version: 66.04
glider: 165
mission: 2
dive: 201
start: 6 22 109 11 15 15
data:
$ID,165
$MISSION,2
$DIVE,201
$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,-120876.03
$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,54
$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
$GPS1,110424,2529.322,12353.393,26,1.4,43,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-67.4
$GPS2,111510,2529.576,12353.892,10,2.8,29,-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,218.2,55726,-16.4,-12.000
$D_GRID,1814
$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,-0.98,-243.4,0.0,0.0,0,65,0.00,0.00,-51.40,0.000,2,0.000,0.000,148,2035,2028
$GC,68,-0.98,-243.4,3.2,-3.7,8,132,9.15,0.00,-50.05,0.000,6,0.229,0.000,2494,2035,3849
$GC,452,-0.24,-243.4,123.1,-30.7,78,458,0.75,0.00,0.00,0.000,6,0.153,0.000,2728,2035,3851
$GC,778,-1.08,-243.4,158.9,-11.7,139,785,0.70,2.30,0.00,0.000,4,0.060,0.055,2458,3485,3852
$GC,897,-0.51,-243.4,185.2,-26.0,161,904,0.55,2.15,0.00,0.000,6,0.128,0.036,2656,2083,3852
$GC,1224,-1.38,-243.4,213.6,-8.7,222,1231,0.73,2.22,0.00,0.000,4,0.044,0.060,2356,3478,3853
$GC,1288,-0.56,-243.4,227.9,-28.7,234,1295,0.85,2.15,0.00,0.000,6,0.146,0.037,2628,2081,3853
$GC,1616,-0.82,-243.4,257.0,-6.9,295,1622,0.20,2.22,0.00,0.000,4,0.048,0.057,2522,3482,3853
$GC,1738,-0.69,-243.4,272.9,-13.9,318,1745,0.20,2.12,0.00,0.000,6,0.111,0.038,2594,2099,3853
$GC,2069,-0.84,-243.4,303.7,-8.7,376,2072,0.12,2.20,0.00,0.000,4,0.064,0.059,2523,3479,3853
$GC,2132,-0.73,-243.4,311.8,-14.0,382,2136,0.15,2.10,0.00,0.000,6,0.115,0.037,2578,2105,3852
$GC,2453,-0.79,-243.4,346.5,-10.3,413,2457,0.00,2.22,0.00,0.000,4,0.000,0.059,2577,3477,3851
$GC,2539,-0.99,-243.4,354.1,-8.1,421,2542,0.22,2.08,0.00,0.000,6,0.050,0.037,2464,2127,3850
$GC,2859,-0.52,-243.4,414.9,-19.7,452,2863,0.57,2.20,0.00,0.000,4,0.138,0.061,2644,3476,3848
$GC,2907,-1.05,-243.4,419.0,-4.2,456,2914,0.40,2.03,0.00,0.000,6,0.040,0.036,2460,2150,3848
$GC,3223,-0.62,-243.4,479.1,-19.3,487,3227,0.50,2.15,0.00,0.000,4,0.132,0.061,2617,3485,3846
$GC,3254,-0.82,-243.4,483.0,-9.0,489,3260,0.12,2.05,0.00,0.000,6,0.044,0.037,2529,2151,3846
$GC,3568,-0.72,-243.4,521.9,-12.9,512,3572,0.17,2.15,0.00,0.000,4,0.123,0.061,2590,3482,3844
$GC,3631,-1.06,-243.4,527.3,-6.9,515,3635,0.25,2.03,0.00,0.000,6,0.038,0.037,2457,2170,3843
$GC,3953,-0.63,-243.4,586.0,-18.8,531,3957,0.47,2.35,0.00,0.000,4,0.138,0.055,2612,678,3840
$GC,3973,-0.47,-243.4,589.0,-14.4,532,3977,0.12,2.33,0.00,0.000,6,0.103,0.044,2663,2152,3840
$GC,4295,-1.29,-243.4,615.4,-9.4,548,4299,0.68,2.12,0.00,0.000,4,0.071,0.059,2403,3488,3837
$GC,4390,-0.80,-243.4,630.8,-20.2,552,4398,0.47,2.05,0.00,0.000,6,0.140,0.038,2559,2162,3835
$GC,4701,-0.91,-243.4,662.6,-9.8,568,4704,0.00,2.12,0.00,0.000,4,0.000,0.063,2558,3476,3833
$GC,4748,-1.14,-243.4,667.0,-8.5,570,4752,0.25,2.03,0.00,0.000,6,0.041,0.038,2438,2171,3832
