version: 66.04
glider: 165
mission: 2
dive: 224
start: 6 26 109 13 37 39
data:
$ID,165
$MISSION,2
$DIVE,224
$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,225
$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,-121414.5
$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,19
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,132654,2454.307,12411.788,22,1.7,39,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-67.9
$GPS2,133734,2454.390,12411.907,10,99.0,29,-3.7
$SPEED_LIMITS,0.173,0.311
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,164.4,16801,-14.7,-10.000
$D_GRID,1875
$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,-1.04,-219.0,0.0,0.0,0,78,0.00,0.00,-64.07,0.000,2,0.000,0.000,155,2123,2027
$GC,80,-1.04,-219.0,3.1,-3.4,10,144,9.00,2.30,-47.20,0.000,4,0.227,0.064,2463,3539,3752
$GC,160,-0.05,-219.0,18.5,-36.6,23,167,1.05,2.17,0.00,0.000,6,0.146,0.034,2801,2129,3752
$GC,488,-0.79,-219.0,62.4,-13.0,84,494,0.62,2.25,0.00,0.000,4,0.066,0.050,2550,3559,3752
$GC,574,-0.30,-219.0,78.0,-20.3,100,580,0.47,2.17,0.00,0.000,6,0.121,0.039,2712,2134,3752
$GC,901,-0.55,-219.0,104.3,-7.1,161,907,0.20,2.25,0.00,0.000,4,0.046,0.053,2598,3552,3753
$GC,1008,-0.46,-219.0,119.1,-14.1,181,1014,0.17,2.08,0.00,0.000,6,0.106,0.033,2664,2176,3753
$GC,1335,-0.60,-219.0,152.3,-7.9,242,1342,0.12,2.20,0.00,0.000,4,0.063,0.058,2586,3542,3754
$GC,1379,-0.50,-219.0,157.1,-11.8,250,1387,0.17,2.05,0.00,0.000,6,0.109,0.036,2652,2193,3754
$GC,1707,-0.63,-219.0,185.5,-8.3,311,1713,0.10,2.12,0.00,0.000,4,0.071,0.054,2582,3539,3754
$GC,1809,-0.55,-219.0,198.0,-11.9,330,1816,0.15,2.03,0.00,0.000,6,0.107,0.035,2639,2204,3754
$GC,2136,-0.68,-219.0,232.3,-11.0,391,2142,0.12,2.12,0.00,0.000,4,0.061,0.055,2561,3546,3754
$GC,2162,-0.59,-219.0,235.8,-14.3,396,2169,0.17,2.03,0.00,0.000,6,0.111,0.034,2625,2218,3754
$GC,2489,-0.69,-219.0,268.0,-8.3,457,2495,0.00,2.10,0.00,0.000,4,0.000,0.056,2625,3542,3754
$GC,2548,-0.90,-219.0,272.4,-7.2,468,2554,0.22,2.00,0.00,0.000,6,0.035,0.035,2500,2227,3755
$GC,2876,-0.49,-219.0,325.2,-15.7,515,2880,0.45,2.30,0.00,0.000,4,0.130,0.046,2652,738,3754
$GC,2917,-0.85,-219.0,329.1,-5.5,518,2926,0.25,2.33,0.00,0.000,6,0.040,0.040,2520,2230,3754
$GC,3234,-0.57,-219.0,376.7,-17.4,549,3238,0.32,2.08,0.00,0.000,4,0.124,0.058,2630,3540,3753
$GC,3297,-0.93,-219.0,383.5,-8.8,554,3306,0.25,2.00,0.00,0.000,6,0.034,0.034,2484,2218,3752
$GC,3613,-0.49,-219.0,432.7,-14.6,585,3617,0.55,2.28,0.00,0.000,4,0.127,0.048,2662,746,3751
$GC,3660,-0.96,-219.0,435.5,-2.5,589,3666,0.35,2.30,0.00,0.000,6,0.038,0.039,2479,2227,3750
