version: 66.04
glider: 165
mission: 2
dive: 226
start: 6 26 109 23 47 9
data:
$ID,165
$MISSION,2
$DIVE,226
$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,413
$T_MISSION,495
$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,200
$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,-121447.16
$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,50
$R_STBD_OVSHOOT,27
$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
$GPS1,233937,2450.719,12413.887,31,2.0,31,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.8
$GPS2,234702,2450.741,12413.954,14,1.9,14,-3.7
$SPEED_LIMITS,0.138,0.273
$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,182.7,9450,-12.7,-7.990
$D_GRID,1662
$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,-0.91,-194.7,0.0,0.0,0,73,0.00,0.00,-58.75,0.000,2,0.000,0.000,158,2123,2031
$GC,75,-0.91,-194.7,3.1,-2.4,9,133,9.07,2.35,-44.50,0.000,4,0.221,0.063,2515,3559,3650
$GC,170,0.03,-194.7,21.3,-30.9,25,176,0.90,2.20,0.00,0.000,6,0.130,0.034,2821,2137,3651
$GC,496,-0.64,-194.7,56.1,-10.6,86,503,0.57,2.25,0.00,0.000,4,0.058,0.051,2597,3558,3653
$GC,604,-0.24,-194.7,71.6,-16.6,106,611,0.38,2.15,0.00,0.000,6,0.111,0.035,2730,2148,3653
$GC,931,-0.79,-194.7,102.5,-11.1,167,938,0.43,2.20,0.00,0.000,4,0.057,0.048,2555,3548,3654
$GC,969,-0.73,-194.7,107.8,-14.4,174,977,0.00,2.10,0.00,0.000,6,0.000,0.036,2555,2170,3654
$GC,1297,-0.22,-194.7,173.3,-18.0,235,1304,0.57,2.20,0.00,0.000,4,0.124,0.058,2743,3552,3654
$GC,1324,-0.17,-194.7,175.7,-10.9,240,1330,0.00,2.08,0.00,0.000,6,0.000,0.031,2743,2174,3654
$GC,1651,-0.73,-194.7,204.1,-8.7,301,1657,0.43,2.15,0.00,0.000,4,0.056,0.051,2570,3546,3655
$GC,1699,-0.78,-194.7,208.6,-9.2,310,1705,0.00,2.05,0.00,0.000,6,0.000,0.033,2569,2194,3655
$GC,2025,-0.54,-194.7,251.5,-12.3,371,2031,0.22,2.22,0.00,0.000,4,0.114,0.047,2646,750,3655
$GC,2079,-0.70,-194.7,256.2,-7.6,381,2085,0.15,2.25,0.00,0.000,6,0.053,0.039,2550,2222,3655
$GC,2405,-0.42,-194.7,295.7,-13.4,442,2411,0.40,2.10,0.00,0.000,4,0.112,0.064,2684,3551,3655
$GC,2592,-1.08,-194.7,315.4,-13.0,465,2599,0.52,2.03,0.00,0.000,6,0.087,0.034,2465,2216,3655
$GC,2907,-0.44,-194.7,371.4,-16.7,496,2911,0.65,2.12,0.00,0.000,4,0.134,0.059,2671,3553,3655
$GC,2988,-1.03,-194.7,376.1,-5.3,503,2994,0.45,2.00,0.00,0.000,6,0.065,0.035,2478,2240,3655
$GC,3303,-0.46,-194.7,416.1,-13.9,534,3307,0.60,2.10,0.00,0.000,4,0.130,0.060,2671,3555,3653
$GC,3357,-0.94,-194.7,418.5,-1.7,539,3361,0.43,1.95,0.00,0.000,6,0.051,0.035,2492,2247,3653
