version: 66.04
glider: 165
mission: 2
dive: 213
start: 6 24 109 13 55 25
data:
$ID,165
$MISSION,2
$DIVE,213
$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,-121152.7
$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,65
$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
$GPS1,134837,2515.316,12410.575,35,0.9,35,-3.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-68.2
$GPS2,135520,2515.311,12410.646,10,2.0,10,-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,213.6,29282,-16.4,-12.000
$D_GRID,2231
$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,-243.4,0.0,0.0,0,78,0.00,0.00,-64.38,0.000,2,0.000,0.000,152,2099,2043
$GC,80,-1.01,-243.4,3.4,-4.1,10,143,8.93,2.12,-45.88,0.000,4,0.223,0.055,2490,752,3849
$GC,148,-0.11,-243.4,15.6,-27.9,21,154,0.93,2.17,0.00,0.000,6,0.158,0.038,2776,2135,3850
$GC,474,-0.92,-243.4,54.2,-11.3,82,481,0.68,2.20,0.00,0.000,4,0.084,0.051,2520,3541,3852
$GC,631,-0.37,-243.4,88.7,-27.3,111,638,0.50,2.10,0.00,0.000,6,0.132,0.034,2698,2156,3852
$GC,958,-1.17,-243.4,123.6,-11.8,172,965,0.68,2.17,0.00,0.000,4,0.081,0.050,2438,3539,3853
$GC,1120,-0.42,-243.4,164.7,-29.4,202,1127,0.70,2.03,0.00,0.000,6,0.139,0.033,2677,2196,3853
$GC,1448,-1.25,-243.4,196.8,-10.6,263,1454,0.68,0.00,0.00,0.000,6,0.061,0.000,2411,2193,3854
$GC,1774,-0.44,-243.4,287.6,-30.2,324,1781,0.85,2.15,0.00,0.000,4,0.153,0.055,2663,3548,3855
$GC,1812,-0.74,-243.4,293.4,-8.9,331,1818,0.22,2.05,0.00,0.000,6,0.051,0.033,2548,2176,3855
$GC,2135,-0.62,-243.4,337.6,-14.1,368,2139,0.22,2.20,0.00,0.000,4,0.117,0.058,2620,3544,3855
$GC,2167,-0.85,-243.4,340.8,-8.0,371,2171,0.15,2.05,0.00,0.000,6,0.038,0.035,2509,2199,3855
$GC,2487,-0.55,-243.4,392.2,-16.1,402,2491,0.40,2.12,0.00,0.000,4,0.123,0.058,2631,3539,3854
$GC,2557,-1.00,-243.4,397.3,-5.0,408,2563,0.30,2.03,0.00,0.000,6,0.033,0.039,2467,2199,3854
$GC,2872,-0.58,-243.4,452.5,-18.7,439,2876,0.50,2.12,0.00,0.000,4,0.130,0.059,2618,3540,3853
$GC,2920,-0.99,-243.4,457.0,-5.7,443,2926,0.28,2.00,0.00,0.000,6,0.036,0.035,2467,2230,3852
$GC,3234,-0.60,-243.4,512.4,-17.8,471,3238,0.50,2.33,0.00,0.000,4,0.127,0.051,2628,747,3850
$GC,3272,-0.95,-243.4,516.3,-7.3,472,3278,0.30,2.28,0.00,0.000,6,0.048,0.041,2492,2225,3850
$GC,3581,-0.70,-243.4,563.8,-16.3,488,3586,0.32,2.10,0.00,0.000,4,0.127,0.060,2590,3537,3847
$GC,3699,-1.01,-243.4,574.1,-7.9,493,3703,0.22,1.98,0.00,0.000,6,0.036,0.035,2465,2239,3847
$GC,4015,-0.67,-243.4,629.7,-17.0,509,4017,0.43,0.00,0.00,0.000,6,0.130,0.000,2600,2234,3844
$GC,4321,-0.99,-243.4,650.4,-6.6,524,4324,0.25,2.10,0.00,0.000,4,0.045,0.061,2468,3538,3841
$GC,4459,-0.74,-243.4,670.5,-15.7,530,4463,0.30,2.00,0.00,0.000,6,0.125,0.038,2581,2243,3839
