version: 66.04
glider: 165
mission: 2
dive: 199
start: 6 22 109 2 37 51
data:
$ID,165
$MISSION,2
$DIVE,199
$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,-120827.2
$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,24
$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,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
$GPS1,023055,2530.544,12348.500,38,1.3,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-60.0
$GPS2,023746,2530.665,12348.866,11,2.4,30,-3.8
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2500.000,12400.000
$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,210.6,59788,-16.4,-12.000
$D_GRID,1723
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.98,-243.4,0.0,0.0,0,71,0.00,0.00,-55.55,0.000,2,0.000,0.000,151,2074,1807
$GC,73,-0.98,-243.4,3.1,-2.7,8,152,9.05,2.25,-63.12,0.000,4,0.228,0.059,2498,664,3849
$GC,167,-0.02,-243.4,17.8,-38.6,23,174,1.02,2.22,0.00,0.000,6,0.164,0.040,2807,2069,3850
$GC,494,-0.84,-243.4,58.4,-10.8,84,501,0.68,2.22,0.00,0.000,4,0.067,0.051,2548,3488,3852
$GC,661,-0.46,-243.4,87.3,-21.9,115,667,0.38,2.12,0.00,0.000,6,0.121,0.035,2669,2080,3852
$GC,988,-0.73,-243.4,117.1,-8.2,176,994,0.22,2.25,0.00,0.000,4,0.048,0.061,2555,3476,3853
$GC,1090,-0.56,-243.4,133.3,-17.2,195,1096,0.22,2.10,0.00,0.000,6,0.115,0.035,2635,2102,3853
$GC,1416,-0.78,-243.4,164.7,-8.0,256,1423,0.20,2.20,0.00,0.000,4,0.050,0.056,2533,3475,3854
$GC,1475,-0.63,-243.4,172.4,-14.9,267,1482,0.22,2.05,0.00,0.000,6,0.114,0.041,2612,2130,3855
$GC,1802,-0.78,-243.4,207.8,-9.6,328,1808,0.12,2.17,0.00,0.000,4,0.063,0.058,2542,3481,3855
$GC,1877,-0.71,-243.4,217.5,-13.0,342,1885,0.12,2.05,0.00,0.000,6,0.113,0.038,2588,2137,3855
$GC,2206,-0.77,-243.4,252.9,-10.6,403,2211,0.00,2.15,0.00,0.000,4,0.000,0.058,2588,3486,3854
$GC,2238,-0.91,-243.4,256.3,-10.1,409,2243,0.17,2.00,0.00,0.000,6,0.053,0.034,2497,2151,3854
$GC,2560,-0.54,-243.4,321.9,-20.7,460,2564,0.45,2.12,0.00,0.000,4,0.130,0.058,2633,3488,3854
$GC,2592,-0.74,-243.4,326.2,-11.1,463,2595,0.12,2.03,0.00,0.000,6,0.042,0.035,2545,2159,3854
$GC,2912,-0.65,-243.4,370.8,-13.2,494,2916,0.20,2.12,0.00,0.000,4,0.120,0.059,2603,3475,3853
$GC,2992,-0.97,-243.4,377.3,-7.2,501,2998,0.22,2.00,0.00,0.000,6,0.036,0.036,2479,2170,3853
$GC,3307,-0.58,-243.4,434.4,-19.6,532,3311,0.47,2.12,0.00,0.000,4,0.130,0.061,2630,3479,3851
$GC,3340,-0.84,-243.4,438.1,-8.7,535,3343,0.22,1.98,0.00,0.000,6,0.049,0.037,2509,2165,3851
$GC,3660,-0.61,-243.4,487.0,-16.2,566,3664,0.35,2.12,0.00,0.000,4,0.120,0.062,2620,3472,3848
$GC,3719,-1.09,-243.4,491.9,-6.5,571,3725,0.35,1.98,0.00,0.000,6,0.036,0.037,2442,2179,3848
$GC,4041,-0.61,-243.4,555.6,-20.7,590,4045,0.52,2.10,0.00,0.000,4,0.137,0.061,2604,3478,3845
$GC,4088,-0.97,-243.4,560.8,-6.8,592,4092,0.22,1.95,0.00,0.000,6,0.040,0.038,2480,2212,3845
$GC,4403,-0.65,-243.4,613.2,-17.3,608,4405,0.40,0.00,0.00,0.000,6,0.131,0.000,2606,2207,3843
$GC,4709,-1.05,-243.4,630.7,-5.3,623,4713,0.32,2.05,0.00,0.000,4,0.053,0.064,2470,3487,3839
