version: 66.04
glider: 165
mission: 2
dive: 142
start: 6 12 109 3 13 7
data:
$ID,165
$MISSION,2
$DIVE,142
$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,-119710.34
$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,59
$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
$GPS1,030307,2511.571,12322.468,26,1.2,26,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.8
$GPS2,031301,2511.644,12322.667,9,1.2,14,-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,215.5,9025,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.87,-170.3,0.0,0.0,0,60,0.00,0.00,-45.90,0.000,2,0.000,0.000,154,2035,2122
$GC,62,-0.87,-170.3,3.3,-4.4,7,113,8.93,2.12,-36.92,0.000,4,0.221,0.058,2533,675,3454
$GC,171,-0.17,-170.3,26.6,-31.2,26,178,0.70,2.20,0.00,0.000,6,0.148,0.042,2760,2066,3455
$GC,497,-0.51,-170.3,57.9,-6.0,87,504,0.28,2.25,0.00,0.000,4,0.044,0.054,2628,3479,3457
$GC,610,-0.33,-170.3,74.3,-14.7,108,617,0.22,2.12,0.00,0.000,6,0.122,0.037,2722,2088,3457
$GC,938,-0.63,-170.3,98.4,-9.2,169,944,0.28,2.20,0.00,0.000,4,0.044,0.054,2585,3489,3458
$GC,1002,-0.33,-170.3,109.8,-19.7,181,1008,0.35,2.12,0.00,0.000,6,0.127,0.035,2706,2090,3458
$GC,1328,-0.60,-170.3,143.5,-9.0,242,1335,0.22,2.20,0.00,0.000,4,0.050,0.055,2590,3470,3459
$GC,1388,-0.42,-170.3,151.9,-14.6,253,1395,0.25,2.10,0.00,0.000,6,0.117,0.036,2681,2086,3459
$GC,1715,-0.67,-170.3,167.7,-3.0,314,1721,0.20,2.20,0.00,0.000,4,0.052,0.061,2574,3485,3459
$GC,1741,-0.60,-170.3,169.6,-8.0,319,1748,0.12,2.10,0.00,0.000,6,0.121,0.041,2622,2103,3459
$GC,2068,-0.60,-170.3,205.2,-12.4,380,2076,0.00,2.20,0.00,0.000,4,0.000,0.059,2619,3474,3459
$GC,2112,-0.67,-170.3,210.7,-12.0,388,2120,0.00,2.05,0.00,0.000,6,0.000,0.041,2619,2128,3459
$GC,2440,-0.67,-170.3,241.7,-7.4,449,2445,0.00,2.12,0.00,0.000,4,0.000,0.058,2619,3473,3459
$GC,2493,-0.79,-170.3,245.5,-6.7,459,2499,0.12,2.03,0.00,0.000,6,0.047,0.036,2540,2138,3459
$GC,2818,-0.47,-170.3,293.8,-17.1,520,2826,0.40,2.15,0.00,0.000,4,0.130,0.060,2670,3473,3459
$GC,2879,-0.91,-170.3,298.9,-6.8,531,2885,0.38,2.00,0.00,0.000,6,0.039,0.036,2485,2133,3459
$GC,3195,-0.43,-170.3,358.9,-18.5,563,3196,0.60,0.00,0.00,0.000,6,0.136,0.000,2678,2130,3459
$GC,3506,-1.30,-170.3,378.7,-6.1,593,3511,0.70,2.12,0.00,0.000,4,0.051,0.057,2387,3474,3458
$GC,3665,-0.54,-170.3,413.3,-24.6,607,3672,0.77,2.05,0.00,0.000,6,0.151,0.038,2637,2139,3456
$GC,3981,-0.83,-170.3,435.5,-5.9,638,3985,0.22,2.15,0.00,0.000,4,0.049,0.061,2526,3476,3455
$GC,4002,-0.83,-170.3,437.2,-8.5,640,4006,0.00,2.03,0.00,0.000,6,0.000,0.037,2525,2151,3454
