version: 66.04
glider: 165
mission: 2
dive: 206
start: 6 23 109 8 45 9
data:
$ID,165
$MISSION,2
$DIVE,206
$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,-3
$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,-120985.1
$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,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$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
$GPS1,083837,2525.003,12404.502,25,1.5,25,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-68.3
$GPS2,084504,2525.054,12404.789,10,3.5,29,-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,208.5,49465,-16.4,-12.000
$D_GRID,1970
$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,-243.4,0.0,0.0,0,72,0.00,0.00,-58.40,0.000,2,0.000,0.000,154,2104,1893
$GC,74,-1.01,-243.4,3.1,-3.1,9,145,8.88,2.30,-55.20,0.000,4,0.223,0.065,2474,3545,3848
$GC,220,-0.27,-243.4,39.5,-33.7,34,227,0.75,2.17,0.00,0.000,6,0.130,0.036,2731,2141,3850
$GC,547,-1.15,-243.4,75.7,-12.7,95,554,0.75,2.22,0.00,0.000,4,0.056,0.050,2439,3555,3851
$GC,683,-0.45,-243.4,112.7,-29.6,120,689,0.73,2.10,0.00,0.000,6,0.141,0.040,2666,2161,3851
$GC,1009,-0.73,-243.4,145.0,-9.1,181,1017,0.22,2.17,0.00,0.000,4,0.047,0.054,2550,3540,3853
$GC,1081,-0.58,-243.4,155.3,-15.9,194,1087,0.22,2.08,0.00,0.000,6,0.110,0.034,2647,2176,3853
$GC,1408,-0.80,-243.4,185.2,-7.8,255,1414,0.22,2.17,0.00,0.000,4,0.048,0.054,2534,3548,3853
$GC,1450,-0.61,-243.4,190.9,-15.7,263,1456,0.22,2.05,0.00,0.000,6,0.114,0.034,2615,2199,3853
$GC,1777,-0.73,-243.4,226.1,-10.8,324,1783,0.00,2.15,0.00,0.000,4,0.000,0.056,2615,3534,3853
$GC,1820,-0.95,-243.4,230.5,-9.9,332,1826,0.25,2.00,0.00,0.000,6,0.035,0.035,2477,2220,3853
$GC,2145,-0.41,-243.4,307.6,-22.4,390,2147,0.65,0.00,0.00,0.000,6,0.137,0.000,2683,2215,3853
$GC,2456,-1.23,-243.4,337.9,-10.5,420,2461,0.68,2.10,0.00,0.000,4,0.067,0.055,2420,3541,3853
$GC,2552,-0.68,-243.4,354.8,-20.9,428,2559,0.50,2.00,0.00,0.000,6,0.137,0.036,2599,2222,3853
$GC,2867,-0.88,-243.4,382.3,-8.1,459,2871,0.17,2.10,0.00,0.000,4,0.054,0.059,2507,3546,3853
$GC,2942,-0.75,-243.4,392.6,-13.9,466,2945,0.17,2.00,0.00,0.000,6,0.114,0.036,2571,2236,3853
$GC,3263,-0.82,-243.4,429.8,-11.7,497,3266,0.00,2.12,0.00,0.000,4,0.000,0.061,2571,3542,3851
$GC,3289,-0.95,-243.4,432.8,-11.5,499,3295,0.12,1.98,0.00,0.000,6,0.044,0.036,2489,2247,3850
$GC,3604,-0.62,-243.4,490.3,-17.5,530,3608,0.40,2.35,0.00,0.000,4,0.130,0.051,2616,752,3849
$GC,3631,-0.72,-243.4,493.6,-11.3,532,3639,0.00,2.30,0.00,0.000,6,0.000,0.043,2616,2224,3849
$GC,3954,-1.52,-243.4,516.1,-8.3,554,3958,0.75,2.08,0.00,0.000,4,0.071,0.057,2330,3541,3846
$GC,3985,-1.10,-243.4,520.4,-14.6,555,3992,0.43,2.00,0.00,0.000,6,0.169,0.036,2458,2222,3845
$GC,4296,-0.68,-243.4,581.4,-17.2,571,4300,0.40,2.30,0.00,0.000,4,0.133,0.049,2592,748,3844
$GC,4321,-0.68,-243.4,584.9,-12.5,572,4325,0.00,2.33,0.00,0.000,6,0.000,0.044,2592,2224,3844
$GC,4638,-0.96,-243.4,605.5,-6.6,588,4641,0.22,2.10,0.00,0.000,4,0.049,0.060,2478,3544,3842
