version: 66.04
glider: 165
mission: 2
dive: 216
start: 6 25 109 2 3 41
data:
$ID,165
$MISSION,2
$DIVE,216
$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,330
$T_MISSION,396
$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,275
$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,-121230.88
$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,45
$R_STBD_OVSHOOT,40
$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
$GPS1,015707,2510.037,12409.127,26,1.9,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-67.2
$GPS2,020336,2510.102,12409.149,30,1.3,30,-3.8
$SPEED_LIMITS,0.173,0.339
$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,174.9,21129,-13.2,-10.000
$D_GRID,2048
$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,-0.93,-267.7,0.0,0.0,0,73,0.00,0.00,-58.45,0.000,2,0.000,0.000,146,2153,1892
$GC,75,-0.93,-267.7,3.1,-3.1,9,147,9.20,2.25,-57.72,0.000,4,0.229,0.064,2506,3535,3948
$GC,178,-0.03,-267.7,23.3,-35.7,26,185,0.90,2.17,0.00,0.000,6,0.142,0.038,2801,2127,3950
$GC,505,-0.67,-267.7,67.6,-12.4,87,512,0.55,2.22,0.00,0.000,4,0.084,0.051,2593,3541,3951
$GC,580,-0.80,-267.7,75.1,-9.1,101,587,0.00,2.12,0.00,0.000,6,0.000,0.034,2593,2138,3951
$GC,907,-0.50,-267.7,124.8,-14.9,162,913,0.20,2.22,0.00,0.000,4,0.121,0.054,2658,3530,3952
$GC,977,-0.74,-267.7,130.2,-6.7,175,985,0.17,2.05,0.00,0.000,6,0.036,0.035,2547,2171,3953
$GC,1305,-0.37,-267.7,188.3,-17.8,236,1311,0.43,2.17,0.00,0.000,4,0.120,0.055,2687,3540,3953
$GC,1359,-0.89,-267.7,193.2,-6.5,246,1365,0.38,2.03,0.00,0.000,6,0.061,0.033,2529,2195,3954
$GC,1687,-0.94,-267.7,225.8,-9.5,307,1692,0.00,2.12,0.00,0.000,4,0.000,0.056,2529,3536,3954
$GC,1777,-0.73,-267.7,235.5,-12.0,324,1784,0.12,1.90,0.00,0.000,6,0.110,0.035,2577,2284,3954
$GC,2105,-0.63,-267.7,270.6,-9.9,385,2110,0.12,2.00,0.00,0.000,4,0.124,0.058,2617,3543,3954
$GC,2137,-0.78,-267.7,273.2,-6.9,391,2142,0.15,1.88,0.00,0.000,6,0.053,0.034,2526,2278,3954
$GC,2458,-0.43,-267.7,323.1,-17.3,439,2460,0.47,0.00,0.00,0.000,6,0.118,0.000,2683,2272,3953
$GC,2768,-1.10,-267.7,362.4,-13.1,469,2772,0.60,2.00,0.00,0.000,4,0.064,0.059,2453,3535,3952
$GC,2811,-0.84,-267.7,368.0,-12.9,473,2815,0.28,1.88,0.00,0.000,6,0.126,0.035,2546,2290,3951
$GC,3131,-0.65,-267.7,405.5,-11.0,504,3135,0.20,2.00,0.00,0.000,4,0.118,0.060,2606,3525,3950
$GC,3158,-0.71,-267.7,407.8,-8.3,506,3166,0.00,1.85,0.00,0.000,6,0.000,0.035,2606,2306,3950
$GC,3475,-1.39,-267.7,434.3,-11.5,537,3479,0.60,2.42,0.00,0.000,4,0.068,0.048,2373,747,3948
$GC,3565,-0.54,-267.7,454.8,-29.2,545,3570,0.88,2.35,0.00,0.000,6,0.153,0.047,2638,2248,3947
$GC,3880,-1.24,-267.7,487.0,-9.5,575,3884,0.57,2.03,0.00,0.000,4,0.063,0.056,2416,3533,3947
$GC,3912,-1.10,-267.7,490.6,-11.6,578,3915,0.12,1.92,0.00,0.000,6,0.138,0.035,2459,2262,3946
$GC,4240,-0.55,-267.7,551.2,-18.1,597,4244,0.52,2.05,0.00,0.000,4,0.134,0.060,2630,3538,3944
$GC,4266,-0.50,-267.7,554.5,-9.7,598,4269,0.00,1.92,0.00,0.000,6,0.000,0.035,2630,2271,3944
