version: 66.04
glider: 165
mission: 2
dive: 136
start: 6 10 109 20 48 19
data:
$ID,165
$MISSION,2
$DIVE,136
$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,-119601.79
$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,37
$R_STBD_OVSHOOT,39
$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
$GPS1,203801,2515.618,12319.176,37,1.6,37,-3.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.3
$GPS2,204814,2515.667,12319.324,13,1.6,13,-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,203.4,17958,-16.8,-10.000
$D_GRID,1737
$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,-170.3,0.0,0.0,0,62,0.00,0.00,-48.12,0.000,2,0.000,0.000,156,2093,2191
$GC,64,-0.87,-170.3,3.4,-5.7,8,110,9.15,2.25,-32.90,0.000,4,0.230,0.064,2525,3475,3456
$GC,152,0.03,-170.3,23.9,-35.4,23,158,0.90,2.20,0.00,0.000,6,0.143,0.040,2826,2077,3458
$GC,478,-0.87,-170.3,57.1,-11.6,84,485,0.77,2.20,0.00,0.000,4,0.075,0.052,2530,3479,3459
$GC,543,-0.30,-170.3,69.5,-24.7,96,549,0.55,2.17,0.00,0.000,6,0.138,0.035,2712,2063,3459
$GC,869,-0.47,-170.3,104.8,-8.8,157,876,0.15,2.25,0.00,0.000,4,0.058,0.055,2632,3469,3460
$GC,928,-0.36,-170.3,113.2,-15.3,168,935,0.17,2.10,0.00,0.000,6,0.120,0.034,2696,2084,3460
$GC,1255,-0.63,-170.3,142.4,-5.1,229,1262,0.22,2.17,0.00,0.000,4,0.048,0.049,2579,681,3460
$GC,1282,-0.51,-170.3,144.9,-10.8,234,1290,0.20,2.20,0.00,0.000,6,0.130,0.041,2648,2095,3461
$GC,1610,-0.59,-170.3,176.7,-9.0,295,1616,0.00,2.17,0.00,0.000,4,0.000,0.056,2647,3472,3461
$GC,1691,-0.78,-170.3,183.5,-7.9,310,1698,0.17,2.08,0.00,0.000,6,0.041,0.040,2545,2104,3461
$GC,2018,-0.44,-170.3,236.0,-15.3,371,2024,0.40,2.20,0.00,0.000,4,0.132,0.048,2681,673,3461
$GC,2076,-0.84,-170.3,240.8,-6.0,382,2085,0.30,2.20,0.00,0.000,6,0.034,0.039,2522,2099,3462
$GC,2405,-0.43,-170.3,295.0,-17.0,443,2411,0.47,2.15,0.00,0.000,4,0.137,0.058,2674,3482,3462
$GC,2453,-0.88,-170.3,298.7,-4.2,452,2460,0.32,2.08,0.00,0.000,6,0.033,0.035,2495,2108,3461
$GC,2769,-0.43,-170.3,353.3,-17.7,484,2773,0.57,2.15,0.00,0.000,4,0.136,0.058,2674,3473,3462
$GC,2790,-0.43,-170.3,355.8,-12.0,486,2794,0.00,2.08,0.00,0.000,6,0.000,0.035,2674,2106,3462
$GC,3112,-1.19,-170.3,379.2,-8.5,517,3115,0.62,2.15,0.00,0.000,4,0.052,0.056,2421,3475,3461
$GC,3218,-0.57,-170.3,399.3,-22.6,527,3223,0.62,2.08,0.00,0.000,6,0.149,0.038,2636,2118,3459
$GC,3539,-0.85,-170.3,425.5,-7.0,558,3543,0.25,2.15,0.00,0.000,4,0.049,0.060,2517,3482,3458
$GC,3581,-0.62,-170.3,430.6,-13.9,562,3585,0.28,2.08,0.00,0.000,6,0.124,0.037,2612,2124,3457
