version: 66.04
glider: 165
mission: 2
dive: 215
start: 6 24 109 22 4 7
data:
$ID,165
$MISSION,2
$DIVE,215
$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,450
$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,-121198.02
$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,21.9
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,215754,2512.061,12410.080,37,1.5,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-65.1
$GPS2,220402,2512.118,12410.081,9,1.8,9,-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,197.7,23914,-16.4,-12.000
$D_GRID,2139
$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,-1.05,-243.4,0.0,0.0,0,80,0.00,0.00,-65.88,0.000,2,0.000,0.000,148,2111,2103
$GC,82,-1.05,-243.4,3.4,-4.1,10,139,8.98,0.00,-44.83,0.000,6,0.226,0.000,2478,2110,3849
$GC,459,-0.21,-243.4,127.4,-34.0,79,466,0.85,2.15,0.00,0.000,4,0.157,0.044,2741,725,3851
$GC,491,-0.21,-243.4,134.1,-15.3,85,499,0.00,2.22,0.00,0.000,6,0.000,0.038,2741,2150,3852
$GC,820,-1.01,-243.4,168.7,-12.5,146,826,0.65,2.17,0.00,0.000,4,0.074,0.053,2491,3538,3853
$GC,922,-0.66,-243.4,187.4,-21.5,165,928,0.32,2.12,0.00,0.000,6,0.120,0.033,2602,2133,3853
$GC,1249,-0.77,-243.4,226.1,-9.2,226,1256,0.00,2.25,0.00,0.000,4,0.000,0.060,2601,3543,3855
$GC,1385,-0.97,-243.4,236.7,-8.0,251,1390,0.28,2.03,0.00,0.000,6,0.042,0.034,2463,2185,3854
$GC,1709,-0.43,-243.4,310.8,-23.3,308,1713,0.68,2.15,0.00,0.000,4,0.137,0.058,2672,3536,3855
$GC,1729,-0.33,-243.4,314.0,-16.1,310,1734,0.08,2.03,0.00,0.000,6,0.081,0.034,2712,2201,3855
$GC,2051,-1.18,-243.4,349.2,-11.1,341,2055,0.70,2.12,0.00,0.000,4,0.062,0.054,2437,3537,3855
$GC,2146,-0.73,-243.4,365.2,-19.5,349,2154,0.43,2.03,0.00,0.000,6,0.132,0.035,2577,2206,3854
$GC,2462,-0.82,-243.4,397.1,-10.4,380,2466,0.00,2.15,0.00,0.000,4,0.000,0.059,2577,3531,3853
$GC,2515,-1.01,-243.4,402.4,-9.3,385,2519,0.20,1.98,0.00,0.000,6,0.037,0.035,2451,2237,3852
$GC,2836,-0.50,-243.4,472.5,-23.0,416,2840,0.65,2.10,0.00,0.000,4,0.137,0.061,2658,3527,3851
$GC,2894,-1.14,-243.4,477.8,-5.5,421,2901,0.50,1.98,0.00,0.000,6,0.056,0.039,2439,2234,3851
$GC,3218,-0.64,-243.4,543.9,-21.6,443,3222,0.52,2.10,0.00,0.000,4,0.140,0.059,2603,3544,3848
$GC,3249,-0.76,-243.4,548.4,-10.6,444,3255,0.00,1.98,0.00,0.000,6,0.000,0.035,2603,2253,3848
$GC,3560,-1.08,-243.4,572.0,-7.3,460,3564,0.32,2.08,0.00,0.000,4,0.040,0.061,2441,3540,3847
$GC,3617,-0.73,-243.4,581.1,-17.8,462,3626,0.40,1.95,0.00,0.000,6,0.127,0.037,2575,2266,3846
$GC,3929,-0.92,-243.4,610.0,-9.1,478,3930,0.15,0.00,0.00,0.000,6,0.059,0.000,2492,2261,3844
$GC,4234,-0.70,-243.4,658.6,-16.6,493,4238,0.32,2.08,0.00,0.000,4,0.124,0.062,2591,3545,3841
$GC,4324,-1.06,-243.4,666.9,-7.5,497,4328,0.28,1.92,0.00,0.000,6,0.035,0.037,2449,2290,3841
