version: 66.04
glider: 165
mission: 2
dive: 149
start: 6 13 109 10 47 49
data:
$ID,165
$MISSION,2
$DIVE,149
$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,275
$T_MISSION,330
$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,250
$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,-119823.21
$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,26
$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
$GPS1,104136,2510.669,12321.179,34,1.1,34,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-70.2
$GPS2,104744,2510.728,12321.211,12,1.4,12,-3.7
$SPEED_LIMITS,0.208,0.348
$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,196.2,8403,-16.4,-12.000
$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,-0.94,-243.4,0.0,0.0,0,73,0.00,0.00,-59.08,0.000,2,0.000,0.000,160,2077,1888
$GC,75,-0.94,-243.4,3.0,-3.0,9,146,8.85,2.28,-53.83,0.000,4,0.222,0.066,2498,3480,3755
$GC,332,-0.28,-243.4,72.7,-30.1,55,338,0.62,2.15,0.00,0.000,6,0.128,0.038,2723,2083,3756
$GC,658,-1.25,-243.4,106.5,-12.4,116,667,0.85,2.20,0.00,0.000,4,0.097,0.050,2417,3484,3758
$GC,720,-0.41,-243.4,122.9,-36.4,127,726,0.77,2.12,0.00,0.000,6,0.142,0.035,2685,2088,3758
$GC,1047,-0.69,-243.4,154.7,-6.8,188,1053,0.25,2.20,0.00,0.000,4,0.045,0.060,2559,3490,3759
$GC,1159,-0.51,-243.4,171.3,-14.1,209,1165,0.25,2.08,0.00,0.000,6,0.115,0.036,2650,2126,3759
$GC,1486,-0.73,-243.4,196.6,-8.4,270,1493,0.17,2.17,0.00,0.000,4,0.054,0.058,2559,3485,3759
$GC,1540,-0.62,-243.4,204.3,-14.8,280,1546,0.15,2.05,0.00,0.000,6,0.114,0.036,2614,2134,3760
$GC,1867,-0.69,-243.4,243.7,-11.5,341,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2132,3759
$GC,2191,-0.81,-243.4,269.7,-6.4,402,2199,0.15,2.15,0.00,0.000,4,0.058,0.058,2534,3476,3759
$GC,2268,-0.63,-243.4,279.4,-14.2,416,2275,0.20,2.03,0.00,0.000,6,0.118,0.036,2606,2149,3759
$GC,2595,-0.77,-243.4,318.5,-12.1,464,2599,0.10,2.12,0.00,0.000,4,0.073,0.059,2547,3472,3760
$GC,2631,-0.72,-243.4,323.7,-15.1,467,2638,0.10,2.00,0.00,0.000,6,0.118,0.035,2584,2153,3759
$GC,2947,-0.72,-243.4,361.2,-11.2,498,2951,0.00,2.12,0.00,0.000,4,0.000,0.059,2577,3473,3759
$GC,2984,-0.81,-243.4,365.3,-10.3,501,2990,0.00,2.00,0.00,0.000,6,0.000,0.036,2577,2159,3758
$GC,3300,-0.81,-243.4,401.9,-11.5,532,3304,0.00,2.12,0.00,0.000,4,0.000,0.061,2576,3473,3758
$GC,3332,-0.90,-243.4,405.2,-10.2,535,3336,0.10,2.00,0.00,0.000,6,0.051,0.037,2508,2162,3757
$GC,3652,-0.60,-243.4,453.8,-15.6,566,3656,0.38,2.30,0.00,0.000,4,0.128,0.052,2630,673,3755
$GC,3673,-0.60,-243.4,456.4,-12.6,568,3677,0.00,2.30,0.00,0.000,6,0.000,0.044,2629,2144,3755
$GC,3995,-0.96,-243.4,476.4,-6.3,599,3999,0.30,2.12,0.00,0.000,4,0.044,0.060,2476,3491,3754
$GC,4079,-0.66,-243.4,489.0,-16.7,606,4088,0.38,2.03,0.00,0.000,6,0.128,0.038,2603,2168,3753
$GC,4393,-0.89,-243.4,512.3,-6.0,628,4397,0.17,2.10,0.00,0.000,4,0.057,0.060,2508,3484,3751
$GC,4430,-0.76,-243.4,515.8,-10.6,630,4434,0.17,2.00,0.00,0.000,6,0.120,0.038,2570,2177,3750
