version: 66.04
glider: 165
mission: 2
dive: 212
start: 6 24 109 9 46 3
data:
$ID,165
$MISSION,2
$DIVE,212
$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,-121139.76
$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,62
$R_STBD_OVSHOOT,29
$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
$GPS1,093606,2516.865,12410.388,36,1.6,41,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-67.9
$GPS2,094558,2516.894,12410.571,8,3.4,27,-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,215.4,32159,-16.4,-12.000
$D_GRID,2153
$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,-243.4,0.0,0.0,0,74,0.00,0.00,-60.55,0.000,2,0.000,0.000,148,2098,1959
$GC,76,-1.01,-243.4,3.1,-3.8,9,142,9.10,2.17,-52.08,0.000,4,0.230,0.058,2484,741,3849
$GC,147,-0.07,-243.4,13.5,-27.3,20,153,1.00,2.20,0.00,0.000,6,0.158,0.039,2790,2138,3850
$GC,473,-0.91,-243.4,54.2,-13.2,81,480,0.75,2.20,0.00,0.000,4,0.094,0.051,2522,3540,3852
$GC,576,-0.43,-243.4,77.9,-25.2,100,582,0.40,2.10,0.00,0.000,6,0.123,0.034,2673,2155,3852
$GC,903,-0.66,-243.4,114.4,-7.4,161,909,0.20,2.20,0.00,0.000,4,0.051,0.054,2564,3546,3852
$GC,972,-0.50,-243.4,124.0,-14.9,174,978,0.25,2.03,0.00,0.000,6,0.115,0.033,2653,2202,3852
$GC,1299,-0.72,-243.4,161.2,-10.2,235,1306,0.17,2.15,0.00,0.000,4,0.053,0.056,2558,3537,3853
$GC,1343,-0.59,-243.4,167.6,-15.6,243,1351,0.17,2.03,0.00,0.000,6,0.114,0.035,2622,2201,3853
$GC,1672,-0.74,-243.4,200.4,-8.9,304,1678,0.12,2.12,0.00,0.000,4,0.064,0.054,2550,3539,3854
$GC,1757,-0.65,-243.4,211.6,-13.4,320,1763,0.15,2.00,0.00,0.000,6,0.110,0.040,2605,2221,3854
$GC,2084,-0.76,-243.4,245.6,-10.4,381,2089,0.00,2.10,0.00,0.000,4,0.000,0.057,2604,3546,3854
$GC,2110,-0.93,-243.4,248.3,-10.1,386,2116,0.20,2.00,0.00,0.000,6,0.039,0.037,2490,2238,3854
$GC,2434,-0.51,-243.4,312.4,-18.2,441,2438,0.50,2.08,0.00,0.000,4,0.133,0.058,2644,3545,3853
$GC,2455,-0.38,-243.4,315.4,-14.7,443,2459,0.12,2.00,0.00,0.000,6,0.089,0.035,2697,2230,3854
$GC,2776,-1.20,-243.4,344.7,-10.9,474,2778,0.73,0.00,0.00,0.000,6,0.064,0.000,2419,2225,3853
$GC,3086,-0.55,-243.4,417.2,-24.5,504,3090,0.70,2.10,0.00,0.000,4,0.150,0.060,2630,3545,3851
$GC,3150,-1.02,-243.4,424.0,-6.4,510,3154,0.32,1.98,0.00,0.000,6,0.032,0.035,2454,2244,3850
$GC,3471,-0.52,-243.4,488.6,-21.5,541,3473,0.60,0.00,0.00,0.000,6,0.134,0.000,2646,2239,3849
$GC,3790,-1.38,-243.4,519.7,-10.6,563,3794,0.70,2.08,0.00,0.000,4,0.064,0.059,2374,3537,3847
$GC,3863,-0.70,-243.4,534.0,-25.5,566,3870,0.65,1.98,0.00,0.000,6,0.143,0.038,2592,2245,3846
$GC,4174,-0.96,-243.4,559.8,-7.1,582,4178,0.22,2.10,0.00,0.000,4,0.049,0.061,2479,3536,3844
$GC,4232,-0.76,-243.4,567.5,-15.1,584,4238,0.25,1.95,0.00,0.000,6,0.119,0.037,2566,2263,3843
$GC,4542,-0.87,-243.4,599.0,-9.9,600,4546,0.00,2.08,0.00,0.000,4,0.000,0.062,2564,3535,3841
