version: 66.04
glider: 165
mission: 2
dive: 188
start: 6 20 109 2 54 54
data:
$ID,165
$MISSION,2
$DIVE,188
$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,475
$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,-120580.51
$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,46
$R_STBD_OVSHOOT,30
$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
$GPS1,024825,2527.442,12340.187,40,1.0,40,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-70.0
$GPS2,025449,2527.565,12340.603,8,1.9,8,-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,231.1,25143,-16.4,-12.000
$D_GRID,1582
$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,-243.4,0.0,0.0,0,73,0.00,0.00,-58.88,0.000,2,0.000,0.000,149,2072,1911
$GC,75,-0.94,-243.4,3.5,-4.4,9,139,9.15,2.33,-50.40,0.000,4,0.230,0.065,2502,3486,3848
$GC,154,-0.06,-243.4,18.1,-32.9,22,161,0.88,2.20,0.00,0.000,6,0.145,0.035,2793,2070,3849
$GC,481,-0.82,-243.4,57.6,-11.9,83,488,0.62,2.22,0.00,0.000,4,0.050,0.050,2543,3481,3851
$GC,599,-0.62,-243.4,75.5,-16.6,105,605,0.20,2.15,0.00,0.000,6,0.111,0.034,2615,2072,3851
$GC,926,-0.68,-243.4,116.3,-11.5,166,931,0.00,2.25,0.00,0.000,4,0.000,0.057,2614,3487,3853
$GC,952,-0.79,-243.4,119.2,-10.6,171,958,0.10,2.10,0.00,0.000,6,0.045,0.034,2540,2104,3853
$GC,1279,-0.50,-243.4,173.8,-19.3,232,1286,0.35,2.20,0.00,0.000,4,0.124,0.054,2647,3473,3854
$GC,1350,-0.88,-243.4,180.7,-7.8,245,1356,0.22,2.08,0.00,0.000,6,0.035,0.034,2495,2105,3854
$GC,1676,-0.50,-243.4,243.3,-19.0,306,1682,0.47,0.00,0.00,0.000,6,0.150,0.000,2653,2100,3854
$GC,2003,-1.43,-243.4,274.7,-9.8,367,2013,0.77,2.17,0.00,0.000,4,0.064,0.054,2351,3488,3854
$GC,2136,-0.65,-243.4,309.0,-27.8,389,2141,0.82,2.08,0.00,0.000,6,0.151,0.038,2605,2117,3853
$GC,2452,-0.89,-243.4,338.6,-8.0,419,2455,0.20,2.17,0.00,0.000,4,0.051,0.059,2504,3485,3853
$GC,2515,-0.74,-243.4,346.4,-13.3,425,2519,0.25,2.05,0.00,0.000,6,0.121,0.036,2583,2124,3853
$GC,2835,-0.89,-243.4,378.9,-10.2,456,2839,0.15,2.17,0.00,0.000,4,0.060,0.060,2505,3470,3852
$GC,2915,-0.76,-243.4,390.7,-15.6,463,2922,0.17,2.03,0.00,0.000,6,0.117,0.037,2568,2148,3850
$GC,3231,-0.85,-243.4,424.9,-10.3,494,3236,0.00,2.15,0.00,0.000,4,0.000,0.061,2568,3470,3848
$GC,3310,-1.05,-243.4,432.8,-9.7,501,3317,0.20,2.03,0.00,0.000,6,0.040,0.037,2461,2150,3847
$GC,3626,-0.63,-243.4,495.0,-21.1,532,3628,0.47,0.00,0.00,0.000,6,0.137,0.000,2610,2145,3845
$GC,3932,-1.11,-243.4,519.5,-7.4,549,3936,0.40,2.12,0.00,0.000,4,0.058,0.061,2452,3481,3844
$GC,4006,-0.80,-243.4,529.6,-16.6,552,4011,0.30,2.05,0.00,0.000,6,0.127,0.039,2554,2155,3843
$GC,4323,-0.87,-243.4,563.8,-10.4,568,4326,0.00,2.12,0.00,0.000,4,0.000,0.063,2550,3472,3841
$GC,4354,-1.00,-243.4,567.1,-10.1,569,4358,0.12,2.00,0.00,0.000,6,0.048,0.038,2471,2171,3840
