version: 66.04
glider: 165
mission: 2
dive: 141
start: 6 11 109 22 21 49
data:
$ID,165
$MISSION,2
$DIVE,141
$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,-119691.85
$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,51
$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
$GPS1,221501,2511.671,12322.770,38,1.4,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-73.2
$GPS2,222144,2511.797,12322.813,10,1.5,10,-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,217.3,9251,-16.8,-10.000
$D_GRID,1768
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.87,-170.3,0.0,0.0,0,65,0.00,0.00,-50.03,0.000,2,0.000,0.000,158,2052,2079
$GC,67,-0.87,-170.3,3.2,-4.5,7,123,9.05,2.20,-39.10,0.000,4,0.227,0.058,2533,677,3456
$GC,209,-0.00,-170.3,38.7,-36.1,32,216,0.90,2.20,0.00,0.000,6,0.155,0.040,2815,2076,3457
$GC,536,-0.88,-170.3,75.7,-12.7,93,543,0.75,2.17,0.00,0.000,4,0.052,0.051,2518,3474,3459
$GC,649,-0.29,-170.3,99.7,-24.1,114,656,0.57,2.12,0.00,0.000,6,0.130,0.035,2726,2082,3459
$GC,977,-0.64,-170.3,122.8,-7.0,175,983,0.30,2.17,0.00,0.000,4,0.041,0.051,2573,3473,3460
$GC,1073,-0.40,-170.3,137.7,-17.0,193,1079,0.32,2.08,0.00,0.000,6,0.122,0.033,2688,2100,3460
$GC,1400,-0.65,-170.3,166.2,-7.4,254,1407,0.22,0.00,0.00,0.000,6,0.049,0.000,2572,2096,3461
$GC,1727,-0.42,-170.3,217.0,-14.8,315,1733,0.32,2.17,0.00,0.000,4,0.128,0.055,2674,3484,3462
$GC,1759,-0.63,-170.3,220.4,-8.7,321,1765,0.10,2.10,0.00,0.000,6,0.045,0.034,2575,2102,3462
$GC,2084,-0.46,-170.3,261.8,-12.3,382,2092,0.30,2.20,0.00,0.000,4,0.121,0.058,2673,3471,3462
$GC,2118,-0.78,-170.3,264.5,-6.3,388,2125,0.25,2.08,0.00,0.000,6,0.034,0.035,2532,2103,3462
$GC,2446,-0.45,-170.3,317.9,-17.6,440,2451,0.43,2.17,0.00,0.000,4,0.128,0.058,2671,3466,3462
$GC,2504,-0.91,-170.3,323.2,-6.1,445,2511,0.32,2.05,0.00,0.000,6,0.033,0.034,2492,2109,3462
$GC,2820,-0.43,-170.3,379.0,-18.7,476,2824,0.57,2.15,0.00,0.000,4,0.136,0.059,2673,3471,3462
$GC,2867,-0.90,-170.3,382.9,-4.3,480,2875,0.32,2.05,0.00,0.000,6,0.034,0.035,2501,2124,3462
$GC,3184,-0.53,-170.3,431.8,-15.8,511,3188,0.45,2.15,0.00,0.000,4,0.132,0.059,2644,3473,3461
$GC,3258,-0.92,-170.3,437.3,-5.4,517,3264,0.28,2.03,0.00,0.000,6,0.036,0.035,2498,2140,3460
$GC,3573,-0.54,-170.3,486.3,-15.7,548,3575,0.45,0.00,0.00,0.000,6,0.135,0.000,2643,2136,3459
$GC,3883,-0.87,-170.3,503.4,-5.2,575,3887,0.28,2.12,0.00,0.000,4,0.046,0.061,2511,3475,3457