$GC,3672,-0.48,-194.7,462.2,-16.0,569,3673,0.52,0.00,0.00,0.000,6,0.124,0.000,2663,2241,3651
$GC,3984,-1.13,-194.7,492.7,-10.3,599,3988,0.55,2.10,0.00,0.000,4,0.071,0.059,2449,3553,3648
$GC,4020,-0.79,-194.7,497.2,-12.2,602,4024,0.32,1.98,0.00,0.000,6,0.127,0.037,2559,2260,3648
$GC,4338,-0.66,-194.7,528.9,-10.5,619,4341,0.15,2.08,0.00,0.000,4,0.120,0.061,2606,3546,3646
$GC,4374,-0.82,-194.7,532.1,-7.9,620,4381,0.10,1.95,0.00,0.000,6,0.044,0.036,2528,2275,3646
$GC,4685,-0.55,-194.7,574.5,-14.7,636,4686,0.35,0.00,0.00,0.000,6,0.117,0.000,2644,2269,3644
$GC,4990,-1.25,-194.7,607.1,-11.7,651,4994,0.62,2.05,0.00,0.000,4,0.074,0.061,2412,3546,3642
$GC,5027,-0.75,-194.7,612.4,-15.7,652,5033,0.50,1.92,0.00,0.000,6,0.142,0.038,2572,2285,3640
$GC,5337,-0.75,-194.7,642.0,-7.7,668,5341,0.00,2.05,0.00,0.000,4,0.000,0.064,2572,3555,3638
$GC,5369,-0.75,-194.7,644.4,-8.0,669,5373,0.00,1.95,0.00,0.000,6,0.000,0.038,2572,2290,3637
$GC,5685,-0.75,-194.7,669.8,-7.8,685,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2285,3635
$GC,5991,-0.75,-194.7,695.5,-9.0,700,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2284,3634
$GC,6295,-0.75,-194.7,722.0,-8.0,715,6299,0.00,2.08,0.00,0.000,4,0.000,0.067,2572,3538,3631
$GC,6332,-0.82,-194.7,724.8,-6.8,716,6339,0.00,1.92,0.00,0.000,6,0.000,0.038,2572,2291,3631
$GC,6643,-0.82,-194.7,744.2,-6.5,732,6646,0.00,2.45,0.00,0.000,4,0.000,0.054,2572,747,3629
$GC,6674,-0.82,-194.7,746.5,-7.4,733,6680,0.00,2.45,0.00,0.000,6,0.000,0.047,2572,2279,3629
$GC,6984,-0.82,-194.7,767.5,-7.0,749,6988,0.00,2.08,0.00,0.000,4,0.000,0.065,2572,3539,3627
$GC,7064,-0.91,-194.7,773.0,-6.4,752,7070,0.10,1.90,0.00,0.000,6,0.045,0.038,2497,2304,3626
$GC,7374,-0.56,-194.7,812.4,-13.5,768,7376,0.43,0.00,0.00,0.000,6,0.123,0.000,2634,2299,3624
$GC,7680,-1.26,-194.7,836.8,-8.6,783,7682,0.60,0.00,0.00,0.000,6,0.074,0.000,2413,2299,3623
$GC,7985,-0.60,-194.7,886.4,-16.4,798,7989,0.70,2.47,0.00,0.000,4,0.153,0.054,2624,753,3621
$GC,8006,-0.35,-194.7,888.8,-11.9,799,8010,0.25,2.45,0.00,0.000,6,0.095,0.049,2712,2292,3621
$GC,8333,-1.04,-194.7,916.1,-10.6,815,8336,0.62,2.03,0.00,0.000,4,0.074,0.063,2481,3545,3619
$GC,8375,-0.94,-194.7,920.8,-10.6,817,8379,0.08,1.90,0.00,0.000,6,0.132,0.039,2509,2315,3618
$GC,8702,-0.69,-194.7,962.8,-12.9,833,8707,0.25,2.50,0.00,0.000,4,0.128,0.053,2595,752,3617
$GC,8749,-0.87,-194.7,967.1,-7.2,835,8754,0.12,2.50,0.00,0.000,6,0.044,0.048,2516,2305,3617
$STATE,8961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8961,begin apogee