$GC,4670,-0.67,-243.4,621.8,-17.3,585,4671,0.43,0.00,0.00,0.000,6,0.133,0.000,2605,2167,3838
$GC,4975,-1.47,-243.4,646.1,-8.1,600,4979,0.68,2.10,0.00,0.000,4,0.046,0.061,2329,3481,3836
$GC,5134,-0.71,-243.4,685.5,-27.7,607,5139,0.82,2.05,0.00,0.000,6,0.161,0.044,2583,2174,3834
$GC,5450,-0.99,-243.4,710.6,-6.4,623,5452,0.22,0.00,0.00,0.000,6,0.051,0.000,2478,2170,3832
$GC,5756,-0.72,-243.4,758.8,-16.9,638,5760,0.35,2.12,0.00,0.000,4,0.127,0.067,2588,3476,3829
$GC,5814,-1.11,-243.4,764.2,-7.0,640,5822,0.30,2.03,0.00,0.000,6,0.039,0.040,2441,2176,3829
$GC,6126,-0.68,-243.4,825.1,-20.1,656,6130,0.47,2.40,0.00,0.000,4,0.142,0.056,2592,666,3827
$GC,6172,-1.06,-243.4,831.1,-8.4,658,6177,0.28,2.40,0.00,0.000,6,0.041,0.046,2456,2178,3827
$GC,6489,-0.71,-243.4,887.9,-18.6,674,6492,0.43,2.10,0.00,0.000,4,0.138,0.065,2587,3482,3825
$GC,6536,-1.10,-243.4,892.7,-7.6,676,6540,0.30,2.03,0.00,0.000,6,0.039,0.039,2441,2178,3824
$GC,6859,-0.70,-243.4,953.9,-19.9,692,6860,0.50,0.00,0.00,0.000,6,0.140,0.000,2597,2173,3822
$GC,7163,-1.40,-243.4,977.7,-8.3,707,7167,0.62,2.12,0.00,0.000,4,0.061,0.066,2358,3481,3820
$STATE,7229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7229,begin apogee
$GC,7235,-0.20,0.0,990.3,23.7,710,7434,1.25,0.00,196.43,1.371,6,0.156,0.000,2749,2519,2853
$STATE,7435,end apogee,CONTROL_FINISHED_OK
$STATE,7435,begin climb
$GC,7437,0.94,243.4,1002.2,0.0,720,7653,1.00,2.40,206.30,1.329,4,0.041,0.054,3146,1129,1859
$GC,7886,0.26,243.4,928.0,23.1,741,7891,0.80,2.30,0.00,0.000,6,0.179,0.051,2903,2517,1851
$GC,8213,0.54,344.7,898.0,8.6,757,8307,0.25,2.40,87.15,1.269,4,0.051,0.052,3026,1128,1447
$GC,8341,0.39,344.7,877.7,17.9,763,8345,0.28,2.33,0.00,0.000,6,0.143,0.048,2948,2524,1444
$GC,8661,0.52,360.4,839.3,11.5,779,8682,0.12,2.33,14.18,1.167,4,0.067,0.052,3016,1129,1383
$GC,8719,0.42,360.4,830.3,16.4,781,8725,0.17,2.28,0.00,0.000,6,0.134,0.048,2959,2511,1381
$GC,9029,0.52,365.7,792.2,11.8,797,9038,0.00,2.25,5.55,0.946,4,0.000,0.051,2968,1117,1362
$GC,9087,0.63,365.7,785.4,12.5,799,9093,0.12,2.25,0.00,0.000,6,0.054,0.048,3034,2499,1362
$GC,9398,0.42,365.7,731.0,18.1,815,9399,0.28,0.00,0.00,0.000,6,0.144,0.000,2954,2499,1361
$GC,9703,0.62,413.1,697.3,10.4,830,9752,0.20,2.35,43.03,1.180,4,0.059,0.052,3049,1120,1168
$GC,9795,0.47,413.1,681.5,17.8,834,9800,0.22,2.28,0.00,0.000,6,0.140,0.047,2978,2492,1165
$GC,10112,0.58,413.1,639.5,13.2,850,10115,0.00,2.22,0.00,0.000,4,0.000,0.051,2986,1126,1162
$GC,10132,0.70,413.1,636.7,13.2,851,10137,0.12,2.20,0.00,0.000,6,0.054,0.046,3053,2486,1162
$GC,10458,0.49,413.1,573.4,19.5,867,10460,0.25,0.00,0.00,0.000,6,0.143,0.000,2980,2486,1162
$GC,10764,0.65,431.7,536.5,11.4,882,10786,0.15,2.20,16.38,1.052,4,0.064,0.051,3059,1124,1093
