version: 66.04
glider: 165
mission: 2
dive: 37
start: 5 27 109 13 39 42
data:
$ID,165
$MISSION,2
$DIVE,37
$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,-116586.16
$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,50
$R_STBD_OVSHOOT,36
$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
$GPS1,133337,2449.607,12247.166,34,0.9,34,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-69.0
$GPS2,133937,2449.679,12247.144,7,1.0,12,-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,206.7,35210,-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,-194.7,0.0,0.0,0,67,0.00,0.00,-52.80,0.000,2,0.000,0.000,161,2050,2147
$GC,68,-0.96,-194.7,3.3,-4.1,8,125,9.38,2.20,-40.35,0.000,4,0.247,0.061,2508,669,3555
$GC,364,-0.21,-194.7,105.8,-36.7,62,372,0.80,2.20,0.00,0.000,6,0.170,0.040,2743,2071,3557
$GC,692,-1.18,-194.7,140.1,-11.0,123,699,0.80,2.20,0.00,0.000,4,0.058,0.054,2432,3480,3559
$GC,746,-0.51,-194.7,151.3,-27.8,133,753,0.65,2.12,0.00,0.000,6,0.142,0.039,2647,2103,3559
$GC,1072,-0.59,-194.7,195.2,-10.0,194,1079,0.00,2.25,0.00,0.000,4,0.000,0.050,2648,663,3560
$GC,1088,-0.71,-194.7,197.0,-9.7,197,1095,0.12,2.25,0.00,0.000,6,0.049,0.041,2567,2110,3560
$GC,1414,-0.51,-194.7,249.5,-18.2,258,1423,0.28,2.15,0.00,0.000,4,0.137,0.056,2645,3471,3560
$GC,1432,-0.51,-194.7,252.3,-16.8,261,1438,0.00,2.10,0.00,0.000,6,0.000,0.037,2645,2097,3560
$GC,1757,-0.80,-194.7,285.9,-8.8,322,1765,0.22,2.22,0.00,0.000,4,0.052,0.051,2536,666,3561
$GC,1817,-0.62,-194.7,294.8,-17.4,333,1823,0.22,2.22,0.00,0.000,6,0.133,0.044,2612,2095,3561
$GC,2134,-0.81,-194.7,323.5,-6.8,367,2138,0.15,2.20,0.00,0.000,4,0.061,0.060,2534,3480,3561
$GC,2176,-0.72,-194.7,328.0,-12.1,371,2180,0.12,2.10,0.00,0.000,6,0.133,0.038,2579,2105,3561
$GC,2496,-0.72,-194.7,366.3,-13.9,402,2501,0.00,2.22,0.00,0.000,4,0.000,0.053,2580,679,3561
$GC,2523,-0.77,-194.7,369.9,-14.0,404,2531,0.00,2.25,0.00,0.000,6,0.000,0.044,2576,2119,3560
$GC,2839,-0.86,-194.7,406.1,-10.4,435,2843,0.00,2.28,0.00,0.000,4,0.000,0.054,2576,679,3560
$GC,2876,-0.94,-194.7,410.4,-11.5,438,2883,0.12,2.22,0.00,0.000,6,0.055,0.044,2504,2105,3560
$GC,3191,-0.65,-194.7,466.2,-19.6,469,3195,0.32,2.25,0.00,0.000,4,0.144,0.054,2604,660,3559
$GC,3223,-0.76,-194.7,470.7,-12.5,472,3227,0.00,2.25,0.00,0.000,6,0.000,0.045,2603,2099,3559
$GC,3544,-1.01,-194.7,499.7,-8.9,503,3548,0.30,2.17,0.00,0.000,4,0.049,0.064,2465,3483,3557
$GC,3580,-0.74,-194.7,504.9,-16.1,505,3587,0.32,2.12,0.00,0.000,6,0.143,0.041,2572,2103,3556
$GC,3891,-0.88,-194.7,535.5,-10.4,521,3895,0.12,2.20,0.00,0.000,4,0.072,0.063,2510,3470,3554
$GC,3955,-0.80,-194.7,543.9,-13.9,524,3959,0.12,2.08,0.00,0.000,6,0.137,0.041,2555,2124,3553
$GC,4282,-0.86,-194.7,580.7,-9.7,540,4285,0.00,2.17,0.00,0.000,4,0.000,0.065,2550,3482,3552
$GC,4303,-0.94,-194.7,582.9,-10.5,541,4307,0.08,2.08,0.00,0.000,6,0.064,0.041,2496,2134,3551
