version: 66.04
glider: 165
mission: 2
dive: 45
start: 5 28 109 14 49 57
data:
$ID,165
$MISSION,2
$DIVE,45
$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,-116778.55
$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,39
$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
$GPS1,144354,2457.159,12246.733,35,1.9,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-70.0
$GPS2,144952,2457.220,12246.664,12,5.4,31,-3.6
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_2
$TGT_LATLONG,2454.000,12238.000
$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,214.7,15729,-18.3,-12.000
$D_GRID,1093
$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,-44.75,0.000,2,0.000,0.000,164,2079,2080
$GC,60,-0.96,-194.7,3.1,-3.9,7,118,9.12,2.28,-44.17,0.000,4,0.239,0.061,2503,663,3554
$GC,357,-0.22,-194.7,104.0,-36.7,61,365,0.80,2.22,0.00,0.000,6,0.164,0.044,2742,2066,3557
$GC,685,-1.00,-194.7,137.6,-11.3,122,692,0.68,2.22,0.00,0.000,4,0.080,0.062,2493,3488,3559
$GC,739,-0.51,-194.7,147.0,-22.2,132,746,0.45,2.15,0.00,0.000,6,0.137,0.039,2644,2087,3559
$GC,1066,-0.58,-194.7,183.3,-7.5,193,1073,0.00,2.20,0.00,0.000,4,0.000,0.055,2645,681,3560
$GC,1119,-0.78,-194.7,187.6,-7.0,203,1126,0.17,2.20,0.00,0.000,6,0.044,0.042,2547,2091,3560
$GC,1446,-0.54,-194.7,251.5,-18.8,264,1454,0.30,2.22,0.00,0.000,4,0.139,0.051,2643,679,3561
$GC,1528,-0.85,-194.7,261.6,-10.3,279,1534,0.22,2.15,0.00,0.000,6,0.040,0.041,2520,2067,3561
$GC,1855,-0.56,-194.7,316.8,-14.6,331,1860,0.38,2.22,0.00,0.000,4,0.141,0.060,2630,3466,3561
$GC,1935,-0.92,-194.7,321.7,-3.8,338,1942,0.25,2.12,0.00,0.000,6,0.038,0.038,2495,2081,3561
$GC,2252,-0.52,-194.7,376.4,-20.5,369,2253,0.47,0.00,0.00,0.000,6,0.144,0.000,2646,2077,3561
$GC,2562,-0.91,-194.7,403.8,-9.8,399,2565,0.32,2.22,0.00,0.000,4,0.047,0.061,2495,3482,3561
$GC,2619,-0.67,-194.7,414.0,-20.2,404,2628,0.30,2.15,0.00,0.000,6,0.133,0.039,2597,2081,3561
$GC,2935,-0.85,-194.7,447.2,-8.8,435,2936,0.15,0.00,0.00,0.000,6,0.064,0.000,2525,2078,3560
$GC,3246,-0.68,-194.7,488.7,-12.7,465,3250,0.25,2.25,0.00,0.000,4,0.140,0.064,2601,3473,3558
$GC,3261,-0.68,-194.7,490.1,-10.7,466,3268,0.00,2.12,0.00,0.000,6,0.000,0.039,2602,2088,3557
$GC,3585,-0.94,-194.7,510.3,-7.2,491,3589,0.22,2.20,0.00,0.000,4,0.054,0.064,2495,3470,3556
$GC,3648,-0.75,-194.7,519.2,-15.9,494,3653,0.22,2.10,0.00,0.000,6,0.135,0.041,2571,2101,3554
$GC,3975,-0.87,-194.7,561.5,-13.0,510,3979,0.00,2.22,0.00,0.000,4,0.000,0.065,2571,3470,3554
$GC,4033,-1.07,-194.7,568.6,-10.9,512,4041,0.22,2.10,0.00,0.000,6,0.044,0.041,2458,2105,3552
$GC,4343,-0.74,-194.7,621.6,-17.2,528,4348,0.40,2.25,0.00,0.000,4,0.148,0.057,2581,676,3552
$GC,4434,-0.94,-194.7,631.6,-10.2,532,4438,0.12,2.25,0.00,0.000,6,0.055,0.048,2505,2101,3550
