version: 66.04
glider: 165
mission: 2
dive: 151
start: 6 13 109 19 28 36
data:
$ID,165
$MISSION,2
$DIVE,151
$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,-119856.22
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,192236,2509.665,12320.716,35,1.0,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-71.0
$GPS2,192831,2509.711,12320.743,10,1.2,15,-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,174.4,7426,-16.4,-12.000
$D_GRID,1782
$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,-243.4,0.0,0.0,0,75,0.00,0.00,-61.22,0.000,2,0.000,0.000,163,2090,1991
$GC,77,-0.94,-243.4,3.2,-4.1,9,141,8.90,2.33,-49.90,0.000,4,0.225,0.058,2513,645,3754
$GC,284,-0.26,-243.4,61.2,-34.6,46,292,0.68,2.25,0.00,0.000,6,0.145,0.048,2724,2066,3756
$GC,612,-0.69,-243.4,91.5,-7.4,107,619,0.35,2.22,0.00,0.000,4,0.038,0.052,2551,3495,3758
$GC,735,-0.45,-243.4,114.6,-19.5,130,743,0.30,2.17,0.00,0.000,6,0.116,0.034,2673,2067,3758
$GC,1063,-0.72,-243.4,141.9,-6.3,191,1069,0.22,2.22,0.00,0.000,4,0.048,0.058,2557,3486,3759
$GC,1138,-0.53,-243.4,151.6,-14.9,205,1145,0.25,2.10,0.00,0.000,6,0.119,0.034,2648,2098,3759
$GC,1465,-0.74,-243.4,180.6,-8.7,266,1472,0.17,2.20,0.00,0.000,4,0.054,0.054,2555,3480,3760
$GC,1498,-0.66,-243.4,185.2,-15.1,272,1505,0.12,2.08,0.00,0.000,6,0.115,0.038,2602,2109,3760
$GC,1824,-0.66,-243.4,231.8,-13.4,333,1830,0.00,2.17,0.00,0.000,4,0.000,0.055,2602,3470,3760
$GC,1883,-0.81,-243.4,238.7,-10.7,344,1889,0.10,2.03,0.00,0.000,6,0.045,0.039,2531,2133,3760
$GC,2209,-0.54,-243.4,291.3,-14.8,405,2215,0.35,2.12,0.00,0.000,4,0.127,0.058,2644,3477,3760
$GC,2241,-0.77,-243.4,294.6,-7.9,411,2247,0.15,2.00,0.00,0.000,6,0.040,0.035,2545,2161,3760
$GC,2563,-0.57,-243.4,342.3,-15.6,447,2567,0.28,2.10,0.00,0.000,4,0.123,0.058,2630,3491,3760
$GC,2589,-0.72,-243.4,345.4,-10.6,449,2596,0.10,2.00,0.00,0.000,6,0.048,0.035,2553,2176,3760
$GC,2905,-0.61,-243.4,390.3,-13.8,480,2906,0.22,0.00,0.00,0.000,6,0.120,0.000,2626,2171,3759
$GC,3216,-0.91,-243.4,411.6,-5.7,510,3220,0.28,2.08,0.00,0.000,4,0.046,0.061,2493,3479,3758
$GC,3258,-0.67,-243.4,416.4,-13.4,514,3262,0.30,1.98,0.00,0.000,6,0.123,0.038,2597,2185,3757
$GC,3579,-0.82,-243.4,438.1,-5.9,545,3583,0.12,2.08,0.00,0.000,4,0.064,0.061,2532,3468,3756
$GC,3611,-0.76,-243.4,440.7,-9.2,548,3615,0.10,1.95,0.00,0.000,6,0.123,0.037,2569,2196,3755
$GC,3932,-0.76,-243.4,464.0,-7.5,579,3935,0.00,2.08,0.00,0.000,4,0.000,0.061,2564,3472,3754
$GC,3990,-0.84,-243.4,468.8,-8.0,584,3997,0.00,1.95,0.00,0.000,6,0.000,0.037,2564,2200,3753
$GC,4315,-0.84,-243.4,502.9,-12.2,615,4319,0.00,2.08,0.00,0.000,4,0.000,0.062,2564,3473,3751
$GC,4363,-0.95,-243.4,508.5,-11.1,617,4367,0.10,1.92,0.00,0.000,6,0.051,0.038,2493,2218,3751
$GC,4685,-0.61,-243.4,571.4,-20.6,633,4686,0.40,0.00,0.00,0.000,6,0.134,0.000,2621,2214,3749
$GC,4989,-0.97,-243.4,598.2,-7.2,648,4994,0.30,2.05,0.00,0.000,4,0.047,0.064,2481,3472,3748
