version: 66.04
glider: 165
mission: 2
dive: 150
start: 6 13 109 15 11 19
data:
$ID,165
$MISSION,2
$DIVE,150
$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,-119838.34
$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,47
$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
$GPS1,150454,2510.385,12320.784,34,1.8,34,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-71.3
$GPS2,151114,2510.395,12320.834,12,1.6,12,-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,190.2,8267,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.94,-243.4,0.0,0.0,0,77,0.00,0.00,-62.28,0.000,2,0.000,0.000,161,2056,1997
$GC,79,-0.94,-243.4,3.2,-4.0,10,142,9.00,2.15,-48.25,0.000,4,0.229,0.058,2514,673,3756
$GC,318,-0.26,-243.4,74.9,-33.8,53,324,0.65,2.20,0.00,0.000,6,0.140,0.043,2732,2064,3758
$GC,644,-1.18,-243.4,105.9,-9.4,114,653,0.80,2.20,0.00,0.000,4,0.071,0.052,2432,3479,3760
$GC,814,-0.41,-243.4,153.2,-31.9,145,820,0.77,2.08,0.00,0.000,6,0.140,0.044,2680,2111,3760
$GC,1140,-0.76,-243.4,183.9,-7.6,206,1148,0.28,2.17,0.00,0.000,4,0.042,0.061,2539,3472,3761
$GC,1168,-0.65,-243.4,187.5,-14.3,211,1175,0.17,2.05,0.00,0.000,6,0.118,0.035,2602,2118,3762
$GC,1494,-0.65,-243.4,230.8,-12.9,272,1501,0.00,2.17,0.00,0.000,4,0.000,0.058,2602,3467,3762
$GC,1548,-0.77,-243.4,237.1,-11.6,282,1556,0.00,2.03,0.00,0.000,6,0.000,0.039,2602,2133,3762
$GC,1877,-0.84,-243.4,269.3,-6.4,343,1882,0.15,2.12,0.00,0.000,4,0.059,0.058,2520,3473,3761
$GC,1962,-0.61,-243.4,278.4,-10.2,359,1968,0.25,2.03,0.00,0.000,6,0.110,0.036,2621,2142,3762
$GC,2287,-0.83,-243.4,302.9,-8.2,417,2291,0.20,2.12,0.00,0.000,4,0.051,0.058,2520,3484,3761
$GC,2308,-0.83,-243.4,305.3,-11.9,419,2312,0.08,2.03,0.00,0.000,6,0.132,0.036,2549,2153,3762
$GC,2628,-0.68,-243.4,353.7,-13.1,450,2632,0.17,2.12,0.00,0.000,4,0.132,0.060,2602,3472,3761
$GC,2650,-0.68,-243.4,355.9,-10.9,452,2653,0.00,2.00,0.00,0.000,6,0.000,0.036,2602,2158,3762
$GC,2972,-0.84,-243.4,381.8,-8.4,483,2975,0.15,2.10,0.00,0.000,4,0.058,0.059,2522,3473,3760
$GC,3002,-0.75,-243.4,385.5,-12.5,485,3009,0.15,1.98,0.00,0.000,6,0.118,0.036,2576,2174,3759
$GC,3318,-0.79,-243.4,422.0,-11.2,516,3322,0.00,2.10,0.00,0.000,4,0.000,0.061,2576,3472,3759
$GC,3382,-0.94,-243.4,428.4,-9.5,522,3386,0.12,1.98,0.00,0.000,6,0.047,0.037,2496,2177,3758
$GC,3703,-0.58,-243.4,485.1,-18.8,553,3704,0.43,0.00,0.00,0.000,6,0.133,0.000,2632,2172,3756
$GC,4022,-1.42,-243.4,515.7,-11.4,577,4026,0.68,2.08,0.00,0.000,4,0.053,0.060,2355,3473,3754
$GC,4155,-0.64,-243.4,550.6,-30.7,583,4160,0.82,1.98,0.00,0.000,6,0.159,0.041,2609,2177,3752
$GC,4466,-0.94,-243.4,579.3,-7.0,598,4469,0.22,2.10,0.00,0.000,4,0.050,0.062,2491,3484,3751
$GC,4501,-0.76,-243.4,583.6,-13.1,600,4506,0.22,2.00,0.00,0.000,6,0.123,0.038,2569,2182,3750
$GC,4830,-0.85,-243.4,613.8,-9.0,616,4833,0.00,2.35,0.00,0.000,4,0.000,0.055,2570,679,3748
