version: 66.04
glider: 165
mission: 2
dive: 194
start: 6 21 109 4 44 7
data:
$ID,165
$MISSION,2
$DIVE,194
$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,-120711.58
$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,54
$R_STBD_OVSHOOT,40
$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
$GPS1,043731,2527.114,12345.895,38,1.2,38,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-65.2
$GPS2,044402,2527.321,12346.180,15,1.2,15,-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,251.6,26755,-16.4,-12.000
$D_GRID,1606
$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,-58.22,0.000,2,0.000,0.000,153,2098,1878
$GC,74,-0.94,-243.4,3.2,-3.4,9,145,9.20,2.28,-53.85,0.000,4,0.231,0.058,2507,678,3849
$GC,177,-0.12,-243.4,25.0,-35.8,26,183,0.85,2.20,0.00,0.000,6,0.153,0.046,2772,2066,3849
$GC,503,-0.97,-243.4,65.1,-10.5,87,510,0.73,2.22,0.00,0.000,4,0.059,0.051,2487,3482,3851
$GC,585,-0.39,-243.4,82.9,-27.5,102,591,0.57,2.15,0.00,0.000,6,0.133,0.038,2693,2086,3851
$GC,911,-0.73,-243.4,114.1,-8.1,163,917,0.30,2.20,0.00,0.000,4,0.042,0.054,2544,3479,3852
$GC,986,-0.50,-243.4,126.0,-16.9,177,993,0.28,2.10,0.00,0.000,6,0.120,0.034,2654,2097,3852
$GC,1314,-0.74,-243.4,156.7,-7.0,238,1320,0.20,2.17,0.00,0.000,4,0.051,0.061,2550,3473,3854
$GC,1367,-0.67,-243.4,163.0,-13.0,248,1374,0.12,2.08,0.00,0.000,6,0.115,0.035,2598,2104,3854
$GC,1694,-0.67,-243.4,205.0,-14.1,309,1701,0.00,2.20,0.00,0.000,4,0.000,0.057,2598,3470,3855
$GC,1764,-0.80,-243.4,213.3,-11.2,322,1771,0.08,2.03,0.00,0.000,6,0.052,0.037,2535,2142,3854
$GC,2091,-0.56,-243.4,267.7,-16.3,383,2097,0.32,2.25,0.00,0.000,4,0.126,0.050,2641,681,3854
$GC,2133,-0.91,-243.4,272.4,-7.3,391,2139,0.30,2.25,0.00,0.000,6,0.042,0.040,2486,2153,3855
$GC,2459,-0.48,-243.4,335.3,-19.9,436,2463,0.55,2.08,0.00,0.000,4,0.134,0.060,2658,3471,3854
$GC,2544,-1.24,-243.4,342.6,-7.4,444,2548,0.60,2.00,0.00,0.000,6,0.071,0.035,2413,2151,3855
$GC,2865,-0.57,-243.4,419.7,-24.7,475,2869,0.73,2.28,0.00,0.000,4,0.153,0.051,2636,675,3852
$GC,2891,-0.47,-243.4,424.1,-14.8,477,2895,0.00,2.30,0.00,0.000,6,0.000,0.042,2636,2149,3853
$GC,3212,-1.31,-243.4,451.4,-10.4,508,3216,0.65,2.10,0.00,0.000,4,0.067,0.058,2390,3487,3851
$GC,3346,-0.67,-243.4,480.4,-26.1,520,3352,0.62,2.03,0.00,0.000,6,0.143,0.037,2592,2162,3850
$GC,3660,-0.90,-243.4,511.1,-8.9,545,3664,0.17,2.10,0.00,0.000,4,0.055,0.061,2505,3472,3848
$GC,3706,-0.80,-243.4,517.5,-14.4,547,3711,0.12,1.98,0.00,0.000,6,0.120,0.037,2551,2177,3847
$GC,4023,-0.80,-243.4,554.7,-11.0,563,4026,0.00,2.12,0.00,0.000,4,0.000,0.062,2551,3474,3845
$GC,4059,-0.91,-243.4,558.5,-10.3,564,4066,0.00,1.98,0.00,0.000,6,0.000,0.038,2551,2187,3844
$GC,4370,-0.91,-243.4,588.6,-9.6,580,4373,0.00,2.08,0.00,0.000,4,0.000,0.064,2550,3481,3843
$GC,4407,-1.04,-243.4,592.0,-8.8,581,4415,0.15,1.98,0.00,0.000,6,0.044,0.038,2465,2200,3842
$GC,4717,-0.65,-243.4,646.2,-18.2,597,4721,0.45,2.38,0.00,0.000,4,0.136,0.054,2607,679,3840