$GC,8966,-0.26,0.0,990.2,11.1,846,9125,0.68,0.00,156.50,1.388,6,0.120,0.000,2736,2463,2854
$STATE,9126,end apogee,CONTROL_FINISHED_OK
$STATE,9126,begin climb
$GC,9128,0.91,194.7,998.6,0.0,854,9301,1.05,2.15,164.77,1.348,4,0.045,0.066,3124,3672,2059
$GC,9391,-0.04,194.7,970.7,21.8,866,9395,1.08,1.95,0.00,0.000,6,0.173,0.041,2813,2473,2054
$GC,9706,0.53,310.6,953.3,4.8,882,9813,0.47,2.10,100.30,1.318,4,0.044,0.064,3014,3683,1586
$GC,9993,0.14,310.6,911.5,15.1,895,9998,0.47,2.08,0.00,0.000,6,0.137,0.042,2871,2394,1581
$GC,10310,0.57,390.9,892.6,5.8,911,10387,0.38,2.33,70.43,1.295,4,0.057,0.054,3030,1041,1259
$GC,10543,0.31,390.9,860.0,15.4,922,10547,0.30,2.15,0.00,0.000,6,0.133,0.047,2923,2351,1252
$GC,10869,0.46,390.9,831.2,9.0,938,10873,0.12,2.10,0.00,0.000,4,0.064,0.051,2995,1040,1251
$GC,10917,0.34,390.9,825.3,13.8,940,10921,0.20,2.10,0.00,0.000,6,0.123,0.044,2929,2342,1250
$GC,11238,0.47,390.9,794.4,9.1,956,11242,0.12,2.08,0.00,0.000,4,0.065,0.052,2997,1039,1249
$GC,11291,0.36,390.9,787.8,14.8,958,11295,0.17,2.08,0.00,0.000,6,0.120,0.044,2938,2335,1249
$GC,11607,0.46,390.9,757.1,9.6,974,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2335,1249
$GC,11912,0.56,390.9,724.1,10.4,989,11916,0.17,2.08,0.00,0.000,4,0.055,0.051,3031,1044,1248
$GC,11954,0.31,390.9,718.3,16.0,991,11958,0.30,2.05,0.00,0.000,6,0.130,0.045,2921,2322,1247
$GC,12281,0.52,406.1,695.3,7.6,1007,12295,0.17,0.00,12.75,1.144,6,0.054,0.000,3010,2321,1198
$GC,12586,0.33,406.1,651.0,13.8,1022,12590,0.28,2.08,0.00,0.000,4,0.131,0.053,2936,1041,1196
$GC,12634,0.52,406.1,646.0,8.1,1024,12637,0.10,2.05,0.00,0.000,6,0.047,0.044,3010,2317,1195
$GC,12954,0.35,406.1,603.3,14.6,1040,12958,0.25,2.05,0.00,0.000,4,0.129,0.051,2943,1038,1195
$GC,12981,0.42,406.1,600.2,11.2,1041,12985,0.00,2.03,0.00,0.000,6,0.000,0.043,2943,2313,1195
$GC,13303,0.57,406.7,571.8,8.0,1057,13306,0.17,2.03,0.00,0.000,4,0.052,0.049,3035,1033,1195
$GC,13339,0.37,406.7,567.3,13.8,1058,13345,0.28,2.00,0.00,0.000,6,0.128,0.043,2944,2292,1195
$GC,13650,0.55,430.1,543.4,7.3,1074,13674,0.15,0.00,22.70,1.081,6,0.056,0.000,3023,2292,1100
$GC,13975,0.40,430.1,495.5,15.8,1091,13979,0.25,2.00,0.00,0.000,4,0.124,0.051,2955,1035,1097
$GC,14022,0.59,430.1,489.4,10.8,1095,14029,0.12,2.00,0.00,0.000,6,0.043,0.042,3037,2288,1095
$GC,14338,0.43,430.1,440.5,13.6,1126,14342,0.25,2.25,0.00,0.000,4,0.125,0.059,2960,3690,1096
$GC,14375,0.57,430.1,436.9,8.8,1129,14381,0.08,2.22,0.00,0.000,6,0.054,0.038,3021,2265,1095
