version: 66.04
glider: 165
mission: 2
dive: 203
start: 6 22 109 20 14 16
data:
$ID,165
$MISSION,2
$DIVE,203
$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,-120923.48
$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,23
$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,51
$R_STBD_OVSHOOT,26
$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
$GPS1,200624,2527.963,12357.545,36,1.5,54,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-63.7
$GPS2,201410,2528.010,12357.919,11,2.5,30,-3.8
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2500.000,12415.000
$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,199.9,59271,-16.4,-12.000
$D_GRID,1864
$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,-1.01,-243.4,0.0,0.0,0,79,0.00,0.00,-64.47,0.000,2,0.000,0.000,152,2052,2030
$GC,81,-1.01,-243.4,3.2,-4.1,10,146,8.82,2.33,-49.97,0.000,4,0.219,0.061,2481,3483,3849
$GC,226,-0.14,-243.4,46.3,-38.6,35,234,0.93,2.15,0.00,0.000,6,0.136,0.037,2772,2078,3850
$GC,554,-0.98,-243.4,84.5,-10.5,96,561,0.70,2.22,0.00,0.000,4,0.077,0.051,2500,3495,3852
$GC,608,-0.53,-243.4,92.7,-19.3,106,616,0.40,2.17,0.00,0.000,6,0.123,0.035,2637,2079,3852
$GC,936,-0.53,-243.4,134.9,-11.2,167,942,0.00,2.25,0.00,0.000,4,0.000,0.055,2633,3494,3853
$GC,1011,-0.72,-243.4,142.8,-9.9,181,1017,0.10,2.12,0.00,0.000,6,0.049,0.038,2560,2101,3853
$GC,1337,-0.45,-243.4,205.4,-17.9,242,1345,0.35,2.22,0.00,0.000,4,0.123,0.062,2673,3479,3853
$GC,1388,-0.92,-243.4,210.2,-7.4,251,1394,0.40,2.05,0.00,0.000,6,0.041,0.033,2481,2100,3854
$GC,1714,-0.37,-243.4,283.6,-24.0,312,1720,0.65,2.20,0.00,0.000,4,0.138,0.055,2684,3490,3854
$GC,1810,-1.32,-243.4,292.6,-10.2,330,1818,0.73,2.08,0.00,0.000,6,0.044,0.035,2376,2122,3855
$GC,2129,-0.47,-243.4,383.8,-30.6,365,2133,0.90,2.15,0.00,0.000,4,0.156,0.056,2647,3479,3855
$GC,2198,-1.03,-243.4,391.4,-6.6,371,2201,0.38,2.05,0.00,0.000,6,0.049,0.035,2468,2127,3855
$GC,2519,-0.59,-243.4,451.2,-19.2,402,2522,0.50,2.17,0.00,0.000,4,0.133,0.058,2618,3491,3854
$GC,2587,-1.03,-243.4,457.5,-5.8,408,2591,0.30,2.03,0.00,0.000,6,0.036,0.035,2458,2161,3853
$GC,2917,-0.59,-243.4,518.7,-18.4,435,2921,0.52,2.10,0.00,0.000,4,0.133,0.059,2617,3478,3851
$GC,2948,-0.79,-243.4,522.2,-8.0,436,2952,0.12,2.00,0.00,0.000,6,0.044,0.035,2532,2172,3851
$GC,3265,-0.72,-243.4,560.5,-12.8,452,3268,0.17,2.10,0.00,0.000,4,0.122,0.061,2587,3489,3849
$GC,3307,-1.02,-243.4,564.7,-8.3,454,3310,0.20,2.00,0.00,0.000,6,0.038,0.036,2459,2183,3848
$GC,3635,-0.63,-243.4,625.5,-19.0,470,3636,0.50,0.00,0.00,0.000,6,0.133,0.000,2617,2177,3846
$GC,3939,-1.47,-243.4,650.7,-9.0,485,3943,0.73,2.10,0.00,0.000,4,0.081,0.061,2349,3492,3843
$GC,3986,-0.82,-243.4,658.3,-20.9,487,3990,0.60,2.03,0.00,0.000,6,0.150,0.039,2550,2179,3841
$GC,4301,-0.89,-243.4,690.2,-8.9,503,4305,0.00,2.12,0.00,0.000,4,0.000,0.064,2550,3470,3838