$GC,4740,-1.05,-243.4,633.5,-9.2,624,4744,0.00,1.98,0.00,0.000,6,0.000,0.039,2470,2214,3839
$GC,5056,-0.73,-243.4,686.8,-17.7,640,5058,0.38,0.00,0.00,0.000,6,0.132,0.000,2588,2209,3836
$GC,5362,-1.00,-243.4,711.6,-8.2,655,5366,0.20,2.08,0.00,0.000,4,0.054,0.066,2481,3481,3834
$GC,5403,-0.85,-243.4,717.0,-14.5,657,5408,0.17,1.95,0.00,0.000,6,0.126,0.041,2542,2225,3834
$GC,5727,-0.90,-243.4,756.6,-11.9,673,5730,0.00,2.05,0.00,0.000,4,0.000,0.067,2536,3478,3831
$GC,5752,-0.97,-243.4,759.8,-12.2,674,5756,0.00,1.95,0.00,0.000,6,0.000,0.040,2536,2222,3830
$GC,6073,-0.97,-243.4,798.4,-11.7,690,6077,0.00,2.47,0.00,0.000,4,0.000,0.056,2536,679,3828
$GC,6099,-1.02,-243.4,801.5,-12.5,691,6104,0.10,2.45,0.00,0.000,6,0.054,0.048,2476,2212,3827
$GC,6422,-0.77,-243.4,852.5,-16.0,707,6426,0.28,2.05,0.00,0.000,4,0.139,0.066,2564,3479,3825
$GC,6501,-1.06,-243.4,860.2,-8.2,710,6509,0.20,1.95,0.00,0.000,6,0.044,0.039,2461,2225,3825
$GC,6811,-0.74,-243.4,911.6,-17.0,726,6815,0.38,2.45,0.00,0.000,4,0.139,0.055,2577,677,3822
$GC,6853,-1.03,-243.4,916.0,-7.4,728,6858,0.20,2.45,0.00,0.000,6,0.044,0.048,2464,2212,3823
$GC,7180,-0.74,-243.4,967.6,-16.4,744,7184,0.38,2.05,0.00,0.000,4,0.139,0.067,2577,3476,3820
$GC,7217,-1.00,-243.4,971.2,-7.3,745,7223,0.20,1.95,0.00,0.000,6,0.044,0.040,2471,2225,3819
$STATE,7362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7362,begin apogee
$GC,7367,-0.21,0.0,991.8,15.1,753,7567,0.88,0.00,197.02,1.377,6,0.137,0.000,2747,2527,2854
$STATE,7568,end apogee,CONTROL_FINISHED_OK
$STATE,7568,begin climb
$GC,7569,0.98,243.4,1000.8,0.0,763,7785,1.05,2.03,206.05,1.332,4,0.038,0.067,3151,3685,1859
$GC,7891,0.20,243.4,950.1,26.4,778,7895,0.90,1.85,0.00,0.000,6,0.175,0.043,2891,2548,1855
$GC,8212,0.54,350.1,919.8,8.5,794,8310,0.28,2.45,92.10,1.282,4,0.051,0.054,3021,1123,1426
$GC,8423,0.42,350.1,886.2,17.1,804,8427,0.20,2.30,0.00,0.000,6,0.137,0.049,2958,2504,1419
$GC,8750,0.50,350.1,844.7,12.6,820,8754,0.00,2.25,0.00,0.000,4,0.000,0.052,2966,1109,1417
$GC,8824,0.60,350.1,835.6,12.9,823,8828,0.10,2.22,0.00,0.000,6,0.057,0.047,3023,2487,1415
$GC,9140,0.42,350.1,781.7,17.3,839,9144,0.22,2.22,0.00,0.000,4,0.141,0.051,2967,1111,1415
$GC,9161,0.38,350.1,778.6,14.9,840,9165,0.00,2.17,0.00,0.000,6,0.000,0.047,2967,2468,1414
$GC,9488,0.43,350.1,738.7,12.2,856,9491,0.00,2.15,0.00,0.000,4,0.000,0.050,2976,1112,1413
$GC,9529,0.50,350.1,733.4,12.3,858,9533,0.00,2.17,0.00,0.000,6,0.000,0.046,2976,2467,1413
$GC,9856,0.50,350.1,690.4,13.1,874,9860,0.00,2.15,0.00,0.000,4,0.000,0.049,2985,1111,1412
$GC,9899,0.50,350.1,684.8,12.6,876,9902,0.00,2.15,0.00,0.000,6,0.000,0.046,2985,2454,1412
$GC,10225,0.50,350.1,640.7,12.8,892,10228,0.00,2.12,0.00,0.000,4,0.000,0.051,2994,1114,1412
$GC,10272,0.50,350.1,634.5,13.1,894,10276,0.00,2.12,0.00,0.000,6,0.000,0.047,2994,2442,1412
$GC,10594,0.50,350.1,591.4,13.1,910,10597,0.00,2.10,0.00,0.000,4,0.000,0.049,3004,1113,1412
