version: 66.04
glider: 165
mission: 2
dive: 187
start: 6 19 109 22 28 26
data:
$ID,165
$MISSION,2
$DIVE,187
$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,-120569.7
$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,48
$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
$GPS1,220837,2528.225,12337.682,33,1.7,33,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-70.1
$GPS2,222821,2528.454,12338.901,8,1.7,15,-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,224.9,26832,-16.4,-12.000
$D_GRID,1486
$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,-243.4,0.0,0.0,0,73,0.00,0.00,-57.80,0.000,2,0.000,0.000,153,2037,1898
$GC,75,-0.94,-243.4,3.1,-4.2,8,145,9.00,2.30,-54.25,0.000,4,0.224,0.061,2502,3487,3848
$GC,177,-0.10,-243.4,24.4,-36.0,25,183,0.85,2.20,0.00,0.000,6,0.150,0.041,2782,2082,3849
$GC,504,-0.91,-243.4,61.8,-11.7,86,510,0.65,2.20,0.00,0.000,4,0.058,0.051,2521,3478,3850
$GC,622,-0.56,-243.4,80.7,-18.3,108,630,0.32,2.15,0.00,0.000,6,0.127,0.035,2633,2076,3850
$GC,950,-0.73,-243.4,112.3,-8.4,169,956,0.15,2.22,0.00,0.000,4,0.059,0.057,2550,3491,3851
$GC,1019,-0.65,-243.4,121.2,-13.7,182,1026,0.15,2.10,0.00,0.000,6,0.113,0.035,2605,2106,3851
$GC,1347,-0.74,-243.4,156.9,-10.5,243,1352,0.00,2.17,0.00,0.000,4,0.000,0.057,2605,3487,3851
$GC,1405,-0.98,-243.4,162.8,-9.6,254,1411,0.22,2.08,0.00,0.000,6,0.038,0.041,2478,2126,3851
$GC,1732,-0.50,-243.4,237.0,-21.5,315,1737,0.52,0.00,0.00,0.000,6,0.134,0.000,2652,2121,3850
$GC,2057,-1.29,-243.4,265.1,-8.3,376,2064,0.68,2.12,0.00,0.000,4,0.071,0.058,2396,3473,3849
$GC,2192,-0.64,-243.4,294.1,-26.4,401,2198,0.70,2.03,0.00,0.000,6,0.145,0.038,2615,2130,3847
$GC,2509,-0.92,-243.4,323.8,-8.6,435,2512,0.25,2.15,0.00,0.000,4,0.045,0.058,2488,3484,3846
$GC,2572,-0.72,-243.4,333.4,-16.4,441,2576,0.28,2.03,0.00,0.000,6,0.117,0.036,2584,2155,3845
$GC,2893,-0.85,-243.4,366.7,-9.7,472,2897,0.12,2.10,0.00,0.000,4,0.066,0.060,2517,3473,3843
$GC,2989,-0.78,-243.4,379.0,-13.5,481,2993,0.10,2.00,0.00,0.000,6,0.119,0.037,2567,2165,3842
$GC,3310,-0.86,-243.4,412.7,-10.2,512,3313,0.00,2.12,0.00,0.000,4,0.000,0.061,2564,3472,3839
$GC,3363,-1.04,-243.4,417.9,-9.1,517,3367,0.22,1.95,0.00,0.000,6,0.051,0.038,2455,2177,3839
$GC,3684,-0.60,-243.4,480.5,-19.5,548,3688,0.55,2.10,0.00,0.000,4,0.138,0.064,2629,3481,3836
$GC,3705,-0.54,-243.4,483.4,-13.8,550,3708,0.00,1.98,0.00,0.000,6,0.000,0.037,2629,2198,3836
$GC,4036,-1.39,-243.4,511.2,-10.3,577,4040,0.68,2.05,0.00,0.000,4,0.071,0.059,2368,3472,3834
$GC,4120,-0.73,-243.4,528.4,-25.5,581,4124,0.65,1.95,0.00,0.000,6,0.150,0.038,2585,2204,3832
$GC,4442,-0.97,-243.4,558.1,-8.3,597,4443,0.22,0.00,0.00,0.000,6,0.051,0.000,2477,2201,3831
$GC,4746,-0.66,-243.4,610.5,-18.2,612,4748,0.40,0.00,0.00,0.000,6,0.128,0.000,2604,2201,3827
$GC,5051,-1.41,-243.4,635.1,-8.4,627,5055,0.65,2.05,0.00,0.000,4,0.051,0.062,2343,3478,3825
