version: 66.04
glider: 165
mission: 2
dive: 49
start: 5 29 109 8 36 43
data:
$ID,165
$MISSION,2
$DIVE,49
$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,330
$T_MISSION,396
$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,-116838.58
$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,29
$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
$GPS1,083025,2503.113,12241.979,37,1.0,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.2
$GPS2,083638,2503.147,12242.122,11,1.3,11,-3.6
$SPEED_LIMITS,0.173,0.296
$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,293.3,49581,-15.7,-10.000
$D_GRID,1470
$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,-0.85,-194.7,0.0,0.0,0,65,0.00,0.00,-51.33,0.000,2,0.000,0.000,157,2054,2150
$GC,67,-0.85,-194.7,3.1,-4.2,8,124,9.25,2.35,-39.00,0.000,4,0.239,0.066,2523,3488,3555
$GC,240,-0.23,-194.7,48.6,-30.0,39,247,0.65,2.20,0.00,0.000,6,0.134,0.043,2740,2082,3556
$GC,567,-0.48,-194.7,77.9,-4.5,100,573,0.22,2.25,0.00,0.000,4,0.049,0.058,2628,3479,3558
$GC,642,-0.28,-194.7,86.9,-12.9,114,650,0.25,2.15,0.00,0.000,6,0.120,0.038,2717,2081,3558
$GC,970,-0.44,-194.7,115.2,-9.4,175,976,0.12,2.20,0.00,0.000,4,0.066,0.054,2648,666,3559
$GC,1028,-0.26,-194.7,123.4,-15.3,186,1036,0.22,2.20,0.00,0.000,6,0.118,0.042,2727,2076,3559
$GC,1356,-0.93,-194.7,146.1,-11.1,247,1363,0.55,2.20,0.00,0.000,4,0.065,0.055,2513,3473,3560
$GC,1469,-0.46,-194.7,167.0,-22.3,268,1476,0.45,2.08,0.00,0.000,6,0.136,0.037,2664,2105,3560
$GC,1796,-0.63,-194.7,196.4,-8.0,329,1804,0.15,2.17,0.00,0.000,4,0.061,0.058,2585,3470,3560
$GC,1834,-0.51,-194.7,201.2,-13.4,336,1842,0.17,2.08,0.00,0.000,6,0.118,0.036,2650,2102,3560
$GC,2161,-0.72,-194.7,229.7,-7.1,397,2169,0.17,2.20,0.00,0.000,4,0.056,0.051,2559,665,3560
$GC,2178,-0.79,-194.7,231.3,-9.1,400,2185,0.00,2.25,0.00,0.000,6,0.000,0.042,2553,2117,3561
$GC,2504,-0.49,-194.7,284.1,-15.8,461,2511,0.32,0.00,0.00,0.000,6,0.133,0.000,2658,2117,3560
$GC,2828,-0.79,-194.7,303.6,-4.6,515,2833,0.25,2.15,0.00,0.000,4,0.048,0.061,2534,3473,3560
$GC,2881,-0.57,-194.7,309.6,-13.2,520,2885,0.28,2.05,0.00,0.000,6,0.123,0.038,2632,2127,3560
$GC,3202,-0.76,-194.7,334.4,-7.7,551,3203,0.17,0.00,0.00,0.000,6,0.058,0.000,2546,2122,3560
$GC,3514,-0.56,-194.7,375.5,-11.7,581,3518,0.25,2.25,0.00,0.000,4,0.129,0.053,2633,673,3558
$GC,3592,-0.81,-194.7,380.3,-5.0,588,3597,0.17,2.28,0.00,0.000,6,0.044,0.044,2532,2135,3558
$GC,3914,-0.59,-194.7,416.1,-11.3,619,3915,0.30,0.00,0.00,0.000,6,0.133,0.000,2628,2135,3557
$GC,4225,-0.83,-194.7,432.8,-5.3,649,4226,0.22,0.00,0.00,0.000,6,0.051,0.000,2519,2134,3554
$GC,4536,-0.56,-194.7,475.7,-14.3,679,4540,0.32,2.30,0.00,0.000,4,0.135,0.055,2631,673,3552
$GC,4615,-0.84,-194.7,482.4,-6.5,686,4619,0.20,2.28,0.00,0.000,6,0.043,0.046,2516,2126,3552
$GC,4944,-0.62,-194.7,519.9,-10.3,709,4948,0.32,2.15,0.00,0.000,4,0.135,0.065,2616,3488,3549
$GC,5001,-0.92,-194.7,522.2,-2.2,711,5008,0.22,2.10,0.00,0.000,6,0.042,0.041,2494,2127,3548
$GC,5312,-0.61,-194.7,557.9,-13.4,727,5316,0.40,2.15,0.00,0.000,4,0.138,0.065,2616,3476,3547
$GC,5349,-0.88,-194.7,560.9,-6.2,728,5355,0.17,2.08,0.00,0.000,6,0.044,0.041,2517,2133,3547
$GC,5659,-0.68,-194.7,597.4,-12.2,744,5663,0.28,2.28,0.00,0.000,4,0.133,0.057,2605,684,3544