$GC,4582,-1.18,-267.7,581.0,-10.0,614,4586,0.52,2.35,0.00,0.000,4,0.059,0.049,2423,754,3942
$GC,4613,-0.98,-267.7,584.7,-12.3,615,4620,0.22,2.35,0.00,0.000,6,0.136,0.046,2497,2236,3941
$GC,4924,-0.64,-267.7,630.7,-15.2,631,4928,0.35,2.08,0.00,0.000,4,0.120,0.061,2617,3533,3939
$GC,5003,-1.19,-267.7,636.8,-7.2,635,5007,0.47,1.90,0.00,0.000,6,0.074,0.036,2433,2286,3939
$GC,5332,-0.59,-267.7,700.5,-20.0,651,5336,0.57,2.40,0.00,0.000,4,0.140,0.050,2621,759,3936
$GC,5405,-0.99,-267.7,706.9,-5.9,654,5412,0.30,2.38,0.00,0.000,6,0.053,0.043,2489,2268,3935
$GC,5717,-1.17,-267.7,736.3,-9.7,670,5720,0.12,2.03,0.00,0.000,4,0.062,0.061,2420,3535,3933
$GC,5763,-0.67,-267.7,743.1,-16.4,672,5767,0.52,1.90,0.00,0.000,6,0.131,0.037,2594,2287,3932
$GC,6086,-1.37,-267.7,768.0,-8.9,688,6090,0.57,2.00,0.00,0.000,4,0.074,0.060,2376,3529,3931
$GC,6122,-0.95,-267.7,772.6,-13.6,690,6126,0.40,1.88,0.00,0.000,6,0.142,0.038,2505,2303,3930
$GC,6450,-0.72,-267.7,813.8,-12.9,706,6454,0.22,2.45,0.00,0.000,4,0.122,0.051,2586,757,3927
$GC,6481,-0.85,-267.7,816.9,-8.7,707,6487,0.12,2.40,0.00,0.000,6,0.066,0.046,2524,2281,3927
$GC,6791,-0.74,-267.7,849.3,-10.8,723,6795,0.17,2.03,0.00,0.000,4,0.124,0.064,2577,3539,3925
$GC,6844,-1.01,-267.7,853.4,-6.8,725,6848,0.20,1.90,0.00,0.000,6,0.040,0.038,2464,2305,3924
$GC,7160,-0.59,-267.7,905.6,-17.0,741,7164,0.52,2.45,0.00,0.000,4,0.127,0.053,2633,753,3922
$GC,7202,-1.06,-267.7,908.8,-4.4,743,7206,0.38,2.42,0.00,0.000,6,0.053,0.044,2462,2276,3922
$GC,7530,-0.64,-267.7,957.1,-15.3,759,7534,0.45,2.05,0.00,0.000,4,0.133,0.064,2603,3537,3920
$GC,7577,-1.03,-267.7,960.6,-3.5,761,7581,0.28,1.90,0.00,0.000,6,0.044,0.038,2473,2307,3920
$STATE,7809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7809,begin apogee
$GC,7814,-0.23,0.0,991.2,14.0,773,8034,0.85,0.00,216.65,1.374,6,0.132,0.000,2744,2448,2854
$STATE,8034,end apogee,CONTROL_FINISHED_OK
$STATE,8034,begin climb
$GC,8036,0.93,267.7,1000.9,0.0,784,8270,1.00,2.15,226.18,1.334,4,0.041,0.064,3132,3683,1761
$GC,8312,0.07,267.7,964.0,26.2,797,8316,1.00,1.98,0.00,0.000,6,0.169,0.041,2852,2484,1757
$GC,8628,0.61,388.7,940.1,7.0,813,8738,0.45,2.08,105.35,1.300,4,0.041,0.063,3049,3688,1267
$GC,8855,0.23,388.7,897.9,19.6,824,8859,0.50,2.10,0.00,0.000,6,0.140,0.041,2901,2388,1264
$GC,9182,0.59,481.0,871.5,7.7,840,9268,0.30,2.33,81.25,1.271,4,0.045,0.054,3045,1041,893
$GC,9369,0.39,481.0,838.4,18.8,848,9377,0.30,2.17,0.00,0.000,6,0.130,0.046,2949,2358,887
$GC,9679,0.57,481.0,801.4,12.0,864,9683,0.15,2.12,0.00,0.000,4,0.057,0.053,3024,1031,885
$GC,9737,0.47,481.0,791.6,18.2,866,9744,0.15,2.12,0.00,0.000,6,0.121,0.044,2973,2346,885
$GC,10048,0.56,481.0,750.2,12.7,882,10052,0.00,2.10,0.00,0.000,4,0.000,0.053,2980,1048,884
$GC,10095,0.65,481.0,744.1,12.8,884,10100,0.10,2.05,0.00,0.000,6,0.053,0.044,3052,2328,883
$GC,10417,0.36,481.0,680.8,18.8,900,10418,0.38,0.00,0.00,0.000,6,0.136,0.000,2937,2328,883
