version: 66.04
glider: 165
mission: 2
dive: 46
start: 5 28 109 19 4 20
data:
$ID,165
$MISSION,2
$DIVE,46
$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,-116792.46
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,185807,2457.194,12246.219,30,1.2,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-67.4
$GPS2,190414,2457.235,12246.186,11,1.3,11,-3.6
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,284.0,62450,-18.3,-12.000
$D_GRID,1426
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.96,-194.7,0.0,0.0,0,62,0.00,0.00,-49.40,0.000,2,0.000,0.000,169,2087,2144
$GC,64,-0.96,-194.7,3.2,-4.3,7,121,9.12,2.25,-40.17,0.000,4,0.238,0.067,2496,3467,3554
$GC,328,-0.23,-194.7,85.1,-32.7,55,335,0.75,2.17,0.00,0.000,6,0.147,0.038,2738,2066,3557
$GC,655,-1.32,-194.7,109.1,-9.7,116,661,0.90,2.25,0.00,0.000,4,0.044,0.055,2369,3479,3559
$GC,740,-0.22,-194.7,136.9,-44.6,132,748,1.20,2.15,0.00,0.000,6,0.176,0.038,2745,2082,3559
$GC,1067,-1.04,-194.7,166.0,-8.2,193,1074,0.68,2.20,0.00,0.000,4,0.057,0.055,2478,3480,3560
$GC,1137,-0.51,-194.7,176.6,-22.2,206,1145,0.50,2.10,0.00,0.000,6,0.135,0.037,2647,2105,3560
$GC,1465,-0.74,-194.7,213.4,-10.3,267,1471,0.17,2.15,0.00,0.000,4,0.058,0.058,2558,3470,3561
$GC,1508,-0.65,-194.7,219.8,-17.0,275,1514,0.12,2.05,0.00,0.000,6,0.126,0.037,2603,2125,3560
$GC,1834,-0.73,-194.7,257.3,-10.8,336,1840,0.00,2.25,0.00,0.000,4,0.000,0.051,2603,680,3561
$GC,1887,-0.85,-194.7,263.0,-11.1,346,1895,0.12,2.22,0.00,0.000,6,0.051,0.043,2529,2110,3560
$GC,2211,-0.57,-194.7,318.3,-17.8,397,2216,0.32,2.17,0.00,0.000,4,0.143,0.061,2630,3473,3561
$GC,2237,-0.57,-194.7,321.9,-12.7,399,2244,0.00,2.08,0.00,0.000,6,0.000,0.038,2630,2117,3561
$GC,2553,-0.87,-194.7,344.8,-6.6,430,2554,0.25,0.00,0.00,0.000,6,0.050,0.000,2509,2112,3561
$GC,2863,-0.59,-194.7,399.0,-17.7,460,2865,0.38,0.00,0.00,0.000,6,0.138,0.000,2629,2112,3561
$GC,3174,-0.94,-194.7,421.2,-6.5,490,3176,0.30,0.00,0.00,0.000,6,0.047,0.000,2490,2112,3560
$GC,3484,-0.69,-194.7,470.4,-14.5,520,3489,0.32,2.28,0.00,0.000,4,0.142,0.055,2591,666,3558
$GC,3602,-0.93,-194.7,480.7,-7.6,531,3606,0.20,2.25,0.00,0.000,6,0.058,0.047,2492,2117,3557
$GC,3920,-0.73,-194.7,522.0,-12.7,554,3924,0.30,2.17,0.00,0.000,4,0.145,0.064,2575,3476,3555
$GC,4027,-0.97,-194.7,530.9,-8.0,559,4031,0.20,2.05,0.00,0.000,6,0.058,0.041,2479,2125,3554
$GC,4354,-0.70,-194.7,576.5,-14.5,575,4358,0.32,2.28,0.00,0.000,4,0.143,0.055,2586,664,3552
$GC,4459,-0.94,-194.7,582.7,-4.7,580,4464,0.15,2.28,0.00,0.000,6,0.051,0.048,2504,2105,3551
$GC,4780,-0.82,-194.7,623.0,-13.6,596,4784,0.17,2.28,0.00,0.000,4,0.146,0.056,2556,676,3549
$GC,4806,-0.82,-194.7,626.3,-12.6,597,4811,0.00,2.25,0.00,0.000,6,0.000,0.048,2553,2104,3549
$GC,5128,-0.91,-194.7,660.2,-10.4,613,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,2104,3546
$GC,5434,-1.01,-194.7,687.4,-8.2,628,5437,0.17,2.20,0.00,0.000,4,0.064,0.068,2468,3488,3545