$GC,4755,-0.83,-194.7,672.3,-12.4,548,4759,0.15,2.22,0.00,0.000,4,0.153,0.067,2547,3476,3548
$GC,4782,-0.83,-194.7,675.0,-10.7,549,4785,0.00,2.12,0.00,0.000,6,0.000,0.043,2547,2105,3547
$GC,5103,-0.91,-194.7,704.1,-8.7,565,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2102,3545
$GC,5408,-0.98,-194.7,730.6,-8.8,580,5412,0.12,2.25,0.00,0.000,4,0.074,0.068,2482,3479,3544
$GC,5466,-0.83,-194.7,737.4,-11.7,582,5473,0.17,2.12,0.00,0.000,6,0.142,0.044,2542,2115,3543
$GC,5777,-0.89,-194.7,763.8,-8.1,598,5780,0.00,2.22,0.00,0.000,4,0.000,0.070,2536,3470,3541
$GC,5802,-0.96,-194.7,766.0,-8.4,599,5807,0.00,2.12,0.00,0.000,6,0.000,0.044,2536,2105,3540
$GC,6123,-0.96,-194.7,796.5,-10.1,615,6128,0.00,2.25,0.00,0.000,4,0.000,0.069,2536,3472,3538
$GC,6156,-1.04,-194.7,800.0,-11.3,616,6160,0.10,2.10,0.00,0.000,6,0.061,0.044,2474,2127,3538
$GC,6471,-0.82,-194.7,849.6,-16.4,632,6476,0.28,2.30,0.00,0.000,4,0.151,0.060,2556,678,3537
$GC,6507,-0.93,-194.7,854.3,-12.3,633,6515,0.00,2.30,0.00,0.000,6,0.000,0.051,2551,2119,3536
$GC,6819,-1.04,-194.7,885.6,-9.7,649,6822,0.20,2.20,0.00,0.000,4,0.064,0.071,2464,3489,3535
$GC,6855,-0.83,-194.7,890.5,-14.7,650,6862,0.25,2.12,0.00,0.000,6,0.145,0.044,2547,2127,3534
$GC,7165,-0.93,-194.7,921.3,-9.5,666,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2124,3533
$GC,7472,-1.03,-194.7,951.0,-9.8,681,7473,0.17,0.00,0.00,0.000,6,0.071,0.000,2471,2124,3531
$STATE,7754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7754,begin apogee
$GC,7757,-0.20,0.0,991.5,14.3,695,7918,0.90,0.00,155.77,1.375,6,0.150,0.000,2756,2536,2759
$STATE,7918,end apogee,CONTROL_FINISHED_OK
$STATE,7918,begin climb
$GC,7920,0.96,194.7,998.2,0.0,703,8090,1.00,2.08,163.48,1.332,4,0.046,0.071,3137,3688,1964
$GC,8303,0.24,194.7,930.0,25.3,721,8307,0.80,1.88,0.00,0.000,6,0.178,0.046,2902,2531,1958
$GC,8623,0.55,274.4,900.7,8.7,737,8696,0.25,2.40,68.40,1.272,4,0.061,0.058,3017,1123,1640
$GC,8735,0.48,274.4,883.4,17.1,742,8739,0.12,2.38,0.00,0.000,6,0.146,0.053,2978,2516,1635
$GC,9055,0.48,274.4,835.9,14.9,758,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2516,1632
$GC,9360,0.48,274.4,790.2,14.8,773,9364,0.00,1.92,0.00,0.000,4,0.000,0.068,2978,3686,1631
$GC,9408,0.48,274.4,782.5,16.9,775,9412,0.00,1.88,0.00,0.000,6,0.000,0.044,2985,2506,1631
$GC,9729,0.48,274.4,731.8,15.5,791,9733,0.00,1.95,0.00,0.000,4,0.000,0.067,2985,3687,1629
$GC,9755,0.43,274.4,727.6,16.6,792,9760,0.10,1.85,0.00,0.000,6,0.153,0.044,2961,2522,1629
$GC,10077,0.52,274.4,686.1,12.6,808,10081,0.00,2.25,0.00,0.000,4,0.000,0.056,2971,1126,1628
$GC,10113,0.65,274.4,681.4,13.1,809,10122,0.12,2.25,0.00,0.000,6,0.064,0.051,3034,2516,1627
$GC,10424,0.45,274.4,626.8,17.7,825,10425,0.22,0.00,0.00,0.000,6,0.158,0.000,2969,2516,1627