$GC,4774,-0.98,-243.4,696.6,-7.9,546,4778,0.22,2.10,0.00,0.000,4,0.051,0.064,2474,3546,3837
$GC,4838,-0.79,-243.4,705.4,-15.6,549,4842,0.25,2.00,0.00,0.000,6,0.123,0.038,2559,2247,3836
$GC,5165,-0.93,-243.4,735.2,-8.6,565,5166,0.12,0.00,0.00,0.000,6,0.067,0.000,2494,2242,3834
$GC,5470,-0.75,-243.4,778.3,-14.5,580,5474,0.28,2.12,0.00,0.000,4,0.127,0.067,2577,3530,3831
$GC,5538,-1.07,-243.4,784.3,-7.2,583,5542,0.25,1.95,0.00,0.000,6,0.039,0.039,2452,2269,3831
$GC,5860,-0.72,-243.4,839.5,-17.3,599,5861,0.43,0.00,0.00,0.000,6,0.138,0.000,2583,2264,3828
$GC,6165,-1.01,-243.4,859.7,-6.0,614,6169,0.25,2.10,0.00,0.000,4,0.049,0.067,2467,3533,3825
$GC,6202,-0.84,-243.4,863.8,-12.0,615,6209,0.22,1.95,0.00,0.000,6,0.127,0.041,2543,2280,3825
$GC,6512,-0.93,-243.4,892.2,-8.8,631,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2278,3823
$GC,6818,-1.02,-243.4,919.8,-9.2,646,6819,0.15,0.00,0.00,0.000,6,0.065,0.000,2473,2278,3822
$GC,7123,-0.79,-243.4,964.9,-15.1,661,7126,0.30,2.08,0.00,0.000,4,0.133,0.071,2564,3539,3819
$GC,7187,-1.07,-243.4,970.9,-7.5,664,7190,0.25,1.95,0.00,0.000,6,0.051,0.041,2453,2270,3818
$STATE,7308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7308,begin apogee
$GC,7313,-0.22,0.0,990.5,17.5,670,7512,0.93,0.00,196.93,1.378,6,0.139,0.000,2744,2453,2854
$STATE,7513,end apogee,CONTROL_FINISHED_OK
$STATE,7513,begin climb
$GC,7514,1.01,243.4,1002.1,0.0,680,7729,1.10,2.20,206.18,1.335,4,0.047,0.067,3154,3686,1860
$GC,7884,0.21,243.4,944.6,24.8,697,7889,0.98,1.95,0.00,0.000,6,0.178,0.043,2887,2459,1855
$GC,8194,0.61,378.5,918.7,7.5,712,8321,0.35,2.45,116.88,1.285,4,0.047,0.055,3042,1040,1310
$GC,8399,0.45,378.5,882.9,18.7,721,8406,0.22,2.33,0.00,0.000,6,0.138,0.048,2971,2435,1305
$GC,8710,0.53,378.5,842.3,12.9,737,8714,0.00,2.25,0.00,0.000,4,0.000,0.052,2980,1038,1303
$GC,8758,0.64,378.5,836.1,13.3,739,8762,0.10,2.22,0.00,0.000,6,0.054,0.047,3042,2417,1301
$GC,9079,0.42,378.5,778.2,18.1,755,9083,0.30,2.20,0.00,0.000,4,0.143,0.051,2962,1039,1301
$GC,9132,0.63,409.0,771.5,11.0,757,9164,0.12,2.20,26.70,1.206,6,0.050,0.045,3031,2408,1186
$GC,9469,0.51,409.0,718.1,16.0,774,9473,0.17,2.20,0.00,0.000,4,0.139,0.050,2984,1039,1182
$GC,9521,0.64,425.3,711.4,11.5,776,9541,0.08,2.20,15.45,1.141,6,0.059,0.045,3033,2401,1119
$GC,9854,0.52,425.3,657.5,16.7,793,9858,0.17,2.17,0.00,0.000,4,0.140,0.049,2986,1041,1116
$GC,9885,0.60,425.3,652.6,13.7,794,9891,0.00,2.17,0.00,0.000,6,0.000,0.044,2987,2392,1115
$GC,10195,0.72,425.3,613.9,12.6,810,10199,0.17,2.17,0.00,0.000,4,0.059,0.051,3074,1039,1114
$GC,10227,0.57,425.3,608.6,18.8,811,10231,0.22,2.17,0.00,0.000,6,0.143,0.044,3002,2396,1114
$GC,10543,0.63,425.3,563.5,13.9,827,10546,0.00,2.17,0.00,0.000,4,0.000,0.048,3010,1040,1113
