version: 66.04
glider: 165
mission: 2
dive: 189
start: 6 20 109 7 5 57
data:
$ID,165
$MISSION,2
$DIVE,189
$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,-120612.95
$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,40
$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
$GPS1,065920,2526.975,12342.213,36,3.3,55,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.5
$GPS2,070552,2526.997,12342.681,10,2.5,29,-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,239.4,24486,-16.4,-12.000
$D_GRID,1574
$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,-243.4,0.0,0.0,0,66,0.00,0.00,-51.90,0.000,2,0.000,0.000,161,2052,1740
$GC,68,-0.94,-243.4,3.1,-3.8,8,145,9.15,2.33,-60.45,0.000,4,0.232,0.064,2500,3483,3850
$GC,250,-0.12,-243.4,53.9,-37.0,40,257,0.80,2.20,0.00,0.000,6,0.130,0.035,2775,2062,3851
$GC,577,-0.96,-243.4,90.4,-12.0,101,584,0.73,2.22,0.00,0.000,4,0.056,0.049,2492,3480,3853
$GC,696,-0.52,-243.4,113.3,-22.0,123,703,0.43,2.12,0.00,0.000,6,0.121,0.033,2653,2083,3853
$GC,1024,-0.77,-243.4,143.5,-8.3,184,1030,0.22,2.20,0.00,0.000,4,0.048,0.055,2539,3475,3855
$GC,1045,-0.77,-243.4,146.1,-12.1,188,1051,0.08,2.10,0.00,0.000,6,0.127,0.035,2567,2091,3855
$GC,1372,-0.57,-243.4,198.2,-15.4,249,1378,0.22,2.20,0.00,0.000,4,0.128,0.054,2631,3485,3855
$GC,1458,-0.87,-243.4,205.6,-6.7,265,1464,0.25,2.05,0.00,0.000,6,0.044,0.034,2508,2108,3855
$GC,1783,-0.50,-243.4,266.1,-19.5,326,1790,0.45,2.20,0.00,0.000,4,0.127,0.061,2646,3472,3855
$GC,1811,-0.64,-243.4,269.0,-9.1,331,1818,0.10,2.05,0.00,0.000,6,0.071,0.035,2570,2103,3855
$GC,2137,-0.64,-243.4,304.1,-9.8,388,2141,0.15,2.17,0.00,0.000,4,0.121,0.057,2616,3473,3855
$GC,2195,-1.00,-243.4,307.9,-5.4,393,2202,0.28,2.08,0.00,0.000,6,0.035,0.035,2468,2106,3855
$GC,2511,-0.47,-243.4,374.3,-22.9,424,2513,0.62,0.00,0.00,0.000,6,0.140,0.000,2666,2102,3854
$GC,2821,-1.27,-243.4,406.3,-11.9,454,2825,0.68,2.17,0.00,0.000,4,0.057,0.058,2399,3475,3852
$GC,2922,-0.61,-243.4,428.0,-26.5,463,2929,0.65,2.08,0.00,0.000,6,0.140,0.038,2622,2129,3850
$GC,3238,-1.42,-243.4,454.3,-8.6,494,3242,0.73,2.15,0.00,0.000,4,0.081,0.057,2358,3476,3849
$GC,3367,-0.64,-243.4,483.9,-27.6,505,3373,0.82,2.00,0.00,0.000,6,0.150,0.039,2613,2156,3847
$GC,3692,-1.04,-243.4,506.0,-5.7,532,3696,0.32,2.12,0.00,0.000,4,0.051,0.058,2468,3486,3846
$GC,3722,-1.04,-243.4,509.1,-10.3,533,3729,0.00,2.00,0.00,0.000,6,0.000,0.037,2468,2180,3845
$GC,4033,-0.63,-243.4,567.2,-19.2,549,4034,0.45,0.00,0.00,0.000,6,0.130,0.000,2611,2174,3844
$GC,4338,-1.20,-243.4,588.7,-7.0,564,4342,0.50,2.10,0.00,0.000,4,0.061,0.063,2418,3486,3840
$GC,4380,-0.87,-243.4,593.5,-13.8,566,4385,0.35,2.00,0.00,0.000,6,0.140,0.039,2533,2188,3839
$GC,4708,-0.82,-243.4,633.2,-11.7,582,4711,0.00,2.08,0.00,0.000,4,0.000,0.066,2533,3471,3836
$GC,4739,-0.82,-243.4,636.6,-10.5,583,4743,0.00,1.98,0.00,0.000,6,0.000,0.039,2533,2196,3836