$GC,4323,-0.58,-170.3,477.3,-12.8,671,4324,0.32,0.00,0.00,0.000,6,0.130,0.000,2630,2147,3453
$GC,4634,-0.85,-170.3,492.8,-4.7,701,4638,0.20,2.12,0.00,0.000,4,0.054,0.061,2527,3479,3451
$GC,4665,-0.74,-170.3,495.5,-10.5,703,4672,0.12,2.03,0.00,0.000,6,0.127,0.038,2573,2158,3450
$GC,4987,-0.74,-170.3,525.2,-9.4,722,4991,0.00,2.30,0.00,0.000,4,0.000,0.054,2573,679,3448
$GC,5017,-0.74,-170.3,528.3,-10.1,723,5022,0.00,2.30,0.00,0.000,6,0.000,0.044,2573,2148,3447
$GC,5334,-0.74,-170.3,560.5,-10.4,739,5338,0.00,2.12,0.00,0.000,4,0.000,0.062,2573,3471,3445
$GC,5376,-0.80,-170.3,564.6,-9.5,741,5380,0.00,2.03,0.00,0.000,6,0.000,0.038,2573,2151,3445
$GC,5702,-0.80,-170.3,598.1,-10.4,757,5706,0.00,2.15,0.00,0.000,4,0.000,0.062,2573,3473,3443
$GC,5750,-0.88,-170.3,602.8,-9.9,759,5755,0.08,2.00,0.00,0.000,6,0.058,0.038,2520,2166,3443
$GC,6072,-0.72,-170.3,641.6,-11.0,775,6075,0.22,2.10,0.00,0.000,4,0.130,0.064,2589,3473,3442
$GC,6119,-0.92,-170.3,645.5,-7.5,777,6123,0.15,2.00,0.00,0.000,6,0.046,0.038,2506,2174,3441
$GC,6440,-0.69,-170.3,687.5,-14.4,793,6444,0.28,2.33,0.00,0.000,4,0.131,0.054,2592,679,3439
$GC,6460,-0.69,-170.3,689.9,-12.0,794,6465,0.00,2.35,0.00,0.000,6,0.000,0.046,2591,2169,3439
$GC,6787,-0.87,-170.3,716.5,-8.4,810,6792,0.15,2.10,0.00,0.000,4,0.063,0.064,2518,3472,3436
$GC,6883,-0.78,-170.3,728.4,-12.7,814,6887,0.12,1.98,0.00,0.000,6,0.127,0.039,2563,2186,3435
$GC,7199,-0.84,-170.3,760.0,-9.4,830,7203,0.00,2.10,0.00,0.000,4,0.000,0.064,2563,3465,3434
$GC,7252,-0.96,-170.3,765.1,-9.9,832,7256,0.12,1.98,0.00,0.000,6,0.054,0.038,2490,2189,3434
$GC,7568,-0.71,-170.3,808.2,-13.3,848,7572,0.32,2.38,0.00,0.000,4,0.138,0.055,2591,673,3432
$GC,7594,-0.75,-170.3,811.0,-10.2,849,7598,0.00,2.38,0.00,0.000,6,0.000,0.048,2590,2170,3432
$GC,7915,-0.95,-170.3,832.1,-6.2,865,7920,0.22,2.10,0.00,0.000,4,0.057,0.065,2487,3470,3430
$GC,7963,-0.74,-170.3,837.1,-11.9,867,7967,0.25,1.98,0.00,0.000,6,0.130,0.040,2573,2192,3429
$GC,8285,-0.86,-170.3,859.3,-6.6,883,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2190,3428
$GC,8590,-0.98,-170.3,878.5,-6.5,898,8593,0.20,2.08,0.00,0.000,4,0.061,0.067,2482,3476,3426
$GC,8637,-0.75,-170.3,883.7,-12.0,900,8641,0.28,1.98,0.00,0.000,6,0.132,0.041,2574,2205,3425
$GC,8959,-0.89,-170.3,906.9,-7.4,916,8962,0.12,2.08,0.00,0.000,4,0.074,0.066,2510,3482,3424
$GC,8994,-0.79,-170.3,910.6,-10.7,917,9001,0.15,1.98,0.00,0.000,6,0.130,0.041,2563,2213,3423
$GC,9305,-0.88,-170.3,936.8,-8.4,933,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2212,3422
