version: 66.04
glider: 165
mission: 2
dive: 131
start: 6 9 109 19 39 41
data:
$ID,165
$MISSION,2
$DIVE,131
$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,-119525.59
$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,50
$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
$GPS1,193236,2522.740,12313.237,22,1.5,22,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-68.2
$GPS2,193936,2522.799,12313.294,35,1.2,39,-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,197.6,34400,-16.8,-10.000
$D_GRID,1430
$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,-170.3,0.0,0.0,0,60,0.00,0.00,-46.45,0.000,2,0.000,0.000,168,2056,2139
$GC,62,-0.87,-170.3,3.4,-4.2,7,113,8.98,2.28,-35.72,0.000,4,0.225,0.065,2521,3478,3454
$GC,144,-0.05,-170.3,19.5,-31.1,21,151,0.85,2.17,0.00,0.000,6,0.145,0.041,2792,2081,3455
$GC,471,-0.84,-170.3,48.7,-10.7,82,478,0.65,2.22,0.00,0.000,4,0.046,0.051,2526,3505,3458
$GC,611,-0.16,-170.3,82.1,-30.4,108,618,0.73,2.15,0.00,0.000,6,0.136,0.038,2760,2083,3457
$GC,937,-0.98,-170.3,115.6,-11.2,169,945,0.68,2.20,0.00,0.000,4,0.055,0.051,2491,3471,3460
$GC,1067,-0.28,-170.3,145.2,-27.6,193,1073,0.68,2.08,0.00,0.000,6,0.135,0.036,2728,2105,3460
$GC,1394,-1.15,-170.3,171.2,-9.0,254,1400,0.73,2.17,0.00,0.000,4,0.057,0.053,2437,3487,3462
$GC,1543,-0.40,-170.3,203.7,-25.6,282,1550,0.75,2.05,0.00,0.000,6,0.146,0.042,2682,2139,3462
$GC,1870,-0.77,-170.3,228.7,-7.1,343,1878,0.30,2.10,0.00,0.000,4,0.044,0.056,2535,3476,3463
$GC,1903,-0.56,-170.3,232.8,-14.4,349,1909,0.28,2.03,0.00,0.000,6,0.123,0.035,2632,2137,3463
$GC,2229,-0.71,-170.3,264.8,-8.0,410,2236,0.12,2.15,0.00,0.000,4,0.067,0.058,2561,3479,3463
$GC,2293,-0.60,-170.3,272.0,-11.1,422,2300,0.17,2.00,0.00,0.000,6,0.120,0.035,2625,2155,3463
$GC,2620,-0.76,-170.3,296.6,-7.3,483,2627,0.15,0.00,0.00,0.000,6,0.060,0.000,2546,2153,3462
$GC,2942,-0.54,-170.3,344.4,-15.2,517,2946,0.30,2.12,0.00,0.000,4,0.130,0.061,2644,3476,3463
$GC,3016,-0.88,-170.3,350.9,-6.8,524,3021,0.25,2.00,0.00,0.000,6,0.038,0.036,2511,2164,3463
$GC,3337,-0.54,-170.3,399.1,-14.0,555,3341,0.40,2.08,0.00,0.000,4,0.133,0.060,2631,3474,3462
$GC,3390,-0.82,-170.3,403.0,-4.8,560,3395,0.17,2.00,0.00,0.000,6,0.041,0.036,2532,2164,3461
$GC,3711,-0.58,-170.3,441.0,-12.5,591,3716,0.30,2.10,0.00,0.000,4,0.128,0.061,2629,3467,3460
$GC,3764,-0.88,-170.3,444.9,-5.8,596,3769,0.22,1.98,0.00,0.000,6,0.039,0.037,2508,2175,3459
$GC,4085,-0.58,-170.3,491.1,-14.7,627,4089,0.38,2.10,0.00,0.000,4,0.130,0.062,2629,3494,3457
$GC,4203,-0.93,-170.3,499.8,-5.6,638,4208,0.25,1.98,0.00,0.000,6,0.040,0.038,2479,2201,3457
$GC,4518,-0.54,-170.3,549.5,-15.5,654,4526,0.50,2.05,0.00,0.000,4,0.136,0.061,2630,3470,3455
$GC,4584,-0.94,-170.3,553.9,-5.1,657,4588,0.28,1.92,0.00,0.000,6,0.038,0.038,2485,2212,3454
$GC,4910,-0.59,-170.3,599.6,-14.2,673,4912,0.45,0.00,0.00,0.000,6,0.133,0.000,2630,2206,3453
$GC,5215,-0.93,-170.3,612.8,-3.9,688,5220,0.30,2.05,0.00,0.000,4,0.048,0.064,2490,3470,3451
$GC,5365,-0.69,-170.3,630.0,-12.0,695,5369,0.28,1.95,0.00,0.000,6,0.131,0.040,2595,2205,3449
$GC,5691,-0.86,-170.3,648.0,-6.0,711,5695,0.15,2.05,0.00,0.000,4,0.064,0.064,2523,3486,3447
