version: 66.04
glider: 165
mission: 2
dive: 133
start: 6 10 109 5 45 48
data:
$ID,165
$MISSION,2
$DIVE,133
$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,-4
$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,-119556.85
$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,47
$R_STBD_OVSHOOT,30
$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
$GPS1,053900,2520.488,12314.957,35,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.5
$GPS2,054543,2520.499,12315.069,9,1.6,14,-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,198.2,29216,-16.8,-10.000
$D_GRID,1258
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.87,-170.3,0.0,0.0,0,59,0.00,0.00,-44.50,0.000,2,0.000,0.000,164,2053,2040
$GC,61,-0.87,-170.3,3.2,-3.9,7,113,9.12,2.33,-39.35,0.000,4,0.229,0.064,2518,3476,3455
$GC,160,0.05,-170.3,25.5,-38.6,24,167,0.95,2.20,0.00,0.000,6,0.151,0.038,2827,2072,3457
$GC,487,-0.75,-170.3,59.5,-11.0,85,494,0.68,2.20,0.00,0.000,4,0.073,0.051,2566,3476,3459
$GC,589,-0.31,-170.3,80.0,-21.7,104,595,0.40,2.15,0.00,0.000,6,0.130,0.035,2713,2065,3459
$GC,915,-0.56,-170.3,113.3,-10.2,165,922,0.22,2.25,0.00,0.000,4,0.050,0.057,2600,3473,3460
$GC,953,-0.37,-170.3,118.8,-16.3,172,959,0.25,2.10,0.00,0.000,6,0.120,0.035,2690,2088,3460
$GC,1279,-0.62,-170.3,147.5,-6.1,233,1286,0.20,2.20,0.00,0.000,4,0.052,0.058,2588,3471,3461
$GC,1338,-0.50,-170.3,154.6,-13.3,244,1345,0.17,2.08,0.00,0.000,6,0.120,0.035,2653,2102,3461
$GC,1665,-0.66,-170.3,186.6,-10.1,305,1671,0.15,2.20,0.00,0.000,4,0.061,0.055,2572,3482,3462
$GC,1729,-0.52,-170.3,195.7,-15.6,317,1735,0.20,2.10,0.00,0.000,6,0.118,0.038,2646,2100,3462
$GC,2055,-0.66,-170.3,224.7,-8.1,378,2063,0.12,2.20,0.00,0.000,4,0.067,0.057,2574,3478,3462
$GC,2083,-0.61,-170.3,228.0,-12.3,383,2091,0.12,2.08,0.00,0.000,6,0.122,0.035,2622,2105,3462
$GC,2410,-0.66,-170.3,259.7,-7.9,444,2417,0.00,2.20,0.00,0.000,4,0.000,0.057,2620,3478,3462
$GC,2442,-0.79,-170.3,262.3,-8.5,450,2449,0.12,2.10,0.00,0.000,6,0.046,0.035,2543,2091,3462
$GC,2767,-0.54,-170.3,309.8,-14.3,505,2771,0.30,2.17,0.00,0.000,4,0.130,0.057,2630,3475,3462
$GC,2803,-0.73,-170.3,313.4,-8.4,508,2811,0.10,2.08,0.00,0.000,6,0.051,0.036,2560,2108,3462
$GC,3119,-0.59,-170.3,355.0,-14.3,539,3121,0.22,0.00,0.00,0.000,6,0.127,0.000,2633,2103,3462
$GC,3431,-0.83,-170.3,381.2,-7.2,569,3434,0.20,2.17,0.00,0.000,4,0.055,0.060,2529,3484,3461
$GC,3488,-0.66,-170.3,388.2,-13.2,574,3495,0.20,2.10,0.00,0.000,6,0.126,0.038,2599,2108,3459
$GC,3804,-0.74,-170.3,415.8,-7.7,605,3807,0.00,2.20,0.00,0.000,4,0.000,0.061,2599,3471,3459
