version: 66.04
glider: 165
mission: 2
dive: 137
start: 6 11 109 1 52 8
data:
$ID,165
$MISSION,2
$DIVE,137
$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,-119617
$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,31
$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
$GPS1,014536,2514.221,12319.772,36,1.2,36,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-71.9
$GPS2,015202,2514.222,12319.898,12,1.6,12,-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,202.4,15130,-16.8,-10.000
$D_GRID,1763
$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,-170.3,0.0,0.0,0,66,0.00,0.00,-51.75,0.000,2,0.000,0.000,163,2065,2101
$GC,67,-0.87,-170.3,3.2,-4.3,8,119,9.07,2.30,-37.40,0.000,4,0.229,0.062,2524,3476,3455
$GC,327,-0.20,-170.3,77.0,-29.5,55,334,0.65,2.17,0.00,0.000,6,0.141,0.036,2751,2068,3457
$GC,655,-0.60,-170.3,101.1,-6.8,116,661,0.32,2.22,0.00,0.000,4,0.041,0.056,2589,3474,3459
$GC,718,-0.32,-170.3,111.4,-18.9,128,725,0.35,2.12,0.00,0.000,6,0.123,0.035,2712,2083,3459
$GC,1045,-0.64,-170.3,139.9,-4.8,189,1052,0.28,2.20,0.00,0.000,4,0.044,0.053,2573,3486,3461
$GC,1099,-0.38,-170.3,146.3,-13.6,199,1106,0.32,2.10,0.00,0.000,6,0.123,0.034,2688,2096,3461
$GC,1426,-0.67,-170.3,166.5,-7.2,260,1433,0.22,2.20,0.00,0.000,4,0.048,0.054,2573,3473,3462
$GC,1501,-0.49,-170.3,177.2,-16.6,274,1508,0.22,2.05,0.00,0.000,6,0.120,0.036,2654,2124,3462
$GC,1828,-0.71,-170.3,207.2,-7.2,335,1835,0.17,2.12,0.00,0.000,4,0.056,0.056,2562,3473,3462
$GC,1861,-0.58,-170.3,211.0,-12.5,341,1867,0.17,2.05,0.00,0.000,6,0.121,0.034,2626,2122,3462
$GC,2187,-0.64,-170.3,238.8,-8.2,402,2193,0.00,2.25,0.00,0.000,4,0.000,0.050,2626,679,3462
$GC,2219,-0.72,-170.3,241.6,-8.8,408,2226,0.08,2.22,0.00,0.000,6,0.058,0.041,2566,2114,3462
$GC,2546,-0.54,-170.3,291.6,-15.5,469,2552,0.25,2.15,0.00,0.000,4,0.132,0.058,2646,3471,3462
$GC,2566,-0.54,-170.3,294.4,-13.6,473,2573,0.00,2.05,0.00,0.000,6,0.000,0.035,2646,2115,3462
$GC,2884,-0.81,-170.3,316.9,-6.2,510,2885,0.25,0.00,0.00,0.000,6,0.047,0.000,2523,2111,3462
$GC,3194,-0.49,-170.3,365.7,-15.5,540,3198,0.43,2.20,0.00,0.000,4,0.133,0.060,2661,3484,3462
$GC,3258,-0.93,-170.3,370.4,-5.3,546,3262,0.32,2.10,0.00,0.000,6,0.035,0.036,2490,2108,3461
$GC,3580,-0.48,-170.3,426.4,-18.3,577,3584,0.50,2.20,0.00,0.000,4,0.140,0.059,2646,3491,3459
$GC,3621,-0.80,-170.3,430.6,-6.9,580,3628,0.20,2.10,0.00,0.000,6,0.041,0.036,2534,2116,3459
$GC,3937,-0.57,-170.3,473.5,-13.6,611,3941,0.32,2.17,0.00,0.000,4,0.129,0.061,2632,3487,3458
