version: 66.04
glider: 165
mission: 2
dive: 197
start: 6 21 109 17 55 51
data:
$ID,165
$MISSION,2
$DIVE,197
$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,-120777.43
$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,42
$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
$GPS1,174907,2528.754,12347.430,25,1.7,25,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-64.1
$GPS2,175546,2528.960,12347.762,11,2.1,30,-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,253.9,30606,-16.4,-12.000
$D_GRID,1640
$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,-243.4,0.0,0.0,0,69,0.00,0.00,-55.30,0.000,2,0.000,0.000,156,2075,1793
$GC,71,-0.94,-243.4,3.1,-2.9,8,148,9.05,2.20,-62.10,0.000,4,0.226,0.058,2510,670,3848
$GC,185,-0.18,-243.4,24.5,-33.4,27,191,0.75,2.22,0.00,0.000,6,0.146,0.044,2757,2069,3849
$GC,511,-1.03,-243.4,55.7,-12.2,88,518,0.75,2.22,0.00,0.000,4,0.066,0.052,2474,3485,3850
$GC,699,-0.48,-243.4,112.7,-27.3,123,706,0.55,2.12,0.00,0.000,6,0.130,0.034,2658,2087,3850
$GC,1026,-0.77,-243.4,143.0,-8.2,184,1032,0.25,2.20,0.00,0.000,4,0.044,0.054,2533,3477,3852
$GC,1106,-0.57,-243.4,153.8,-14.7,199,1112,0.25,2.05,0.00,0.000,6,0.117,0.038,2633,2131,3852
$GC,1433,-0.76,-243.4,180.8,-9.5,260,1439,0.17,2.17,0.00,0.000,4,0.054,0.057,2544,3482,3853
$GC,1529,-0.62,-243.4,195.2,-15.4,278,1536,0.20,2.05,0.00,0.000,6,0.114,0.040,2616,2144,3853
$GC,1858,-0.81,-243.4,230.8,-8.2,339,1863,0.15,2.12,0.00,0.000,4,0.058,0.057,2534,3477,3853
$GC,1916,-0.70,-243.4,238.4,-13.7,350,1923,0.15,2.00,0.00,0.000,6,0.115,0.036,2588,2169,3853
$GC,2243,-0.76,-243.4,272.6,-9.6,411,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2165,3853
$GC,2567,-0.84,-243.4,307.1,-11.5,466,2570,0.12,2.10,0.00,0.000,4,0.064,0.060,2518,3488,3853
$GC,2656,-0.70,-243.4,321.2,-16.3,474,2665,0.20,1.98,0.00,0.000,6,0.117,0.036,2588,2194,3852
$GC,2973,-0.82,-243.4,355.0,-10.1,505,2976,0.00,2.35,0.00,0.000,4,0.000,0.051,2589,692,3852
$GC,2998,-0.96,-243.4,357.7,-10.8,507,3005,0.17,2.33,0.00,0.000,6,0.041,0.043,2488,2174,3851
$GC,3314,-0.59,-243.4,416.2,-19.4,538,3318,0.45,2.08,0.00,0.000,4,0.137,0.061,2630,3467,3850
$GC,3378,-1.06,-243.4,421.7,-6.5,544,3382,0.38,1.95,0.00,0.000,6,0.038,0.035,2452,2184,3850
$GC,3699,-0.56,-243.4,487.4,-22.6,575,3701,0.57,0.00,0.00,0.000,6,0.138,0.000,2633,2178,3848
$GC,4018,-1.36,-243.4,517.0,-10.0,598,4022,0.65,2.08,0.00,0.000,4,0.062,0.061,2375,3473,3846
$GC,4182,-0.73,-243.4,554.1,-24.8,606,4186,0.62,1.95,0.00,0.000,6,0.149,0.039,2573,2205,3844
$GC,4510,-0.90,-243.4,582.8,-7.5,622,4512,0.12,0.00,0.00,0.000,6,0.067,0.000,2508,2201,3843
$GC,4814,-0.73,-243.4,622.8,-13.7,637,4818,0.25,2.05,0.00,0.000,4,0.123,0.066,2586,3472,3841