$GC,3957,-0.65,-170.3,512.0,-12.4,578,3961,0.28,2.03,0.00,0.000,6,0.124,0.038,2606,2152,3455
$GC,4273,-0.79,-170.3,537.0,-8.2,594,4274,0.12,0.00,0.00,0.000,6,0.067,0.000,2543,2149,3453
$GC,4579,-0.63,-170.3,576.5,-13.3,609,4580,0.22,0.00,0.00,0.000,6,0.131,0.000,2613,2147,3451
$GC,4884,-0.84,-170.3,600.9,-7.2,624,4885,0.20,0.00,0.00,0.000,6,0.054,0.000,2519,2147,3449
$GC,5189,-0.64,-170.3,639.8,-12.5,639,5193,0.28,2.15,0.00,0.000,4,0.130,0.064,2602,3471,3447
$GC,5274,-0.91,-170.3,646.0,-6.4,643,5278,0.17,2.03,0.00,0.000,6,0.044,0.039,2507,2158,3446
$GC,5601,-0.69,-170.3,688.9,-14.0,659,5605,0.28,2.33,0.00,0.000,4,0.132,0.054,2598,676,3445
$GC,5621,-0.64,-170.3,691.4,-11.6,660,5625,0.00,2.33,0.00,0.000,6,0.000,0.046,2598,2149,3445
$GC,5942,-0.85,-170.3,714.4,-7.0,676,5946,0.15,2.10,0.00,0.000,4,0.061,0.064,2521,3471,3443
$GC,6043,-0.76,-170.3,724.6,-10.9,680,6050,0.12,2.03,0.00,0.000,6,0.126,0.039,2567,2155,3441
$GC,6353,-0.83,-170.3,747.2,-6.7,696,6357,0.00,2.15,0.00,0.000,4,0.000,0.064,2563,3468,3439
$GC,6412,-0.94,-170.3,750.8,-5.9,698,6420,0.10,2.00,0.00,0.000,6,0.057,0.039,2499,2174,3439
$GC,6722,-0.70,-170.3,786.3,-12.2,714,6726,0.30,2.12,0.00,0.000,4,0.135,0.064,2589,3473,3437
$GC,6781,-0.94,-170.3,790.3,-5.8,716,6787,0.17,1.98,0.00,0.000,6,0.048,0.038,2495,2195,3436
$GC,7091,-0.71,-170.3,828.5,-12.9,732,7096,0.30,2.10,0.00,0.000,4,0.134,0.066,2588,3472,3435
$GC,7128,-0.94,-170.3,831.5,-7.1,733,7135,0.17,1.95,0.00,0.000,6,0.047,0.039,2495,2210,3435
$GC,7439,-0.70,-170.3,871.0,-13.5,749,7443,0.32,2.40,0.00,0.000,4,0.135,0.056,2597,679,3433
$GC,7470,-0.86,-170.3,874.2,-8.7,750,7474,0.12,2.40,0.00,0.000,6,0.051,0.048,2526,2184,3432
$GC,7786,-0.80,-170.3,908.4,-10.8,766,7790,0.12,2.05,0.00,0.000,4,0.146,0.066,2561,3470,3431
$GC,7833,-0.93,-170.3,912.7,-8.1,768,7838,0.08,1.98,0.00,0.000,6,0.061,0.039,2507,2197,3430
$GC,8155,-0.77,-170.3,949.6,-11.3,784,8163,0.20,2.10,0.00,0.000,4,0.137,0.066,2563,3472,3429
$GC,8183,-0.83,-170.3,952.2,-8.9,785,8187,0.00,1.98,0.00,0.000,6,0.000,0.040,2563,2199,3428
$GC,8504,-0.94,-170.3,975.3,-7.0,801,8506,0.12,0.00,0.00,0.000,6,0.073,0.000,2501,2198,3427
$STATE,8645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8645,begin apogee
$GC,8649,-0.20,0.0,990.1,10.9,808,8791,0.77,0.00,136.27,1.376,6,0.135,0.000,2750,2516,2758
$STATE,8792,end apogee,CONTROL_FINISHED_OK
$STATE,8792,begin climb