$GC,3984,-0.88,-170.3,477.9,-6.8,615,3992,0.22,2.08,0.00,0.000,6,0.041,0.037,2513,2131,3457
$GC,4309,-0.57,-170.3,527.1,-15.7,639,4310,0.38,0.00,0.00,0.000,6,0.133,0.000,2633,2126,3455
$GC,4613,-0.84,-170.3,552.1,-7.0,654,4617,0.22,2.17,0.00,0.000,4,0.052,0.063,2523,3473,3453
$GC,4666,-0.66,-170.3,558.3,-13.4,656,4670,0.22,2.05,0.00,0.000,6,0.125,0.039,2601,2145,3453
$GC,4981,-0.79,-170.3,586.1,-8.2,672,4983,0.12,0.00,0.00,0.000,6,0.068,0.000,2538,2139,3450
$GC,5287,-0.64,-170.3,622.2,-11.4,687,5291,0.25,2.17,0.00,0.000,4,0.131,0.065,2616,3479,3448
$GC,5404,-0.95,-170.3,629.0,-5.1,692,5408,0.25,2.05,0.00,0.000,6,0.041,0.039,2490,2150,3447
$GC,5720,-0.63,-170.3,669.2,-13.4,708,5724,0.40,2.30,0.00,0.000,4,0.138,0.054,2616,672,3446
$GC,5746,-0.72,-170.3,671.6,-9.1,709,5750,0.00,2.33,0.00,0.000,6,0.000,0.047,2616,2147,3446
$GC,6067,-1.01,-170.3,688.6,-5.8,725,6071,0.32,2.12,0.00,0.000,4,0.047,0.063,2468,3470,3443
$GC,6184,-0.67,-170.3,705.3,-15.7,730,6188,0.38,2.05,0.00,0.000,6,0.137,0.039,2593,2141,3442
$GC,6500,-0.86,-170.3,726.7,-5.8,746,6504,0.15,2.17,0.00,0.000,4,0.063,0.064,2521,3479,3440
$GC,6569,-0.77,-170.3,733.2,-9.9,749,6573,0.12,2.05,0.00,0.000,6,0.130,0.041,2566,2153,3439
$GC,6891,-0.83,-170.3,758.6,-8.0,765,6894,0.00,2.15,0.00,0.000,4,0.000,0.065,2563,3486,3438
$GC,6927,-0.94,-170.3,761.6,-9.0,766,6933,0.10,2.05,0.00,0.000,6,0.057,0.039,2501,2161,3438
$GC,7237,-0.72,-170.3,797.5,-11.6,782,7238,0.28,0.00,0.00,0.000,6,0.137,0.000,2586,2156,3436
$GC,7543,-0.89,-170.3,815.8,-6.1,797,7547,0.15,2.15,0.00,0.000,4,0.064,0.067,2516,3470,3435
$GC,7617,-0.79,-170.3,822.9,-10.8,800,7621,0.12,2.00,0.00,0.000,6,0.133,0.041,2561,2177,3434
$GC,7933,-0.85,-170.3,849.5,-8.2,816,7936,0.00,2.12,0.00,0.000,4,0.000,0.067,2561,3468,3432
$GC,8018,-0.96,-170.3,856.0,-7.4,820,8022,0.10,2.00,0.00,0.000,6,0.041,0.041,2486,2181,3432
$GC,8344,-0.70,-170.3,895.2,-11.9,836,8348,0.35,2.12,0.00,0.000,4,0.141,0.067,2589,3469,3430
$GC,8397,-0.95,-170.3,899.0,-5.8,838,8401,0.17,1.98,0.00,0.000,6,0.049,0.041,2499,2201,3429
$GC,8713,-0.75,-170.3,935.0,-11.8,854,8717,0.25,2.10,0.00,0.000,4,0.138,0.069,2575,3467,3428
$GC,8739,-0.81,-170.3,937.4,-9.2,855,8743,0.00,1.98,0.00,0.000,6,0.000,0.041,2575,2199,3427
$GC,9061,-0.96,-170.3,958.9,-6.8,871,9062,0.17,0.00,0.00,0.000,6,0.061,0.000,2495,2198,3426
$STATE,9323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9323,begin apogee
$GC,9327,-0.20,0.0,991.0,12.5,884,9467,0.80,0.00,136.23,1.388,6,0.140,0.000,2752,2527,2759