$GC,5185,-0.66,-243.4,667.9,-28.3,633,5190,0.88,1.95,0.00,0.000,6,0.163,0.042,2606,2216,3822
$GC,5502,-1.47,-243.4,695.3,-8.6,649,5506,0.68,2.05,0.00,0.000,4,0.059,0.061,2338,3482,3820
$GC,5608,-0.76,-243.4,719.2,-26.2,654,5611,0.73,1.92,0.00,0.000,6,0.156,0.042,2574,2246,3819
$GC,5929,-0.99,-243.4,748.1,-8.1,670,5930,0.20,0.00,0.00,0.000,6,0.055,0.000,2479,2241,3817
$GC,6234,-0.73,-243.4,796.7,-16.5,685,6235,0.32,0.00,0.00,0.000,6,0.133,0.000,2579,2240,3815
$GC,6540,-1.00,-243.4,821.7,-7.6,700,6543,0.20,2.03,0.00,0.000,4,0.054,0.068,2477,3476,3812
$GC,6571,-0.91,-243.4,825.5,-13.7,701,6578,0.17,1.90,0.00,0.000,6,0.134,0.042,2529,2241,3812
$GC,6881,-0.91,-243.4,863.4,-11.7,717,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2238,3810
$GC,7186,-0.91,-243.4,897.6,-10.6,732,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2237,3808
$GC,7491,-0.91,-243.4,930.0,-11.1,747,7495,0.00,2.53,0.00,0.000,4,0.000,0.060,2529,681,3806
$GC,7517,-0.91,-243.4,933.1,-12.8,748,7521,0.00,2.53,0.00,0.000,6,0.000,0.050,2526,2250,3806
$GC,7838,-0.91,-243.4,967.2,-10.3,764,7842,0.00,2.00,0.00,0.000,4,0.000,0.067,2521,3469,3804
$GC,7865,-0.91,-243.4,970.1,-11.1,765,7869,0.00,1.88,0.00,0.000,6,0.000,0.041,2521,2261,3804
$STATE,8062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8062,begin apogee
$GC,8067,-0.20,0.0,991.4,10.6,775,8268,0.70,0.00,193.43,1.380,6,0.118,0.000,2754,2516,2853
$STATE,8269,end apogee,CONTROL_FINISHED_OK
$STATE,8269,begin climb
$GC,8270,0.94,243.4,1001.6,0.0,785,8486,1.00,2.45,205.93,1.338,4,0.039,0.056,3147,1139,1860
$GC,8640,0.25,243.4,944.6,23.4,802,8645,0.88,2.30,0.00,0.000,6,0.179,0.052,2901,2535,1853
$GC,8951,0.53,336.7,913.6,8.9,817,9037,0.25,2.42,80.47,1.282,4,0.054,0.053,3021,1140,1480
$GC,9100,0.38,336.7,889.1,17.9,824,9104,0.22,2.30,0.00,0.000,6,0.139,0.049,2950,2514,1475
$GC,9427,0.51,358.6,850.7,11.3,840,9451,0.00,2.33,19.33,1.212,4,0.000,0.053,2959,1132,1392
$GC,9476,0.69,396.2,845.3,10.8,842,9517,0.20,2.28,34.72,1.227,6,0.048,0.047,3051,2511,1238
$GC,9840,0.43,396.2,776.3,19.6,860,9844,0.28,2.22,0.00,0.000,4,0.144,0.050,2974,1130,1234
$GC,9870,0.43,396.2,771.3,13.9,861,9877,0.00,2.25,0.00,0.000,6,0.000,0.047,2974,2511,1232
$GC,10181,0.51,396.2,732.3,12.3,877,10185,0.00,2.22,0.00,0.000,4,0.000,0.050,2984,1132,1231
$GC,10213,0.58,396.2,728.1,13.3,878,10217,0.00,2.17,0.00,0.000,6,0.000,0.045,2984,2491,1230
$GC,10528,0.63,396.2,685.7,13.0,894,10532,0.12,2.17,0.00,0.000,4,0.071,0.050,3052,1135,1229
$GC,10543,0.63,396.2,683.4,13.5,894,10551,0.08,2.17,0.00,0.000,6,0.153,0.050,3027,2490,1229
$GC,10855,0.49,396.2,631.9,16.2,910,10858,0.17,2.15,0.00,0.000,4,0.150,0.050,2984,1128,1229
$GC,10902,0.57,396.2,625.1,13.5,912,10906,0.00,2.15,0.00,0.000,6,0.000,0.047,2984,2470,1228
$GC,11224,0.64,396.2,583.5,13.3,928,11227,0.12,2.10,0.00,0.000,4,0.071,0.050,3053,1136,1228