$GC,4757,-0.80,-243.4,540.1,-6.6,646,4760,0.00,2.10,0.00,0.000,4,0.000,0.062,2569,3490,3748
$GC,4804,-0.94,-243.4,543.0,-5.8,648,4808,0.12,2.00,0.00,0.000,6,0.048,0.038,2493,2184,3748
$GC,5125,-0.59,-243.4,589.3,-15.6,664,5127,0.43,0.00,0.00,0.000,6,0.134,0.000,2629,2177,3746
$GC,5431,-1.45,-243.4,610.7,-8.8,679,5435,0.75,2.08,0.00,0.000,4,0.090,0.061,2355,3479,3744
$GC,5627,-0.69,-243.4,664.1,-30.4,688,5632,0.73,1.95,0.00,0.000,6,0.156,0.042,2586,2223,3742
$GC,5950,-0.91,-243.4,691.3,-6.1,704,5954,0.17,2.42,0.00,0.000,4,0.058,0.054,2500,679,3741
$GC,5969,-0.91,-243.4,693.4,-10.3,705,5974,0.08,2.42,0.00,0.000,6,0.138,0.047,2521,2208,3741
$GC,6293,-0.78,-243.4,729.2,-11.0,721,6296,0.15,2.03,0.00,0.000,4,0.138,0.064,2563,3474,3738
$GC,6356,-0.97,-243.4,733.7,-4.9,724,6359,0.12,1.92,0.00,0.000,6,0.049,0.040,2486,2234,3738
$GC,6683,-0.67,-243.4,777.1,-13.5,740,6687,0.35,2.03,0.00,0.000,4,0.136,0.067,2601,3478,3736
$GC,6714,-0.86,-243.4,779.7,-5.5,741,6721,0.12,1.92,0.00,0.000,6,0.047,0.041,2523,2238,3736
$GC,7025,-0.77,-243.4,809.2,-10.7,757,7026,0.15,0.00,0.00,0.000,6,0.132,0.000,2568,2234,3733
$GC,7330,-0.93,-243.4,832.3,-7.7,772,7334,0.15,2.03,0.00,0.000,4,0.063,0.068,2494,3490,3731
$GC,7355,-0.93,-243.4,835.0,-12.2,773,7360,0.00,1.95,0.00,0.000,6,0.000,0.041,2494,2239,3731
$GC,7677,-0.72,-243.4,881.2,-14.5,789,7681,0.30,2.03,0.00,0.000,4,0.132,0.068,2588,3467,3730
$GC,7714,-1.00,-243.4,884.8,-7.7,790,7722,0.22,1.90,0.00,0.000,6,0.042,0.041,2471,2244,3729
$GC,8024,-0.68,-243.4,934.5,-17.0,806,8028,0.40,2.03,0.00,0.000,4,0.138,0.067,2590,3471,3728
$GC,8051,-0.75,-243.4,937.6,-11.1,807,8054,0.00,1.90,0.00,0.000,6,0.000,0.041,2590,2250,3728
$GC,8372,-1.05,-243.4,957.0,-5.9,823,8376,0.30,2.00,0.00,0.000,4,0.051,0.069,2457,3481,3727
$GC,8398,-0.95,-243.4,959.7,-11.9,824,8402,0.15,1.90,0.00,0.000,6,0.141,0.042,2507,2259,3726
$STATE,8636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8636,begin apogee
$GC,8640,-0.20,0.0,990.7,12.8,836,8840,0.75,0.00,195.85,1.374,6,0.130,0.000,2753,2532,2759
$STATE,8840,end apogee,CONTROL_FINISHED_OK
$STATE,8840,begin climb
$GC,8841,0.94,243.4,999.4,0.0,846,9057,1.00,2.50,206.82,1.328,4,0.040,0.057,3151,1138,1764
$GC,9201,0.26,243.4,930.2,27.9,862,9208,0.82,2.33,0.00,0.000,6,0.178,0.054,2903,2517,1757
$GC,9511,0.50,288.9,894.6,10.5,878,9556,0.22,2.28,39.15,1.258,4,0.054,0.054,3019,1147,1580
$GC,9603,0.32,288.9,878.2,19.7,882,9607,0.30,2.30,0.00,0.000,6,0.140,0.051,2925,2517,1576
$GC,9924,0.48,288.9,835.5,12.7,898,9928,0.15,2.22,0.00,0.000,4,0.064,0.053,3008,1129,1574
$GC,9966,0.35,288.9,828.5,17.7,900,9971,0.20,2.22,0.00,0.000,6,0.140,0.048,2942,2498,1572
$GC,10293,0.45,288.9,783.2,12.8,916,10297,0.00,2.17,0.00,0.000,4,0.000,0.053,2951,1136,1572
$GC,10362,0.57,294.4,775.2,11.8,919,10372,0.10,2.17,4.93,0.901,6,0.055,0.049,3010,2486,1557
$GC,10683,0.37,294.4,726.3,14.4,935,10687,0.25,2.15,0.00,0.000,4,0.145,0.052,2946,1130,1557
$GC,10714,0.53,375.1,723.0,9.3,936,10791,0.10,2.17,71.57,1.194,6,0.055,0.048,3006,2486,1229
