version: 66.04
glider: 165
mission: 2
dive: 35
start: 5 27 109 5 15 25
data:
$ID,165
$MISSION,2
$DIVE,35
$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,-116558.66
$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,25.5
$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,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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
$GPS1,050937,2448.995,12247.060,39,0.9,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.0
$GPS2,051520,2449.034,12247.022,10,1.2,10,-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,212.9,34556,-18.3,-12.000
$D_GRID,1241
$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,-0.96,-194.7,0.0,0.0,0,58,0.00,0.00,-44.65,0.000,2,0.000,0.000,161,2058,2073
$GC,60,-0.96,-194.7,3.0,-3.5,7,118,9.32,2.35,-43.20,0.000,4,0.245,0.067,2494,3483,3554
$GC,357,-0.29,-194.7,96.1,-31.3,61,365,0.68,2.22,0.00,0.000,6,0.141,0.038,2716,2062,3557
$GC,685,-0.69,-194.7,129.5,-9.0,122,691,0.32,0.00,0.00,0.000,6,0.044,0.000,2564,2057,3559
$GC,1010,-0.38,-194.7,208.1,-20.3,183,1016,0.40,2.17,0.00,0.000,4,0.142,0.051,2691,671,3560
$GC,1053,-0.74,-194.7,213.2,-8.6,191,1059,0.25,2.22,0.00,0.000,6,0.037,0.041,2553,2099,3560
$GC,1378,-0.50,-194.7,272.2,-17.8,252,1385,0.32,2.20,0.00,0.000,4,0.137,0.061,2656,3474,3561
$GC,1421,-0.83,-194.7,277.1,-8.2,260,1429,0.25,2.10,0.00,0.000,6,0.038,0.038,2523,2099,3561
$GC,1742,-0.54,-194.7,334.9,-18.6,303,1744,0.38,0.00,0.00,0.000,6,0.140,0.000,2643,2094,3561
$GC,2053,-0.88,-194.7,362.8,-8.1,333,2054,0.30,0.00,0.00,0.000,6,0.047,0.000,2504,2094,3561
$GC,2363,-0.60,-194.7,415.6,-16.6,363,2367,0.38,2.20,0.00,0.000,4,0.137,0.061,2616,3467,3562
$GC,2378,-0.48,-194.7,417.7,-14.5,364,2385,0.10,2.10,0.00,0.000,6,0.117,0.038,2658,2097,3561
$GC,2694,-0.95,-194.7,432.8,-4.9,395,2698,0.38,2.20,0.00,0.000,4,0.044,0.062,2484,3485,3561
$GC,2720,-0.87,-194.7,435.9,-13.3,397,2728,0.15,2.12,0.00,0.000,6,0.144,0.039,2535,2099,3561
$GC,3035,-0.76,-194.7,482.5,-15.5,428,3040,0.12,2.25,0.00,0.000,4,0.154,0.054,2571,667,3560
$GC,3154,-0.91,-194.7,497.1,-10.5,439,3158,0.12,2.20,0.00,0.000,6,0.073,0.046,2510,2091,3559
$GC,3464,-0.76,-194.7,536.6,-11.0,455,3468,0.20,2.22,0.00,0.000,4,0.144,0.055,2571,667,3557
$GC,3490,-0.76,-194.7,538.9,-8.8,456,3494,0.00,2.22,0.00,0.000,6,0.000,0.044,2569,2088,3557
$GC,3812,-0.89,-194.7,561.2,-6.1,472,3813,0.10,0.00,0.00,0.000,6,0.083,0.000,2519,2089,3555
$GC,4116,-0.78,-194.7,590.2,-9.3,487,4120,0.17,2.25,0.00,0.000,4,0.146,0.056,2571,676,3552
$GC,4153,-0.93,-194.7,593.9,-9.1,488,4160,0.10,2.22,0.00,0.000,6,0.061,0.047,2503,2089,3552
$GC,4463,-0.76,-194.7,633.1,-13.3,504,4468,0.22,2.22,0.00,0.000,4,0.144,0.064,2563,3473,3550
$GC,4500,-0.89,-194.7,636.5,-8.1,505,4509,0.00,2.15,0.00,0.000,6,0.000,0.041,2563,2083,3550
$GC,4811,-1.01,-194.7,660.7,-7.7,521,4812,0.20,0.00,0.00,0.000,6,0.063,0.000,2473,2080,3547
