version: 66.04
glider: 165
mission: 2
dive: 154
start: 6 14 109 8 24 54
data:
$ID,165
$MISSION,2
$DIVE,154
$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,-119899.02
$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,40
$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
$GPS1,081836,2507.219,12322.894,25,1.2,25,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-70.5
$GPS2,082449,2507.232,12322.884,7,1.6,12,-3.7
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,331.9,64701,-16.4,-12.000
$D_GRID,1819
$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,-63.65,0.000,2,0.000,0.000,163,2057,2038
$GC,80,-0.94,-243.4,3.3,-4.4,10,143,8.80,2.28,-47.47,0.000,4,0.220,0.063,2499,3483,3749
$GC,229,-0.17,-243.4,42.8,-35.4,36,235,0.82,2.17,0.00,0.000,6,0.135,0.036,2762,2065,3750
$GC,555,-1.05,-243.4,77.3,-10.2,97,561,0.75,2.22,0.00,0.000,4,0.054,0.049,2461,3485,3752
$GC,678,-0.39,-243.4,108.7,-30.4,120,684,0.62,2.15,0.00,0.000,6,0.125,0.035,2687,2081,3752
$GC,1005,-0.70,-243.4,133.4,-6.9,181,1011,0.25,2.20,0.00,0.000,4,0.044,0.051,2559,3488,3753
$GC,1095,-0.48,-243.4,147.4,-18.2,198,1103,0.28,2.12,0.00,0.000,6,0.117,0.035,2657,2084,3753
$GC,1424,-0.72,-243.4,179.8,-7.5,259,1430,0.20,2.20,0.00,0.000,4,0.050,0.053,2550,3493,3755
$GC,1504,-0.54,-243.4,190.8,-14.7,274,1512,0.25,2.08,0.00,0.000,6,0.114,0.036,2639,2123,3755
$GC,1831,-0.74,-243.4,219.0,-7.5,335,1837,0.17,2.12,0.00,0.000,4,0.054,0.054,2545,3476,3755
$GC,1922,-0.58,-243.4,231.1,-14.8,352,1929,0.22,2.03,0.00,0.000,6,0.117,0.035,2626,2139,3755
$GC,2249,-0.78,-243.4,261.0,-7.8,413,2254,0.17,0.00,0.00,0.000,6,0.054,0.000,2534,2136,3754
$GC,2571,-0.51,-243.4,315.7,-17.8,466,2575,0.38,2.15,0.00,0.000,4,0.126,0.060,2656,3473,3755
$GC,2640,-1.02,-243.4,321.7,-6.5,472,2647,0.40,2.00,0.00,0.000,6,0.055,0.035,2463,2150,3755
$GC,2956,-0.50,-243.4,383.1,-18.6,503,2957,0.60,0.00,0.00,0.000,6,0.138,0.000,2656,2145,3754
$GC,3267,-1.32,-243.4,410.9,-10.3,533,3271,0.68,2.12,0.00,0.000,4,0.066,0.058,2387,3490,3754
$GC,3351,-0.63,-243.4,428.2,-26.8,540,3358,0.70,2.03,0.00,0.000,6,0.147,0.038,2613,2167,3753
$GC,3667,-0.89,-243.4,452.6,-6.7,571,3670,0.22,2.08,0.00,0.000,4,0.048,0.059,2502,3480,3752
$GC,3693,-0.82,-243.4,455.4,-12.0,573,3701,0.12,2.00,0.00,0.000,6,0.126,0.036,2549,2170,3751
$GC,4008,-0.75,-243.4,498.5,-13.0,604,4012,0.00,2.12,0.00,0.000,4,0.000,0.061,2548,3477,3750
$GC,4072,-0.75,-243.4,505.7,-11.1,608,4076,0.00,1.98,0.00,0.000,6,0.000,0.037,2549,2190,3749
$GC,4398,-0.69,-243.4,540.2,-11.8,624,4402,0.15,2.08,0.00,0.000,4,0.127,0.062,2590,3468,3748
$GC,4446,-0.93,-243.4,544.7,-8.3,626,4450,0.17,1.95,0.00,0.000,6,0.041,0.037,2490,2201,3747
$GC,4768,-0.63,-243.4,598.8,-15.8,642,4772,0.40,2.38,0.00,0.000,4,0.131,0.053,2619,678,3744
