00,0.000,6,0.130,0.035,2750,2077,3458
$GC,886,-1.12,-170.3,92.8,-4.9,159,893,0.77,2.20,0.00,0.000,4,0.066,0.058,2455,3479,3460
$GC,919,-0.57,-170.3,96.4,-12.9,165,926,0.52,2.10,0.00,0.000,6,0.150,0.035,2634,2087,3460
$GC,1246,-0.49,-170.3,136.5,-9.9,226,1252,0.00,2.22,0.00,0.000,4,0.000,0.062,2630,3475,3462
$GC,1347,-0.56,-170.3,146.5,-10.3,245,1354,0.00,2.05,0.00,0.000,6,0.000,0.035,2630,2122,3462
$GC,1673,-0.56,-170.3,183.8,-11.0,306,1680,0.00,2.17,0.00,0.000,4,0.000,0.057,2630,3477,3462
$GC,1711,-0.68,-170.3,187.9,-10.7,313,1717,0.00,2.08,0.00,0.000,6,0.000,0.034,2630,2105,3462
$GC,2037,-0.74,-170.3,224.1,-10.7,374,2044,0.15,2.20,0.00,0.000,4,0.061,0.057,2549,3484,3462
$GC,2080,-0.48,-170.3,230.1,-15.5,382,2087,0.30,2.08,0.00,0.000,6,0.123,0.035,2656,2111,3462
$GC,2407,-0.73,-170.3,254.2,-5.8,443,2413,0.20,2.15,0.00,0.000,4,0.052,0.057,2552,3483,3462
$GC,2433,-0.66,-170.3,256.6,-10.8,448,2441,0.12,2.05,0.00,0.000,6,0.127,0.035,2598,2128,3462
$GC,2761,-0.66,-170.3,289.2,-10.6,509,2767,0.00,2.25,0.00,0.000,4,0.000,0.050,2598,681,3462
$GC,2792,-0.66,-170.3,292.6,-10.7,515,2799,0.00,2.25,0.00,0.000,6,0.000,0.041,2593,2134,3462
$GC,3110,-0.66,-170.3,323.9,-9.9,553,3114,0.00,2.12,0.00,0.000,4,0.000,0.058,2589,3472,3461
$GC,3147,-0.66,-170.3,327.4,-9.4,556,3156,0.00,2.03,0.00,0.000,6,0.000,0.035,2590,2133,3461
$GC,3464,-0.66,-170.3,356.2,-8.8,587,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2131,3460
$GC,3774,-0.66,-170.3,383.4,-9.6,617,3777,0.00,2.15,0.00,0.000,4,0.000,0.061,2589,3487,3458
$GC,3863,-0.77,-170.3,392.2,-9.8,625,3870,0.00,2.05,0.00,0.000,6,0.000,0.037,2589,2142,3458
$GC,4180,-0.77,-170.3,423.3,-9.5,656,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2141,3457
$GC,4490,-0.84,-170.3,451.5,-8.8,686,4492,0.12,0.00,0.00,0.000,6,0.069,0.000,2524,2139,3455
$GC,4801,-0.61,-170.3,497.0,-15.7,716,4805,0.32,2.12,0.00,0.000,4,0.131,0.062,2619,3480,3453
$GC,4908,-0.87,-170.3,506.5,-7.1,723,4911,0.22,1.98,0.00,0.000,6,0.053,0.038,2515,2171,3452
$GC,5233,-0.63,-170.3,549.3,-13.1,739,5237,0.32,2.30,0.00,0.000,4,0.130,0.054,2620,682,3449
$GC,5329,-0.92,-170.3,556.0,-5.8,743,5333,0.22,2.30,0.00,0.000,6,0.044,0.045,2498,2150,3449
$GC,5644,-0.64,-170.3,596.4,-13.8,759,5649,0.35,2.12,0.00,0.000,4,0.139,0.064,2602,3473,3447
$GC,5724,-0.92,-170.3,602.5,-6.4,762,5732,0.20,2.03,0.00,0.000,6,0.044,0.038,2495,2154,3447
$GC,6035,-0.65,-170.3,644.8,-14.4,778,6039,0.38,2.12,0.00,0.000,4,0.137,0.064,2603,3484,3444
$GC,6071,-0.89,-170.3,648.3,-7.9,779,6078,0.15,2.05,0.00,0.000,6,0.048,0.039,2520,2156,3444
$GC,6382,-0.74,-170.3,682.8,-10.5,795,6383,0.20,0.00,0.00,0.000,6,0.133,0.000,2582,2151,3442
$GC,6687,-0.88,-170.3,702.4,-6.0,810,6691,0.15,2.15,0.00,0.000,4,0.066,0.066,2511,3472,3440
$GC,6730,-0.74,-170.3,706.4,-10.9,812,6734,0.17,2.03,0.00,0.000,6,0.130,0.041,2572,2162,3439
$GC,7057,-0.82,-170.3,731.0,-7.9,828,7060,0.00,2.12,0.00,0.000,4,0.000,0.067,2572,3475,3437