$GC,3976,-0.55,-219.0,479.0,-15.1,620,3980,0.50,2.08,0.00,0.000,4,0.126,0.058,2633,3548,3749
$GC,4055,-1.11,-219.0,484.6,-6.7,627,4062,0.43,2.00,0.00,0.000,6,0.058,0.035,2454,2222,3748
$GC,4369,-0.60,-219.0,536.5,-17.5,648,4371,0.52,0.00,0.00,0.000,6,0.137,0.000,2620,2221,3746
$GC,4673,-1.27,-219.0,557.7,-7.5,663,4677,0.57,2.12,0.00,0.000,4,0.060,0.060,2398,3537,3743
$GC,4710,-0.78,-219.0,562.3,-14.3,664,4716,0.50,1.98,0.00,0.000,6,0.144,0.036,2559,2239,3742
$GC,5020,-0.78,-219.0,590.9,-8.0,680,5024,0.00,2.12,0.00,0.000,4,0.000,0.062,2559,3539,3740
$GC,5046,-0.84,-219.0,593.0,-8.3,681,5050,0.00,1.98,0.00,0.000,6,0.000,0.036,2559,2248,3740
$GC,5368,-0.84,-219.0,623.6,-10.8,697,5371,0.00,2.10,0.00,0.000,4,0.000,0.063,2559,3546,3738
$GC,5399,-0.92,-219.0,627.0,-10.9,698,5403,0.08,1.98,0.00,0.000,6,0.052,0.037,2494,2265,3737
$GC,5715,-0.62,-219.0,671.5,-14.5,714,5719,0.40,2.38,0.00,0.000,4,0.126,0.051,2623,750,3734
$GC,5747,-0.87,-219.0,674.2,-6.4,715,5755,0.22,2.33,0.00,0.000,6,0.052,0.044,2515,2241,3734
$GC,6057,-0.69,-219.0,712.8,-13.6,731,6061,0.28,2.10,0.00,0.000,4,0.126,0.064,2601,3531,3731
$GC,6132,-1.03,-219.0,718.9,-7.2,734,6135,0.28,1.95,0.00,0.000,6,0.035,0.037,2456,2265,3730
$GC,6447,-0.58,-219.0,772.5,-17.7,750,6449,0.55,0.00,0.00,0.000,6,0.137,0.000,2629,2259,3728
$GC,6753,-1.38,-219.0,793.6,-7.5,765,6757,0.68,2.08,0.00,0.000,4,0.073,0.062,2373,3538,3726
$GC,6784,-1.06,-219.0,796.7,-10.5,766,6790,0.32,1.95,0.00,0.000,6,0.156,0.038,2474,2276,3725
$GC,7095,-0.72,-219.0,834.3,-11.5,782,7099,0.35,2.42,0.00,0.000,4,0.132,0.054,2585,748,3723
$GC,7121,-0.72,-219.0,836.5,-8.1,783,7125,0.00,2.40,0.00,0.000,6,0.000,0.048,2585,2246,3723
$GC,7437,-0.93,-219.0,851.4,-5.5,799,7440,0.20,2.08,0.00,0.000,4,0.051,0.064,2482,3536,3721
$GC,7495,-0.74,-219.0,857.5,-11.6,801,7502,0.28,1.95,0.00,0.000,6,0.117,0.038,2576,2273,3721
$GC,7806,-0.91,-219.0,877.1,-5.8,817,7807,0.15,0.00,0.00,0.000,6,0.063,0.000,2503,2271,3719
$GC,8111,-0.73,-219.0,911.2,-11.9,832,8115,0.25,2.08,0.00,0.000,4,0.125,0.066,2577,3540,3717
$GC,8142,-0.89,-219.0,914.2,-9.0,833,8146,0.10,1.95,0.00,0.000,6,0.048,0.038,2507,2285,3716
$GC,8458,-0.73,-219.0,951.8,-11.7,849,8460,0.25,0.00,0.00,0.000,6,0.123,0.000,2586,2281,3715
$GC,8764,-0.95,-219.0,971.0,-6.4,864,8767,0.20,2.08,0.00,0.000,4,0.051,0.066,2483,3542,3714
$GC,8795,-0.79,-219.0,974.1,-11.6,865,8799,0.22,1.95,0.00,0.000,6,0.121,0.038,2560,2287,3713
$STATE,8986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8986,begin apogee