$GC,5071,-0.67,-243.4,732.9,-21.3,586,5072,0.52,0.00,0.00,0.000,6,0.142,0.000,2601,2165,3830
$GC,5375,-1.39,-243.4,757.6,-8.4,601,5379,0.60,2.12,0.00,0.000,4,0.057,0.062,2362,3479,3828
$GC,5465,-0.74,-243.4,775.6,-24.1,605,5469,0.65,2.03,0.00,0.000,6,0.148,0.041,2578,2178,3826
$GC,5781,-1.00,-243.4,802.2,-7.5,621,5784,0.22,2.12,0.00,0.000,4,0.055,0.066,2474,3482,3825
$GC,5817,-0.84,-243.4,806.8,-13.9,622,5824,0.20,2.03,0.00,0.000,6,0.123,0.040,2543,2177,3824
$GC,6128,-0.91,-243.4,839.6,-10.1,638,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2175,3822
$GC,6433,-0.99,-243.4,868.2,-9.3,653,6434,0.12,0.00,0.00,0.000,6,0.072,0.000,2483,2173,3820
$GC,6738,-0.76,-243.4,912.8,-15.2,668,6742,0.30,2.15,0.00,0.000,4,0.136,0.070,2575,3482,3817
$GC,6764,-0.85,-243.4,915.6,-10.3,669,6768,0.00,2.03,0.00,0.000,6,0.000,0.040,2575,2194,3817
$GC,7086,-1.13,-243.4,937.2,-6.5,685,7090,0.32,2.10,0.00,0.000,4,0.048,0.067,2437,3475,3815
$GC,7112,-0.98,-243.4,940.4,-13.8,686,7116,0.17,2.00,0.00,0.000,6,0.146,0.041,2505,2195,3815
$GC,7434,-0.87,-243.4,981.5,-12.6,702,7435,0.12,0.00,0.00,0.000,6,0.147,0.000,2543,2192,3814
$STATE,7533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7533,begin apogee
$GC,7537,-0.21,0.0,991.8,9.5,707,7737,0.62,0.00,196.25,1.384,6,0.114,0.000,2753,2525,2854
$STATE,7737,end apogee,CONTROL_FINISHED_OK
$STATE,7737,begin climb
$GC,7739,0.98,243.4,1002.2,0.0,717,7955,1.02,2.50,207.18,1.337,4,0.043,0.057,3155,1133,1860
$GC,8077,0.29,243.4,953.2,24.3,732,8084,0.80,2.35,0.00,0.000,6,0.179,0.053,2917,2527,1854
$GC,8388,0.48,323.9,922.5,9.3,748,8462,0.17,2.38,69.90,1.282,4,0.061,0.051,3008,1129,1531
$GC,8511,0.37,323.9,905.0,15.3,754,8515,0.25,2.30,0.00,0.000,6,0.142,0.049,2937,2515,1528
$GC,8831,0.55,362.9,870.1,10.7,770,8875,0.17,2.35,34.62,1.250,4,0.060,0.051,3027,1136,1373
$GC,8960,0.41,362.9,849.1,16.5,776,8964,0.25,2.22,0.00,0.000,6,0.140,0.049,2955,2498,1369
$GC,9280,0.53,362.9,808.9,12.3,792,9284,0.10,2.20,0.00,0.000,4,0.075,0.051,3012,1139,1367
$GC,9355,0.46,362.9,797.3,16.1,795,9359,0.10,2.17,0.00,0.000,6,0.135,0.048,2967,2484,1366
$GC,9671,0.52,362.9,755.5,13.0,811,9674,0.00,2.15,0.00,0.000,4,0.000,0.050,2976,1132,1366
$GC,9713,0.61,362.9,749.8,13.5,813,9717,0.08,2.12,0.00,0.000,6,0.061,0.047,3026,2452,1365
$GC,10039,0.44,362.9,694.5,16.6,829,10043,0.22,2.10,0.00,0.000,4,0.141,0.051,2969,1130,1365
$GC,10065,0.44,362.9,690.7,14.4,830,10069,0.00,2.12,0.00,0.000,6,0.000,0.047,2969,2451,1365
$GC,10387,0.51,362.9,651.6,12.3,846,10390,0.00,2.12,0.00,0.000,4,0.000,0.051,2978,1130,1365
$GC,10423,0.59,362.9,647.1,12.1,847,10429,0.00,2.10,0.00,0.000,6,0.000,0.047,2978,2443,1364
$GC,10733,0.59,362.9,608.7,12.2,863,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2443,1363
$GC,11039,0.64,362.9,571.6,12.2,878,11043,0.15,2.10,0.00,0.000,4,0.064,0.051,3055,1114,1363