$GC,4855,-0.96,-243.4,616.3,-9.6,617,4859,0.12,2.35,0.00,0.000,6,0.048,0.045,2494,2170,3747
$GC,5170,-0.70,-243.4,665.7,-15.8,633,5175,0.32,2.10,0.00,0.000,4,0.134,0.064,2589,3471,3745
$GC,5208,-0.94,-243.4,669.6,-8.2,634,5214,0.17,1.98,0.00,0.000,6,0.043,0.038,2490,2195,3745
$GC,5518,-0.65,-243.4,717.2,-15.8,650,5522,0.38,2.08,0.00,0.000,4,0.134,0.064,2602,3465,3742
$GC,5544,-0.75,-243.4,720.1,-9.9,651,5549,0.00,1.95,0.00,0.000,6,0.000,0.039,2602,2205,3742
$GC,5866,-1.09,-243.4,737.0,-5.1,667,5870,0.35,2.05,0.00,0.000,4,0.045,0.065,2448,3475,3740
$GC,5918,-0.76,-243.4,743.9,-15.5,669,5923,0.38,1.95,0.00,0.000,6,0.140,0.041,2571,2217,3738
$GC,6235,-0.94,-243.4,766.8,-6.1,685,6236,0.15,0.00,0.00,0.000,6,0.064,0.000,2499,2216,3737
$GC,6540,-0.75,-243.4,804.6,-12.6,700,6543,0.25,2.05,0.00,0.000,4,0.133,0.067,2576,3481,3735
$GC,6587,-1.03,-243.4,808.9,-7.6,702,6591,0.20,1.98,0.00,0.000,6,0.044,0.041,2471,2217,3735
$GC,6909,-0.71,-243.4,861.1,-17.2,718,6913,0.35,2.05,0.00,0.000,4,0.140,0.066,2576,3473,3732
$GC,6951,-0.93,-243.4,865.9,-8.5,720,6955,0.12,1.92,0.00,0.000,6,0.050,0.041,2503,2239,3732
$GC,7273,-0.77,-243.4,909.8,-13.9,736,7274,0.22,0.00,0.00,0.000,6,0.131,0.000,2573,2234,3731
$GC,7578,-0.99,-243.4,934.7,-7.9,751,7581,0.20,2.03,0.00,0.000,4,0.055,0.070,2479,3482,3729
$GC,7619,-0.84,-243.4,939.7,-13.8,753,7624,0.17,1.98,0.00,0.000,6,0.127,0.043,2541,2222,3728
$GC,7948,-0.89,-243.4,972.1,-9.6,769,7951,0.00,2.03,0.00,0.000,4,0.000,0.069,2536,3470,3727
$GC,7979,-0.98,-243.4,975.1,-9.8,770,7982,0.00,1.90,0.00,0.000,6,0.000,0.042,2536,2235,3726
$STATE,8130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8130,begin apogee
$GC,8134,-0.20,0.0,990.2,9.9,778,8333,0.65,0.00,196.40,1.374,6,0.117,0.000,2754,2516,2759
$STATE,8334,end apogee,CONTROL_FINISHED_OK
$STATE,8334,begin climb
$GC,8335,0.94,243.4,1000.2,0.0,788,8551,0.98,2.12,207.40,1.332,4,0.038,0.068,3133,3695,1765
$GC,8790,0.21,243.4,912.2,26.0,809,8794,0.82,1.85,0.00,0.000,6,0.172,0.044,2897,2549,1759
$GC,9111,0.61,394.6,886.5,7.0,825,9249,0.32,2.45,131.70,1.269,4,0.049,0.056,3047,1116,1150
$GC,9302,0.44,394.6,851.1,21.7,834,9306,0.25,2.35,0.00,0.000,6,0.142,0.051,2961,2509,1144
$GC,9623,0.59,394.6,807.2,13.7,850,9627,0.15,2.28,0.00,0.000,4,0.063,0.054,3037,1125,1142
$GC,9718,0.48,394.6,789.2,19.1,854,9723,0.17,2.22,0.00,0.000,6,0.137,0.050,2979,2492,1140
$GC,10034,0.56,394.6,743.9,13.8,870,10038,0.00,2.22,0.00,0.000,4,0.000,0.053,2988,1123,1138
$GC,10114,0.67,394.6,732.8,14.6,873,10122,0.10,2.15,0.00,0.000,6,0.058,0.048,3047,2462,1138
$GC,10425,0.43,394.6,671.5,20.3,889,10429,0.30,2.15,0.00,0.000,4,0.143,0.054,2966,1109,1138
$GC,10456,0.50,394.6,666.6,13.6,890,10460,0.00,2.15,0.00,0.000,6,0.000,0.048,2966,2450,1137
$GC,10772,0.71,417.5,631.1,11.2,906,10802,0.22,2.17,21.27,1.043,4,0.057,0.054,3074,1110,1056
