version: 66.04
glider: 165
mission: 2
dive: 196
start: 6 21 109 13 31 43
data:
$ID,165
$MISSION,2
$DIVE,196
$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,-120743.82
$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,25
$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
$GPS1,132107,2528.533,12346.902,32,1.2,32,-3.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-62.9
$GPS2,133137,2528.756,12347.367,13,1.6,13,-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,253.1,29985,-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,-243.4,0.0,0.0,0,73,0.00,0.00,-58.67,0.000,2,0.000,0.000,154,2073,1918
$GC,75,-0.94,-243.4,3.1,-3.5,9,145,9.10,2.28,-51.60,0.000,4,0.229,0.065,2508,658,3850
$GC,176,-0.08,-243.4,26.1,-38.1,26,183,0.90,2.25,0.00,0.000,6,0.155,0.041,2785,2080,3850
$GC,503,-0.89,-243.4,64.3,-11.2,87,510,0.68,2.20,0.00,0.000,4,0.078,0.053,2521,3478,3851
$GC,622,-0.48,-243.4,88.2,-22.0,109,629,0.38,2.17,0.00,0.000,6,0.127,0.041,2664,2062,3851
$GC,949,-0.69,-243.4,122.9,-9.0,170,955,0.20,2.25,0.00,0.000,4,0.051,0.056,2560,3484,3852
$GC,1062,-0.57,-243.4,138.8,-14.0,191,1068,0.20,2.10,0.00,0.000,6,0.110,0.036,2648,2105,3852
$GC,1388,-0.84,-243.4,166.1,-7.6,252,1395,0.28,2.17,0.00,0.000,4,0.043,0.062,2510,3477,3853
$GC,1490,-0.49,-243.4,183.7,-18.8,271,1496,0.43,2.05,0.00,0.000,6,0.124,0.035,2656,2133,3853
$GC,1816,-1.30,-243.4,212.9,-10.9,332,1823,0.73,2.15,0.00,0.000,4,0.091,0.057,2396,3495,3853
$GC,1865,-0.67,-243.4,221.2,-21.9,341,1871,0.60,2.03,0.00,0.000,6,0.142,0.035,2601,2159,3853
$GC,2192,-0.79,-243.4,254.7,-9.1,402,2199,0.12,2.12,0.00,0.000,4,0.063,0.059,2531,3488,3853
$GC,2220,-0.79,-243.4,258.1,-11.6,407,2226,0.08,2.03,0.00,0.000,6,0.125,0.035,2560,2154,3853
$GC,2547,-0.71,-243.4,300.6,-14.3,468,2550,0.00,2.12,0.00,0.000,4,0.000,0.060,2560,3484,3852
$GC,2631,-0.80,-243.4,311.8,-12.6,476,2635,0.00,2.00,0.00,0.000,6,0.000,0.036,2560,2176,3852
$GC,2952,-0.80,-243.4,352.0,-12.0,507,2956,0.00,2.08,0.00,0.000,4,0.000,0.060,2560,3473,3850
$GC,2989,-0.87,-243.4,356.2,-11.2,510,2997,0.00,1.98,0.00,0.000,6,0.000,0.037,2560,2182,3850
$GC,3306,-0.87,-243.4,392.2,-11.1,541,3309,0.00,2.08,0.00,0.000,4,0.000,0.061,2560,3475,3848
$GC,3379,-0.99,-243.4,399.9,-9.6,548,3388,0.12,1.95,0.00,0.000,6,0.044,0.038,2477,2205,3847
$GC,3702,-0.63,-243.4,458.7,-17.8,579,3704,0.45,0.00,0.00,0.000,6,0.131,0.000,2620,2199,3845
$GC,4014,-1.46,-243.4,487.6,-10.7,609,4018,0.73,2.05,0.00,0.000,4,0.072,0.060,2345,3479,3843
$GC,4078,-0.69,-243.4,500.3,-27.0,614,4085,0.75,1.95,0.00,0.000,6,0.156,0.039,2593,2213,3842
$GC,4388,-0.94,-243.4,530.4,-8.2,630,4392,0.17,2.05,0.00,0.000,4,0.056,0.062,2494,3485,3840
$GC,4414,-0.94,-243.4,533.5,-13.0,631,4418,0.00,1.95,0.00,0.000,6,0.000,0.038,2494,2221,3839
$GC,4735,-0.68,-243.4,585.8,-15.8,647,4736,0.32,0.00,0.00,0.000,6,0.129,0.000,2597,2216,3836
