version: 66.04
glider: 165
mission: 2
dive: 202
start: 6 22 109 15 49 51
data:
$ID,165
$MISSION,2
$DIVE,202
$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,581.11566
$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,-120888.54
$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,57
$R_STBD_OVSHOOT,30
$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
$GPS1,153107,2528.785,12354.928,31,1.3,31,-3.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-66.1
$GPS2,154944,2529.021,12355.625,9,2.0,9,-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,221.0,54246,-16.4,-12.000
$D_GRID,1824
$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,-243.4,0.0,0.0,0,79,0.00,0.00,-65.32,0.000,2,0.000,0.000,152,2059,2085
$GC,81,-0.98,-243.4,3.3,-4.4,10,139,8.90,2.22,-44.22,0.000,4,0.223,0.061,2499,675,3850
$GC,154,-0.07,-243.4,18.1,-33.8,22,161,0.93,2.20,0.00,0.000,6,0.160,0.045,2787,2069,3850
$GC,481,-0.94,-243.4,55.0,-11.4,83,488,0.70,2.22,0.00,0.000,4,0.064,0.051,2515,3491,3852
$GC,628,-0.50,-243.4,83.3,-22.6,110,634,0.38,2.12,0.00,0.000,6,0.124,0.036,2654,2093,3852
$GC,954,-0.64,-243.4,121.4,-9.0,171,960,0.12,2.20,0.00,0.000,4,0.066,0.055,2579,3487,3852
$GC,1040,-0.56,-243.4,132.6,-12.8,187,1046,0.15,2.08,0.00,0.000,6,0.112,0.034,2635,2113,3852
$GC,1367,-0.69,-243.4,164.4,-9.7,248,1373,0.12,2.20,0.00,0.000,4,0.064,0.061,2561,3481,3852
$GC,1453,-0.55,-243.4,176.0,-14.5,264,1459,0.20,2.05,0.00,0.000,6,0.114,0.034,2634,2128,3852
$GC,1780,-0.80,-243.4,205.1,-8.5,325,1786,0.17,2.15,0.00,0.000,4,0.052,0.054,2532,3486,3852
$GC,1855,-0.67,-243.4,215.4,-15.0,339,1861,0.17,2.03,0.00,0.000,6,0.114,0.035,2597,2150,3852
$GC,2181,-0.78,-243.4,249.8,-9.3,400,2188,0.00,2.15,0.00,0.000,4,0.000,0.062,2591,3479,3852
$GC,2241,-1.00,-243.4,255.5,-8.2,411,2247,0.25,2.03,0.00,0.000,6,0.047,0.035,2467,2125,3852
$GC,2563,-0.49,-243.4,324.1,-21.3,462,2567,0.60,2.15,0.00,0.000,4,0.137,0.059,2658,3473,3851
$GC,2627,-1.05,-243.4,329.8,-5.6,468,2631,0.43,2.03,0.00,0.000,6,0.045,0.035,2457,2133,3851
$GC,2948,-0.56,-243.4,395.8,-21.1,499,2950,0.57,0.00,0.00,0.000,6,0.137,0.000,2639,2127,3849
$GC,3260,-1.39,-243.4,424.2,-10.3,529,3264,0.68,2.15,0.00,0.000,4,0.058,0.058,2369,3479,3847
$GC,3383,-0.64,-243.4,452.7,-28.5,540,3387,0.77,2.00,0.00,0.000,6,0.143,0.039,2612,2157,3845
$GC,3697,-1.42,-243.4,481.5,-8.8,570,3701,0.68,2.10,0.00,0.000,4,0.064,0.059,2356,3475,3844
$GC,3735,-0.81,-243.4,487.3,-19.4,573,3741,0.60,1.98,0.00,0.000,6,0.146,0.038,2559,2187,3842
$GC,4057,-0.87,-243.4,524.5,-10.8,594,4061,0.00,2.08,0.00,0.000,4,0.000,0.063,2559,3478,3840
$GC,4115,-1.04,-243.4,530.2,-10.0,596,4121,0.17,1.98,0.00,0.000,6,0.041,0.038,2460,2197,3840
$GC,4426,-0.65,-243.4,588.3,-18.5,612,4427,0.47,0.00,0.00,0.000,6,0.136,0.000,2610,2191,3837
$GC,4731,-1.47,-243.4,611.0,-8.4,627,4735,0.73,2.08,0.00,0.000,4,0.072,0.061,2342,3481,3834
$GC,4789,-0.75,-243.4,621.6,-24.7,629,4795,0.70,1.98,0.00,0.000,6,0.153,0.040,2572,2205,3832
