version: 66.04
glider: 165
mission: 2
dive: 153
start: 6 14 109 4 6 55
data:
$ID,165
$MISSION,2
$DIVE,153
$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,-119883.87
$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,48
$R_STBD_OVSHOOT,29
$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
$GPS1,040036,2507.872,12321.950,33,0.9,33,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-69.1
$GPS2,040650,2507.894,12321.904,11,1.3,11,-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,158.0,3820,-16.4,-12.000
$D_GRID,1851
$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,-63.85,0.000,2,0.000,0.000,168,2040,1999
$GC,80,-0.94,-243.4,3.4,-3.9,10,142,8.93,2.17,-46.33,0.000,4,0.229,0.059,2510,673,3757
$GC,254,-0.21,-243.4,49.8,-32.4,41,260,0.73,2.20,0.00,0.000,6,0.152,0.041,2746,2069,3758
$GC,580,-1.10,-243.4,80.3,-10.8,102,587,0.77,2.20,0.00,0.000,4,0.063,0.051,2450,3481,3760
$GC,703,-0.31,-243.4,112.5,-35.0,125,711,0.77,2.10,0.00,0.000,6,0.143,0.038,2717,2108,3760
$GC,1031,-1.14,-243.4,150.8,-10.9,186,1038,0.70,2.17,0.00,0.000,4,0.067,0.053,2443,3488,3761
$GC,1085,-0.49,-243.4,159.7,-21.8,196,1093,0.62,2.10,0.00,0.000,6,0.135,0.037,2652,2108,3761
$GC,1413,-0.74,-243.4,184.0,-6.2,257,1419,0.20,2.17,0.00,0.000,4,0.050,0.056,2547,3470,3762
$GC,1493,-0.56,-243.4,194.4,-14.7,272,1501,0.25,2.05,0.00,0.000,6,0.115,0.035,2636,2124,3762
$GC,1821,-0.77,-243.4,226.3,-10.6,333,1827,0.17,2.12,0.00,0.000,4,0.053,0.056,2538,3475,3763
$GC,1842,-0.77,-243.4,229.0,-13.1,337,1848,0.08,2.05,0.00,0.000,6,0.128,0.035,2578,2125,3762
$GC,2168,-0.68,-243.4,272.9,-10.9,398,2174,0.00,2.17,0.00,0.000,4,0.000,0.058,2577,3473,3762
$GC,2232,-0.73,-243.4,279.0,-8.7,410,2238,0.00,2.03,0.00,0.000,6,0.000,0.035,2577,2144,3762
$GC,2559,-0.73,-243.4,315.5,-12.6,460,2563,0.00,2.15,0.00,0.000,4,0.000,0.058,2577,3473,3762
$GC,2613,-0.82,-243.4,321.8,-11.7,465,2616,0.00,2.00,0.00,0.000,6,0.000,0.035,2577,2158,3762
$GC,2933,-0.82,-243.4,363.6,-12.7,496,2937,0.00,2.12,0.00,0.000,4,0.000,0.060,2577,3473,3762
$GC,2997,-0.92,-243.4,371.1,-11.7,502,3001,0.12,1.98,0.00,0.000,6,0.048,0.036,2494,2176,3762
$GC,3318,-0.54,-243.4,431.7,-18.3,533,3319,0.45,0.00,0.00,0.000,6,0.133,0.000,2640,2171,3761
$GC,3630,-1.39,-243.4,457.7,-10.6,563,3634,0.70,2.08,0.00,0.000,4,0.067,0.058,2365,3480,3759
$GC,3820,-0.61,-243.4,509.0,-27.4,579,3825,0.77,2.00,0.00,0.000,6,0.156,0.039,2612,2180,3758
$GC,4143,-0.92,-243.4,535.1,-6.0,595,4144,0.25,0.00,0.00,0.000,6,0.046,0.000,2488,2174,3757
$GC,4447,-0.59,-243.4,584.5,-15.8,610,4451,0.45,2.08,0.00,0.000,4,0.131,0.064,2630,3471,3755
$GC,4505,-1.08,-243.4,587.9,-3.4,612,4512,0.38,1.95,0.00,0.000,6,0.035,0.038,2442,2199,3754
$GC,4816,-0.58,-243.4,644.6,-19.7,628,4820,0.57,2.38,0.00,0.000,4,0.144,0.054,2627,678,3751
$GC,4868,-1.01,-243.4,649.4,-5.0,630,4876,0.32,2.35,0.00,0.000,6,0.040,0.043,2467,2180,3752
