version: 66.04
glider: 165
mission: 2
dive: 228
start: 6 27 109 10 0 4
data:
$ID,165
$MISSION,2
$DIVE,228
$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,-121497.12
$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,59
$R_STBD_OVSHOOT,34
$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
$GPS1,095127,2447.607,12415.317,30,2.1,49,-3.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-67.7
$GPS2,095958,2447.705,12415.378,13,2.9,32,-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,150.7,4507,-22.1,-7.990
$D_GRID,999
$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,-1.25,-69.5,0.0,0.0,0,78,0.00,0.00,-63.88,0.000,2,0.000,0.000,156,2092,2023
$GC,80,-1.33,-137.0,3.4,-2.8,10,132,8.65,2.38,-38.33,0.000,4,0.227,0.064,2376,3540,3415
$GC,213,-0.42,-137.0,43.6,-42.4,33,219,1.02,2.12,0.00,0.000,6,0.160,0.035,2680,2138,3416
$GC,540,-0.73,-137.0,84.7,-8.5,94,546,0.25,2.25,0.00,0.000,4,0.047,0.054,2550,3532,3417
$GC,673,-0.57,-137.0,109.4,-16.9,119,681,0.22,2.08,0.00,0.000,6,0.127,0.033,2628,2164,3418
$GC,1001,-0.74,-137.0,150.7,-11.6,180,1007,0.15,0.00,0.00,0.000,6,0.058,0.000,2538,2158,3419
$GC,1327,-0.64,-137.0,211.3,-17.3,241,1333,0.25,2.17,0.00,0.000,4,0.131,0.046,2616,744,3420
$GC,1375,-0.90,-137.0,218.0,-12.5,250,1382,0.20,2.25,0.00,0.000,6,0.037,0.041,2503,2178,3420
$GC,1702,-0.71,-137.0,267.6,-15.4,311,1709,0.28,2.15,0.00,0.000,4,0.130,0.058,2587,3545,3420
$GC,1805,-0.98,-137.0,277.9,-9.0,330,1811,0.20,2.08,0.00,0.000,6,0.038,0.040,2469,2189,3420
$GC,2125,-0.71,-137.0,337.3,-20.0,373,2129,0.40,2.17,0.00,0.000,4,0.143,0.056,2588,3548,3420
$GC,2210,-1.02,-137.0,348.5,-11.4,380,2217,0.22,2.08,0.00,0.000,6,0.038,0.037,2464,2200,3420
$GC,2526,-0.78,-137.0,406.4,-16.7,411,2529,0.32,2.15,0.00,0.000,4,0.142,0.061,2561,3539,3420
$GC,2594,-1.01,-137.0,414.9,-10.3,417,2601,0.15,2.00,0.00,0.000,6,0.043,0.035,2465,2228,3420
$GC,2911,-0.80,-137.0,463.6,-15.6,448,2914,0.30,2.10,0.00,0.000,4,0.141,0.060,2548,3539,3419
$GC,3034,-1.00,-137.0,476.6,-9.7,459,3040,0.15,1.98,0.00,0.000,6,0.059,0.036,2462,2228,3417
$GC,3357,-0.79,-137.0,530.7,-17.6,483,3361,0.30,2.12,0.00,0.000,4,0.143,0.062,2558,3534,3415
$GC,3415,-1.06,-137.0,538.1,-10.4,486,3419,0.20,1.98,0.00,0.000,6,0.038,0.036,2448,2246,3415
$GC,3743,-0.84,-137.0,598.2,-18.7,502,3747,0.30,2.35,0.00,0.000,4,0.147,0.051,2544,751,3412
$GC,3763,-0.84,-137.0,601.4,-14.5,503,3767,0.00,2.35,0.00,0.000,6,0.000,0.044,2536,2230,3412
$GC,4084,-0.97,-137.0,638.7,-11.6,519,4088,0.00,2.12,0.00,0.000,4,0.000,0.063,2536,3534,3409
