version: 66.04
glider: 165
mission: 2
dive: 229
start: 6 27 109 15 3 51
data:
$ID,165
$MISSION,2
$DIVE,229
$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,-121529.69
$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,61
$R_STBD_OVSHOOT,28
$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
$GPS1,145607,2446.590,12415.991,38,1.6,38,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-71.8
$GPS2,150343,2446.654,12416.039,13,1.7,30,-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,100.4,3449,-20.3,-7.990
$D_GRID,920
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.17,-82.7,0.0,0.0,0,56,0.00,0.00,-40.92,0.000,2,0.000,0.000,155,2107,2064
$GC,58,-1.25,-151.6,3.1,-3.5,6,110,8.77,2.35,-38.62,0.000,4,0.227,0.063,2400,3545,3474
$GC,350,-0.37,-151.6,104.9,-38.2,59,356,0.90,2.15,0.00,0.000,6,0.148,0.035,2693,2146,3475
$GC,677,-0.85,-194.7,137.8,-5.1,120,683,0.38,2.20,0.00,0.000,4,0.048,0.051,2516,3545,3477
$GC,848,-0.59,-194.7,163.8,-15.2,152,854,0.30,2.10,0.00,0.000,6,0.128,0.039,2632,2162,3477
$GC,1174,-0.82,-194.7,198.4,-9.3,213,1181,0.20,0.00,0.00,0.000,6,0.051,0.000,2530,2156,3478
$GC,1501,-0.64,-194.7,254.2,-13.3,274,1508,0.28,2.22,0.00,0.000,4,0.130,0.057,2616,3536,3478
$GC,1561,-0.96,-194.7,258.7,-6.3,285,1569,0.28,2.00,0.00,0.000,6,0.044,0.033,2481,2198,3478
$GC,1887,-0.63,-194.7,311.2,-15.8,339,1888,0.43,0.00,0.00,0.000,6,0.142,0.000,2611,2192,3478
$GC,2199,-0.92,-194.7,337.9,-8.5,369,2202,0.22,2.15,0.00,0.000,4,0.048,0.058,2494,3540,3478
$GC,2277,-0.73,-194.7,348.6,-14.1,376,2281,0.25,2.03,0.00,0.000,6,0.124,0.035,2579,2213,3478
$GC,2599,-0.88,-194.7,377.6,-9.9,407,2600,0.12,0.00,0.00,0.000,6,0.067,0.000,2510,2208,3478
$GC,2911,-0.76,-194.7,420.0,-12.8,437,2914,0.17,2.15,0.00,0.000,4,0.138,0.059,2564,3551,3476
$GC,3000,-0.93,-194.7,427.9,-8.0,445,3004,0.10,2.03,0.00,0.000,6,0.050,0.036,2492,2225,3475
$GC,3321,-0.73,-194.7,471.9,-15.2,476,3325,0.30,2.12,0.00,0.000,4,0.137,0.060,2577,3536,3474
$GC,3358,-0.93,-194.7,476.1,-10.2,479,3364,0.12,2.00,0.00,0.000,6,0.046,0.035,2496,2223,3473
$GC,3683,-0.79,-194.7,524.4,-13.3,503,3686,0.17,2.12,0.00,0.000,4,0.141,0.060,2550,3539,3471
$GC,3756,-0.95,-194.7,532.1,-9.5,506,3762,0.08,2.00,0.00,0.000,6,0.055,0.036,2490,2234,3471
$GC,4067,-0.78,-194.7,572.9,-12.1,522,4071,0.25,2.33,0.00,0.000,4,0.137,0.051,2566,742,3469
$GC,4088,-0.78,-194.7,575.0,-10.2,523,4092,0.00,2.33,0.00,0.000,6,0.000,0.045,2564,2230,3469
$GC,4414,-0.96,-194.7,598.7,-8.7,539,4418,0.15,2.12,0.00,0.000,4,0.059,0.061,2481,3543,3467
$GC,4451,-0.84,-194.7,603.3,-14.2,540,4457,0.17,2.00,0.00,0.000,6,0.127,0.038,2541,2237,3466
$GC,4762,-0.94,-194.7,634.4,-10.6,556,4765,0.00,2.10,0.00,0.000,4,0.000,0.061,2536,3539,3464
$GC,4846,-1.07,-194.7,643.3,-9.8,560,4850,0.12,1.98,0.00,0.000,6,0.047,0.037,2458,2250,3463
$GC,5174,-0.82,-194.7,688.8,-14.8,576,5178,0.28,2.38,0.00,0.000,4,0.146,0.051,2545,741,3461
$GC,5226,-0.97,-194.7,694.8,-10.3,578,5232,0.00,2.38,0.00,0.000,6,0.000,0.046,2536,2230,3460
$GC,5537,-1.08,-194.7,723.9,-9.3,594,5540,0.17,2.10,0.00,0.000,4,0.057,0.063,2454,3539,3459
