version: 66.04
glider: 165
mission: 2
dive: 29
start: 5 26 109 4 7 36
data:
$ID,165
$MISSION,2
$DIVE,29
$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,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,435
$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,-116451.36
$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,27.15
$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,2071
$C_ROLL_CLIMB,2556
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$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,0
$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
$GPS1,040137,2447.790,12250.510,37,1.0,37,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-68.4
$GPS2,040731,2447.853,12250.481,8,1.3,13,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,219.1,39348,-18.3,-12.000
$D_GRID,1174
$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,-0.92,-194.7,0.0,0.0,0,58,0.00,0.00,-44.90,0.000,2,0.000,0.000,169,2067,2081
$GC,60,-0.92,-194.7,3.2,-3.8,7,119,9.27,2.25,-40.38,0.000,4,0.242,0.061,2515,660,3555
$GC,310,-0.17,-194.7,85.3,-33.5,52,317,0.82,2.25,0.00,0.000,6,0.170,0.046,2758,2087,3557
$GC,636,-1.00,-194.7,109.7,-9.4,113,644,0.70,2.20,0.00,0.000,4,0.058,0.056,2484,3492,3559
$GC,733,-0.40,-194.7,132.2,-31.5,131,740,0.60,2.15,0.00,0.000,6,0.144,0.038,2682,2094,3559
$GC,1060,-0.75,-194.7,173.6,-8.3,192,1066,0.28,2.22,0.00,0.000,4,0.048,0.050,2551,668,3561
$GC,1135,-0.51,-194.7,185.5,-17.7,206,1143,0.30,2.22,0.00,0.000,6,0.140,0.044,2649,2087,3561
$GC,1463,-0.77,-194.7,210.9,-5.6,267,1469,0.22,2.17,0.00,0.000,4,0.051,0.059,2538,3477,3561
$GC,1563,-0.52,-194.7,224.9,-16.0,286,1576,0.30,2.12,0.00,0.000,6,0.137,0.038,2643,2086,3561
$GC,1897,-0.77,-194.7,254.6,-8.6,347,1902,0.17,0.00,0.00,0.000,6,0.058,0.000,2548,2082,3561
$GC,2219,-0.57,-194.7,313.7,-17.8,401,2220,0.28,0.00,0.00,0.000,6,0.142,0.000,2634,2082,3561
$GC,2530,-0.86,-194.7,342.4,-8.1,431,2534,0.25,2.17,0.00,0.000,4,0.051,0.052,2517,676,3561
$GC,2555,-0.81,-194.7,345.6,-13.7,433,2560,0.12,2.22,0.00,0.000,6,0.143,0.044,2553,2104,3561
$GC,2876,-0.71,-194.7,386.2,-11.7,464,2880,0.12,2.25,0.00,0.000,4,0.152,0.052,2589,675,3562
$GC,2967,-0.84,-194.7,394.8,-9.3,472,2974,0.10,2.20,0.00,0.000,6,0.054,0.044,2525,2086,3561
$GC,3282,-0.69,-194.7,443.8,-15.6,503,3286,0.22,2.20,0.00,0.000,4,0.143,0.063,2589,3469,3561
$GC,3390,-0.91,-194.7,455.0,-9.2,513,3394,0.12,2.08,0.00,0.000,6,0.048,0.039,2492,2106,3560
$GC,3709,-0.63,-194.7,506.8,-15.1,542,3710,0.38,0.00,0.00,0.000,6,0.141,0.000,2610,2101,3559
$GC,4015,-0.95,-194.7,525.6,-6.4,557,4017,0.28,0.00,0.00,0.000,6,0.051,0.000,2486,2101,3558
$GC,4319,-0.69,-194.7,573.0,-16.2,572,4324,0.35,2.25,0.00,0.000,4,0.144,0.057,2594,676,3555
$GC,4394,-0.96,-194.7,580.5,-8.2,575,4398,0.20,2.25,0.00,0.000,6,0.045,0.048,2486,2108,3555
$GC,4710,-0.74,-194.7,629.1,-15.4,591,4714,0.30,2.17,0.00,0.000,4,0.146,0.065,2576,3483,3553
$GC,4731,-0.74,-194.7,631.4,-11.2,592,4735,0.00,2.12,0.00,0.000,6,0.000,0.041,2576,2102,3553