$GC,3902,-0.78,-170.3,457.8,-7.9,593,3903,0.15,0.00,0.00,0.000,6,0.060,0.000,2537,2120,3455
$GC,4214,-0.59,-170.3,497.4,-12.6,623,4218,0.25,2.15,0.00,0.000,4,0.131,0.061,2616,3469,3453
$GC,4293,-0.84,-170.3,503.3,-5.8,628,4297,0.15,2.05,0.00,0.000,6,0.044,0.038,2530,2131,3452
$GC,4619,-0.63,-170.3,548.3,-15.6,644,4623,0.28,2.17,0.00,0.000,4,0.130,0.063,2616,3473,3450
$GC,4677,-0.90,-170.3,554.6,-9.4,646,4684,0.20,2.05,0.00,0.000,6,0.041,0.038,2509,2139,3450
$GC,4988,-0.60,-170.3,604.7,-16.1,662,4990,0.38,0.00,0.00,0.000,6,0.133,0.000,2629,2134,3448
$GC,5293,-0.91,-170.3,619.9,-3.6,677,5297,0.28,2.15,0.00,0.000,4,0.049,0.063,2504,3465,3446
$GC,5384,-0.71,-170.3,629.4,-12.0,681,5388,0.22,2.03,0.00,0.000,6,0.129,0.039,2583,2150,3445
$GC,5706,-0.83,-170.3,655.6,-8.6,697,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2146,3443
$GC,6011,-0.95,-170.3,683.6,-9.3,712,6014,0.20,2.12,0.00,0.000,4,0.058,0.065,2491,3471,3442
$GC,6052,-0.71,-170.3,689.0,-14.0,714,6057,0.28,2.03,0.00,0.000,6,0.130,0.040,2584,2164,3441
$GC,6380,-0.85,-170.3,718.1,-8.4,730,6384,0.12,2.12,0.00,0.000,4,0.070,0.064,2521,3477,3439
$GC,6410,-0.76,-170.3,721.4,-11.1,731,6417,0.12,2.03,0.00,0.000,6,0.130,0.041,2566,2168,3438
$GC,6721,-0.83,-170.3,749.2,-8.8,747,6725,0.00,2.12,0.00,0.000,4,0.000,0.064,2563,3468,3436
$GC,6828,-0.95,-170.3,758.1,-7.3,752,6832,0.10,2.00,0.00,0.000,6,0.056,0.040,2499,2177,3435
$GC,7154,-0.72,-170.3,796.8,-11.5,768,7158,0.28,2.38,0.00,0.000,4,0.137,0.056,2585,680,3434
$GC,7180,-0.72,-170.3,799.2,-8.9,769,7184,0.00,2.35,0.00,0.000,6,0.000,0.047,2585,2162,3433
$GC,7501,-0.90,-170.3,818.3,-5.8,785,7505,0.15,2.10,0.00,0.000,4,0.063,0.064,2510,3467,3432
$GC,7582,-0.78,-170.3,825.3,-9.3,788,7588,0.17,1.95,0.00,0.000,6,0.135,0.040,2564,2186,3431
$GC,7891,-0.86,-170.3,848.0,-7.3,804,7895,0.00,2.10,0.00,0.000,4,0.000,0.066,2563,3464,3430
$GC,7913,-0.95,-170.3,849.4,-6.9,805,7916,0.10,1.98,0.00,0.000,6,0.058,0.040,2501,2192,3429
$GC,8239,-0.75,-170.3,886.9,-12.0,821,8241,0.25,0.00,0.00,0.000,6,0.137,0.000,2577,2186,3428
$GC,8544,-0.90,-170.3,908.7,-6.7,836,8548,0.15,2.08,0.00,0.000,4,0.067,0.067,2508,3469,3427
$GC,8581,-0.79,-170.3,912.1,-9.8,837,8589,0.15,1.98,0.00,0.000,6,0.130,0.041,2560,2200,3426
$GC,8892,-0.87,-170.3,934.3,-6.8,853,8896,0.00,2.40,0.00,0.000,4,0.000,0.058,2561,679,3425
$GC,8923,-0.94,-170.3,936.6,-7.7,854,8929,0.10,2.40,0.00,0.000,6,0.061,0.048,2503,2182,3424
$GC,9233,-0.77,-170.3,968.3,-10.8,870,9237,0.22,2.10,0.00,0.000,4,0.141,0.067,2563,3473,3423