$GC,10625,0.50,350.1,587.1,13.2,911,10629,0.00,2.10,0.00,0.000,6,0.000,0.046,3004,2424,1410
$GC,10941,0.44,350.1,543.4,14.0,927,10945,0.15,2.00,0.00,0.000,4,0.139,0.060,2962,3684,1410
$GC,10978,0.52,350.1,538.4,12.8,928,10984,0.00,1.98,0.00,0.000,6,0.000,0.039,2969,2415,1410
$GC,11289,0.64,367.1,503.1,11.4,944,11310,0.17,2.10,13.25,1.025,4,0.058,0.050,3059,1114,1356
$GC,11362,0.47,367.1,491.0,17.0,949,11366,0.25,2.10,0.00,0.000,6,0.142,0.046,2969,2422,1356
$GC,11683,0.65,396.1,456.5,11.0,980,11717,0.17,2.15,26.05,1.020,4,0.058,0.050,3057,1117,1238
$GC,11753,0.52,396.1,445.5,16.0,986,11760,0.20,2.12,0.00,0.000,6,0.136,0.046,2993,2420,1236
$GC,12069,0.65,418.3,407.9,11.3,1017,12095,0.10,2.15,20.60,0.969,4,0.076,0.050,3051,1115,1147
$GC,12127,0.57,418.3,399.3,15.9,1022,12134,0.12,2.08,0.00,0.000,6,0.133,0.044,3008,2391,1146
$GC,12443,0.66,427.4,362.0,11.7,1053,12455,0.00,2.10,8.77,0.859,4,0.000,0.050,3016,1113,1110
$GC,12475,0.76,427.4,358.0,12.6,1056,12479,0.10,2.05,0.00,0.000,6,0.053,0.043,3080,2386,1110
$GC,12796,0.56,427.4,299.7,18.3,1087,12803,0.28,2.00,0.00,0.000,4,0.142,0.049,3005,1112,1110
$GC,12840,0.76,444.6,293.9,11.4,1095,12860,0.12,2.00,15.95,0.872,6,0.051,0.044,3088,2360,1041
$GC,13181,0.60,444.6,233.8,16.1,1158,13187,0.25,2.12,0.00,0.000,4,0.140,0.057,3013,3692,1038
$GC,13266,0.77,458.4,223.2,11.5,1174,13286,0.10,2.10,13.07,0.802,6,0.053,0.038,3083,2346,984
$GC,13607,0.77,458.4,167.2,14.9,1237,13613,0.00,1.95,0.00,0.000,4,0.000,0.048,3092,1112,983
$GC,13740,0.77,458.4,149.0,12.3,1262,13747,0.00,1.92,0.00,0.000,6,0.000,0.042,3092,2331,981
$GC,14067,0.77,458.4,105.4,14.7,1323,14074,0.00,2.17,0.00,0.000,4,0.000,0.056,3092,3689,981
$GC,14078,0.77,458.4,103.7,14.7,1325,14085,0.10,2.12,0.00,0.000,6,0.127,0.036,3067,2314,981
$GC,14405,1.15,570.7,70.7,8.3,1386,14507,0.32,1.98,96.10,0.686,4,0.043,0.046,3221,1112,523
$GC,14597,0.99,570.7,34.3,18.1,1419,14605,0.25,1.90,0.00,0.000,6,0.133,0.039,3141,2304,512
$STATE,14875,end climb,SURFACE_DEPTH_REACHED
$STATE,14875,begin surface coast
$FINISH,1.7,1.018591
$STATE,14897,end surface coast,CONTROL_FINISHED_OK
$STATE,14897,begin surface
$SM_CCo,14971,0.00,0.000,0,0,506,575.96
$SM_GC,2.41,7.68,0.00,0.00,0.039,0.000,0.000,165,2034,506,-8.20,-1.05,575.96
$IRIDIUM_FIX,2517.50,12409.86,150998,222210
$TT8_MAMPS,0.048321
$HUMID,1605
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.50
$XPDR_PINGS,206
$24V_AH,23.5,43.383
$10V_AH,10.7,29.923
$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,32.775,152.800,688.975,0.000,0.000,30.375,32.543,214.827,59.500,0.000,0.000,32.753,0.000,10512.748,818.639,3488.939,530.851,0.000,2155.144,0.000,2923.867,0.000,53.963,0.000
$DEVICE_MAMPS,227.799,66.729,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,995.863,1054.785,1664.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85346,1475
$CAP_FILE_SIZE,171087,0
$CFSIZE,260165632,241389568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.472, 76.1,1
$GPS,220609,064831,2529.715,12351.364,50,1.5,50,-3.8