$GC,5040,-0.99,-243.4,606.2,-6.3,662,5044,0.28,2.05,0.00,0.000,4,0.047,0.065,2469,3487,3835
$GC,5072,-0.82,-243.4,609.7,-12.7,663,5076,0.22,1.98,0.00,0.000,6,0.130,0.039,2545,2214,3833
$GC,5388,-0.82,-243.4,644.9,-11.1,679,5391,0.00,2.05,0.00,0.000,4,0.000,0.066,2546,3472,3831
$GC,5419,-0.93,-243.4,648.4,-10.3,680,5423,0.00,1.92,0.00,0.000,6,0.000,0.038,2546,2228,3831
$GC,5735,-0.93,-243.4,682.2,-10.8,696,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2226,3828
$GC,6040,-0.98,-243.4,715.8,-11.0,711,6044,0.12,2.05,0.00,0.000,4,0.068,0.067,2480,3467,3826
$GC,6072,-0.82,-243.4,720.0,-14.0,712,6076,0.20,1.92,0.00,0.000,6,0.125,0.040,2548,2231,3825
$GC,6388,-0.89,-243.4,756.0,-10.7,728,6392,0.00,2.45,0.00,0.000,4,0.000,0.057,2549,680,3823
$GC,6419,-1.00,-243.4,759.4,-11.0,729,6423,0.15,2.42,0.00,0.000,6,0.063,0.048,2473,2223,3823
$GC,6735,-0.71,-243.4,811.2,-16.8,745,6739,0.38,2.03,0.00,0.000,4,0.136,0.067,2589,3478,3820
$GC,6777,-1.06,-243.4,815.1,-6.3,747,6781,0.25,1.92,0.00,0.000,6,0.041,0.038,2462,2236,3820
$GC,7105,-0.72,-243.4,869.0,-16.8,763,7109,0.38,2.47,0.00,0.000,4,0.141,0.055,2581,679,3818
$GC,7152,-1.02,-243.4,873.9,-6.5,765,7156,0.25,2.42,0.00,0.000,6,0.051,0.048,2468,2222,3818
$GC,7468,-0.73,-243.4,922.3,-16.0,781,7472,0.35,2.03,0.00,0.000,4,0.137,0.065,2577,3472,3816
$GC,7531,-1.09,-243.4,927.6,-5.6,784,7535,0.25,1.95,0.00,0.000,6,0.041,0.039,2452,2219,3815
$GC,7853,-0.73,-243.4,981.8,-18.6,800,7855,0.43,0.00,0.00,0.000,6,0.140,0.000,2582,2216,3814
$STATE,7952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7953,begin apogee
$GC,7957,-0.20,0.0,991.1,7.9,805,8156,0.50,0.00,196.18,1.376,6,0.100,0.000,2757,2518,2854
$STATE,8156,end apogee,CONTROL_FINISHED_OK
$STATE,8156,begin climb
$GC,8158,0.94,243.4,1003.0,0.0,815,8373,0.98,2.47,206.30,1.334,4,0.039,0.056,3144,1132,1860
$GC,8452,0.28,243.4,966.6,23.0,828,8459,0.80,2.35,0.00,0.000,6,0.176,0.052,2915,2517,1854
$GC,8763,0.47,323.1,935.9,9.4,844,8836,0.17,2.33,68.75,1.285,4,0.061,0.052,3008,1135,1536
$GC,8899,0.37,323.1,915.8,15.6,850,8906,0.20,2.30,0.00,0.000,6,0.137,0.049,2944,2511,1531
$GC,9210,0.49,351.7,880.3,11.1,866,9240,0.10,2.28,25.48,1.243,4,0.076,0.052,3002,1137,1419
$GC,9299,0.44,351.7,867.7,14.7,870,9303,0.12,2.25,0.00,0.000,6,0.133,0.048,2962,2496,1416
$GC,9621,0.49,351.9,829.8,12.0,886,9624,0.00,2.17,0.00,0.000,4,0.000,0.051,2971,1130,1415
$GC,9710,0.57,351.9,818.5,13.1,890,9715,0.00,2.20,0.00,0.000,6,0.000,0.047,2971,2490,1412
$GC,10032,0.57,351.9,776.2,13.3,906,10035,0.00,2.17,0.00,0.000,4,0.000,0.049,2980,1136,1412
$GC,10090,0.57,351.9,768.8,13.0,908,10096,0.00,2.12,0.00,0.000,6,0.000,0.048,2979,2459,1411
$GC,10400,0.57,351.9,727.2,13.0,924,10404,0.00,2.12,0.00,0.000,4,0.000,0.051,2988,1139,1411
$GC,10443,0.57,351.9,721.6,13.6,926,10447,0.00,2.10,0.00,0.000,6,0.000,0.047,2988,2449,1410
$GC,10769,0.57,351.9,675.7,13.8,942,10773,0.00,2.10,0.00,0.000,4,0.000,0.050,2998,1139,1410
