version: 66.04
glider: 165
mission: 2
dive: 138
start: 6 11 109 6 55 39
data:
$ID,165
$MISSION,2
$DIVE,138
$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,-119648.69
$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,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
$GPS1,064807,2512.872,12320.647,36,1.1,36,-3.7
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.3
$GPS2,065534,2512.874,12320.718,9,3.0,28,-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,202.9,12284,-16.8,-10.000
$D_GRID,1745
$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,-170.3,0.0,0.0,0,55,0.00,0.00,-41.58,0.000,2,0.000,0.000,163,2052,2034
$GC,57,-0.87,-170.3,3.1,-3.7,6,114,9.02,2.20,-40.72,0.000,4,0.225,0.061,2535,673,3455
$GC,262,-0.05,-170.3,57.9,-35.0,43,269,0.85,2.20,0.00,0.000,6,0.158,0.045,2790,2070,3457
$GC,589,-0.90,-170.3,89.1,-10.0,104,596,0.68,2.20,0.00,0.000,4,0.060,0.049,2523,3484,3459
$GC,670,-0.37,-170.3,104.2,-25.3,119,677,0.47,2.12,0.00,0.000,6,0.122,0.035,2688,2095,3459
$GC,996,-0.56,-170.3,138.6,-8.9,180,1002,0.15,0.00,0.00,0.000,6,0.061,0.000,2606,2090,3460
$GC,1322,-0.39,-170.3,181.3,-12.3,241,1329,0.28,2.20,0.00,0.000,4,0.122,0.057,2687,3472,3461
$GC,1424,-0.86,-170.3,189.2,-7.5,260,1431,0.35,2.08,0.00,0.000,6,0.034,0.037,2505,2102,3461
$GC,1750,-0.38,-170.3,256.6,-18.9,321,1757,0.60,2.17,0.00,0.000,4,0.136,0.058,2698,3480,3462
$GC,1783,-0.70,-170.3,259.6,-6.2,327,1789,0.28,2.08,0.00,0.000,6,0.047,0.035,2564,2089,3462
$GC,2109,-0.53,-170.3,300.4,-12.3,388,2113,0.22,2.20,0.00,0.000,4,0.123,0.057,2643,3476,3462
$GC,2135,-0.65,-170.3,302.9,-9.1,390,2139,0.08,2.08,0.00,0.000,6,0.054,0.035,2577,2107,3462
$GC,2456,-0.58,-170.3,341.6,-11.6,421,2460,0.17,2.20,0.00,0.000,4,0.123,0.058,2632,3479,3463
$GC,2503,-0.87,-170.3,345.6,-7.3,425,2510,0.20,2.08,0.00,0.000,6,0.040,0.035,2521,2116,3462
$GC,2819,-0.56,-170.3,390.7,-13.8,456,2823,0.35,2.17,0.00,0.000,4,0.130,0.060,2630,3470,3461
$GC,2845,-0.63,-170.3,393.3,-9.2,458,2854,0.00,2.05,0.00,0.000,6,0.000,0.036,2630,2128,3461
$GC,3163,-0.86,-170.3,414.8,-7.7,489,3164,0.25,0.00,0.00,0.000,6,0.049,0.000,2511,2125,3459
$GC,3472,-0.53,-170.3,465.6,-16.5,519,3475,0.43,2.15,0.00,0.000,4,0.134,0.061,2647,3476,3457
$GC,3508,-0.84,-170.3,469.7,-8.7,522,3517,0.22,2.05,0.00,0.000,6,0.040,0.037,2527,2138,3456
$GC,3832,-0.60,-170.3,514.7,-13.7,549,3836,0.30,2.15,0.00,0.000,4,0.130,0.061,2616,3471,3454
$GC,3907,-0.87,-170.3,521.1,-6.8,552,3911,0.17,2.05,0.00,0.000,6,0.043,0.037,2520,2130,3453
$GC,4223,-0.62,-170.3,564.7,-14.2,568,4224,0.30,0.00,0.00,0.000,6,0.130,0.000,2616,2125,3452
$GC,4528,-0.84,-170.3,589.8,-8.6,583,4532,0.20,2.15,0.00,0.000,4,0.057,0.064,2521,3473,3449
$GC,4645,-0.67,-170.3,606.1,-14.5,588,4649,0.22,2.08,0.00,0.000,6,0.125,0.040,2600,2127,3449
$GC,4961,-0.86,-170.3,632.9,-6.9,604,4965,0.17,2.15,0.00,0.000,4,0.058,0.063,2516,3471,3447
$GC,5030,-0.71,-170.3,640.1,-10.9,607,5034,0.20,2.05,0.00,0.000,6,0.123,0.038,2586,2138,3446
$GC,5351,-0.84,-170.3,661.3,-6.1,623,5355,0.12,2.17,0.00,0.000,4,0.069,0.064,2523,3473,3445
$GC,5393,-0.75,-170.3,664.9,-9.5,625,5397,0.12,2.05,0.00,0.000,6,0.127,0.040,2569,2144,3444