$GC,4106,-1.13,-137.0,641.2,-12.2,520,4109,0.22,1.95,0.00,0.000,6,0.048,0.037,2432,2243,3409
$GC,4433,-0.88,-137.0,698.4,-17.0,536,4434,0.35,0.00,0.00,0.000,6,0.151,0.000,2537,2237,3407
$GC,4738,-1.05,-137.0,726.4,-8.1,551,4741,0.17,2.12,0.00,0.000,4,0.059,0.064,2455,3542,3403
$GC,4805,-0.92,-137.0,734.7,-12.3,554,4810,0.20,1.98,0.00,0.000,6,0.138,0.038,2520,2261,3402
$GC,5122,-1.03,-137.0,767.4,-12.2,570,5125,0.00,2.08,0.00,0.000,4,0.000,0.064,2521,3537,3400
$GC,5153,-1.18,-137.0,771.6,-13.4,571,5157,0.17,1.98,0.00,0.000,6,0.040,0.038,2428,2261,3400
$GC,5470,-0.93,-137.0,829.4,-19.0,587,5472,0.30,0.00,0.00,0.000,6,0.153,0.000,2516,2256,3397
$GC,5774,-1.04,-137.0,868.2,-12.0,602,5775,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2256,3395
$GC,6079,-1.16,-137.0,896.0,-9.1,617,6083,0.20,2.40,0.00,0.000,4,0.061,0.056,2434,751,3392
$GC,6117,-0.97,-137.0,900.7,-14.3,618,6123,0.28,2.40,0.00,0.000,6,0.157,0.050,2504,2257,3391
$GC,6428,-1.05,-137.0,932.9,-10.3,634,6431,0.00,2.08,0.00,0.000,4,0.000,0.067,2504,3531,3390
$GC,6480,-1.17,-137.0,938.5,-10.7,636,6484,0.15,1.95,0.00,0.000,6,0.044,0.039,2424,2277,3389
$GC,6796,-0.93,-137.0,988.0,-16.0,652,6798,0.32,0.00,0.00,0.000,6,0.153,0.000,2519,2272,3387
$STATE,6814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6814,begin apogee
$GC,6818,-0.26,0.0,990.7,15.3,653,6930,0.65,0.00,109.75,1.377,6,0.123,0.000,2732,2447,2854
$STATE,6931,end apogee,CONTROL_FINISHED_OK
$STATE,6931,begin climb
$GC,6932,1.33,137.0,993.7,0.0,658,7055,1.38,2.40,115.93,1.342,4,0.038,0.054,3278,1060,2294
$GC,7141,0.45,137.0,974.1,20.9,668,7145,1.12,2.33,0.00,0.000,6,0.201,0.049,2966,2453,2290
$GC,7451,0.46,148.4,949.1,7.1,683,7465,0.00,2.05,9.90,1.170,4,0.000,0.064,2965,3684,2248
$GC,7488,0.46,148.4,946.0,8.6,684,7494,0.00,1.92,0.00,0.000,6,0.000,0.040,2974,2465,2247
$GC,7798,0.46,148.4,921.1,8.3,700,7802,0.00,2.28,0.00,0.000,4,0.000,0.050,2984,1049,2245
$GC,7819,0.46,148.4,919.1,8.8,701,7823,0.00,2.28,0.00,0.000,6,0.000,0.048,2984,2455,2245
$GC,8145,0.46,148.4,892.1,8.9,717,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2456,2243
$GC,8450,0.46,148.4,861.4,10.0,732,8454,0.00,2.28,0.00,0.000,4,0.000,0.051,2994,1048,2242
$GC,8487,0.46,148.4,858.0,9.2,733,8494,0.00,2.28,0.00,0.000,6,0.000,0.048,2994,2458,2241
$GC,8798,0.41,148.4,828.2,9.6,749,8802,0.15,1.98,0.00,0.000,4,0.159,0.062,2954,3677,2241
$GC,8850,0.41,148.4,823.2,9.9,751,8855,0.00,1.90,0.00,0.000,6,0.000,0.037,2962,2441,2240
