version: 66.04
glider: 165
mission: 2
dive: 193
start: 6 21 109 0 27 12
data:
$ID,165
$MISSION,2
$DIVE,193
$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,-120693.52
$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,43
$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
$GPS1,002037,2526.597,12345.062,36,1.0,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.1
$GPS2,002707,2526.729,12345.347,8,1.2,13,-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,249.6,25219,-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,-243.4,0.0,0.0,0,67,0.00,0.00,-52.90,0.000,2,0.000,0.000,171,2051,1927
$GC,69,-0.94,-243.4,3.4,-4.3,8,133,9.10,2.22,-49.55,0.000,4,0.231,0.058,2510,664,3849
$GC,197,-0.20,-243.4,37.6,-34.8,30,204,0.77,2.22,0.00,0.000,6,0.146,0.050,2747,2077,3850
$GC,524,-1.05,-243.4,75.9,-13.1,91,531,0.70,2.17,0.00,0.000,4,0.051,0.050,2467,3479,3851
$GC,610,-0.41,-243.4,96.1,-30.9,107,617,0.65,2.12,0.00,0.000,6,0.133,0.035,2681,2089,3851
$GC,937,-0.71,-243.4,127.0,-7.1,168,945,0.25,2.22,0.00,0.000,4,0.045,0.054,2555,3481,3853
$GC,981,-0.54,-243.4,132.9,-15.2,176,989,0.22,2.10,0.00,0.000,6,0.116,0.034,2636,2093,3853
$GC,1310,-0.77,-243.4,164.5,-8.6,237,1316,0.17,2.22,0.00,0.000,4,0.053,0.055,2543,3505,3854
$GC,1400,-0.63,-243.4,177.5,-16.1,254,1407,0.20,2.12,0.00,0.000,6,0.115,0.035,2614,2106,3854
$GC,1728,-0.76,-243.4,211.5,-9.3,315,1734,0.12,2.17,0.00,0.000,4,0.063,0.054,2537,3477,3854
$GC,1813,-0.62,-243.4,224.5,-15.9,331,1823,0.25,2.05,0.00,0.000,6,0.117,0.035,2618,2136,3854
$GC,2144,-0.85,-243.4,255.8,-8.3,392,2151,0.17,2.15,0.00,0.000,4,0.055,0.063,2519,3479,3854
$GC,2182,-0.71,-243.4,260.9,-14.5,399,2189,0.17,2.03,0.00,0.000,6,0.117,0.035,2582,2150,3854
$GC,2509,-0.77,-243.4,296.2,-9.3,460,2517,0.00,2.15,0.00,0.000,4,0.000,0.058,2576,3479,3854
$GC,2569,-0.91,-243.4,301.8,-9.0,469,2575,0.10,2.00,0.00,0.000,6,0.051,0.035,2507,2165,3854
$GC,2884,-0.58,-243.4,355.2,-18.0,500,2888,0.40,2.12,0.00,0.000,4,0.130,0.061,2630,3478,3853
$GC,2911,-0.70,-243.4,358.4,-11.6,502,2918,0.08,2.00,0.00,0.000,6,0.053,0.036,2561,2171,3853
$GC,3226,-0.70,-243.4,395.3,-12.1,533,3228,0.12,0.00,0.00,0.000,6,0.123,0.000,2599,2167,3852
$GC,3538,-0.94,-243.4,421.4,-7.4,563,3542,0.20,2.10,0.00,0.000,4,0.051,0.060,2486,3478,3850
$GC,3617,-0.72,-243.4,432.2,-14.9,570,3621,0.28,2.00,0.00,0.000,6,0.122,0.038,2582,2176,3849
$GC,3939,-0.88,-243.4,459.7,-8.6,601,3942,0.15,2.08,0.00,0.000,4,0.061,0.061,2505,3472,3847
$GC,3991,-0.76,-243.4,466.1,-13.2,606,3996,0.17,2.00,0.00,0.000,6,0.117,0.038,2568,2171,3846
$GC,4313,-0.88,-243.4,498.0,-10.2,637,4316,0.00,2.10,0.00,0.000,4,0.000,0.062,2568,3473,3844
$GC,4349,-1.08,-243.4,501.5,-9.0,639,4356,0.22,1.98,0.00,0.000,6,0.040,0.038,2453,2192,3844