$GC,5627,-0.88,-194.7,736.8,-15.2,598,5631,0.22,2.00,0.00,0.000,6,0.133,0.038,2529,2239,3458
$GC,5948,-0.96,-194.7,770.4,-10.6,614,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2238,3455
$GC,6253,-1.07,-194.7,798.8,-9.6,629,6257,0.15,2.38,0.00,0.000,4,0.064,0.053,2461,753,3453
$GC,6301,-0.89,-194.7,805.2,-14.1,631,6305,0.22,2.38,0.00,0.000,6,0.137,0.048,2529,2231,3452
$GC,6622,-1.00,-194.7,837.3,-9.4,647,6626,0.00,2.12,0.00,0.000,4,0.000,0.064,2521,3546,3450
$GC,6680,-1.14,-194.7,843.2,-10.4,649,6688,0.15,2.00,0.00,0.000,6,0.047,0.038,2440,2254,3450
$GC,6991,-0.88,-194.7,889.4,-15.6,665,6995,0.32,2.40,0.00,0.000,4,0.149,0.054,2537,743,3448
$GC,7038,-1.02,-194.7,894.7,-10.6,667,7043,0.10,2.42,0.00,0.000,6,0.054,0.050,2473,2243,3447
$STATE,7194,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7195,begin apogee
$GC,7200,-0.26,0.0,904.8,0.3,675,7322,0.70,0.00,120.55,1.322,6,0.056,0.000,2745,2461,2854
$STATE,7323,end apogee,CONTROL_FINISHED_OK
$STATE,7323,begin climb
$GC,7325,1.31,194.7,904.7,0.0,681,7494,1.35,2.15,162.48,1.284,4,0.054,0.066,3240,3681,2058
$GC,7575,0.39,194.7,868.5,26.5,693,7580,1.05,1.95,0.00,0.000,6,0.189,0.042,2949,2480,2053
$GC,7896,0.48,194.7,834.1,8.7,709,7900,0.00,2.30,0.00,0.000,4,0.000,0.051,2959,1040,2049
$GC,7992,0.58,195.0,826.7,8.0,713,7996,0.10,2.25,0.00,0.000,6,0.051,0.047,3018,2426,2049
$GC,8308,0.42,195.0,788.7,12.7,729,8312,0.22,2.20,0.00,0.000,4,0.153,0.050,2964,1038,2047
$GC,8333,0.42,195.0,785.8,11.0,730,8338,0.00,2.22,0.00,0.000,6,0.000,0.046,2964,2423,2047
$GC,8655,0.47,195.0,750.4,10.3,746,8658,0.00,2.20,0.00,0.000,4,0.000,0.049,2973,1039,2045
$GC,8713,0.54,195.0,744.4,10.4,748,8719,0.00,2.20,0.00,0.000,6,0.000,0.045,2974,2415,2046
$GC,9023,0.54,195.0,711.1,10.9,764,9024,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2416,2044
$GC,9329,0.54,195.0,676.4,12.4,779,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2416,2043
$GC,9634,0.54,195.0,644.4,9.5,794,9638,0.00,2.22,0.00,0.000,4,0.000,0.049,2983,1034,2043
$GC,9686,0.54,195.0,639.6,9.5,796,9691,0.00,2.20,0.00,0.000,6,0.000,0.046,2983,2407,2043
$GC,10003,0.54,195.0,609.3,9.8,812,10006,0.00,2.08,0.00,0.000,4,0.000,0.061,2983,3683,2041
$GC,10045,0.47,195.0,604.7,11.2,814,10049,0.00,2.00,0.00,0.000,6,0.000,0.040,2993,2399,2041
$GC,10371,0.47,195.0,576.2,9.5,830,10375,0.00,2.12,0.00,0.000,4,0.000,0.060,2992,3690,2042
$GC,10393,0.41,195.0,573.9,10.6,831,10396,0.15,2.03,0.00,0.000,6,0.151,0.039,2955,2390,2041
$GC,10719,0.55,195.0,543.7,8.7,847,10723,0.12,2.12,0.00,0.000,4,0.067,0.049,3031,1029,2041
$GC,10766,0.44,195.0,538.7,11.2,849,10770,0.20,2.20,0.00,0.000,6,0.143,0.044,2967,2405,2040
$GC,11088,0.54,195.0,507.9,10.1,865,11091,0.00,2.17,0.00,0.000,4,0.000,0.048,2976,1026,2040
$GC,11140,0.65,195.0,502.5,10.0,867,11145,0.10,2.17,0.00,0.000,6,0.054,0.044,3036,2384,2040
$GC,11461,0.49,195.0,466.3,11.3,897,11465,0.20,2.08,0.00,0.000,4,0.152,0.058,2979,3686,2040
$GC,11589,0.49,195.0,452.3,11.1,909,11593,0.00,2.03,0.00,0.000,6,0.000,0.038,2987,2376,2040
$GC,11911,0.54,195.0,417.7,11.7,940,11914,0.00,2.12,0.00,0.000,4,0.000,0.058,2987,3698,2040