$GC,9167,0.48,148.4,794.1,10.1,767,9170,0.00,2.20,0.00,0.000,4,0.000,0.048,2972,1063,2239
$GC,9339,0.59,148.4,775.8,9.4,775,9343,0.10,2.20,0.00,0.000,6,0.081,0.048,3019,2449,2239
$GC,9659,0.46,148.4,738.1,11.4,791,9663,0.17,2.00,0.00,0.000,4,0.158,0.061,2971,3682,2239
$GC,9718,0.46,148.4,731.5,11.9,793,9724,0.00,1.90,0.00,0.000,6,0.000,0.040,2979,2457,2238
$GC,10028,0.46,148.4,701.0,9.9,809,10032,0.00,2.03,0.00,0.000,4,0.000,0.061,2979,3687,2238
$GC,10059,0.39,148.4,697.7,10.6,810,10064,0.12,1.90,0.00,0.000,6,0.165,0.038,2949,2460,2238
$GC,10376,0.57,167.7,674.0,6.5,826,10397,0.15,2.22,15.57,1.151,4,0.064,0.049,3030,1054,2170
$GC,10499,0.47,167.7,662.7,9.0,831,10506,0.22,2.25,0.00,0.000,6,0.156,0.048,2968,2460,2168
$GC,10809,0.62,204.9,643.6,5.1,847,10846,0.15,2.03,32.35,1.159,4,0.065,0.062,3032,3687,2016
$GC,10974,0.46,204.9,626.9,12.0,854,10978,0.22,1.95,0.00,0.000,6,0.155,0.039,2973,2461,2012
$GC,11301,0.62,204.9,597.5,9.1,870,11305,0.15,2.25,0.00,0.000,4,0.063,0.048,3049,1044,2010
$GC,11381,0.54,204.9,588.0,13.0,874,11385,0.20,2.20,0.00,0.000,6,0.152,0.045,2994,2425,2009
$GC,11707,0.63,204.9,553.5,10.7,890,11710,0.00,2.05,0.00,0.000,4,0.000,0.060,2993,3681,2008
$GC,11749,0.63,204.9,548.6,12.5,892,11753,0.00,1.95,0.00,0.000,6,0.000,0.039,3001,2424,2008
$GC,12076,0.69,204.9,515.7,10.3,908,12080,0.12,2.17,0.00,0.000,4,0.075,0.048,3066,1059,2008
$GC,12139,0.56,204.9,507.9,12.4,911,12143,0.20,2.17,0.00,0.000,6,0.153,0.045,3004,2415,2008
$GC,12459,0.62,204.9,476.2,9.2,938,12463,0.00,2.17,0.00,0.000,4,0.000,0.048,3012,1061,2008
$GC,12535,0.68,204.9,469.4,8.7,945,12538,0.00,2.12,0.00,0.000,6,0.000,0.044,3012,2408,2008
$GC,12855,0.73,204.9,437.9,10.2,976,12859,0.12,2.05,0.00,0.000,4,0.070,0.060,3073,3691,2008
$GC,12887,0.47,204.9,434.0,11.9,979,12891,0.32,2.03,0.00,0.000,6,0.159,0.038,2973,2388,2008
$GC,13207,0.70,215.2,409.1,7.2,1010,13220,0.20,2.15,8.70,0.893,4,0.055,0.048,3073,1045,1976
$GC,13316,0.60,215.2,397.1,11.3,1020,13320,0.22,2.10,0.00,0.000,6,0.157,0.044,3010,2379,1975
$GC,13631,0.70,215.2,366.5,9.3,1050,13635,0.00,2.12,0.00,0.000,4,0.000,0.058,3011,3693,1975
$GC,13663,0.70,215.2,363.3,9.3,1053,13666,0.00,2.03,0.00,0.000,6,0.000,0.037,3018,2379,1975
$GC,13985,0.78,215.2,335.2,8.5,1084,13988,0.15,2.08,0.00,0.000,4,0.064,0.046,3103,1051,1974
$GC,14010,0.64,215.2,332.2,12.1,1086,14017,0.22,2.12,0.00,0.000,6,0.156,0.044,3034,2380,1975
$GC,14326,0.64,215.2,300.5,9.3,1117,14330,0.00,2.10,0.00,0.000,4,0.000,0.057,3034,3683,1975
