version: 66.04
glider: 165
mission: 2
dive: 227
start: 6 27 109 4 58 40
data:
$ID,165
$MISSION,2
$DIVE,227
$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,-121461.23
$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,62
$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
$GPS1,045137,2449.581,12414.247,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-71.2
$GPS2,045833,2449.593,12414.266,10,1.3,11,-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,173.9,7685,-12.7,-7.990
$D_GRID,1468
$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,-194.7,0.0,0.0,0,60,0.00,0.00,-45.72,0.000,2,0.000,0.000,153,2101,1972
$GC,62,-0.91,-194.7,3.3,-2.5,7,127,9.07,2.35,-47.00,0.000,4,0.222,0.064,2508,3542,3650
$GC,218,-0.04,-194.7,39.3,-30.7,34,224,0.88,2.15,0.00,0.000,6,0.135,0.035,2801,2142,3650
$GC,544,-0.69,-194.7,74.2,-10.5,95,551,0.57,2.22,0.00,0.000,4,0.073,0.051,2581,3557,3652
$GC,604,-0.37,-194.7,81.7,-13.8,106,612,0.30,2.15,0.00,0.000,6,0.107,0.032,2703,2138,3652
$GC,932,-0.58,-194.7,111.2,-9.1,167,938,0.20,2.22,0.00,0.000,4,0.093,0.049,2601,3553,3653
$GC,970,-0.67,-194.7,115.6,-12.5,174,977,0.00,2.10,0.00,0.000,6,0.000,0.031,2601,2145,3653
$GC,1298,-0.36,-194.7,162.9,-12.4,235,1304,0.30,2.22,0.00,0.000,4,0.116,0.052,2700,3554,3653
$GC,1363,-0.66,-194.7,166.7,-4.9,247,1369,0.20,2.08,0.00,0.000,6,0.035,0.032,2563,2179,3653
$GC,1690,-0.27,-194.7,215.9,-15.2,308,1696,0.47,2.20,0.00,0.000,4,0.130,0.044,2724,754,3654
$GC,1722,-0.37,-194.7,218.8,-8.7,314,1730,0.00,2.22,0.00,0.000,6,0.000,0.044,2724,2185,3654
$GC,2050,-1.03,-194.7,248.3,-11.4,375,2056,0.60,2.12,0.00,0.000,4,0.061,0.051,2483,3545,3654
$GC,2195,-0.51,-194.7,271.4,-17.4,402,2202,0.52,2.03,0.00,0.000,6,0.123,0.036,2654,2199,3654
$GC,2523,-1.06,-194.7,295.7,-8.3,463,2529,0.45,2.12,0.00,0.000,4,0.058,0.053,2468,3539,3654
$GC,2544,-1.29,-194.7,298.0,-9.7,467,2550,0.15,2.00,0.00,0.000,6,0.047,0.033,2382,2218,3654
$GC,2860,-0.24,-194.7,380.2,-29.1,499,2865,1.15,2.12,0.00,0.000,4,0.163,0.056,2724,3548,3654
$GC,2881,0.22,-194.7,384.1,-18.8,500,2888,0.40,2.00,0.00,0.000,6,0.054,0.035,2892,2238,3654
$GC,3197,-0.52,-194.7,404.2,-6.6,531,3201,0.62,2.08,0.00,0.000,4,0.067,0.056,2651,3539,3653
$GC,3249,-1.18,-194.7,408.1,-7.4,535,3257,0.57,1.75,0.00,0.000,6,0.083,0.033,2437,2369,3653
$GC,3565,-0.47,-194.7,464.5,-20.0,566,3567,0.73,0.00,0.00,0.000,6,0.143,0.000,2663,2369,3651
$GC,3877,-1.15,-194.7,490.8,-9.5,596,3881,0.55,2.53,0.00,0.000,4,0.070,0.048,2449,755,3649