$GC,8991,-0.26,0.0,990.7,8.6,875,9171,0.50,0.00,175.75,1.391,6,0.106,0.000,2731,2448,2854
$STATE,9171,end apogee,CONTROL_FINISHED_OK
$STATE,9171,begin climb
$GC,9173,1.04,219.0,1001.3,0.0,884,9369,1.15,2.42,185.52,1.348,4,0.050,0.053,3169,1073,1960
$GC,9406,0.21,219.0,979.1,23.0,895,9410,1.00,2.30,0.00,0.000,6,0.175,0.048,2892,2446,1956
$GC,9726,0.42,305.3,952.5,7.3,911,9805,0.17,2.33,74.82,1.310,4,0.058,0.050,2988,1071,1607
$GC,9827,0.28,305.3,939.7,12.7,915,9831,0.28,2.28,0.00,0.000,6,0.133,0.048,2909,2445,1604
$GC,10148,0.45,305.3,905.9,11.0,931,10151,0.15,2.22,0.00,0.000,4,0.061,0.050,2984,1061,1600
$GC,10205,0.36,305.3,897.8,14.3,933,10212,0.12,2.20,0.00,0.000,6,0.129,0.044,2941,2423,1599
$GC,10517,0.36,305.3,858.6,12.2,949,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2423,1598
$GC,10821,0.36,305.3,822.2,11.5,964,10825,0.00,2.20,0.00,0.000,4,0.000,0.050,2949,1064,1598
$GC,10874,0.41,305.3,816.0,12.0,966,10878,0.00,2.17,0.00,0.000,6,0.000,0.044,2949,2423,1596
$GC,11191,0.41,305.3,777.8,11.8,982,11194,0.00,2.15,0.00,0.000,4,0.000,0.048,2958,1067,1596
$GC,11243,0.41,305.3,771.4,12.7,984,11247,0.00,2.15,0.00,0.000,6,0.000,0.044,2958,2413,1595
$GC,11559,0.41,305.3,733.0,11.6,1000,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2413,1594
$GC,11864,0.42,315.6,702.6,9.7,1015,11878,0.00,2.20,7.97,1.071,4,0.000,0.050,2967,1066,1566
$GC,11910,0.46,342.5,698.1,9.2,1017,11948,0.00,2.17,27.48,1.118,6,0.000,0.044,2967,2420,1456
$GC,12252,0.46,342.5,662.6,10.6,1034,12255,0.00,2.20,0.00,0.000,4,0.000,0.049,2976,1066,1453
$GC,12272,0.46,342.5,660.3,10.3,1035,12276,0.00,2.15,0.00,0.000,6,0.000,0.044,2976,2402,1452
$GC,12599,0.48,361.8,627.6,9.4,1051,12622,0.00,2.22,17.60,1.130,4,0.000,0.050,2985,1063,1378
$GC,12648,0.48,361.8,622.7,10.8,1053,12652,0.00,2.15,0.00,0.000,6,0.000,0.044,2985,2382,1376
$GC,12969,0.48,361.8,586.4,11.3,1069,12973,0.00,2.10,0.00,0.000,4,0.000,0.049,2993,1067,1375
$GC,13027,0.48,361.8,579.7,11.8,1071,13035,0.00,2.10,0.00,0.000,6,0.000,0.044,2993,2368,1374
$GC,13338,0.43,361.8,540.6,13.2,1087,13342,0.12,2.10,0.00,0.000,4,0.138,0.061,2960,3692,1374
$GC,13358,0.43,361.8,538.1,11.9,1088,13362,0.00,2.05,0.00,0.000,6,0.000,0.039,2965,2382,1374
$GC,13685,0.52,361.8,501.4,10.6,1104,13689,0.00,2.10,0.00,0.000,4,0.000,0.051,2974,1065,1374
$GC,13733,0.61,364.1,496.5,9.9,1107,13740,0.08,2.05,0.00,0.000,6,0.055,0.044,3032,2351,1373
$GC,14048,0.44,364.1,454.9,14.1,1138,14052,0.25,2.05,0.00,0.000,4,0.133,0.048,2965,1064,1373
$GC,14102,0.60,379.2,449.2,9.5,1143,14126,0.15,2.00,15.57,1.002,6,0.058,0.044,3040,2341,1307