$GC,14406,0.64,215.2,291.9,11.0,1131,14413,0.00,2.03,0.00,0.000,6,0.000,0.038,3042,2370,1975
$GC,14733,0.67,239.1,266.2,6.1,1192,14759,0.00,2.12,21.35,0.851,4,0.000,0.047,3052,1046,1878
$GC,14795,0.74,243.6,261.8,7.6,1203,14804,0.00,2.12,5.20,0.644,6,0.000,0.042,3052,2373,1860
$GC,15124,0.81,243.6,228.0,10.6,1264,15130,0.00,2.10,0.00,0.000,4,0.000,0.055,3052,3677,1858
$GC,15145,0.81,243.6,225.3,12.1,1268,15151,0.00,2.03,0.00,0.000,6,0.000,0.035,3062,2366,1858
$GC,15472,0.90,266.5,192.9,6.2,1329,15498,0.12,2.05,19.95,0.785,4,0.067,0.045,3130,1054,1765
$GC,15568,0.77,267.0,185.3,8.0,1346,15574,0.22,2.03,0.00,0.000,6,0.146,0.041,3067,2325,1762
$GC,15894,0.90,267.0,154.9,9.6,1407,15901,0.12,2.03,0.00,0.000,4,0.067,0.045,3135,1047,1762
$GC,15970,0.80,267.0,146.2,11.3,1421,15976,0.15,2.00,0.00,0.000,6,0.139,0.041,3086,2316,1762
$GC,16298,0.95,301.1,116.4,5.4,1482,16330,0.12,2.25,28.38,0.723,4,0.069,0.053,3144,3696,1625
$GC,16570,0.79,301.1,90.2,11.3,1532,16576,0.25,2.10,0.00,0.000,6,0.140,0.034,3075,2335,1623
$GC,16897,1.07,301.1,62.4,8.7,1593,16903,0.25,2.17,0.00,0.000,4,0.048,0.052,3192,3689,1623
$GC,17143,0.83,301.1,34.0,10.5,1639,17150,0.35,2.08,0.00,0.000,6,0.151,0.038,3092,2335,1623
$GC,17471,1.14,322.6,13.0,6.3,1700,17497,0.25,1.95,18.38,0.613,4,0.045,0.041,3220,1050,1537
$GC,17539,0.99,322.6,5.7,12.4,1712,17545,0.25,2.05,0.00,0.000,6,0.137,0.039,3140,2359,1535
$STATE,17564,end climb,SURFACE_DEPTH_REACHED
$STATE,17564,begin surface coast
$FINISH,1.6,1.021544
$STATE,17591,end surface coast,CONTROL_FINISHED_OK
$STATE,17591,begin surface
$SM_CCo,17606,96.57,0.619,0,0,1018,450.13
$SM_GC,2.15,0.00,0.00,96.57,0.000,0.000,0.619,155,2107,1018,-8.33,-0.79,450.13
$IRIDIUM_FIX,2437.06,12413.65,210998,050535
$TT8_MAMPS,0.048321
$HUMID,1517
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.00
$XPDR_PINGS,224
$24V_AH,23.6,51.136
$10V_AH,10.7,33.863
$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,31.925,169.775,385.450,96.575,0.000,30.153,39.561,292.776,64.000,0.000,0.000,35.255,0.000,12765.156,688.435,4041.689,687.148,0.000,2163.113,0.000,3401.417,0.000,53.980,0.000
$DEVICE_MAMPS,227.032,70.564,1376.765,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1164.658,1209.202,1895.523,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97725,1722
$CAP_FILE_SIZE,196413,0
$CFSIZE,260165632,238751744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,326.9,1
$GPS,270609,145607,2446.590,12415.991,38,1.6,38,-3.7