$GC,11097,0.44,362.9,562.0,17.5,880,11104,0.28,2.10,0.00,0.000,6,0.143,0.048,2967,2423,1362
$GC,11408,0.56,369.0,524.1,11.8,896,11414,0.00,0.00,4.88,0.831,6,0.000,0.000,2967,2423,1348
$GC,11715,0.71,385.6,488.4,11.5,915,11737,0.22,2.08,16.25,1.030,4,0.056,0.051,3072,1129,1281
$GC,11779,0.50,385.6,476.8,20.2,921,11783,0.30,2.08,0.00,0.000,6,0.147,0.048,2985,2428,1279
$GC,12095,0.60,388.2,437.1,11.9,951,12098,0.00,2.05,0.00,0.000,4,0.000,0.050,2993,1133,1278
$GC,12147,0.73,411.4,431.1,11.2,956,12175,0.15,2.08,23.55,1.002,6,0.051,0.045,3073,2424,1176
$GC,12484,0.50,411.4,369.2,18.0,988,12488,0.30,2.05,0.00,0.000,4,0.144,0.060,2985,3684,1173
$GC,12526,0.65,411.4,363.3,12.2,992,12530,0.08,1.95,0.00,0.000,6,0.057,0.039,3042,2437,1173
$GC,12847,0.58,411.4,315.6,15.2,1023,12851,0.12,2.05,0.00,0.000,4,0.144,0.050,3015,1127,1172
$GC,12966,0.68,417.4,300.4,11.8,1034,12978,0.00,2.03,5.82,0.751,6,0.000,0.045,3016,2420,1152
$GC,13300,0.79,425.1,258.9,11.7,1095,13312,0.15,2.08,8.52,0.792,4,0.062,0.060,3089,3686,1120
$GC,13343,0.56,425.1,251.6,18.0,1103,13350,0.30,1.98,0.00,0.000,6,0.139,0.038,2992,2419,1120
$GC,13670,0.92,496.6,220.9,9.6,1164,13737,0.32,2.08,60.47,0.829,4,0.044,0.048,3144,1132,828
$GC,13870,0.74,496.6,179.8,20.7,1200,13877,0.25,2.03,0.00,0.000,6,0.133,0.044,3064,2382,823
$GC,14197,0.93,518.3,138.7,11.3,1261,14223,0.15,2.03,18.77,0.735,4,0.058,0.048,3147,1131,739
$GC,14249,0.77,518.3,129.9,18.3,1270,14256,0.22,1.98,0.00,0.000,6,0.131,0.041,3073,2365,738
$GC,14577,1.03,541.2,92.2,11.2,1331,14603,0.22,2.03,20.95,0.695,4,0.048,0.047,3189,1124,645
$GC,14672,0.81,541.2,72.8,22.8,1348,14678,0.30,1.95,0.00,0.000,6,0.135,0.041,3078,2350,641
$GC,14999,1.24,616.3,37.3,9.5,1409,15068,0.32,2.00,44.03,0.589,4,0.040,0.044,3245,1123,479
$GC,15099,0.98,616.3,18.0,21.5,1426,15107,0.32,1.92,0.00,0.000,6,0.137,0.040,3140,2335,472
$STATE,15205,end climb,SURFACE_DEPTH_REACHED
$STATE,15205,begin surface coast
$FINISH,1.8,1.016889
$STATE,15227,end surface coast,CONTROL_FINISHED_OK
$STATE,15228,begin surface
$SM_CCo,15302,0.00,0.000,0,0,467,585.53
$SM_GC,2.45,7.78,0.00,0.00,0.044,0.000,0.000,160,2058,467,-8.21,-0.37,585.53
$IRIDIUM_FIX,2519.89,12355.97,160998,111108
$TT8_MAMPS,0.048321
$HUMID,1587
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.30
$XPDR_PINGS,180
$24V_AH,23.4,43.899
$10V_AH,10.7,30.188
$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,36.650,136.725,711.200,0.000,0.000,57.598,74.080,315.011,53.000,0.000,0.000,32.352,0.000,10960.101,818.312,3427.215,713.260,0.000,2139.267,0.000,2871.288,0.000,53.973,0.000
$DEVICE_MAMPS,229.333,69.797,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,980.070,978.086,1523.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82188,1450
$CAP_FILE_SIZE,174832,0
$CFSIZE,260165632,241205248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.398, 75.9,1
$GPS,220609,153107,2528.785,12354.928,31,1.3,31,-3.8