version: 66.04
glider: 165
mission: 2
dive: 190
start: 6 20 109 11 27 38
data:
$ID,165
$MISSION,2
$DIVE,190
$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,-120627.13
$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,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
$GPS1,111737,2526.761,12343.108,31,1.2,31,-3.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-65.3
$GPS2,112732,2526.786,12343.615,10,1.3,10,-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,243.1,24442,-16.4,-12.000
$D_GRID,1565
$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,-243.4,0.0,0.0,0,72,0.00,0.00,-58.03,0.000,2,0.000,0.000,163,2082,1891
$GC,74,-0.94,-243.4,3.2,-4.4,9,138,9.15,2.28,-50.67,0.000,4,0.232,0.058,2510,667,3849
$GC,239,-0.31,-243.4,54.0,-33.0,38,246,0.62,2.22,0.00,0.000,6,0.145,0.042,2707,2068,3850
$GC,566,-0.66,-243.4,86.9,-7.0,99,573,0.28,2.22,0.00,0.000,4,0.042,0.055,2566,3487,3852
$GC,684,-0.52,-243.4,103.5,-13.1,121,691,0.22,2.12,0.00,0.000,6,0.113,0.039,2648,2091,3852
$GC,1011,-0.72,-243.4,130.5,-7.4,182,1017,0.17,2.22,0.00,0.000,4,0.054,0.055,2557,3475,3853
$GC,1059,-0.62,-243.4,136.8,-14.2,191,1067,0.17,2.10,0.00,0.000,6,0.115,0.035,2621,2098,3853
$GC,1387,-0.71,-243.4,174.0,-11.6,252,1393,0.00,2.22,0.00,0.000,4,0.000,0.057,2620,3476,3854
$GC,1457,-0.95,-243.4,181.0,-9.6,265,1463,0.22,2.08,0.00,0.000,6,0.036,0.036,2475,2117,3853
$GC,1784,-0.43,-243.4,257.0,-21.7,326,1790,0.60,2.17,0.00,0.000,4,0.147,0.057,2663,3480,3853
$GC,1843,-0.98,-243.4,262.0,-4.7,337,1849,0.35,2.08,0.00,0.000,6,0.041,0.035,2484,2110,3853
$GC,2171,-0.52,-243.4,326.0,-21.3,387,2173,0.52,0.00,0.00,0.000,6,0.133,0.000,2652,2110,3853
$GC,2482,-1.30,-243.4,354.0,-9.9,417,2486,0.62,2.20,0.00,0.000,4,0.043,0.058,2380,3491,3852
$GC,2518,-0.79,-243.4,359.4,-16.7,420,2522,0.55,2.10,0.00,0.000,6,0.148,0.037,2558,2120,3851
$GC,2840,-0.79,-243.4,400.5,-11.6,451,2843,0.00,2.17,0.00,0.000,4,0.000,0.061,2558,3476,3849
$GC,2897,-0.91,-243.4,406.9,-10.5,456,2904,0.08,2.08,0.00,0.000,6,0.056,0.037,2499,2126,3849
$GC,3214,-0.64,-243.4,457.8,-16.2,487,3218,0.35,2.17,0.00,0.000,4,0.128,0.061,2603,3490,3847
$GC,3261,-0.99,-243.4,462.5,-7.3,491,3267,0.25,2.08,0.00,0.000,6,0.036,0.037,2466,2135,3847
$GC,3576,-0.58,-243.4,522.4,-20.0,517,3578,0.52,0.00,0.00,0.000,6,0.137,0.000,2633,2130,3844
$GC,3880,-1.42,-243.4,550.0,-10.6,532,3885,0.73,2.17,0.00,0.000,4,0.063,0.061,2356,3482,3841
$GC,3944,-0.71,-243.4,562.4,-24.4,535,3948,0.70,2.10,0.00,0.000,6,0.153,0.041,2586,2131,3840
$GC,4271,-0.95,-243.4,589.2,-6.6,551,4275,0.17,2.17,0.00,0.000,4,0.056,0.063,2491,3474,3838
$GC,4323,-0.83,-243.4,595.2,-12.3,553,4329,0.15,2.05,0.00,0.000,6,0.121,0.039,2546,2147,3837