$GC,4574,-1.06,-243.4,602.0,-9.4,601,4578,0.20,1.92,0.00,0.000,6,0.039,0.036,2455,2278,3840
$GC,4890,-0.66,-243.4,659.7,-18.4,617,4894,0.47,2.05,0.00,0.000,4,0.135,0.064,2603,3543,3838
$GC,4927,-0.97,-243.4,663.0,-6.1,618,4934,0.22,1.92,0.00,0.000,6,0.038,0.037,2479,2288,3837
$GC,5238,-0.69,-243.4,710.6,-16.8,634,5242,0.38,2.42,0.00,0.000,4,0.128,0.051,2598,747,3834
$GC,5269,-0.88,-243.4,714.4,-9.7,635,5277,0.15,2.40,0.00,0.000,6,0.044,0.044,2506,2266,3834
$GC,5579,-0.75,-243.4,755.6,-13.5,651,5583,0.22,2.03,0.00,0.000,4,0.130,0.064,2576,3536,3832
$GC,5665,-1.08,-243.4,762.4,-6.8,655,5668,0.25,1.90,0.00,0.000,6,0.038,0.038,2438,2290,3831
$GC,5992,-0.65,-243.4,822.8,-19.3,671,5994,0.55,0.00,0.00,0.000,6,0.138,0.000,2610,2284,3829
$GC,6296,-1.49,-243.4,847.9,-9.6,686,6300,0.75,2.03,0.00,0.000,4,0.063,0.064,2328,3542,3825
$GC,6322,-1.32,-243.4,851.4,-15.2,687,6326,0.20,1.92,0.00,0.000,6,0.169,0.040,2388,2297,3824
$GC,6646,-0.70,-243.4,926.5,-23.1,703,6650,0.62,2.45,0.00,0.000,4,0.152,0.054,2585,748,3822
$GC,6697,-1.03,-243.4,933.3,-6.6,705,6704,0.22,2.42,0.00,0.000,6,0.042,0.047,2467,2267,3822
$GC,7009,-0.77,-243.4,979.9,-15.7,721,7012,0.30,2.08,0.00,0.000,4,0.135,0.065,2563,3546,3820
$GC,7056,-1.04,-243.4,984.6,-7.9,723,7060,0.17,1.95,0.00,0.000,6,0.043,0.039,2466,2286,3820
$STATE,7105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7105,begin apogee
$GC,7110,-0.22,0.0,991.2,13.2,726,7310,0.88,0.00,196.52,1.364,6,0.132,0.000,2746,2447,2854
$STATE,7310,end apogee,CONTROL_FINISHED_OK
$STATE,7311,begin climb
$GC,7312,1.01,243.4,1002.4,0.0,736,7527,1.08,2.17,205.02,1.325,4,0.041,0.064,3159,3680,1860
$GC,7739,0.20,243.4,927.9,25.1,756,7744,0.95,1.92,0.00,0.000,6,0.177,0.042,2890,2480,1854
$GC,8062,0.57,365.4,900.7,8.0,772,8174,0.28,2.47,104.80,1.271,4,0.050,0.054,3029,1044,1363
$GC,8292,0.46,365.4,862.7,16.3,783,8296,0.17,2.28,0.00,0.000,6,0.133,0.047,2972,2424,1357
$GC,8619,0.51,365.4,817.7,13.2,799,8622,0.00,2.22,0.00,0.000,4,0.000,0.051,2980,1040,1355
$GC,8693,0.59,365.4,807.9,13.5,802,8697,0.00,2.22,0.00,0.000,6,0.000,0.046,2980,2421,1353
$GC,9008,0.59,365.4,766.8,12.6,818,9012,0.00,2.22,0.00,0.000,4,0.000,0.051,2989,1043,1353
$GC,9051,0.59,365.4,761.2,12.9,820,9055,0.00,2.15,0.00,0.000,6,0.000,0.045,2989,2405,1352
$GC,9377,0.59,365.4,718.2,13.4,836,9381,0.00,2.20,0.00,0.000,4,0.000,0.051,2998,1041,1351
$GC,9409,0.59,365.4,713.8,14.6,837,9413,0.00,2.15,0.00,0.000,6,0.000,0.044,2999,2383,1350
$GC,9725,0.59,365.4,668.9,14.3,853,9728,0.00,2.12,0.00,0.000,4,0.000,0.051,3008,1040,1351
$GC,9751,0.59,365.4,665.5,13.4,854,9755,0.00,2.12,0.00,0.000,6,0.000,0.044,3008,2367,1350
$GC,10072,0.52,365.4,621.6,13.4,870,10076,0.00,2.12,0.00,0.000,4,0.000,0.061,3008,3676,1349
$GC,10130,0.46,365.4,612.6,15.9,872,10137,0.12,2.05,0.00,0.000,6,0.125,0.039,2974,2363,1349
