version: 66.04
glider: 165
mission: 2
dive: 159
start: 6 15 109 7 21 13
data:
$ID,165
$MISSION,2
$DIVE,159
$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,330
$T_MISSION,396
$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,175
$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,-120009.38
$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,31
$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
$GPS1,071437,2524.864,12321.485,26,1.2,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.6
$GPS2,072108,2524.876,12321.558,12,1.3,12,-3.8
$SPEED_LIMITS,0.173,0.279
$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,318.2,32740,-16.8,-10.000
$D_GRID,1157
$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,-0.87,-170.3,0.0,0.0,0,60,0.00,0.00,-46.42,0.000,2,0.000,0.000,162,2054,1971
$GC,62,-0.87,-170.3,3.1,-3.7,7,120,9.10,2.35,-44.12,0.000,4,0.228,0.065,2525,3484,3455
$GC,269,-0.22,-170.3,55.2,-29.1,44,275,0.65,2.20,0.00,0.000,6,0.135,0.036,2739,2068,3457
$GC,595,-0.58,-170.3,86.5,-7.0,105,603,0.30,2.25,0.00,0.000,4,0.041,0.056,2589,3471,3459
$GC,651,-0.35,-170.3,94.1,-16.0,115,657,0.30,2.12,0.00,0.000,6,0.120,0.036,2710,2082,3459
$GC,977,-0.64,-170.3,121.1,-8.1,176,984,0.25,2.20,0.00,0.000,4,0.046,0.053,2582,3483,3460
$GC,1025,-0.44,-170.3,128.4,-17.4,185,1033,0.25,2.10,0.00,0.000,6,0.117,0.040,2672,2102,3460
$GC,1354,-0.57,-170.3,159.4,-9.0,246,1360,0.12,2.17,0.00,0.000,4,0.066,0.061,2600,3480,3461
$GC,1391,-0.48,-170.3,163.9,-13.1,253,1399,0.15,2.08,0.00,0.000,6,0.118,0.034,2657,2105,3461
$GC,1719,-0.66,-170.3,195.4,-8.5,314,1725,0.15,2.17,0.00,0.000,4,0.058,0.055,2572,3468,3461
$GC,1740,-0.66,-170.3,197.7,-10.8,318,1747,0.08,2.05,0.00,0.000,6,0.129,0.040,2601,2115,3461
$GC,2067,-0.66,-170.3,238.1,-11.2,379,2073,0.00,2.17,0.00,0.000,4,0.000,0.057,2601,3468,3462
$GC,2120,-0.71,-170.3,243.8,-10.6,389,2127,0.00,2.05,0.00,0.000,6,0.000,0.035,2602,2124,3462
$GC,2447,-0.71,-170.3,274.2,-9.1,450,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2122,3462
$GC,2771,-0.76,-170.3,304.3,-9.2,507,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2121,3462
$GC,3082,-0.84,-170.3,331.1,-9.2,537,3085,0.15,2.15,0.00,0.000,4,0.059,0.058,2520,3484,3462
$GC,3166,-0.61,-170.3,343.2,-14.9,545,3170,0.25,2.08,0.00,0.000,6,0.123,0.038,2619,2128,3461
$GC,3487,-0.79,-170.3,370.1,-7.5,576,3488,0.15,0.00,0.00,0.000,6,0.059,0.000,2543,2125,3459
$GC,3797,-0.61,-170.3,408.3,-12.4,606,3801,0.25,2.17,0.00,0.000,4,0.129,0.061,2617,3472,3458
$GC,3823,-0.72,-170.3,410.7,-8.6,608,3830,0.00,2.05,0.00,0.000,6,0.000,0.037,2617,2134,3457
