version: 66.04
glider: 165
mission: 2
dive: 195
start: 6 21 109 9 6 43
data:
$ID,165
$MISSION,2
$DIVE,195
$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,-120728.06
$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,60
$R_STBD_OVSHOOT,28
$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
$GPS1,090007,2527.877,12346.624,36,1.0,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-58.5
$GPS2,090638,2528.017,12346.953,13,1.6,13,-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,253.0,28454,-16.4,-12.000
$D_GRID,1639
$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,-243.4,0.0,0.0,0,79,0.00,0.00,-65.38,0.000,2,0.000,0.000,160,2031,2072
$GC,82,-0.94,-243.4,3.4,-4.4,10,139,9.00,2.10,-42.62,0.000,4,0.226,0.059,2511,685,3846
$GC,165,-0.15,-243.4,23.8,-35.4,24,172,0.77,2.20,0.00,0.000,6,0.140,0.042,2769,2068,3848
$GC,492,-1.00,-243.4,60.7,-11.8,85,499,0.70,2.22,0.00,0.000,4,0.051,0.048,2481,3494,3849
$GC,594,-0.41,-243.4,84.1,-27.9,104,601,0.57,2.12,0.00,0.000,6,0.133,0.034,2687,2100,3850
$GC,921,-0.70,-243.4,116.6,-8.3,165,927,0.25,2.17,0.00,0.000,4,0.045,0.059,2560,3480,3851
$GC,959,-0.54,-243.4,121.8,-15.8,172,965,0.22,2.10,0.00,0.000,6,0.116,0.034,2656,2092,3851
$GC,1286,-0.83,-243.4,152.4,-7.8,233,1292,0.25,2.20,0.00,0.000,4,0.050,0.054,2527,3481,3852
$GC,1426,-0.58,-243.4,174.0,-16.2,259,1433,0.28,2.08,0.00,0.000,6,0.119,0.039,2635,2112,3852
$GC,1753,-0.85,-243.4,201.6,-7.9,320,1760,0.25,2.20,0.00,0.000,4,0.044,0.062,2509,3481,3852
$GC,1802,-0.62,-243.4,208.5,-16.9,329,1808,0.32,2.05,0.00,0.000,6,0.122,0.035,2614,2131,3852
$GC,2128,-0.76,-243.4,242.4,-10.4,390,2134,0.12,2.17,0.00,0.000,4,0.062,0.061,2544,3479,3852
$GC,2181,-0.68,-243.4,249.5,-14.0,400,2192,0.15,2.03,0.00,0.000,6,0.115,0.035,2599,2146,3852
$GC,2513,-0.80,-243.4,283.3,-9.1,461,2519,0.12,2.12,0.00,0.000,4,0.064,0.057,2530,3480,3852
$GC,2567,-0.71,-243.4,290.4,-13.5,471,2574,0.15,2.03,0.00,0.000,6,0.114,0.035,2585,2150,3852
$GC,2886,-0.78,-243.4,321.6,-9.3,510,2889,0.00,2.15,0.00,0.000,4,0.000,0.058,2577,3479,3850
$GC,2976,-0.96,-243.4,329.7,-8.3,518,2983,0.15,2.00,0.00,0.000,6,0.044,0.035,2485,2169,3849
$GC,3292,-0.54,-243.4,386.0,-18.8,549,3294,0.50,0.00,0.00,0.000,6,0.134,0.000,2646,2164,3848
$GC,3604,-1.38,-243.4,411.7,-9.9,579,3608,0.70,2.10,0.00,0.000,4,0.075,0.058,2377,3485,3846
$GC,3634,-1.18,-243.4,415.7,-13.3,581,3641,0.17,2.00,0.00,0.000,6,0.161,0.036,2432,2177,3845
$GC,3950,-0.62,-243.4,490.1,-22.6,612,3954,0.57,2.33,0.00,0.000,4,0.143,0.051,2614,676,3844
$GC,4008,-1.03,-243.4,496.9,-7.3,617,4016,0.30,2.35,0.00,0.000,6,0.038,0.041,2463,2181,3844
$GC,4331,-0.61,-243.4,556.9,-19.9,635,4334,0.45,2.08,0.00,0.000,4,0.137,0.060,2603,3486,3841
$GC,4404,-1.00,-243.4,563.8,-6.8,638,4408,0.25,1.98,0.00,0.000,6,0.036,0.036,2467,2198,3841
$GC,4720,-0.62,-243.4,619.9,-18.0,654,4724,0.47,2.35,0.00,0.000,4,0.133,0.052,2618,687,3838