$GC,9281,-0.92,-170.3,972.0,-6.6,872,9286,0.08,1.98,0.00,0.000,6,0.062,0.041,2511,2201,3423
$STATE,9478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9478,begin apogee
$GC,9482,-0.20,0.0,991.9,10.4,882,9623,0.75,0.00,135.65,1.385,6,0.133,0.000,2754,2516,2758
$STATE,9623,end apogee,CONTROL_FINISHED_OK
$STATE,9623,begin climb
$GC,9625,0.87,170.3,995.7,0.0,889,9773,0.95,0.00,144.77,1.344,6,0.044,0.000,3117,2516,2064
$GC,10070,0.20,170.3,916.7,22.4,911,10072,0.77,0.00,0.00,0.000,6,0.166,0.000,2891,2516,2056
$GC,10375,0.41,202.8,887.9,8.7,926,10407,0.17,2.30,27.58,1.263,4,0.061,0.054,2978,1129,1931
$GC,10487,0.33,202.8,874.0,13.0,931,10491,0.15,2.30,0.00,0.000,6,0.143,0.051,2931,2515,1927
$GC,10802,0.38,202.8,838.5,11.3,947,10806,0.00,2.25,0.00,0.000,4,0.000,0.051,2939,1130,1925
$GC,10823,0.44,202.8,836.1,10.5,948,10827,0.00,2.28,0.00,0.000,6,0.000,0.048,2939,2530,1925
$GC,11149,0.44,202.8,799.0,11.6,964,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2530,1924
$GC,11454,0.44,202.8,763.1,11.8,979,11458,0.00,2.25,0.00,0.000,4,0.000,0.051,2949,1135,1923
$GC,11519,0.44,202.8,755.8,11.4,982,11522,0.00,2.22,0.00,0.000,6,0.000,0.048,2949,2517,1923
$GC,11844,0.44,202.8,720.6,10.2,998,11849,0.00,1.90,0.00,0.000,4,0.000,0.063,2949,3692,1923
$GC,11930,0.37,202.8,710.7,12.4,1002,11934,0.00,1.77,0.00,0.000,6,0.000,0.041,2957,2541,1922
$GC,12256,0.37,202.8,671.8,11.9,1018,12260,0.00,2.25,0.00,0.000,4,0.000,0.051,2968,1129,1921
$GC,12288,0.37,202.8,668.1,12.1,1019,12292,0.00,2.25,0.00,0.000,6,0.000,0.048,2968,2534,1921
$GC,12603,0.31,202.8,631.2,11.1,1035,12608,0.17,2.25,0.00,0.000,4,0.145,0.050,2925,1126,1920
$GC,12710,0.55,269.4,622.7,7.4,1040,12775,0.15,2.22,55.45,1.145,6,0.052,0.049,3004,2513,1659
$GC,13077,0.43,269.4,574.5,13.8,1058,13082,0.17,2.25,0.00,0.000,4,0.143,0.049,2964,1129,1653
$GC,13098,0.43,269.4,571.8,12.9,1059,13103,0.00,2.22,0.00,0.000,6,0.000,0.046,2964,2501,1653
$GC,13425,0.48,269.4,536.1,11.5,1075,13426,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2501,1652
$GC,13730,0.55,269.4,498.9,11.8,1090,13734,0.00,2.22,0.00,0.000,4,0.000,0.051,2973,1127,1652
$GC,13784,0.62,269.4,492.9,11.3,1095,13788,0.10,2.17,0.00,0.000,6,0.058,0.047,3030,2489,1651
$GC,14104,0.43,269.4,449.2,13.3,1126,14105,0.25,0.00,0.00,0.000,6,0.140,0.000,2956,2489,1650
$GC,14416,0.61,303.7,421.8,8.6,1156,14450,0.17,2.20,28.67,0.986,4,0.060,0.050,3052,1118,1520
$GC,14481,0.42,303.7,413.0,13.5,1162,14485,0.30,2.20,0.00,0.000,6,0.146,0.045,2957,2473,1518