$GC,4141,-0.93,-170.3,425.1,-5.3,639,4145,0.22,2.15,0.00,0.000,4,0.051,0.060,2504,3474,3456
$GC,4177,-0.69,-170.3,429.3,-12.6,642,4181,0.25,2.05,0.00,0.000,6,0.126,0.038,2590,2134,3455
$GC,4498,-0.76,-170.3,460.1,-9.3,673,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2131,3453
$GC,4810,-0.85,-170.3,484.7,-6.9,703,4813,0.12,2.15,0.00,0.000,4,0.069,0.061,2521,3472,3452
$GC,4862,-0.67,-170.3,490.3,-11.9,707,4868,0.22,2.05,0.00,0.000,6,0.125,0.038,2600,2139,3451
$GC,5175,-0.81,-170.3,515.7,-8.2,729,5178,0.12,2.15,0.00,0.000,4,0.065,0.063,2534,3480,3449
$GC,5232,-0.73,-170.3,522.0,-11.0,731,5239,0.12,2.05,0.00,0.000,6,0.123,0.038,2579,2150,3448
$GC,5543,-0.79,-170.3,549.1,-8.6,747,5547,0.00,2.33,0.00,0.000,4,0.000,0.054,2580,680,3446
$GC,5569,-0.89,-170.3,551.5,-9.2,748,5573,0.10,2.30,0.00,0.000,6,0.053,0.044,2513,2142,3446
$GC,5890,-0.68,-170.3,595.0,-14.1,764,5894,0.28,2.15,0.00,0.000,4,0.134,0.063,2590,3473,3444
$GC,5954,-0.86,-170.3,601.1,-8.7,767,5959,0.10,2.05,0.00,0.000,6,0.051,0.039,2523,2149,3443
$GC,6281,-0.72,-170.3,639.2,-11.6,783,6282,0.20,0.00,0.00,0.000,6,0.133,0.000,2585,2144,3443
$GC,6586,-0.86,-170.3,665.3,-8.2,798,6590,0.12,2.17,0.00,0.000,4,0.066,0.065,2521,3475,3441
$GC,6672,-0.77,-170.3,674.7,-11.6,802,6676,0.17,2.03,0.00,0.000,6,0.133,0.041,2574,2151,3440
$GC,6997,-0.87,-170.3,699.9,-7.5,818,6998,0.10,0.00,0.00,0.000,6,0.077,0.000,2521,2148,3438
$GC,7302,-0.74,-170.3,732.1,-10.9,833,7306,0.20,2.17,0.00,0.000,4,0.134,0.067,2576,3469,3436
$GC,7376,-0.91,-170.3,738.2,-7.3,836,7381,0.12,2.03,0.00,0.000,6,0.051,0.041,2505,2171,3435
$GC,7692,-0.73,-170.3,774.8,-11.7,852,7697,0.25,2.15,0.00,0.000,4,0.135,0.066,2577,3473,3434
$GC,7729,-0.88,-170.3,777.9,-7.5,853,7737,0.08,2.03,0.00,0.000,6,0.059,0.040,2523,2171,3434
$GC,8039,-0.78,-170.3,809.6,-10.3,869,8040,0.15,0.00,0.00,0.000,6,0.136,0.000,2568,2167,3432
$GC,8345,-0.86,-170.3,832.8,-8.1,884,8348,0.00,2.15,0.00,0.000,4,0.000,0.067,2564,3469,3431
$GC,8371,-0.97,-170.3,834.9,-8.7,885,8375,0.12,2.03,0.00,0.000,6,0.053,0.041,2492,2170,3430
$GC,8694,-0.74,-170.3,876.9,-13.3,901,8696,0.28,0.00,0.00,0.000,6,0.138,0.000,2576,2165,3428
$GC,8997,-0.89,-170.3,902.1,-8.4,916,9001,0.12,2.12,0.00,0.000,4,0.071,0.068,2516,3471,3428
$GC,9087,-0.83,-170.3,912.6,-12.0,920,9092,0.08,2.03,0.00,0.000,6,0.138,0.041,2544,2177,3427
$GC,9408,-0.83,-170.3,947.0,-10.6,936,9409,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2176,3426
$GC,9713,-0.83,-170.3,979.0,-10.0,951,9718,0.00,2.15,0.00,0.000,4,0.000,0.070,2535,3466,3425
