version: 66.04
glider: 165
mission: 2
dive: 198
start: 6 21 109 22 10 1
data:
$ID,165
$MISSION,2
$DIVE,198
$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,-120793.82
$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,55
$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
$GPS1,220325,2529.899,12347.878,38,1.5,38,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-62.4
$GPS2,220956,2530.110,12348.187,13,1.6,13,-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,251.6,32837,-16.4,-12.000
$D_GRID,1679
$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,-58.83,0.000,2,0.000,0.000,160,2039,1893
$GC,75,-0.94,-243.4,3.1,-2.8,9,145,9.00,2.20,-55.15,0.000,4,0.223,0.058,2513,669,3849
$GC,166,-0.13,-243.4,19.6,-36.4,24,173,0.80,2.22,0.00,0.000,6,0.147,0.041,2772,2070,3850
$GC,493,-0.95,-243.4,57.6,-11.3,85,499,0.70,2.22,0.00,0.000,4,0.087,0.050,2508,3491,3851
$GC,611,-0.40,-243.4,82.4,-25.5,107,619,0.50,2.12,0.00,0.000,6,0.132,0.035,2684,2097,3851
$GC,939,-1.18,-243.4,112.4,-9.3,168,946,0.68,2.20,0.00,0.000,4,0.078,0.052,2429,3490,3853
$GC,972,-0.87,-243.4,116.5,-13.9,174,979,0.35,2.08,0.00,0.000,6,0.150,0.035,2534,2105,3853
$GC,1300,-0.46,-243.4,181.3,-20.8,235,1306,0.40,2.17,0.00,0.000,4,0.128,0.054,2658,3478,3854
$GC,1359,-0.90,-243.4,187.8,-6.8,246,1367,0.28,2.05,0.00,0.000,6,0.034,0.034,2485,2128,3854
$GC,1688,-0.44,-243.4,258.0,-21.0,307,1693,0.55,0.00,0.00,0.000,6,0.132,0.000,2668,2124,3854
$GC,2013,-1.29,-243.4,285.6,-9.8,368,2020,0.70,2.17,0.00,0.000,4,0.049,0.057,2385,3503,3855
$GC,2154,-0.56,-243.4,319.3,-27.3,388,2158,0.80,2.05,0.00,0.000,6,0.146,0.038,2634,2147,3854
$GC,2468,-1.39,-243.4,342.4,-8.4,418,2472,0.73,2.10,0.00,0.000,4,0.076,0.057,2367,3475,3854
$GC,2580,-0.55,-243.4,368.1,-29.2,428,2587,0.85,1.98,0.00,0.000,6,0.155,0.036,2633,2174,3852
$GC,2896,-1.37,-243.4,397.3,-10.2,459,2900,0.70,2.08,0.00,0.000,4,0.067,0.057,2364,3478,3852
$GC,2954,-0.68,-243.4,407.6,-23.7,464,2958,0.70,1.95,0.00,0.000,6,0.142,0.037,2600,2201,3851
$GC,3276,-0.94,-243.4,435.8,-7.6,495,3279,0.22,2.05,0.00,0.000,4,0.048,0.060,2484,3485,3849
$GC,3306,-0.77,-243.4,439.7,-13.8,498,3311,0.22,1.95,0.00,0.000,6,0.119,0.037,2562,2210,3849
$GC,3628,-0.83,-243.4,472.1,-9.6,529,3632,0.00,2.08,0.00,0.000,4,0.000,0.061,2563,3479,3847
$GC,3660,-0.98,-243.4,475.2,-9.2,532,3664,0.17,1.92,0.00,0.000,6,0.057,0.037,2475,2201,3846
$GC,3978,-0.61,-243.4,531.1,-17.8,555,3982,0.43,2.38,0.00,0.000,4,0.136,0.052,2614,673,3845
$GC,3998,-0.52,-243.4,533.7,-12.7,556,4002,0.08,2.40,0.00,0.000,6,0.109,0.044,2649,2192,3844
$GC,4320,-1.37,-243.4,562.2,-10.5,572,4324,0.70,2.05,0.00,0.000,4,0.067,0.058,2376,3485,3842
$GC,4394,-0.78,-243.4,575.5,-23.0,575,4400,0.62,1.95,0.00,0.000,6,0.149,0.038,2567,2201,3841
$GC,4704,-0.92,-243.4,605.4,-8.5,591,4708,0.15,2.08,0.00,0.000,4,0.063,0.062,2493,3470,3839
$GC,4757,-0.80,-243.4,612.0,-13.4,593,4761,0.17,1.92,0.00,0.000,6,0.120,0.038,2555,2219,3838