$GC,10795,0.57,351.9,671.9,14.4,943,10799,0.00,2.10,0.00,0.000,6,0.000,0.046,2998,2451,1410
$GC,11117,0.49,351.9,624.4,14.8,959,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2451,1410
$GC,11422,0.44,351.9,581.8,13.5,974,11426,0.12,2.10,0.00,0.000,4,0.144,0.051,2972,1138,1410
$GC,11475,0.61,404.9,575.9,10.2,976,11529,0.10,2.08,45.72,1.118,6,0.056,0.048,3030,2436,1202
$GC,11834,0.49,404.9,519.2,16.5,994,11835,0.17,0.00,0.00,0.000,6,0.140,0.000,2980,2436,1198
$GC,12141,0.63,406.9,481.7,11.9,1016,12144,0.12,2.08,0.00,0.000,4,0.071,0.050,3046,1132,1195
$GC,12225,0.52,406.9,468.4,15.1,1024,12229,0.17,2.08,0.00,0.000,6,0.135,0.047,2989,2422,1194
$GC,12547,0.66,427.9,430.1,11.3,1055,12572,0.12,2.10,20.10,0.997,4,0.068,0.051,3057,1136,1109
$GC,12631,0.55,427.9,416.4,16.9,1063,12635,0.17,2.08,0.00,0.000,6,0.134,0.047,2999,2418,1107
$GC,12952,0.67,428.3,376.3,12.0,1094,12953,0.10,0.00,0.00,0.000,6,0.077,0.000,3048,2419,1105
$GC,13263,0.59,428.3,328.9,14.0,1124,13267,0.15,2.03,0.00,0.000,4,0.143,0.049,3013,1130,1105
$GC,13353,0.75,452.3,318.2,11.2,1132,13383,0.10,2.05,22.15,0.909,6,0.054,0.044,3078,2421,1008
$GC,13700,0.60,452.3,254.5,18.5,1187,13706,0.22,2.03,0.00,0.000,4,0.141,0.048,3019,1134,1005
$GC,13736,0.71,452.3,248.7,13.4,1194,13743,0.00,2.05,0.00,0.000,6,0.000,0.044,3020,2419,1004
$GC,14063,1.00,525.8,210.9,9.6,1255,14131,0.32,2.17,61.15,0.820,4,0.044,0.048,3174,1128,709
$GC,14279,0.69,525.8,162.6,22.3,1294,14286,0.43,2.03,0.00,0.000,6,0.146,0.044,3041,2378,705
$GC,14606,1.05,599.6,126.7,9.6,1355,14669,0.30,2.08,54.03,0.738,4,0.044,0.047,3192,1130,479
$GC,14739,0.81,599.6,99.7,19.2,1378,14745,0.32,2.00,0.00,0.000,6,0.130,0.041,3078,2366,468
$GC,15065,1.38,716.7,68.8,8.1,1439,15071,0.50,0.00,0.00,0.000,6,0.036,0.000,3296,2366,461
$STATE,15314,end climb,SURFACE_DEPTH_REACHED
$STATE,15314,begin surface coast
$FINISH,2.0,1.000662
$STATE,15325,end surface coast,CONTROL_FINISHED_OK
$STATE,15325,begin surface
$SM_CCo,15400,0.00,0.000,0,0,458,587.74
$SM_GC,2.72,8.12,0.00,0.00,0.044,0.000,0.000,158,2077,458,-8.21,0.17,587.74
$IRIDIUM_FIX,2519.89,12345.38,150998,131354
$TT8_MAMPS,0.048321
$HUMID,1635
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.80
$XPDR_PINGS,221
$24V_AH,23.5,42.605
$10V_AH,10.6,29.519
$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,33.925,136.650,699.850,0.000,0.000,57.638,82.130,305.903,63.250,0.000,0.000,15.129,0.000,11014.020,802.024,3474.251,710.946,0.000,2139.502,0.000,2929.439,0.000,55.021,0.000
$DEVICE_MAMPS,228.566,67.496,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.481,1033.828,1621.634,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85316,1488
$CAP_FILE_SIZE,171903,0
$CFSIZE,260165632,241659904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.335, 82.8,1
$GPS,210609,174907,2528.754,12347.430,25,1.7,25,-3.8