version: 66.04
glider: 165
mission: 2
dive: 207
start: 6 23 109 13 10 30
data:
$ID,165
$MISSION,2
$DIVE,207
$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,-121002.39
$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,59
$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
$GPS1,130407,2523.722,12406.047,26,1.1,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.2
$GPS2,131025,2523.725,12406.249,9,1.4,14,-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,210.3,46328,-16.4,-12.000
$D_GRID,1989
$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,-243.4,0.0,0.0,0,73,0.00,0.00,-59.03,0.000,2,0.000,0.000,151,2102,1912
$GC,75,-1.01,-243.4,3.1,-2.9,9,145,8.98,2.35,-52.78,0.000,4,0.225,0.066,2477,3543,3849
$GC,215,-0.27,-243.4,40.0,-35.1,33,221,0.80,2.12,0.00,0.000,6,0.137,0.041,2728,2146,3851
$GC,541,-1.00,-243.4,75.9,-9.2,94,548,0.62,2.22,0.00,0.000,4,0.058,0.050,2484,3559,3852
$GC,633,-0.44,-243.4,97.4,-27.3,111,639,0.55,2.17,0.00,0.000,6,0.131,0.035,2678,2139,3852
$GC,960,-0.73,-243.4,129.0,-9.5,172,967,0.25,2.22,0.00,0.000,4,0.045,0.053,2551,3557,3853
$GC,1035,-0.58,-243.4,141.5,-17.6,186,1042,0.22,2.12,0.00,0.000,6,0.115,0.037,2631,2155,3853
$GC,1363,-0.73,-243.4,178.9,-9.8,247,1369,0.12,2.20,0.00,0.000,4,0.065,0.055,2560,3545,3854
$GC,1395,-0.67,-243.4,182.9,-13.4,253,1401,0.10,2.08,0.00,0.000,6,0.117,0.034,2598,2174,3854
$GC,1721,-0.67,-243.4,223.8,-11.5,314,1727,0.00,2.20,0.00,0.000,4,0.000,0.058,2598,3536,3854
$GC,1753,-0.78,-243.4,227.2,-11.1,320,1761,0.00,2.05,0.00,0.000,6,0.000,0.035,2598,2193,3854
$GC,2082,-0.86,-243.4,260.4,-9.0,381,2087,0.15,2.15,0.00,0.000,4,0.057,0.055,2517,3545,3854
$GC,2146,-0.68,-243.4,269.4,-14.9,393,2151,0.25,2.03,0.00,0.000,6,0.120,0.035,2597,2197,3854
$GC,2478,-0.80,-243.4,301.4,-9.3,454,2481,0.12,2.15,0.00,0.000,4,0.064,0.058,2530,3545,3854
$GC,2567,-0.72,-243.4,313.1,-13.0,462,2572,0.15,2.03,0.00,0.000,6,0.114,0.035,2585,2219,3854
$GC,2889,-0.83,-243.4,342.6,-8.6,493,2892,0.00,2.12,0.00,0.000,4,0.000,0.059,2585,3554,3853
$GC,2920,-1.00,-243.4,345.3,-8.4,496,2924,0.20,2.00,0.00,0.000,6,0.038,0.035,2472,2241,3853
$GC,3241,-0.56,-243.4,406.8,-20.9,527,3245,0.52,2.08,0.00,0.000,4,0.137,0.060,2630,3541,3851
$GC,3305,-1.03,-243.4,413.1,-6.8,533,3309,0.32,1.98,0.00,0.000,6,0.033,0.035,2444,2239,3851
$GC,3625,-0.53,-243.4,481.9,-21.7,564,3629,0.65,2.33,0.00,0.000,4,0.139,0.050,2651,740,3849
$GC,3663,-0.93,-243.4,486.5,-8.3,567,3669,0.30,2.35,0.00,0.000,6,0.048,0.041,2500,2239,3849
$GC,3986,-0.69,-243.4,539.2,-17.4,588,3990,0.28,2.08,0.00,0.000,4,0.132,0.061,2590,3542,3846
$GC,4022,-0.93,-243.4,543.6,-8.9,590,4026,0.17,2.00,0.00,0.000,6,0.040,0.035,2487,2238,3846
$GC,4350,-0.65,-243.4,593.3,-15.3,606,4354,0.35,2.10,0.00,0.000,4,0.130,0.061,2603,3540,3844
$GC,4396,-1.06,-243.4,597.1,-4.6,608,4401,0.30,2.00,0.00,0.000,6,0.037,0.035,2451,2237,3844
$GC,4714,-0.62,-243.4,655.1,-19.7,624,4715,0.52,0.00,0.00,0.000,6,0.136,0.000,2616,2233,3841