$GC,5179,-0.64,-243.4,700.0,-18.2,646,5187,0.45,2.05,0.00,0.000,4,0.137,0.062,2603,3475,3749
$GC,5207,-0.72,-243.4,703.5,-11.4,647,5211,0.00,1.98,0.00,0.000,6,0.000,0.038,2603,2195,3748
$GC,5529,-1.06,-243.4,723.7,-6.1,663,5532,0.32,2.05,0.00,0.000,4,0.044,0.063,2453,3473,3746
$GC,5570,-0.77,-243.4,729.2,-15.5,665,5575,0.32,1.95,0.00,0.000,6,0.130,0.039,2564,2206,3745
$GC,5898,-0.90,-243.4,759.7,-9.0,681,5901,0.12,2.05,0.00,0.000,4,0.070,0.064,2500,3479,3743
$GC,5940,-0.82,-243.4,764.9,-12.9,683,5944,0.15,1.95,0.00,0.000,6,0.123,0.039,2554,2216,3742
$GC,6267,-0.91,-243.4,798.6,-9.7,699,6270,0.00,2.05,0.00,0.000,4,0.000,0.066,2550,3481,3740
$GC,6288,-1.02,-243.4,800.6,-9.5,700,6291,0.10,1.95,0.00,0.000,6,0.052,0.040,2469,2220,3740
$GC,6614,-0.71,-243.4,853.7,-16.4,716,6618,0.38,2.42,0.00,0.000,4,0.138,0.057,2586,677,3737
$GC,6645,-0.84,-243.4,857.3,-9.7,717,6652,0.08,2.42,0.00,0.000,6,0.058,0.048,2533,2204,3737
$GC,6956,-0.84,-243.4,887.3,-9.7,733,6959,0.00,2.05,0.00,0.000,4,0.000,0.067,2533,3476,3735
$GC,7030,-0.93,-243.4,894.5,-10.1,736,7034,0.00,1.95,0.00,0.000,6,0.000,0.040,2533,2221,3735
$GC,7346,-0.93,-243.4,926.2,-9.9,752,7349,0.00,2.03,0.00,0.000,4,0.000,0.067,2533,3476,3733
$GC,7372,-0.99,-243.4,928.8,-10.5,753,7376,0.00,1.92,0.00,0.000,6,0.000,0.040,2533,2237,3733
$GC,7693,-0.99,-243.4,960.6,-10.0,769,7697,0.00,2.05,0.00,0.000,4,0.000,0.068,2533,3472,3732
$GC,7719,-1.05,-243.4,963.2,-9.9,770,7723,0.12,1.92,0.00,0.000,6,0.047,0.041,2459,2236,3731
$STATE,7896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7896,begin apogee
$GC,7900,-0.20,0.0,991.2,16.8,779,8100,0.93,0.00,197.23,1.374,6,0.141,0.000,2752,2518,2759
$STATE,8101,end apogee,CONTROL_FINISHED_OK
$STATE,8101,begin climb
$GC,8103,0.94,243.4,1000.4,0.0,789,8317,1.00,2.10,206.77,1.328,4,0.038,0.068,3142,3692,1765
$GC,8556,0.19,243.4,906.9,26.3,810,8561,0.88,1.85,0.00,0.000,6,0.175,0.043,2891,2543,1758
$GC,8873,0.60,376.3,879.8,7.6,826,9000,0.32,2.47,115.38,1.259,4,0.049,0.055,3039,1118,1222
$GC,9067,0.47,376.3,845.4,19.3,835,9072,0.20,2.33,0.00,0.000,6,0.137,0.050,2975,2504,1217
$GC,9389,0.54,376.3,802.9,12.6,851,9393,0.00,2.28,0.00,0.000,4,0.000,0.053,2984,1117,1214
$GC,9485,0.64,376.3,791.3,12.2,855,9489,0.08,2.22,0.00,0.000,6,0.061,0.048,3036,2487,1212
$GC,9801,0.44,376.3,735.4,18.4,871,9805,0.25,2.22,0.00,0.000,4,0.140,0.053,2970,1113,1213
$GC,9826,0.44,376.3,731.4,14.1,872,9831,0.00,2.22,0.00,0.000,6,0.000,0.048,2971,2491,1212
$GC,10148,0.55,388.2,693.8,11.6,888,10162,0.00,2.25,9.75,1.081,4,0.000,0.052,2980,1114,1175
$GC,10248,0.69,395.1,681.9,11.8,892,10260,0.12,2.17,7.85,1.016,6,0.053,0.048,3051,2462,1147
$GC,10575,0.49,395.1,619.3,18.9,909,10579,0.25,2.15,0.00,0.000,4,0.140,0.050,2985,1114,1146
$GC,10616,0.59,395.1,612.9,13.0,911,10621,0.00,2.15,0.00,0.000,6,0.000,0.047,2985,2447,1145
$GC,10938,0.68,395.1,570.2,13.9,927,10939,0.15,0.00,0.00,0.000,6,0.063,0.000,3054,2448,1145
