version: 66.04
glider: 165
mission: 2
dive: 211
start: 6 24 109 5 33 1
data:
$ID,165
$MISSION,2
$DIVE,211
$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,-121108.8
$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,63
$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
$GPS1,052630,2518.333,12409.721,36,1.1,41,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-66.6
$GPS2,053256,2518.365,12409.867,9,1.2,9,-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,214.6,35087,-16.4,-12.000
$D_GRID,2080
$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,-243.4,0.0,0.0,0,75,0.00,0.00,-61.22,0.000,2,0.000,0.000,155,2099,1972
$GC,77,-1.01,-243.4,3.2,-3.8,9,148,8.93,2.35,-51.90,0.000,4,0.225,0.065,2475,3549,3849
$GC,184,-0.11,-243.4,27.9,-40.2,27,192,0.95,2.17,0.00,0.000,6,0.151,0.038,2781,2142,3850
$GC,512,-0.88,-243.4,71.3,-11.7,88,519,0.62,2.22,0.00,0.000,4,0.058,0.050,2532,3557,3852
$GC,588,-0.53,-243.4,83.1,-18.6,102,595,0.28,2.15,0.00,0.000,6,0.119,0.033,2644,2143,3852
$GC,915,-0.62,-243.4,123.4,-13.1,163,921,0.00,2.25,0.00,0.000,4,0.000,0.060,2644,3541,3853
$GC,1017,-0.89,-243.4,134.5,-10.1,182,1024,0.22,2.05,0.00,0.000,6,0.036,0.032,2507,2180,3853
$GC,1345,-0.37,-243.4,210.7,-22.4,243,1351,0.55,2.17,0.00,0.000,4,0.136,0.054,2684,3551,3854
$GC,1403,-0.95,-243.4,216.5,-5.1,254,1411,0.43,2.05,0.00,0.000,6,0.043,0.039,2491,2197,3855
$GC,1732,-0.46,-243.4,286.8,-24.3,315,1737,0.52,0.00,0.00,0.000,6,0.133,0.000,2665,2196,3854
$GC,2056,-1.29,-243.4,319.7,-10.2,358,2060,0.73,2.12,0.00,0.000,4,0.068,0.058,2391,3542,3855
$GC,2210,-0.63,-243.4,355.3,-26.4,372,2217,0.68,2.03,0.00,0.000,6,0.141,0.042,2609,2222,3854
$GC,2526,-0.87,-243.4,386.3,-9.7,403,2530,0.20,2.10,0.00,0.000,4,0.051,0.059,2504,3545,3854
$GC,2601,-0.72,-243.4,397.7,-16.4,410,2605,0.22,2.00,0.00,0.000,6,0.114,0.035,2583,2236,3853
$GC,2922,-0.85,-243.4,433.4,-9.9,441,2925,0.12,2.08,0.00,0.000,4,0.065,0.060,2511,3540,3852
$GC,2969,-0.75,-243.4,439.4,-13.3,445,2975,0.17,1.98,0.00,0.000,6,0.115,0.035,2573,2243,3851
$GC,3284,-0.86,-243.4,468.7,-9.0,476,3288,0.00,2.10,0.00,0.000,4,0.000,0.061,2574,3536,3850
$GC,3343,-1.09,-243.4,474.0,-8.5,481,3349,0.25,1.95,0.00,0.000,6,0.037,0.035,2447,2259,3849
$GC,3667,-0.63,-243.4,541.6,-20.9,504,3671,0.50,2.08,0.00,0.000,4,0.140,0.061,2603,3546,3847
$GC,3719,-1.01,-243.4,547.4,-7.1,506,3725,0.25,1.95,0.00,0.000,6,0.035,0.037,2466,2270,3847
$GC,4031,-0.66,-243.4,601.6,-18.4,522,4033,0.43,0.00,0.00,0.000,6,0.130,0.000,2601,2265,3845
$GC,4336,-0.99,-243.4,625.1,-6.7,537,4340,0.25,2.05,0.00,0.000,4,0.046,0.063,2468,3538,3842
$GC,4382,-0.77,-243.4,631.2,-15.0,539,4387,0.28,1.95,0.00,0.000,6,0.125,0.038,2562,2267,3841
$GC,4699,-0.90,-243.4,659.4,-8.5,555,4702,0.10,2.38,0.00,0.000,4,0.076,0.053,2508,747,3839