$GC,5054,-0.82,-243.4,672.4,-11.6,599,5058,0.00,2.40,0.00,0.000,4,0.000,0.055,2533,685,3834
$GC,5075,-0.82,-243.4,674.9,-12.5,600,5081,0.00,2.38,0.00,0.000,6,0.000,0.048,2534,2179,3834
$GC,5402,-0.82,-243.4,713.2,-11.9,616,5406,0.00,2.05,0.00,0.000,4,0.000,0.064,2533,3472,3831
$GC,5460,-0.92,-243.4,719.7,-10.4,618,5468,0.00,1.95,0.00,0.000,6,0.000,0.038,2533,2210,3830
$GC,5771,-0.92,-243.4,756.8,-12.2,634,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2207,3828
$GC,6076,-0.92,-243.4,793.2,-11.9,649,6080,0.00,2.42,0.00,0.000,4,0.000,0.056,2533,675,3826
$GC,6102,-0.92,-243.4,796.4,-13.0,650,6106,0.00,2.42,0.00,0.000,6,0.000,0.049,2534,2189,3826
$GC,6423,-0.92,-243.4,833.5,-11.8,666,6427,0.00,2.10,0.00,0.000,4,0.000,0.066,2533,3470,3823
$GC,6460,-1.03,-243.4,837.9,-11.1,667,6467,0.10,1.95,0.00,0.000,6,0.051,0.039,2467,2215,3823
$GC,6771,-0.70,-243.4,893.8,-18.5,683,6772,0.40,0.00,0.00,0.000,6,0.137,0.000,2590,2209,3820
$GC,7076,-1.04,-243.4,917.0,-6.7,698,7080,0.30,2.08,0.00,0.000,4,0.049,0.068,2458,3466,3819
$GC,7129,-0.82,-243.4,924.1,-15.6,700,7133,0.28,1.95,0.00,0.000,6,0.132,0.041,2549,2218,3818
$GC,7446,-0.94,-243.4,955.8,-9.5,716,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2216,3817
$GC,7750,-1.07,-243.4,985.1,-9.6,731,7751,0.20,0.00,0.00,0.000,6,0.061,0.000,2462,2216,3815
$STATE,7789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7789,begin apogee
$GC,7793,-0.20,0.0,991.0,11.7,733,7993,0.93,0.00,196.23,1.380,6,0.138,0.000,2754,2516,2854
$STATE,7994,end apogee,CONTROL_FINISHED_OK
$STATE,7994,begin climb
$GC,7995,0.94,243.4,1002.9,0.0,743,8210,1.00,2.42,206.80,1.336,4,0.038,0.056,3149,1138,1861
$GC,8418,0.27,243.4,935.8,23.8,763,8423,0.80,2.33,0.00,0.000,6,0.179,0.053,2907,2532,1852
$GC,8739,0.51,329.0,904.6,9.2,779,8824,0.22,2.42,74.03,1.276,4,0.056,0.053,3016,1136,1511
$GC,8866,0.36,329.0,884.8,17.1,785,8870,0.28,2.30,0.00,0.000,6,0.142,0.050,2938,2526,1506
$GC,9192,0.52,360.8,847.9,10.9,801,9226,0.15,2.38,27.95,1.228,4,0.064,0.052,3015,1129,1383
$GC,9275,0.41,360.8,834.6,16.7,805,9279,0.22,2.25,0.00,0.000,6,0.140,0.048,2952,2510,1380
$GC,9601,0.53,374.1,795.8,11.6,821,9622,0.12,2.30,12.57,1.151,4,0.069,0.051,3018,1130,1328
$GC,9690,0.43,374.1,781.8,16.4,825,9694,0.17,2.20,0.00,0.000,6,0.133,0.048,2962,2481,1326
$GC,10012,0.55,392.0,743.6,11.4,841,10033,0.00,2.25,16.80,1.168,4,0.000,0.051,2970,1132,1255
$GC,10118,0.72,426.3,731.6,10.9,846,10155,0.17,2.17,32.50,1.183,6,0.050,0.046,3055,2465,1114
$GC,10467,0.47,426.3,660.9,21.2,863,10471,0.25,2.15,0.00,0.000,4,0.143,0.051,2985,1130,1110
$GC,10492,0.41,426.3,656.2,17.5,864,10497,0.08,2.12,0.00,0.000,6,0.133,0.046,2958,2444,1109
$GC,10809,0.64,446.9,619.7,11.3,880,10831,0.20,2.17,18.23,1.106,4,0.056,0.051,3054,1136,1032
$GC,10878,0.50,446.9,607.1,20.4,883,10882,0.22,2.12,0.00,0.000,6,0.138,0.048,2982,2438,1030