$GC,11985,0.54,195.0,408.3,12.5,947,11989,0.00,2.03,0.00,0.000,6,0.000,0.038,2996,2389,2040
$GC,12307,0.54,195.0,374.7,9.4,978,12310,0.00,2.12,0.00,0.000,4,0.000,0.048,3006,1026,2041
$GC,12375,0.54,195.0,368.4,8.8,984,12382,0.00,2.17,0.00,0.000,6,0.000,0.043,3006,2386,2041
$GC,12693,0.58,228.6,346.6,5.8,1015,12726,0.00,2.12,25.90,0.929,4,0.000,0.060,3006,3683,1921
$GC,12751,0.58,228.6,342.4,8.4,1020,12758,0.00,2.05,0.00,0.000,6,0.000,0.038,3016,2378,1919
$GC,13069,0.58,228.6,310.2,11.6,1051,13072,0.00,2.10,0.00,0.000,4,0.000,0.048,3026,1035,1918
$GC,13099,0.58,228.6,306.5,11.2,1054,13103,0.00,2.15,0.00,0.000,6,0.000,0.043,3026,2381,1917
$GC,13424,0.58,228.6,270.4,10.1,1109,13431,0.00,2.08,0.00,0.000,4,0.000,0.057,3025,3686,1918
$GC,13504,0.51,228.6,261.7,11.3,1124,13511,0.15,2.03,0.00,0.000,6,0.143,0.037,2986,2379,1917
$GC,13832,0.70,228.6,232.3,9.1,1185,13838,0.17,2.10,0.00,0.000,4,0.057,0.046,3081,1022,1917
$GC,13956,0.59,228.6,217.5,11.8,1208,13962,0.25,2.12,0.00,0.000,6,0.147,0.042,3009,2380,1917
$GC,14282,0.78,259.9,196.6,6.0,1269,14315,0.17,2.08,26.35,0.801,4,0.058,0.054,3098,3687,1793
$GC,14491,0.57,259.9,171.5,13.7,1307,14497,0.32,2.00,0.00,0.000,6,0.145,0.035,3006,2397,1791
$GC,14818,0.89,298.3,151.7,5.5,1368,14857,0.28,2.15,31.35,0.758,4,0.044,0.045,3143,1037,1636
$GC,15028,0.78,298.3,128.6,11.9,1406,15034,0.22,2.20,0.00,0.000,6,0.137,0.040,3056,2425,1633
$GC,15354,1.01,298.3,104.8,8.2,1467,15360,0.25,2.00,0.00,0.000,4,0.047,0.053,3172,3686,1633
$GC,15440,0.70,298.3,93.4,13.0,1483,15446,0.43,1.92,0.00,0.000,6,0.148,0.035,3049,2416,1633
$GC,15766,1.02,316.5,72.6,6.8,1544,15787,0.28,2.10,15.73,0.655,4,0.044,0.042,3187,1059,1563
$GC,15845,0.85,316.5,63.3,12.7,1558,15852,0.28,2.17,0.00,0.000,6,0.143,0.039,3100,2446,1561
$GC,16172,1.05,349.6,42.0,5.8,1619,16205,0.17,2.00,27.38,0.640,4,0.057,0.051,3189,3688,1427
$GC,16311,0.81,349.6,24.4,13.1,1644,16318,0.38,1.90,0.00,0.000,6,0.145,0.033,3080,2441,1427
$STATE,16625,end climb,SURFACE_DEPTH_REACHED
$STATE,16625,begin surface coast
$FINISH,1.4,1.021403
$STATE,16669,end surface coast,CONTROL_FINISHED_OK
$STATE,16669,begin surface
$SM_CCo,16684,77.32,0.604,0,0,1018,450.13
$SM_GC,2.05,0.00,0.00,77.32,0.000,0.000,0.604,153,2110,1018,-8.33,-0.71,450.13
$IRIDIUM_FIX,2441.81,12414.98,210998,101024
$TT8_MAMPS,0.048321
$HUMID,1517
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,27.00
$XPDR_PINGS,240
$ALTIM_BOTTOM_PING,852.1,77.6
$24V_AH,23.7,51.306
$10V_AH,10.7,34.018
$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,30.375,154.450,409.725,77.325,0.000,24.239,41.068,242.760,67.000,0.000,0.000,31.935,0.000,11957.894,653.366,3964.209,610.525,0.000,2086.597,0.000,3343.449,0.000,48.706,0.000
$DEVICE_MAMPS,227.032,66.729,1321.541,604.396,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.902,1217.113,1932.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98071,1711
$CAP_FILE_SIZE,182204,0
$CFSIZE,260165632,238657536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,203.1,1
$GPS,270609,194427,2446.074,12418.085,33,2.3,52,-3.7