version: 66.04
glider: 165
mission: 2
dive: 156
start: 6 14 109 17 14 7
data:
$ID,165
$MISSION,2
$DIVE,156
$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,-119943.73
$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,51
$R_STBD_OVSHOOT,25
$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
$GPS1,170737,2515.358,12322.289,28,0.9,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.7
$GPS2,171402,2515.384,12322.367,12,1.1,12,-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,339.2,49849,-16.4,-12.000
$D_GRID,1735
$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,-243.4,0.0,0.0,0,76,0.00,0.00,-62.22,0.000,2,0.000,0.000,165,2053,1975
$GC,78,-0.94,-243.4,3.2,-4.4,10,142,8.93,2.20,-49.60,0.000,4,0.227,0.058,2509,674,3756
$GC,258,-0.21,-243.4,50.7,-31.7,42,265,0.77,2.20,0.00,0.000,6,0.156,0.045,2743,2079,3757
$GC,585,-0.99,-243.4,82.4,-10.6,103,591,0.62,2.17,0.00,0.000,4,0.037,0.049,2468,3487,3758
$GC,676,-0.43,-243.4,102.0,-24.1,120,683,0.57,2.10,0.00,0.000,6,0.132,0.041,2675,2104,3758
$GC,1004,-0.68,-243.4,139.4,-10.6,181,1010,0.20,2.12,0.00,0.000,4,0.050,0.058,2564,3472,3760
$GC,1062,-0.50,-243.4,148.5,-16.9,192,1070,0.25,2.05,0.00,0.000,6,0.117,0.034,2654,2111,3760
$GC,1391,-0.72,-243.4,177.3,-10.1,253,1397,0.17,2.15,0.00,0.000,4,0.054,0.057,2559,3476,3761
$GC,1449,-0.57,-243.4,186.6,-18.0,264,1457,0.20,2.05,0.00,0.000,6,0.116,0.034,2631,2124,3761
$GC,1777,-0.78,-243.4,217.6,-6.6,325,1783,0.17,2.12,0.00,0.000,4,0.053,0.054,2537,3473,3761
$GC,1836,-0.62,-243.4,225.0,-15.1,336,1843,0.20,2.03,0.00,0.000,6,0.114,0.034,2622,2131,3761
$GC,2163,-0.81,-243.4,258.1,-8.1,397,2169,0.17,2.12,0.00,0.000,4,0.054,0.056,2531,3481,3761
$GC,2216,-0.65,-243.4,263.9,-12.0,407,2222,0.20,2.03,0.00,0.000,6,0.116,0.035,2603,2145,3761
$GC,2542,-0.78,-243.4,294.6,-10.4,468,2550,0.10,2.12,0.00,0.000,4,0.074,0.058,2545,3468,3761
$GC,2575,-0.72,-243.4,298.9,-13.6,474,2582,0.10,2.03,0.00,0.000,6,0.120,0.035,2582,2136,3761
$GC,2896,-0.72,-243.4,336.4,-10.7,506,2900,0.00,2.15,0.00,0.000,4,0.000,0.058,2577,3469,3761
$GC,2965,-0.83,-243.4,343.1,-9.2,512,2973,0.00,2.00,0.00,0.000,6,0.000,0.035,2576,2155,3760
$GC,3283,-0.83,-243.4,374.5,-9.6,543,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2154,3759
$GC,3593,-0.88,-243.4,405.6,-11.0,573,3596,0.12,2.10,0.00,0.000,4,0.067,0.061,2508,3468,3758
$GC,3623,-0.70,-243.4,410.0,-15.3,575,3630,0.22,2.00,0.00,0.000,6,0.120,0.037,2586,2160,3757
$GC,3939,-0.82,-243.4,444.0,-9.2,606,3940,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2158,3755
$GC,4250,-0.95,-243.4,469.8,-8.8,636,4254,0.17,2.10,0.00,0.000,4,0.057,0.061,2492,3469,3754
$GC,4313,-0.72,-243.4,478.9,-15.8,641,4319,0.25,2.00,0.00,0.000,6,0.123,0.038,2580,2167,3753
$GC,4628,-0.84,-243.4,509.8,-9.4,667,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2164,3751
$GC,4932,-0.96,-243.4,537.2,-8.6,682,4936,0.20,2.10,0.00,0.000,4,0.055,0.065,2482,3473,3750