$GC,5100,-0.92,-243.4,653.7,-9.3,645,5104,0.15,2.08,0.00,0.000,4,0.063,0.063,2495,3488,3831
$GC,5142,-0.81,-243.4,659.0,-14.3,647,5146,0.15,1.98,0.00,0.000,6,0.123,0.039,2550,2213,3830
$GC,5469,-0.87,-243.4,693.7,-10.1,663,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2209,3828
$GC,5774,-0.94,-243.4,721.8,-8.8,678,5777,0.00,2.10,0.00,0.000,4,0.000,0.066,2550,3477,3825
$GC,5817,-1.11,-243.4,725.3,-7.7,680,5820,0.25,1.95,0.00,0.000,6,0.051,0.040,2441,2204,3824
$GC,6143,-0.68,-243.4,784.6,-19.3,696,6147,0.47,2.40,0.00,0.000,4,0.143,0.054,2594,685,3821
$GC,6168,-0.68,-243.4,787.9,-12.7,697,6172,0.00,2.42,0.00,0.000,6,0.000,0.047,2593,2206,3821
$GC,6484,-1.01,-243.4,806.1,-6.1,713,6488,0.28,2.08,0.00,0.000,4,0.050,0.064,2467,3478,3819
$GC,6574,-0.82,-243.4,818.6,-15.0,717,6579,0.25,1.95,0.00,0.000,6,0.127,0.040,2552,2224,3818
$GC,6898,-0.93,-243.4,850.8,-9.9,733,6901,0.00,2.42,0.00,0.000,4,0.000,0.054,2552,687,3816
$GC,6923,-1.08,-243.4,853.6,-11.1,734,6928,0.20,2.45,0.00,0.000,6,0.044,0.048,2453,2222,3815
$GC,7239,-0.73,-243.4,909.9,-18.5,750,7243,0.43,2.03,0.00,0.000,4,0.146,0.065,2577,3473,3814
$GC,7303,-1.07,-243.4,916.4,-7.4,753,7307,0.25,1.92,0.00,0.000,6,0.043,0.039,2454,2234,3813
$GC,7631,-0.73,-243.4,974.3,-18.6,769,7635,0.38,2.45,0.00,0.000,4,0.140,0.055,2574,688,3811
$GC,7677,-1.04,-243.4,980.1,-8.6,771,7681,0.22,2.45,0.00,0.000,6,0.043,0.048,2461,2218,3811
$STATE,7753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7753,begin apogee
$GC,7758,-0.21,0.0,991.3,15.7,775,7956,0.93,0.00,195.50,1.376,6,0.143,0.000,2748,2521,2854
$STATE,7957,end apogee,CONTROL_FINISHED_OK
$STATE,7957,begin climb
$GC,7959,0.98,243.4,1003.3,0.0,785,8174,1.05,2.03,206.57,1.330,4,0.039,0.065,3155,3686,1860
$GC,8370,0.19,243.4,934.3,25.5,804,8375,0.95,1.83,0.00,0.000,6,0.178,0.043,2887,2547,1855
$GC,8692,0.58,377.9,908.2,7.5,820,8820,0.32,2.45,116.62,1.274,4,0.048,0.053,3035,1123,1311
$GC,8931,0.46,377.9,868.4,17.4,831,8935,0.20,2.30,0.00,0.000,6,0.137,0.048,2972,2505,1305
$GC,9252,0.52,377.9,826.6,12.7,847,9256,0.00,2.22,0.00,0.000,4,0.000,0.051,2980,1110,1303
$GC,9326,0.60,377.9,817.2,13.1,850,9330,0.00,2.22,0.00,0.000,6,0.000,0.046,2980,2490,1301
$GC,9642,0.60,377.9,775.4,13.1,866,9646,0.00,2.22,0.00,0.000,4,0.000,0.050,2989,1111,1301
$GC,9700,0.66,377.9,767.6,13.4,868,9707,0.08,2.17,0.00,0.000,6,0.065,0.046,3038,2468,1300
$GC,10011,0.47,377.9,715.1,16.7,884,10015,0.22,2.15,0.00,0.000,4,0.142,0.049,2980,1125,1300
$GC,10054,0.57,378.6,709.6,12.0,886,10057,0.00,2.12,0.00,0.000,6,0.000,0.047,2980,2471,1299
$GC,10379,0.57,378.6,670.4,12.1,902,10383,0.00,2.17,0.00,0.000,4,0.000,0.048,2989,1117,1299
$GC,10406,0.63,378.6,667.1,12.2,903,10410,0.00,2.12,0.00,0.000,6,0.000,0.045,2989,2446,1299
$GC,10727,0.63,378.6,626.3,12.6,919,10731,0.00,2.10,0.00,0.000,4,0.000,0.049,2998,1115,1299
$GC,10758,0.63,378.6,622.4,12.3,920,10762,0.00,2.12,0.00,0.000,6,0.000,0.045,2999,2445,1298