$GC,4660,-0.61,-243.4,563.6,-21.1,655,4661,0.52,0.00,0.00,0.000,6,0.144,0.000,2616,2187,3842
$GC,4965,-1.47,-243.4,587.6,-9.1,670,4970,0.73,2.38,0.00,0.000,4,0.078,0.054,2346,679,3840
$GC,4991,-1.38,-243.4,591.0,-13.7,671,4995,0.08,2.40,0.00,0.000,6,0.176,0.048,2367,2185,3838
$GC,5309,-0.59,-243.4,677.5,-28.0,687,5311,0.85,0.00,0.00,0.000,6,0.163,0.000,2624,2185,3836
$GC,5612,-1.44,-243.4,706.7,-10.6,702,5617,0.75,2.40,0.00,0.000,4,0.081,0.054,2352,676,3835
$GC,5649,-0.94,-243.4,712.5,-18.3,704,5653,0.52,2.40,0.00,0.000,6,0.156,0.048,2518,2178,3834
$GC,5976,-0.83,-243.4,758.7,-13.8,720,5980,0.12,2.08,0.00,0.000,4,0.144,0.064,2550,3474,3832
$GC,6066,-1.02,-243.4,767.6,-8.6,724,6070,0.12,1.98,0.00,0.000,6,0.049,0.039,2472,2202,3830
$GC,6387,-0.72,-243.4,821.6,-17.7,740,6391,0.38,2.10,0.00,0.000,4,0.138,0.067,2587,3468,3828
$GC,6419,-0.91,-243.4,825.3,-9.1,741,6423,0.12,1.98,0.00,0.000,6,0.049,0.040,2499,2200,3828
$GC,6735,-0.74,-243.4,870.0,-14.6,757,6738,0.25,2.08,0.00,0.000,4,0.130,0.067,2576,3472,3826
$GC,6761,-0.86,-243.4,872.5,-9.0,758,6765,0.00,1.98,0.00,0.000,6,0.000,0.039,2576,2204,3826
$GC,7082,-1.12,-243.4,893.8,-6.2,774,7083,0.32,0.00,0.00,0.000,6,0.049,0.000,2438,2199,3824
$GC,7387,-0.68,-243.4,951.3,-20.2,789,7389,0.52,0.00,0.00,0.000,6,0.149,0.000,2598,2198,3820
$GC,7693,-1.51,-243.4,975.8,-8.9,804,7698,0.73,2.42,0.00,0.000,4,0.092,0.058,2339,684,3819
$GC,7729,-1.00,-243.4,981.0,-17.1,806,7733,0.52,2.42,0.00,0.000,6,0.166,0.051,2498,2187,3819
$STATE,7789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7789,begin apogee
$GC,7793,-0.20,0.0,991.2,15.5,809,7993,0.77,0.00,196.98,1.376,6,0.127,0.000,2750,2519,2854
$STATE,7993,end apogee,CONTROL_FINISHED_OK
$STATE,7993,begin climb
$GC,7995,0.94,243.4,1003.4,0.0,819,8212,1.02,2.40,206.23,1.333,4,0.044,0.054,3146,1143,1860
$GC,8435,0.28,243.4,935.0,21.8,839,8439,0.77,2.30,0.00,0.000,6,0.176,0.052,2910,2529,1853
$GC,8751,0.55,361.5,907.6,8.1,855,8860,0.25,2.40,102.38,1.277,4,0.054,0.053,3028,1144,1379
$GC,8930,0.42,361.5,880.1,15.8,863,8935,0.22,2.30,0.00,0.000,6,0.137,0.049,2957,2516,1375
$GC,9246,0.52,370.0,843.2,11.7,879,9259,0.00,2.30,7.70,1.060,4,0.000,0.051,2962,1130,1344
$GC,9319,0.71,408.9,834.9,10.7,882,9360,0.20,2.22,36.15,1.230,6,0.050,0.048,3054,2496,1186
$GC,9677,0.46,408.9,765.9,19.4,900,9679,0.30,0.00,0.00,0.000,6,0.142,0.000,2967,2496,1180
$GC,9982,0.61,423.8,729.8,11.5,915,10004,0.15,2.25,13.45,1.136,4,0.064,0.052,3043,1131,1126
$GC,10072,0.51,423.8,714.7,17.9,919,10076,0.17,2.20,0.00,0.000,6,0.137,0.047,2986,2487,1124
$GC,10393,0.58,423.8,672.7,13.1,935,10397,0.00,2.17,0.00,0.000,4,0.000,0.051,2994,1140,1122
$GC,10473,0.68,423.8,662.2,12.8,938,10479,0.08,2.12,0.00,0.000,6,0.063,0.047,3044,2461,1122
$GC,10783,0.51,423.8,605.8,17.6,954,10785,0.20,0.00,0.00,0.000,6,0.140,0.000,2986,2461,1122
