version: 66.04
glider: 165
mission: 2
dive: 155
start: 6 14 109 12 51 11
data:
$ID,165
$MISSION,2
$DIVE,155
$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,-119929.26
$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,56
$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
$GPS1,123807,2511.320,12322.700,33,1.3,33,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.2
$GPS2,125106,2511.422,12322.740,11,1.8,27,-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,334.7,57099,-16.4,-12.000
$D_GRID,1754
$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,-64.22,0.000,2,0.000,0.000,159,2064,2056
$GC,80,-0.94,-243.4,3.3,-4.6,10,143,8.88,2.30,-45.53,0.000,4,0.225,0.064,2497,3482,3755
$GC,366,-0.27,-243.4,90.1,-31.0,62,373,0.68,2.15,0.00,0.000,6,0.137,0.041,2721,2084,3757
$GC,693,-1.10,-243.4,120.7,-7.0,123,700,0.68,2.20,0.00,0.000,4,0.061,0.052,2459,3483,3758
$GC,774,-0.45,-243.4,136.7,-25.1,138,781,0.60,2.12,0.00,0.000,6,0.134,0.038,2674,2093,3758
$GC,1101,-0.75,-243.4,169.1,-6.8,199,1107,0.25,2.20,0.00,0.000,4,0.044,0.061,2546,3486,3758
$GC,1170,-0.52,-243.4,179.3,-16.9,212,1177,0.28,2.10,0.00,0.000,6,0.120,0.039,2644,2103,3758
$GC,1497,-0.74,-243.4,207.3,-7.5,273,1503,0.17,2.17,0.00,0.000,4,0.054,0.055,2550,3488,3758
$GC,1577,-0.62,-243.4,218.9,-16.7,288,1584,0.17,2.10,0.00,0.000,6,0.114,0.037,2613,2105,3758
$GC,1904,-0.76,-243.4,257.5,-10.6,349,1909,0.12,0.00,0.00,0.000,6,0.064,0.000,2543,2100,3758
$GC,2233,-0.55,-243.4,305.5,-12.4,407,2237,0.30,2.17,0.00,0.000,4,0.124,0.058,2633,3480,3758
$GC,2319,-0.91,-243.4,310.4,-4.6,415,2322,0.28,2.05,0.00,0.000,6,0.044,0.035,2498,2111,3758
$GC,2639,-0.50,-243.4,367.8,-20.2,446,2640,0.47,0.00,0.00,0.000,6,0.133,0.000,2652,2108,3756
$GC,2950,-1.30,-243.4,395.9,-10.3,476,2954,0.65,2.17,0.00,0.000,4,0.057,0.058,2387,3479,3755
$GC,3098,-0.57,-243.4,430.1,-25.4,489,3105,0.75,2.08,0.00,0.000,6,0.153,0.038,2628,2127,3754
$GC,3414,-0.92,-243.4,455.5,-7.9,520,3418,0.28,2.17,0.00,0.000,4,0.045,0.060,2493,3476,3752
$GC,3468,-0.69,-243.4,463.1,-16.6,525,3471,0.32,2.03,0.00,0.000,6,0.126,0.038,2597,2133,3752
$GC,3788,-0.88,-243.4,492.8,-8.1,556,3792,0.17,2.15,0.00,0.000,4,0.056,0.061,2508,3479,3750
$GC,3857,-0.73,-243.4,501.7,-14.2,562,3861,0.20,2.05,0.00,0.000,6,0.120,0.038,2578,2147,3749
$GC,4178,-0.82,-243.4,530.9,-9.5,578,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2142,3747
$GC,4484,-0.93,-243.4,562.7,-10.6,593,4487,0.17,2.15,0.00,0.000,4,0.058,0.063,2491,3486,3745
$GC,4557,-0.73,-243.4,573.6,-15.2,596,4562,0.25,2.05,0.00,0.000,6,0.122,0.039,2578,2157,3744
$GC,4874,-0.86,-243.4,604.0,-9.6,612,4878,0.12,2.30,0.00,0.000,4,0.068,0.054,2513,681,3742
$GC,4905,-0.77,-243.4,608.0,-13.6,613,4912,0.15,2.33,0.00,0.000,6,0.125,0.045,2564,2154,3741
$GC,5216,-0.86,-243.4,640.4,-10.2,629,5220,0.00,2.12,0.00,0.000,4,0.000,0.064,2563,3470,3740