$STATE,9467,end apogee,CONTROL_FINISHED_OK
$STATE,9467,begin climb
$GC,9469,0.87,170.3,996.1,0.0,891,9620,0.93,2.47,144.77,1.346,4,0.045,0.058,3121,1135,2062
$GC,9652,0.24,170.3,977.7,20.5,899,9660,0.77,2.40,0.00,0.000,6,0.177,0.051,2903,2527,2058
$GC,9963,0.42,224.8,950.8,7.9,915,10016,0.15,2.40,46.88,1.305,4,0.067,0.053,2982,1130,1841
$GC,10053,0.33,224.8,940.4,12.0,919,10058,0.15,2.33,0.00,0.000,6,0.141,0.049,2934,2514,1837
$GC,10375,0.39,227.9,908.2,9.9,935,10378,0.00,2.25,0.00,0.000,4,0.000,0.051,2943,1130,1835
$GC,10395,0.48,247.5,906.3,9.2,936,10421,0.00,2.28,20.08,1.259,6,0.000,0.048,2943,2522,1749
$GC,10744,0.52,248.0,870.5,10.0,953,10747,0.12,2.22,0.00,0.000,4,0.074,0.052,3011,1130,1745
$GC,10769,0.42,248.0,867.2,13.1,954,10774,0.15,2.25,0.00,0.000,6,0.143,0.049,2961,2511,1744
$GC,11090,0.42,248.0,828.0,12.5,970,11095,0.00,1.90,0.00,0.000,4,0.000,0.064,2961,3681,1743
$GC,11138,0.34,248.0,821.5,15.0,972,11143,0.10,1.83,0.00,0.000,6,0.150,0.041,2935,2522,1743
$GC,11459,0.43,248.0,786.8,11.1,988,11463,0.00,2.25,0.00,0.000,4,0.000,0.051,2944,1113,1743
$GC,11523,0.54,248.0,779.9,10.9,991,11527,0.15,2.22,0.00,0.000,6,0.067,0.048,3011,2512,1741
$GC,11849,0.31,248.0,726.0,17.4,1007,11853,0.30,2.22,0.00,0.000,4,0.147,0.051,2930,1119,1741
$GC,11902,0.48,254.1,719.5,9.8,1009,11914,0.10,2.22,5.93,0.992,6,0.057,0.048,2992,2502,1722
$GC,12218,0.34,254.1,675.9,14.0,1025,12220,0.22,0.00,0.00,0.000,6,0.146,0.000,2926,2502,1722
$GC,12523,0.53,282.9,648.3,8.9,1040,12551,0.17,0.00,26.40,1.161,6,0.064,0.000,3005,2502,1605
$GC,12848,0.41,282.9,600.8,14.6,1056,12852,0.20,2.22,0.00,0.000,4,0.143,0.052,2957,1111,1601
$GC,12874,0.46,282.9,597.6,12.7,1057,12879,0.00,2.25,0.00,0.000,6,0.000,0.047,2957,2500,1600
$GC,13195,0.55,282.9,562.4,10.9,1073,13197,0.12,0.00,0.00,0.000,6,0.073,0.000,3014,2500,1600
$GC,13501,0.40,282.9,518.1,14.9,1088,13505,0.22,2.22,0.00,0.000,4,0.140,0.051,2958,1111,1599
$GC,13612,0.59,282.9,505.9,10.2,1093,13617,0.10,2.22,0.00,0.000,6,0.058,0.047,3017,2496,1598
$GC,13928,0.45,282.9,457.1,15.6,1121,13932,0.17,1.90,0.00,0.000,4,0.139,0.063,2966,3683,1598
$GC,13965,0.45,282.9,451.9,13.8,1124,13972,0.00,1.85,0.00,0.000,6,0.000,0.041,2973,2488,1598
$GC,14282,0.52,282.9,413.0,12.0,1155,14285,0.00,2.12,0.00,0.000,4,0.000,0.049,2983,1123,1598
$GC,14388,0.59,282.9,399.8,11.8,1165,14391,0.00,2.15,0.00,0.000,6,0.000,0.046,2983,2478,1598
$GC,14708,0.64,282.9,361.5,11.8,1196,14712,0.12,2.15,0.00,0.000,4,0.071,0.049,3051,1122,1598