$GC,10441,0.59,385.0,577.4,11.4,888,10463,0.10,2.10,15.88,1.078,4,0.076,0.051,3034,1034,1283
$GC,10505,0.52,385.0,568.2,15.1,891,10509,0.12,2.15,0.00,0.000,6,0.133,0.045,2993,2363,1281
$GC,10831,0.58,385.7,527.5,12.0,907,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2363,1281
$GC,11137,0.66,385.7,489.4,12.1,926,11142,0.12,2.12,0.00,0.000,4,0.071,0.051,3060,1036,1280
$GC,11185,0.52,385.7,482.1,16.4,930,11192,0.20,2.10,0.00,0.000,6,0.136,0.044,2994,2350,1280
$GC,11502,0.65,423.4,446.0,10.8,961,11539,0.00,2.12,33.78,1.006,4,0.000,0.050,3002,1038,1127
$GC,11555,0.86,481.9,440.4,10.1,965,11610,0.20,2.12,51.35,0.981,6,0.041,0.042,3108,2350,889
$GC,11920,0.60,481.9,362.3,21.4,1000,11921,0.32,0.00,0.00,0.000,6,0.145,0.000,3013,2351,883
$GC,12231,0.87,530.1,325.8,10.4,1030,12277,0.20,2.20,40.62,0.900,4,0.054,0.050,3126,1037,692
$GC,12362,0.70,530.1,302.0,17.5,1042,12366,0.28,2.08,0.00,0.000,6,0.141,0.042,3046,2338,691
$GC,12688,0.88,537.2,264.4,11.8,1101,12700,0.15,2.05,7.00,0.726,4,0.058,0.048,3132,1040,664
$GC,12763,0.69,537.2,250.2,21.6,1115,12770,0.25,2.03,0.00,0.000,6,0.135,0.041,3040,2317,664
$GC,13090,1.01,603.6,212.6,9.8,1176,13169,0.28,2.08,52.65,0.716,4,0.044,0.048,3176,1026,484
$GC,13232,0.80,603.6,181.8,23.7,1201,13238,0.30,2.05,0.00,0.000,6,0.133,0.041,3080,2298,473
$GC,13559,1.06,630.9,139.9,11.1,1262,13565,0.22,2.00,0.00,0.000,4,0.049,0.047,3194,1026,467
$GC,13575,1.14,630.9,137.5,12.3,1265,13581,0.00,2.00,0.00,0.000,6,0.000,0.039,3194,2295,467
$GC,13901,0.96,630.9,69.1,21.0,1326,13907,0.22,0.00,0.00,0.000,6,0.143,0.000,3129,2295,465
$GC,14227,1.31,711.3,32.5,9.3,1387,14235,0.30,1.98,0.00,0.000,4,0.043,0.046,3274,1040,464
$GC,14256,1.12,711.3,27.7,17.7,1392,14262,0.28,1.92,0.00,0.000,6,0.149,0.039,3185,2274,464
$STATE,14410,end climb,SURFACE_DEPTH_REACHED
$STATE,14410,begin surface coast
$FINISH,1.9,1.015449
$STATE,14425,end surface coast,CONTROL_FINISHED_OK
$STATE,14425,begin surface
$SM_CCo,14500,0.00,0.000,0,0,463,586.51
$SM_GC,2.48,7.62,0.00,0.00,0.031,0.000,0.000,152,2100,463,-8.23,-1.02,586.51
$IRIDIUM_FIX,2505.59,12229.37,180998,090901
$TT8_MAMPS,0.048321
$HUMID,1605
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.50
$XPDR_PINGS,218
$24V_AH,23.7,46.852
$10V_AH,10.7,31.625
$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,36.700,135.175,707.625,0.000,0.000,57.978,91.041,247.549,62.500,0.000,0.000,30.321,0.000,10183.691,827.814,3405.420,647.245,0.000,2137.490,0.000,2853.221,0.000,55.470,0.000
$DEVICE_MAMPS,230.100,66.729,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,959.155,1004.340,1580.520,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82062,1424
$CAP_FILE_SIZE,167622,0
$CFSIZE,260165632,240275456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.244, 81.0,1
$GPS,240609,134837,2515.316,12410.575,35,0.9,35,-3.8