$GC,4629,-0.77,-194.7,623.9,-12.4,557,4633,0.25,2.30,0.00,0.000,4,0.145,0.058,2572,676,3550
$GC,4681,-0.96,-194.7,628.7,-7.7,559,4686,0.15,2.28,0.00,0.000,6,0.054,0.048,2493,2119,3550
$GC,4997,-0.81,-194.7,669.0,-13.7,575,5002,0.22,2.30,0.00,0.000,4,0.146,0.058,2561,679,3547
$GC,5050,-0.96,-194.7,674.8,-10.0,577,5059,0.10,2.28,0.00,0.000,6,0.061,0.050,2500,2116,3546
$GC,5368,-0.84,-194.7,719.5,-14.5,593,5372,0.17,2.17,0.00,0.000,4,0.148,0.067,2550,3480,3544
$GC,5405,-0.97,-194.7,723.8,-10.7,594,5412,0.10,2.10,0.00,0.000,6,0.060,0.044,2486,2127,3544
$GC,5716,-0.79,-194.7,773.1,-16.5,610,5720,0.25,2.30,0.00,0.000,4,0.146,0.060,2562,678,3542
$GC,5747,-0.91,-194.7,777.7,-13.9,611,5751,0.08,2.28,0.00,0.000,6,0.067,0.050,2515,2109,3541
$GC,6062,-0.91,-194.7,824.2,-14.7,627,6067,0.00,2.22,0.00,0.000,4,0.000,0.069,2510,3476,3539
$GC,6099,-0.91,-194.7,829.5,-14.9,628,6107,0.00,2.12,0.00,0.000,6,0.000,0.044,2509,2112,3538
$GC,6411,-0.86,-194.7,875.0,-14.3,644,6414,0.12,2.28,0.00,0.000,4,0.153,0.061,2546,663,3537
$GC,6463,-0.97,-194.7,881.9,-11.8,646,6468,0.08,2.30,0.00,0.000,6,0.069,0.052,2498,2107,3537
$GC,6779,-0.88,-194.7,928.2,-14.9,662,6783,0.12,2.20,0.00,0.000,4,0.159,0.071,2532,3477,3535
$GC,6831,-1.00,-194.7,934.8,-12.2,664,6836,0.08,2.12,0.00,0.000,6,0.066,0.046,2482,2120,3534
$GC,7148,-0.85,-194.7,983.7,-15.8,680,7152,0.20,2.30,0.00,0.000,4,0.152,0.062,2541,658,3533
$STATE,7199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7199,begin apogee
$GC,7205,-0.20,0.0,990.6,11.9,682,7364,0.62,0.00,156.15,1.369,6,0.130,0.000,2750,2519,2759
$STATE,7364,end apogee,CONTROL_FINISHED_OK
$STATE,7364,begin climb
$GC,7366,0.96,194.7,999.2,0.0,690,7536,1.02,2.10,163.60,1.329,4,0.044,0.070,3142,3690,1964
$GC,7625,0.22,194.7,960.4,26.7,702,7630,0.88,1.90,0.00,0.000,6,0.177,0.046,2899,2535,1960
$GC,7947,0.56,295.1,931.3,7.9,718,8040,0.28,2.47,86.25,1.288,4,0.058,0.059,3022,1124,1555
$GC,8110,0.50,295.1,907.0,16.0,725,8117,0.10,2.35,0.00,0.000,6,0.146,0.053,2990,2512,1550
$GC,8420,0.50,295.1,862.4,14.2,741,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2512,1548
$GC,8725,0.50,295.1,818.3,14.2,756,8730,0.00,2.28,0.00,0.000,4,0.000,0.057,2998,1125,1546
$GC,8747,0.50,295.1,815.4,14.4,757,8751,0.00,2.25,0.00,0.000,6,0.000,0.052,2998,2505,1545
$GC,9073,0.45,295.1,767.9,13.8,773,9077,0.12,1.92,0.00,0.000,4,0.157,0.069,2965,3685,1545
$GC,9147,0.50,296.7,758.6,11.9,776,9152,0.00,1.85,0.00,0.000,6,0.000,0.046,2972,2510,1545
$GC,9463,0.58,305.9,723.4,11.6,792,9473,0.10,0.00,9.00,1.094,6,0.090,0.000,3014,2506,1510
$GC,9768,0.47,305.9,675.3,17.1,807,9773,0.17,2.22,0.00,0.000,4,0.154,0.058,2975,1128,1510
$GC,9848,0.61,305.9,664.4,13.1,810,9855,0.08,2.22,0.00,0.000,6,0.071,0.053,3019,2498,1508
$GC,10159,0.50,305.9,606.6,18.7,826,10163,0.15,1.92,0.00,0.000,4,0.155,0.069,2978,3686,1508
$GC,10232,0.50,305.9,595.2,15.6,829,10237,0.00,1.85,0.00,0.000,6,0.000,0.046,2984,2516,1508
