version: 66.04
glider: 165
mission: 2
dive: 140
start: 6 11 109 17 6 1
data:
$ID,165
$MISSION,2
$DIVE,140
$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,-119678.82
$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,52
$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
$GPS1,165055,2512.039,12322.143,37,1.4,37,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-74.5
$GPS2,170556,2512.221,12322.264,10,1.6,10,-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,213.1,10229,-16.8,-10.000
$D_GRID,1753
$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,-41.45,0.000,2,0.000,0.000,158,2036,2027
$GC,57,-0.87,-170.3,3.1,-4.0,6,114,9.10,2.12,-41.35,0.000,4,0.227,0.058,2536,675,3454
$GC,204,-0.14,-170.3,36.6,-32.2,32,212,0.70,2.20,0.00,0.000,6,0.151,0.044,2765,2070,3456
$GC,532,-0.54,-170.3,65.8,-5.5,93,539,0.32,2.25,0.00,0.000,4,0.081,0.052,2602,3478,3456
$GC,618,-0.22,-170.3,78.9,-18.1,109,624,0.40,2.10,0.00,0.000,6,0.127,0.038,2740,2093,3456
$GC,944,-0.57,-170.3,99.4,-4.6,170,951,0.28,2.20,0.00,0.000,4,0.042,0.052,2601,3479,3457
$GC,1025,-0.30,-170.3,110.4,-16.0,185,1031,0.32,2.08,0.00,0.000,6,0.128,0.034,2713,2106,3457
$GC,1351,-0.65,-170.3,138.8,-7.9,246,1358,0.28,2.17,0.00,0.000,4,0.044,0.054,2574,3472,3458
$GC,1405,-0.41,-170.3,146.8,-17.2,256,1413,0.30,2.05,0.00,0.000,6,0.143,0.033,2678,2110,3458
$GC,1733,-0.69,-170.3,175.3,-4.8,317,1739,0.22,2.20,0.00,0.000,4,0.049,0.047,2563,684,3459
$GC,1754,-0.69,-170.3,177.1,-9.1,321,1761,0.08,2.22,0.00,0.000,6,0.138,0.040,2589,2118,3459
$GC,2080,-0.57,-170.3,216.7,-12.9,382,2087,0.15,2.15,0.00,0.000,4,0.140,0.056,2633,3480,3459
$GC,2108,-0.64,-170.3,219.7,-11.7,387,2113,0.00,2.05,0.00,0.000,6,0.000,0.034,2632,2128,3459
$GC,2433,-0.76,-170.3,247.0,-8.1,448,2441,0.15,2.15,0.00,0.000,4,0.061,0.056,2551,3477,3459
$GC,2493,-0.57,-170.3,254.5,-13.7,459,2500,0.22,2.03,0.00,0.000,6,0.123,0.035,2630,2139,3459
$GC,2819,-0.71,-170.3,282.3,-8.6,520,2827,0.12,2.12,0.00,0.000,4,0.067,0.057,2562,3471,3459
$GC,2869,-0.60,-170.3,287.9,-11.6,529,2875,0.15,2.00,0.00,0.000,6,0.122,0.035,2617,2150,3458
$GC,3194,-0.71,-170.3,316.8,-8.5,573,3198,0.00,2.12,0.00,0.000,4,0.000,0.058,2617,3472,3458
$GC,3231,-0.87,-170.3,320.3,-9.3,576,3239,0.17,1.98,0.00,0.000,6,0.042,0.035,2520,2171,3457
$GC,3546,-0.54,-170.3,372.0,-16.1,607,3550,0.40,2.08,0.00,0.000,4,0.133,0.058,2644,3483,3456
$GC,3589,-0.87,-170.3,375.9,-6.9,611,3593,0.22,2.00,0.00,0.000,6,0.038,0.036,2505,2170,3455
$GC,3910,-0.50,-170.3,426.5,-15.3,642,3911,0.47,0.00,0.00,0.000,6,0.136,0.000,2658,2165,3454