$GC,5279,-1.03,-243.4,646.1,-8.5,632,5284,0.17,2.03,0.00,0.000,6,0.044,0.038,2468,2155,3739
$GC,5607,-0.64,-243.4,703.3,-17.3,648,5609,0.45,0.00,0.00,0.000,6,0.141,0.000,2608,2150,3736
$GC,5911,-0.99,-243.4,722.6,-6.1,663,5915,0.30,2.15,0.00,0.000,4,0.048,0.065,2471,3467,3734
$GC,5985,-0.74,-243.4,732.3,-15.2,666,5990,0.30,2.00,0.00,0.000,6,0.130,0.041,2573,2176,3734
$GC,6302,-0.92,-243.4,761.8,-9.4,682,6305,0.15,2.10,0.00,0.000,4,0.062,0.064,2494,3477,3733
$GC,6365,-0.78,-243.4,770.1,-14.2,685,6369,0.17,2.00,0.00,0.000,6,0.125,0.041,2568,2189,3731
$GC,6692,-0.94,-243.4,796.0,-7.3,701,6696,0.15,2.10,0.00,0.000,4,0.063,0.066,2494,3478,3729
$GC,6729,-0.84,-243.4,800.1,-12.4,702,6735,0.12,2.00,0.00,0.000,6,0.128,0.041,2540,2194,3729
$GC,7039,-0.84,-243.4,833.8,-10.7,718,7042,0.00,2.10,0.00,0.000,4,0.000,0.067,2536,3466,3727
$GC,7086,-0.92,-243.4,839.1,-10.4,720,7090,0.00,1.95,0.00,0.000,6,0.000,0.041,2536,2216,3727
$GC,7408,-0.92,-243.4,872.5,-10.4,736,7411,0.00,2.08,0.00,0.000,4,0.000,0.067,2536,3470,3725
$GC,7434,-0.97,-243.4,875.1,-11.1,737,7438,0.00,1.95,0.00,0.000,6,0.000,0.041,2536,2219,3724
$GC,7755,-0.97,-243.4,910.1,-10.8,753,7759,0.00,2.08,0.00,0.000,4,0.000,0.068,2536,3470,3723
$GC,7786,-1.04,-243.4,913.5,-11.0,754,7791,0.12,1.95,0.00,0.000,6,0.051,0.040,2465,2219,3722
$GC,8102,-0.73,-243.4,966.9,-16.8,770,8104,0.38,0.00,0.00,0.000,6,0.142,0.000,2580,2215,3721
$GC,8407,-0.98,-243.4,987.0,-5.9,785,8411,0.22,2.08,0.00,0.000,4,0.055,0.069,2480,3470,3720
$STATE,8437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8437,begin apogee
$GC,8442,-0.20,0.0,990.2,11.8,786,8640,0.80,0.00,194.75,1.379,6,0.130,0.000,2747,2521,2759
$STATE,8640,end apogee,CONTROL_FINISHED_OK
$STATE,8640,begin climb
$GC,8642,0.94,243.4,998.1,0.0,796,8858,1.02,2.45,206.75,1.332,4,0.045,0.057,3144,1136,1765
$GC,9055,0.28,243.4,919.7,26.0,815,9060,0.77,2.30,0.00,0.000,6,0.176,0.052,2917,2514,1758
$GC,9371,0.51,317.4,887.0,9.5,831,9440,0.17,2.35,64.25,1.268,4,0.060,0.054,3011,1130,1462
$GC,9504,0.39,317.4,866.7,14.7,837,9508,0.22,2.30,0.00,0.000,6,0.140,0.050,2948,2523,1458
$GC,9820,0.49,324.3,830.3,11.8,853,9829,0.00,2.28,6.03,0.985,4,0.000,0.053,2957,1124,1437
$GC,9903,0.63,336.8,820.1,11.6,857,9921,0.15,2.25,12.62,1.156,6,0.049,0.049,3032,2504,1385
$GC,10225,0.41,336.8,760.6,18.5,873,10229,0.25,2.22,0.00,0.000,4,0.142,0.052,2963,1125,1382
$GC,10288,0.54,342.4,752.0,11.8,876,10297,0.00,2.22,6.12,0.980,6,0.000,0.048,2963,2495,1362
$GC,10609,0.62,348.2,714.1,11.8,892,10617,0.17,0.00,6.95,1.017,6,0.064,0.000,3038,2495,1339
$GC,10914,0.39,348.2,659.1,18.4,907,10918,0.32,2.15,0.00,0.000,4,0.140,0.052,2949,1130,1337
$GC,10988,0.67,417.6,651.1,9.7,910,11064,0.20,2.20,63.83,1.131,6,0.048,0.048,3047,2493,1055
$GC,11367,0.51,417.6,580.5,19.4,929,11371,0.22,2.22,0.00,0.000,4,0.136,0.051,2988,1129,1050