$GC,5770,-0.78,-170.3,655.8,-10.5,714,5778,0.10,1.95,0.00,0.000,6,0.129,0.039,2561,2218,3446
$GC,6081,-0.78,-170.3,684.8,-9.3,730,6085,0.00,2.05,0.00,0.000,4,0.000,0.066,2561,3467,3445
$GC,6118,-0.87,-170.3,688.3,-9.3,731,6126,0.00,1.92,0.00,0.000,6,0.000,0.039,2562,2219,3444
$GC,6428,-0.87,-170.3,717.9,-10.2,747,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2216,3442
$GC,6734,-0.92,-170.3,750.5,-10.8,762,6738,0.12,2.03,0.00,0.000,4,0.073,0.067,2495,3472,3441
$GC,6797,-0.72,-170.3,759.6,-14.8,765,6802,0.25,1.92,0.00,0.000,6,0.131,0.041,2579,2232,3440
$GC,7125,-0.86,-170.3,789.6,-8.6,781,7128,0.12,2.03,0.00,0.000,4,0.073,0.065,2520,3482,3438
$GC,7220,-0.78,-170.3,800.3,-11.2,785,7224,0.12,1.92,0.00,0.000,6,0.128,0.041,2565,2236,3436
$GC,7535,-0.87,-170.3,829.2,-9.4,801,7539,0.00,2.03,0.00,0.000,4,0.000,0.067,2563,3469,3436
$GC,7631,-1.00,-170.3,837.1,-7.9,805,7635,0.15,1.88,0.00,0.000,6,0.053,0.041,2482,2262,3435
$GC,7947,-0.73,-170.3,880.5,-13.7,821,7951,0.32,2.00,0.00,0.000,4,0.142,0.067,2576,3474,3434
$GC,7973,-0.73,-170.3,883.4,-10.4,822,7977,0.00,1.90,0.00,0.000,6,0.000,0.041,2576,2253,3433
$GC,8295,-0.88,-170.3,906.1,-7.0,838,8296,0.12,0.00,0.00,0.000,6,0.073,0.000,2516,2252,3432
$GC,8600,-0.78,-170.3,941.4,-12.7,853,8604,0.17,2.03,0.00,0.000,4,0.138,0.069,2563,3475,3431
$GC,8729,-0.91,-170.3,954.0,-9.3,859,8732,0.12,1.85,0.00,0.000,6,0.074,0.043,2504,2268,3430
$STATE,9012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9012,begin apogee
$GC,9016,-0.20,0.0,990.7,13.9,873,9159,0.77,0.00,136.70,1.387,6,0.134,0.000,2755,2521,2758
$STATE,9159,end apogee,CONTROL_FINISHED_OK
$STATE,9159,begin climb
$GC,9161,0.87,170.3,998.6,0.0,880,9313,0.95,2.47,144.35,1.348,4,0.041,0.058,3128,1135,2063
$GC,9372,0.22,170.3,978.6,17.7,890,9377,0.80,2.38,0.00,0.000,6,0.179,0.053,2892,2520,2058
$GC,9688,0.47,260.8,955.5,6.4,906,9774,0.22,2.40,77.82,1.315,4,0.060,0.055,3002,1137,1694
$GC,9831,0.35,260.8,936.3,14.5,912,9838,0.20,2.33,0.00,0.000,6,0.143,0.051,2939,2516,1689
$GC,10142,0.43,260.8,902.4,10.9,928,10146,0.00,2.25,0.00,0.000,4,0.000,0.053,2948,1140,1687
$GC,10206,0.52,260.8,895.4,11.5,931,10210,0.12,2.20,0.00,0.000,6,0.071,0.050,3004,2511,1685
$GC,10532,0.32,260.8,843.8,16.7,947,10536,0.28,2.22,0.00,0.000,4,0.147,0.051,2932,1133,1685
$GC,10595,0.49,260.8,836.6,10.1,950,10600,0.10,2.17,0.00,0.000,6,0.061,0.048,2991,2488,1684
$GC,10922,0.35,260.8,788.1,15.7,966,10926,0.20,1.95,0.00,0.000,4,0.148,0.064,2933,3690,1683
$GC,10943,0.35,260.8,785.1,14.9,967,10947,0.00,1.85,0.00,0.000,6,0.000,0.041,2941,2504,1683
$GC,11269,0.44,260.8,747.3,11.6,983,11273,0.00,2.20,0.00,0.000,4,0.000,0.052,2951,1127,1682
$GC,11328,0.55,260.8,740.5,11.8,985,11334,0.10,2.17,0.00,0.000,6,0.060,0.048,3008,2481,1682
$GC,11638,0.35,260.8,687.8,17.5,1001,11642,0.25,2.17,0.00,0.000,4,0.147,0.052,2944,1126,1682
$GC,11772,0.50,260.8,671.0,12.3,1007,11776,0.12,2.12,0.00,0.000,6,0.074,0.049,3001,2458,1681
$GC,12092,0.35,260.8,619.6,16.2,1023,12097,0.25,1.98,0.00,0.000,4,0.143,0.063,2927,3683,1681
$GC,12114,0.35,260.8,616.7,13.9,1024,12117,0.00,1.90,0.00,0.000,6,0.000,0.042,2935,2459,1681