$GC,11281,0.46,396.2,573.5,18.5,930,11289,0.25,2.10,0.00,0.000,6,0.143,0.047,2972,2450,1228
$GC,11592,0.60,396.2,535.1,12.2,946,11593,0.12,0.00,0.00,0.000,6,0.072,0.000,3030,2450,1228
$GC,11899,0.49,396.2,484.9,17.0,965,11903,0.17,2.08,0.00,0.000,4,0.138,0.051,2987,1132,1228
$GC,11952,0.60,396.2,477.6,12.7,970,11956,0.00,2.08,0.00,0.000,6,0.000,0.046,2987,2432,1226
$GC,12275,0.71,403.1,438.8,11.8,1001,12286,0.17,2.00,5.68,0.842,4,0.062,0.062,3073,3690,1209
$GC,12306,0.49,403.1,433.4,18.1,1004,12310,0.30,1.92,0.00,0.000,6,0.142,0.041,2983,2456,1209
$GC,12627,0.67,444.0,396.6,10.6,1035,12672,0.15,2.17,36.80,0.985,4,0.064,0.051,3062,1132,1042
$GC,12714,0.56,444.0,382.7,17.2,1043,12718,0.22,2.12,0.00,0.000,6,0.142,0.046,2998,2451,1040
$GC,13035,0.76,465.6,345.0,11.3,1074,13058,0.17,2.20,19.55,0.920,4,0.060,0.051,3087,1129,954
$GC,13078,0.59,465.6,337.8,17.6,1078,13082,0.22,2.10,0.00,0.000,6,0.140,0.045,3015,2420,953
$GC,13394,0.74,465.6,296.9,12.8,1110,13400,0.12,0.00,0.00,0.000,6,0.067,0.000,3078,2419,951
$GC,13720,0.61,465.6,236.4,18.6,1171,13726,0.22,0.00,0.00,0.000,6,0.140,0.000,3012,2420,950
$GC,14045,0.97,560.2,202.1,8.9,1232,14136,0.32,2.12,84.32,0.815,4,0.044,0.049,3164,1132,565
$GC,14220,0.68,560.2,163.7,20.6,1262,14227,0.35,2.08,0.00,0.000,6,0.144,0.044,3041,2406,553
$GC,14548,1.07,607.5,130.4,10.4,1323,14580,0.30,2.08,21.25,0.681,4,0.044,0.057,3185,3693,481
$GC,14660,0.83,607.5,105.9,24.3,1343,14666,0.30,1.98,0.00,0.000,6,0.142,0.038,3088,2437,472
$GC,14986,1.25,698.5,66.8,9.0,1404,14994,0.35,2.05,0.00,0.000,4,0.041,0.048,3249,1130,467
$GC,15036,0.92,698.5,57.1,23.0,1413,15042,0.38,2.03,0.00,0.000,6,0.145,0.043,3114,2409,466
$GC,15362,1.45,831.5,23.6,7.6,1474,15368,0.43,2.03,0.00,0.000,4,0.038,0.055,3312,3697,464
$STATE,15451,end climb,SURFACE_DEPTH_REACHED
$STATE,15451,begin surface coast
$FINISH,1.9,1.000247
$STATE,15463,end surface coast,CONTROL_FINISHED_OK
$STATE,15463,begin surface
$SM_CCo,15540,0.00,0.000,0,0,464,586.27
$SM_GC,2.65,8.00,0.00,0.00,0.035,0.000,0.000,150,2072,464,-8.22,0.06,586.27
$IRIDIUM_FIX,2519.89,12330.15,130998,222217
$TT8_MAMPS,0.048321
$HUMID,1628
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.90
$XPDR_PINGS,186
$24V_AH,23.5,40.250
$10V_AH,10.7,28.308
$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,37.150,132.625,701.475,0.000,0.000,54.716,71.085,876.524,54.500,0.000,0.000,17.771,0.000,11139.074,808.712,3487.131,1260.405,0.000,2144.925,0.000,2936.567,0.000,53.976,0.000
$DEVICE_MAMPS,223.964,68.263,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.737,1040.966,1634.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85255,1493
$CAP_FILE_SIZE,183618,0
$CFSIZE,260165632,242454528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.423, 82.0,1
$GPS,200609,024825,2527.442,12340.187,40,1.0,40,-3.8