$GC,4634,-0.83,-243.4,627.3,-10.5,569,4637,0.00,2.17,0.00,0.000,4,0.000,0.065,2546,3468,3834
$GC,4676,-0.96,-243.4,631.5,-9.6,571,4680,0.10,2.03,0.00,0.000,6,0.075,0.039,2491,2142,3833
$GC,5004,-0.72,-243.4,682.4,-16.0,587,5007,0.28,2.17,0.00,0.000,4,0.131,0.064,2576,3476,3831
$GC,5040,-0.93,-243.4,686.3,-8.6,589,5044,0.10,2.05,0.00,0.000,6,0.051,0.040,2494,2158,3830
$GC,5367,-0.71,-243.4,734.5,-15.2,605,5371,0.28,2.15,0.00,0.000,4,0.131,0.065,2586,3472,3828
$GC,5398,-0.89,-243.4,738.0,-9.4,606,5405,0.12,2.03,0.00,0.000,6,0.045,0.039,2508,2169,3827
$GC,5710,-0.76,-243.4,776.2,-12.9,622,5714,0.20,2.38,0.00,0.000,4,0.129,0.056,2574,672,3825
$GC,5746,-0.96,-243.4,780.1,-8.6,624,5750,0.17,2.35,0.00,0.000,6,0.057,0.048,2487,2162,3825
$GC,6074,-0.75,-243.4,826.0,-14.8,640,6078,0.25,2.12,0.00,0.000,4,0.136,0.065,2563,3473,3821
$GC,6116,-0.97,-243.4,830.5,-8.3,642,6120,0.12,2.03,0.00,0.000,6,0.049,0.040,2488,2170,3821
$GC,6437,-0.76,-243.4,877.1,-15.2,658,6439,0.28,0.00,0.00,0.000,6,0.132,0.000,2573,2165,3819
$GC,6743,-1.00,-243.4,899.6,-6.9,673,6746,0.17,2.15,0.00,0.000,4,0.058,0.066,2481,3476,3818
$GC,6800,-0.90,-243.4,906.4,-12.9,676,6804,0.12,2.03,0.00,0.000,6,0.129,0.041,2524,2182,3817
$GC,7126,-0.90,-243.4,941.5,-11.0,692,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2177,3815
$GC,7432,-0.90,-243.4,974.4,-11.2,707,7436,0.00,2.15,0.00,0.000,4,0.000,0.070,2520,3467,3814
$GC,7463,-0.90,-243.4,977.9,-10.2,708,7467,0.00,2.00,0.00,0.000,6,0.000,0.040,2520,2184,3813
$STATE,7574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7574,begin apogee
$GC,7578,-0.20,0.0,990.2,11.1,714,7778,0.70,0.00,195.52,1.378,6,0.120,0.000,2752,2531,2853
$STATE,7778,end apogee,CONTROL_FINISHED_OK
$STATE,7778,begin climb
$GC,7780,0.94,243.4,999.6,0.0,724,7996,1.00,2.10,206.52,1.333,4,0.040,0.067,3142,3695,1859
$GC,8107,0.18,243.4,950.5,26.2,739,8111,0.90,1.88,0.00,0.000,6,0.173,0.042,2881,2544,1855
$GC,8428,0.59,381.5,922.6,7.4,755,8555,0.35,2.42,120.05,1.282,4,0.047,0.055,3043,1121,1297
$GC,8639,0.44,381.5,885.1,18.2,765,8644,0.25,2.33,0.00,0.000,6,0.139,0.050,2965,2506,1291
$GC,8966,0.54,386.3,844.5,11.8,781,8975,0.00,2.28,4.05,0.788,4,0.000,0.053,2973,1123,1279
$GC,9056,0.68,409.4,833.9,11.2,785,9083,0.15,2.22,22.33,1.210,6,0.050,0.049,3050,2491,1185
$GC,9401,0.46,409.4,767.7,19.7,802,9404,0.25,2.22,0.00,0.000,4,0.142,0.051,2981,1110,1181
$GC,9447,0.57,409.4,760.4,13.6,804,9451,0.00,2.22,0.00,0.000,6,0.000,0.048,2981,2483,1180
$GC,9763,0.63,409.4,718.7,13.2,820,9767,0.12,2.17,0.00,0.000,4,0.068,0.051,3049,1115,1180
$GC,9827,0.49,409.4,707.8,17.1,823,9831,0.17,2.17,0.00,0.000,6,0.141,0.049,2981,2463,1178
$GC,10153,0.56,409.4,663.6,13.4,839,10157,0.00,2.17,0.00,0.000,4,0.000,0.051,2990,1111,1178