$GC,5073,-0.90,-243.4,641.4,-9.1,609,5076,0.00,2.42,0.00,0.000,4,0.000,0.054,2555,673,3836
$GC,5109,-1.07,-243.4,645.0,-9.4,610,5116,0.20,2.45,0.00,0.000,6,0.042,0.046,2452,2221,3836
$GC,5421,-0.67,-243.4,701.7,-19.4,626,5424,0.45,2.03,0.00,0.000,4,0.145,0.064,2588,3475,3833
$GC,5467,-0.99,-243.4,706.9,-7.2,628,5472,0.20,1.95,0.00,0.000,6,0.041,0.038,2479,2217,3832
$GC,5784,-0.72,-243.4,754.8,-15.3,644,5785,0.35,0.00,0.00,0.000,6,0.132,0.000,2588,2213,3831
$GC,6088,-1.02,-243.4,774.6,-6.1,659,6090,0.28,0.00,0.00,0.000,6,0.048,0.000,2465,2213,3828
$GC,6394,-0.71,-243.4,824.2,-17.1,674,6398,0.40,2.08,0.00,0.000,4,0.140,0.068,2588,3481,3826
$GC,6441,-1.08,-243.4,828.5,-5.9,676,6446,0.28,1.95,0.00,0.000,6,0.040,0.040,2452,2234,3825
$GC,6762,-0.72,-243.4,884.3,-17.6,692,6767,0.43,2.47,0.00,0.000,4,0.141,0.058,2584,675,3823
$GC,6789,-0.72,-243.4,887.5,-11.6,693,6793,0.00,2.47,0.00,0.000,6,0.000,0.049,2583,2218,3823
$GC,7110,-1.02,-243.4,908.3,-6.6,709,7114,0.25,2.03,0.00,0.000,4,0.052,0.065,2468,3474,3821
$GC,7195,-0.85,-243.4,919.6,-15.3,713,7199,0.20,1.92,0.00,0.000,6,0.128,0.041,2537,2236,3820
$GC,7523,-0.91,-243.4,954.3,-10.2,729,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2235,3819
$GC,7827,-0.98,-243.4,985.0,-9.9,744,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2234,3817
$STATE,7886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7886,begin apogee
$GC,7890,-0.20,0.0,991.1,10.1,747,8091,0.65,0.00,196.93,1.380,6,0.114,0.000,2755,2521,2854
$STATE,8091,end apogee,CONTROL_FINISHED_OK
$STATE,8091,begin climb
$GC,8093,0.94,243.4,1002.2,0.0,757,8309,1.00,2.45,206.62,1.335,4,0.038,0.056,3147,1144,1860
$GC,8453,0.27,243.4,950.3,22.3,774,8458,0.85,2.30,0.00,0.000,6,0.179,0.052,2910,2533,1854
$GC,8774,0.51,334.7,919.3,9.0,790,8859,0.20,2.38,79.03,1.282,4,0.059,0.052,3011,1137,1488
$GC,8902,0.40,334.7,900.5,16.2,796,8906,0.22,2.30,0.00,0.000,6,0.140,0.050,2949,2517,1484
$GC,9228,0.51,347.0,861.5,11.6,812,9243,0.10,2.25,11.27,1.151,4,0.076,0.051,3006,1132,1438
$GC,9290,0.44,347.0,852.3,15.6,814,9295,0.12,2.25,0.00,0.000,6,0.133,0.048,2966,2501,1436
$GC,9612,0.44,347.0,809.8,12.9,830,9615,0.00,2.22,0.00,0.000,4,0.000,0.051,2974,1130,1435
$GC,9664,0.51,347.0,803.0,12.5,832,9669,0.00,2.20,0.00,0.000,6,0.000,0.047,2974,2492,1434
$GC,9980,0.51,347.0,761.7,12.8,848,9984,0.00,2.17,0.00,0.000,4,0.000,0.049,2983,1141,1434
$GC,10023,0.51,347.0,756.2,12.7,850,10027,0.00,2.15,0.00,0.000,6,0.000,0.048,2983,2476,1434
$GC,10349,0.51,347.0,712.5,13.2,866,10353,0.00,2.17,0.00,0.000,4,0.000,0.051,2993,1130,1434
$GC,10402,0.51,347.0,705.4,13.5,868,10406,0.00,2.12,0.00,0.000,6,0.000,0.047,2992,2458,1431
$GC,10718,0.46,347.0,661.3,14.0,884,10722,0.00,2.12,0.00,0.000,4,0.000,0.051,3002,1135,1431
$GC,10760,0.46,347.0,655.2,14.0,886,10764,0.10,2.10,0.00,0.000,6,0.137,0.047,2969,2447,1431
$GC,11087,0.52,347.0,614.5,12.8,902,11090,0.00,2.10,0.00,0.000,4,0.000,0.049,2977,1135,1431