$GC,9610,-0.97,-170.3,961.3,-7.5,948,9614,0.17,2.08,0.00,0.000,4,0.066,0.067,2482,3473,3421
$GC,9653,-0.74,-170.3,966.1,-11.4,950,9657,0.28,1.95,0.00,0.000,6,0.135,0.041,2573,2218,3420
$GC,9980,-0.88,-170.3,989.6,-6.7,966,9983,0.12,2.03,0.00,0.000,4,0.074,0.067,2510,3469,3420
$STATE,9988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9988,begin apogee
$GC,9993,-0.20,0.0,990.2,6.5,966,10131,0.70,0.00,135.27,1.389,6,0.130,0.000,2747,2518,2759
$STATE,10131,end apogee,CONTROL_FINISHED_OK
$STATE,10131,begin climb
$GC,10133,0.87,170.3,994.3,0.0,973,10288,0.98,2.45,145.50,1.345,4,0.046,0.055,3126,1132,2062
$GC,10324,0.21,170.3,973.8,21.1,982,10332,0.82,2.38,0.00,0.000,6,0.181,0.051,2894,2517,2059
$GC,10635,0.43,246.1,948.0,7.0,998,10705,0.17,2.40,65.78,1.305,4,0.064,0.054,2983,1129,1754
$GC,10727,0.35,246.1,937.5,11.7,1002,10731,0.15,2.35,0.00,0.000,6,0.140,0.049,2937,2517,1751
$GC,11044,0.42,254.5,905.4,9.7,1018,11057,0.00,2.33,7.72,1.098,4,0.000,0.053,2946,1126,1720
$GC,11090,0.54,260.1,900.8,9.8,1020,11100,0.10,2.28,6.62,1.036,6,0.060,0.048,3001,2516,1698
$GC,11406,0.33,260.1,853.1,15.4,1035,11410,0.22,2.22,0.00,0.000,4,0.147,0.051,2942,1130,1695
$GC,11469,0.46,260.1,845.6,10.6,1038,11473,0.00,2.20,0.00,0.000,6,0.000,0.047,2942,2492,1695
$GC,11790,0.52,260.1,810.8,10.9,1054,11794,0.12,2.17,0.00,0.000,4,0.074,0.051,3008,1119,1695
$GC,11891,0.37,260.1,796.0,15.7,1058,11899,0.20,2.17,0.00,0.000,6,0.142,0.048,2944,2471,1693
$GC,12202,0.44,260.1,759.6,11.6,1074,12205,0.00,2.15,0.00,0.000,4,0.000,0.051,2953,1130,1693
$GC,12238,0.52,260.1,755.4,11.5,1075,12245,0.08,2.15,0.00,0.000,6,0.065,0.047,2999,2473,1692
$GC,12549,0.35,260.1,706.8,15.4,1091,12553,0.22,2.15,0.00,0.000,4,0.146,0.051,2942,1129,1692
$GC,12580,0.44,260.1,702.8,12.4,1092,12585,0.00,2.12,0.00,0.000,6,0.000,0.047,2942,2463,1692
$GC,12897,0.56,284.6,672.4,9.0,1108,12920,0.17,0.00,21.98,1.166,6,0.064,0.000,3018,2464,1598
$GC,13222,0.36,284.6,626.4,14.3,1124,13226,0.28,2.15,0.00,0.000,4,0.141,0.051,2946,1132,1595
$GC,13312,0.58,311.5,618.0,8.9,1128,13342,0.12,2.12,24.33,1.124,6,0.053,0.047,3014,2450,1489
$GC,13654,0.46,311.5,566.9,15.9,1145,13657,0.15,2.12,0.00,0.000,4,0.142,0.051,2980,1118,1484
$GC,13700,0.53,311.5,560.1,14.1,1147,13705,0.00,2.15,0.00,0.000,6,0.000,0.046,2980,2450,1483
$GC,14022,0.53,311.5,515.6,13.9,1163,14026,0.00,2.12,0.00,0.000,4,0.000,0.051,2989,1130,1483
$GC,14048,0.53,311.5,512.0,12.9,1164,14052,0.00,2.10,0.00,0.000,6,0.000,0.045,2989,2445,1483