$GC,4221,-1.11,-170.3,444.9,-6.6,672,4225,0.47,2.08,0.00,0.000,4,0.044,0.058,2446,3474,3452
$GC,4375,-0.60,-170.3,471.6,-19.2,686,4379,0.52,1.92,0.00,0.000,6,0.148,0.038,2617,2215,3450
$GC,4696,-0.79,-170.3,496.8,-7.1,717,4700,0.15,2.38,0.00,0.000,4,0.061,0.052,2543,679,3449
$GC,4728,-0.68,-170.3,500.3,-11.4,720,4732,0.20,2.35,0.00,0.000,6,0.136,0.044,2597,2202,3448
$GC,5043,-0.79,-170.3,529.0,-9.0,736,5047,0.00,2.03,0.00,0.000,4,0.000,0.061,2590,3486,3446
$GC,5117,-0.94,-170.3,535.5,-8.1,739,5122,0.17,1.92,0.00,0.000,6,0.044,0.037,2494,2228,3445
$GC,5433,-0.57,-170.3,585.5,-16.4,755,5437,0.45,2.00,0.00,0.000,4,0.137,0.062,2630,3481,3443
$GC,5459,-0.65,-170.3,588.3,-9.9,756,5463,0.00,1.92,0.00,0.000,6,0.000,0.037,2630,2225,3443
$GC,5781,-0.97,-170.3,606.4,-5.3,772,5785,0.32,2.00,0.00,0.000,4,0.045,0.064,2480,3478,3441
$GC,5817,-0.65,-170.3,610.7,-13.7,773,5824,0.38,1.90,0.00,0.000,6,0.134,0.038,2605,2237,3441
$GC,6128,-0.85,-170.3,633.2,-6.8,789,6132,0.17,2.00,0.00,0.000,4,0.058,0.064,2521,3471,3439
$GC,6175,-0.72,-170.3,638.4,-11.4,791,6180,0.17,1.88,0.00,0.000,6,0.123,0.038,2583,2243,3439
$GC,6496,-0.83,-170.3,665.4,-8.5,807,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2239,3438
$GC,6802,-0.93,-170.3,693.7,-9.1,822,6806,0.17,2.00,0.00,0.000,4,0.061,0.065,2500,3471,3435
$GC,6849,-0.74,-170.3,699.8,-13.5,824,6855,0.22,1.88,0.00,0.000,6,0.130,0.039,2577,2252,3435
$GC,7171,-0.84,-170.3,728.5,-8.2,840,7174,0.00,2.45,0.00,0.000,4,0.000,0.055,2577,690,3433
$GC,7229,-0.95,-170.3,733.4,-9.0,842,7236,0.17,2.45,0.00,0.000,6,0.062,0.048,2494,2232,3433
$GC,7539,-0.68,-170.3,772.8,-13.1,858,7543,0.35,2.00,0.00,0.000,4,0.143,0.067,2601,3467,3431
$GC,7576,-0.93,-170.3,775.9,-6.2,859,7583,0.17,1.85,0.00,0.000,6,0.045,0.039,2506,2265,3431
$GC,7886,-0.73,-170.3,812.2,-12.0,875,7891,0.25,1.98,0.00,0.000,4,0.137,0.064,2576,3472,3429
$GC,7918,-0.83,-170.3,815.1,-8.5,876,7922,0.00,1.88,0.00,0.000,6,0.000,0.039,2576,2257,3429
$GC,8235,-0.96,-170.3,838.7,-7.7,892,8238,0.20,1.98,0.00,0.000,4,0.059,0.066,2482,3479,3427
$GC,8298,-0.71,-170.3,846.9,-14.1,895,8302,0.30,1.88,0.00,0.000,6,0.134,0.041,2583,2265,3426
$GC,8625,-0.88,-170.3,874.9,-8.2,911,8626,0.15,0.00,0.00,0.000,6,0.066,0.000,2514,2261,3424
$GC,8929,-0.74,-170.3,910.0,-11.4,926,8930,0.22,0.00,0.00,0.000,6,0.137,0.000,2584,2261,3423
$GC,9235,-0.92,-170.3,930.5,-6.6,941,9236,0.17,0.00,0.00,0.000,6,0.062,0.000,2504,2261,3422
$GC,9539,-0.74,-170.3,965.3,-11.8,956,9544,0.25,2.53,0.00,0.000,4,0.140,0.058,2581,691,3421
$GC,9571,-0.87,-170.3,968.1,-8.0,957,9576,0.10,2.47,0.00,0.000,6,0.056,0.051,2523,2235,3421