$GC,11140,0.59,347.0,607.9,12.9,904,11144,0.00,2.08,0.00,0.000,6,0.000,0.047,2977,2435,1430
$GC,11455,0.60,355.6,569.1,11.7,920,11464,0.10,0.00,7.78,0.993,6,0.077,0.000,3025,2435,1404
$GC,11761,0.46,355.6,521.6,15.0,935,11765,0.20,2.08,0.00,0.000,4,0.139,0.051,2975,1137,1403
$GC,11819,0.61,375.9,514.6,11.3,937,11846,0.08,2.08,19.62,1.061,6,0.061,0.046,3023,2432,1319
$GC,12154,0.51,375.9,464.9,14.0,965,12158,0.15,2.08,0.00,0.000,4,0.141,0.051,2989,1128,1317
$GC,12190,0.66,429.1,460.5,10.2,968,12245,0.08,2.08,46.53,1.031,6,0.065,0.047,3039,2418,1103
$GC,12552,0.58,429.1,406.4,15.2,1003,12555,0.12,2.05,0.00,0.000,4,0.142,0.050,3012,1130,1099
$GC,12594,0.66,429.1,400.4,13.1,1007,12598,0.00,2.05,0.00,0.000,6,0.000,0.045,3012,2403,1097
$GC,12916,0.73,429.1,358.3,12.9,1038,12920,0.12,2.03,0.00,0.000,4,0.070,0.048,3085,1127,1097
$GC,12962,0.55,429.1,350.3,18.8,1042,12970,0.28,2.03,0.00,0.000,6,0.140,0.045,2996,2386,1096
$GC,13279,0.72,443.3,313.5,11.5,1073,13295,0.15,2.15,12.20,0.881,4,0.063,0.060,3067,3690,1046
$GC,13331,0.59,443.3,304.7,18.5,1077,13337,0.20,2.03,0.00,0.000,6,0.134,0.039,3009,2404,1045
$GC,13656,0.80,484.3,266.6,10.6,1135,13700,0.20,2.08,35.80,0.874,4,0.054,0.050,3115,1134,878
$GC,13816,0.61,484.3,235.3,18.8,1164,13825,0.30,2.03,0.00,0.000,6,0.143,0.044,3020,2380,875
$GC,14145,0.90,534.8,197.4,10.3,1225,14196,0.22,2.03,42.50,0.808,4,0.050,0.048,3143,1130,672
$GC,14271,0.69,534.8,173.1,20.9,1247,14277,0.30,1.98,0.00,0.000,6,0.137,0.043,3048,2355,670
$GC,14597,1.04,598.1,130.6,9.9,1308,14679,0.30,1.98,54.12,0.670,4,0.044,0.047,3192,1132,480
$GC,14812,0.83,598.1,83.4,20.9,1346,14818,0.32,1.92,0.00,0.000,6,0.132,0.042,3088,2335,467
$GC,15138,1.33,716.0,51.2,8.1,1407,15145,0.43,1.90,0.00,0.000,4,0.038,0.047,3282,1132,463
$GC,15176,0.98,716.0,43.8,25.4,1414,15182,0.45,1.88,0.00,0.000,6,0.146,0.041,3140,2321,462
$STATE,15500,end climb,SURFACE_DEPTH_REACHED
$STATE,15501,begin surface coast
$FINISH,2.3,1.021367
$STATE,15523,end surface coast,CONTROL_FINISHED_OK
$STATE,15523,begin surface
$SM_CCo,15597,0.00,0.000,0,0,460,587.25
$SM_GC,2.47,7.68,0.00,0.00,0.041,0.000,0.000,157,2074,460,-8.21,0.11,587.25
$IRIDIUM_FIX,2517.50,12349.34,150998,181851
$TT8_MAMPS,0.047554
$HUMID,1617
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.10
$XPDR_PINGS,174
$24V_AH,23.4,43.129
$10V_AH,10.6,29.786
$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,38.450,144.800,712.400,0.000,0.000,27.775,37.373,212.421,51.500,0.000,0.000,15.763,0.000,11093.425,832.541,3495.934,537.919,0.000,2190.195,0.000,2944.493,0.000,53.971,0.000
$DEVICE_MAMPS,223.197,68.263,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.906,1022.040,1597.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85541,1479
$CAP_FILE_SIZE,173242,0
$CFSIZE,260165632,241475584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.389, 76.7,1
$GPS,220609,023055,2530.544,12348.500,38,1.3,38,-3.8