$GC,7093,-0.96,-170.3,733.8,-8.1,829,7099,0.15,2.03,0.00,0.000,6,0.051,0.040,2492,2168,3437
$GC,7403,-0.70,-170.3,779.2,-15.9,845,7407,0.32,2.15,0.00,0.000,4,0.138,0.067,2589,3476,3435
$GC,7456,-0.95,-170.3,784.8,-9.2,847,7461,0.17,2.00,0.00,0.000,6,0.048,0.041,2498,2189,3435
$GC,7772,-0.72,-170.3,831.8,-15.6,863,7776,0.28,2.38,0.00,0.000,4,0.137,0.058,2583,677,3433
$GC,7841,-0.88,-170.3,839.3,-10.1,866,7845,0.10,2.38,0.00,0.000,6,0.058,0.049,2523,2165,3433
$GC,8163,-0.79,-170.3,878.4,-12.3,882,8166,0.15,2.10,0.00,0.000,4,0.140,0.067,2563,3476,3431
$GC,8258,-0.92,-170.3,887.9,-9.4,886,8262,0.08,2.00,0.00,0.000,6,0.063,0.041,2511,2191,3430
$GC,8574,-0.78,-170.3,927.7,-12.5,902,8575,0.20,0.00,0.00,0.000,6,0.139,0.000,2571,2186,3429
$GC,8879,-0.91,-170.3,952.1,-7.4,917,8880,0.15,0.00,0.00,0.000,6,0.069,0.000,2504,2186,3427
$GC,9184,-0.75,-170.3,986.1,-11.9,932,9185,0.22,0.00,0.00,0.000,6,0.142,0.000,2572,2186,3426
$STATE,9243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9243,begin apogee
$GC,9247,-0.20,0.0,991.2,9.2,935,9387,0.55,0.00,135.85,1.388,6,0.117,0.000,2759,2517,2759
$STATE,9387,end apogee,CONTROL_FINISHED_OK
$STATE,9387,begin climb
$GC,9389,0.87,170.3,995.7,0.0,942,9539,0.90,2.10,144.00,1.345,4,0.043,0.070,3110,3689,2063
$GC,9624,0.14,170.3,965.0,22.3,953,9628,0.85,1.88,0.00,0.000,6,0.173,0.043,2871,2546,2057
$GC,9950,0.48,268.0,941.7,6.1,969,10040,0.28,2.45,83.65,1.312,4,0.055,0.057,2998,1126,1666
$GC,10104,0.38,268.0,922.7,13.6,976,10108,0.15,2.35,0.00,0.000,6,0.143,0.051,2951,2517,1660
$GC,10425,0.43,268.0,886.5,11.7,992,10430,0.00,2.30,0.00,0.000,4,0.000,0.054,2960,1118,1658
$GC,10446,0.49,268.0,883.9,12.4,993,10450,0.00,2.28,0.00,0.000,6,0.000,0.050,2960,2512,1656
$GC,10773,0.49,268.0,845.7,11.1,1009,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2512,1656
$GC,11078,0.49,268.0,809.7,13.0,1024,11082,0.00,2.25,0.00,0.000,4,0.000,0.053,2969,1123,1654
$GC,11157,0.49,268.0,799.5,12.2,1027,11164,0.00,2.22,0.00,0.000,6,0.000,0.050,2969,2502,1653
$GC,11467,0.49,268.0,758.9,13.0,1043,11472,0.00,1.92,0.00,0.000,4,0.000,0.064,2969,3689,1653
$GC,11511,0.41,268.0,752.9,14.2,1045,11514,0.00,1.85,0.00,0.000,6,0.000,0.041,2978,2497,1653
$GC,11837,0.35,268.0,708.4,13.9,1061,11841,0.15,2.17,0.00,0.000,4,0.154,0.052,2945,1126,1653
$GC,11863,0.43,268.0,705.2,11.4,1062,11867,0.00,2.20,0.00,0.000,6,0.000,0.049,2945,2499,1652
$GC,12185,0.52,268.2,672.1,10.0,1078,12189,0.12,2.20,0.00,0.000,4,0.075,0.053,3012,1127,1652
$GC,12231,0.41,268.2,665.9,14.5,1080,12236,0.17,2.17,0.00,0.000,6,0.140,0.050,2955,2490,1651
$GC,12553,0.48,268.2,631.3,10.2,1096,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2490,1652
$GC,12858,0.57,286.7,601.6,9.3,1111,12880,0.15,1.95,14.95,1.106,4,0.070,0.066,3019,3677,1590
$GC,12921,0.31,286.7,592.2,16.9,1114,12926,0.32,1.85,0.00,0.000,6,0.143,0.042,2923,2503,1589