$GC,8793,0.87,170.3,994.3,0.0,815,8944,0.95,2.03,144.27,1.338,4,0.044,0.066,3119,3684,2063
$GC,8996,0.11,170.3,968.6,24.2,825,9001,0.93,1.88,0.00,0.000,6,0.173,0.042,2861,2547,2059
$GC,9323,0.47,243.6,942.8,7.1,841,9391,0.30,2.42,62.88,1.302,4,0.051,0.055,2999,1111,1765
$GC,9504,0.35,243.6,916.7,15.9,849,9508,0.20,2.33,0.00,0.000,6,0.144,0.049,2937,2510,1758
$GC,9820,0.41,243.6,877.8,12.2,865,9823,0.00,2.28,0.00,0.000,4,0.000,0.052,2946,1117,1757
$GC,9846,0.48,243.6,874.8,11.9,866,9850,0.00,2.28,0.00,0.000,6,0.000,0.048,2946,2515,1756
$GC,10167,0.48,243.6,834.9,12.3,882,10171,0.00,2.25,0.00,0.000,4,0.000,0.051,2955,1120,1756
$GC,10236,0.53,243.6,826.5,12.6,885,10240,0.08,2.22,0.00,0.000,6,0.066,0.047,3000,2501,1755
$GC,10558,0.34,243.6,776.7,15.5,901,10561,0.25,2.20,0.00,0.000,4,0.147,0.051,2937,1114,1754
$GC,10583,0.34,243.6,773.4,12.3,902,10587,0.00,2.22,0.00,0.000,6,0.000,0.047,2937,2498,1753
$GC,10904,0.43,248.0,741.1,9.8,918,10908,0.00,2.22,0.00,0.000,4,0.000,0.051,2946,1114,1753
$GC,10926,0.52,248.5,739.0,10.0,919,10930,0.12,2.17,0.00,0.000,6,0.073,0.048,3003,2492,1752
$GC,11252,0.32,248.5,693.6,13.7,935,11256,0.28,1.90,0.00,0.000,4,0.143,0.062,2920,3677,1752
$GC,11283,0.39,260.5,690.3,9.5,936,11301,0.00,1.88,13.80,1.143,6,0.000,0.040,2928,2462,1696
$GC,11616,0.61,312.9,664.9,7.9,953,11668,0.25,2.25,46.62,1.167,4,0.054,0.053,3046,1122,1482
$GC,11749,0.43,312.9,643.8,17.3,959,11753,0.30,2.20,0.00,0.000,6,0.150,0.048,2960,2479,1478
$GC,12069,0.55,312.9,602.9,13.7,975,12074,0.10,2.20,0.00,0.000,4,0.077,0.051,3016,1119,1476
$GC,12106,0.49,312.9,596.9,18.1,976,12113,0.10,2.17,0.00,0.000,6,0.137,0.046,2982,2468,1475
$GC,12417,0.49,312.9,549.7,14.8,992,12421,0.00,2.17,0.00,0.000,4,0.000,0.050,2991,1119,1475
$GC,12518,0.54,312.9,535.0,14.5,996,12525,0.00,2.12,0.00,0.000,6,0.000,0.046,2991,2445,1473
$GC,12830,0.54,312.9,490.2,13.2,1015,12833,0.00,2.12,0.00,0.000,4,0.000,0.050,3000,1121,1474
$GC,12919,0.54,312.9,478.3,14.1,1023,12926,0.00,2.08,0.00,0.000,6,0.000,0.044,3000,2426,1473
$GC,13237,0.54,312.9,437.5,12.4,1054,13240,0.00,2.08,0.00,0.000,4,0.000,0.049,3009,1109,1473
$GC,13267,0.54,312.9,433.4,12.5,1057,13271,0.00,2.08,0.00,0.000,6,0.000,0.044,3009,2419,1473
$GC,13589,0.54,312.9,392.2,11.8,1088,13592,0.00,2.08,0.00,0.000,4,0.000,0.049,3018,1114,1473
$GC,13614,0.54,312.9,389.0,11.6,1090,13622,0.00,2.05,0.00,0.000,6,0.000,0.044,3019,2411,1473