$GC,4338,-1.05,-243.4,693.5,-8.2,504,4345,0.15,1.95,0.00,0.000,6,0.044,0.038,2465,2205,3838
$GC,4649,-0.70,-243.4,741.7,-16.0,520,4653,0.40,2.08,0.00,0.000,4,0.135,0.064,2588,3476,3835
$GC,4675,-0.70,-243.4,744.6,-10.1,521,4679,0.00,1.98,0.00,0.000,6,0.000,0.038,2588,2201,3835
$GC,4997,-1.00,-243.4,762.0,-5.4,537,5000,0.25,2.10,0.00,0.000,4,0.049,0.064,2467,3474,3833
$GC,5028,-0.84,-243.4,765.1,-11.7,538,5032,0.22,1.95,0.00,0.000,6,0.125,0.039,2544,2216,3832
$GC,5344,-0.90,-243.4,791.9,-8.0,554,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2215,3830
$GC,5649,-0.97,-243.4,817.5,-8.2,569,5650,0.12,0.00,0.00,0.000,6,0.071,0.000,2483,2214,3827
$GC,5954,-0.73,-243.4,859.9,-14.6,584,5958,0.32,2.08,0.00,0.000,4,0.133,0.067,2577,3470,3824
$GC,5980,-0.83,-243.4,862.5,-9.9,585,5984,0.00,1.95,0.00,0.000,6,0.000,0.040,2577,2219,3824
$GC,6302,-1.09,-243.4,884.4,-6.9,601,6303,0.30,0.00,0.00,0.000,6,0.049,0.000,2447,2215,3823
$GC,6607,-0.72,-243.4,938.0,-18.2,616,6608,0.45,0.00,0.00,0.000,6,0.143,0.000,2584,2215,3821
$GC,6913,-1.04,-243.4,960.5,-6.8,631,6917,0.25,2.08,0.00,0.000,4,0.052,0.068,2467,3474,3818
$GC,6943,-0.92,-243.4,964.1,-13.8,632,6950,0.15,1.95,0.00,0.000,6,0.133,0.042,2518,2229,3818
$STATE,7170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7170,begin apogee
$GC,7175,-0.22,0.0,992.2,12.0,644,7375,0.70,0.00,196.95,1.379,6,0.121,0.000,2749,2526,2854
$STATE,7375,end apogee,CONTROL_FINISHED_OK
$STATE,7375,begin climb
$GC,7377,1.01,243.4,1003.8,0.0,654,7594,1.08,2.47,207.05,1.335,4,0.044,0.056,3164,1141,1859
$GC,7822,0.28,243.4,929.5,25.1,674,7829,0.82,2.30,0.00,0.000,6,0.179,0.051,2915,2530,1850
$GC,8133,0.50,328.7,898.5,9.2,690,8219,0.20,2.35,74.70,1.246,4,0.059,0.051,3016,1132,1514
$GC,8272,0.39,328.7,877.8,15.8,696,8276,0.25,2.28,0.00,0.000,6,0.140,0.049,2945,2518,1510
$GC,8588,0.50,331.8,840.4,11.9,712,8591,0.10,2.20,0.00,0.000,4,0.077,0.051,3003,1141,1508
$GC,8661,0.44,331.8,829.5,15.2,715,8666,0.12,2.20,0.00,0.000,6,0.133,0.048,2962,2499,1505
$GC,8977,0.49,331.8,787.0,13.5,731,8981,0.00,2.20,0.00,0.000,4,0.000,0.051,2971,1138,1505
$GC,9025,0.55,331.8,780.7,13.6,733,9029,0.00,2.17,0.00,0.000,6,0.000,0.048,2971,2489,1504
$GC,9346,0.55,331.8,736.1,13.6,749,9350,0.00,2.17,0.00,0.000,4,0.000,0.049,2980,1134,1504
$GC,9389,0.55,331.8,730.3,14.3,751,9392,0.00,2.15,0.00,0.000,6,0.000,0.048,2980,2474,1503
$GC,9714,0.55,331.8,684.3,14.3,767,9715,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2475,1503
$GC,10020,0.55,331.8,640.7,14.1,782,10024,0.00,2.15,0.00,0.000,4,0.000,0.050,2989,1135,1503
$GC,10084,0.55,331.8,631.4,14.5,785,10088,0.00,2.12,0.00,0.000,6,0.000,0.048,2989,2464,1501
$GC,10410,0.55,331.8,584.8,13.9,801,10414,0.00,2.12,0.00,0.000,4,0.000,0.049,2999,1135,1501
$GC,10431,0.55,331.8,581.9,14.5,802,10435,0.00,2.10,0.00,0.000,6,0.000,0.047,2999,2451,1501