$GC,14690,0.49,430.1,404.3,10.9,1160,14695,0.15,1.92,0.00,0.000,4,0.124,0.050,2982,1042,1095
$GC,14754,0.58,430.1,397.7,10.6,1166,14758,0.00,1.92,0.00,0.000,6,0.000,0.041,2982,2260,1094
$GC,15078,0.67,430.1,364.6,9.8,1197,15081,0.15,2.28,0.00,0.000,4,0.058,0.058,3060,3681,1094
$GC,15119,0.39,430.1,358.5,15.4,1200,15127,0.38,2.20,0.00,0.000,6,0.134,0.038,2948,2267,1094
$GC,15435,0.95,430.1,330.1,9.4,1231,15439,0.47,1.90,0.00,0.000,4,0.053,0.046,3137,1038,1094
$GC,15461,0.86,430.1,326.7,14.0,1233,15467,0.12,1.98,0.00,0.000,6,0.149,0.041,3096,2294,1094
$GC,15782,0.51,430.1,273.1,16.8,1279,15788,0.38,2.22,0.00,0.000,4,0.138,0.057,2980,3696,1094
$GC,15814,0.51,430.1,269.3,11.9,1285,15820,0.00,2.17,0.00,0.000,6,0.000,0.037,2981,2286,1094
$GC,16139,0.93,430.1,240.0,10.2,1346,16146,0.38,1.95,0.00,0.000,4,0.039,0.047,3162,1034,1094
$GC,16247,0.44,430.1,219.5,20.0,1366,16253,0.57,1.98,0.00,0.000,6,0.139,0.041,2965,2291,1094
$GC,16575,1.23,430.2,190.2,8.0,1427,16581,0.68,0.00,0.00,0.000,6,0.071,0.000,3219,2291,1094
$GC,16901,0.56,430.2,129.6,20.2,1488,16907,0.68,0.00,0.00,0.000,6,0.149,0.000,3008,2290,1094
$GC,17227,1.13,430.2,101.7,8.8,1549,17234,0.43,1.95,0.00,0.000,4,0.044,0.044,3200,1030,1094
$GC,17318,0.69,430.2,87.7,18.0,1566,17325,0.45,1.98,0.00,0.000,6,0.130,0.040,3038,2301,1094
$GC,17646,1.18,496.5,63.7,6.2,1627,17704,0.43,2.28,54.00,0.676,4,0.035,0.052,3256,3690,829
$GC,17832,0.58,496.5,28.8,22.5,1660,17838,0.80,2.28,0.00,0.000,6,0.153,0.035,3008,2237,829
$STATE,18108,end climb,SURFACE_DEPTH_REACHED
$STATE,18108,begin surface coast
$FINISH,1.5,1.007098
$STATE,18135,end surface coast,CONTROL_FINISHED_OK
$STATE,18135,begin surface
$SM_CCo,18209,0.00,0.000,0,0,828,496.98
$SM_GC,2.29,7.20,0.00,0.00,0.031,0.000,0.000,153,2102,828,-8.20,-0.93,496.98
$IRIDIUM_FIX,2446.56,12413.02,200998,181805
$TT8_MAMPS,0.048321
$HUMID,1554
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.40
$XPDR_PINGS,246
$24V_AH,23.5,50.705
$10V_AH,10.7,33.560
$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,42.925,156.625,581.450,0.000,0.000,24.214,40.281,251.920,69.500,0.000,0.000,16.428,0.000,13244.065,751.755,3995.603,629.664,0.000,2238.128,0.000,3366.341,0.000,55.222,0.000
$DEVICE_MAMPS,220.896,70.564,1388.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1160.582,1186.278,1848.425,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97937,1717
$CAP_FILE_SIZE,195068,0
$CFSIZE,260165632,238952448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.292, 29.1,1
$GPS,270609,045137,2449.581,12414.247,39,1.0,39,-3.7