$GC,4640,-0.64,-243.4,724.6,-18.7,513,4645,0.52,2.42,0.00,0.000,4,0.139,0.052,2613,745,3838
$GC,4687,-1.11,-243.4,729.0,-4.8,515,4691,0.35,2.42,0.00,0.000,6,0.038,0.044,2435,2278,3838
$GC,5009,-0.66,-243.4,786.8,-19.1,531,5011,0.55,0.00,0.00,0.000,6,0.137,0.000,2607,2279,3835
$GC,5313,-1.51,-243.4,808.1,-8.1,546,5317,0.75,2.03,0.00,0.000,4,0.067,0.063,2329,3529,3832
$GC,5377,-0.77,-243.4,819.5,-24.5,549,5381,0.75,1.92,0.00,0.000,6,0.150,0.040,2572,2281,3831
$GC,5705,-1.01,-243.4,841.6,-5.3,565,5706,0.22,0.00,0.00,0.000,6,0.049,0.000,2464,2280,3830
$GC,6009,-0.72,-243.4,885.6,-15.6,580,6012,0.38,2.05,0.00,0.000,4,0.131,0.066,2577,3542,3827
$GC,6078,-1.09,-243.4,891.1,-6.3,583,6082,0.25,1.95,0.00,0.000,6,0.038,0.038,2448,2283,3827
$GC,6398,-0.73,-243.4,946.4,-18.2,599,6402,0.43,2.45,0.00,0.000,4,0.137,0.055,2580,740,3825
$GC,6420,-0.64,-243.4,949.5,-15.0,600,6424,0.12,2.45,0.00,0.000,6,0.120,0.050,2620,2279,3825
$GC,6747,-1.48,-243.4,977.2,-9.9,616,6751,0.75,2.03,0.00,0.000,4,0.071,0.062,2338,3533,3822
$STATE,6813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6814,begin apogee
$GC,6819,-0.23,0.0,990.1,24.2,619,7019,1.27,0.00,196.88,1.375,6,0.156,0.000,2733,2437,2854
$STATE,7020,end apogee,CONTROL_FINISHED_OK
$STATE,7020,begin climb
$GC,7022,1.05,243.4,1002.7,0.0,629,7237,1.17,2.42,206.00,1.335,4,0.050,0.054,3174,1060,1860
$GC,7279,0.29,243.4,973.0,25.1,641,7284,0.90,2.33,0.00,0.000,6,0.179,0.049,2909,2434,1856
$GC,7595,0.56,350.4,944.5,8.5,657,7694,0.25,2.38,92.50,1.297,4,0.050,0.054,3036,1063,1424
$GC,7728,0.37,350.4,923.7,17.4,663,7732,0.32,2.28,0.00,0.000,6,0.140,0.048,2943,2445,1421
$GC,8043,0.59,407.8,889.7,10.1,679,8099,0.20,2.38,50.53,1.268,4,0.052,0.052,3045,1058,1190
$GC,8160,0.46,407.8,870.3,17.1,684,8164,0.25,2.22,0.00,0.000,6,0.138,0.047,2973,2424,1187
$GC,8469,0.60,436.5,834.3,11.1,699,8499,0.12,2.28,25.98,1.227,4,0.065,0.051,3043,1051,1073
$GC,8543,0.50,436.5,822.8,16.7,702,8547,0.17,2.22,0.00,0.000,6,0.131,0.046,2986,2405,1070
$GC,8859,0.59,436.5,782.5,13.1,718,8862,0.00,2.17,0.00,0.000,4,0.000,0.050,2994,1044,1068
$GC,8933,0.71,436.5,772.3,14.0,721,8937,0.10,2.15,0.00,0.000,6,0.053,0.044,3062,2380,1067
$GC,9248,0.47,436.5,707.2,20.5,737,9252,0.30,2.12,0.00,0.000,4,0.142,0.049,2981,1056,1067
$GC,9296,0.64,436.5,700.4,12.0,739,9300,0.10,2.12,0.00,0.000,6,0.052,0.044,3050,2381,1066
$GC,9617,0.47,436.5,643.9,18.8,755,9621,0.28,2.10,0.00,0.000,4,0.135,0.050,2975,1052,1066
$GC,9638,0.47,436.5,640.4,16.6,756,9642,0.00,2.12,0.00,0.000,6,0.000,0.044,2975,2383,1065
$GC,9965,0.71,481.9,602.7,10.5,772,10010,0.20,2.25,39.75,1.127,4,0.054,0.051,3076,1047,889
$GC,10046,0.57,481.9,588.3,19.5,775,10053,0.22,2.17,0.00,0.000,6,0.138,0.044,3005,2368,886