$GC,3913,-0.79,-194.7,495.1,-12.2,599,3917,0.40,2.50,0.00,0.000,6,0.139,0.044,2562,2358,3648
$GC,4224,-0.68,-194.7,524.8,-9.4,616,4225,0.12,0.00,0.00,0.000,6,0.128,0.000,2602,2359,3647
$GC,4530,-0.76,-194.7,550.8,-8.8,631,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2359,3644
$GC,4834,-0.85,-194.7,571.5,-4.8,646,4836,0.17,0.00,0.00,0.000,6,0.054,0.000,2504,2359,3642
$GC,5140,-0.51,-194.7,604.5,-12.0,661,5141,0.45,0.00,0.00,0.000,6,0.123,0.000,2652,2359,3640
$GC,5446,-1.18,-194.7,626.5,-9.2,676,5450,0.55,2.55,0.00,0.000,4,0.071,0.051,2439,756,3638
$GC,5471,-1.18,-194.7,629.2,-11.1,677,5475,0.00,2.55,0.00,0.000,6,0.000,0.048,2438,2349,3637
$GC,5787,-0.55,-194.7,682.0,-17.2,693,5792,0.65,2.55,0.00,0.000,4,0.139,0.051,2644,751,3634
$GC,5829,-0.87,-194.7,685.4,-4.7,695,5833,0.25,2.53,0.00,0.000,6,0.044,0.044,2518,2341,3634
$GC,6152,-0.61,-194.7,720.8,-12.3,711,6153,0.32,0.00,0.00,0.000,6,0.120,0.000,2624,2341,3632
$GC,6456,-1.30,-194.7,742.4,-8.3,726,6460,0.62,2.50,0.00,0.000,4,0.067,0.049,2388,757,3630
$GC,6509,-0.61,-194.7,750.3,-18.1,728,6515,0.77,2.53,0.00,0.000,6,0.150,0.051,2621,2337,3629
$GC,6819,-1.18,-194.7,773.8,-7.2,744,6823,0.50,1.92,0.00,0.000,4,0.062,0.061,2429,3545,3627
$GC,6850,-0.82,-194.7,777.0,-11.5,745,6855,0.35,1.83,0.00,0.000,6,0.130,0.038,2546,2353,3626
$GC,7167,-0.71,-194.7,807.3,-9.6,761,7171,0.15,2.53,0.00,0.000,4,0.124,0.051,2594,759,3624
$GC,7203,-0.86,-194.7,810.3,-7.6,762,7210,0.12,2.53,0.00,0.000,6,0.043,0.047,2510,2335,3624
$GC,7514,-0.58,-194.7,845.6,-11.7,778,7518,0.35,1.95,0.00,0.000,4,0.126,0.063,2619,3543,3623
$GC,7551,-0.87,-194.7,848.5,-6.1,779,7557,0.17,1.80,0.00,0.000,6,0.044,0.037,2519,2360,3622
$GC,7861,-0.65,-194.7,884.1,-12.2,795,7866,0.28,2.55,0.00,0.000,4,0.120,0.052,2607,753,3621
$GC,7898,-0.87,-194.7,887.3,-7.1,797,7902,0.20,2.53,0.00,0.000,6,0.054,0.047,2507,2341,3621
$GC,8226,-0.60,-194.7,930.7,-13.9,813,8229,0.32,1.95,0.00,0.000,4,0.127,0.064,2616,3539,3619
$GC,8283,-0.97,-194.7,935.8,-8.7,816,8287,0.28,1.80,0.00,0.000,6,0.048,0.038,2489,2362,3619
$GC,8611,-0.63,-194.7,983.5,-15.3,832,8615,0.35,2.58,0.00,0.000,4,0.130,0.052,2606,753,3617
$GC,8663,-0.88,-194.7,989.0,-9.8,834,8670,0.15,2.55,0.00,0.000,6,0.043,0.048,2518,2335,3616
$STATE,8686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8686,begin apogee
$GC,8691,-0.26,0.0,991.5,9.6,836,8851,0.65,0.00,156.55,1.392,6,0.116,0.000,2732,2451,2854