$GC,5018,-1.48,-243.4,680.2,-9.5,639,5022,0.75,2.10,0.00,0.000,4,0.074,0.063,2341,3541,3837
$GC,5103,-0.76,-243.4,697.7,-25.3,643,5107,0.75,1.98,0.00,0.000,6,0.157,0.040,2566,2246,3836
$GC,5425,-0.94,-243.4,727.4,-7.9,659,5429,0.15,2.35,0.00,0.000,4,0.065,0.053,2492,753,3833
$GC,5450,-0.89,-243.4,730.3,-12.1,660,5454,0.10,2.35,0.00,0.000,6,0.132,0.048,2527,2225,3834
$GC,5767,-0.89,-243.4,767.8,-11.6,676,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2225,3831
$GC,6071,-0.89,-243.4,803.5,-11.6,691,6075,0.00,2.15,0.00,0.000,4,0.000,0.065,2521,3536,3828
$GC,6108,-0.94,-243.4,807.8,-11.8,692,6114,0.00,2.03,0.00,0.000,6,0.000,0.038,2521,2230,3828
$GC,6418,-0.94,-243.4,845.5,-11.8,708,6422,0.00,2.17,0.00,0.000,4,0.000,0.067,2521,3536,3825
$GC,6455,-0.94,-243.4,850.0,-11.5,709,6463,0.00,2.00,0.00,0.000,6,0.000,0.038,2521,2245,3824
$GC,6766,-0.94,-243.4,887.2,-11.9,725,6770,0.00,2.35,0.00,0.000,4,0.000,0.054,2521,754,3823
$GC,6792,-0.94,-243.4,890.5,-13.3,726,6796,0.00,2.35,0.00,0.000,6,0.000,0.048,2521,2219,3823
$GC,7113,-0.94,-243.4,927.8,-11.9,742,7117,0.00,2.15,0.00,0.000,4,0.000,0.066,2521,3531,3819
$GC,7172,-1.01,-243.4,934.3,-10.6,744,7178,0.00,2.00,0.00,0.000,6,0.000,0.038,2521,2242,3820
$GC,7483,-1.01,-243.4,970.3,-11.6,760,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2239,3818
$STATE,7664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7664,begin apogee
$GC,7668,-0.22,0.0,992.2,11.9,769,7870,0.70,0.00,196.73,1.378,6,0.122,0.000,2750,2459,2853
$STATE,7871,end apogee,CONTROL_FINISHED_OK
$STATE,7871,begin climb
$GC,7873,1.01,243.4,1004.7,0.0,779,8088,1.05,2.17,206.43,1.335,4,0.040,0.065,3153,3680,1859
$GC,8328,0.20,243.4,928.4,24.5,800,8332,0.95,1.92,0.00,0.000,6,0.179,0.043,2885,2479,1853
$GC,8644,0.67,439.3,907.7,5.5,816,8823,0.40,2.47,170.15,1.276,4,0.047,0.054,3060,1050,1062
$GC,8897,0.51,439.3,863.6,17.7,828,8902,0.22,2.30,0.00,0.000,6,0.143,0.048,2990,2427,1058
$GC,9225,0.57,439.3,818.6,13.3,844,9228,0.00,2.22,0.00,0.000,4,0.000,0.051,2998,1041,1055
$GC,9256,0.64,439.3,814.5,13.7,845,9259,0.00,2.25,0.00,0.000,6,0.000,0.045,2998,2432,1053
$GC,9571,0.64,439.3,769.5,14.5,861,9575,0.00,2.28,0.00,0.000,4,0.000,0.052,3008,1032,1052
$GC,9625,0.69,439.3,761.8,14.4,863,9629,0.00,2.20,0.00,0.000,6,0.000,0.046,3008,2404,1052
$GC,9940,0.69,439.3,714.8,15.0,879,9944,0.00,2.20,0.00,0.000,4,0.000,0.051,3016,1042,1052
$GC,10003,0.69,439.3,705.2,14.4,882,10008,0.00,2.15,0.00,0.000,6,0.000,0.045,3016,2383,1050
$GC,10331,0.69,439.3,654.7,15.7,898,10334,0.00,2.15,0.00,0.000,4,0.000,0.051,3026,1026,1050
$GC,10367,0.69,439.3,648.7,16.8,899,10373,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2357,1050
$GC,10678,0.63,439.3,597.5,16.6,915,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2357,1050
$GC,10983,0.57,439.3,546.7,16.3,930,10986,0.00,2.15,0.00,0.000,4,0.000,0.061,3026,3681,1049