$GC,4804,-0.95,-243.4,602.0,-5.7,644,4809,0.25,2.35,0.00,0.000,6,0.041,0.043,2483,2177,3745
$GC,5132,-0.64,-243.4,652.3,-17.3,660,5136,0.38,2.05,0.00,0.000,4,0.137,0.062,2602,3474,3742
$GC,5163,-0.81,-243.4,656.4,-10.2,661,5167,0.10,1.98,0.00,0.000,6,0.047,0.037,2531,2193,3742
$GC,5479,-0.76,-243.4,695.7,-12.4,677,5480,0.15,0.00,0.00,0.000,6,0.128,0.000,2577,2187,3740
$GC,5784,-0.94,-243.4,722.5,-8.8,692,5785,0.17,0.00,0.00,0.000,6,0.058,0.000,2491,2187,3737
$GC,6089,-0.71,-243.4,772.1,-16.3,707,6093,0.30,2.10,0.00,0.000,4,0.132,0.065,2576,3472,3735
$GC,6158,-0.99,-243.4,778.6,-7.8,710,6162,0.17,1.98,0.00,0.000,6,0.043,0.040,2480,2199,3734
$GC,6479,-0.71,-243.4,823.4,-14.6,726,6481,0.35,0.00,0.00,0.000,6,0.135,0.000,2589,2194,3732
$GC,6784,-0.99,-243.4,841.2,-5.9,741,6788,0.25,2.10,0.00,0.000,4,0.051,0.067,2474,3471,3730
$GC,6870,-0.81,-243.4,852.6,-15.4,745,6874,0.22,1.95,0.00,0.000,6,0.128,0.041,2552,2218,3729
$GC,7197,-0.91,-243.4,888.5,-10.7,761,7200,0.00,2.05,0.00,0.000,4,0.000,0.068,2550,3473,3727
$GC,7233,-1.06,-243.4,892.3,-9.7,762,7240,0.17,1.95,0.00,0.000,6,0.045,0.041,2459,2219,3727
$GC,7544,-0.72,-243.4,943.8,-16.5,778,7545,0.40,0.00,0.00,0.000,6,0.142,0.000,2583,2216,3724
$GC,7849,-0.99,-243.4,962.4,-5.1,793,7853,0.22,2.08,0.00,0.000,4,0.053,0.069,2480,3471,3723
$GC,7913,-0.86,-243.4,969.0,-11.7,796,7916,0.17,1.92,0.00,0.000,6,0.127,0.042,2552,2236,3722
$STATE,8217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8217,begin apogee
$GC,8221,-0.20,0.0,990.2,6.8,811,8420,0.60,0.00,195.32,1.374,6,0.111,0.000,2754,2521,2759
$STATE,8421,end apogee,CONTROL_FINISHED_OK
$STATE,8421,begin climb
$GC,8422,0.94,243.4,997.0,0.0,821,8637,0.98,2.47,206.32,1.328,4,0.039,0.057,3143,1142,1765
$GC,8855,0.29,243.4,911.7,25.0,841,8860,0.77,2.30,0.00,0.000,6,0.178,0.053,2917,2524,1757
$GC,9176,0.51,321.9,878.6,9.4,857,9249,0.20,2.38,67.68,1.261,4,0.056,0.056,3011,1149,1446
$GC,9315,0.41,321.9,856.8,16.5,863,9318,0.20,2.25,0.00,0.000,6,0.141,0.049,2956,2515,1440
$GC,9630,0.49,326.2,817.5,11.9,879,9639,0.00,2.25,3.85,0.759,4,0.000,0.052,2963,1144,1429
$GC,9693,0.61,339.4,810.2,11.6,882,9717,0.12,2.22,13.65,1.155,6,0.052,0.049,3030,2507,1374
$GC,10020,0.39,339.4,752.3,17.8,898,10023,0.25,2.20,0.00,0.000,4,0.142,0.051,2959,1136,1372
$GC,10066,0.54,358.7,746.1,11.4,900,10088,0.00,2.20,18.02,1.167,6,0.000,0.048,2959,2494,1296
$GC,10404,0.75,431.6,712.3,9.6,917,10475,0.25,2.35,65.07,1.185,4,0.055,0.052,3081,1133,998
$GC,10577,0.54,431.6,678.9,20.8,925,10582,0.28,2.22,0.00,0.000,6,0.146,0.048,2995,2479,993
$GC,10898,0.61,431.6,631.1,14.2,941,10903,0.00,2.17,0.00,0.000,4,0.000,0.052,3003,1144,992
$GC,10978,0.71,431.6,620.0,13.7,944,10985,0.10,2.12,0.00,0.000,6,0.059,0.048,3063,2463,990