$STATE,8851,end apogee,CONTROL_FINISHED_OK
$STATE,8851,begin climb
$GC,8853,0.91,194.7,1003.3,0.0,844,9027,1.08,2.20,164.70,1.353,4,0.048,0.065,3127,3683,2058
$GC,9058,-0.05,194.7,991.0,20.5,854,9062,1.12,1.98,0.00,0.000,6,0.173,0.041,2808,2485,2055
$GC,9385,0.58,337.8,977.4,4.0,870,9514,0.52,2.08,124.25,1.329,4,0.044,0.064,3028,3675,1476
$GC,9649,0.17,337.8,936.5,17.9,882,9653,0.50,2.08,0.00,0.000,6,0.140,0.040,2880,2386,1473
$GC,9965,0.44,377.8,913.4,6.9,898,10007,0.22,2.22,35.72,1.282,4,0.048,0.053,2997,1035,1312
$GC,10134,0.30,377.8,888.7,14.7,906,10138,0.22,2.17,0.00,0.000,6,0.124,0.046,2923,2361,1307
$GC,10461,0.42,377.8,855.6,10.0,922,10464,0.00,2.12,0.00,0.000,4,0.000,0.051,2928,1038,1305
$GC,10503,0.54,377.8,851.4,9.7,924,10507,0.12,2.12,0.00,0.000,6,0.046,0.044,3015,2356,1304
$GC,10830,0.27,377.8,796.6,17.9,940,10834,0.32,2.10,0.00,0.000,4,0.133,0.050,2917,1038,1304
$GC,10877,0.46,377.8,790.5,11.6,942,10881,0.10,2.08,0.00,0.000,6,0.049,0.044,2993,2336,1303
$GC,11194,0.29,377.8,746.6,13.0,958,11195,0.25,0.00,0.00,0.000,6,0.129,0.000,2917,2336,1303
$GC,11498,0.47,377.8,723.4,8.3,973,11502,0.15,2.08,0.00,0.000,4,0.058,0.051,3005,1044,1303
$GC,11557,0.31,377.8,715.9,14.0,975,11563,0.25,2.05,0.00,0.000,6,0.125,0.044,2922,2325,1302
$GC,11868,0.49,391.5,691.4,7.6,991,11883,0.15,2.12,11.50,1.124,4,0.059,0.052,3010,1030,1257
$GC,11946,0.34,391.5,681.4,14.0,994,11950,0.22,2.05,0.00,0.000,6,0.125,0.044,2925,2310,1256
$GC,12273,0.57,446.0,656.3,6.5,1010,12325,0.22,0.00,50.17,1.170,6,0.050,0.000,3031,2309,1034
$GC,12618,0.36,446.0,607.7,14.8,1027,12622,0.32,2.20,0.00,0.000,4,0.127,0.061,2931,3678,1030
$GC,12649,0.51,446.0,604.2,9.5,1028,12653,0.10,2.17,0.00,0.000,6,0.048,0.038,3007,2304,1028
$GC,12965,0.43,446.0,566.6,11.9,1044,12969,0.17,2.03,0.00,0.000,4,0.123,0.051,2963,1035,1028
$GC,13034,0.56,446.0,559.8,10.2,1047,13039,0.08,2.03,0.00,0.000,6,0.052,0.044,3027,2299,1027
$GC,13356,0.40,446.0,514.5,14.3,1063,13360,0.25,2.22,0.00,0.000,4,0.126,0.061,2950,3684,1027
$GC,13387,0.53,446.0,510.9,10.6,1064,13395,0.08,2.20,0.00,0.000,6,0.054,0.039,3011,2285,1027
$GC,13702,0.46,446.0,474.2,11.6,1090,13705,0.15,1.95,0.00,0.000,4,0.123,0.049,2974,1039,1027
$GC,13749,0.58,446.0,469.7,9.2,1094,13755,0.00,2.00,0.00,0.000,6,0.000,0.041,2974,2298,1026
$GC,14067,0.69,446.0,441.6,9.2,1125,14070,0.17,2.22,0.00,0.000,4,0.054,0.058,3066,3687,1026
$GC,14093,0.51,446.0,437.9,14.4,1127,14096,0.30,2.17,0.00,0.000,6,0.138,0.039,2985,2281,1026
