version: 66.04
glider: 165
mission: 2
dive: 192
start: 6 20 109 19 56 9
data:
$ID,165
$MISSION,2
$DIVE,192
$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,-120677.54
$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,49
$R_STBD_OVSHOOT,29
$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
$GPS1,194930,2526.161,12344.564,36,1.5,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-68.1
$GPS2,195604,2526.324,12344.901,11,2.4,30,-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,248.6,24257,-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,-243.4,0.0,0.0,0,73,0.00,0.00,-58.80,0.000,2,0.000,0.000,162,2047,1914
$GC,75,-0.94,-243.4,3.2,-3.3,9,138,9.20,2.15,-49.25,0.000,4,0.233,0.058,2513,673,3848
$GC,159,-0.08,-243.4,21.3,-37.6,23,166,0.88,2.22,0.00,0.000,6,0.150,0.043,2792,2068,3848
$GC,486,-0.89,-243.4,60.3,-12.0,84,493,0.70,2.22,0.00,0.000,4,0.052,0.051,2515,3490,3849
$GC,583,-0.41,-243.4,79.3,-24.5,102,591,0.47,2.15,0.00,0.000,6,0.124,0.035,2676,2083,3849
$GC,911,-0.68,-243.4,111.7,-8.0,163,917,0.20,2.22,0.00,0.000,4,0.049,0.055,2564,3497,3851
$GC,970,-0.55,-243.4,120.3,-15.7,174,978,0.20,2.12,0.00,0.000,6,0.112,0.039,2637,2100,3851
$GC,1299,-0.73,-243.4,154.6,-8.0,235,1305,0.15,2.17,0.00,0.000,4,0.058,0.061,2550,3482,3852
$GC,1379,-0.60,-243.4,165.2,-14.6,250,1387,0.20,2.05,0.00,0.000,6,0.113,0.034,2622,2128,3852
$GC,1707,-0.73,-243.4,196.7,-9.4,311,1713,0.12,2.17,0.00,0.000,4,0.064,0.056,2549,3479,3852
$GC,1761,-0.63,-243.4,204.0,-14.2,321,1767,0.15,2.03,0.00,0.000,6,0.114,0.035,2617,2140,3852
$GC,2087,-0.78,-243.4,237.6,-9.9,382,2094,0.15,2.15,0.00,0.000,4,0.058,0.059,2534,3478,3852
$GC,2212,-0.64,-243.4,257.1,-16.1,405,2218,0.25,1.95,0.00,0.000,6,0.118,0.035,2614,2173,3852
$GC,2537,-0.84,-243.4,287.4,-8.0,466,2545,0.20,2.10,0.00,0.000,4,0.050,0.057,2509,3480,3852
$GC,2566,-0.72,-243.4,291.1,-14.6,471,2572,0.20,1.98,0.00,0.000,6,0.119,0.035,2580,2177,3851
$GC,2884,-0.77,-243.4,325.5,-9.8,508,2887,0.00,2.08,0.00,0.000,4,0.000,0.058,2577,3484,3851
$GC,2959,-0.91,-243.4,332.2,-9.0,515,2962,0.15,1.92,0.00,0.000,6,0.060,0.036,2496,2200,3851
$GC,3278,-0.56,-243.4,388.6,-18.2,546,3280,0.43,0.00,0.00,0.000,6,0.133,0.000,2633,2193,3850
$GC,3591,-1.39,-243.4,413.9,-10.1,576,3595,0.68,2.05,0.00,0.000,4,0.073,0.058,2373,3494,3849
$GC,3691,-0.70,-243.4,436.1,-25.9,585,3695,0.65,1.98,0.00,0.000,6,0.145,0.038,2592,2205,3847
$GC,4012,-0.90,-243.4,466.6,-8.6,616,4016,0.17,2.08,0.00,0.000,4,0.056,0.061,2503,3487,3846
$GC,4048,-0.77,-243.4,471.3,-13.5,619,4055,0.17,1.95,0.00,0.000,6,0.118,0.037,2566,2215,3845
$GC,4374,-0.85,-243.4,504.1,-9.2,649,4378,0.00,2.05,0.00,0.000,4,0.000,0.061,2564,3473,3842
$GC,4405,-0.98,-243.4,506.9,-8.7,650,4410,0.12,1.92,0.00,0.000,6,0.048,0.037,2481,2218,3843
$GC,4722,-0.65,-243.4,558.7,-16.2,666,4725,0.40,2.03,0.00,0.000,4,0.133,0.061,2603,3478,3841
$GC,4748,-0.74,-243.4,561.5,-9.9,667,4751,0.00,1.92,0.00,0.000,6,0.000,0.037,2603,2230,3841