$GC,10356,0.71,481.9,545.3,14.2,791,10360,0.12,2.12,0.00,0.000,4,0.067,0.051,3074,1059,882
$GC,10421,0.60,481.9,533.4,20.7,794,10424,0.17,2.08,0.00,0.000,6,0.136,0.044,3017,2347,883
$GC,10739,0.72,481.9,488.2,13.2,813,10742,0.00,2.05,0.00,0.000,4,0.000,0.050,3024,1057,882
$GC,10760,0.82,481.9,485.4,13.7,815,10763,0.17,2.03,0.00,0.000,6,0.055,0.043,3112,2342,882
$GC,11080,0.50,481.9,414.0,23.9,846,11084,0.45,2.15,0.00,0.000,4,0.143,0.058,2975,3696,882
$GC,11107,0.57,481.9,409.7,14.7,848,11114,0.00,2.08,0.00,0.000,6,0.000,0.038,2981,2357,882
$GC,11423,0.99,576.3,383.0,8.9,879,11522,0.38,2.20,89.55,0.953,4,0.040,0.049,3166,1052,498
$GC,11644,0.69,576.3,328.5,25.4,899,11650,0.38,2.08,0.00,0.000,6,0.141,0.043,3048,2329,483
$GC,11965,0.89,576.3,280.0,13.3,943,11970,0.17,2.03,0.00,0.000,4,0.052,0.048,3142,1049,479
$GC,12023,0.72,576.3,268.1,20.4,954,12029,0.25,2.00,0.00,0.000,6,0.130,0.042,3059,2308,478
$GC,12350,0.94,591.3,225.7,11.5,1015,12355,0.17,1.98,0.00,0.000,4,0.051,0.048,3153,1051,476
$GC,12381,0.81,591.3,220.5,18.7,1021,12387,0.20,1.98,0.00,0.000,6,0.130,0.041,3076,2305,475
$GC,12707,0.98,591.3,175.5,13.4,1082,12714,0.17,2.00,0.00,0.000,4,0.053,0.048,3171,1047,474
$GC,12724,1.03,591.3,173.0,15.8,1085,12730,0.00,1.95,0.00,0.000,6,0.000,0.041,3171,2294,474
$GC,13050,0.88,591.3,98.6,18.8,1146,13057,0.22,0.00,0.00,0.000,6,0.141,0.000,3103,2295,474
$GC,13377,1.23,669.1,63.2,9.4,1207,13383,0.30,1.92,0.00,0.000,4,0.042,0.045,3249,1053,473
$GC,13436,0.94,669.1,52.1,22.1,1218,13442,0.38,1.95,0.00,0.000,6,0.138,0.041,3127,2304,473
$GC,13763,1.28,723.5,20.0,10.2,1279,13769,0.28,1.95,0.00,0.000,4,0.042,0.044,3269,1043,472
$STATE,13846,end climb,SURFACE_DEPTH_REACHED
$STATE,13846,begin surface coast
$FINISH,1.8,1.021476
$STATE,13857,end surface coast,CONTROL_FINISHED_OK
$STATE,13858,begin surface
$SM_CCo,13935,0.00,0.000,0,0,472,584.30
$SM_GC,2.44,7.82,0.00,0.00,0.031,0.000,0.000,148,2154,472,-8.22,0.54,584.30
$IRIDIUM_FIX,2505.59,12446.83,180998,181820
$TT8_MAMPS,0.047554
$HUMID,1590
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.60
$XPDR_PINGS,151
$24V_AH,23.6,47.660
$10V_AH,10.7,32.001
$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,38.900,134.975,701.175,0.000,0.000,28.378,39.019,191.505,45.750,0.000,0.000,11.779,0.000,9852.395,812.269,3107.389,503.507,0.000,2023.333,0.000,2608.325,0.000,54.005,0.000
$DEVICE_MAMPS,226.265,65.962,1375.231,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,875.491,883.855,1374.875,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75719,1297
$CAP_FILE_SIZE,156567,0
$CFSIZE,260165632,240037888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123, 89.5,1
$GPS,250609,015707,2510.037,12409.127,26,1.9,26,-3.8