$GC,4762,-1.00,-243.4,624.2,-6.9,656,4766,0.28,2.35,0.00,0.000,6,0.042,0.043,2471,2181,3838
$GC,5091,-0.65,-243.4,677.2,-17.5,672,5094,0.40,2.08,0.00,0.000,4,0.134,0.062,2602,3473,3835
$GC,5132,-1.01,-243.4,681.1,-5.3,674,5136,0.25,2.00,0.00,0.000,6,0.038,0.037,2467,2176,3834
$GC,5460,-0.67,-243.4,734.2,-16.9,690,5464,0.40,2.10,0.00,0.000,4,0.132,0.062,2590,3472,3831
$GC,5496,-0.92,-243.4,737.8,-7.0,692,5500,0.15,1.98,0.00,0.000,6,0.043,0.038,2502,2194,3832
$GC,5823,-0.75,-243.4,781.3,-13.9,708,5824,0.25,0.00,0.00,0.000,6,0.126,0.000,2580,2189,3829
$GC,6128,-1.00,-243.4,803.0,-6.6,723,6129,0.22,0.00,0.00,0.000,6,0.053,0.000,2474,2189,3826
$GC,6433,-0.71,-243.4,849.9,-16.1,738,6434,0.38,0.00,0.00,0.000,6,0.135,0.000,2590,2189,3823
$GC,6738,-1.03,-243.4,869.0,-5.6,753,6742,0.28,2.10,0.00,0.000,4,0.048,0.067,2466,3478,3822
$GC,6780,-0.84,-243.4,873.8,-14.1,755,6784,0.22,2.03,0.00,0.000,6,0.129,0.041,2541,2180,3821
$GC,7108,-0.92,-243.4,905.9,-9.4,771,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2178,3818
$GC,7412,-0.99,-243.4,935.2,-9.8,786,7413,0.12,0.00,0.00,0.000,6,0.073,0.000,2482,2175,3817
$GC,7717,-0.75,-243.4,982.1,-16.2,801,7718,0.30,0.00,0.00,0.000,6,0.135,0.000,2574,2174,3815
$STATE,7817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7817,begin apogee
$GC,7821,-0.20,0.0,991.6,8.4,806,8024,0.52,0.00,196.40,1.376,6,0.103,0.000,2756,2521,2854
$STATE,8024,end apogee,CONTROL_FINISHED_OK
$STATE,8024,begin climb
$GC,8026,0.94,243.4,1003.6,0.0,816,8241,0.98,2.10,205.90,1.334,4,0.039,0.069,3133,3695,1860
$GC,8390,0.21,243.4,948.9,25.3,833,8394,0.82,1.85,0.00,0.000,6,0.173,0.042,2890,2549,1855
$GC,8705,0.57,355.8,920.5,8.3,849,8812,0.30,2.45,97.32,1.282,4,0.050,0.054,3028,1126,1402
$GC,8933,0.43,355.8,882.5,17.8,859,8941,0.20,2.30,0.00,0.000,6,0.137,0.050,2964,2511,1396
$GC,9244,0.49,355.8,843.0,12.4,875,9248,0.00,2.28,0.00,0.000,4,0.000,0.051,2973,1118,1394
$GC,9318,0.57,355.8,833.8,12.7,878,9322,0.00,2.25,0.00,0.000,6,0.000,0.048,2973,2505,1393
$GC,9634,0.57,355.8,792.4,13.0,894,9637,0.00,2.25,0.00,0.000,4,0.000,0.050,2982,1112,1393
$GC,9681,0.62,355.8,786.3,13.1,896,9686,0.08,2.22,0.00,0.000,6,0.063,0.048,3029,2492,1392
$GC,10003,0.42,355.8,730.9,17.3,912,10007,0.25,2.20,0.00,0.000,4,0.143,0.050,2965,1106,1391
$GC,10050,0.56,371.5,724.7,11.5,914,10068,0.00,2.20,13.20,1.141,6,0.000,0.047,2966,2478,1339
$GC,10371,0.64,371.5,686.0,12.2,930,10375,0.17,2.17,0.00,0.000,4,0.061,0.051,3052,1111,1337
$GC,10392,0.58,371.5,682.9,14.9,931,10396,0.12,2.20,0.00,0.000,6,0.148,0.047,3010,2473,1336
$GC,10718,0.48,371.5,627.8,17.3,947,10722,0.12,2.15,0.00,0.000,4,0.157,0.051,2985,1112,1336
$GC,10749,0.52,371.5,622.8,16.2,948,10754,0.00,2.17,0.00,0.000,6,0.000,0.047,2984,2468,1336
$GC,11066,0.52,371.5,574.9,15.1,964,11069,0.00,2.17,0.00,0.000,4,0.000,0.049,2994,1112,1335