$GC,5459,-0.89,-194.7,690.6,-12.9,629,5464,0.17,2.15,0.00,0.000,6,0.145,0.044,2527,2104,3544
$GC,5780,-0.89,-194.7,725.0,-10.4,645,5785,0.00,2.25,0.00,0.000,4,0.000,0.068,2520,3477,3542
$GC,5833,-0.89,-194.7,730.7,-10.8,647,5838,0.00,2.12,0.00,0.000,6,0.000,0.044,2520,2109,3541
$GC,6149,-0.89,-194.7,766.6,-11.8,663,6153,0.00,2.22,0.00,0.000,4,0.000,0.068,2520,3468,3539
$GC,6202,-0.89,-194.7,773.0,-12.0,665,6207,0.00,2.10,0.00,0.000,6,0.000,0.044,2520,2121,3538
$GC,6517,-0.89,-194.7,808.7,-11.4,681,6522,0.00,2.22,0.00,0.000,4,0.000,0.070,2520,3472,3537
$GC,6570,-0.89,-194.7,814.7,-11.0,683,6575,0.00,2.10,0.00,0.000,6,0.000,0.044,2520,2124,3536
$GC,6886,-0.89,-194.7,848.3,-10.0,699,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2121,3536
$GC,7192,-0.89,-194.7,877.4,-9.5,714,7196,0.00,2.22,0.00,0.000,4,0.000,0.071,2520,3472,3534
$GC,7282,-0.89,-194.7,885.7,-9.2,718,7286,0.00,2.12,0.00,0.000,6,0.000,0.046,2520,2118,3533
$GC,7603,-0.89,-194.7,917.6,-10.4,734,7604,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2116,3531
$GC,7908,-0.89,-194.7,949.5,-10.4,749,7914,0.00,2.25,0.00,0.000,4,0.000,0.072,2520,3475,3530
$GC,7967,-0.94,-194.7,955.6,-9.9,751,7973,0.00,2.10,0.00,0.000,6,0.000,0.047,2520,2134,3530
$GC,8277,-0.94,-194.7,987.7,-10.2,767,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2133,3528
$STATE,8316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8317,begin apogee
$GC,8320,-0.20,0.0,992.1,10.6,769,8480,0.70,0.00,156.07,1.380,6,0.133,0.000,2751,2525,2759
$STATE,8480,end apogee,CONTROL_FINISHED_OK
$STATE,8480,begin climb
$GC,8482,0.96,194.7,999.2,0.0,777,8654,1.02,2.10,164.65,1.332,4,0.044,0.071,3140,3691,1964
$GC,8819,0.22,194.7,940.8,24.6,792,8826,0.88,1.90,0.00,0.000,6,0.181,0.047,2896,2532,1958
$GC,9129,0.57,302.0,914.7,7.6,808,9228,0.30,2.45,93.03,1.284,4,0.057,0.059,3029,1128,1526
$GC,9313,0.46,302.0,885.3,17.1,816,9321,0.17,2.33,0.00,0.000,6,0.149,0.052,2974,2508,1520
$GC,9624,0.46,302.0,842.4,13.8,832,9628,0.00,2.30,0.00,0.000,4,0.000,0.057,2983,1122,1518
$GC,9656,0.52,302.0,837.9,14.8,833,9660,0.00,2.28,0.00,0.000,6,0.000,0.051,2983,2507,1517
$GC,9971,0.52,302.0,787.8,16.6,849,9976,0.00,2.28,0.00,0.000,4,0.000,0.057,2993,1122,1516
$GC,10019,0.52,302.0,779.9,16.0,851,10023,0.00,2.22,0.00,0.000,6,0.000,0.051,2993,2493,1515
$GC,10340,0.52,302.0,725.0,16.6,867,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2493,1515
$GC,10645,0.52,302.0,675.5,15.7,882,10650,0.00,2.25,0.00,0.000,4,0.000,0.056,3003,1112,1516
$GC,10660,0.52,302.0,673.1,15.7,882,10669,0.00,2.22,0.00,0.000,6,0.000,0.051,3003,2490,1513
$GC,10972,0.46,302.0,625.5,16.3,898,10976,0.12,2.22,0.00,0.000,4,0.157,0.057,2979,1115,1513
$GC,10998,0.46,302.0,621.3,15.2,899,11002,0.00,2.20,0.00,0.000,6,0.000,0.051,2979,2482,1513
$GC,11319,0.51,302.0,571.5,15.6,915,11323,0.00,2.20,0.00,0.000,4,0.000,0.058,2988,1124,1513