$GC,11289,0.50,431.6,557.1,21.6,960,11293,0.28,2.12,0.00,0.000,4,0.142,0.051,2989,1142,990
$GC,11379,0.68,431.6,543.3,13.4,964,11384,0.10,2.10,0.00,0.000,6,0.056,0.047,3051,2450,989
$GC,11692,0.54,431.6,486.2,17.7,983,11696,0.20,2.08,0.00,0.000,4,0.137,0.051,2999,1133,989
$GC,11728,0.64,431.6,480.8,12.4,986,11737,0.00,2.10,0.00,0.000,6,0.000,0.046,2999,2446,988
$GC,12045,0.76,431.6,439.1,13.6,1017,12049,0.17,2.08,0.00,0.000,4,0.058,0.050,3094,1132,988
$GC,12108,0.54,431.6,426.7,20.1,1023,12112,0.30,2.05,0.00,0.000,6,0.143,0.046,2996,2421,988
$GC,12429,0.73,462.1,390.8,11.0,1054,12458,0.17,2.05,25.30,0.964,4,0.060,0.049,3090,1131,875
$GC,12505,0.59,462.1,377.2,18.6,1060,12512,0.22,2.08,0.00,0.000,6,0.138,0.045,3016,2414,873
$GC,12821,0.76,480.8,333.3,11.4,1091,12843,0.15,2.03,17.00,0.897,4,0.062,0.051,3103,1142,799
$GC,12885,0.60,480.8,322.4,18.6,1097,12889,0.28,2.03,0.00,0.000,6,0.137,0.045,3002,2399,797
$GC,13204,0.94,537.1,287.6,10.1,1138,13266,0.32,2.10,53.88,0.874,4,0.043,0.049,3156,1143,564
$GC,13303,0.72,537.1,264.5,23.5,1155,13309,0.30,2.03,0.00,0.000,6,0.137,0.045,3048,2378,557
$GC,13630,0.91,537.7,221.8,12.0,1216,13636,0.17,1.98,0.00,0.000,4,0.054,0.048,3139,1130,551
$GC,13721,0.75,537.7,202.9,23.3,1233,13727,0.20,1.98,0.00,0.000,6,0.133,0.044,3061,2373,550
$GC,14046,1.02,589.7,163.7,10.3,1294,14080,0.22,2.10,21.05,0.707,4,0.051,0.056,3167,3687,481
$GC,14100,0.79,589.7,153.1,23.4,1303,14106,0.28,2.03,0.00,0.000,6,0.136,0.038,3072,2395,475
$GC,14427,1.11,628.6,107.1,10.7,1364,14433,0.28,1.98,0.00,0.000,4,0.045,0.047,3208,1132,469
$GC,14556,0.90,628.6,79.7,23.1,1388,14562,0.30,1.90,0.00,0.000,6,0.137,0.042,3109,2341,468
$GC,14882,1.17,639.4,36.7,11.6,1449,14888,0.22,0.00,0.00,0.000,6,0.047,0.000,3220,2340,467
$STATE,15052,end climb,SURFACE_DEPTH_REACHED
$STATE,15052,begin surface coast
$FINISH,1.8,1.009203
$STATE,15067,end surface coast,CONTROL_FINISHED_OK
$STATE,15067,begin surface
$SM_CCo,15141,0.00,0.000,0,0,465,562.72
$SM_GC,2.48,7.72,0.00,0.00,0.034,0.000,0.000,160,2064,465,-8.22,-0.23,562.72
$IRIDIUM_FIX,2458.45,12323.58,080998,040419
$TT8_MAMPS,0.049088
$HUMID,1575
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,25.10
$XPDR_PINGS,175
$24V_AH,23.5,33.531
$10V_AH,10.7,23.750
$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,35.350,131.775,687.150,0.000,0.000,29.315,36.319,199.677,51.750,0.000,0.000,14.524,0.000,10655.965,806.934,3525.926,495.894,0.000,2159.254,0.000,2982.528,0.000,54.879,0.000
$DEVICE_MAMPS,220.129,69.030,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.941,1035.404,1628.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85152,1484
$CAP_FILE_SIZE,170490,0
$CFSIZE,260165632,245407744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.173, 16.3,1
$GPS,140609,123807,2511.320,12322.700,33,1.3,33,-3.7