version: 66.04
glider: 165
mission: 2
dive: 152
start: 6 13 109 23 53 43
data:
$ID,165
$MISSION,2
$DIVE,152
$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,-119870.07
$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,57
$R_STBD_OVSHOOT,28
$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
$GPS1,234736,2508.604,12321.574,24,1.1,24,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-71.0
$GPS2,235338,2508.643,12321.517,11,1.5,11,-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,164.6,5138,-16.4,-12.000
$D_GRID,1841
$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,-243.4,0.0,0.0,0,78,0.00,0.00,-63.88,0.000,2,0.000,0.000,159,2038,2009
$GC,80,-0.94,-243.4,3.4,-4.0,10,142,8.93,2.12,-47.35,0.000,4,0.225,0.058,2507,676,3751
$GC,291,-0.09,-243.4,65.9,-38.0,48,299,0.88,2.20,0.00,0.000,6,0.157,0.041,2781,2074,3753
$GC,619,-0.85,-243.4,103.9,-10.8,109,626,0.65,2.20,0.00,0.000,4,0.065,0.053,2533,3484,3756
$GC,775,-0.43,-243.4,131.2,-23.7,138,783,0.38,2.10,0.00,0.000,6,0.120,0.041,2679,2109,3756
$GC,1103,-0.78,-243.4,157.3,-6.4,199,1109,0.30,2.15,0.00,0.000,4,0.041,0.053,2530,3476,3757
$GC,1156,-0.49,-243.4,165.0,-17.5,209,1163,0.35,2.08,0.00,0.000,6,0.124,0.034,2653,2104,3757
$GC,1483,-0.75,-243.4,196.3,-8.3,270,1491,0.20,2.17,0.00,0.000,4,0.050,0.054,2547,3471,3757
$GC,1564,-0.61,-243.4,208.3,-16.3,285,1570,0.20,2.03,0.00,0.000,6,0.116,0.035,2619,2132,3758
$GC,1890,-0.72,-243.4,243.0,-8.7,346,1898,0.00,2.15,0.00,0.000,4,0.000,0.055,2619,3471,3758
$GC,1939,-0.97,-243.4,246.3,-6.2,355,1945,0.28,2.00,0.00,0.000,6,0.035,0.035,2474,2147,3758
$GC,2269,-0.42,-243.4,314.0,-21.1,411,2273,0.65,2.10,0.00,0.000,4,0.140,0.055,2673,3473,3758
$GC,2305,-0.78,-243.4,317.9,-5.6,414,2310,0.25,2.03,0.00,0.000,6,0.040,0.035,2542,2139,3758
$GC,2626,-0.59,-243.4,361.2,-13.7,445,2631,0.28,2.15,0.00,0.000,4,0.118,0.059,2630,3473,3757
$GC,2690,-1.00,-243.4,365.9,-6.3,451,2695,0.32,1.98,0.00,0.000,6,0.034,0.035,2459,2173,3757
$GC,3011,-0.46,-243.4,431.4,-20.9,482,3015,0.65,2.30,0.00,0.000,4,0.140,0.052,2667,684,3757
$GC,3037,-0.53,-243.4,434.8,-11.3,484,3044,0.00,2.30,0.00,0.000,6,0.000,0.042,2667,2158,3757
$GC,3354,-1.35,-243.4,459.4,-9.9,515,3358,0.75,2.08,0.00,0.000,4,0.072,0.057,2377,3480,3756
$GC,3454,-0.62,-243.4,481.1,-28.0,524,3458,0.73,1.98,0.00,0.000,6,0.150,0.038,2611,2189,3755
$GC,3784,-0.91,-243.4,516.2,-10.0,548,3785,0.22,0.00,0.00,0.000,6,0.049,0.000,2495,2188,3754
$GC,4088,-0.61,-243.4,574.6,-19.3,563,4093,0.40,2.08,0.00,0.000,4,0.131,0.063,2617,3470,3752
$GC,4157,-1.04,-243.4,581.2,-7.7,566,4161,0.32,1.92,0.00,0.000,6,0.037,0.037,2452,2215,3751
$GC,4478,-0.56,-243.4,643.8,-19.6,582,4482,0.57,2.40,0.00,0.000,4,0.143,0.054,2639,681,3749