$GC,12440,0.51,278.3,583.9,9.3,1040,12462,0.15,2.15,14.00,1.087,4,0.067,0.053,3015,1126,1623
$GC,12563,0.41,278.3,567.8,13.9,1045,12569,0.22,2.10,0.00,0.000,6,0.144,0.048,2950,2448,1621
$GC,12872,0.57,312.6,539.1,8.6,1061,12907,0.15,2.08,30.65,1.083,4,0.067,0.063,3015,3687,1484
$GC,12939,0.42,312.6,530.2,15.2,1064,12944,0.20,1.98,0.00,0.000,6,0.135,0.041,2959,2457,1482
$GC,13261,0.57,314.5,499.3,9.9,1080,13265,0.12,2.12,0.00,0.000,4,0.070,0.053,3028,1130,1481
$GC,13410,0.48,314.5,477.7,14.9,1094,13414,0.15,2.10,0.00,0.000,6,0.135,0.048,2978,2436,1479
$GC,13731,0.57,314.5,439.1,11.6,1125,13735,0.00,2.12,0.00,0.000,4,0.000,0.051,2986,1115,1479
$GC,13827,0.67,314.5,427.6,11.8,1134,13831,0.10,2.08,0.00,0.000,6,0.057,0.047,3049,2416,1478
$GC,14148,0.48,314.5,373.0,17.5,1165,14152,0.25,2.05,0.00,0.000,4,0.140,0.049,2982,1125,1478
$GC,14217,0.63,314.5,364.6,10.0,1171,14225,0.08,2.03,0.00,0.000,6,0.062,0.045,3036,2402,1478
$GC,14532,0.51,314.5,319.8,14.6,1202,14537,0.17,2.03,0.00,0.000,4,0.139,0.048,2992,1124,1478
$GC,14623,0.63,314.5,309.7,10.8,1210,14630,0.00,2.00,0.00,0.000,6,0.000,0.045,2992,2385,1478
$GC,14946,0.73,314.5,270.4,13.8,1263,14954,0.17,2.00,0.00,0.000,4,0.062,0.050,3081,1115,1477
$GC,14979,0.55,314.5,265.0,18.1,1269,14986,0.25,2.03,0.00,0.000,6,0.146,0.045,2999,2398,1478
$GC,15305,0.66,314.5,222.8,10.4,1330,15312,0.00,2.03,0.00,0.000,4,0.000,0.048,3008,1114,1478
$GC,15343,0.81,327.5,219.0,9.5,1337,15363,0.15,2.00,13.07,0.792,6,0.048,0.044,3098,2382,1424
$GC,15683,0.54,327.5,165.6,15.3,1400,15689,0.32,2.00,0.00,0.000,4,0.140,0.047,3001,1120,1423
$GC,15753,0.92,414.9,159.8,6.6,1413,15830,0.28,1.98,72.30,0.766,6,0.037,0.042,3141,2378,1066
$GC,16149,0.72,414.9,87.9,19.6,1485,16156,0.30,2.00,0.00,0.000,4,0.133,0.047,3058,1123,1062
$GC,16193,0.98,414.9,82.3,10.2,1493,16199,0.17,2.00,0.00,0.000,6,0.041,0.041,3157,2380,1060
$GC,16519,0.85,414.9,29.1,16.3,1554,16526,0.22,1.98,0.00,0.000,4,0.133,0.046,3096,1124,1060
$GC,16557,1.10,473.0,25.0,7.7,1561,16609,0.17,1.95,46.60,0.643,6,0.044,0.040,3195,2365,829
$STATE,16688,end climb,SURFACE_DEPTH_REACHED
$STATE,16688,begin surface coast
$FINISH,1.8,1.021774
$STATE,16703,end surface coast,CONTROL_FINISHED_OK
$STATE,16703,begin surface
$SM_CCo,16776,0.00,0.000,0,0,824,474.41
$SM_GC,2.53,7.80,0.00,0.00,0.035,0.000,0.000,155,2051,824,-8.21,-0.57,474.41
$IRIDIUM_FIX,2515.12,12311.63,030998,141436
$TT8_MAMPS,0.049088
$HUMID,1544
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.10
$XPDR_PINGS,160
$24V_AH,23.6,28.338
$10V_AH,10.7,20.470
$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,36.725,157.950,535.500,0.000,0.000,27.773,45.656,209.706,48.000,0.000,0.000,41.221,0.000,12097.925,699.528,3858.014,507.909,0.000,2143.869,0.000,3228.882,0.000,54.015,0.000
$DEVICE_MAMPS,225.498,69.030,1386.736,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.921,1071.370,1672.171,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91552,1587
$CAP_FILE_SIZE,188119,0
$CFSIZE,260165632,247562240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273, 61.0,1
$GPS,100609,002007,2521.800,12313.800,31,1.0,31,-3.7