$GC,10548,0.57,305.9,553.5,12.4,845,10553,0.00,1.90,0.00,0.000,4,0.000,0.068,2984,3681,1508
$GC,10601,0.57,305.9,546.5,13.8,847,10606,0.00,1.85,0.00,0.000,6,0.000,0.046,2993,2506,1508
$GC,10917,0.60,330.9,510.5,11.0,863,10943,0.00,2.22,22.40,1.059,4,0.000,0.057,3002,1129,1409
$GC,10963,0.67,330.9,504.9,12.1,865,10968,0.00,2.25,0.00,0.000,6,0.000,0.051,3002,2503,1407
$GC,11284,0.67,330.9,462.0,13.8,894,11288,0.00,1.92,0.00,0.000,4,0.000,0.067,3002,3683,1406
$GC,11304,0.67,330.9,458.9,15.0,896,11309,0.00,1.88,0.00,0.000,6,0.000,0.044,3011,2501,1406
$GC,11626,0.67,330.9,410.9,14.8,927,11630,0.00,2.20,0.00,0.000,4,0.000,0.056,3022,1129,1406
$GC,11652,0.67,330.9,407.1,14.6,929,11659,0.00,2.22,0.00,0.000,6,0.000,0.050,3021,2511,1405
$GC,11968,0.67,330.9,358.7,16.4,960,11972,0.00,2.20,0.00,0.000,4,0.000,0.053,3031,1123,1405
$GC,12004,0.67,330.9,352.3,18.0,963,12011,0.00,2.20,0.00,0.000,6,0.000,0.051,3031,2494,1405
$GC,12321,0.67,330.9,301.4,16.2,994,12324,0.00,1.92,0.00,0.000,4,0.000,0.064,3031,3692,1404
$GC,12453,0.61,330.9,276.4,17.9,1018,12460,0.00,1.85,0.00,0.000,6,0.000,0.043,3039,2501,1404
$GC,12780,0.61,330.9,228.4,13.7,1079,12786,0.00,2.17,0.00,0.000,4,0.000,0.053,3050,1127,1404
$GC,12806,0.61,330.9,224.7,12.5,1084,12815,0.08,2.20,0.00,0.000,6,0.150,0.048,3023,2511,1404
$GC,13134,0.72,330.9,185.2,12.9,1145,13141,0.00,2.20,0.00,0.000,4,0.000,0.051,3033,1124,1404
$GC,13166,0.87,352.6,181.2,11.1,1151,13193,0.15,2.17,18.73,0.788,6,0.052,0.047,3111,2503,1320
$GC,13514,0.69,352.6,115.1,16.4,1215,13520,0.20,2.17,0.00,0.000,4,0.154,0.050,3058,1110,1318
$GC,13567,0.89,403.1,108.0,9.9,1225,13612,0.10,2.17,41.15,0.729,6,0.056,0.045,3116,2481,1115
$GC,13931,0.89,403.1,48.3,14.5,1292,13939,0.00,1.92,0.00,0.000,4,0.000,0.058,3116,3681,1110
$GC,13975,0.82,403.1,41.5,15.5,1300,13983,0.12,1.85,0.00,0.000,6,0.135,0.039,3083,2492,1110
$STATE,14302,end climb,SURFACE_DEPTH_REACHED
$STATE,14302,begin surface coast
$FINISH,1.6,1.015862
$STATE,14328,end surface coast,CONTROL_FINISHED_OK
$STATE,14329,begin surface
$SM_CCo,14341,24.23,0.626,0,0,985,435.16
$SM_GC,2.62,0.00,0.00,24.23,0.000,0.000,0.626,166,2056,985,-8.29,-0.42,435.16
$IRIDIUM_FIX,2437.06,12249.39,210898,090930
$TT8_MAMPS,0.047554
$HUMID,1542
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.10
$XPDR_PINGS,67
$24V_AH,23.6,11.598
$10V_AH,10.7,9.411
$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,27.725,156.625,497.275,24.225,0.000,29.453,36.390,194.080,24.750,0.000,0.000,14.758,0.000,10341.208,708.428,3218.466,432.857,0.000,1932.544,0.000,2692.740,0.000,54.822,0.000
$DEVICE_MAMPS,246.974,71.331,1369.095,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,924.814,924.786,1448.992,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78932,1366
$CAP_FILE_SIZE,161159,0
$CFSIZE,260165632,254750720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.411, 17.8,1
$GPS,270509,174007,2450.380,12247.196,40,1.3,40,-3.5