version: 66.04
glider: 165
mission: 2
dive: 134
start: 6 10 109 11 0 8
data:
$ID,165
$MISSION,2
$DIVE,134
$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,-119571.05
$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,44
$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
$GPS1,105301,2519.021,12316.865,37,1.1,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-66.4
$GPS2,110002,2519.039,12316.992,11,1.9,11,-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,201.4,25291,-16.8,-10.000
$D_GRID,1423
$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,-170.3,0.0,0.0,0,76,0.00,0.00,-62.47,0.000,2,0.000,0.000,157,2059,2209
$GC,78,-0.87,-170.3,3.4,-5.4,10,130,9.10,2.33,-33.17,0.000,4,0.229,0.064,2521,3481,3455
$GC,171,-0.00,-170.3,23.7,-33.3,26,178,0.90,2.20,0.00,0.000,6,0.160,0.038,2809,2069,3457
$GC,498,-0.81,-170.3,55.3,-10.3,87,505,0.68,2.22,0.00,0.000,4,0.054,0.050,2544,3488,3458
$GC,589,-0.23,-170.3,73.2,-26.0,104,597,0.57,2.15,0.00,0.000,6,0.136,0.040,2735,2083,3457
$GC,917,-0.56,-170.3,107.6,-7.2,165,923,0.28,0.00,0.00,0.000,6,0.044,0.000,2600,2079,3459
$GC,1243,-0.34,-170.3,161.6,-11.8,226,1250,0.32,2.22,0.00,0.000,4,0.127,0.058,2699,3480,3459
$GC,1291,-0.76,-170.3,164.7,-5.0,235,1298,0.30,2.10,0.00,0.000,6,0.032,0.033,2533,2091,3460
$GC,1618,-0.34,-170.3,221.0,-16.9,296,1626,0.52,2.20,0.00,0.000,4,0.135,0.061,2699,3470,3460
$GC,1636,-0.19,-170.3,223.3,-14.0,299,1642,0.15,2.05,0.00,0.000,6,0.087,0.035,2761,2114,3461
$GC,1962,-1.10,-170.3,250.4,-9.6,360,1968,0.75,2.15,0.00,0.000,4,0.064,0.054,2464,3479,3461
$GC,2021,-0.56,-170.3,258.7,-17.6,371,2027,0.55,2.05,0.00,0.000,6,0.143,0.036,2638,2112,3461
$GC,2347,-0.75,-170.3,289.9,-9.4,432,2353,0.17,0.00,0.00,0.000,6,0.055,0.000,2547,2108,3461
$GC,2664,-0.54,-170.3,334.4,-13.1,470,2669,0.30,2.17,0.00,0.000,4,0.128,0.060,2644,3467,3461
$GC,2728,-0.88,-170.3,339.2,-5.9,476,2732,0.25,2.05,0.00,0.000,6,0.037,0.036,2511,2123,3461
$GC,3050,-0.53,-170.3,390.7,-15.4,507,3051,0.43,0.00,0.00,0.000,6,0.132,0.000,2649,2119,3460
$GC,3361,-0.86,-170.3,410.3,-5.9,537,3364,0.25,2.15,0.00,0.000,4,0.048,0.060,2520,3473,3457
$GC,3407,-0.61,-170.3,415.7,-13.4,541,3414,0.28,2.05,0.00,0.000,6,0.126,0.038,2615,2129,3456
$GC,3723,-0.78,-170.3,441.5,-7.4,572,3727,0.15,2.17,0.00,0.000,4,0.061,0.061,2538,3478,3454
$GC,3760,-0.67,-170.3,445.3,-11.6,575,3766,0.17,2.08,0.00,0.000,6,0.121,0.038,2600,2125,3453
$GC,4075,-0.77,-170.3,471.7,-8.4,606,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2122,3451
$GC,4387,-0.88,-170.3,499.2,-8.7,636,4388,0.20,0.00,0.00,0.000,6,0.055,0.000,2506,2121,3449
$GC,4702,-0.57,-170.3,546.5,-14.6,652,4704,0.40,0.00,0.00,0.000,6,0.137,0.000,2634,2121,3447
$GC,5007,-0.89,-170.3,562.3,-4.3,667,5011,0.28,2.17,0.00,0.000,4,0.048,0.064,2506,3485,3445
$GC,5102,-0.67,-170.3,572.7,-11.1,671,5107,0.28,2.10,0.00,0.000,6,0.129,0.040,2600,2125,3444
$GC,5418,-0.85,-170.3,591.9,-5.1,687,5422,0.15,2.20,0.00,0.000,4,0.062,0.064,2524,3478,3442
$GC,5509,-0.74,-170.3,600.4,-10.1,691,5513,0.12,2.05,0.00,0.000,6,0.130,0.040,2570,2147,3442
$GC,5830,-0.74,-170.3,628.9,-9.3,707,5834,0.00,2.15,0.00,0.000,4,0.000,0.064,2569,3484,3440