$GC,11243,0.49,395.1,506.9,21.1,942,11247,0.25,2.12,0.00,0.000,4,0.141,0.051,2987,1118,1145
$GC,11301,0.66,395.1,498.3,12.9,944,11308,0.08,2.12,0.00,0.000,6,0.061,0.046,3039,2450,1143
$GC,11617,0.55,395.1,445.1,15.9,975,11621,0.15,2.12,0.00,0.000,4,0.140,0.051,3004,1117,1144
$GC,11660,0.65,406.1,439.4,11.6,979,11676,0.00,2.08,10.68,0.951,6,0.000,0.046,3004,2444,1102
$GC,11993,0.72,406.1,399.1,12.4,1011,11996,0.15,2.12,0.00,0.000,4,0.061,0.051,3089,1114,1101
$GC,12019,0.59,406.1,395.0,17.3,1013,12025,0.22,2.10,0.00,0.000,6,0.148,0.046,3016,2426,1101
$GC,12334,0.59,406.1,348.9,13.7,1044,12338,0.00,2.10,0.00,0.000,4,0.000,0.049,3024,1109,1100
$GC,12360,0.64,406.1,345.4,13.3,1046,12367,0.00,2.08,0.00,0.000,6,0.000,0.044,3024,2420,1100
$GC,12677,0.64,406.1,304.7,12.7,1077,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2421,1100
$GC,12996,0.72,415.0,268.7,11.7,1133,13008,0.00,0.00,8.90,0.795,6,0.000,0.000,3024,2421,1065
$GC,13328,0.85,430.1,231.5,11.5,1195,13347,0.20,2.15,14.70,0.805,4,0.052,0.049,3131,1105,1004
$GC,13378,0.57,430.1,222.7,21.0,1204,13385,0.40,2.08,0.00,0.000,6,0.144,0.044,3003,2405,1002
$GC,13705,0.94,507.1,192.6,9.5,1265,13776,0.32,2.17,64.45,0.788,4,0.041,0.048,3162,1106,690
$GC,13813,0.68,507.1,169.8,22.2,1283,13821,0.40,2.08,0.00,0.000,6,0.139,0.043,3043,2403,686
$GC,14141,1.00,509.8,129.8,11.9,1344,14148,0.28,2.05,0.00,0.000,4,0.042,0.047,3180,1114,685
$GC,14179,0.81,509.8,122.8,21.5,1351,14187,0.30,2.00,0.00,0.000,6,0.134,0.042,3082,2374,685
$GC,14506,1.01,509.8,80.0,13.1,1412,14512,0.17,0.00,0.00,0.000,6,0.051,0.000,3172,2374,685
$GC,14832,0.91,509.8,21.3,16.5,1473,14839,0.20,1.98,0.00,0.000,4,0.137,0.046,3119,1111,685
$GC,14913,1.18,554.1,11.5,10.5,1488,14963,0.17,1.95,43.65,0.628,6,0.038,0.039,3225,2360,497
$STATE,14966,end climb,SURFACE_DEPTH_REACHED
$STATE,14966,begin surface coast
$FINISH,1.7,1.016703
$STATE,14982,end surface coast,CONTROL_FINISHED_OK
$STATE,14982,begin surface
$SM_CCo,15057,0.00,0.000,0,0,488,557.08
$SM_GC,2.44,7.90,0.00,0.00,0.035,0.000,0.000,163,2056,488,-8.21,-0.42,557.08
$IRIDIUM_FIX,2458.45,12320.29,070998,232310
$TT8_MAMPS,0.048321
$HUMID,1571
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,25.20
$XPDR_PINGS,161
$24V_AH,23.5,33.273
$10V_AH,10.7,23.615
$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,34.675,140.125,679.350,0.000,0.000,29.369,43.704,197.214,48.250,0.000,0.000,13.164,0.000,10567.598,806.106,3536.523,493.887,0.000,2164.219,0.000,2989.795,0.000,53.999,0.000
$DEVICE_MAMPS,228.566,68.263,1373.697,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.150,1038.645,1634.687,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85107,1500
$CAP_FILE_SIZE,170714,0
$CFSIZE,260165632,245497856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245, 14.5,1
$GPS,140609,081836,2507.219,12322.894,25,1.2,25,-3.7