$GC,5069,-1.11,-243.4,580.1,-6.3,683,5070,0.38,0.00,0.00,0.000,6,0.048,0.000,2442,2225,3839
$GC,5374,-0.64,-243.4,637.0,-20.3,698,5376,0.55,0.00,0.00,0.000,6,0.143,0.000,2612,2224,3836
$GC,5679,-1.45,-243.4,661.5,-9.2,713,5683,0.70,2.05,0.00,0.000,4,0.060,0.064,2345,3478,3835
$GC,5791,-0.71,-243.4,686.8,-27.9,718,5795,0.75,1.92,0.00,0.000,6,0.156,0.041,2588,2238,3832
$GC,6112,-0.99,-243.4,714.0,-7.2,734,6113,0.25,0.00,0.00,0.000,6,0.049,0.000,2469,2236,3831
$GC,6418,-0.66,-243.4,768.1,-18.8,749,6419,0.43,0.00,0.00,0.000,6,0.140,0.000,2601,2236,3828
$GC,6722,-1.19,-243.4,791.6,-7.0,764,6726,0.45,2.05,0.00,0.000,4,0.064,0.066,2429,3482,3826
$GC,6759,-0.99,-243.4,796.0,-12.6,765,6768,0.20,1.92,0.00,0.000,6,0.146,0.041,2493,2241,3825
$GC,7070,-0.80,-243.4,842.9,-15.2,781,7071,0.22,0.00,0.00,0.000,6,0.134,0.000,2564,2238,3823
$GC,7375,-0.97,-243.4,870.1,-8.3,796,7376,0.17,0.00,0.00,0.000,6,0.061,0.000,2482,2238,3821
$GC,7681,-0.73,-243.4,917.9,-16.2,811,7682,0.32,0.00,0.00,0.000,6,0.138,0.000,2581,2237,3819
$GC,7986,-1.03,-243.4,938.7,-6.2,826,7989,0.25,2.03,0.00,0.000,4,0.052,0.070,2467,3476,3817
$GC,8028,-0.86,-243.4,943.4,-13.4,828,8032,0.20,1.92,0.00,0.000,6,0.129,0.043,2535,2245,3817
$GC,8356,-0.91,-243.4,975.8,-9.6,844,8359,0.00,2.47,0.00,0.000,4,0.000,0.058,2535,680,3816
$GC,8381,-0.98,-243.4,978.5,-10.4,845,8385,0.08,2.50,0.00,0.000,6,0.063,0.049,2484,2237,3816
$STATE,8477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8477,begin apogee
$GC,8482,-0.20,0.0,991.1,13.8,850,8681,0.85,0.00,196.23,1.378,6,0.136,0.000,2753,2526,2854
$STATE,8681,end apogee,CONTROL_FINISHED_OK
$STATE,8681,begin climb
$GC,8683,0.94,243.4,1001.0,0.0,860,8897,1.00,2.08,206.45,1.334,4,0.041,0.066,3140,3683,1861
$GC,9035,0.19,243.4,946.3,25.5,876,9039,0.90,1.85,0.00,0.000,6,0.173,0.043,2887,2543,1856
$GC,9351,0.53,346.0,917.8,8.6,892,9446,0.30,2.40,89.20,1.279,4,0.050,0.054,3025,1120,1442
$GC,9551,0.39,346.0,882.9,17.3,901,9558,0.25,2.30,0.00,0.000,6,0.141,0.049,2947,2504,1436
$GC,9862,0.51,348.8,842.8,11.9,917,9866,0.12,2.22,0.00,0.000,4,0.069,0.053,3015,1114,1434
$GC,9915,0.42,348.8,834.3,17.5,919,9919,0.20,2.25,0.00,0.000,6,0.137,0.049,2950,2495,1433
$GC,10231,0.54,355.0,795.0,11.8,935,10244,0.12,2.28,7.47,1.055,4,0.071,0.052,3016,1112,1405
$GC,10298,0.45,355.0,784.4,16.0,938,10302,0.15,2.22,0.00,0.000,6,0.133,0.048,2967,2483,1404
$GC,10620,0.51,355.0,741.7,13.0,954,10623,0.00,2.20,0.00,0.000,4,0.000,0.051,2975,1120,1404
$GC,10656,0.58,355.0,737.0,12.5,955,10663,0.00,2.15,0.00,0.000,6,0.000,0.047,2975,2464,1403
$GC,10966,0.58,355.0,695.3,13.2,971,10971,0.00,2.17,0.00,0.000,4,0.000,0.051,2985,1113,1403
$GC,11020,0.63,355.0,688.2,13.4,973,11024,0.08,2.15,0.00,0.000,6,0.062,0.048,3032,2449,1402
$GC,11335,0.43,355.0,633.0,17.4,989,11340,0.25,2.15,0.00,0.000,4,0.143,0.051,2967,1110,1402