$GC,3835,-0.89,-170.3,418.3,-7.1,608,3840,0.15,2.08,0.00,0.000,6,0.046,0.037,2516,2116,3458
$GC,4156,-0.60,-170.3,461.5,-13.7,639,4158,0.35,0.00,0.00,0.000,6,0.132,0.000,2629,2111,3456
$GC,4468,-0.86,-170.3,479.6,-5.1,669,4471,0.22,2.17,0.00,0.000,4,0.053,0.061,2521,3474,3454
$GC,4520,-0.68,-170.3,484.8,-11.4,673,4526,0.20,2.08,0.00,0.000,6,0.126,0.039,2592,2125,3453
$GC,4844,-0.77,-170.3,510.1,-8.1,699,4847,0.00,2.15,0.00,0.000,4,0.000,0.062,2590,3472,3451
$GC,4870,-0.90,-170.3,512.2,-8.5,700,4874,0.12,2.05,0.00,0.000,6,0.051,0.038,2517,2130,3450
$GC,5192,-0.68,-170.3,551.9,-12.4,716,5196,0.22,2.15,0.00,0.000,4,0.134,0.062,2590,3471,3449
$GC,5250,-0.83,-170.3,556.9,-7.7,719,5254,0.08,2.05,0.00,0.000,6,0.059,0.038,2535,2138,3448
$GC,5576,-0.70,-170.3,592.7,-11.2,735,5580,0.17,2.17,0.00,0.000,4,0.133,0.064,2589,3476,3447
$GC,5705,-0.91,-170.3,601.7,-6.4,741,5708,0.17,2.00,0.00,0.000,6,0.060,0.040,2508,2156,3446
$GC,6031,-0.69,-170.3,642.1,-13.0,757,6032,0.28,0.00,0.00,0.000,6,0.133,0.000,2594,2151,3444
$GC,6336,-0.87,-170.3,662.3,-6.1,772,6340,0.15,2.15,0.00,0.000,4,0.065,0.066,2523,3471,3442
$GC,6410,-0.80,-170.3,669.5,-10.4,775,6414,0.10,2.03,0.00,0.000,6,0.130,0.040,2560,2166,3441
$GC,6725,-0.80,-170.3,697.6,-8.8,791,6730,0.00,2.15,0.00,0.000,4,0.000,0.067,2560,3473,3439
$GC,6811,-0.88,-170.3,705.0,-8.7,795,6815,0.00,2.00,0.00,0.000,6,0.000,0.041,2560,2182,3439
$GC,7137,-0.88,-170.3,733.6,-8.7,811,7141,0.00,2.12,0.00,0.000,4,0.000,0.067,2560,3473,3438
$GC,7202,-0.97,-170.3,739.2,-8.9,814,7205,0.15,1.98,0.00,0.000,6,0.067,0.041,2491,2178,3436
$GC,7528,-0.70,-170.3,786.8,-15.9,830,7530,0.32,0.00,0.00,0.000,6,0.139,0.000,2591,2171,3434
$GC,7833,-0.90,-170.3,814.1,-8.5,845,7837,0.17,2.12,0.00,0.000,4,0.064,0.068,2513,3470,3433
$GC,7864,-0.80,-170.3,817.6,-11.9,846,7868,0.12,2.00,0.00,0.000,6,0.134,0.041,2557,2186,3432
$GC,8181,-0.80,-170.3,850.3,-10.2,862,8181,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2184,3431
$GC,8486,-0.85,-170.3,876.7,-8.3,877,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2183,3430
$GC,8792,-0.90,-170.3,900.2,-7.3,892,8793,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,2181,3429
$GC,9096,-0.96,-170.3,921.9,-7.2,907,9100,0.15,2.12,0.00,0.000,4,0.070,0.071,2490,3468,3427
$GC,9160,-0.79,-170.3,928.6,-12.1,910,9164,0.25,2.00,0.00,0.000,6,0.140,0.044,2567,2172,3426
$GC,9486,-0.90,-170.3,951.5,-6.4,926,9488,0.12,0.00,0.00,0.000,6,0.076,0.000,2510,2170,3426
$GC,9791,-0.77,-170.3,983.6,-11.2,941,9795,0.20,2.15,0.00,0.000,4,0.140,0.071,2569,3468,3425