$GC,14435,0.44,379.2,395.2,15.3,1175,14439,0.28,2.17,0.00,0.000,4,0.129,0.058,2956,3693,1306
$GC,14455,0.44,379.2,392.5,13.5,1176,14462,0.00,2.12,0.00,0.000,6,0.000,0.038,2962,2336,1306
$GC,14773,0.70,432.0,364.2,8.4,1207,14828,0.20,2.10,45.88,0.961,4,0.051,0.049,3075,1067,1090
$GC,14918,0.54,432.0,341.9,15.7,1220,14925,0.25,2.00,0.00,0.000,6,0.130,0.043,2994,2298,1087
$GC,15234,0.69,432.9,307.1,10.0,1251,15238,0.15,2.22,0.00,0.000,4,0.058,0.059,3069,3684,1086
$GC,15260,0.60,432.9,303.4,14.0,1253,15266,0.17,2.15,0.00,0.000,6,0.136,0.038,3020,2326,1086
$GC,15585,0.81,531.2,271.0,7.0,1312,15676,0.17,2.10,82.57,0.872,4,0.055,0.050,3122,1064,687
$GC,15765,0.62,531.2,244.4,15.1,1344,15773,0.30,2.00,0.00,0.000,6,0.127,0.042,3026,2298,683
$GC,16093,0.88,545.4,211.4,9.6,1405,16113,0.20,2.03,13.85,0.775,4,0.048,0.048,3141,1063,628
$GC,16165,0.69,545.4,199.7,19.0,1418,16172,0.30,1.98,0.00,0.000,6,0.124,0.041,3042,2302,624
$GC,16492,1.12,669.1,169.2,6.2,1479,16556,0.38,2.25,41.80,0.687,4,0.038,0.054,3213,3694,481
$GC,16566,0.66,669.1,155.2,21.6,1491,16574,0.60,2.20,0.00,0.000,6,0.143,0.037,3024,2307,477
$GC,16895,1.44,669.1,120.2,11.5,1552,16902,0.68,1.92,0.00,0.000,4,0.071,0.043,3279,1051,467
$GC,16922,1.51,669.1,115.9,15.6,1557,16928,0.00,1.98,0.00,0.000,6,0.000,0.038,3279,2308,467
$GC,17249,0.96,669.1,29.7,23.3,1618,17256,0.47,2.17,0.00,0.000,4,0.153,0.051,3133,3693,466
$GC,17293,1.06,669.1,21.8,12.7,1626,17301,0.00,2.08,0.00,0.000,6,0.000,0.035,3142,2344,466
$STATE,17460,end climb,SURFACE_DEPTH_REACHED
$STATE,17460,begin surface coast
$FINISH,1.9,1.021713
$STATE,17485,end surface coast,CONTROL_FINISHED_OK
$STATE,17486,begin surface
$SM_CCo,17560,0.00,0.000,0,0,464,586.27
$SM_GC,2.49,7.53,0.00,0.00,0.032,0.000,0.000,150,2128,464,-8.21,-0.20,586.27
$IRIDIUM_FIX,2446.56,12411.06,200998,131344
$TT8_MAMPS,0.048321
$HUMID,1603
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.50
$XPDR_PINGS,253
$24V_AH,23.5,50.214
$10V_AH,10.7,33.255
$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,37.750,175.275,688.825,0.000,0.000,56.828,72.802,297.952,71.250,0.000,0.000,31.591,0.000,12692.805,881.362,3843.394,750.334,0.000,2358.812,0.000,3220.598,0.000,55.619,0.000
$DEVICE_MAMPS,227.032,67.496,1390.571,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1120.415,1145.872,1784.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94696,1662
$CAP_FILE_SIZE,195318,0
$CFSIZE,260165632,239157248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.142, 18.9,1
$GPS,260609,183107,2452.494,12412.853,28,1.4,28,-3.7