$GC,5026,-0.76,-243.4,602.6,-13.6,649,5033,0.25,1.92,0.00,0.000,6,0.127,0.039,2568,2222,3747
$GC,5337,-0.83,-243.4,629.8,-7.7,665,5341,0.00,2.42,0.00,0.000,4,0.000,0.054,2568,689,3745
$GC,5390,-1.00,-243.4,633.5,-6.0,667,5394,0.15,2.38,0.00,0.000,6,0.045,0.046,2482,2190,3744
$GC,5706,-0.64,-243.4,679.8,-16.3,683,5710,0.40,2.05,0.00,0.000,4,0.142,0.064,2602,3479,3743
$GC,5737,-0.80,-243.4,683.0,-8.0,684,5742,0.08,1.98,0.00,0.000,6,0.053,0.038,2544,2205,3742
$GC,6053,-0.80,-243.4,709.4,-8.2,700,6057,0.00,2.08,0.00,0.000,4,0.000,0.065,2537,3468,3741
$GC,6106,-0.84,-243.4,713.7,-8.3,702,6110,0.00,1.95,0.00,0.000,6,0.000,0.039,2537,2212,3739
$GC,6422,-0.79,-243.4,741.8,-9.2,718,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2210,3737
$GC,6727,-0.79,-243.4,769.4,-9.3,733,6731,0.00,2.08,0.00,0.000,4,0.000,0.067,2536,3467,3736
$GC,6758,-0.79,-243.4,772.5,-9.1,734,6763,0.00,1.92,0.00,0.000,6,0.000,0.041,2536,2227,3736
$GC,7074,-0.79,-243.4,804.9,-10.8,750,7078,0.00,2.05,0.00,0.000,4,0.000,0.067,2536,3468,3735
$GC,7116,-0.86,-243.4,809.2,-9.6,752,7120,0.00,1.95,0.00,0.000,6,0.000,0.041,2536,2219,3734
$GC,7443,-0.86,-243.4,848.5,-12.5,768,7447,0.00,2.08,0.00,0.000,4,0.000,0.067,2536,3471,3731
$GC,7517,-0.95,-243.4,857.2,-11.4,771,7521,0.00,1.92,0.00,0.000,6,0.000,0.041,2536,2238,3731
$GC,7833,-0.95,-243.4,894.8,-11.8,787,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2237,3730
$GC,8139,-0.95,-243.4,929.5,-11.2,802,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2236,3729
$GC,8444,-0.95,-243.4,963.4,-10.9,817,8447,0.00,2.05,0.00,0.000,4,0.000,0.071,2536,3468,3727
$GC,8464,-0.95,-243.4,965.6,-11.1,818,8468,0.00,1.92,0.00,0.000,6,0.000,0.043,2536,2241,3726
$STATE,8707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8708,begin apogee
$GC,8712,-0.20,0.0,991.6,10.5,830,8912,0.65,0.00,196.35,1.380,6,0.118,0.000,2754,2522,2759
$STATE,8913,end apogee,CONTROL_FINISHED_OK
$STATE,8913,begin climb
$GC,8914,0.94,243.4,1001.3,0.0,840,9129,0.98,2.05,207.40,1.334,4,0.040,0.068,3132,3687,1765
$GC,9369,0.21,243.4,904.7,29.0,861,9373,0.82,1.83,0.00,0.000,6,0.169,0.044,2893,2552,1759
$GC,9685,0.55,331.5,871.9,9.1,877,9770,0.28,2.45,76.45,1.258,4,0.052,0.055,3023,1124,1406
$GC,9838,0.40,331.5,846.6,16.5,884,9842,0.22,2.33,0.00,0.000,6,0.140,0.050,2953,2512,1401
$GC,10159,0.53,365.9,810.0,10.9,900,10195,0.12,2.35,30.05,1.209,4,0.070,0.054,3021,1127,1267
$GC,10254,0.43,365.9,795.7,16.4,904,10258,0.17,2.28,0.00,0.000,6,0.137,0.050,2965,2496,1263
$GC,10569,0.56,397.4,760.7,11.0,920,10604,0.12,2.35,28.77,1.193,4,0.069,0.054,3031,1114,1138
$GC,10681,0.45,397.4,742.9,16.9,925,10684,0.22,2.22,0.00,0.000,6,0.143,0.049,2967,2480,1135
$GC,11001,0.59,397.4,702.6,13.1,941,11005,0.12,2.20,0.00,0.000,4,0.069,0.052,3033,1126,1133
$GC,11075,0.50,397.4,689.4,19.5,944,11080,0.15,2.15,0.00,0.000,6,0.137,0.048,2983,2452,1132