$GC,4969,-0.72,-243.4,541.9,-14.2,683,4976,0.30,2.00,0.00,0.000,6,0.123,0.039,2585,2177,3748
$GC,5279,-0.89,-243.4,565.1,-7.6,699,5284,0.15,2.10,0.00,0.000,4,0.060,0.063,2508,3467,3746
$GC,5311,-0.79,-243.4,568.5,-11.6,700,5315,0.15,2.00,0.00,0.000,6,0.121,0.038,2562,2170,3745
$GC,5628,-0.85,-243.4,603.3,-11.7,716,5631,0.00,2.10,0.00,0.000,4,0.000,0.064,2562,3474,3744
$GC,5659,-0.96,-243.4,606.9,-11.1,717,5663,0.12,2.00,0.00,0.000,6,0.051,0.038,2487,2177,3744
$GC,5975,-0.66,-243.4,657.7,-15.0,733,5979,0.35,2.35,0.00,0.000,4,0.136,0.054,2601,679,3741
$GC,6005,-0.78,-243.4,661.3,-9.5,734,6012,0.08,2.33,0.00,0.000,6,0.054,0.045,2543,2152,3742
$GC,6316,-0.78,-243.4,692.9,-10.3,750,6320,0.00,2.12,0.00,0.000,4,0.000,0.064,2536,3464,3739
$GC,6385,-0.85,-243.4,699.7,-10.2,753,6390,0.00,2.00,0.00,0.000,6,0.000,0.039,2536,2171,3739
$GC,6706,-0.85,-243.4,738.0,-13.1,769,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2169,3736
$GC,7012,-0.85,-243.4,777.2,-12.2,784,7016,0.00,2.12,0.00,0.000,4,0.000,0.067,2536,3476,3735
$GC,7107,-0.92,-243.4,787.7,-10.2,788,7112,0.00,2.00,0.00,0.000,6,0.000,0.041,2535,2193,3734
$GC,7423,-0.92,-243.4,821.5,-10.7,804,7427,0.00,2.10,0.00,0.000,4,0.000,0.067,2536,3463,3733
$GC,7465,-1.00,-243.4,825.7,-10.0,806,7470,0.08,1.98,0.00,0.000,6,0.058,0.041,2481,2195,3733
$GC,7793,-0.74,-243.4,876.5,-15.7,822,7795,0.32,0.00,0.00,0.000,6,0.137,0.000,2582,2189,3730
$GC,8097,-1.00,-243.4,899.3,-7.3,837,8101,0.22,2.10,0.00,0.000,4,0.052,0.068,2480,3465,3729
$GC,8187,-0.83,-243.4,912.1,-15.5,841,8192,0.20,1.98,0.00,0.000,6,0.129,0.042,2548,2199,3728
$GC,8510,-0.92,-243.4,948.9,-11.2,857,8513,0.00,2.08,0.00,0.000,4,0.000,0.069,2548,3467,3727
$GC,8551,-1.09,-243.4,953.3,-10.6,859,8555,0.20,1.98,0.00,0.000,6,0.046,0.041,2451,2201,3726
$STATE,8774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8774,begin apogee
$GC,8778,-0.20,0.0,993.6,18.8,870,8978,0.95,0.00,196.07,1.380,6,0.146,0.000,2751,2514,2759
$STATE,8978,end apogee,CONTROL_FINISHED_OK
$STATE,8979,begin climb
$GC,8980,0.94,243.4,1004.0,0.0,880,9196,1.00,2.45,206.60,1.335,4,0.038,0.057,3149,1147,1765
$GC,9397,0.25,243.4,922.8,25.9,899,9402,0.82,2.30,0.00,0.000,6,0.178,0.052,2909,2523,1757
$GC,9714,0.54,339.7,892.3,8.8,915,9803,0.22,2.40,83.15,1.274,4,0.055,0.054,3021,1140,1374
$GC,9867,0.40,339.7,866.6,18.8,922,9871,0.22,2.30,0.00,0.000,6,0.137,0.049,2950,2513,1368
$GC,10188,0.52,339.7,824.3,12.7,938,10193,0.12,2.22,0.00,0.000,4,0.068,0.053,3011,1149,1366
$GC,10289,0.44,339.7,807.9,17.3,942,10296,0.12,2.20,0.00,0.000,6,0.133,0.048,2968,2502,1364
$GC,10600,0.51,359.4,769.0,11.3,958,10622,0.00,2.28,17.15,1.181,4,0.000,0.053,2977,1138,1293
$GC,10658,0.64,392.7,762.7,10.9,960,10695,0.10,2.22,31.00,1.193,6,0.058,0.048,3034,2498,1156
$GC,11012,0.47,392.7,700.9,18.3,978,11016,0.22,2.20,0.00,0.000,4,0.140,0.051,2977,1132,1152
$GC,11102,0.61,392.7,688.3,13.1,982,11106,0.08,2.17,0.00,0.000,6,0.061,0.048,3025,2474,1150