$GC,4536,-1.08,-243.4,648.6,-4.0,585,4540,0.38,2.38,0.00,0.000,6,0.040,0.044,2452,2193,3749
$GC,4864,-0.63,-243.4,700.4,-16.3,601,4866,0.52,0.00,0.00,0.000,6,0.146,0.000,2615,2193,3746
$GC,5168,-1.01,-243.4,712.6,-4.0,616,5172,0.32,2.05,0.00,0.000,4,0.044,0.065,2464,3480,3744
$GC,5236,-0.76,-243.4,721.3,-15.2,619,5241,0.30,1.95,0.00,0.000,6,0.129,0.040,2567,2222,3742
$GC,5559,-0.90,-243.4,752.0,-9.5,635,5562,0.12,2.03,0.00,0.000,4,0.069,0.065,2503,3471,3740
$GC,5600,-0.82,-243.4,757.1,-13.4,637,5604,0.12,1.90,0.00,0.000,6,0.124,0.040,2549,2238,3740
$GC,5927,-0.89,-243.4,790.9,-9.6,653,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2236,3737
$GC,6232,-0.95,-243.4,821.9,-10.4,668,6236,0.12,2.03,0.00,0.000,4,0.072,0.068,2482,3470,3736
$GC,6317,-0.78,-243.4,833.6,-13.7,672,6321,0.22,1.90,0.00,0.000,6,0.128,0.041,2560,2245,3735
$GC,6644,-0.92,-243.4,863.7,-8.8,688,6646,0.12,0.00,0.00,0.000,6,0.071,0.000,2498,2240,3733
$GC,6949,-0.74,-243.4,906.3,-14.6,703,6950,0.28,0.00,0.00,0.000,6,0.133,0.000,2585,2239,3731
$GC,7255,-1.01,-243.4,929.7,-7.4,718,7258,0.25,2.03,0.00,0.000,4,0.053,0.069,2471,3478,3730
$GC,7301,-0.83,-243.4,935.7,-14.8,720,7306,0.22,1.92,0.00,0.000,6,0.129,0.043,2548,2244,3729
$GC,7623,-0.93,-243.4,966.9,-8.9,736,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2242,3727
$STATE,7905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7905,begin apogee
$GC,7909,-0.20,0.0,991.6,8.4,750,8110,0.60,0.00,196.38,1.378,6,0.112,0.000,2752,2527,2759
$STATE,8111,end apogee,CONTROL_FINISHED_OK
$STATE,8111,begin climb
$GC,8112,0.94,243.4,1000.0,0.0,760,8327,1.00,2.05,207.50,1.330,4,0.039,0.068,3138,3689,1765
$GC,8567,0.21,243.4,904.4,28.4,781,8573,0.85,1.85,0.00,0.000,6,0.170,0.044,2893,2542,1758
$GC,8877,0.54,330.0,873.6,9.1,797,8965,0.28,2.45,77.22,1.230,4,0.051,0.055,3023,1117,1412
$GC,8987,0.37,330.0,855.1,18.1,802,8991,0.25,2.38,0.00,0.000,6,0.142,0.051,2946,2515,1409
$GC,9308,0.49,330.0,814.4,12.3,818,9312,0.00,2.30,0.00,0.000,4,0.000,0.053,2955,1117,1405
$GC,9366,0.66,348.4,807.3,11.4,820,9387,0.17,2.28,16.25,1.172,6,0.049,0.049,3039,2508,1338
$GC,9699,0.41,348.4,744.2,19.0,837,9702,0.30,2.25,0.00,0.000,4,0.143,0.051,2960,1111,1335
$GC,9723,0.41,348.4,740.0,15.7,838,9728,0.00,2.25,0.00,0.000,6,0.000,0.048,2960,2498,1334
$GC,10040,0.51,348.4,701.8,12.7,854,10044,0.00,2.25,0.00,0.000,4,0.000,0.053,2969,1112,1334
$GC,10098,0.63,348.4,694.5,12.8,856,10105,0.12,2.22,0.00,0.000,6,0.054,0.048,3036,2491,1333
$GC,10408,0.41,348.4,634.2,19.5,872,10413,0.28,2.20,0.00,0.000,4,0.142,0.051,2963,1120,1333
$GC,10461,0.57,348.4,626.7,13.0,874,10466,0.08,2.17,0.00,0.000,6,0.059,0.047,3014,2479,1331