$GC,13931,0.48,312.9,350.0,13.3,1121,13932,0.15,0.00,0.00,0.000,6,0.134,0.000,2975,2411,1473
$GC,14242,0.64,312.9,316.5,10.8,1151,14245,0.15,2.05,0.00,0.000,4,0.060,0.048,3055,1104,1474
$GC,14294,0.51,312.9,308.6,15.6,1156,14298,0.20,2.05,0.00,0.000,6,0.137,0.044,2989,2406,1473
$GC,14618,0.64,326.3,274.8,9.5,1210,14633,0.12,2.08,11.30,0.823,4,0.068,0.058,3050,3683,1428
$GC,14648,0.54,326.3,271.1,12.5,1215,14654,0.17,2.00,0.00,0.000,6,0.139,0.038,2999,2395,1427
$GC,14974,0.64,326.3,235.1,12.0,1276,14980,0.00,2.00,0.00,0.000,4,0.000,0.048,3008,1116,1428
$GC,15033,0.77,326.3,227.8,11.7,1287,15039,0.17,2.03,0.00,0.000,6,0.058,0.044,3098,2402,1427
$GC,15359,0.52,326.3,169.9,14.1,1348,15366,0.35,2.03,0.00,0.000,4,0.140,0.047,2999,1110,1427
$GC,15402,0.82,378.1,165.5,8.0,1356,15454,0.17,2.03,43.42,0.776,6,0.042,0.042,3104,2402,1216
$GC,15774,0.69,378.1,113.2,16.6,1424,15780,0.22,2.05,0.00,0.000,4,0.137,0.046,3046,1108,1212
$GC,15839,0.90,383.3,105.5,9.8,1436,15851,0.12,2.03,5.18,0.560,6,0.044,0.041,3127,2386,1195
$GC,16172,0.78,383.3,54.6,14.7,1498,16179,0.17,2.05,0.00,0.000,4,0.133,0.054,3070,3695,1195
$GC,16248,0.87,383.3,46.4,10.1,1512,16254,0.00,2.00,0.00,0.000,6,0.000,0.035,3078,2390,1195
$GC,16574,1.12,435.3,22.1,8.0,1573,16621,0.28,2.15,43.03,0.634,4,0.044,0.052,3207,3695,983
$GC,16642,0.77,435.3,10.9,19.7,1584,16648,0.47,2.03,0.00,0.000,6,0.143,0.035,3067,2398,982
$STATE,16715,end climb,SURFACE_DEPTH_REACHED
$STATE,16715,begin surface coast
$FINISH,1.6,1.002304
$STATE,16760,end surface coast,CONTROL_FINISHED_OK
$STATE,16760,begin surface
$SM_CCo,16833,0.00,0.000,0,0,980,436.39
$SM_GC,2.23,7.40,0.00,0.00,0.033,0.000,0.000,155,2036,980,-8.22,-0.99,436.39
$IRIDIUM_FIX,2503.20,12452.11,050998,171712
$TT8_MAMPS,0.049088
$HUMID,1527
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.80
$XPDR_PINGS,175
$24V_AH,23.7,30.349
$10V_AH,10.7,21.987
$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,34.850,161.900,506.775,0.000,0.000,28.861,33.536,224.475,51.750,0.000,0.000,12.404,0.000,12208.317,690.856,3767.784,532.929,0.000,2099.547,0.000,3175.079,0.000,54.000,0.000
$DEVICE_MAMPS,227.032,65.962,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1086.589,1119.954,1751.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91564,1606
$CAP_FILE_SIZE,188006,0
$CFSIZE,260165632,246566912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245, 44.6,1
$GPS,120609,030307,2511.571,12322.468,26,1.2,26,-3.7