version: 66.04
glider: 165
mission: 2
dive: 208
start: 6 23 109 17 27 23
data:
$ID,165
$MISSION,2
$DIVE,208
$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,-5
$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,-121034.23
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,172025,2522.339,12407.038,35,1.5,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-62.2
$GPS2,172704,2522.385,12407.224,9,4.2,28,-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,211.3,43463,-16.4,-12.000
$D_GRID,2017
$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,13,-1.01,-243.4,0.0,0.0,0,78,0.00,0.00,-63.58,0.000,2,0.000,0.000,152,2101,2024
$GC,80,-1.01,-243.4,3.3,-4.1,10,143,9.00,2.30,-47.58,0.000,4,0.227,0.064,2479,3539,3849
$GC,185,-0.03,-243.4,30.6,-44.8,28,193,1.00,2.17,0.00,0.000,6,0.147,0.035,2805,2138,3851
$GC,513,-0.85,-243.4,69.4,-11.7,89,520,0.68,2.22,0.00,0.000,4,0.055,0.051,2535,3540,3852
$GC,578,-0.52,-243.4,79.6,-19.4,101,584,0.28,2.12,0.00,0.000,6,0.117,0.034,2646,2146,3852
$GC,904,-0.62,-243.4,117.0,-9.7,162,910,0.00,2.25,0.00,0.000,4,0.000,0.054,2646,3545,3853
$GC,958,-0.91,-243.4,121.9,-8.6,172,964,0.25,2.10,0.00,0.000,6,0.035,0.033,2496,2156,3853
$GC,1285,-0.27,-243.4,203.7,-28.7,233,1291,0.70,2.20,0.00,0.000,4,0.145,0.055,2713,3538,3854
$GC,1343,-0.99,-243.4,210.5,-6.4,244,1350,0.55,2.05,0.00,0.000,6,0.064,0.039,2494,2186,3854
$GC,1671,-0.52,-243.4,281.2,-23.1,305,1677,0.45,0.00,0.00,0.000,6,0.135,0.000,2643,2185,3854
$GC,1993,-1.34,-243.4,311.2,-10.3,355,1997,0.68,2.15,0.00,0.000,4,0.061,0.056,2382,3547,3854
$GC,2099,-0.52,-243.4,336.5,-30.4,365,2104,0.80,2.08,0.00,0.000,6,0.143,0.037,2651,2195,3854
$GC,2415,-1.36,-243.4,364.7,-9.0,395,2417,0.70,0.00,0.00,0.000,6,0.051,0.000,2370,2189,3854
$GC,2726,-0.51,-243.4,450.6,-30.4,425,2730,0.90,2.17,0.00,0.000,4,0.161,0.059,2637,3551,3852
$GC,2805,-1.06,-243.4,460.7,-7.9,432,2809,0.38,2.12,0.00,0.000,6,0.046,0.035,2468,2156,3852
$GC,3124,-0.68,-243.4,521.3,-19.7,458,3128,0.40,2.22,0.00,0.000,4,0.129,0.061,2588,3545,3850
$GC,3188,-0.98,-243.4,528.3,-8.0,461,3192,0.20,2.10,0.00,0.000,6,0.038,0.037,2473,2175,3850
$GC,3515,-0.64,-243.4,584.4,-17.7,477,3519,0.40,2.20,0.00,0.000,4,0.129,0.061,2603,3537,3847
$GC,3583,-1.06,-243.4,590.5,-6.2,480,3588,0.30,2.05,0.00,0.000,6,0.035,0.036,2448,2200,3847
$GC,3902,-0.61,-243.4,650.2,-20.3,496,3903,0.55,0.00,0.00,0.000,6,0.136,0.000,2622,2195,3844
$GC,4205,-1.43,-243.4,678.4,-10.4,511,4209,0.70,2.17,0.00,0.000,4,0.074,0.061,2357,3545,3842
$GC,4285,-0.79,-243.4,694.6,-25.4,515,4289,0.62,2.08,0.00,0.000,6,0.145,0.040,2566,2208,3839
$GC,4612,-0.96,-243.4,727.9,-8.9,531,4616,0.17,2.17,0.00,0.000,4,0.059,0.064,2474,3543,3837
$GC,4659,-0.78,-243.4,734.4,-15.5,533,4663,0.25,2.05,0.00,0.000,6,0.121,0.039,2561,2224,3836