$GC,9838,-0.94,-170.3,987.3,-7.3,943,9843,0.12,2.00,0.00,0.000,6,0.056,0.043,2502,2193,3424
$STATE,9873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9873,begin apogee
$GC,9877,-0.20,0.0,991.2,11.0,945,10020,0.80,0.00,136.07,1.389,6,0.140,0.000,2756,2528,2758
$STATE,10020,end apogee,CONTROL_FINISHED_OK
$STATE,10020,begin climb
$GC,10022,0.87,170.3,996.2,0.0,952,10174,0.93,2.08,145.32,1.345,4,0.049,0.069,3108,3687,2063
$GC,10222,0.13,170.3,975.6,21.1,961,10227,0.85,1.90,0.00,0.000,6,0.174,0.043,2866,2542,2059
$GC,10538,0.52,290.8,956.8,5.3,977,10648,0.32,2.45,104.53,1.315,4,0.052,0.057,3011,1111,1573
$GC,10717,0.42,290.8,932.6,15.3,985,10722,0.17,2.35,0.00,0.000,6,0.141,0.051,2957,2504,1567
$GC,11033,0.42,290.8,897.5,10.6,1001,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2504,1566
$GC,11338,0.47,290.8,865.2,10.7,1016,11342,0.00,2.28,0.00,0.000,4,0.000,0.054,2965,1111,1563
$GC,11381,0.55,290.8,860.7,10.4,1018,11385,0.00,2.28,0.00,0.000,6,0.000,0.050,2966,2511,1562
$GC,11707,0.55,290.8,823.5,11.1,1034,11711,0.00,2.28,0.00,0.000,4,0.000,0.053,2975,1110,1562
$GC,11755,0.55,290.8,817.9,12.1,1036,11759,0.00,2.22,0.00,0.000,6,0.000,0.048,2975,2492,1561
$GC,12076,0.55,290.8,777.4,12.9,1052,12080,0.00,2.22,0.00,0.000,4,0.000,0.052,2984,1112,1561
$GC,12107,0.55,290.8,773.3,12.2,1053,12112,0.00,2.22,0.00,0.000,6,0.000,0.048,2985,2494,1561
$GC,12424,0.48,290.8,728.9,13.9,1069,12427,0.00,2.20,0.00,0.000,4,0.000,0.052,2994,1110,1561
$GC,12444,0.43,290.8,726.1,13.3,1070,12449,0.10,2.20,0.00,0.000,6,0.143,0.048,2962,2485,1560
$GC,12771,0.43,290.8,687.9,12.0,1086,12775,0.00,1.95,0.00,0.000,4,0.000,0.064,2962,3687,1560
$GC,12807,0.43,290.8,683.1,14.0,1087,12814,0.00,1.88,0.00,0.000,6,0.000,0.041,2969,2480,1560
$GC,13118,0.43,290.8,644.4,12.4,1103,13122,0.00,2.15,0.00,0.000,4,0.000,0.052,2978,1127,1560
$GC,13192,0.49,290.8,635.4,11.3,1106,13197,0.00,2.17,0.00,0.000,6,0.000,0.048,2978,2489,1559
$GC,13508,0.49,290.8,596.7,12.3,1122,13509,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2489,1559
$GC,13813,0.49,290.8,558.7,12.8,1137,13817,0.00,1.92,0.00,0.000,4,0.000,0.064,2979,3681,1558
$GC,13855,0.49,290.8,553.0,14.5,1139,13860,0.00,1.85,0.00,0.000,6,0.000,0.042,2986,2486,1559
$GC,14182,0.49,290.8,508.9,13.1,1155,14186,0.00,2.15,0.00,0.000,4,0.000,0.051,2996,1129,1559
$GC,14310,0.49,290.8,492.3,11.3,1163,14314,0.00,2.15,0.00,0.000,6,0.000,0.048,2996,2481,1557
$GC,14632,0.49,290.8,449.7,12.9,1194,14635,0.00,2.15,0.00,0.000,4,0.000,0.051,3006,1116,1557