$GC,5117,-0.76,-194.7,702.8,-14.2,536,5120,0.32,2.25,0.00,0.000,4,0.145,0.066,2573,3488,3544
$GC,5142,-0.81,-194.7,705.6,-9.8,537,5147,0.00,2.15,0.00,0.000,6,0.000,0.041,2573,2100,3545
$GC,5464,-1.00,-194.7,728.4,-7.5,553,5468,0.20,2.22,0.00,0.000,4,0.061,0.067,2481,3486,3543
$GC,5506,-0.84,-194.7,733.3,-13.3,555,5510,0.17,2.15,0.00,0.000,6,0.137,0.043,2542,2098,3542
$GC,5834,-0.90,-194.7,766.5,-9.8,571,5837,0.00,2.25,0.00,0.000,4,0.000,0.059,2542,669,3540
$GC,5901,-0.96,-194.7,773.8,-10.0,574,5906,0.00,2.25,0.00,0.000,6,0.000,0.049,2536,2091,3539
$GC,6217,-0.96,-194.7,808.0,-11.5,590,6221,0.00,2.25,0.00,0.000,4,0.000,0.068,2536,3474,3538
$GC,6265,-1.05,-194.7,813.6,-11.9,592,6269,0.12,2.12,0.00,0.000,6,0.058,0.042,2466,2103,3537
$GC,6586,-0.80,-194.7,868.5,-17.2,608,6590,0.30,2.28,0.00,0.000,4,0.150,0.058,2558,672,3536
$GC,6633,-0.93,-194.7,874.7,-11.6,610,6639,0.08,2.28,0.00,0.000,6,0.069,0.051,2509,2103,3536
$GC,6955,-0.88,-194.7,916.4,-12.5,626,6959,0.00,2.30,0.00,0.000,4,0.000,0.060,2509,676,3535
$GC,7012,-0.88,-194.7,924.0,-13.0,628,7019,0.00,2.25,0.00,0.000,6,0.000,0.051,2507,2089,3534
$GC,7323,-0.83,-194.7,960.7,-11.8,644,7327,0.15,2.25,0.00,0.000,4,0.155,0.069,2550,3474,3532
$GC,7355,-0.97,-194.7,963.9,-9.6,645,7359,0.10,2.15,0.00,0.000,6,0.062,0.043,2489,2093,3532
$STATE,7587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7587,begin apogee
$GC,7591,-0.20,0.0,992.2,12.2,657,7751,0.82,0.00,156.25,1.377,6,0.143,0.000,2753,2524,2759
$STATE,7751,end apogee,CONTROL_FINISHED_OK
$STATE,7751,begin climb
$GC,7753,0.96,194.7,997.6,0.0,665,7924,1.05,2.47,164.27,1.332,4,0.047,0.058,3155,1130,1964
$GC,7957,0.31,194.7,970.0,25.3,675,7961,0.82,2.40,0.00,0.000,6,0.182,0.053,2925,2517,1961
$GC,8284,0.46,234.4,932.3,10.4,691,8326,0.12,2.03,34.40,1.271,4,0.076,0.067,2979,3688,1802
$GC,8394,0.34,234.4,916.4,16.5,696,8398,0.15,1.88,0.00,0.000,6,0.150,0.042,2938,2529,1799
$GC,8716,0.50,273.4,882.6,10.4,712,8759,0.12,2.38,34.03,1.262,4,0.081,0.055,3001,1125,1643
$GC,8816,0.50,273.4,868.5,14.4,716,8823,0.00,2.35,0.00,0.000,6,0.000,0.051,3000,2526,1640
$GC,9126,0.40,273.4,817.3,17.1,732,9131,0.20,1.90,0.00,0.000,4,0.154,0.066,2944,3687,1639
$GC,9195,0.49,273.4,806.9,14.2,735,9200,0.00,1.83,0.00,0.000,6,0.000,0.042,2952,2526,1638
$GC,9517,0.60,273.4,761.2,14.0,751,9521,0.17,2.25,0.00,0.000,4,0.072,0.054,3033,1128,1636
$GC,9581,0.47,273.4,750.3,17.5,754,9585,0.17,2.25,0.00,0.000,6,0.150,0.051,2977,2513,1635
$GC,9906,0.49,288.9,706.9,11.4,770,9928,0.00,2.30,13.45,1.146,4,0.000,0.054,2986,1126,1581
$GC,9942,0.56,343.3,703.2,9.8,771,9995,0.00,2.28,48.65,1.176,6,0.000,0.049,2986,2515,1359
$GC,10318,0.62,343.3,658.9,12.1,790,10321,0.00,1.92,0.00,0.000,4,0.000,0.067,2986,3699,1352
$GC,10359,0.62,343.3,652.8,14.7,792,10364,0.00,1.90,0.00,0.000,6,0.000,0.042,2994,2507,1353
$GC,10686,0.62,343.3,604.2,15.8,808,10690,0.00,2.22,0.00,0.000,4,0.000,0.054,3004,1129,1351