$GC,4974,-0.93,-243.4,765.5,-9.4,549,4978,0.12,2.15,0.00,0.000,4,0.070,0.065,2495,3529,3833
$GC,4990,-1.01,-243.4,767.1,-9.7,549,4997,0.00,2.03,0.00,0.000,6,0.000,0.038,2495,2224,3832
$GC,5301,-0.83,-243.4,812.5,-14.2,565,5302,0.17,0.00,0.00,0.000,6,0.138,0.000,2548,2219,3830
$GC,5606,-0.93,-243.4,841.7,-8.9,580,5609,0.00,2.15,0.00,0.000,4,0.000,0.068,2548,3535,3828
$GC,5670,-1.15,-243.4,846.9,-7.4,583,5674,0.28,1.98,0.00,0.000,6,0.050,0.040,2431,2242,3827
$GC,5997,-0.69,-243.4,909.0,-19.5,599,5998,0.52,0.00,0.00,0.000,6,0.146,0.000,2591,2237,3825
$GC,6301,-1.03,-243.4,926.9,-5.1,614,6305,0.30,2.12,0.00,0.000,4,0.049,0.068,2458,3540,3823
$GC,6348,-0.84,-243.4,932.4,-13.9,616,6353,0.25,2.03,0.00,0.000,6,0.131,0.041,2543,2244,3822
$GC,6671,-0.93,-243.4,963.2,-9.5,632,6675,0.00,2.40,0.00,0.000,4,0.000,0.057,2543,735,3820
$GC,6697,-1.06,-243.4,965.9,-10.0,633,6701,0.20,2.40,0.00,0.000,6,0.056,0.049,2455,2246,3820
$STATE,6847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6847,begin apogee
$GC,6852,-0.22,0.0,990.9,17.7,641,7052,0.93,0.00,197.12,1.370,6,0.146,0.000,2741,2445,2854
$STATE,7052,end apogee,CONTROL_FINISHED_OK
$STATE,7052,begin climb
$GC,7054,1.01,243.4,1002.4,0.0,651,7271,1.10,2.42,206.02,1.328,4,0.043,0.054,3169,1056,1859
$GC,7361,0.26,243.4,959.6,24.0,665,7365,0.90,2.33,0.00,0.000,6,0.182,0.050,2905,2444,1854
$GC,7676,0.54,340.9,929.5,8.8,681,7765,0.25,2.38,84.15,1.280,4,0.053,0.053,3032,1054,1463
$GC,7825,0.37,340.9,905.0,17.6,688,7829,0.32,2.28,0.00,0.000,6,0.143,0.048,2938,2442,1458
$GC,8151,0.56,369.6,867.6,11.0,704,8193,0.17,2.30,27.55,1.157,4,0.058,0.051,3030,1049,1345
$GC,8235,0.45,369.6,854.3,16.7,708,8238,0.22,2.22,0.00,0.000,6,0.140,0.046,2966,2421,1343
$GC,8561,0.57,402.9,815.2,10.9,724,8595,0.12,2.28,29.92,1.222,4,0.070,0.052,3031,1048,1210
$GC,8623,0.46,402.9,805.8,16.5,727,8627,0.17,2.25,0.00,0.000,6,0.134,0.047,2966,2411,1208
$GC,8949,0.66,448.8,770.5,10.5,743,9003,0.20,2.25,43.60,1.168,4,0.058,0.053,3061,1054,1023
$GC,9062,0.52,448.8,750.9,18.4,748,9065,0.25,2.15,0.00,0.000,6,0.143,0.046,2990,2377,1019
$GC,9377,0.62,448.8,710.7,12.6,764,9381,0.00,2.15,0.00,0.000,4,0.000,0.051,2997,1059,1018
$GC,9446,0.73,448.8,701.9,12.4,767,9450,0.12,2.08,0.00,0.000,6,0.050,0.044,3071,2352,1017
$GC,9767,0.50,448.8,635.5,21.3,783,9771,0.30,2.15,0.00,0.000,4,0.145,0.061,2982,3680,1017
$GC,9793,0.50,448.8,630.7,16.5,784,9797,0.00,2.08,0.00,0.000,6,0.000,0.039,2989,2356,1017
$GC,10114,0.62,448.8,591.9,12.4,800,10118,0.00,2.08,0.00,0.000,4,0.000,0.051,2999,1058,1015
$GC,10151,0.77,448.8,587.3,12.5,801,10158,0.15,2.05,0.00,0.000,6,0.047,0.044,3083,2342,1015
$GC,10462,0.50,448.8,522.2,21.4,817,10466,0.35,2.08,0.00,0.000,4,0.144,0.051,2987,1020,1016