$GC,5057,-0.93,-194.7,653.6,-5.8,608,5061,0.17,2.25,0.00,0.000,4,0.063,0.057,2493,675,3550
$GC,5083,-0.87,-194.7,656.1,-11.0,609,5088,0.12,2.25,0.00,0.000,6,0.146,0.049,2535,2096,3550
$GC,5405,-0.87,-194.7,684.8,-8.7,625,5408,0.00,2.22,0.00,0.000,4,0.000,0.068,2534,3494,3547
$GC,5473,-0.95,-194.7,690.3,-7.8,628,5478,0.00,2.15,0.00,0.000,6,0.000,0.042,2534,2103,3546
$GC,5794,-0.95,-194.7,720.5,-10.1,644,5799,0.00,2.28,0.00,0.000,4,0.000,0.058,2534,667,3545
$GC,5895,-0.95,-194.7,731.4,-10.6,648,5903,0.00,2.28,0.00,0.000,6,0.000,0.050,2534,2103,3544
$GC,6206,-0.95,-194.7,762.5,-9.5,664,6210,0.00,2.22,0.00,0.000,4,0.000,0.068,2534,3472,3541
$GC,6243,-1.02,-194.7,766.1,-9.7,665,6250,0.10,2.12,0.00,0.000,6,0.058,0.043,2472,2101,3541
$GC,6553,-0.79,-194.7,807.6,-13.8,681,6554,0.30,0.00,0.00,0.000,6,0.152,0.000,2562,2097,3539
$GC,6859,-0.96,-194.7,832.9,-8.3,696,6863,0.15,2.25,0.00,0.000,4,0.073,0.070,2494,3473,3537
$GC,6884,-0.96,-194.7,835.7,-12.0,697,6889,0.00,2.12,0.00,0.000,6,0.000,0.044,2494,2103,3537
$GC,7206,-0.84,-194.7,877.4,-13.0,713,7208,0.17,0.00,0.00,0.000,6,0.151,0.000,2546,2099,3535
$GC,7511,-0.95,-194.7,907.7,-10.4,728,7516,0.00,2.25,0.00,0.000,4,0.000,0.071,2546,3471,3534
$GC,7569,-1.12,-194.7,913.5,-10.7,730,7578,0.20,2.12,0.00,0.000,6,0.051,0.044,2451,2105,3534
$GC,7880,-0.84,-194.7,964.4,-17.3,746,7884,0.32,2.28,0.00,0.000,4,0.157,0.061,2549,678,3532
$GC,7954,-0.99,-194.7,973.1,-10.4,749,7959,0.10,2.28,0.00,0.000,6,0.064,0.052,2492,2103,3532
$STATE,8106,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8106,begin apogee
$GC,8109,-0.18,0.0,992.2,12.9,757,8269,0.82,0.00,156.15,1.368,6,0.146,0.000,2758,2558,2759
$STATE,8270,end apogee,CONTROL_FINISHED_OK
$STATE,8270,begin climb
$GC,8271,0.92,194.7,998.4,0.0,765,8443,0.95,1.98,164.00,1.324,4,0.044,0.068,3124,3691,1963
$GC,8543,0.21,194.7,953.8,26.9,777,8551,0.82,1.85,0.00,0.000,6,0.178,0.044,2896,2566,1958
$GC,8854,0.52,267.2,922.3,9.0,793,8929,0.25,2.40,64.53,1.247,4,0.060,0.057,3008,1150,1667
$GC,9007,0.46,267.2,898.5,17.5,800,9012,0.12,2.35,0.00,0.000,6,0.148,0.053,2970,2542,1662
$GC,9323,0.46,267.2,852.4,14.5,816,9327,0.00,1.90,0.00,0.000,4,0.000,0.069,2970,3687,1660
$GC,9349,0.46,267.2,848.5,15.8,817,9354,0.00,1.85,0.00,0.000,6,0.000,0.044,2977,2526,1660
$GC,9670,0.46,267.2,799.4,16.0,833,9675,0.00,2.22,0.00,0.000,4,0.000,0.056,2987,1153,1658
$GC,9702,0.46,267.2,794.4,15.6,834,9706,0.00,2.28,0.00,0.000,6,0.000,0.051,2987,2550,1657
$GC,10018,0.40,267.2,745.0,15.0,850,10023,0.15,1.85,0.00,0.000,4,0.158,0.067,2946,3690,1657
$GC,10092,0.51,280.8,735.6,11.4,853,10107,0.00,1.77,11.30,1.122,6,0.000,0.044,2953,2554,1613
$GC,10430,0.66,315.4,700.1,10.6,870,10466,0.22,2.33,31.23,1.170,4,0.067,0.057,3053,1169,1472
$GC,10558,0.50,315.4,676.8,20.2,876,10562,0.20,2.30,0.00,0.000,6,0.157,0.053,2982,2555,1467
$GC,10884,0.55,315.4,628.1,14.5,892,10888,0.00,2.28,0.00,0.000,4,0.000,0.055,2990,1162,1466