$GC,11418,0.49,392.7,634.3,16.5,998,11422,0.17,2.15,0.00,0.000,4,0.137,0.051,2983,1138,1151
$GC,11492,0.61,392.7,624.7,12.1,1001,11496,0.00,2.12,0.00,0.000,6,0.000,0.046,2983,2465,1149
$GC,11808,0.70,392.7,584.4,13.5,1017,11812,0.17,2.12,0.00,0.000,4,0.062,0.051,3069,1139,1149
$GC,11839,0.52,392.7,578.7,19.9,1018,11844,0.25,2.12,0.00,0.000,6,0.145,0.048,2988,2465,1149
$GC,12155,0.66,440.2,539.4,10.4,1034,12201,0.12,2.20,41.12,1.085,4,0.071,0.051,3054,1148,964
$GC,12262,0.57,440.2,523.3,15.1,1039,12266,0.17,2.10,0.00,0.000,6,0.143,0.047,3005,2447,960
$GC,12575,0.66,440.2,477.0,14.6,1061,12578,0.00,2.08,0.00,0.000,4,0.000,0.050,3013,1142,959
$GC,12639,0.76,440.2,467.9,13.4,1067,12642,0.15,2.05,0.00,0.000,6,0.065,0.045,3085,2439,958
$GC,12959,0.52,440.2,402.5,22.5,1098,12963,0.32,2.08,0.00,0.000,4,0.143,0.050,2996,1142,958
$GC,13034,0.71,440.2,391.4,12.8,1105,13037,0.10,2.03,0.00,0.000,6,0.054,0.046,3065,2412,956
$GC,13354,0.59,440.2,336.9,15.8,1136,13358,0.20,2.03,0.00,0.000,4,0.135,0.050,3012,1144,956
$GC,13391,0.71,445.7,332.1,11.8,1139,13401,0.08,2.00,5.28,0.746,6,0.059,0.045,3070,2402,940
$GC,13717,0.60,445.7,275.2,18.1,1183,13723,0.20,1.98,0.00,0.000,4,0.137,0.050,3018,1138,940
$GC,13770,0.77,445.7,267.3,13.7,1193,13778,0.10,1.98,0.00,0.000,6,0.052,0.044,3089,2381,940
$GC,14097,0.63,445.7,210.4,16.9,1254,14103,0.22,0.00,0.00,0.000,6,0.137,0.000,3021,2381,940
$GC,14423,1.07,577.5,173.8,7.6,1315,14531,0.38,2.10,101.95,0.782,4,0.044,0.048,3194,1136,480
$GC,14547,0.76,577.5,147.4,26.5,1335,14553,0.40,2.05,0.00,0.000,6,0.140,0.044,3060,2378,472
$GC,14873,1.12,582.1,110.2,11.8,1396,14880,0.32,1.98,0.00,0.000,4,0.041,0.046,3214,1139,459
$GC,14927,0.84,582.1,97.9,24.0,1406,14933,0.38,1.95,0.00,0.000,6,0.137,0.042,3092,2362,458
$GC,15254,1.22,661.2,57.2,9.4,1467,15259,0.32,0.00,0.00,0.000,6,0.041,0.000,3240,2362,456
$STATE,15503,end climb,SURFACE_DEPTH_REACHED
$STATE,15503,begin surface coast
$FINISH,1.8,1.021517
$STATE,15514,end surface coast,CONTROL_FINISHED_OK
$STATE,15514,begin surface
$SM_CCo,15588,0.00,0.000,0,0,453,565.66
$SM_GC,2.56,7.82,0.00,0.00,0.038,0.000,0.000,171,2078,453,-8.21,0.20,565.66
$IRIDIUM_FIX,2500.82,12318.30,080998,121248
$TT8_MAMPS,0.049088
$HUMID,1594
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,25.00
$XPDR_PINGS,172
$24V_AH,23.5,34.056
$10V_AH,10.7,24.024
$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,31.600,140.100,682.325,0.000,0.000,27.862,48.834,201.223,51.000,0.000,0.000,13.841,0.000,11044.652,800.696,3588.381,509.885,0.000,2177.470,0.000,3034.623,0.000,53.990,0.000
$DEVICE_MAMPS,227.032,69.030,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.854,1045.891,1643.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85253,1516
$CAP_FILE_SIZE,173182,0
$CFSIZE,260165632,245223424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109, 31.9,1
$GPS,140609,213436,2518.981,12322.386,22,1.4,22,-3.7