$GC,10889,0.51,417.5,607.7,21.1,911,10895,0.25,2.15,0.00,0.000,6,0.146,0.048,2984,2432,1054
$GC,11198,0.63,417.5,566.6,12.4,927,11202,0.12,2.12,0.00,0.000,4,0.071,0.054,3050,1117,1053
$GC,11240,0.53,417.5,560.1,16.6,929,11245,0.17,2.10,0.00,0.000,6,0.137,0.048,2992,2421,1053
$GC,11567,0.66,432.2,520.6,11.5,945,11591,0.12,2.15,13.95,1.034,4,0.072,0.052,3059,1110,997
$GC,11611,0.55,432.2,513.6,17.4,947,11615,0.17,2.10,0.00,0.000,6,0.136,0.047,3001,2406,995
$GC,11932,0.64,432.2,469.6,14.1,973,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2406,994
$GC,12243,0.76,432.2,426.6,13.1,1003,12244,0.17,0.00,0.00,0.000,6,0.061,0.000,3081,2406,993
$GC,12553,0.53,432.2,364.2,20.0,1033,12554,0.30,0.00,0.00,0.000,6,0.143,0.000,2990,2406,993
$GC,12864,0.84,504.7,330.8,9.6,1063,12930,0.22,2.17,62.22,0.918,4,0.054,0.051,3113,1115,700
$GC,13025,0.65,504.7,297.0,21.8,1079,13032,0.25,2.12,0.00,0.000,6,0.141,0.046,3034,2416,697
$GC,13352,0.83,504.7,248.1,13.6,1140,13358,0.15,2.10,0.00,0.000,4,0.059,0.050,3121,1110,695
$GC,13379,0.77,504.7,243.6,17.9,1145,13386,0.15,2.08,0.00,0.000,6,0.134,0.044,3072,2406,694
$GC,13706,0.77,504.7,190.9,16.3,1206,13712,0.00,2.05,0.00,0.000,4,0.000,0.049,3080,1117,695
$GC,13770,0.82,504.7,180.8,16.0,1218,13777,0.00,1.98,0.00,0.000,6,0.000,0.043,3080,2366,694
$GC,14096,0.91,504.7,132.7,13.9,1279,14103,0.00,1.98,0.00,0.000,4,0.000,0.048,3089,1114,694
$GC,14150,1.05,523.6,126.2,11.4,1289,14176,0.15,1.98,17.83,0.730,6,0.045,0.043,3178,2364,622
$GC,14497,0.90,523.6,63.3,19.2,1353,14504,0.20,2.10,0.00,0.000,4,0.143,0.055,3112,3696,615
$GC,14535,0.99,523.6,57.4,13.8,1360,14542,0.00,2.05,0.00,0.000,6,0.000,0.037,3121,2370,616
$GC,14862,1.21,550.0,15.6,11.1,1421,14907,0.22,1.98,29.30,0.574,4,0.049,0.046,3239,1100,512
$STATE,14931,end climb,SURFACE_DEPTH_REACHED
$STATE,14931,begin surface coast
$FINISH,1.8,1.003405
$STATE,14948,end surface coast,CONTROL_FINISHED_OK
$STATE,14948,begin surface
$SM_CCo,15023,0.00,0.000,0,0,502,553.64
$SM_GC,2.40,7.93,0.00,0.00,0.039,0.000,0.000,164,2086,502,-8.21,0.42,553.64
$IRIDIUM_FIX,2503.20,12331.49,070998,101007
$TT8_MAMPS,0.048321
$HUMID,1584
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,25.20
$XPDR_PINGS,160
$24V_AH,23.5,32.509
$10V_AH,10.7,23.221
$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,33.300,137.900,680.075,0.000,0.000,28.589,29.546,214.592,48.000,0.000,0.000,14.496,0.000,10647.419,807.048,3412.698,506.313,0.000,2126.445,0.000,2883.338,0.000,55.171,0.000
$DEVICE_MAMPS,229.333,69.797,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,971.115,976.949,1525.359,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82179,1436
$CAP_FILE_SIZE,169092,0
$CFSIZE,260165632,245764096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.217, 25.7,1
$GPS,130609,192236,2509.665,12320.716,35,1.0,35,-3.7