$GC,4717,-0.76,-243.4,615.8,-14.7,592,4721,0.30,1.98,0.00,0.000,6,0.121,0.038,2573,2253,3840
$GC,5045,-0.94,-243.4,641.7,-7.6,608,5046,0.17,0.00,0.00,0.000,6,0.058,0.000,2486,2248,3837
$GC,5348,-0.68,-243.4,686.8,-15.5,623,5352,0.38,2.10,0.00,0.000,4,0.129,0.064,2603,3532,3835
$GC,5386,-1.02,-243.4,690.1,-6.7,624,5392,0.28,1.98,0.00,0.000,6,0.038,0.038,2461,2248,3834
$GC,5696,-0.63,-243.4,746.4,-19.1,640,5697,0.50,0.00,0.00,0.000,6,0.137,0.000,2617,2243,3832
$GC,6001,-1.51,-243.4,769.6,-8.6,655,6005,0.75,2.10,0.00,0.000,4,0.073,0.064,2334,3538,3830
$GC,6065,-0.77,-243.4,781.1,-24.7,658,6069,0.73,1.98,0.00,0.000,6,0.156,0.041,2569,2269,3829
$GC,6386,-0.97,-243.4,805.4,-6.9,674,6390,0.17,2.40,0.00,0.000,4,0.060,0.054,2481,747,3827
$GC,6418,-0.85,-243.4,808.9,-12.5,675,6422,0.22,2.40,0.00,0.000,6,0.134,0.048,2549,2264,3826
$GC,6734,-0.94,-243.4,837.4,-9.6,691,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2264,3824
$GC,7039,-1.05,-243.4,863.8,-8.3,706,7042,0.20,2.05,0.00,0.000,4,0.056,0.067,2456,3538,3822
$GC,7065,-0.90,-243.4,866.9,-13.1,707,7069,0.20,1.98,0.00,0.000,6,0.130,0.040,2522,2263,3821
$GC,7385,-0.90,-243.4,904.2,-11.8,723,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2261,3820
$GC,7691,-0.90,-243.4,939.9,-11.1,738,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2261,3818
$GC,7996,-0.90,-243.4,973.3,-10.7,753,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2260,3816
$STATE,8157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8157,begin apogee
$GC,8161,-0.22,0.0,990.3,10.3,761,8362,0.68,0.00,196.50,1.377,6,0.121,0.000,2744,2448,2854
$STATE,8362,end apogee,CONTROL_FINISHED_OK
$STATE,8362,begin climb
$GC,8364,1.01,243.4,997.8,0.0,771,8579,1.08,2.17,206.55,1.330,4,0.041,0.067,3154,3687,1860
$GC,8734,0.20,243.4,933.7,27.4,788,8738,0.98,1.95,0.00,0.000,6,0.176,0.042,2887,2461,1854
$GC,9043,0.60,376.0,906.9,7.6,803,9163,0.35,2.40,114.55,1.276,4,0.048,0.054,3040,1046,1321
$GC,9238,0.44,376.0,874.4,18.7,812,9242,0.22,2.30,0.00,0.000,6,0.138,0.048,2970,2426,1315
$GC,9559,0.51,376.0,832.4,13.1,828,9563,0.00,2.25,0.00,0.000,4,0.000,0.051,2977,1050,1313
$GC,9581,0.59,376.0,829.6,13.1,829,9585,0.10,2.22,0.00,0.000,6,0.078,0.047,3025,2442,1311
$GC,9901,0.44,376.0,772.8,17.4,845,9905,0.22,2.28,0.00,0.000,4,0.140,0.051,2969,1040,1311
$GC,9944,0.57,376.0,766.9,12.1,847,9948,0.10,2.17,0.00,0.000,6,0.077,0.046,3018,2414,1309
$GC,10270,0.46,376.0,714.6,16.1,863,10274,0.17,2.22,0.00,0.000,4,0.140,0.051,2977,1038,1309
$GC,10313,0.56,376.0,709.0,12.2,865,10316,0.00,2.17,0.00,0.000,6,0.000,0.046,2977,2401,1308
$GC,10639,0.62,376.0,668.7,12.6,881,10640,0.12,0.00,0.00,0.000,6,0.069,0.000,3035,2400,1307
$GC,10944,0.44,376.0,616.0,17.1,896,10945,0.25,0.00,0.00,0.000,6,0.141,0.000,2962,2401,1308
$GC,11249,0.60,388.4,580.7,11.6,911,11263,0.15,2.17,9.93,1.038,4,0.064,0.052,3040,1041,1269
$GC,11280,0.50,388.4,576.4,14.9,912,11284,0.17,2.17,0.00,0.000,6,0.137,0.045,2983,2392,1269