$GC,4856,-1.03,-243.4,626.8,-7.8,639,4860,0.25,1.95,0.00,0.000,6,0.040,0.038,2460,2212,3839
$GC,5184,-0.66,-243.4,686.6,-18.6,655,5188,0.43,2.08,0.00,0.000,4,0.139,0.064,2590,3483,3836
$GC,5242,-1.02,-243.4,692.5,-6.4,658,5246,0.28,1.95,0.00,0.000,6,0.048,0.040,2464,2204,3836
$GC,5569,-0.67,-243.4,749.8,-18.4,674,5574,0.40,2.38,0.00,0.000,4,0.136,0.054,2596,687,3834
$GC,5594,-0.67,-243.4,753.3,-12.8,675,5598,0.00,2.40,0.00,0.000,6,0.000,0.047,2595,2194,3834
$GC,5916,-1.02,-243.4,773.3,-6.3,691,5920,0.28,2.08,0.00,0.000,4,0.049,0.063,2465,3487,3831
$GC,5989,-0.81,-243.4,783.4,-15.8,694,5994,0.25,1.98,0.00,0.000,6,0.127,0.038,2550,2212,3830
$GC,6305,-0.90,-243.4,815.3,-9.8,710,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2211,3828
$GC,6611,-1.00,-243.4,843.0,-8.8,725,6612,0.15,0.00,0.00,0.000,6,0.066,0.000,2481,2211,3826
$GC,6916,-0.77,-243.4,888.3,-14.8,740,6920,0.28,2.08,0.00,0.000,4,0.136,0.069,2564,3475,3823
$GC,6953,-0.96,-243.4,891.9,-7.6,741,6959,0.12,1.95,0.00,0.000,6,0.051,0.041,2491,2225,3822
$GC,7264,-0.77,-243.4,934.9,-14.8,757,7265,0.25,0.00,0.00,0.000,6,0.133,0.000,2568,2219,3821
$GC,7569,-1.00,-243.4,959.8,-7.9,772,7573,0.20,2.05,0.00,0.000,4,0.058,0.069,2477,3473,3819
$GC,7605,-0.88,-243.4,964.0,-12.7,773,7612,0.15,1.95,0.00,0.000,6,0.130,0.041,2530,2225,3819
$STATE,7832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7832,begin apogee
$GC,7837,-0.20,0.0,990.3,11.2,785,8037,0.68,0.00,196.95,1.380,6,0.117,0.000,2753,2523,2854
$STATE,8038,end apogee,CONTROL_FINISHED_OK
$STATE,8038,begin climb
$GC,8040,0.94,243.4,1002.0,0.0,795,8255,1.00,2.08,206.43,1.337,4,0.040,0.068,3136,3683,1860
$GC,8467,0.19,243.4,933.6,23.6,815,8472,0.88,1.83,0.00,0.000,6,0.173,0.044,2887,2550,1854
$GC,8789,0.62,410.1,910.2,6.5,831,8939,0.35,2.45,144.70,1.282,4,0.048,0.054,3042,1117,1181
$GC,9094,0.48,410.1,858.5,17.8,845,9099,0.22,2.30,0.00,0.000,6,0.139,0.050,2972,2502,1175
$GC,9410,0.58,410.1,818.1,12.6,861,9414,0.10,2.22,0.00,0.000,4,0.077,0.053,3028,1118,1173
$GC,9484,0.50,410.1,806.2,17.2,864,9489,0.12,2.22,0.00,0.000,6,0.133,0.048,2986,2490,1172
$GC,9801,0.55,410.1,760.7,13.8,880,9804,0.00,2.20,0.00,0.000,4,0.000,0.051,2994,1111,1170
$GC,9896,0.62,410.1,747.0,14.8,884,9900,0.00,2.17,0.00,0.000,6,0.000,0.047,2994,2464,1169
$GC,10212,0.62,410.1,699.3,15.3,900,10216,0.00,2.17,0.00,0.000,4,0.000,0.050,3004,1114,1169
$GC,10276,0.62,410.1,689.3,16.2,903,10280,0.00,2.15,0.00,0.000,6,0.000,0.047,3004,2450,1168
$GC,10602,0.62,410.1,638.3,15.5,919,10606,0.00,2.15,0.00,0.000,4,0.000,0.051,3013,1118,1168
$GC,10639,0.62,410.1,632.7,15.5,920,10645,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2443,1168