$GC,11094,0.46,375.1,672.2,13.7,955,11098,0.15,2.20,0.00,0.000,4,0.141,0.051,2973,1135,1223
$GC,11168,0.64,409.0,664.1,10.9,958,11203,0.12,2.15,30.35,1.135,6,0.052,0.048,3040,2461,1090
$GC,11507,0.49,409.0,601.3,20.4,975,11510,0.22,2.12,0.00,0.000,4,0.137,0.051,2982,1132,1086
$GC,11553,0.64,409.0,593.1,15.0,977,11558,0.08,2.15,0.00,0.000,6,0.061,0.048,3033,2465,1085
$GC,11869,0.53,409.0,523.1,23.1,993,11874,0.15,2.12,0.00,0.000,4,0.140,0.051,2998,1138,1084
$GC,11917,0.64,409.0,513.8,18.2,995,11921,0.00,2.10,0.00,0.000,6,0.000,0.047,2998,2447,1083
$GC,12232,0.72,409.0,462.7,14.0,1022,12236,0.15,2.08,0.00,0.000,4,0.065,0.051,3077,1131,1083
$GC,12274,0.53,409.0,455.3,19.5,1026,12278,0.25,2.08,0.00,0.000,6,0.146,0.047,2994,2427,1083
$GC,12595,0.74,482.4,418.2,9.6,1057,12664,0.17,2.20,62.55,0.986,4,0.062,0.051,3082,1130,791
$GC,12743,0.64,482.4,393.2,17.3,1070,12751,0.17,2.10,0.00,0.000,6,0.137,0.046,3026,2412,787
$GC,13059,0.73,482.4,348.8,14.5,1101,13062,0.00,2.05,0.00,0.000,4,0.000,0.051,3035,1139,785
$GC,13101,0.85,482.4,342.3,15.9,1105,13105,0.12,2.00,0.00,0.000,6,0.051,0.044,3109,2386,785
$GC,13422,0.61,482.4,266.5,22.5,1149,13428,0.30,1.98,0.00,0.000,4,0.142,0.051,3028,1129,786
$GC,13458,0.72,482.4,260.8,12.2,1156,13465,0.00,2.00,0.00,0.000,6,0.000,0.044,3027,2384,784
$GC,13785,1.02,551.0,231.4,9.7,1217,13858,0.32,2.17,65.47,0.825,4,0.045,0.059,3171,3678,507
$GC,13873,0.73,551.0,211.1,27.3,1232,13880,0.40,2.08,0.00,0.000,6,0.140,0.039,3055,2392,500
$GC,14200,1.08,622.5,166.0,9.6,1293,14208,0.30,2.03,2.95,0.381,4,0.045,0.049,3196,1133,484
$GC,14293,0.85,622.5,151.2,16.9,1310,14300,0.30,1.95,0.00,0.000,6,0.137,0.044,3098,2353,482
$GC,14621,1.00,622.5,107.1,12.4,1371,14626,0.12,0.00,0.00,0.000,6,0.064,0.000,3164,2353,480
$GC,14946,1.00,622.5,47.8,18.2,1432,14952,0.00,1.92,0.00,0.000,4,0.000,0.047,3173,1130,479
$GC,14994,1.00,622.5,39.7,17.1,1441,15001,0.08,1.90,0.00,0.000,6,0.137,0.041,3145,2345,478
$STATE,15271,end climb,SURFACE_DEPTH_REACHED
$STATE,15271,begin surface coast
$FINISH,1.7,1.009977
$STATE,15298,end surface coast,CONTROL_FINISHED_OK
$STATE,15298,begin surface
$SM_CCo,15372,0.00,0.000,0,0,477,559.77
$SM_GC,2.39,7.53,0.00,0.00,0.036,0.000,0.000,162,2056,477,-8.21,-0.42,559.77
$IRIDIUM_FIX,2500.82,12321.59,070998,070742
$TT8_MAMPS,0.048321
$HUMID,1560
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.40
$XPDR_PINGS,167
$24V_AH,23.5,32.253
$10V_AH,10.7,23.091
$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,33.525,148.050,679.650,0.000,0.000,25.404,36.386,206.087,49.750,0.000,0.000,13.889,0.000,10854.562,818.330,3538.731,502.854,0.000,2177.591,0.000,2987.716,0.000,54.857,0.000
$DEVICE_MAMPS,221.663,69.030,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1012.464,1036.480,1624.052,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85236,1498
$CAP_FILE_SIZE,175032,0
$CFSIZE,260165632,245850112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.281, 25.8,1
$GPS,130609,150454,2510.385,12320.784,34,1.8,34,-3.7