$GC,14413,0.61,446.0,405.4,10.5,1158,14417,0.00,1.98,0.00,0.000,4,0.000,0.051,2992,1040,1026
$GC,14493,0.69,446.0,396.5,11.9,1165,14499,0.10,1.98,0.00,0.000,6,0.050,0.041,3066,2288,1026
$GC,14808,0.44,446.0,342.2,16.9,1196,14812,0.32,2.22,0.00,0.000,4,0.126,0.058,2963,3683,1026
$GC,14829,0.44,446.0,339.3,13.6,1198,14833,0.00,2.20,0.00,0.000,6,0.000,0.038,2967,2266,1026
$GC,15152,0.64,446.0,304.2,10.0,1229,15155,0.17,1.90,0.00,0.000,4,0.052,0.048,3062,1040,1026
$GC,15189,0.50,446.0,298.6,15.4,1233,15195,0.28,1.92,0.00,0.000,6,0.126,0.041,2977,2288,1026
$GC,15515,0.72,476.1,269.3,7.2,1294,15546,0.20,2.00,25.45,0.859,4,0.049,0.048,3088,1026,912
$GC,15567,0.50,476.1,262.7,13.8,1303,15573,0.30,1.95,0.00,0.000,6,0.124,0.041,2988,2250,910
$GC,15893,0.82,587.5,240.5,4.9,1364,15998,0.28,2.00,97.28,0.832,4,0.042,0.048,3127,1037,480
$GC,16014,0.56,587.5,222.5,17.9,1384,16021,0.38,2.00,0.00,0.000,6,0.121,0.040,2995,2257,472
$GC,16342,1.27,587.5,186.3,11.8,1445,16348,0.60,0.00,0.00,0.000,6,0.050,0.000,3235,2257,459
$GC,16668,0.71,587.5,109.4,21.9,1506,16675,0.57,1.92,0.00,0.000,4,0.139,0.047,3062,1025,457
$GC,16733,1.04,659.3,103.5,6.0,1518,16739,0.20,1.92,0.00,0.000,6,0.037,0.038,3180,2245,456
$GC,17059,0.83,659.3,57.4,15.7,1579,17065,0.30,2.28,0.00,0.000,4,0.125,0.053,3086,3693,455
$GC,17150,1.10,659.3,47.0,10.1,1596,17158,0.17,2.22,0.00,0.000,6,0.035,0.035,3212,2242,455
$STATE,17406,end climb,SURFACE_DEPTH_REACHED
$STATE,17406,begin surface coast
$FINISH,2.0,1.021624
$STATE,17422,end surface coast,CONTROL_FINISHED_OK
$STATE,17422,begin surface
$SM_CCo,17497,0.00,0.000,0,0,453,588.97
$SM_GC,2.41,7.65,0.00,0.00,0.028,0.000,0.000,157,2091,453,-8.21,-1.24,588.97
$IRIDIUM_FIX,2441.81,12421.58,200998,232335
$TT8_MAMPS,0.047554
$HUMID,1608
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.50
$XPDR_PINGS,240
$24V_AH,23.5,50.962
$10V_AH,10.7,33.707
$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,44.575,164.375,665.625,0.000,0.000,30.100,31.883,228.303,68.000,0.000,0.000,13.453,0.000,12648.532,816.703,3828.698,585.308,0.000,2266.344,0.000,3207.957,0.000,53.978,0.000
$DEVICE_MAMPS,221.663,77.467,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.273,1103.674,1718.789,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94643,1647
$CAP_FILE_SIZE,193870,0
$CFSIZE,260165632,238850048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159, 33.7,1
$GPS,270609,095127,2447.607,12415.317,30,2.1,49,-3.7