$GC,5904,-0.84,-170.3,635.5,-8.4,710,5908,0.00,2.05,0.00,0.000,6,0.000,0.040,2569,2156,3440
$GC,6220,-0.90,-170.3,660.2,-8.1,726,6221,0.12,0.00,0.00,0.000,6,0.072,0.000,2507,2154,3437
$GC,6526,-0.68,-170.3,702.0,-13.9,741,6529,0.30,2.12,0.00,0.000,4,0.135,0.067,2600,3471,3436
$GC,6572,-0.96,-170.3,706.8,-7.9,743,6577,0.20,2.03,0.00,0.000,6,0.044,0.040,2494,2165,3435
$GC,6894,-0.71,-170.3,749.7,-13.2,759,6899,0.30,2.15,0.00,0.000,4,0.137,0.067,2587,3473,3433
$GC,6968,-0.94,-170.3,755.6,-6.1,762,6972,0.17,2.00,0.00,0.000,6,0.046,0.041,2494,2181,3433
$GC,7284,-0.68,-170.3,794.2,-12.2,778,7288,0.32,2.10,0.00,0.000,4,0.134,0.067,2590,3481,3431
$GC,7358,-0.93,-170.3,799.6,-5.5,781,7363,0.17,2.00,0.00,0.000,6,0.048,0.041,2496,2193,3430
$GC,7674,-0.71,-170.3,836.1,-11.6,797,7678,0.30,2.40,0.00,0.000,4,0.135,0.058,2590,684,3429
$GC,7749,-0.91,-170.3,842.0,-7.5,800,7753,0.15,2.35,0.00,0.000,6,0.051,0.048,2510,2164,3428
$GC,8064,-0.76,-170.3,874.8,-10.4,816,8069,0.20,2.12,0.00,0.000,4,0.143,0.066,2563,3473,3427
$GC,8133,-0.90,-170.3,880.2,-7.4,819,8138,0.00,1.98,0.00,0.000,6,0.000,0.041,2563,2198,3426
$GC,8455,-0.98,-170.3,905.0,-8.3,835,8458,0.17,2.08,0.00,0.000,4,0.064,0.067,2481,3475,3425
$GC,8496,-0.76,-170.3,909.8,-12.4,837,8501,0.25,2.00,0.00,0.000,6,0.137,0.042,2566,2190,3424
$GC,8824,-0.87,-170.3,938.4,-8.4,853,8827,0.00,2.08,0.00,0.000,4,0.000,0.067,2564,3471,3423
$GC,8876,-1.01,-170.3,942.9,-8.3,855,8881,0.17,1.98,0.00,0.000,6,0.051,0.041,2474,2198,3423
$GC,9193,-0.73,-170.3,988.0,-14.7,871,9196,0.35,2.08,0.00,0.000,4,0.144,0.067,2576,3473,3421
$STATE,9211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9211,begin apogee
$GC,9216,-0.20,0.0,990.5,12.5,872,9355,0.52,0.00,135.68,1.384,6,0.107,0.000,2757,2519,2759
$STATE,9356,end apogee,CONTROL_FINISHED_OK
$STATE,9356,begin climb
$GC,9357,0.87,170.3,996.7,0.0,879,9509,0.93,2.03,144.90,1.342,4,0.043,0.066,3118,3677,2062
$GC,9546,0.11,170.3,979.2,19.3,887,9554,0.93,1.88,0.00,0.000,6,0.173,0.041,2863,2538,2058
$GC,9857,0.54,304.0,962.0,4.7,903,9978,0.35,2.42,115.65,1.315,4,0.050,0.056,3019,1118,1518
$GC,10026,0.39,304.0,938.9,16.5,911,10031,0.22,2.33,0.00,0.000,6,0.143,0.051,2950,2496,1514
$GC,10353,0.48,304.0,902.3,11.0,927,10357,0.00,2.28,0.00,0.000,4,0.000,0.054,2959,1114,1510
$GC,10374,0.58,304.0,900.0,11.3,928,10378,0.10,2.25,0.00,0.000,6,0.058,0.049,3014,2496,1508
$GC,10700,0.38,304.0,844.6,17.6,944,10705,0.25,1.92,0.00,0.000,4,0.143,0.064,2940,3683,1509
$GC,10721,0.31,304.0,841.3,15.7,945,10726,0.08,1.88,0.00,0.000,6,0.140,0.042,2922,2484,1508
$GC,11049,0.57,333.3,810.9,8.8,961,11078,0.22,2.20,25.38,1.240,4,0.056,0.054,3031,1126,1398
$GC,11201,0.41,333.3,786.8,16.7,968,11205,0.22,2.20,0.00,0.000,6,0.146,0.049,2959,2475,1395
$GC,11517,0.50,333.3,751.2,10.8,984,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2476,1394
$GC,11822,0.60,333.3,716.0,11.7,999,11826,0.15,2.17,0.00,0.000,4,0.067,0.054,3032,1127,1393
$GC,11869,0.45,333.3,708.3,17.4,1001,11874,0.17,2.17,0.00,0.000,6,0.141,0.049,2974,2478,1393
$GC,12190,0.45,333.3,664.6,13.9,1017,12195,0.00,2.17,0.00,0.000,4,0.000,0.052,2983,1127,1393
$GC,12222,0.51,333.3,659.9,13.2,1018,12226,0.00,2.12,0.00,0.000,6,0.000,0.048,2983,2456,1393