$GC,10722,0.73,568.8,654.3,7.8,915,10831,0.32,2.17,88.03,1.124,4,0.044,0.052,3090,1050,531
$GC,10917,0.49,568.8,616.4,20.0,924,10921,0.32,2.10,0.00,0.000,6,0.133,0.044,2985,2326,521
$GC,11239,0.72,585.3,582.7,9.6,940,11262,0.17,2.15,11.43,0.992,4,0.053,0.051,3082,1031,484
$GC,11309,0.53,585.3,571.1,18.7,943,11313,0.28,2.05,0.00,0.000,6,0.127,0.043,2990,2299,479
$GC,11630,0.75,585.3,536.1,11.3,959,11634,0.20,2.00,0.00,0.000,4,0.051,0.052,3095,1042,474
$GC,11667,0.57,585.3,529.7,19.7,960,11675,0.25,2.00,0.00,0.000,6,0.129,0.044,3011,2292,474
$GC,11979,0.71,585.3,488.2,11.9,980,11983,0.12,2.00,0.00,0.000,4,0.063,0.051,3086,1042,472
$GC,12005,0.64,585.3,484.2,16.2,982,12012,0.17,1.98,0.00,0.000,6,0.124,0.043,3027,2284,472
$GC,12321,0.74,585.3,446.4,10.6,1013,12325,0.00,2.00,0.00,0.000,4,0.000,0.051,3033,1041,472
$GC,12364,0.83,585.3,441.7,11.5,1017,12368,0.10,1.92,0.00,0.000,6,0.048,0.041,3109,2262,470
$GC,12684,0.50,585.3,375.8,21.8,1048,12688,0.43,2.25,0.00,0.000,4,0.135,0.058,2978,3693,470
$GC,12726,0.95,684.1,370.4,7.5,1052,12731,0.35,2.22,0.00,0.000,6,0.034,0.038,3163,2260,470
$GC,13044,0.46,684.1,290.9,28.6,1085,13050,0.60,1.90,0.00,0.000,4,0.141,0.050,2980,1033,470
$GC,13113,0.83,688.0,281.5,9.9,1098,13120,0.25,1.92,0.00,0.000,6,0.035,0.040,3118,2257,469
$GC,13440,0.56,688.0,209.9,20.5,1159,13445,0.38,0.00,0.00,0.000,6,0.126,0.000,2999,2258,469
$GC,13765,1.28,688.0,172.8,11.3,1220,13772,0.60,2.28,0.00,0.000,4,0.037,0.058,3260,3696,469
$GC,13787,1.22,688.0,169.7,14.4,1224,13795,0.20,2.25,0.00,0.000,6,0.179,0.039,3212,2247,469
$GC,14115,0.78,688.0,87.2,24.4,1285,14122,0.45,1.90,0.00,0.000,4,0.135,0.050,3078,1031,469
$GC,14213,1.06,721.2,76.0,9.2,1303,14218,0.17,1.85,0.00,0.000,6,0.038,0.038,3186,2223,468
$GC,14539,0.91,721.2,19.0,16.8,1364,14545,0.25,2.30,0.00,0.000,4,0.131,0.050,3109,3700,468
$GC,14630,1.09,721.2,9.5,10.1,1381,14637,0.10,2.28,0.00,0.000,6,0.045,0.036,3191,2223,468
$STATE,14677,end climb,SURFACE_DEPTH_REACHED
$STATE,14677,begin surface coast
$FINISH,2.1,1.021312
$STATE,14694,end surface coast,CONTROL_FINISHED_OK
$STATE,14694,begin surface
$SM_CCo,14768,0.00,0.000,0,0,467,585.29
$SM_GC,2.70,7.68,0.00,0.00,0.035,0.000,0.000,149,2107,467,-8.23,-0.79,585.29
$IRIDIUM_FIX,2503.20,12413.10,180998,222234
$TT8_MAMPS,0.048321
$HUMID,1656
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.20
$XPDR_PINGS,215
$24V_AH,23.6,47.949
$10V_AH,10.6,32.130
$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,41.475,147.525,728.875,0.000,0.000,23.451,42.586,193.842,61.750,0.000,0.000,32.225,0.000,10379.438,868.528,3371.240,511.452,0.000,2175.581,0.000,2810.378,0.000,53.978,0.000
$DEVICE_MAMPS,228.566,71.331,1373.697,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,940.514,955.276,1491.477,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78931,1393
$CAP_FILE_SIZE,169551,0
$CFSIZE,260165632,239939584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.087, 23.7,1
$GPS,250609,061036,2508.009,12409.310,28,1.8,28,-3.8