$GC,4744,-0.69,-243.4,649.4,-12.0,598,4747,0.00,2.38,0.00,0.000,6,0.000,0.045,2607,2180,3840
$GC,5065,-1.53,-243.4,674.4,-9.3,614,5069,0.75,2.08,0.00,0.000,4,0.075,0.060,2326,3481,3837
$GC,5155,-0.77,-243.4,695.7,-29.5,618,5159,0.75,1.95,0.00,0.000,6,0.154,0.039,2572,2219,3835
$GC,5472,-0.96,-243.4,729.4,-9.4,634,5476,0.17,2.42,0.00,0.000,4,0.060,0.052,2486,679,3833
$GC,5492,-0.96,-243.4,732.1,-12.9,635,5496,0.00,2.42,0.00,0.000,6,0.000,0.047,2482,2203,3832
$GC,5813,-0.69,-243.4,786.5,-17.4,651,5817,0.35,2.05,0.00,0.000,4,0.127,0.066,2590,3478,3830
$GC,5871,-1.08,-243.4,792.0,-7.2,653,5878,0.28,1.95,0.00,0.000,6,0.040,0.038,2452,2219,3829
$GC,6183,-0.71,-243.4,850.4,-19.7,669,6184,0.45,0.00,0.00,0.000,6,0.136,0.000,2593,2216,3826
$GC,6487,-1.05,-243.4,873.4,-6.6,684,6491,0.30,2.08,0.00,0.000,4,0.048,0.067,2459,3472,3825
$GC,6540,-0.82,-243.4,880.6,-16.0,686,6544,0.28,1.92,0.00,0.000,6,0.131,0.040,2551,2236,3824
$GC,6856,-0.94,-243.4,910.7,-8.9,702,6860,0.10,2.47,0.00,0.000,4,0.081,0.056,2502,691,3822
$GC,6887,-0.94,-243.4,914.3,-12.4,703,6892,0.00,2.45,0.00,0.000,6,0.000,0.050,2497,2218,3822
$GC,7203,-0.78,-243.4,958.0,-14.2,719,7207,0.22,2.05,0.00,0.000,4,0.136,0.067,2564,3484,3820
$GC,7229,-0.87,-243.4,960.8,-10.9,720,7233,0.00,1.92,0.00,0.000,6,0.000,0.038,2564,2243,3819
$GC,7551,-1.09,-243.4,983.8,-6.6,736,7555,0.25,2.45,0.00,0.000,4,0.052,0.055,2453,690,3818
$GC,7572,-1.09,-243.4,986.1,-11.4,737,7576,0.00,2.45,0.00,0.000,6,0.000,0.051,2453,2212,3818
$STATE,7612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7612,begin apogee
$GC,7616,-0.20,0.0,992.0,15.1,739,7816,0.95,0.00,196.75,1.378,6,0.144,0.000,2750,2529,2854
$STATE,7816,end apogee,CONTROL_FINISHED_OK
$STATE,7816,begin climb
$GC,7818,0.94,243.4,1000.9,0.0,749,8033,1.00,2.08,206.43,1.332,4,0.038,0.066,3136,3684,1860
$GC,8230,0.19,243.4,931.0,24.4,768,8234,0.85,1.83,0.00,0.000,6,0.170,0.042,2892,2550,1854
$GC,8551,0.56,378.1,904.8,7.5,784,8678,0.30,2.45,116.93,1.276,4,0.051,0.054,3029,1126,1310
$GC,8794,0.44,378.1,865.8,17.0,795,8798,0.20,2.30,0.00,0.000,6,0.136,0.049,2966,2509,1304
$GC,9110,0.52,378.1,826.8,12.7,811,9114,0.00,2.28,0.00,0.000,4,0.000,0.052,2974,1116,1302
$GC,9195,0.62,378.1,816.8,12.2,815,9199,0.10,2.22,0.00,0.000,6,0.057,0.048,3030,2491,1301
$GC,9521,0.44,378.1,761.0,17.9,831,9525,0.25,2.20,0.00,0.000,4,0.140,0.051,2966,1123,1301
$GC,9547,0.44,378.1,757.2,14.2,832,9552,0.00,2.17,0.00,0.000,6,0.000,0.048,2966,2474,1299
$GC,9869,0.53,379.8,718.1,11.9,848,9873,0.00,2.20,0.00,0.000,4,0.000,0.051,2975,1112,1299
$GC,9922,0.64,379.8,711.5,12.1,850,9926,0.10,2.15,0.00,0.000,6,0.057,0.046,3032,2456,1298
$GC,10238,0.46,379.8,655.4,18.0,866,10242,0.22,2.12,0.00,0.000,4,0.142,0.051,2975,1111,1298
$GC,10285,0.56,379.8,648.6,13.3,868,10289,0.00,2.15,0.00,0.000,6,0.000,0.045,2975,2452,1297
$GC,10606,0.63,379.8,607.4,12.8,884,10610,0.15,2.12,0.00,0.000,4,0.065,0.051,3053,1124,1298
$GC,10654,0.46,379.8,599.3,18.4,886,10658,0.25,2.08,0.00,0.000,6,0.143,0.047,2973,2424,1297