$GC,9825,-0.83,-170.3,990.0,-9.7,956,9830,0.00,2.00,0.00,0.000,6,0.000,0.042,2536,2195,3424
$STATE,9834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9834,begin apogee
$GC,9838,-0.20,0.0,990.9,9.8,956,9977,0.62,0.00,136.25,1.393,6,0.126,0.000,2748,2524,2759
$STATE,9977,end apogee,CONTROL_FINISHED_OK
$STATE,9977,begin climb
$GC,9978,0.87,170.3,996.1,0.0,963,10132,0.95,2.08,144.70,1.350,4,0.044,0.068,3114,3684,2062
$GC,10296,0.13,170.3,949.6,21.1,978,10301,0.88,1.85,0.00,0.000,6,0.170,0.043,2864,2547,2057
$GC,10625,0.51,276.2,928.6,5.8,994,10722,0.30,2.47,90.57,1.311,4,0.051,0.054,3009,1112,1632
$GC,10840,0.39,276.2,897.3,15.7,1004,10845,0.20,2.33,0.00,0.000,6,0.140,0.050,2946,2507,1625
$GC,11161,0.47,276.2,856.2,12.9,1020,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2507,1623
$GC,11466,0.55,276.2,819.8,11.3,1035,11471,0.15,2.25,0.00,0.000,4,0.066,0.052,3023,1120,1622
$GC,11589,0.39,276.2,800.9,15.8,1040,11596,0.22,2.25,0.00,0.000,6,0.143,0.049,2950,2507,1621
$GC,11899,0.46,276.2,765.8,11.0,1056,11903,0.00,2.25,0.00,0.000,4,0.000,0.052,2959,1116,1621
$GC,11937,0.55,276.2,761.5,11.0,1057,11944,0.08,2.22,0.00,0.000,6,0.060,0.048,3007,2495,1620
$GC,12247,0.37,276.2,711.9,16.3,1073,12251,0.22,1.92,0.00,0.000,4,0.143,0.064,2941,3687,1620
$GC,12300,0.42,276.2,705.0,11.7,1075,12304,0.00,1.85,0.00,0.000,6,0.000,0.041,2949,2497,1620
$GC,12616,0.51,276.2,670.2,11.0,1091,12620,0.10,2.20,0.00,0.000,4,0.078,0.052,3011,1116,1620
$GC,12706,0.37,276.2,657.8,14.1,1095,12710,0.20,2.22,0.00,0.000,6,0.140,0.048,2946,2499,1619
$GC,13028,0.50,289.9,627.5,9.5,1111,13043,0.10,2.20,11.00,1.089,4,0.079,0.052,3004,1126,1576
$GC,13084,0.45,289.9,620.2,13.7,1113,13089,0.12,2.22,0.00,0.000,6,0.137,0.048,2963,2501,1575
$GC,13412,0.51,289.9,584.5,10.6,1129,13415,0.00,2.20,0.00,0.000,4,0.000,0.051,2972,1115,1574
$GC,13512,0.61,289.9,573.6,10.3,1133,13520,0.10,2.20,0.00,0.000,6,0.057,0.048,3029,2483,1573
$GC,13823,0.42,289.9,526.1,15.8,1149,13827,0.25,2.15,0.00,0.000,4,0.142,0.051,2964,1123,1573
$GC,13929,0.58,305.5,515.2,9.4,1154,13951,0.08,2.12,14.75,1.043,6,0.059,0.047,3014,2454,1512
$GC,14258,0.47,305.5,466.6,14.8,1180,14262,0.15,1.98,0.00,0.000,4,0.141,0.062,2972,3675,1511
$GC,14284,0.47,305.5,463.0,12.9,1182,14291,0.00,1.92,0.00,0.000,6,0.000,0.040,2979,2440,1511
$GC,14601,0.53,305.5,427.6,11.8,1213,14604,0.00,2.08,0.00,0.000,4,0.000,0.050,2988,1113,1510
$GC,14675,0.61,305.5,418.9,12.2,1220,14679,0.00,2.12,0.00,0.000,6,0.000,0.047,2988,2441,1508
$GC,14997,0.66,305.5,382.1,12.0,1251,14998,0.12,0.00,0.00,0.000,6,0.070,0.000,3049,2441,1509