$GC,11124,0.57,371.5,566.1,15.5,966,11130,0.00,2.12,0.00,0.000,6,0.000,0.046,2994,2444,1335
$GC,11434,0.57,371.5,520.1,14.5,982,11438,0.00,2.00,0.00,0.000,4,0.000,0.061,2994,3681,1334
$GC,11460,0.57,371.5,516.1,15.7,983,11464,0.00,1.95,0.00,0.000,6,0.000,0.039,3003,2421,1334
$GC,11775,0.57,371.5,472.4,13.1,1008,11779,0.00,2.08,0.00,0.000,4,0.000,0.051,3012,1109,1334
$GC,11849,0.58,379.5,463.0,11.7,1015,11862,0.00,2.10,7.47,0.925,6,0.000,0.046,3012,2426,1307
$GC,12169,0.58,379.5,418.9,13.5,1046,12173,0.00,2.10,0.00,0.000,4,0.000,0.048,3021,1112,1306
$GC,12206,0.58,379.5,413.6,14.0,1049,12213,0.00,2.08,0.00,0.000,6,0.000,0.045,3021,2410,1305
$GC,12523,0.53,379.5,364.9,15.5,1080,12527,0.12,2.03,0.00,0.000,4,0.136,0.060,2986,3683,1305
$GC,12555,0.59,379.5,360.2,14.5,1083,12558,0.00,1.98,0.00,0.000,6,0.000,0.040,2993,2394,1305
$GC,12876,0.68,379.5,320.6,12.4,1114,12879,0.12,2.00,0.00,0.000,4,0.067,0.048,3065,1108,1305
$GC,12971,0.53,379.5,306.0,16.5,1123,12975,0.22,2.03,0.00,0.000,6,0.137,0.044,2992,2382,1305
$GC,13296,0.73,442.3,271.5,9.9,1179,13358,0.17,2.17,54.03,0.881,4,0.060,0.059,3072,3683,1049
$GC,13379,0.57,442.3,257.7,20.3,1193,13385,0.25,2.08,0.00,0.000,6,0.133,0.038,2986,2388,1048
$GC,13705,1.02,563.6,226.5,8.0,1254,13821,0.43,2.12,107.28,0.818,4,0.040,0.048,3177,1117,551
$GC,13901,0.78,563.6,179.1,24.0,1288,13908,0.32,2.05,0.00,0.000,6,0.143,0.044,3076,2367,540
$GC,14228,0.94,563.6,130.5,14.0,1349,14234,0.15,2.00,0.00,0.000,4,0.057,0.048,3158,1120,535
$GC,14271,0.81,563.6,122.7,20.6,1357,14277,0.20,1.95,0.00,0.000,6,0.130,0.042,3076,2347,534
$GC,14597,1.29,653.5,85.4,9.0,1418,14624,0.38,2.03,16.23,0.612,4,0.040,0.048,3261,1103,483
$GC,14687,0.93,653.5,64.5,23.4,1434,14693,0.45,1.98,0.00,0.000,6,0.146,0.042,3118,2346,474
$GC,15014,1.35,727.3,28.4,9.6,1495,15021,0.35,0.00,0.00,0.000,6,0.040,0.000,3278,2347,472
$STATE,15125,end climb,SURFACE_DEPTH_REACHED
$STATE,15125,begin surface coast
$FINISH,1.8,1.020890
$STATE,15138,end surface coast,CONTROL_FINISHED_OK
$STATE,15138,begin surface
$SM_CCo,15213,0.00,0.000,0,0,469,584.80
$SM_GC,2.41,7.95,0.00,0.00,0.036,0.000,0.000,159,2073,469,-8.21,0.06,584.80
$IRIDIUM_FIX,2515.12,12346.04,150998,040419
$TT8_MAMPS,0.047554
$HUMID,1627
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.30
$XPDR_PINGS,219
$24V_AH,23.5,42.335
$10V_AH,10.7,29.382
$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,34.700,136.600,697.825,0.000,0.000,23.266,48.922,202.918,62.750,0.000,0.000,15.860,0.000,10702.140,817.961,3524.450,528.818,0.000,2165.840,0.000,2971.192,0.000,55.081,0.000
$DEVICE_MAMPS,226.265,69.030,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.810,1063.339,1677.737,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88367,1518
$CAP_FILE_SIZE,169762,0
$CFSIZE,260165632,241745920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.345, 71.4,1
$GPS,210609,132107,2528.533,12346.902,32,1.2,32,-3.8