$GC,11391,0.58,397.4,641.4,14.6,960,11395,0.00,2.15,0.00,0.000,4,0.000,0.053,2991,1119,1131
$GC,11460,0.68,397.4,631.4,14.6,963,11464,0.10,2.10,0.00,0.000,6,0.058,0.048,3050,2424,1129
$GC,11782,0.48,397.4,567.4,19.6,979,11786,0.25,2.10,0.00,0.000,4,0.139,0.053,2983,1118,1129
$GC,11823,0.59,397.4,561.3,12.9,981,11828,0.00,2.08,0.00,0.000,6,0.000,0.048,2983,2416,1129
$GC,12150,0.72,424.9,524.4,11.1,997,12176,0.20,0.00,24.33,1.059,6,0.059,0.000,3071,2416,1025
$GC,12479,0.50,424.9,461.1,19.8,1022,12482,0.30,2.08,0.00,0.000,4,0.140,0.051,2989,1110,1023
$GC,12494,0.38,424.9,458.3,18.5,1023,12502,0.12,2.08,0.00,0.000,6,0.124,0.044,2946,2405,1022
$GC,12809,0.79,444.2,425.7,11.4,1054,12834,0.35,2.08,17.70,0.971,4,0.045,0.051,3110,1115,946
$GC,12854,0.53,444.2,416.4,24.5,1058,12858,0.38,2.08,0.00,0.000,6,0.150,0.047,2993,2393,945
$GC,13175,0.74,444.2,367.8,13.3,1089,13179,0.17,2.05,0.00,0.000,4,0.058,0.051,3086,1115,942
$GC,13211,0.63,444.2,361.2,17.9,1092,13219,0.17,2.03,0.00,0.000,6,0.140,0.045,3028,2378,943
$GC,13528,0.69,444.2,315.9,13.7,1123,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2378,943
$GC,13845,0.80,447.3,272.9,11.9,1172,13851,0.15,2.00,0.00,0.000,4,0.064,0.050,3112,1115,943
$GC,13919,0.62,447.3,259.0,20.3,1186,13927,0.28,1.98,0.00,0.000,6,0.140,0.044,3022,2361,943
$GC,14247,0.86,497.7,220.8,10.3,1247,14295,0.20,0.00,45.08,0.817,6,0.054,0.000,3119,2361,728
$GC,14616,0.73,497.7,148.5,18.3,1315,14623,0.22,1.98,0.00,0.000,4,0.132,0.048,3059,1109,725
$GC,14670,1.02,591.9,142.2,8.9,1325,14740,0.20,1.98,59.90,0.722,6,0.039,0.041,3167,2358,482
$GC,15060,0.92,591.9,61.4,18.6,1396,15066,0.17,1.98,0.00,0.000,4,0.139,0.047,3124,1114,464
$GC,15108,1.08,591.9,54.4,12.8,1405,15115,0.08,1.95,0.00,0.000,6,0.055,0.041,3184,2349,462
$STATE,15407,end climb,SURFACE_DEPTH_REACHED
$STATE,15407,begin surface coast
$FINISH,1.8,1.008479
$STATE,15423,end surface coast,CONTROL_FINISHED_OK
$STATE,15423,begin surface
$SM_CCo,15497,0.00,0.000,0,0,459,564.19
$SM_GC,2.53,7.72,0.00,0.00,0.037,0.000,0.000,158,2038,459,-8.22,-0.93,564.19
$IRIDIUM_FIX,2503.20,12321.59,070998,151530
$TT8_MAMPS,0.048321
$HUMID,1602
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,24.80
$XPDR_PINGS,156
$24V_AH,23.5,32.764
$10V_AH,10.7,23.352
$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,29.625,134.700,686.025,0.000,0.000,22.223,32.183,191.416,47.000,0.000,0.000,17.246,0.000,11113.059,807.972,3445.771,456.621,0.000,2128.825,0.000,2893.015,0.000,56.090,0.000
$DEVICE_MAMPS,225.498,71.331,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,990.466,998.201,1562.582,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82069,1464
$CAP_FILE_SIZE,167785,0
$CFSIZE,260165632,245678080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190, 23.8,1
$GPS,130609,234736,2508.604,12321.574,24,1.1,24,-3.7