$GC,12538,0.51,333.3,612.5,15.3,1034,12542,0.00,2.12,0.00,0.000,4,0.000,0.051,2991,1129,1393
$GC,12575,0.51,333.3,607.2,14.2,1035,12583,0.00,2.12,0.00,0.000,6,0.000,0.048,2992,2462,1391
$GC,12886,0.51,333.3,558.4,16.2,1051,12889,0.00,1.98,0.00,0.000,4,0.000,0.063,2992,3686,1391
$GC,12917,0.51,333.3,553.0,17.2,1052,12921,0.00,1.92,0.00,0.000,6,0.000,0.041,3000,2452,1391
$GC,13233,0.51,333.3,505.1,14.8,1068,13237,0.00,2.10,0.00,0.000,4,0.000,0.051,3010,1126,1392
$GC,13286,0.51,333.3,497.2,14.5,1071,13290,0.00,2.10,0.00,0.000,6,0.000,0.048,3010,2448,1391
$GC,13607,0.51,333.3,450.5,14.4,1102,13611,0.00,2.10,0.00,0.000,4,0.000,0.051,3019,1129,1391
$GC,13708,0.51,333.3,435.6,13.8,1111,13716,0.10,2.08,0.00,0.000,6,0.132,0.047,2985,2432,1390
$GC,14023,0.60,333.3,397.5,12.6,1142,14028,0.00,2.08,0.00,0.000,4,0.000,0.050,2993,1129,1389
$GC,14066,0.70,333.3,391.9,13.7,1146,14071,0.10,2.05,0.00,0.000,6,0.058,0.046,3053,2422,1390
$GC,14387,0.52,333.3,336.3,17.3,1177,14391,0.22,2.00,0.00,0.000,4,0.139,0.061,2985,3696,1390
$GC,14424,0.52,333.3,330.9,14.0,1180,14431,0.00,1.98,0.00,0.000,6,0.000,0.039,2994,2415,1390
$GC,14742,0.62,333.3,289.1,14.1,1218,14749,0.00,2.03,0.00,0.000,4,0.000,0.050,3002,1126,1390
$GC,14838,0.75,333.3,275.0,14.8,1236,14845,0.12,2.00,0.00,0.000,6,0.051,0.045,3078,2399,1389
$GC,15165,0.55,333.3,217.6,13.8,1297,15171,0.28,2.03,0.00,0.000,4,0.141,0.059,2994,3693,1389
$GC,15202,0.64,333.3,213.5,10.1,1304,15209,0.00,2.00,0.00,0.000,6,0.000,0.038,3003,2388,1390
$GC,15529,0.79,333.3,182.7,11.2,1365,15534,0.20,0.00,0.00,0.000,6,0.053,0.000,3106,2384,1390
$GC,15854,0.57,333.3,123.7,17.1,1426,15861,0.35,2.08,0.00,0.000,4,0.142,0.058,2999,3687,1390
$GC,15881,0.64,333.3,120.2,12.3,1431,15889,0.00,1.98,0.00,0.000,6,0.000,0.038,3007,2394,1390
$GC,16209,1.15,483.0,99.1,4.1,1492,16336,0.47,2.12,120.20,0.705,4,0.038,0.047,3229,1111,788
$GC,16388,0.83,483.0,64.6,21.8,1522,16395,0.43,2.10,0.00,0.000,6,0.143,0.041,3096,2405,785
$GC,16715,1.13,506.7,30.4,9.1,1583,16742,0.25,2.10,21.52,0.623,4,0.046,0.046,3225,1113,690
$GC,16810,0.94,506.7,12.6,20.9,1600,16817,0.30,2.00,0.00,0.000,6,0.130,0.041,3125,2365,685
$STATE,16878,end climb,SURFACE_DEPTH_REACHED
$STATE,16878,begin surface coast
$FINISH,1.7,1.009560
$STATE,16906,end surface coast,CONTROL_FINISHED_OK
$STATE,16906,begin surface
$SM_CCo,16979,0.00,0.000,0,0,682,509.24
$SM_GC,2.28,7.57,0.00,0.00,0.035,0.000,0.000,159,2055,682,-8.22,-0.45,509.24
$IRIDIUM_FIX,2512.73,12316.93,040998,050536
$TT8_MAMPS,0.048321
$HUMID,1530
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.50
$XPDR_PINGS,173
$24V_AH,23.7,28.954
$10V_AH,10.7,20.927
$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,35.300,155.550,563.325,0.000,0.000,28.188,38.636,241.996,51.250,0.000,0.000,13.578,0.000,12312.265,722.875,3793.804,537.690,0.000,2159.069,0.000,3199.569,0.000,54.022,0.000
$DEVICE_MAMPS,228.566,67.496,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.298,1112.786,1742.456,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91678,1618
$CAP_FILE_SIZE,186524,0
$CFSIZE,260165632,247263232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274, 68.6,1
$GPS,100609,154406,2517.421,12317.961,35,1.2,40,-3.7