$GC,10758,0.51,331.8,534.6,14.1,818,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2450,1501
$GC,11063,0.52,343.6,495.8,11.6,834,11076,0.00,0.00,12.12,1.015,6,0.000,0.000,2998,2451,1452
$GC,11384,0.54,357.3,457.0,11.5,865,11405,0.00,2.15,13.27,0.987,4,0.000,0.050,3008,1138,1397
$GC,11426,0.55,367.6,451.9,11.7,869,11440,0.00,2.15,10.73,0.939,6,0.000,0.046,3008,2470,1354
$GC,11757,0.55,367.6,409.9,13.2,901,11760,0.00,1.98,0.00,0.000,4,0.000,0.061,3008,3687,1351
$GC,11778,0.55,367.6,407.1,13.3,903,11782,0.00,1.88,0.00,0.000,6,0.000,0.039,3016,2479,1351
$GC,12098,0.55,367.6,363.4,13.1,934,12102,0.00,2.15,0.00,0.000,4,0.000,0.048,3026,1126,1351
$GC,12152,0.55,367.6,356.3,13.4,939,12155,0.00,2.12,0.00,0.000,6,0.000,0.045,3026,2461,1350
$GC,12473,0.55,367.6,312.1,12.9,970,12476,0.00,2.10,0.00,0.000,4,0.000,0.048,3034,1123,1350
$GC,12509,0.55,367.6,307.1,13.8,973,12516,0.10,2.12,0.00,0.000,6,0.128,0.044,3000,2465,1351
$GC,12834,0.78,444.6,275.2,9.5,1028,12906,0.20,2.03,64.45,0.873,4,0.057,0.059,3093,3675,1040
$GC,12927,0.57,444.6,260.8,17.6,1044,12933,0.30,1.95,0.00,0.000,6,0.135,0.038,3007,2447,1039
$GC,13254,0.90,508.3,227.0,9.9,1105,13314,0.25,2.12,53.28,0.815,4,0.048,0.048,3140,1129,780
$GC,13426,0.72,508.3,193.0,20.7,1136,13432,0.22,2.08,0.00,0.000,6,0.134,0.043,3053,2414,777
$GC,13753,1.06,599.6,153.9,9.0,1197,13829,0.25,2.15,68.03,0.746,4,0.048,0.047,3184,1118,480
$GC,13882,0.89,599.6,129.2,19.3,1219,13890,0.28,2.08,0.00,0.000,6,0.137,0.042,3104,2418,469
$GC,14210,1.09,599.6,84.8,12.3,1280,14216,0.17,2.05,0.00,0.000,4,0.054,0.045,3201,1127,462
$GC,14295,0.92,599.6,68.0,19.8,1296,14302,0.25,2.00,0.00,0.000,6,0.131,0.041,3118,2392,461
$GC,14622,1.22,639.9,26.9,10.7,1357,14628,0.25,0.00,0.00,0.000,6,0.044,0.000,3239,2392,461
$STATE,14737,end climb,SURFACE_DEPTH_REACHED
$STATE,14737,begin surface coast
$FINISH,2.0,1.021594
$STATE,14750,end surface coast,CONTROL_FINISHED_OK
$STATE,14750,begin surface
$SM_CCo,14824,0.00,0.000,0,0,459,587.49
$SM_GC,2.58,7.82,0.00,0.00,0.035,0.000,0.000,155,2057,459,-8.23,-0.40,587.49
$IRIDIUM_FIX,2522.28,12357.30,160998,151521
$TT8_MAMPS,0.049088
$HUMID,1593
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.30
$XPDR_PINGS,165
$24V_AH,23.5,44.436
$10V_AH,10.7,30.459
$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,34.000,127.875,700.575,0.000,0.000,27.763,45.593,257.058,49.250,0.000,0.000,34.314,0.000,10657.350,798.056,3234.579,570.330,0.000,2048.733,0.000,2701.546,0.000,53.980,0.000
$DEVICE_MAMPS,219.362,68.263,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,931.641,954.495,1485.778,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78927,1381
$CAP_FILE_SIZE,158875,0
$CFSIZE,260165632,241045504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.414, 67.1,1
$GPS,230609,002207,2526.895,12359.679,28,1.6,28,-3.8