$GC,11420,0.60,302.0,556.8,13.6,919,11426,0.00,2.12,0.00,0.000,6,0.000,0.051,2988,2451,1512
$GC,11730,0.60,302.0,512.5,13.3,935,11734,0.00,2.15,0.00,0.000,4,0.000,0.057,2997,1120,1512
$GC,11767,0.65,302.0,507.8,12.1,936,11774,0.00,2.12,0.00,0.000,6,0.000,0.050,2997,2446,1512
$GC,12082,0.65,302.0,469.1,13.4,964,12083,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2446,1512
$GC,12392,0.65,302.0,424.5,16.6,994,12396,0.00,2.15,0.00,0.000,4,0.000,0.056,3007,1113,1512
$GC,12451,0.71,302.0,415.1,16.6,999,12457,0.08,2.12,0.00,0.000,6,0.072,0.051,3053,2445,1511
$GC,12766,0.51,302.0,353.8,17.2,1030,12771,0.25,2.00,0.00,0.000,4,0.152,0.064,2980,3689,1511
$GC,12803,0.56,302.0,348.4,12.7,1033,12810,0.00,1.92,0.00,0.000,6,0.000,0.044,2987,2449,1511
$GC,13119,0.75,359.9,309.6,9.6,1064,13175,0.20,2.22,46.65,0.917,4,0.066,0.055,3084,1114,1290
$GC,13211,0.60,359.9,295.7,17.1,1074,13219,0.22,2.20,0.00,0.000,6,0.154,0.049,3014,2451,1287
$GC,13539,0.69,359.9,250.2,15.3,1135,13544,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2451,1286
$GC,13864,0.87,377.1,207.8,11.3,1196,13885,0.22,2.20,14.73,0.792,4,0.058,0.052,3121,1115,1220
$GC,13894,0.73,377.1,202.9,16.5,1201,13901,0.20,2.15,0.00,0.000,6,0.150,0.048,3058,2446,1220
$GC,14220,0.73,377.1,150.0,18.4,1262,14228,0.00,2.00,0.00,0.000,4,0.000,0.061,3058,3683,1219
$GC,14280,0.73,377.1,139.4,17.4,1273,14287,0.00,1.92,0.00,0.000,6,0.000,0.041,3066,2444,1219
$GC,14606,0.78,377.1,90.5,13.2,1334,14614,0.00,2.10,0.00,0.000,4,0.000,0.051,3076,1114,1219
$GC,14650,0.89,377.1,84.1,15.0,1342,14658,0.00,2.12,0.00,0.000,6,0.000,0.045,3076,2458,1219
$GC,14978,1.17,431.7,48.6,9.7,1403,15030,0.32,2.15,44.75,0.660,4,0.051,0.048,3224,1112,997
$GC,15045,0.82,431.7,35.7,22.9,1414,15053,0.45,2.20,0.00,0.000,6,0.153,0.046,3085,2469,996
$STATE,15318,end climb,SURFACE_DEPTH_REACHED
$STATE,15318,begin surface coast
$FINISH,1.6,1.009360
$STATE,15350,end surface coast,CONTROL_FINISHED_OK
$STATE,15350,begin surface
$SM_CCo,15363,2.47,0.240,0,0,985,435.16
$SM_GC,2.87,0.00,0.00,2.47,0.000,0.000,0.240,163,2056,985,-8.30,-0.42,435.16
$IRIDIUM_FIX,2446.56,12248.68,220898,141418
$TT8_MAMPS,0.048321
$HUMID,1550
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.30
$XPDR_PINGS,58
$24V_AH,23.6,13.154
$10V_AH,10.7,10.431
$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,29.525,136.100,519.875,2.475,0.000,30.127,39.997,203.734,22.500,0.000,0.000,13.290,0.000,11118.188,694.482,3438.330,458.965,0.000,1988.569,0.000,2905.563,0.000,54.012,0.000
$DEVICE_MAMPS,237.770,72.098,1379.833,240.071,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,997.182,1015.039,1589.663,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85275,1471
$CAP_FILE_SIZE,162720,0
$CFSIZE,260165632,254091264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197, 38.9,1
$GPS,280509,232124,2459.282,12244.578,39,0.9,39,-3.6