$GC,10200,0.65,409.4,657.2,13.7,841,10205,0.08,2.15,0.00,0.000,6,0.062,0.047,3037,2447,1177
$GC,10522,0.49,409.4,598.5,18.2,857,10526,0.20,2.10,0.00,0.000,4,0.140,0.051,2987,1112,1177
$GC,10553,0.54,409.4,593.7,14.1,858,10558,0.00,2.12,0.00,0.000,6,0.000,0.047,2988,2441,1177
$GC,10870,0.60,409.4,552.5,13.0,874,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2441,1177
$GC,11175,0.69,409.4,513.2,12.3,889,11178,0.15,2.10,0.00,0.000,4,0.063,0.051,3067,1106,1177
$GC,11248,0.53,409.4,501.0,18.0,892,11253,0.22,2.12,0.00,0.000,6,0.143,0.048,2993,2431,1176
$GC,11571,0.64,428.5,462.0,11.4,923,11592,0.00,2.12,16.77,1.017,4,0.000,0.052,3002,1106,1107
$GC,11639,0.80,451.7,454.0,11.2,929,11669,0.17,2.10,21.92,1.003,6,0.047,0.047,3096,2405,1012
$GC,11978,0.52,451.7,383.2,21.9,962,11982,0.38,2.08,0.00,0.000,4,0.143,0.051,2992,1118,1009
$GC,12032,0.79,488.6,375.8,10.8,967,12069,0.22,2.05,32.58,0.960,6,0.054,0.046,3098,2414,860
$GC,12385,0.56,488.6,300.8,21.3,1001,12387,0.32,0.00,0.00,0.000,6,0.139,0.000,3001,2415,856
$GC,12706,0.94,584.1,267.8,8.8,1060,12800,0.32,2.22,88.57,0.866,4,0.045,0.050,3152,1110,481
$GC,12921,0.76,584.1,219.6,23.0,1098,12928,0.28,2.08,0.00,0.000,6,0.134,0.044,3064,2380,462
$GC,13248,0.96,584.1,171.1,12.6,1159,13254,0.17,0.00,0.00,0.000,6,0.054,0.000,3147,2380,454
$GC,13574,0.83,584.1,102.9,19.7,1220,13581,0.20,2.10,0.00,0.000,4,0.131,0.058,3086,3690,452
$GC,13622,1.04,584.1,95.8,12.3,1229,13631,0.12,2.08,0.00,0.000,6,0.047,0.038,3168,2354,452
$GC,13950,1.04,584.1,40.7,14.2,1290,13957,0.00,1.95,0.00,0.000,4,0.000,0.048,3177,1112,450
$GC,14069,1.12,592.9,24.8,11.7,1312,14074,0.00,1.95,0.00,0.000,6,0.000,0.041,3177,2354,450
$STATE,14228,end climb,SURFACE_DEPTH_REACHED
$STATE,14228,begin surface coast
$FINISH,1.9,1.020903
$STATE,14248,end surface coast,CONTROL_FINISHED_OK
$STATE,14248,begin surface
$SM_CCo,14323,0.00,0.000,0,0,448,590.44
$SM_GC,2.63,7.65,0.00,0.00,0.035,0.000,0.000,162,2040,448,-8.22,-0.88,590.44
$IRIDIUM_FIX,2519.89,12344.05,140998,111114
$TT8_MAMPS,0.048321
$HUMID,1639
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.90
$XPDR_PINGS,177
$24V_AH,23.5,41.045
$10V_AH,10.6,28.698
$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,33.050,129.425,708.325,0.000,0.000,48.067,74.601,287.064,52.250,0.000,0.000,13.551,0.000,10230.953,789.300,3201.837,668.490,0.000,2035.096,0.000,2705.143,0.000,53.993,0.000
$DEVICE_MAMPS,231.634,69.797,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,910.602,949.264,1479.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75978,1346
$CAP_FILE_SIZE,160551,0
$CFSIZE,260165632,242208768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.345, 85.2,1
$GPS,200609,152707,2526.353,12343.766,27,1.2,27,-3.8