$GC,11367,0.50,355.0,628.6,13.0,990,11371,0.00,2.12,0.00,0.000,6,0.000,0.047,2967,2442,1402
$GC,11684,0.58,361.5,592.0,11.8,1006,11694,0.12,2.17,6.75,0.966,4,0.071,0.051,3035,1108,1379
$GC,11742,0.46,361.5,583.0,16.4,1009,11746,0.22,2.10,0.00,0.000,6,0.143,0.047,2970,2437,1378
$GC,12068,0.56,371.1,543.2,11.7,1025,12079,0.00,0.00,10.10,1.019,6,0.000,0.000,2970,2438,1340
$GC,12373,0.69,389.8,507.6,11.4,1040,12395,0.20,2.20,17.77,1.043,4,0.059,0.052,3065,1111,1263
$GC,12448,0.53,389.8,494.6,18.5,1044,12452,0.22,2.12,0.00,0.000,6,0.142,0.046,2994,2420,1261
$GC,12769,0.59,389.8,452.1,12.8,1075,12770,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2420,1260
$GC,13080,0.65,389.8,411.5,12.5,1105,13084,0.10,2.05,0.00,0.000,4,0.079,0.050,3050,1115,1258
$GC,13138,0.55,389.8,402.5,15.7,1110,13146,0.15,2.08,0.00,0.000,6,0.135,0.047,3000,2408,1259
$GC,13454,0.61,389.8,362.2,12.5,1141,13457,0.00,2.08,0.00,0.000,4,0.000,0.050,3008,1113,1259
$GC,13485,0.68,389.8,357.8,14.2,1144,13489,0.00,2.05,0.00,0.000,6,0.000,0.045,3008,2402,1258
$GC,13808,0.74,389.8,313.8,12.9,1175,13809,0.15,0.00,0.00,0.000,6,0.064,0.000,3082,2402,1259
$GC,14125,0.49,389.8,255.3,17.0,1227,14130,0.35,2.05,0.00,0.000,4,0.143,0.059,2976,3696,1258
$GC,14204,0.82,478.6,246.4,9.1,1242,14285,0.22,2.00,74.35,0.858,6,0.044,0.039,3093,2394,901
$GC,14605,0.68,478.6,178.6,17.0,1315,14611,0.20,2.05,0.00,0.000,4,0.141,0.049,3044,1109,896
$GC,14669,0.84,478.6,170.4,12.2,1327,14676,0.10,2.08,0.00,0.000,6,0.049,0.042,3112,2407,895
$GC,14996,0.75,478.6,114.5,17.3,1388,15002,0.17,2.05,0.00,0.000,4,0.135,0.047,3069,1112,895
$GC,15044,0.94,493.9,108.5,11.5,1397,15064,0.10,2.03,12.90,0.701,6,0.048,0.041,3139,2387,839
$GC,15385,0.89,493.9,54.2,13.5,1460,15391,0.12,2.00,0.00,0.000,4,0.137,0.046,3112,1107,837
$GC,15433,1.09,547.1,48.5,10.2,1469,15484,0.12,2.00,45.50,0.671,6,0.048,0.041,3193,2376,622
$STATE,15723,end climb,SURFACE_DEPTH_REACHED
$STATE,15723,begin surface coast
$FINISH,2.2,1.021066
$STATE,15739,end surface coast,CONTROL_FINISHED_OK
$STATE,15739,begin surface
$SM_CCo,15813,0.00,0.000,0,0,613,549.72
$SM_GC,2.62,7.80,0.00,0.00,0.036,0.000,0.000,172,2052,613,-8.20,-0.54,549.72
$IRIDIUM_FIX,2517.50,12342.73,140998,151539
$TT8_MAMPS,0.047554
$HUMID,1629
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.00
$XPDR_PINGS,201
$24V_AH,23.5,41.551
$10V_AH,10.6,28.970
$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,35.400,131.175,666.725,0.000,0.000,30.866,35.129,196.491,58.250,0.000,0.000,33.090,0.000,11345.134,783.634,3542.094,506.689,0.000,2115.013,0.000,2966.858,0.000,53.966,0.000
$DEVICE_MAMPS,233.168,69.797,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.426,1060.202,1664.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88508,1525
$CAP_FILE_SIZE,172766,0
$CFSIZE,260165632,242012160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.342, 71.8,1
$GPS,210609,002037,2526.597,12345.062,36,1.0,36,-3.8