$GC,10975,0.56,379.8,557.6,12.4,902,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2424,1297
$GC,11280,0.71,405.2,521.4,11.2,917,11307,0.22,2.10,22.42,1.060,4,0.058,0.051,3078,1111,1201
$GC,11348,0.49,405.2,509.5,19.3,920,11353,0.30,2.12,0.00,0.000,6,0.146,0.045,2983,2423,1199
$GC,11670,0.63,423.0,469.7,11.4,948,11692,0.12,2.10,16.45,1.005,4,0.068,0.049,3050,1109,1129
$GC,11712,0.52,423.0,463.3,15.6,952,11716,0.17,2.15,0.00,0.000,6,0.134,0.044,2993,2431,1127
$GC,12033,0.66,439.2,426.1,11.5,983,12055,0.12,2.17,15.40,0.966,4,0.068,0.051,3060,1110,1062
$GC,12091,0.57,439.2,416.9,17.2,988,12098,0.17,2.12,0.00,0.000,6,0.133,0.044,3003,2422,1061
$GC,12408,0.69,439.2,377.6,12.1,1019,12411,0.12,2.08,0.00,0.000,4,0.069,0.049,3072,1110,1061
$GC,12465,0.59,439.2,368.3,16.7,1024,12473,0.17,2.05,0.00,0.000,6,0.139,0.044,3013,2397,1059
$GC,12781,0.69,439.2,328.6,12.0,1055,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2398,1059
$GC,13094,0.84,452.1,292.4,11.6,1091,13112,0.20,2.05,12.43,0.850,4,0.056,0.048,3115,1105,1009
$GC,13203,0.61,452.1,271.1,20.2,1111,13209,0.32,2.05,0.00,0.000,6,0.142,0.045,3018,2405,1008
$GC,13529,0.80,477.3,232.6,11.2,1172,13555,0.17,2.12,22.08,0.825,4,0.057,0.048,3119,1108,907
$GC,13618,0.60,477.3,216.6,20.2,1188,13625,0.32,2.08,0.00,0.000,6,0.137,0.043,3014,2401,905
$GC,13945,0.95,537.0,181.1,10.0,1249,14002,0.30,2.08,50.53,0.783,4,0.042,0.046,3158,1109,663
$GC,14056,0.70,537.0,158.1,23.2,1268,14062,0.38,2.05,0.00,0.000,6,0.138,0.042,3047,2401,661
$GC,14382,1.15,616.3,122.0,9.4,1329,14434,0.35,2.08,44.78,0.725,4,0.041,0.046,3221,1114,481
$GC,14499,0.90,616.3,95.6,22.2,1349,14505,0.38,2.03,0.00,0.000,6,0.137,0.042,3110,2389,469
$GC,14825,1.22,675.0,56.8,10.1,1410,14833,0.28,2.00,0.00,0.000,4,0.043,0.045,3243,1112,462
$GC,14928,1.02,675.0,38.2,20.0,1429,14934,0.28,1.92,0.00,0.000,6,0.132,0.040,3152,2339,461
$STATE,15204,end climb,SURFACE_DEPTH_REACHED
$STATE,15204,begin surface coast
$FINISH,1.7,1.021278
$STATE,15231,end surface coast,CONTROL_FINISHED_OK
$STATE,15231,begin surface
$SM_CCo,15305,0.00,0.000,0,0,458,587.74
$SM_GC,2.42,7.62,0.00,0.00,0.036,0.000,0.000,161,2033,458,-8.22,-1.07,587.74
$IRIDIUM_FIX,2515.12,12346.04,150998,000032
$TT8_MAMPS,0.046787
$HUMID,1594
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.60
$XPDR_PINGS,196
$24V_AH,23.5,42.077
$10V_AH,10.7,29.244
$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,37.300,155.225,704.175,0.000,0.000,28.922,37.490,208.303,57.000,0.000,0.000,17.424,0.000,10772.718,825.733,3545.841,521.656,0.000,2189.931,0.000,2981.257,0.000,53.970,0.000
$DEVICE_MAMPS,230.867,67.496,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.423,1052.451,1656.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85404,1486
$CAP_FILE_SIZE,175108,0
$CFSIZE,260165632,241836032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.393, 73.5,1
$GPS,210609,090007,2527.877,12346.624,36,1.0,36,-3.8