$GC,5720,-0.81,-170.3,691.0,-8.0,641,5723,0.00,2.15,0.00,0.000,4,0.000,0.064,2568,3478,3442
$GC,5827,-0.93,-170.3,699.2,-7.6,646,5831,0.10,2.05,0.00,0.000,6,0.054,0.041,2505,2151,3441
$GC,6154,-0.71,-170.3,737.5,-11.3,662,6157,0.28,2.15,0.00,0.000,4,0.136,0.064,2589,3476,3439
$GC,6196,-0.93,-170.3,740.8,-6.8,664,6199,0.20,2.00,0.00,0.000,6,0.057,0.039,2495,2165,3439
$GC,6522,-0.69,-170.3,778.4,-12.3,680,6524,0.32,0.00,0.00,0.000,6,0.136,0.000,2597,2160,3437
$GC,6827,-0.91,-170.3,796.7,-5.6,695,6831,0.20,2.15,0.00,0.000,4,0.059,0.067,2506,3473,3435
$GC,6912,-0.78,-170.3,805.4,-11.5,699,6916,0.15,2.03,0.00,0.000,6,0.131,0.041,2561,2169,3434
$GC,7240,-0.84,-170.3,831.7,-7.8,715,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2167,3433
$GC,7544,-0.90,-170.3,856.9,-8.3,730,7547,0.00,2.12,0.00,0.000,4,0.000,0.067,2561,3476,3431
$GC,7617,-1.01,-170.3,863.2,-8.6,733,7622,0.15,2.03,0.00,0.000,6,0.051,0.041,2481,2176,3430
$GC,7933,-0.73,-170.3,909.1,-14.9,749,7938,0.32,2.12,0.00,0.000,4,0.142,0.067,2576,3468,3429
$GC,8018,-0.94,-170.3,917.2,-8.6,753,8023,0.12,2.00,0.00,0.000,6,0.054,0.041,2506,2189,3428
$GC,8346,-0.77,-170.3,959.4,-13.2,769,8350,0.17,2.10,0.00,0.000,4,0.141,0.068,2563,3472,3427
$GC,8430,-0.91,-170.3,967.7,-9.0,773,8434,0.08,1.98,0.00,0.000,6,0.063,0.041,2514,2201,3427
$STATE,8628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8628,begin apogee
$GC,8632,-0.20,0.0,992.1,12.6,783,8772,0.75,0.00,136.38,1.381,6,0.132,0.000,2755,2516,2759
$STATE,8772,end apogee,CONTROL_FINISHED_OK
$STATE,8772,begin climb
$GC,8774,0.87,170.3,999.1,0.0,790,8925,0.95,2.42,144.65,1.341,4,0.043,0.057,3126,1129,2063
$GC,8989,0.23,170.3,976.5,18.7,800,8994,0.80,2.38,0.00,0.000,6,0.180,0.051,2899,2523,2057
$GC,9305,0.39,208.8,948.9,8.5,816,9340,0.15,0.00,33.45,1.288,6,0.068,0.000,2968,2524,1907
$GC,9631,0.28,208.8,907.2,13.1,832,9632,0.20,0.00,0.00,0.000,6,0.148,0.000,2911,2523,1901
$GC,9936,0.41,208.8,877.3,10.1,847,9939,0.12,2.25,0.00,0.000,4,0.076,0.054,2971,1137,1900
$GC,9972,0.36,208.8,872.8,13.0,848,9979,0.10,2.25,0.00,0.000,6,0.145,0.050,2937,2523,1898
$GC,10283,0.36,208.8,838.5,10.7,864,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2523,1897
$GC,10587,0.36,208.8,806.7,10.0,879,10592,0.00,2.25,0.00,0.000,4,0.000,0.052,2947,1129,1897
$GC,10689,0.41,208.8,796.3,10.6,883,10695,0.00,2.22,0.00,0.000,6,0.000,0.049,2947,2511,1896
$GC,10999,0.41,208.8,761.2,11.9,899,11003,0.00,2.22,0.00,0.000,4,0.000,0.051,2956,1129,1896
$GC,11030,0.41,208.8,757.3,12.7,900,11035,0.00,2.20,0.00,0.000,6,0.000,0.048,2956,2502,1896
$GC,11347,0.41,208.8,718.8,11.8,916,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2502,1896
$GC,11652,0.42,218.4,687.5,9.6,931,11665,0.00,2.25,7.75,1.049,4,0.000,0.052,2966,1127,1867
$GC,11693,0.44,232.2,683.7,9.5,933,11714,0.00,2.20,13.43,1.124,6,0.000,0.048,2966,2496,1811
$GC,12018,0.39,232.2,648.0,11.9,949,12022,0.00,1.92,0.00,0.000,4,0.000,0.064,2966,3681,1809
$GC,12065,0.28,232.2,641.6,13.2,951,12070,0.17,1.85,0.00,0.000,6,0.142,0.041,2916,2503,1808
$GC,12387,0.51,261.8,612.3,8.8,967,12417,0.20,2.22,26.27,1.124,4,0.060,0.051,3014,1114,1691
$GC,12459,0.41,261.8,602.5,14.9,970,12467,0.17,2.28,0.00,0.000,6,0.140,0.048,2958,2496,1687