$GC,15307,0.47,305.5,332.0,16.6,1281,15311,0.22,2.10,0.00,0.000,4,0.140,0.049,2985,1110,1509
$GC,15348,0.58,305.5,326.8,10.5,1284,15356,0.00,2.10,0.00,0.000,6,0.000,0.045,2985,2433,1508
$GC,15665,0.73,334.0,299.5,8.9,1315,15696,0.20,2.10,25.17,0.903,4,0.058,0.050,3084,1124,1395
$GC,15732,0.52,334.0,289.0,15.7,1327,15738,0.28,2.10,0.00,0.000,6,0.146,0.045,2984,2424,1393
$GC,16059,0.70,334.0,254.2,10.5,1388,16065,0.17,2.08,0.00,0.000,4,0.058,0.048,3074,1111,1392
$GC,16117,0.55,334.0,245.8,16.1,1399,16123,0.22,2.05,0.00,0.000,6,0.141,0.044,3001,2401,1391
$GC,16443,0.70,334.0,208.6,10.1,1460,16450,0.12,2.03,0.00,0.000,4,0.068,0.048,3072,1126,1391
$GC,16502,0.61,334.0,200.9,15.3,1471,16508,0.15,1.98,0.00,0.000,6,0.134,0.043,3020,2377,1391
$GC,16828,0.81,379.4,172.4,8.2,1532,16874,0.17,2.15,37.35,0.788,4,0.058,0.058,3106,3683,1212
$GC,16916,0.62,379.4,159.7,17.0,1547,16922,0.25,2.10,0.00,0.000,6,0.133,0.038,3019,2356,1210
$GC,17243,0.92,405.4,127.5,9.0,1608,17270,0.25,2.00,22.50,0.729,4,0.046,0.047,3146,1122,1105
$GC,17344,0.74,405.4,111.9,16.7,1626,17350,0.25,1.98,0.00,0.000,6,0.134,0.043,3064,2358,1103
$GC,17670,0.92,409.8,78.3,9.8,1687,17683,0.15,2.12,4.72,0.515,4,0.058,0.054,3140,3681,1087
$GC,17725,0.75,409.8,69.9,14.9,1697,17733,0.25,2.08,0.00,0.000,6,0.127,0.037,3066,2355,1087
$GC,18053,1.11,475.9,37.7,7.4,1758,18111,0.30,2.00,53.97,0.651,4,0.042,0.045,3218,1120,817
$GC,18126,0.86,475.9,26.2,17.7,1770,18133,0.38,2.00,0.00,0.000,6,0.134,0.040,3098,2367,816
$STATE,18371,end climb,SURFACE_DEPTH_REACHED
$STATE,18371,begin surface coast
$FINISH,1.6,1.021288
$STATE,18408,end surface coast,CONTROL_FINISHED_OK
$STATE,18408,begin surface
$SM_CCo,18482,0.00,0.000,0,0,813,477.60
$SM_GC,2.41,7.53,0.00,0.00,0.037,0.000,0.000,158,2051,813,-8.22,-0.57,477.60
$IRIDIUM_FIX,2510.35,12324.22,090998,020232
$TT8_MAMPS,0.048321
$HUMID,1538
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.90
$XPDR_PINGS,202
$24V_AH,23.6,34.658
$10V_AH,10.7,24.482
$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,31.450,161.950,541.000,0.000,0.000,25.772,48.087,205.347,58.500,0.000,0.000,14.512,0.000,13323.100,712.946,4262.789,540.501,0.000,2290.408,0.000,3609.382,0.000,54.019,0.000
$DEVICE_MAMPS,227.799,69.797,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1234.257,1276.046,2014.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104092,1823
$CAP_FILE_SIZE,204354,0
$CFSIZE,260165632,244883456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.184, 72.6,1
$GPS,150609,123007,2527.605,12321.689,33,1.2,33,-3.8