version: 66.04
glider: 165
mission: 2
dive: 184
start: 6 19 109 9 11 54
data:
$ID,165
$MISSION,2
$DIVE,184
$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,-2
$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,-120518.11
$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,30
$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,2854
$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
$GPS1,090437,2531.302,12335.104,28,1.5,28,-3.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-73.1
$GPS2,091149,2531.415,12335.253,13,2.0,31,-3.8
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,205.8,33218,-16.4,-12.000
$D_GRID,1209
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.94,-243.4,0.0,0.0,0,71,0.00,0.00,-56.47,0.000,2,0.000,0.000,156,2058,1819
$GC,73,-0.94,-243.4,3.4,-4.5,9,144,9.07,2.20,-55.28,0.000,4,0.228,0.058,2507,651,3848
$GC,293,-0.43,-243.4,58.4,-24.2,48,299,0.47,2.25,0.00,0.000,6,0.128,0.044,2678,2067,3850
$GC,619,-0.74,-243.4,84.6,-7.2,109,627,0.28,2.25,0.00,0.000,4,0.043,0.060,2539,3494,3852
$GC,722,-0.56,-243.4,99.7,-15.5,128,729,0.25,2.17,0.00,0.000,6,0.117,0.035,2628,2067,3852
$GC,1049,-0.72,-243.4,133.1,-9.2,189,1056,0.12,2.25,0.00,0.000,4,0.063,0.061,2553,3487,3853
$GC,1103,-0.66,-243.4,140.3,-13.9,199,1110,0.12,2.12,0.00,0.000,6,0.114,0.041,2599,2100,3853
$GC,1430,-0.75,-243.4,175.2,-10.4,260,1437,0.00,2.22,0.00,0.000,4,0.000,0.061,2599,3473,3853
$GC,1479,-0.95,-243.4,179.7,-8.9,269,1487,0.20,2.08,0.00,0.000,6,0.038,0.035,2484,2106,3853
$GC,1807,-0.51,-243.4,247.9,-21.4,330,1813,0.52,2.20,0.00,0.000,4,0.132,0.058,2644,3481,3853
$GC,1860,-0.99,-243.4,253.3,-6.3,340,1867,0.35,2.08,0.00,0.000,6,0.032,0.035,2463,2122,3853
$GC,2188,-0.50,-243.4,323.8,-22.5,392,2190,0.60,0.00,0.00,0.000,6,0.137,0.000,2655,2118,3853
$GC,2499,-1.33,-243.4,352.1,-9.8,422,2503,0.73,2.17,0.00,0.000,4,0.069,0.059,2379,3488,3853
$GC,2595,-0.68,-243.4,370.4,-22.9,431,2599,0.70,2.10,0.00,0.000,6,0.146,0.038,2597,2127,3852
$GC,2911,-0.93,-243.4,395.6,-7.2,461,2914,0.22,2.15,0.00,0.000,4,0.050,0.060,2487,3473,3851
$GC,2957,-0.73,-243.4,401.6,-14.4,465,2964,0.25,2.05,0.00,0.000,6,0.117,0.036,2575,2139,3850
$GC,3274,-0.88,-243.4,430.4,-9.0,496,3277,0.12,2.15,0.00,0.000,4,0.068,0.061,2508,3484,3848
$GC,3310,-0.80,-243.4,434.9,-12.7,499,3318,0.12,2.05,0.00,0.000,6,0.120,0.037,2554,2150,3848
$GC,3626,-0.85,-243.4,467.7,-10.4,530,3630,0.00,2.12,0.00,0.000,4,0.000,0.061,2551,3472,3847
$GC,3679,-0.97,-243.4,472.9,-9.9,535,3683,0.10,2.03,0.00,0.000,6,0.051,0.038,2480,2152,3846
$GC,4010,-0.66,-243.4,528.4,-17.0,559,4013,0.35,2.15,0.00,0.000,4,0.131,0.061,2589,3484,3844
$GC,4051,-0.95,-243.4,532.9,-7.7,561,4056,0.17,2.05,0.00,0.000,6,0.041,0.038,2491,2155,3843
$GC,4379,-0.68,-243.4,582.9,-15.9,577,4383,0.30,2.33,0.00,0.000,4,0.127,0.054,2593,679,3841
$GC,4404,-0.68,-243.4,586.3,-11.8,578,4408,0.00,2.33,0.00,0.000,6,0.000,0.044,2593,2153,3841