$GC,10729,0.53,274.4,584.3,13.7,840,10733,0.00,2.25,0.00,0.000,4,0.000,0.055,2979,1127,1627
$GC,10803,0.65,274.4,573.3,14.0,843,10808,0.10,2.28,0.00,0.000,6,0.067,0.052,3033,2534,1625
$GC,11120,0.48,274.4,517.0,16.3,859,11121,0.20,0.00,0.00,0.000,6,0.156,0.000,2976,2535,1626
$GC,11427,0.65,341.7,483.8,9.2,881,11485,0.15,0.00,55.75,1.045,6,0.073,0.000,3039,2535,1365
$GC,11790,0.54,341.7,425.0,17.4,916,11795,0.17,1.90,0.00,0.000,4,0.153,0.066,2989,3691,1358
$GC,11833,0.60,341.7,418.4,14.3,920,11838,0.00,1.83,0.00,0.000,6,0.000,0.043,2997,2538,1358
$GC,12154,0.69,341.7,370.6,15.4,951,12158,0.12,2.25,0.00,0.000,4,0.077,0.054,3061,1117,1357
$GC,12207,0.61,341.7,360.8,19.7,956,12212,0.12,2.30,0.00,0.000,6,0.154,0.050,3021,2532,1356
$GC,12528,0.61,341.7,304.6,16.1,987,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2532,1356
$GC,12847,0.61,341.7,261.8,13.3,1044,12848,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2532,1356
$GC,13168,0.69,341.7,216.6,14.7,1104,13175,0.00,2.28,0.00,0.000,4,0.000,0.052,3031,1116,1356
$GC,13286,0.83,341.7,199.9,12.1,1126,13293,0.12,2.25,0.00,0.000,6,0.055,0.048,3100,2524,1356
$GC,13613,0.63,341.7,138.9,17.6,1187,13619,0.25,0.00,0.00,0.000,6,0.150,0.000,3027,2525,1356
$GC,13938,0.83,341.7,101.7,12.9,1248,13945,0.17,2.22,0.00,0.000,4,0.064,0.050,3117,1120,1356
$GC,13987,0.71,341.7,93.3,19.2,1257,13995,0.20,2.20,0.00,0.000,6,0.144,0.045,3052,2513,1356
$GC,14315,0.93,375.7,53.7,10.6,1318,14347,0.20,1.85,27.30,0.668,4,0.058,0.058,3140,3693,1226
$GC,14356,0.76,375.7,47.3,16.5,1325,14365,0.25,1.85,0.00,0.000,6,0.140,0.038,3068,2503,1225
$GC,14685,1.08,445.6,12.8,9.1,1386,14748,0.28,2.25,55.92,0.625,4,0.050,0.050,3202,1124,942
$STATE,14750,end climb,SURFACE_DEPTH_REACHED
$STATE,14750,begin surface coast
$FINISH,1.6,1.022640
$STATE,14767,end surface coast,CONTROL_FINISHED_OK
$STATE,14767,begin surface
$SM_CCo,14842,0.00,0.000,0,0,935,447.18
$SM_GC,2.27,7.93,0.00,0.00,0.038,0.000,0.000,170,2083,935,-8.21,0.34,447.18
$IRIDIUM_FIX,2446.56,12245.40,220898,101015
$TT8_MAMPS,0.048321
$HUMID,1540
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.10
$XPDR_PINGS,77
$24V_AH,23.6,12.956
$10V_AH,10.7,10.300
$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,30.325,121.000,526.625,0.000,0.000,27.358,31.622,183.225,27.250,0.000,0.000,33.992,0.000,10835.363,664.212,3267.043,406.493,0.000,1878.438,0.000,2728.370,0.000,53.993,0.000
$DEVICE_MAMPS,239.304,71.331,1375.231,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,948.158,966.774,1510.530,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79042,1400
$CAP_FILE_SIZE,156384,0
$CFSIZE,260165632,254185472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.276, 24.6,1
$GPS,280509,185807,2457.194,12246.219,30,1.2,30,-3.6