$GC,14802,0.65,334.7,384.4,8.8,1193,14837,0.20,2.22,27.10,0.948,4,0.055,0.050,3055,1129,1393
$GC,14890,0.51,334.7,371.0,16.4,1201,14894,0.20,2.17,0.00,0.000,6,0.137,0.046,2990,2465,1391
$GC,15210,0.61,334.7,331.2,12.4,1232,15214,0.00,2.15,0.00,0.000,4,0.000,0.048,2998,1129,1390
$GC,15236,0.71,334.7,327.9,12.5,1234,15244,0.10,2.12,0.00,0.000,6,0.054,0.044,3064,2456,1389
$GC,15557,0.53,334.7,271.4,15.6,1280,15564,0.25,2.12,0.00,0.000,4,0.137,0.048,2996,1125,1389
$GC,15574,0.47,334.7,269.1,14.5,1283,15580,0.00,2.08,0.00,0.000,6,0.000,0.044,2997,2435,1389
$GC,15899,0.60,334.7,235.8,11.2,1344,15906,0.00,2.08,0.00,0.000,4,0.000,0.048,3005,1129,1389
$GC,15953,0.75,334.7,229.1,12.6,1354,15960,0.12,2.05,0.00,0.000,6,0.050,0.043,3087,2426,1389
$GC,16280,0.55,334.7,168.4,14.1,1415,16286,0.30,2.00,0.00,0.000,4,0.137,0.057,2995,3691,1389
$GC,16306,0.64,334.7,165.3,11.6,1420,16313,0.00,1.90,0.00,0.000,6,0.000,0.036,3002,2443,1389
$GC,16633,0.99,406.1,140.1,7.2,1481,16698,0.35,2.12,58.22,0.754,4,0.041,0.048,3171,1115,1101
$GC,16724,0.73,406.1,125.4,17.9,1496,16730,0.32,2.15,0.00,0.000,6,0.140,0.043,3054,2445,1100
$GC,17051,0.99,443.0,97.5,8.5,1557,17090,0.20,2.15,30.75,0.695,4,0.050,0.045,3166,1129,952
$GC,17159,0.84,443.0,78.7,19.7,1576,17165,0.20,2.10,0.00,0.000,6,0.130,0.041,3088,2446,949
$GC,17485,1.12,475.7,41.3,8.7,1637,17518,0.25,0.00,27.33,0.642,6,0.048,0.000,3206,2446,818
$STATE,17697,end climb,SURFACE_DEPTH_REACHED
$STATE,17697,begin surface coast
$FINISH,1.6,1.008998
$STATE,17708,end surface coast,CONTROL_FINISHED_OK
$STATE,17708,begin surface
$SM_CCo,17782,0.00,0.000,0,0,814,477.11
$SM_GC,2.44,7.80,0.00,0.00,0.038,0.000,0.000,164,2069,814,-8.21,-0.06,477.11
$IRIDIUM_FIX,2507.97,12317.61,040998,202039
$TT8_MAMPS,0.048321
$HUMID,1532
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.70
$XPDR_PINGS,182
$24V_AH,23.7,29.352
$10V_AH,10.7,21.228
$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,34.950,164.000,535.525,0.000,0.000,48.999,80.154,304.508,53.500,0.000,0.000,15.326,0.000,13078.082,714.257,3884.910,684.602,0.000,2157.758,0.000,3270.271,0.000,53.999,0.000
$DEVICE_MAMPS,230.100,67.496,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1136.249,1178.051,1842.893,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94748,1678
$CAP_FILE_SIZE,195223,0
$CFSIZE,260165632,247062528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.204, 60.3,1
$GPS,110609,014536,2514.221,12319.772,36,1.2,36,-3.7