$GC,11088,0.61,423.8,567.3,12.3,969,11092,0.00,2.12,0.00,0.000,4,0.000,0.051,2993,1138,1122
$GC,11157,0.74,436.1,558.8,11.6,972,11177,0.15,2.10,11.93,1.045,6,0.052,0.046,3074,2450,1075
$GC,11480,0.50,436.1,493.9,20.3,989,11482,0.32,0.00,0.00,0.000,6,0.144,0.000,2977,2451,1072
$GC,11791,0.74,469.5,457.6,10.9,1019,11825,0.20,2.20,29.83,1.024,4,0.056,0.052,3082,1133,939
$GC,11915,0.60,469.5,434.3,20.5,1030,11922,0.20,2.12,0.00,0.000,6,0.140,0.048,3019,2438,937
$GC,12231,0.68,469.5,388.2,14.2,1061,12234,0.00,2.10,0.00,0.000,4,0.000,0.050,3027,1137,935
$GC,12320,0.77,469.5,375.2,14.2,1069,12327,0.08,2.05,0.00,0.000,6,0.061,0.045,3079,2418,935
$GC,12636,0.59,469.5,314.0,19.2,1100,12640,0.22,2.03,0.00,0.000,4,0.146,0.059,3013,3678,935
$GC,12673,0.67,469.5,307.8,14.4,1103,12679,0.00,1.95,0.00,0.000,6,0.000,0.040,3020,2427,935
$GC,12997,0.82,469.5,266.9,12.6,1158,13004,0.17,2.03,0.00,0.000,4,0.058,0.049,3118,1137,934
$GC,13144,0.62,469.5,238.9,19.7,1185,13149,0.32,1.95,0.00,0.000,6,0.145,0.045,3021,2389,934
$GC,13470,0.85,481.5,199.4,11.6,1246,13489,0.17,2.03,10.77,0.770,4,0.056,0.050,3129,1130,890
$GC,13552,0.66,481.5,184.5,20.1,1261,13559,0.28,1.98,0.00,0.000,6,0.137,0.043,3038,2375,890
$GC,13879,0.92,532.0,150.6,10.3,1322,13931,0.22,2.03,43.17,0.765,4,0.049,0.048,3151,1137,684
$GC,13990,0.72,532.0,128.8,19.8,1341,13996,0.30,1.95,0.00,0.000,6,0.134,0.043,3055,2354,682
$GC,14317,1.26,666.5,94.8,7.5,1402,14374,0.43,2.00,48.78,0.705,4,0.039,0.046,3254,1131,478
$GC,14475,0.93,666.5,55.4,30.1,1430,14482,0.43,1.92,0.00,0.000,6,0.139,0.041,3118,2335,466
$GC,14802,1.40,773.7,19.8,8.5,1491,14808,0.40,1.90,0.00,0.000,4,0.039,0.045,3302,1130,461
$STATE,14880,end climb,SURFACE_DEPTH_REACHED
$STATE,14880,begin surface coast
$FINISH,1.8,1.019909
$STATE,14886,end surface coast,CONTROL_FINISHED_OK
$STATE,14886,begin surface
$SM_CCo,14962,0.00,0.000,0,0,459,587.49
$SM_GC,2.56,7.95,0.00,0.00,0.030,0.000,0.000,156,2097,459,-8.22,0.74,587.49
$IRIDIUM_FIX,2515.12,12344.05,140998,202017
$TT8_MAMPS,0.047554
$HUMID,1593
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.10
$XPDR_PINGS,190
$24V_AH,23.5,41.815
$10V_AH,10.7,29.107
$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,37.075,132.125,707.350,0.000,0.000,29.571,46.732,198.820,55.500,0.000,0.000,15.360,0.000,10461.716,818.051,3519.318,522.619,0.000,2162.597,0.000,2966.994,0.000,53.997,0.000
$DEVICE_MAMPS,230.867,66.729,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.877,1053.595,1667.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85245,1507
$CAP_FILE_SIZE,169672,0
$CFSIZE,260165632,241930240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.422, 77.4,1
$GPS,210609,043731,2527.114,12345.895,38,1.2,38,-3.8