$GC,11420,0.65,417.6,572.2,13.9,931,11424,0.08,2.17,0.00,0.000,6,0.061,0.046,3038,2471,1048
$GC,11736,0.55,417.6,514.1,17.2,947,11740,0.15,2.17,0.00,0.000,4,0.136,0.051,3002,1127,1047
$GC,11815,0.67,417.6,503.9,12.2,950,11822,0.00,2.15,0.00,0.000,6,0.000,0.047,3002,2468,1047
$GC,12132,0.75,417.6,457.7,15.0,979,12135,0.17,2.12,0.00,0.000,4,0.060,0.050,3096,1129,1047
$GC,12173,0.52,417.6,449.2,22.2,982,12180,0.32,2.12,0.00,0.000,6,0.146,0.046,2992,2461,1047
$GC,12489,0.67,421.6,409.1,11.9,1013,12493,0.12,2.10,0.00,0.000,4,0.068,0.050,3062,1124,1046
$GC,12563,0.58,421.6,396.4,18.9,1020,12567,0.15,2.10,0.00,0.000,6,0.138,0.046,3011,2446,1045
$GC,12884,0.66,421.6,350.0,13.4,1051,12888,0.00,2.10,0.00,0.000,4,0.000,0.050,3020,1129,1045
$GC,12948,0.78,437.2,341.9,11.5,1057,12971,0.15,2.08,16.58,0.917,6,0.064,0.045,3098,2439,976
$GC,13282,0.56,437.2,277.7,20.9,1099,13288,0.32,2.08,0.00,0.000,4,0.140,0.048,3007,1119,974
$GC,13303,0.50,437.2,273.9,18.0,1103,13309,0.00,2.08,0.00,0.000,6,0.000,0.044,3007,2424,973
$GC,13629,0.77,476.1,235.5,10.7,1164,13668,0.17,2.15,33.60,0.845,4,0.056,0.049,3106,1126,815
$GC,13737,0.64,476.1,216.4,18.8,1183,13743,0.28,2.05,0.00,0.000,6,0.136,0.044,3024,2423,813
$GC,14063,1.03,555.9,180.0,9.4,1244,14146,0.35,2.15,74.95,0.781,4,0.041,0.048,3192,1120,486
$GC,14199,0.80,555.9,149.2,23.2,1267,14205,0.40,2.10,0.00,0.000,6,0.138,0.044,3074,2406,474
$GC,14525,1.09,578.8,108.4,11.2,1328,14533,0.25,2.05,0.00,0.000,4,0.045,0.047,3200,1121,466
$GC,14602,0.87,578.8,91.8,25.6,1342,14608,0.30,2.03,0.00,0.000,6,0.133,0.043,3102,2401,465
$GC,14928,1.15,596.4,49.2,11.4,1403,14935,0.22,2.00,0.00,0.000,4,0.047,0.047,3219,1129,465
$GC,14955,1.07,596.4,45.2,16.2,1408,14963,0.15,1.98,0.00,0.000,6,0.135,0.041,3169,2389,464
$STATE,15249,end climb,SURFACE_DEPTH_REACHED
$STATE,15249,begin surface coast
$FINISH,1.9,1.000516
$STATE,15266,end surface coast,CONTROL_FINISHED_OK
$STATE,15266,begin surface
$SM_CCo,15339,0.00,0.000,0,0,463,563.21
$SM_GC,2.45,7.57,0.00,0.00,0.035,0.000,0.000,165,2052,463,-8.20,-0.51,563.21
$IRIDIUM_FIX,2505.59,12331.49,080998,121253
$TT8_MAMPS,0.048321
$HUMID,1585
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.30
$XPDR_PINGS,161
$24V_AH,23.5,33.799
$10V_AH,10.7,23.887
$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,34.000,140.425,686.425,0.000,0.000,79.348,115.021,328.645,48.250,0.000,0.000,29.602,0.000,11014.566,794.352,3516.896,762.646,0.000,2141.531,0.000,2957.793,0.000,56.054,0.000
$DEVICE_MAMPS,224.731,69.030,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,991.140,1012.000,1581.931,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85159,1466
$CAP_FILE_SIZE,175368,0
$CFSIZE,260165632,245313536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136,  7.7,1
$GPS,140609,170737,2515.358,12322.289,28,0.9,28,-3.7