$GC,13249,0.61,339.6,565.5,7.9,1130,13300,0.28,2.28,46.90,1.107,4,0.056,0.053,3048,1120,1373
$GC,13395,0.44,339.6,539.6,17.7,1137,13400,0.25,2.22,0.00,0.000,6,0.143,0.048,2968,2474,1369
$GC,13717,0.55,339.6,501.0,11.3,1153,13721,0.00,2.17,0.00,0.000,4,0.000,0.052,2977,1118,1368
$GC,13775,0.68,339.6,494.6,10.8,1157,13782,0.12,2.17,0.00,0.000,6,0.058,0.047,3043,2465,1367
$GC,14090,0.50,339.6,441.3,16.3,1188,14095,0.22,1.95,0.00,0.000,4,0.143,0.062,2976,3676,1367
$GC,14192,0.59,339.6,429.4,10.9,1197,14198,0.00,1.85,0.00,0.000,6,0.000,0.041,2983,2487,1367
$GC,14508,0.69,339.6,392.9,12.3,1228,14512,0.17,2.12,0.00,0.000,4,0.065,0.051,3069,1123,1367
$GC,14593,0.52,339.6,377.8,17.5,1236,14597,0.25,2.15,0.00,0.000,6,0.146,0.048,2988,2472,1365
$GC,14914,0.63,339.6,336.5,12.1,1267,14917,0.00,2.15,0.00,0.000,4,0.000,0.050,2996,1126,1365
$GC,14961,0.76,339.6,330.7,11.7,1271,14968,0.15,2.12,0.00,0.000,6,0.052,0.046,3080,2467,1365
$GC,15282,0.53,339.6,267.9,20.8,1317,15288,0.30,2.10,0.00,0.000,4,0.141,0.050,2998,1127,1365
$GC,15304,0.47,339.6,264.4,16.0,1321,15309,0.00,2.08,0.00,0.000,6,0.000,0.046,2998,2458,1365
$GC,15629,0.62,339.6,223.8,12.0,1382,15636,0.00,2.12,0.00,0.000,4,0.000,0.049,3006,1121,1365
$GC,15677,0.77,339.6,218.4,11.3,1391,15683,0.12,2.08,0.00,0.000,6,0.054,0.044,3087,2438,1365
$GC,16003,0.60,339.6,164.6,15.5,1452,16011,0.25,2.08,0.00,0.000,4,0.138,0.048,3019,1125,1365
$GC,16063,0.80,369.0,158.4,8.8,1463,16096,0.12,2.03,24.00,0.775,6,0.050,0.044,3102,2417,1254
$GC,16417,0.70,369.0,103.6,12.9,1528,16424,0.17,2.03,0.00,0.000,4,0.138,0.047,3054,1125,1253
$GC,16471,0.90,390.3,98.1,9.2,1538,16497,0.12,2.00,19.20,0.710,6,0.044,0.042,3131,2399,1165
$GC,16818,0.81,394.0,51.5,9.9,1602,16830,0.17,2.08,4.12,0.472,4,0.133,0.055,3074,3690,1152
$GC,16904,1.03,430.1,42.3,8.6,1618,16942,0.15,1.98,30.83,0.662,6,0.049,0.036,3161,2395,1004
$STATE,17169,end climb,SURFACE_DEPTH_REACHED
$STATE,17169,begin surface coast
$FINISH,1.8,1.021864
$STATE,17185,end surface coast,CONTROL_FINISHED_OK
$STATE,17185,begin surface
$SM_CCo,17198,3.38,0.368,0,0,985,435.16
$SM_GC,3.12,0.00,0.00,3.38,0.000,0.000,0.368,169,2056,985,-8.28,-0.42,435.16
$IRIDIUM_FIX,2515.12,12313.63,030998,101054
$TT8_MAMPS,0.048321
$HUMID,1606
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.30
$XPDR_PINGS,175
$24V_AH,23.7,28.138
$10V_AH,10.7,20.328
$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,31.650,158.375,503.500,3.375,0.000,23.419,30.893,200.160,51.750,0.000,0.000,15.278,0.000,12438.779,697.279,3899.312,499.119,0.000,2152.910,0.000,3296.941,0.000,53.970,0.000
$DEVICE_MAMPS,231.634,69.797,1388.270,368.160,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.452,1158.045,1814.045,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94803,1670
$CAP_FILE_SIZE,189290,0
$CFSIZE,260165632,247648256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241, 64.9,1
$GPS,090609,193236,2522.740,12313.237,22,1.5,22,-3.7