$GC,11199,0.63,446.9,563.7,13.2,899,11203,0.12,2.10,0.00,0.000,4,0.069,0.051,3048,1136,1029
$GC,11225,0.63,446.9,559.5,16.4,900,11229,0.00,2.08,0.00,0.000,6,0.000,0.047,3048,2424,1028
$GC,11547,0.48,446.9,496.2,19.9,916,11551,0.25,2.08,0.00,0.000,4,0.140,0.051,2982,1131,1027
$GC,11567,0.48,446.9,492.6,17.8,918,11571,0.00,2.05,0.00,0.000,6,0.000,0.045,2982,2413,1027
$GC,11890,0.67,455.3,453.6,11.7,949,11904,0.15,2.08,8.40,0.931,4,0.063,0.051,3060,1135,996
$GC,11968,0.57,455.3,440.0,17.0,956,11976,0.17,2.03,0.00,0.000,6,0.137,0.046,3002,2399,996
$GC,12284,0.69,455.3,399.5,12.2,987,12288,0.12,2.03,0.00,0.000,4,0.070,0.051,3070,1132,995
$GC,12321,0.58,455.3,393.6,16.6,990,12330,0.17,2.00,0.00,0.000,6,0.139,0.045,3011,2383,995
$GC,12637,0.67,455.3,349.8,14.0,1021,12641,0.00,2.00,0.00,0.000,4,0.000,0.050,3019,1130,995
$GC,12663,0.77,455.3,346.2,13.7,1023,12669,0.10,2.00,0.00,0.000,6,0.053,0.044,3085,2383,995
$GC,12981,0.54,455.3,282.0,20.3,1062,12988,0.30,0.00,0.00,0.000,6,0.141,0.000,2994,2383,995
$GC,13309,0.90,527.2,243.4,9.6,1123,13375,0.28,2.10,61.25,0.857,4,0.048,0.050,3133,1131,704
$GC,13502,0.70,527.2,202.4,20.7,1158,13510,0.28,2.00,0.00,0.000,6,0.137,0.044,3046,2366,699
$GC,13830,0.90,529.2,161.7,11.9,1219,13836,0.17,0.00,0.00,0.000,6,0.053,0.000,3131,2366,698
$GC,14156,0.73,529.2,94.3,20.6,1280,14163,0.25,2.10,0.00,0.000,4,0.130,0.058,3055,3681,698
$GC,14183,0.86,529.2,90.0,14.3,1285,14189,0.00,2.03,0.00,0.000,6,0.000,0.037,3061,2372,698
$GC,14510,1.36,628.5,62.0,8.7,1346,14568,0.47,1.98,51.03,0.685,4,0.038,0.046,3287,1124,480
$GC,14605,0.97,628.5,39.7,24.8,1362,14613,0.47,1.95,0.00,0.000,6,0.150,0.041,3140,2338,472
$GC,14933,1.45,782.5,5.3,6.9,1423,14939,0.40,1.90,0.00,0.000,4,0.041,0.046,3321,1130,464
$STATE,14947,end climb,SURFACE_DEPTH_REACHED
$STATE,14947,begin surface coast
$FINISH,1.7,1.020993
$STATE,14974,end surface coast,CONTROL_FINISHED_OK
$STATE,14974,begin surface
$SM_CCo,15050,0.00,0.000,0,0,462,586.76
$SM_GC,2.45,8.07,0.00,0.00,0.037,0.000,0.000,164,2081,462,-8.20,0.28,586.76
$IRIDIUM_FIX,2517.50,12340.74,140998,030313
$TT8_MAMPS,0.048321
$HUMID,1594
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.30
$XPDR_PINGS,179
$24V_AH,23.5,40.770
$10V_AH,10.7,28.571
$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,35.875,136.400,705.775,0.000,0.000,25.945,33.616,202.693,52.750,0.000,0.000,31.803,0.000,10677.380,825.891,3408.967,500.738,0.000,2138.778,0.000,2854.000,0.000,53.991,0.000
$DEVICE_MAMPS,231.634,68.263,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,967.495,998.293,1565.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82299,1431
$CAP_FILE_SIZE,166093,0
$CFSIZE,260165632,242290688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.367, 79.3,1
$GPS,200609,111737,2526.761,12343.108,31,1.2,31,-3.8