$GC,14777,0.46,282.9,351.1,16.4,1202,14784,0.25,2.12,0.00,0.000,6,0.141,0.045,2970,2465,1598
$GC,15093,0.58,282.9,316.9,11.3,1233,15097,0.10,2.12,0.00,0.000,4,0.077,0.049,3027,1120,1598
$GC,15119,0.58,282.9,313.4,14.3,1235,15127,0.00,2.10,0.00,0.000,6,0.000,0.044,3027,2447,1598
$GC,15442,0.49,282.9,267.2,12.6,1287,15450,0.17,2.10,0.00,0.000,4,0.134,0.048,2983,1117,1598
$GC,15508,0.69,329.6,261.2,8.2,1299,15551,0.17,2.05,38.97,0.867,6,0.061,0.044,3065,2439,1414
$GC,15870,0.53,329.6,210.2,15.5,1366,15878,0.25,2.10,0.00,0.000,4,0.136,0.047,2998,1124,1411
$GC,15962,0.74,341.1,201.0,9.5,1383,15977,0.12,2.05,10.52,0.755,6,0.051,0.043,3078,2418,1368
$GC,16298,0.58,341.1,152.1,14.1,1445,16304,0.20,2.00,0.00,0.000,4,0.138,0.056,3013,3685,1367
$GC,16367,0.77,368.3,144.5,8.9,1458,16399,0.10,1.90,23.67,0.750,6,0.055,0.037,3082,2441,1255
$GC,16720,0.80,398.5,101.3,8.8,1523,16752,0.00,2.08,25.88,0.706,4,0.000,0.046,3092,1124,1134
$GC,16842,0.89,398.5,88.6,10.1,1545,16849,0.00,2.10,0.00,0.000,6,0.000,0.042,3092,2443,1130
$GC,17168,0.99,398.5,54.7,11.9,1606,17175,0.12,2.08,0.00,0.000,4,0.064,0.044,3165,1126,1130
$GC,17211,0.83,398.5,48.9,13.9,1614,17218,0.22,2.05,0.00,0.000,6,0.133,0.041,3090,2427,1130
$GC,17538,1.07,433.7,17.5,8.6,1675,17572,0.20,2.05,29.33,0.624,4,0.051,0.052,3189,3695,990
$GC,17598,0.85,433.7,9.5,16.8,1685,17604,0.32,1.95,0.00,0.000,6,0.140,0.035,3094,2427,989
$STATE,17655,end climb,SURFACE_DEPTH_REACHED
$STATE,17655,begin surface coast
$FINISH,1.5,1.009796
$STATE,17688,end surface coast,CONTROL_FINISHED_OK
$STATE,17689,begin surface
$SM_CCo,17702,-0.45,0.000,0,0,986,435.16
$SM_GC,2.79,0.00,0.00,-0.45,0.000,0.000,0.000,168,2053,986,-8.29,-0.54,435.16
$IRIDIUM_FIX,2507.97,12320.91,040998,202004
$TT8_MAMPS,0.048321
$HUMID,1561
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,26.00
$XPDR_PINGS,169
$24V_AH,23.6,29.544
$10V_AH,10.7,21.379
$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,33.750,167.525,508.650,0.000,0.000,28.207,32.158,213.152,50.250,0.000,0.000,14.581,0.000,12884.268,701.547,3956.481,515.859,0.000,2158.996,0.000,3324.143,0.000,53.971,0.000
$DEVICE_MAMPS,229.333,69.030,1388.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1152.670,1194.795,1871.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97940,1702
$CAP_FILE_SIZE,198038,0
$CFSIZE,260165632,246951936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.227, 63.9,1
$GPS,110609,064807,2512.872,12320.647,36,1.1,36,-3.7