$GC,10921,0.63,315.4,622.7,14.4,893,10928,0.00,2.25,0.00,0.000,6,0.000,0.051,2991,2538,1465
$GC,11231,0.63,315.4,579.6,12.4,909,11236,0.00,2.22,0.00,0.000,4,0.000,0.054,3000,1167,1465
$GC,11322,0.72,334.9,569.5,11.2,913,11343,0.10,2.20,17.27,1.076,6,0.067,0.051,3055,2526,1392
$GC,11658,0.47,334.9,506.1,21.0,930,11662,0.28,1.90,0.00,0.000,4,0.152,0.067,2975,3693,1389
$GC,11743,0.57,334.9,491.8,17.9,936,11747,0.00,1.80,0.00,0.000,6,0.000,0.043,2981,2547,1389
$GC,12064,0.66,334.9,442.4,15.7,967,12068,0.15,2.22,0.00,0.000,4,0.074,0.056,3054,1157,1388
$GC,12150,0.56,334.9,425.1,22.5,975,12154,0.15,2.20,0.00,0.000,6,0.152,0.051,3005,2518,1387
$GC,12470,0.56,334.9,376.8,13.2,1006,12474,0.00,2.20,0.00,0.000,4,0.000,0.053,3013,1150,1387
$GC,12566,0.67,334.9,363.6,13.6,1015,12570,0.00,2.20,0.00,0.000,6,0.000,0.049,3014,2517,1385
$GC,12887,0.67,334.9,319.0,15.3,1046,12891,0.00,2.17,0.00,0.000,4,0.000,0.053,3024,1154,1386
$GC,12919,0.73,334.9,313.9,15.5,1049,12923,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2502,1386
$GC,13242,0.73,334.9,257.3,17.1,1102,13250,0.00,2.15,0.00,0.000,4,0.000,0.052,3033,1153,1385
$GC,13275,0.80,334.9,252.2,15.1,1108,13282,0.10,2.15,0.00,0.000,6,0.060,0.047,3090,2508,1386
$GC,13602,0.62,334.9,191.8,13.8,1169,13609,0.25,1.88,0.00,0.000,4,0.155,0.062,3017,3683,1386
$GC,13677,0.78,386.5,184.1,9.9,1183,13728,0.10,1.80,42.08,0.795,6,0.064,0.041,3079,2505,1181
$GC,14048,0.78,386.5,125.4,17.3,1251,14054,0.00,2.15,0.00,0.000,4,0.000,0.050,3089,1155,1178
$GC,14160,0.86,386.5,110.7,13.4,1272,14167,0.00,2.15,0.00,0.000,6,0.000,0.045,3089,2507,1177
$GC,14486,0.93,386.5,64.3,14.2,1333,14493,0.00,1.88,0.00,0.000,4,0.000,0.058,3089,3684,1178
$GC,14513,0.93,386.5,60.0,15.8,1338,14521,0.00,1.83,0.00,0.000,6,0.000,0.038,3097,2490,1177
$GC,14841,1.09,394.5,16.4,11.7,1399,14854,0.20,2.08,7.70,0.570,4,0.059,0.048,3201,1148,1149
$STATE,14921,end climb,SURFACE_DEPTH_REACHED
$STATE,14921,begin surface coast
$FINISH,1.7,1.021953
$STATE,14927,end surface coast,CONTROL_FINISHED_OK
$STATE,14927,begin surface
$SM_CCo,14941,31.17,0.618,0,0,984,435.16
$SM_GC,2.68,0.00,0.00,31.17,0.000,0.000,0.618,153,2080,984,-8.33,0.25,435.16
$IRIDIUM_FIX,2439.44,12249.39,190898,232353
$TT8_MAMPS,0.049088
$HUMID,1540
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.20
$XPDR_PINGS,64
$24V_AH,23.6,9.975
$10V_AH,10.7,8.415
$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,29.600,141.725,494.250,31.175,0.000,29.982,31.794,199.188,24.000,0.000,0.000,15.649,0.000,10797.585,693.397,3378.959,432.518,0.000,1963.550,0.000,2841.896,0.000,53.991,0.000
$DEVICE_MAMPS,241.605,70.564,1367.561,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,958.394,974.060,1522.566,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82141,1415
$CAP_FILE_SIZE,164662,0
$CFSIZE,260165632,255434752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.210, 56.1,1
$GPS,260509,081807,2447.055,12250.240,39,1.7,39,-3.5