$GC,10483,0.41,448.8,518.5,17.6,818,10487,0.08,2.12,0.00,0.000,6,0.123,0.044,2958,2356,1014
$GC,10802,0.92,589.3,492.6,7.3,838,10946,0.40,2.25,128.12,1.008,4,0.045,0.051,3145,1047,481
$GC,10983,0.68,589.3,450.4,24.7,854,10991,0.32,2.15,0.00,0.000,6,0.144,0.044,3044,2341,470
$GC,11300,0.85,589.3,404.0,14.2,885,11303,0.15,2.05,0.00,0.000,4,0.061,0.050,3126,1055,460
$GC,11336,0.71,589.3,396.9,21.8,888,11343,0.22,2.05,0.00,0.000,6,0.136,0.043,3053,2332,458
$GC,11652,0.87,589.3,351.8,13.0,919,11656,0.12,2.05,0.00,0.000,4,0.065,0.050,3127,1032,456
$GC,11700,0.77,589.3,342.9,20.2,923,11707,0.17,2.03,0.00,0.000,6,0.129,0.043,3069,2308,455
$GC,12017,0.89,589.3,293.8,15.8,957,12023,0.12,1.98,0.00,0.000,4,0.065,0.049,3140,1050,453
$GC,12070,0.75,589.3,282.4,23.7,967,12077,0.20,1.98,0.00,0.000,6,0.127,0.042,3062,2295,453
$GC,12397,0.97,589.3,234.8,12.2,1028,12404,0.20,1.98,0.00,0.000,4,0.051,0.048,3165,1048,452
$GC,12446,0.76,589.3,225.8,21.6,1037,12452,0.30,1.95,0.00,0.000,6,0.134,0.041,3066,2289,452
$GC,12772,0.98,589.3,186.1,12.5,1098,12778,0.20,1.95,0.00,0.000,4,0.051,0.048,3170,1055,451
$GC,12804,0.85,589.3,180.3,19.9,1104,12810,0.22,1.90,0.00,0.000,6,0.131,0.041,3081,2272,451
$GC,13131,1.13,614.1,133.6,11.2,1165,13138,0.25,2.22,0.00,0.000,4,0.046,0.054,3207,3694,451
$GC,13153,1.13,614.1,130.2,15.2,1169,13159,0.10,2.20,0.00,0.000,6,0.152,0.036,3185,2277,451
$GC,13480,1.04,614.1,68.9,17.4,1230,13486,0.12,1.90,0.00,0.000,4,0.150,0.048,3156,1056,450
$GC,13555,1.15,614.1,58.0,13.4,1244,13561,0.00,1.88,0.00,0.000,6,0.000,0.038,3156,2265,450
$GC,13881,1.27,614.1,15.2,12.7,1305,13888,0.20,2.25,0.00,0.000,4,0.052,0.053,3251,3691,450
$GC,13908,1.13,614.1,10.1,19.5,1310,13915,0.22,2.20,0.00,0.000,6,0.148,0.035,3188,2254,449
$STATE,13949,end climb,SURFACE_DEPTH_REACHED
$STATE,13949,begin surface coast
$FINISH,1.7,1.008992
$STATE,13966,end surface coast,CONTROL_FINISHED_OK
$STATE,13966,begin surface
$SM_CCo,14040,0.00,0.000,0,0,449,589.95
$SM_GC,2.50,7.65,0.00,0.00,0.034,0.000,0.000,148,2098,449,-8.23,-1.05,589.95
$IRIDIUM_FIX,2512.73,12405.21,170998,131352
$TT8_MAMPS,0.048321
$HUMID,1596
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.70
$XPDR_PINGS,170
$24V_AH,23.5,45.780
$10V_AH,10.7,31.103
$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,38.650,137.325,716.500,0.000,0.000,31.333,34.524,201.502,50.500,0.000,0.000,31.211,0.000,9880.343,824.434,3205.915,512.902,0.000,2072.677,0.000,2662.186,0.000,55.418,0.000
$DEVICE_MAMPS,227.032,69.797,1369.862,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,890.828,917.494,1432.530,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75964,1321
$CAP_FILE_SIZE,161601,0
$CFSIZE,260165632,240619520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.364, 72.5,1
$GPS,230609,212207,2520.950,12407.962,25,1.4,25,-3.8