$GC,10750,0.71,343.3,594.3,14.5,811,10754,0.10,2.20,0.00,0.000,6,0.067,0.049,3058,2490,1350
$GC,11076,0.45,343.3,519.5,22.9,827,11080,0.32,1.92,0.00,0.000,4,0.157,0.065,2963,3681,1350
$GC,11166,0.60,343.3,505.8,12.9,831,11171,0.10,1.83,0.00,0.000,6,0.065,0.043,3022,2508,1350
$GC,11482,0.54,343.3,455.9,15.6,859,11486,0.00,2.20,0.00,0.000,4,0.000,0.054,3033,1117,1350
$GC,11540,0.54,343.3,447.0,14.2,864,11548,0.10,2.22,0.00,0.000,6,0.146,0.049,2999,2502,1349
$GC,11856,0.62,343.3,399.8,14.3,895,11860,0.00,2.20,0.00,0.000,4,0.000,0.053,3008,1129,1349
$GC,11909,0.75,343.3,392.8,13.1,900,11913,0.10,2.17,0.00,0.000,6,0.067,0.048,3065,2492,1348
$GC,12230,0.54,343.3,328.2,19.7,931,12234,0.25,1.90,0.00,0.000,4,0.155,0.063,2990,3679,1349
$GC,12337,0.64,344.3,312.4,12.0,941,12340,0.00,1.83,0.00,0.000,6,0.000,0.042,2998,2497,1348
$GC,12659,0.80,375.6,281.1,10.7,990,12691,0.22,1.95,26.60,0.887,4,0.062,0.062,3095,3694,1225
$GC,12732,0.53,375.6,266.6,21.9,1003,12739,0.35,1.88,0.00,0.000,6,0.148,0.041,2993,2506,1224
$GC,13058,0.77,375.6,224.1,12.3,1064,13065,0.22,2.20,0.00,0.000,4,0.058,0.052,3102,1124,1223
$GC,13122,0.65,375.6,212.4,20.7,1076,13130,0.22,2.20,0.00,0.000,6,0.150,0.046,3030,2501,1222
$GC,13449,0.80,375.6,164.6,13.7,1137,13457,0.15,2.20,0.00,0.000,4,0.067,0.051,3108,1121,1221
$GC,13509,0.74,375.6,152.8,21.0,1148,13517,0.15,2.17,0.00,0.000,6,0.142,0.045,3059,2493,1221
$GC,13837,0.87,407.2,100.0,10.7,1209,13870,0.12,1.90,26.15,0.721,4,0.075,0.058,3114,3687,1097
$GC,13885,0.74,407.2,93.0,16.7,1217,13893,0.17,1.83,0.00,0.000,6,0.140,0.038,3064,2514,1096
$GC,14213,0.98,407.2,60.0,12.2,1278,14219,0.20,2.17,0.00,0.000,4,0.056,0.048,3164,1127,1095
$GC,14256,0.88,407.2,53.3,17.6,1286,14262,0.17,2.20,0.00,0.000,6,0.140,0.044,3107,2512,1094
$GC,14583,1.03,425.2,10.9,11.3,1347,14604,0.12,2.25,15.62,0.619,4,0.073,0.047,3175,1115,1024
$STATE,14638,end climb,SURFACE_DEPTH_REACHED
$STATE,14638,begin surface coast
$FINISH,1.6,1.018080
$STATE,14655,end surface coast,CONTROL_FINISHED_OK
$STATE,14655,begin surface
$SM_CCo,14669,7.47,0.545,0,0,984,435.16
$SM_GC,3.55,0.00,0.00,7.47,0.000,0.000,0.545,168,2083,984,-8.29,0.34,435.16
$IRIDIUM_FIX,2439.44,12249.39,210898,000031
$TT8_MAMPS,0.048321
$HUMID,1541
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.20
$XPDR_PINGS,54
$24V_AH,23.6,11.200
$10V_AH,10.7,9.160
$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,30.425,146.825,519.425,7.475,0.000,22.244,32.965,194.993,21.500,0.000,0.000,12.275,0.000,10640.403,702.883,3220.585,430.843,0.000,1921.805,0.000,2704.774,0.000,53.993,0.000
$DEVICE_MAMPS,244.673,69.030,1376.765,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,921.301,924.834,1436.543,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78962,1360
$CAP_FILE_SIZE,164255,0
$CFSIZE,260165632,254922752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288, 47.1,1
$GPS,270509,092101,2448.529,12247.462,40,1.6,40,-3.5