$GC,4720,-0.99,-243.4,608.1,-7.0,594,4724,0.25,2.12,0.00,0.000,4,0.049,0.062,2475,3470,3840
$GC,4784,-0.82,-243.4,616.8,-15.1,597,4788,0.22,2.00,0.00,0.000,6,0.124,0.038,2552,2167,3839
$GC,5113,-0.91,-243.4,652.2,-10.9,613,5116,0.00,2.12,0.00,0.000,4,0.000,0.063,2550,3482,3836
$GC,5160,-1.10,-243.4,657.4,-9.7,615,5164,0.20,2.03,0.00,0.000,6,0.043,0.038,2449,2171,3836
$GC,5481,-0.65,-243.4,722.0,-20.7,631,5486,0.50,2.35,0.00,0.000,4,0.144,0.054,2603,674,3834
$GC,5528,-1.00,-243.4,727.8,-7.9,633,5533,0.25,2.38,0.00,0.000,6,0.042,0.045,2474,2172,3833
$GC,5845,-0.70,-243.4,781.5,-18.3,649,5848,0.38,2.10,0.00,0.000,4,0.137,0.064,2588,3481,3831
$GC,5870,-0.77,-243.4,785.2,-13.5,650,5875,0.00,2.03,0.00,0.000,6,0.000,0.038,2588,2174,3831
$GC,6193,-1.09,-243.4,810.6,-7.4,666,6197,0.30,2.12,0.00,0.000,4,0.048,0.064,2448,3478,3830
$GC,6245,-0.81,-243.4,818.4,-17.4,668,6251,0.30,2.00,0.00,0.000,6,0.136,0.040,2548,2189,3829
$GC,6556,-0.92,-243.4,848.9,-9.2,684,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2188,3828
$GC,6861,-1.03,-243.4,875.4,-8.2,699,6865,0.17,2.10,0.00,0.000,4,0.064,0.065,2464,3473,3826
$GC,6886,-0.93,-243.4,878.5,-12.9,700,6891,0.15,1.98,0.00,0.000,6,0.133,0.040,2514,2203,3825
$GC,7203,-0.86,-243.4,918.3,-13.2,716,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2199,3824
$GC,7507,-0.80,-243.4,961.0,-14.1,731,7509,0.15,0.00,0.00,0.000,6,0.136,0.000,2561,2198,3823
$GC,7813,-1.01,-243.4,988.6,-8.1,746,7817,0.20,2.12,0.00,0.000,4,0.058,0.070,2469,3470,3822
$STATE,7826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7827,begin apogee
$GC,7832,-0.20,0.0,990.3,9.1,746,8032,0.82,0.00,197.23,1.380,6,0.124,0.000,2747,2521,2854
$STATE,8032,end apogee,CONTROL_FINISHED_OK
$STATE,8032,begin climb
$GC,8034,0.94,243.4,1001.9,0.0,756,8249,1.02,2.08,207.18,1.335,4,0.043,0.067,3138,3689,1860
$GC,8488,0.17,243.4,924.4,24.3,777,8496,0.90,1.85,0.00,0.000,6,0.170,0.042,2880,2535,1854
$GC,8800,0.62,404.3,900.6,6.7,793,8948,0.38,2.40,139.93,1.272,4,0.048,0.054,3044,1126,1203
$GC,9007,0.46,404.3,864.8,18.5,802,9013,0.22,2.33,0.00,0.000,6,0.138,0.049,2973,2502,1199
$GC,9317,0.55,404.3,823.2,13.0,818,9321,0.00,2.28,0.00,0.000,4,0.000,0.052,2982,1118,1195
$GC,9360,0.65,404.3,817.8,12.6,820,9364,0.10,2.25,0.00,0.000,6,0.057,0.048,3053,2498,1195
$GC,9686,0.41,404.3,755.7,19.9,836,9690,0.35,2.22,0.00,0.000,4,0.141,0.053,2957,1111,1194
$GC,9755,0.64,426.2,746.8,11.3,839,9778,0.15,2.22,19.02,1.165,6,0.048,0.047,3036,2490,1115
$GC,10095,0.50,426.2,686.5,18.5,856,10099,0.17,2.20,0.00,0.000,4,0.139,0.051,2988,1121,1113
$GC,10174,0.60,426.2,675.1,12.7,860,10178,0.00,2.17,0.00,0.000,6,0.000,0.046,2988,2469,1112
$GC,10500,0.67,426.2,629.0,14.4,876,10504,0.12,2.17,0.00,0.000,4,0.071,0.050,3055,1115,1111
$GC,10537,0.51,426.2,622.5,19.3,877,10543,0.20,2.15,0.00,0.000,6,0.141,0.046,2990,2454,1111