$GC,10601,0.71,425.3,555.3,14.2,829,10608,0.08,2.12,0.00,0.000,6,0.059,0.043,3065,2368,1113
$GC,10912,0.53,425.3,498.4,18.4,845,10916,0.25,2.10,0.00,0.000,4,0.143,0.050,2999,1041,1113
$GC,10959,0.66,425.3,491.4,13.5,849,10965,0.00,2.10,0.00,0.000,6,0.000,0.044,2999,2360,1113
$GC,11276,0.82,458.2,454.0,10.9,880,11310,0.20,2.20,28.95,1.019,4,0.057,0.050,3111,1030,985
$GC,11390,0.58,458.2,431.9,20.8,890,11396,0.30,2.12,0.00,0.000,6,0.145,0.044,3005,2338,982
$GC,11705,0.79,487.7,394.7,11.0,921,11739,0.20,2.12,26.10,0.964,4,0.054,0.050,3112,1032,863
$GC,11759,0.57,487.7,385.2,19.5,926,11763,0.32,2.10,0.00,0.000,6,0.139,0.043,3008,2323,862
$GC,12081,0.86,527.8,348.3,10.7,957,12125,0.25,2.15,35.12,0.924,4,0.048,0.051,3135,1040,701
$GC,12194,0.64,527.8,325.3,20.1,967,12201,0.38,2.03,0.00,0.000,6,0.142,0.042,3024,2313,698
$GC,12512,0.98,602.7,290.3,9.5,1007,12575,0.30,2.12,54.80,0.873,4,0.044,0.048,3166,1041,480
$GC,12629,0.74,602.7,264.6,25.2,1027,12636,0.38,2.00,0.00,0.000,6,0.138,0.042,3056,2291,469
$GC,12956,0.97,602.7,220.9,12.5,1088,12962,0.20,2.00,0.00,0.000,4,0.051,0.048,3156,1040,461
$GC,13015,0.83,602.7,209.4,19.7,1099,13022,0.20,1.92,0.00,0.000,6,0.128,0.040,3090,2256,460
$GC,13342,0.96,602.7,159.9,15.2,1160,13348,0.12,0.00,0.00,0.000,6,0.065,0.000,3152,2256,458
$GC,13668,0.91,602.7,97.7,16.7,1221,13674,0.15,0.00,0.00,0.000,6,0.138,0.000,3109,2256,457
$GC,13994,1.23,669.4,59.3,9.8,1282,14000,0.28,1.92,0.00,0.000,4,0.044,0.048,3244,1030,456
$GC,14074,0.97,669.4,43.6,20.7,1297,14080,0.32,1.92,0.00,0.000,6,0.136,0.039,3137,2269,456
$GC,14401,1.22,683.1,7.0,11.5,1358,14406,0.20,0.00,0.00,0.000,6,0.049,0.000,3237,2269,456
$STATE,14431,end climb,SURFACE_DEPTH_REACHED
$STATE,14431,begin surface coast
$FINISH,1.8,1.007141
$STATE,14447,end surface coast,CONTROL_FINISHED_OK
$STATE,14447,begin surface
$SM_CCo,14522,0.00,0.000,0,0,455,588.47
$SM_GC,2.34,7.72,0.00,0.00,0.029,0.000,0.000,150,2099,455,-8.22,-0.99,588.47
$IRIDIUM_FIX,2510.35,12410.50,180998,090911
$TT8_MAMPS,0.047554
$HUMID,1587
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.70
$XPDR_PINGS,177
$24V_AH,23.5,47.122
$10V_AH,10.7,31.753
$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,37.825,123.125,707.100,0.000,0.000,27.956,34.644,225.601,52.250,0.000,0.000,12.302,0.000,10263.217,807.699,3281.726,542.937,0.000,2080.893,0.000,2766.335,0.000,53.979,0.000
$DEVICE_MAMPS,223.197,71.331,1378.299,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,921.374,968.810,1515.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79058,1367
$CAP_FILE_SIZE,162215,0
$CFSIZE,260165632,240197632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166, 85.7,1
$GPS,240609,175836,2513.766,12409.851,39,1.0,50,-3.8