$GC,11009,0.57,439.3,542.4,17.1,931,11013,0.08,2.08,0.00,0.000,6,0.140,0.041,3006,2355,1049
$GC,11330,0.64,439.3,501.5,12.4,947,11334,0.00,2.10,0.00,0.000,4,0.000,0.051,3014,1038,1049
$GC,11420,0.72,439.3,490.0,12.4,954,11428,0.00,2.08,0.00,0.000,6,0.000,0.044,3015,2341,1047
$GC,11738,0.72,439.3,447.6,13.2,985,11741,0.10,2.15,0.00,0.000,4,0.077,0.061,3071,3689,1047
$GC,11763,0.62,439.3,443.5,16.3,987,11770,0.17,2.10,0.00,0.000,6,0.141,0.039,3022,2345,1048
$GC,12079,0.66,439.3,403.7,12.2,1018,12083,0.00,2.08,0.00,0.000,4,0.000,0.051,3031,1040,1048
$GC,12143,0.74,458.9,395.7,11.4,1024,12165,0.00,2.03,15.95,0.950,6,0.000,0.044,3031,2320,983
$GC,12474,0.74,458.9,350.6,14.1,1056,12478,0.00,2.20,0.00,0.000,4,0.000,0.059,3031,3675,981
$GC,12522,0.79,458.9,343.8,13.7,1060,12529,0.08,2.10,0.00,0.000,6,0.061,0.038,3090,2333,981
$GC,12841,0.60,458.9,282.5,19.6,1099,12847,0.25,2.03,0.00,0.000,4,0.147,0.049,3025,1026,981
$GC,12894,0.76,458.9,274.8,12.7,1109,12900,0.08,2.10,0.00,0.000,6,0.058,0.042,3084,2349,980
$GC,13220,0.66,458.9,221.1,14.1,1170,13227,0.17,2.08,0.00,0.000,4,0.137,0.048,3041,1038,980
$GC,13259,0.84,491.5,216.5,10.9,1177,13297,0.10,2.05,28.50,0.818,6,0.050,0.041,3111,2339,850
$GC,13619,0.68,491.5,159.3,17.1,1243,13624,0.22,0.00,0.00,0.000,6,0.138,0.000,3039,2339,848
$GC,13944,1.05,552.2,122.4,10.0,1304,14002,0.32,2.15,53.65,0.730,4,0.043,0.047,3194,1038,600
$GC,14062,0.84,552.2,99.3,20.4,1324,14068,0.30,2.05,0.00,0.000,6,0.133,0.041,3098,2316,592
$GC,14389,1.17,590.1,67.3,10.7,1385,14434,0.28,2.10,31.42,0.604,4,0.043,0.046,3242,1027,482
$GC,14465,0.94,590.1,51.2,21.2,1398,14473,0.35,2.00,0.00,0.000,6,0.132,0.039,3128,2290,473
$GC,14793,1.31,654.1,12.9,9.9,1459,14800,0.30,2.20,0.00,0.000,4,0.041,0.054,3267,3686,469
$GC,14821,1.15,654.1,8.4,18.3,1464,14827,0.25,2.17,0.00,0.000,6,0.150,0.035,3187,2286,468
$STATE,14851,end climb,SURFACE_DEPTH_REACHED
$STATE,14851,begin surface coast
$FINISH,1.7,1.021507
$STATE,14867,end surface coast,CONTROL_FINISHED_OK
$STATE,14867,begin surface
$SM_CCo,14941,0.00,0.000,0,0,467,585.53
$SM_GC,2.32,7.70,0.00,0.00,0.035,0.000,0.000,154,2105,467,-8.21,-0.82,585.53
$IRIDIUM_FIX,2515.12,12406.55,170998,080824
$TT8_MAMPS,0.048321
$HUMID,1576
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.80
$XPDR_PINGS,213
$24V_AH,23.5,45.506
$10V_AH,10.7,30.979
$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,31.775,146.150,702.825,0.000,0.000,29.626,30.444,200.578,61.250,0.000,0.000,16.660,0.000,10470.016,826.530,3470.524,522.073,0.000,2170.489,0.000,2928.401,0.000,54.002,0.000
$DEVICE_MAMPS,225.498,66.729,1378.299,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.282,1036.971,1632.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82338,1473
$CAP_FILE_SIZE,166953,0
$CFSIZE,260165632,240697344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.311, 74.4,1
$GPS,230609,172025,2522.339,12407.038,35,1.5,35,-3.8