$GC,10850,0.52,431.7,522.0,18.4,886,10853,0.17,2.20,0.00,0.000,6,0.138,0.048,2990,2478,1091
$GC,11169,0.65,431.7,480.4,12.5,908,11173,0.12,2.17,0.00,0.000,4,0.072,0.050,3057,1115,1090
$GC,11216,0.54,431.7,472.4,18.4,912,11220,0.17,2.17,0.00,0.000,6,0.137,0.046,2998,2468,1089
$GC,11537,0.64,431.7,431.4,12.4,943,11540,0.00,1.98,0.00,0.000,4,0.000,0.061,2998,3687,1089
$GC,11563,0.72,431.7,427.7,14.6,945,11569,0.10,1.90,0.00,0.000,6,0.057,0.039,3063,2461,1089
$GC,11879,0.57,431.7,369.9,17.9,976,11883,0.20,2.10,0.00,0.000,4,0.146,0.054,3014,1127,1089
$GC,11937,0.65,431.7,361.5,12.9,981,11943,0.00,2.12,0.00,0.000,6,0.000,0.045,3015,2464,1088
$GC,12254,0.76,431.7,321.0,12.3,1012,12255,0.15,0.00,0.00,0.000,6,0.061,0.000,3090,2464,1088
$GC,12569,0.54,431.7,263.0,18.6,1060,12577,0.32,2.12,0.00,0.000,4,0.140,0.048,3000,1127,1088
$GC,12603,0.71,431.7,258.3,12.1,1066,12609,0.10,2.10,0.00,0.000,6,0.051,0.045,3070,2449,1088
$GC,12930,0.61,431.7,207.3,14.8,1127,12935,0.17,1.95,0.00,0.000,4,0.136,0.058,3018,3694,1088
$GC,13020,0.77,450.1,195.7,11.4,1144,13041,0.08,1.90,16.20,0.797,6,0.059,0.038,3076,2446,1018
$GC,13362,0.70,450.1,145.0,15.7,1207,13368,0.12,1.98,0.00,0.000,4,0.145,0.057,3041,3691,1017
$GC,13405,0.78,450.1,139.1,12.2,1215,13411,0.00,1.88,0.00,0.000,6,0.000,0.038,3049,2472,1017
$GC,13731,0.99,491.2,105.3,10.6,1276,13770,0.25,2.20,34.53,0.726,4,0.048,0.046,3174,1111,851
$GC,13908,0.82,491.2,75.5,16.5,1308,13916,0.28,2.15,0.00,0.000,6,0.135,0.041,3085,2464,848
$GC,14236,1.19,617.2,43.3,7.8,1369,14325,0.32,2.03,79.80,0.657,4,0.042,0.054,3228,3686,480
$GC,14436,0.99,617.2,8.7,17.2,1404,14444,0.30,1.90,0.00,0.000,6,0.139,0.035,3142,2465,469
$STATE,14484,end climb,SURFACE_DEPTH_REACHED
$STATE,14484,begin surface coast
$FINISH,1.8,1.020437
$STATE,14516,end surface coast,CONTROL_FINISHED_OK
$STATE,14516,begin surface
$SM_CCo,14590,0.00,0.000,0,0,465,586.02
$SM_GC,2.40,7.65,0.00,0.00,0.034,0.000,0.000,161,2053,465,-8.20,-0.51,586.02
$IRIDIUM_FIX,2519.89,12342.07,130998,222245
$TT8_MAMPS,0.048321
$HUMID,1601
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.20
$XPDR_PINGS,182
$24V_AH,23.5,40.506
$10V_AH,10.7,28.439
$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,37.025,128.775,699.525,0.000,0.000,25.470,40.166,208.262,53.500,0.000,0.000,10.177,0.000,10264.794,797.225,3362.455,518.377,0.000,2093.898,0.000,2842.449,0.000,54.013,0.000
$DEVICE_MAMPS,230.100,67.496,1371.396,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,958.727,1006.797,1581.910,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82198,1419
$CAP_FILE_SIZE,164306,0
$CFSIZE,260165632,242376704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.483, 82.8,1
$GPS,200609,065920,2526.975,12342.213,36,3.3,55,-3.8