$GC,11596,0.60,392.2,535.3,11.9,928,11602,0.00,0.00,4.60,0.798,6,0.000,0.000,2983,2392,1255
$GC,11902,0.71,394.4,499.2,11.9,943,11913,0.20,2.20,3.72,0.675,4,0.060,0.052,3080,1036,1246
$GC,11959,0.49,394.4,489.0,18.4,948,11966,0.30,2.15,0.00,0.000,6,0.146,0.046,2984,2375,1245
$GC,12275,0.66,422.3,450.4,11.1,979,12308,0.15,2.17,26.20,1.019,4,0.064,0.051,3063,1038,1131
$GC,12344,0.55,422.3,439.3,18.4,985,12351,0.20,2.15,0.00,0.000,6,0.134,0.044,2998,2358,1129
$GC,12660,0.70,431.7,401.4,11.7,1016,12672,0.15,0.00,9.07,0.894,6,0.063,0.000,3067,2358,1093
$GC,12981,0.55,431.7,343.1,18.8,1047,12984,0.22,2.12,0.00,0.000,4,0.141,0.060,3000,3687,1092
$GC,13038,0.71,431.7,334.3,12.2,1052,13045,0.08,2.10,0.00,0.000,6,0.060,0.038,3059,2351,1092
$GC,13358,0.63,431.7,281.7,16.6,1093,13364,0.12,2.15,0.00,0.000,4,0.146,0.058,3025,3696,1093
$GC,13379,0.63,431.7,278.6,15.6,1097,13385,0.00,2.08,0.00,0.000,6,0.000,0.038,3032,2363,1092
$GC,13705,0.76,458.1,239.0,11.1,1158,13737,0.00,2.12,23.65,0.837,4,0.000,0.049,3041,1042,985
$GC,13779,0.92,458.1,230.1,12.4,1171,13785,0.15,2.12,0.00,0.000,6,0.044,0.041,3136,2363,983
$GC,14105,0.65,458.1,164.1,19.4,1232,14112,0.35,2.10,0.00,0.000,4,0.142,0.048,3039,1041,983
$GC,14127,0.59,458.1,160.6,15.3,1236,14133,0.00,2.05,0.00,0.000,6,0.000,0.041,3038,2339,982
$GC,14453,0.97,572.4,131.4,8.2,1297,14561,0.25,2.15,99.82,0.734,4,0.048,0.047,3165,1043,516
$GC,14588,0.88,572.4,108.1,20.6,1319,14594,0.17,2.08,0.00,0.000,6,0.129,0.040,3108,2320,508
$GC,14914,1.15,584.0,65.7,11.6,1380,14927,0.22,2.03,6.57,0.559,4,0.048,0.046,3224,1035,482
$GC,14963,0.95,584.0,56.8,21.4,1389,14970,0.25,2.03,0.00,0.000,6,0.133,0.040,3129,2316,478
$GC,15290,1.32,674.4,20.3,9.0,1450,15297,0.30,2.17,0.00,0.000,4,0.041,0.054,3269,3693,476
$GC,15345,0.96,674.4,9.1,23.9,1460,15351,0.45,2.15,0.00,0.000,6,0.146,0.035,3125,2307,476
$STATE,15391,end climb,SURFACE_DEPTH_REACHED
$STATE,15391,begin surface coast
$FINISH,1.8,1.021516
$STATE,15418,end surface coast,CONTROL_FINISHED_OK
$STATE,15418,begin surface
$SM_CCo,15493,0.00,0.000,0,0,475,583.57
$SM_GC,2.38,7.53,0.00,0.00,0.035,0.000,0.000,152,2102,475,-8.21,-0.93,583.57
$IRIDIUM_FIX,2517.50,12403.24,170998,040404
$TT8_MAMPS,0.047554
$HUMID,1579
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.90
$XPDR_PINGS,181
$24V_AH,23.5,45.242
$10V_AH,10.7,30.845
$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,36.350,133.325,701.175,0.000,0.000,30.513,44.485,183.760,53.250,0.000,0.000,32.759,0.000,11105.613,809.628,3409.007,528.993,0.000,2117.631,0.000,2860.184,0.000,53.977,0.000
$DEVICE_MAMPS,223.197,69.030,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.253,1039.758,1623.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85197,1474
$CAP_FILE_SIZE,169007,0
$CFSIZE,260165632,240783360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.340, 69.8,1
$GPS,230609,130407,2523.722,12406.047,26,1.1,26,-3.8