$GC,11074,0.63,378.6,581.2,13.0,936,11078,0.00,2.12,0.00,0.000,4,0.000,0.048,3008,1118,1298
$GC,11106,0.63,378.6,576.9,13.4,937,11110,0.00,2.10,0.00,0.000,6,0.000,0.045,3008,2434,1298
$GC,11421,0.63,378.6,530.2,14.9,953,11422,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2434,1298
$GC,11728,0.63,378.6,487.9,13.6,972,11732,0.00,2.12,0.00,0.000,4,0.000,0.050,3017,1111,1298
$GC,11835,0.63,378.6,474.6,12.6,982,11839,0.00,2.10,0.00,0.000,6,0.000,0.045,3017,2426,1296
$GC,12157,0.63,378.6,433.7,13.0,1013,12160,0.00,2.00,0.00,0.000,4,0.000,0.060,3017,3690,1296
$GC,12177,0.58,378.6,430.6,13.8,1015,12181,0.00,1.98,0.00,0.000,6,0.000,0.037,3026,2403,1296
$GC,12499,0.54,378.6,382.7,14.2,1046,12502,0.12,2.00,0.00,0.000,4,0.146,0.047,2998,1108,1296
$GC,12605,0.68,385.2,369.8,11.8,1056,12617,0.08,2.05,4.95,0.731,6,0.058,0.044,3056,2405,1282
$GC,12925,0.52,385.2,319.2,16.0,1087,12926,0.22,0.00,0.00,0.000,6,0.137,0.000,2989,2405,1282
$GC,13240,0.79,464.4,287.1,9.4,1129,13313,0.22,2.17,67.97,0.877,4,0.053,0.048,3103,1106,959
$GC,13368,0.63,464.4,265.5,17.8,1151,13373,0.28,2.08,0.00,0.000,6,0.142,0.044,3025,2402,955
$GC,13693,0.87,511.2,229.3,10.5,1212,13738,0.22,2.08,39.10,0.816,4,0.049,0.056,3130,3688,769
$GC,13774,0.71,511.2,215.1,18.9,1226,13781,0.28,2.05,0.00,0.000,6,0.132,0.037,3052,2397,767
$GC,14101,0.94,529.8,175.3,11.4,1287,14123,0.20,2.08,16.23,0.746,4,0.051,0.048,3156,1112,693
$GC,14245,0.76,529.8,145.4,21.5,1313,14252,0.28,2.05,0.00,0.000,6,0.131,0.043,3067,2393,692
$GC,14573,1.15,644.6,112.1,8.2,1374,14630,0.30,2.05,50.83,0.712,4,0.044,0.045,3219,1114,480
$GC,14725,0.87,644.6,78.4,24.3,1401,14733,0.38,2.03,0.00,0.000,6,0.134,0.041,3099,2376,467
$GC,15053,1.21,695.5,37.9,10.3,1462,15060,0.30,2.00,0.00,0.000,4,0.041,0.046,3246,1111,462
$GC,15075,1.21,695.5,34.4,16.6,1466,15081,0.10,1.98,0.00,0.000,6,0.151,0.040,3213,2370,462
$STATE,15234,end climb,SURFACE_DEPTH_REACHED
$STATE,15234,begin surface coast
$FINISH,1.7,1.021589
$STATE,15244,end surface coast,CONTROL_FINISHED_OK
$STATE,15244,begin surface
$SM_CCo,15319,0.00,0.000,0,0,460,587.25
$SM_GC,2.52,7.72,0.00,0.00,0.032,0.000,0.000,154,2052,460,-8.22,-0.54,587.25
$IRIDIUM_FIX,2522.28,12357.30,160998,151521
$TT8_MAMPS,0.049088
$HUMID,1581
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,25.20
$XPDR_PINGS,214
$24V_AH,23.5,44.179
$10V_AH,10.7,30.332
$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,35.975,145.075,697.775,0.000,0.000,138.261,218.428,385.584,61.500,0.000,0.000,11.880,0.000,11033.941,798.333,3541.588,1034.710,0.000,2160.437,0.000,2996.358,0.000,54.025,0.000
$DEVICE_MAMPS,223.197,65.962,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.449,1055.417,1659.498,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85286,1498
$CAP_FILE_SIZE,176394,0
$CFSIZE,260165632,241106944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.476, 84.0,1
$GPS,220609,200624,2527.963,12357.545,36,1.5,54,-3.8