$GC,12769,0.48,261.8,565.8,11.1,986,12773,0.00,2.22,0.00,0.000,4,0.000,0.051,2966,1125,1685
$GC,12812,0.58,261.8,561.2,10.1,988,12816,0.08,2.20,0.00,0.000,6,0.064,0.047,3013,2489,1685
$GC,13138,0.43,261.8,515.4,14.1,1004,13142,0.20,1.92,0.00,0.000,4,0.143,0.061,2955,3684,1685
$GC,13170,0.43,261.8,511.5,12.4,1005,13174,0.00,1.88,0.00,0.000,6,0.000,0.040,2962,2476,1684
$GC,13490,0.51,261.8,476.9,11.3,1031,13493,0.00,2.10,0.00,0.000,4,0.000,0.051,2971,1127,1685
$GC,13563,0.60,261.8,468.6,10.6,1038,13568,0.08,2.12,0.00,0.000,6,0.064,0.046,3020,2464,1684
$GC,13885,0.46,261.8,419.7,15.2,1069,13889,0.17,2.12,0.00,0.000,4,0.140,0.049,2978,1127,1684
$GC,13964,0.54,261.8,410.3,11.0,1076,13971,0.00,2.10,0.00,0.000,6,0.000,0.046,2978,2450,1683
$GC,14281,0.56,274.0,376.4,9.5,1107,14295,0.00,2.10,10.88,0.901,4,0.000,0.050,2986,1126,1641
$GC,14310,0.63,290.4,373.5,9.4,1109,14331,0.08,2.12,15.43,0.907,6,0.062,0.045,3036,2460,1574
$GC,14637,0.49,290.4,326.2,15.2,1141,14641,0.20,2.12,0.00,0.000,4,0.136,0.048,2986,1129,1573
$GC,14679,0.60,290.4,321.1,11.0,1145,14683,0.00,2.08,0.00,0.000,6,0.000,0.044,2986,2430,1572
$GC,14998,0.71,308.0,289.2,9.3,1185,15018,0.17,0.00,16.02,0.857,6,0.060,0.000,3064,2430,1502
$GC,15337,0.51,308.0,237.9,15.5,1248,15344,0.28,2.08,0.00,0.000,4,0.138,0.048,2989,1129,1500
$GC,15445,0.70,308.9,226.0,10.0,1268,15451,0.12,2.08,0.00,0.000,6,0.050,0.043,3066,2437,1499
$GC,15771,0.58,308.9,177.7,14.0,1329,15777,0.20,0.00,0.00,0.000,6,0.136,0.000,3006,2436,1499
$GC,16097,0.89,403.8,151.6,6.3,1390,16181,0.28,2.10,78.22,0.753,4,0.048,0.055,3130,3689,1112
$GC,16191,0.65,403.8,138.3,17.3,1405,16198,0.32,2.00,0.00,0.000,6,0.133,0.037,3035,2440,1111
$GC,16518,1.00,453.9,109.0,8.0,1466,16564,0.30,2.15,41.17,0.700,4,0.043,0.046,3181,1127,907
$GC,16718,0.81,453.9,74.0,17.3,1502,16726,0.30,2.05,0.00,0.000,6,0.133,0.041,3084,2414,903
$GC,17046,1.14,502.8,41.4,8.1,1563,17091,0.28,2.12,40.70,0.638,4,0.044,0.044,3223,1114,707
$GC,17143,0.94,502.8,22.8,20.3,1580,17150,0.30,2.08,0.00,0.000,6,0.133,0.040,3125,2412,704
$STATE,17308,end climb,SURFACE_DEPTH_REACHED
$STATE,17308,begin surface coast
$FINISH,1.5,1.005879
$STATE,17335,end surface coast,CONTROL_FINISHED_OK
$STATE,17335,begin surface
$SM_CCo,17408,0.00,0.000,0,0,702,504.58
$SM_GC,2.31,7.57,0.00,0.00,0.035,0.000,0.000,158,2064,702,-8.21,-0.20,504.58
$IRIDIUM_FIX,2505.59,12322.90,050998,010117
$TT8_MAMPS,0.048321
$HUMID,1531
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,26.00
$XPDR_PINGS,157
$24V_AH,23.7,29.746
$10V_AH,10.7,21.524
$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,33.075,149.725,564.350,0.000,0.000,25.051,30.361,261.899,47.250,0.000,0.000,31.056,0.000,12756.660,710.634,3796.398,557.290,0.000,2122.107,0.000,3188.056,0.000,53.970,0.000
$DEVICE_MAMPS,225.498,68.263,1381.367,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1094.025,1127.662,1754.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91517,1616
$CAP_FILE_SIZE,187898,0
$CFSIZE,260165632,246865920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.316, 57.4,1
$GPS,110609,114637,2512.294,12321.887,31,1.4,31,-3.7