$GC,4730,-0.90,-243.4,663.0,-11.9,556,4734,0.00,2.38,0.00,0.000,6,0.000,0.047,2507,2258,3838
$GC,5046,-0.76,-243.4,705.8,-14.0,572,5050,0.20,2.08,0.00,0.000,4,0.130,0.064,2564,3537,3836
$GC,5120,-1.01,-243.4,713.1,-8.5,575,5124,0.15,1.95,0.00,0.000,6,0.043,0.038,2474,2267,3834
$GC,5436,-0.71,-243.4,767.8,-17.1,591,5437,0.38,0.00,0.00,0.000,6,0.135,0.000,2589,2262,3832
$GC,5742,-1.02,-243.4,791.4,-7.1,606,5745,0.28,2.08,0.00,0.000,4,0.048,0.064,2465,3537,3830
$GC,5773,-0.86,-243.4,795.3,-14.8,607,5777,0.22,1.95,0.00,0.000,6,0.128,0.039,2541,2279,3829
$GC,6090,-0.91,-243.4,830.1,-10.4,623,6093,0.00,2.42,0.00,0.000,4,0.000,0.054,2542,752,3827
$GC,6132,-1.05,-243.4,834.5,-10.6,625,6136,0.17,2.40,0.00,0.000,6,0.058,0.048,2460,2269,3826
$GC,6453,-0.72,-243.4,888.8,-17.7,641,6455,0.40,0.00,0.00,0.000,6,0.142,0.000,2582,2269,3824
$GC,6758,-1.02,-243.4,912.3,-6.7,656,6761,0.25,2.05,0.00,0.000,4,0.050,0.067,2466,3538,3822
$GC,6783,-0.97,-243.4,915.2,-12.2,657,6788,0.10,1.98,0.00,0.000,6,0.136,0.039,2500,2265,3821
$GC,7105,-0.85,-243.4,955.4,-12.0,673,7106,0.15,0.00,0.00,0.000,6,0.144,0.000,2546,2261,3819
$GC,7411,-0.95,-243.4,981.4,-8.3,688,7412,0.10,0.00,0.00,0.000,6,0.077,0.000,2493,2261,3817
$STATE,7489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7489,begin apogee
$GC,7494,-0.22,0.0,990.8,11.8,692,7693,0.77,0.00,196.60,1.377,6,0.131,0.000,2742,2448,2854
$STATE,7694,end apogee,CONTROL_FINISHED_OK
$STATE,7694,begin climb
$GC,7696,1.01,243.4,1000.3,0.0,702,7912,1.12,2.22,206.12,1.333,4,0.041,0.066,3166,3692,1860
$GC,7949,0.19,243.4,968.5,26.7,714,7953,1.00,2.00,0.00,0.000,6,0.178,0.041,2884,2480,1857
$GC,8276,0.62,397.0,942.3,6.9,730,8417,0.35,2.50,133.43,1.295,4,0.048,0.053,3044,1040,1233
$GC,8524,0.49,397.0,902.1,17.1,741,8531,0.20,2.30,0.00,0.000,6,0.138,0.047,2981,2428,1228
$GC,8835,0.56,414.1,865.5,11.4,757,8856,0.00,2.30,15.32,1.186,4,0.000,0.053,2989,1029,1165
$GC,8919,0.68,425.9,855.8,11.6,761,8935,0.08,2.25,12.00,1.147,6,0.036,0.045,3054,2413,1116
$GC,9240,0.48,425.9,798.0,18.5,776,9244,0.25,2.20,0.00,0.000,4,0.143,0.050,2984,1041,1114
$GC,9282,0.60,425.9,791.7,13.0,778,9286,0.00,2.17,0.00,0.000,6,0.000,0.044,2984,2394,1112
$GC,9603,0.69,425.9,751.3,12.9,794,9607,0.17,2.15,0.00,0.000,4,0.062,0.051,3071,1040,1111
$GC,9650,0.50,425.9,742.9,19.3,796,9655,0.25,2.15,0.00,0.000,6,0.142,0.045,2989,2378,1111
$GC,9972,0.58,425.9,701.1,12.7,812,9975,0.00,2.12,0.00,0.000,4,0.000,0.051,2997,1035,1110
$GC,10003,0.68,425.9,697.1,12.3,813,10008,0.08,2.15,0.00,0.000,6,0.061,0.045,3052,2374,1110
$GC,10319,0.50,425.9,641.2,18.4,829,10323,0.25,2.12,0.00,0.000,4,0.140,0.051,2986,1029,1110
$GC,10356,0.62,425.9,635.5,13.9,830,10362,0.00,2.12,0.00,0.000,6,0.000,0.045,2986,2358,1110