$GC,10950,0.57,410.1,585.2,15.5,936,10953,0.00,2.10,0.00,0.000,4,0.000,0.051,3023,1117,1168
$GC,11002,0.57,410.1,577.0,15.2,938,11006,0.00,2.08,0.00,0.000,6,0.000,0.046,3023,2419,1167
$GC,11318,0.50,410.1,525.3,16.5,954,11323,0.15,2.08,0.00,0.000,4,0.137,0.050,2987,1121,1167
$GC,11387,0.65,410.1,515.9,12.7,957,11391,0.08,2.05,0.00,0.000,6,0.061,0.045,3039,2408,1166
$GC,11703,0.53,410.1,462.7,16.8,983,11705,0.17,0.00,0.00,0.000,6,0.139,0.000,2988,2408,1166
$GC,12014,0.71,446.0,426.6,10.8,1013,12048,0.17,2.15,29.85,1.003,4,0.061,0.051,3084,1111,1034
$GC,12129,0.54,446.0,406.6,18.4,1023,12134,0.32,2.08,0.00,0.000,6,0.145,0.046,2989,2411,1031
$GC,12443,0.76,465.5,369.9,11.4,1054,12464,0.20,0.00,17.77,0.933,6,0.056,0.000,3080,2411,955
$GC,12773,0.58,465.5,304.0,20.7,1086,12777,0.25,2.08,0.00,0.000,4,0.143,0.050,3014,1118,953
$GC,12832,0.77,465.5,295.4,13.1,1094,12840,0.10,2.05,0.00,0.000,6,0.051,0.043,3084,2402,953
$GC,13160,0.64,465.5,235.3,16.7,1155,13166,0.20,2.03,0.00,0.000,4,0.139,0.048,3033,1109,953
$GC,13251,0.83,500.1,224.5,10.9,1172,13287,0.10,2.00,29.90,0.836,6,0.051,0.042,3104,2370,814
$GC,13608,0.71,500.1,157.1,17.0,1238,13615,0.17,0.00,0.00,0.000,6,0.138,0.000,3048,2370,810
$GC,13935,1.01,568.5,117.6,9.7,1299,14004,0.25,2.05,62.47,0.739,4,0.049,0.048,3171,1109,531
$GC,14110,0.92,568.5,84.7,16.4,1330,14118,0.15,2.05,0.00,0.000,6,0.130,0.041,3119,2378,520
$GC,14438,1.15,596.4,43.7,11.1,1391,14456,0.20,2.03,10.45,0.621,4,0.052,0.046,3222,1117,481
$GC,14548,1.00,596.4,22.9,20.6,1411,14554,0.22,1.98,0.00,0.000,6,0.128,0.042,3147,2360,475
$STATE,14701,end climb,SURFACE_DEPTH_REACHED
$STATE,14701,begin surface coast
$FINISH,1.7,1.008812
$STATE,14723,end surface coast,CONTROL_FINISHED_OK
$STATE,14723,begin surface
$SM_CCo,14797,0.00,0.000,0,0,472,584.30
$SM_GC,2.54,7.70,0.00,0.00,0.041,0.000,0.000,162,2040,472,-8.22,-0.88,584.30
$IRIDIUM_FIX,2517.50,12347.36,150998,131347
$TT8_MAMPS,0.048321
$HUMID,1602
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.10
$XPDR_PINGS,197
$24V_AH,23.5,42.868
$10V_AH,10.6,29.651
$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,32.650,118.900,698.525,0.000,0.000,28.079,37.820,199.501,57.250,0.000,0.000,32.979,0.000,10407.452,794.246,3454.566,508.865,0.000,2110.866,0.000,2911.140,0.000,53.998,0.000
$DEVICE_MAMPS,226.265,69.030,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,975.790,1009.742,1585.609,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82173,1444
$CAP_FILE_SIZE,161487,0
$CFSIZE,260165632,241577984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.341, 68.9,1
$GPS,210609,220325,2529.899,12347.878,38,1.5,38,-3.8