$GC,10777,0.47,348.4,577.1,15.1,890,10781,0.15,2.17,0.00,0.000,4,0.140,0.051,2980,1123,1331
$GC,10857,0.62,377.0,567.6,11.1,893,10888,0.08,2.15,25.12,1.088,6,0.064,0.048,3030,2467,1220
$GC,11210,0.49,377.0,510.5,15.7,911,11214,0.17,2.15,0.00,0.000,4,0.139,0.051,2988,1116,1217
$GC,11230,0.49,377.0,507.7,13.0,912,11235,0.00,2.15,0.00,0.000,6,0.000,0.047,2988,2450,1216
$GC,11552,0.61,413.3,472.2,10.8,939,11586,0.00,0.00,31.95,1.021,6,0.000,0.000,2988,2449,1074
$GC,11892,0.79,443.5,435.2,11.0,972,11925,0.22,2.17,27.05,0.977,4,0.054,0.051,3100,1112,950
$GC,11999,0.57,443.5,414.4,20.6,982,12003,0.28,2.20,0.00,0.000,6,0.145,0.048,3004,2452,947
$GC,12320,0.81,514.6,378.0,9.6,1013,12387,0.20,2.28,61.65,0.939,4,0.056,0.051,3111,1117,660
$GC,12418,0.62,514.6,360.4,20.2,1022,12422,0.28,2.20,0.00,0.000,6,0.140,0.046,3024,2444,656
$GC,12739,0.88,583.7,323.5,9.7,1053,12817,0.22,2.25,53.42,0.792,4,0.051,0.050,3140,1112,481
$GC,12881,0.72,583.7,297.4,18.7,1067,12888,0.30,2.12,0.00,0.000,6,0.139,0.045,3052,2426,468
$GC,13207,0.90,583.7,260.5,13.5,1128,13214,0.17,2.10,0.00,0.000,4,0.054,0.048,3144,1117,460
$GC,13245,0.75,583.7,253.4,21.9,1135,13253,0.25,2.08,0.00,0.000,6,0.135,0.044,3063,2414,460
$GC,13573,0.92,583.7,201.5,14.0,1196,13579,0.15,2.08,0.00,0.000,4,0.058,0.048,3146,1112,458
$GC,13632,0.78,583.7,189.1,22.1,1207,13640,0.20,2.03,0.00,0.000,6,0.128,0.044,3078,2387,458
$GC,13960,1.02,628.8,144.5,10.5,1268,13965,0.20,0.00,0.00,0.000,6,0.053,0.000,3174,2387,456
$GC,14285,0.87,628.8,76.1,22.8,1329,14292,0.25,2.00,0.00,0.000,4,0.138,0.047,3106,1114,456
$GC,14361,1.12,628.8,64.5,14.4,1343,14368,0.15,2.00,0.00,0.000,6,0.043,0.041,3201,2387,454
$STATE,14670,end climb,SURFACE_DEPTH_REACHED
$STATE,14670,begin surface coast
$FINISH,1.9,1.010879
$STATE,14688,end surface coast,CONTROL_FINISHED_OK
$STATE,14688,begin surface
$SM_CCo,14761,0.00,0.000,0,0,453,565.42
$SM_GC,2.50,7.65,0.00,0.00,0.035,0.000,0.000,168,2039,453,-8.21,-0.88,565.42
$IRIDIUM_FIX,2503.20,12319.60,070998,191904
$TT8_MAMPS,0.048321
$HUMID,1610
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,24.80
$XPDR_PINGS,153
$24V_AH,23.5,33.022
$10V_AH,10.7,23.480
$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,35.150,124.475,696.550,0.000,0.000,25.237,35.869,195.381,46.250,0.000,0.000,13.216,0.000,10472.973,822.804,3324.587,474.309,0.000,2100.199,0.000,2804.064,0.000,53.995,0.000
$DEVICE_MAMPS,225.498,69.030,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,949.452,965.041,1509.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82094,1404
$CAP_FILE_SIZE,161469,0
$CFSIZE,260165632,245592064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.211, 12.0,1
$GPS,140609,040036,2507.872,12321.950,33,0.9,33,-3.7