$STATE,9804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9804,begin apogee
$GC,9808,-0.20,0.0,990.8,9.9,969,9948,0.70,0.00,135.07,1.385,6,0.133,0.000,2749,2522,2759
$STATE,9949,end apogee,CONTROL_FINISHED_OK
$STATE,9949,begin climb
$GC,9950,0.87,170.3,995.7,0.0,976,10098,0.95,0.00,145.05,1.345,6,0.044,0.000,3118,2521,2064
$GC,10397,0.19,170.3,918.3,22.1,998,10402,0.82,2.25,0.00,0.000,4,0.172,0.055,2888,1138,2055
$GC,10456,0.44,189.2,911.4,9.3,1000,10478,0.15,2.25,16.12,1.221,6,0.053,0.050,2970,2512,1987
$GC,10790,0.30,189.2,866.9,13.5,1017,10793,0.20,2.20,0.00,0.000,4,0.146,0.052,2921,1135,1983
$GC,10826,0.41,189.2,862.8,10.6,1018,10833,0.00,2.22,0.00,0.000,6,0.000,0.048,2921,2506,1982
$GC,11137,0.47,193.6,831.5,9.8,1034,11146,0.15,1.92,4.53,0.891,4,0.069,0.064,2994,3681,1968
$GC,11179,0.16,193.6,825.8,15.0,1036,11183,0.40,1.80,0.00,0.000,6,0.150,0.041,2874,2529,1968
$GC,11506,0.52,273.4,801.6,6.9,1052,11582,0.30,2.40,69.75,1.253,4,0.053,0.053,3012,1130,1643
$GC,11662,0.37,273.4,779.4,15.0,1059,11667,0.22,2.28,0.00,0.000,6,0.144,0.047,2943,2500,1639
$GC,11979,0.47,273.4,745.1,10.7,1075,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2500,1636
$GC,12284,0.57,273.4,714.3,10.3,1090,12288,0.17,2.22,0.00,0.000,4,0.063,0.053,3028,1129,1636
$GC,12395,0.38,273.4,696.8,16.0,1095,12400,0.25,2.20,0.00,0.000,6,0.147,0.048,2948,2495,1634
$GC,12717,0.48,273.4,662.2,10.2,1111,12721,0.00,2.17,0.00,0.000,4,0.000,0.051,2957,1127,1634
$GC,12781,0.59,273.4,655.5,10.3,1114,12785,0.10,2.17,0.00,0.000,6,0.057,0.048,3014,2489,1633
$GC,13107,0.42,273.4,604.6,16.6,1130,13111,0.20,1.92,0.00,0.000,4,0.145,0.063,2956,3683,1633
$GC,13154,0.42,273.4,597.7,13.9,1132,13159,0.00,1.90,0.00,0.000,6,0.000,0.041,2964,2470,1633
$GC,13476,0.48,273.4,558.9,11.6,1148,13480,0.00,2.15,0.00,0.000,4,0.000,0.052,2973,1118,1633
$GC,13571,0.55,273.4,547.8,11.4,1152,13575,0.00,2.12,0.00,0.000,6,0.000,0.046,2973,2452,1631
$GC,13887,0.55,273.4,512.8,10.6,1168,13891,0.00,2.12,0.00,0.000,4,0.000,0.051,2982,1126,1631
$GC,13935,0.55,273.4,507.8,10.4,1170,13939,0.00,2.08,0.00,0.000,6,0.000,0.046,2982,2432,1631
$GC,14251,0.55,273.4,471.9,12.0,1197,14254,0.00,2.08,0.00,0.000,4,0.000,0.051,2991,1114,1631
$GC,14318,0.55,273.4,463.4,12.0,1203,14325,0.00,2.08,0.00,0.000,6,0.000,0.046,2990,2421,1631
$GC,14635,0.55,273.4,424.2,11.6,1234,14638,0.00,2.05,0.00,0.000,4,0.000,0.050,2999,1116,1631
$GC,14671,0.55,273.4,420.1,11.4,1237,14678,0.00,2.05,0.00,0.000,6,0.000,0.044,3000,2414,1631
$GC,14988,0.55,273.4,386.3,10.6,1268,14988,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2414,1631