$GC,14363,0.53,311.5,472.0,11.0,1190,14367,0.00,2.10,0.00,0.000,4,0.000,0.050,2998,1130,1483
$GC,14437,0.53,311.5,464.1,10.4,1197,14442,0.00,2.05,0.00,0.000,6,0.000,0.045,2998,2421,1483
$GC,14759,0.53,311.5,426.7,13.0,1228,14762,0.00,2.03,0.00,0.000,4,0.000,0.061,2998,3680,1483
$GC,14779,0.49,311.5,423.8,14.2,1230,14783,0.00,1.92,0.00,0.000,6,0.000,0.041,3007,2438,1483
$GC,15101,0.44,311.5,379.3,14.3,1261,15104,0.15,2.05,0.00,0.000,4,0.148,0.050,2973,1123,1483
$GC,15185,0.61,311.5,369.3,10.8,1269,15189,0.08,2.05,0.00,0.000,6,0.061,0.046,3024,2419,1483
$GC,15506,0.53,311.5,320.6,14.4,1300,15507,0.12,0.00,0.00,0.000,6,0.140,0.000,2989,2419,1483
$GC,15821,0.66,345.8,288.3,8.6,1341,15858,0.12,0.00,29.50,0.884,6,0.071,0.000,3047,2418,1347
$GC,16179,0.55,345.8,238.9,15.2,1407,16184,0.17,0.00,0.00,0.000,6,0.139,0.000,2990,2418,1345
$GC,16503,0.75,345.8,204.1,10.3,1468,16510,0.20,2.05,0.00,0.000,4,0.055,0.048,3092,1129,1345
$GC,16552,0.57,345.8,196.8,16.2,1477,16559,0.25,2.08,0.00,0.000,6,0.144,0.044,3010,2444,1345
$GC,16879,0.92,477.8,166.9,4.8,1538,16994,0.30,2.15,107.93,0.768,4,0.045,0.047,3153,1127,810
$GC,17073,0.75,477.8,134.4,24.1,1571,17080,0.25,2.10,0.00,0.000,6,0.136,0.043,3059,2423,806
$GC,17400,1.15,521.1,90.0,8.3,1632,17446,0.35,0.00,41.33,0.686,6,0.041,0.000,3215,2423,630
$GC,17767,0.90,521.1,14.0,20.7,1699,17773,0.32,2.05,0.00,0.000,4,0.142,0.044,3121,1115,614
$GC,17825,1.15,521.1,5.5,12.7,1710,17833,0.15,2.00,0.00,0.000,6,0.042,0.040,3213,2383,613
$STATE,17847,end climb,SURFACE_DEPTH_REACHED
$STATE,17847,begin surface coast
$FINISH,1.8,1.000229
$STATE,17863,end surface coast,CONTROL_FINISHED_OK
$STATE,17863,begin surface
$SM_CCo,17937,0.00,0.000,0,0,612,526.66
$SM_GC,2.40,7.72,0.00,0.00,0.030,0.000,0.000,162,2056,612,-8.21,-0.42,526.66
$IRIDIUM_FIX,2458.45,12328.87,060998,030345
$TT8_MAMPS,0.047554
$HUMID,1560
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.20
$XPDR_PINGS,199
$24V_AH,23.7,30.569
$10V_AH,10.7,22.141
$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,33.350,170.375,585.950,0.000,0.000,57.105,80.705,272.864,57.750,0.000,0.000,17.862,0.000,13094.257,766.026,3964.054,674.923,0.000,2241.716,0.000,3337.107,0.000,53.972,0.000
$DEVICE_MAMPS,220.896,67.496,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1162.638,1193.714,1865.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97657,1717
$CAP_FILE_SIZE,197585,0
$CFSIZE,260165632,246456320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231, 43.3,1
$GPS,120609,081301,2511.343,12322.161,38,1.0,38,-3.7