$GC,10847,0.59,426.2,576.2,14.6,893,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2454,1111
$GC,11153,0.67,426.2,534.8,13.3,908,11157,0.12,2.15,0.00,0.000,4,0.074,0.052,3054,1115,1110
$GC,11195,0.55,426.2,527.6,19.1,910,11199,0.17,2.15,0.00,0.000,6,0.137,0.047,2996,2455,1110
$GC,11515,0.62,426.2,485.3,12.6,931,11518,0.00,2.12,0.00,0.000,4,0.000,0.051,3004,1111,1109
$GC,11540,0.70,426.2,482.0,12.7,933,11546,0.08,2.12,0.00,0.000,6,0.062,0.044,3053,2445,1110
$GC,11856,0.54,426.2,427.5,18.0,964,11860,0.20,2.10,0.00,0.000,4,0.140,0.049,3002,1108,1110
$GC,11871,0.44,426.2,424.9,17.5,965,11878,0.10,2.10,0.00,0.000,6,0.124,0.044,2967,2432,1109
$GC,12187,0.80,508.1,392.0,9.3,996,12262,0.30,2.12,70.53,0.973,4,0.048,0.061,3103,3682,781
$GC,12284,0.52,508.1,372.2,22.6,1005,12291,0.38,2.03,0.00,0.000,6,0.139,0.040,2993,2431,778
$GC,12600,0.86,551.5,339.2,10.6,1036,12646,0.28,2.20,41.95,0.917,4,0.048,0.051,3126,1121,603
$GC,12746,0.65,551.5,306.7,23.4,1049,12753,0.30,2.12,0.00,0.000,6,0.142,0.044,3032,2423,593
$GC,13072,0.85,551.5,263.2,12.6,1107,13078,0.17,0.00,0.00,0.000,6,0.057,0.000,3118,2423,590
$GC,13398,0.67,551.5,193.1,20.7,1168,13405,0.28,2.03,0.00,0.000,4,0.134,0.059,3034,3683,588
$GC,13425,0.72,551.5,188.3,16.4,1173,13431,0.00,2.00,0.00,0.000,6,0.000,0.038,3040,2402,588
$GC,13751,0.99,576.8,149.4,11.2,1234,13797,0.28,2.08,27.60,0.689,4,0.048,0.049,3173,1115,498
$GC,13844,0.75,576.8,128.7,22.9,1250,13851,0.30,2.08,0.00,0.000,6,0.139,0.044,3063,2407,492
$GC,14172,1.06,606.3,88.4,11.0,1311,14180,0.22,2.03,0.65,0.087,4,0.048,0.056,3176,3693,486
$GC,14189,1.14,606.3,85.6,13.9,1314,14196,0.00,2.03,1.52,0.084,6,0.000,0.037,3185,2391,486
$GC,14516,1.14,606.3,22.2,15.7,1375,14523,0.00,2.00,0.00,0.000,4,0.000,0.047,3194,1114,484
$GC,14544,1.14,606.3,18.0,15.3,1380,14551,0.00,2.05,0.00,0.000,6,0.000,0.041,3194,2417,483
$STATE,14649,end climb,SURFACE_DEPTH_REACHED
$STATE,14650,begin surface coast
$FINISH,2.0,1.021251
$STATE,14673,end surface coast,CONTROL_FINISHED_OK
$STATE,14673,begin surface
$SM_CCo,14746,0.00,0.000,0,0,481,582.10
$SM_GC,2.77,7.70,0.00,0.00,0.035,0.000,0.000,160,2046,481,-8.22,-0.71,582.10
$IRIDIUM_FIX,2519.89,12338.76,130998,050528
$TT8_MAMPS,0.048321
$HUMID,1662
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.90
$XPDR_PINGS,150
$24V_AH,23.4,39.405
$10V_AH,10.6,27.890
$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,33.475,140.825,705.600,0.000,0.000,23.677,34.787,243.930,45.500,0.000,0.000,33.114,0.000,10415.420,833.008,3359.500,541.255,0.000,2122.641,0.000,2811.065,0.000,54.998,0.000
$DEVICE_MAMPS,227.799,69.797,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,950.748,988.658,1553.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79062,1404
$CAP_FILE_SIZE,166740,0
$CFSIZE,260165632,242749440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.217, 61.6,1
$GPS,190609,131837,2530.102,12335.229,38,1.0,38,-3.8