$GC,15298,0.55,273.4,350.6,11.8,1298,15302,0.00,2.05,0.00,0.000,4,0.000,0.050,3009,1126,1631
$GC,15323,0.55,273.4,347.3,11.6,1300,15332,0.00,2.00,0.00,0.000,6,0.000,0.044,3009,2396,1632
$GC,15640,0.50,273.4,310.6,10.7,1331,15643,0.00,2.03,0.00,0.000,4,0.000,0.059,3009,3683,1631
$GC,15682,0.39,273.4,305.7,11.9,1335,15686,0.20,1.98,0.00,0.000,6,0.129,0.039,2949,2401,1631
$GC,16005,0.72,347.2,283.8,7.1,1388,16074,0.28,2.10,60.17,0.872,4,0.048,0.050,3082,1122,1341
$GC,16138,0.54,347.2,262.7,17.7,1411,16144,0.30,2.05,0.00,0.000,6,0.146,0.044,2995,2404,1338
$GC,16464,0.73,354.4,225.9,9.7,1472,16478,0.17,2.10,6.55,0.686,4,0.058,0.048,3086,1114,1313
$GC,16530,0.57,354.4,215.9,15.2,1484,16538,0.25,2.05,0.00,0.000,6,0.140,0.043,3006,2399,1313
$GC,16858,0.77,362.1,182.6,9.7,1545,16871,0.17,2.03,8.05,0.695,4,0.058,0.047,3103,1113,1282
$GC,16940,0.61,362.1,170.2,17.2,1560,16947,0.25,2.00,0.00,0.000,6,0.140,0.043,3021,2373,1281
$GC,17267,0.83,362.1,136.0,10.3,1621,17274,0.17,1.98,0.00,0.000,4,0.054,0.047,3121,1117,1281
$GC,17353,0.68,362.1,122.1,16.3,1637,17360,0.22,1.95,0.00,0.000,6,0.133,0.041,3045,2357,1281
$GC,17680,1.00,469.3,95.2,5.8,1698,17775,0.25,2.17,86.95,0.696,4,0.047,0.054,3161,3687,843
$GC,17818,0.86,469.3,74.8,16.3,1721,17824,0.20,2.10,0.00,0.000,6,0.133,0.036,3090,2361,841
$GC,18144,1.11,469.3,44.3,10.3,1782,18150,0.22,1.92,0.00,0.000,4,0.046,0.045,3210,1126,840
$GC,18336,0.90,469.3,9.0,17.0,1818,18343,0.30,1.90,0.00,0.000,6,0.135,0.039,3111,2340,840
$STATE,18383,end climb,SURFACE_DEPTH_REACHED
$STATE,18383,begin surface coast
$FINISH,1.5,1.017230
$STATE,18410,end surface coast,CONTROL_FINISHED_OK
$STATE,18410,begin surface
$SM_CCo,18483,0.00,0.000,0,0,839,470.98
$SM_GC,2.28,7.45,0.00,0.00,0.033,0.000,0.000,158,2056,839,-8.21,-0.42,470.98
$IRIDIUM_FIX,2500.82,12324.89,050998,171747
$TT8_MAMPS,0.048321
$HUMID,1530
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.90
$XPDR_PINGS,192
$24V_AH,23.7,30.155
$10V_AH,10.7,21.843
$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,34.925,171.925,532.250,0.000,0.000,116.166,153.371,323.089,56.000,0.000,0.000,12.448,0.000,13556.558,736.524,4198.304,858.808,0.000,2277.590,0.000,3537.395,0.000,54.000,0.000
$DEVICE_MAMPS,227.032,66.729,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1239.704,1282.448,2022.933,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104058,1832
$CAP_FILE_SIZE,208020,0
$CFSIZE,260165632,246636544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268, 52.2,1
$GPS,110609,221501,2511.671,12322.770,38,1.4,38,-3.7