$GC,14689,0.49,290.8,442.3,12.7,1199,14696,0.00,2.15,0.00,0.000,6,0.000,0.047,3006,2470,1557
$GC,15006,0.44,290.8,400.8,12.8,1230,15009,0.15,2.10,0.00,0.000,4,0.137,0.050,2971,1127,1557
$GC,15052,0.61,299.5,395.9,9.7,1234,15063,0.10,2.12,6.20,0.828,6,0.055,0.046,3031,2468,1537
$GC,15380,0.49,299.5,352.4,12.7,1266,15384,0.17,2.12,0.00,0.000,4,0.137,0.049,2988,1129,1538
$GC,15449,0.65,331.0,345.4,8.8,1272,15483,0.08,2.10,28.62,0.934,6,0.062,0.045,3039,2452,1408
$GC,15795,0.56,331.0,293.1,17.5,1309,15801,0.15,0.00,0.00,0.000,6,0.137,0.000,2995,2452,1406
$GC,16120,0.71,331.0,251.0,12.7,1370,16126,0.15,0.00,0.00,0.000,6,0.064,0.000,3066,2452,1405
$GC,16446,0.57,331.0,198.3,13.6,1431,16452,0.22,0.00,0.00,0.000,6,0.138,0.000,2998,2452,1404
$GC,16772,0.84,359.8,167.8,8.9,1492,16805,0.25,2.15,24.38,0.772,4,0.050,0.049,3125,1127,1291
$GC,16997,0.67,359.8,134.8,14.7,1533,17004,0.28,2.08,0.00,0.000,6,0.138,0.044,3035,2427,1288
$GC,17324,0.93,391.2,107.9,8.8,1594,17356,0.22,2.00,26.77,0.709,4,0.048,0.055,3141,3694,1163
$GC,17365,0.73,391.2,101.9,16.9,1601,17372,0.28,2.00,0.00,0.000,6,0.130,0.036,3061,2412,1163
$GC,17692,1.10,492.0,75.1,6.0,1662,17780,0.30,2.08,81.80,0.670,4,0.044,0.045,3206,1118,750
$GC,17817,0.90,492.0,55.2,17.7,1683,17824,0.28,2.10,0.00,0.000,6,0.134,0.041,3105,2418,749
$GC,18144,1.17,515.4,24.1,9.1,1744,18171,0.25,2.12,22.30,0.610,4,0.045,0.045,3239,1111,655
$GC,18197,0.94,515.4,14.2,21.5,1753,18203,0.35,2.08,0.00,0.000,6,0.130,0.041,3124,2414,649
$STATE,18281,end climb,SURFACE_DEPTH_REACHED
$STATE,18281,begin surface coast
$FINISH,1.5,1.014580
$STATE,18303,end surface coast,CONTROL_FINISHED_OK
$STATE,18303,begin surface
$SM_CCo,18377,0.00,0.000,0,0,645,518.56
$SM_GC,2.16,7.55,0.00,0.00,0.033,0.000,0.000,157,2063,645,-8.22,-0.23,518.56
$IRIDIUM_FIX,2512.73,12313.63,040998,000043
$TT8_MAMPS,0.047554
$HUMID,1550
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,26.20
$XPDR_PINGS,167
$24V_AH,23.6,28.742
$10V_AH,10.7,20.783
$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,31.550,158.200,576.000,0.000,0.000,23.756,33.682,231.231,49.750,0.000,0.000,16.546,0.000,13383.763,726.708,4100.832,533.689,0.000,2250.228,0.000,3465.333,0.000,55.044,0.000
$DEVICE_MAMPS,229.333,71.331,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1201.029,1248.767,1960.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101024,1773
$CAP_FILE_SIZE,197380,0
$CFSIZE,260165632,247349248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.311, 70.0,1
$GPS,100609,105301,2519.021,12316.865,37,1.1,37,-3.7