$GC,10667,0.77,447.9,598.7,11.3,846,10689,0.22,0.00,19.85,1.110,6,0.057,0.000,3087,2358,1027
$GC,10992,0.51,447.9,534.2,19.3,862,10993,0.35,0.00,0.00,0.000,6,0.144,0.000,2982,2358,1025
$GC,11297,0.80,509.1,503.2,10.0,877,11356,0.25,2.20,54.05,1.052,4,0.052,0.051,3102,1032,777
$GC,11394,0.63,509.1,484.4,22.6,883,11401,0.28,2.15,0.00,0.000,6,0.143,0.045,3024,2356,774
$GC,11708,0.77,509.1,439.0,12.9,914,11712,0.12,2.12,0.00,0.000,4,0.069,0.051,3097,1041,772
$GC,11756,0.65,509.1,430.7,17.4,918,11763,0.20,2.08,0.00,0.000,6,0.137,0.043,3032,2335,772
$GC,12072,0.77,509.1,387.4,13.4,949,12073,0.10,0.00,0.00,0.000,6,0.076,0.000,3086,2335,771
$GC,12383,0.66,509.1,329.5,17.9,979,12387,0.17,2.05,0.00,0.000,4,0.141,0.048,3039,1039,771
$GC,12462,0.84,509.1,318.4,12.3,986,12469,0.10,2.05,0.00,0.000,6,0.051,0.041,3110,2333,771
$GC,12785,0.69,509.1,254.8,18.0,1037,12791,0.22,2.03,0.00,0.000,4,0.138,0.049,3052,1038,771
$GC,12844,0.84,509.1,246.6,12.2,1048,12850,0.08,2.03,0.00,0.000,6,0.056,0.041,3113,2320,771
$GC,13170,0.74,509.1,189.7,16.5,1109,13177,0.20,2.03,0.00,0.000,4,0.133,0.048,3061,1040,771
$GC,13219,0.96,540.3,184.0,11.0,1118,13251,0.15,2.00,26.83,0.788,6,0.043,0.041,3148,2317,650
$GC,13573,0.85,540.3,118.1,18.4,1183,13580,0.17,2.03,0.00,0.000,4,0.136,0.046,3099,1027,646
$GC,13606,0.95,540.3,112.7,14.3,1189,13612,0.00,2.00,0.00,0.000,6,0.000,0.039,3099,2304,645
$GC,13932,1.28,594.5,76.0,10.2,1250,14006,0.35,2.05,46.60,0.601,4,0.041,0.047,3264,1038,481
$GC,14050,0.99,594.5,52.6,21.5,1270,14056,0.38,1.98,0.00,0.000,6,0.143,0.039,3135,2284,474
$GC,14376,1.28,633.4,15.4,10.7,1331,14383,0.28,0.00,0.00,0.000,6,0.044,0.000,3259,2284,470
$STATE,14439,end climb,SURFACE_DEPTH_REACHED
$STATE,14439,begin surface coast
$FINISH,1.7,1.018837
$STATE,14450,end surface coast,CONTROL_FINISHED_OK
$STATE,14450,begin surface
$SM_CCo,14525,0.00,0.000,0,0,469,585.04
$SM_GC,2.55,7.88,0.00,0.00,0.033,0.000,0.000,148,2098,469,-8.22,-1.07,585.04
$IRIDIUM_FIX,2510.35,12407.19,180998,010116
$TT8_MAMPS,0.049855
$HUMID,1594
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.80
$XPDR_PINGS,173
$24V_AH,23.5,46.583
$10V_AH,10.7,31.491
$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,35.100,123.575,710.800,0.000,0.000,29.687,36.863,208.298,51.250,0.000,0.000,11.768,0.000,10367.640,828.761,3163.781,522.470,0.000,2061.211,0.000,2657.527,0.000,55.141,0.000
$DEVICE_MAMPS,224.731,68.263,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,906.724,933.386,1455.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75851,1345
$CAP_FILE_SIZE,159086,0
$CFSIZE,260165632,240373760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.306, 80.4,1
$GPS,240609,093606,2516.865,12410.388,36,1.6,41,-3.8