$GC,5701,-0.87,-194.7,601.1,-6.8,746,5706,0.15,2.28,0.00,0.000,6,0.051,0.048,2521,2122,3544
$GC,6027,-0.71,-194.7,637.5,-11.1,762,6032,0.22,2.30,0.00,0.000,4,0.139,0.058,2590,679,3541
$GC,6081,-0.88,-194.7,641.6,-7.2,764,6085,0.12,2.25,0.00,0.000,6,0.054,0.049,2519,2105,3541
$GC,6397,-0.71,-194.7,675.8,-11.5,780,6401,0.22,2.20,0.00,0.000,4,0.139,0.068,2588,3487,3540
$GC,6444,-0.93,-194.7,679.8,-6.8,782,6449,0.15,2.12,0.00,0.000,6,0.049,0.042,2505,2113,3539
$GC,6765,-0.70,-194.7,722.7,-14.0,798,6769,0.28,2.28,0.00,0.000,4,0.137,0.058,2591,678,3536
$GC,6855,-0.90,-194.7,731.8,-8.9,802,6860,0.15,2.25,0.00,0.000,6,0.054,0.050,2509,2100,3536
$GC,7178,-0.71,-194.7,776.1,-14.4,818,7182,0.22,2.20,0.00,0.000,4,0.141,0.067,2577,3472,3533
$GC,7262,-0.89,-194.7,785.0,-10.2,822,7266,0.10,2.12,0.00,0.000,6,0.059,0.044,2515,2104,3533
$GC,7589,-0.73,-194.7,829.3,-13.4,838,7591,0.22,0.00,0.00,0.000,6,0.139,0.000,2585,2100,3531
$GC,7894,-0.88,-194.7,854.7,-7.5,853,7898,0.15,2.22,0.00,0.000,4,0.069,0.071,2517,3479,3530
$GC,7936,-0.78,-194.7,859.0,-11.1,855,7940,0.12,2.15,0.00,0.000,6,0.138,0.045,2560,2101,3529
$GC,8264,-0.83,-194.7,886.9,-8.1,871,8267,0.00,2.22,0.00,0.000,4,0.000,0.070,2561,3472,3528
$GC,8315,-0.93,-194.7,891.1,-7.9,873,8320,0.10,2.12,0.00,0.000,6,0.061,0.044,2502,2105,3527
$GC,8632,-0.73,-194.7,928.2,-12.0,889,8633,0.25,0.00,0.00,0.000,6,0.141,0.000,2579,2100,3526
$GC,8937,-0.87,-194.7,950.7,-7.5,904,8941,0.12,2.22,0.00,0.000,4,0.077,0.071,2521,3476,3526
$GC,8989,-0.81,-194.7,955.8,-10.5,906,8997,0.10,2.12,0.00,0.000,6,0.138,0.045,2557,2120,3524
$GC,9300,-0.85,-194.7,983.4,-8.7,922,9304,0.00,2.22,0.00,0.000,4,0.000,0.072,2551,3468,3523
$GC,9337,-0.92,-194.7,986.7,-10.1,923,9343,0.00,2.12,0.00,0.000,6,0.000,0.045,2551,2107,3523
$STATE,9381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9381,begin apogee
$GC,9384,-0.20,0.0,990.7,8.7,926,9546,0.60,0.00,155.48,1.378,6,0.123,0.000,2751,2518,2758
$STATE,9546,end apogee,CONTROL_FINISHED_OK
$STATE,9546,begin climb
$GC,9547,0.85,194.7,996.8,0.0,934,9721,0.93,2.47,164.80,1.336,4,0.048,0.059,3116,1130,1964
$GC,9779,0.23,194.7,967.2,21.8,945,9783,0.75,2.40,0.00,0.000,6,0.176,0.054,2901,2527,1959
$GC,10106,0.33,210.5,935.1,9.5,961,10128,0.00,2.35,13.82,1.211,4,0.000,0.057,2910,1134,1899
$GC,10153,0.45,218.3,930.4,9.7,963,10170,0.12,2.33,8.43,1.095,6,0.056,0.052,2980,2524,1868
$GC,10474,0.25,218.3,883.5,15.0,979,10475,0.28,0.00,0.00,0.000,6,0.150,0.000,2899,2524,1866
$GC,10779,0.40,234.7,853.0,9.4,994,10800,0.15,0.00,15.43,1.214,6,0.076,0.000,2962,2525,1801
$GC,11103,0.29,234.7,811.0,12.9,1010,11108,0.17,2.30,0.00,0.000,4,0.146,0.056,2921,1130,1798
$GC,11167,0.42,238.2,804.7,9.9,1013,11177,0.00,2.28,3.90,0.795,6,0.000,0.052,2921,2524,1788
$GC,11493,0.51,255.6,773.7,9.4,1029,11518,0.17,1.92,17.12,1.194,4,0.071,0.069,2995,3696,1715
$GC,11526,0.28,255.6,769.2,14.1,1030,11531,0.28,1.88,0.00,0.000,6,0.142,0.045,2916,2529,1714
$GC,11843,0.44,288.5,740.6,8.9,1046,11877,0.15,2.38,29.77,1.194,4,0.072,0.057,2993,1119,1581
$GC,11984,0.37,288.5,722.4,11.5,1052,11992,0.15,2.33,0.00,0.000,6,0.142,0.051,2944,2516,1576
$GC,12295,0.43,288.5,690.8,10.3,1068,12299,0.00,2.30,0.00,0.000,4,0.000,0.057,2953,1117,1575
$GC,12385,0.50,288.5,681.4,11.2,1072,12390,0.00,2.25,0.00,0.000,6,0.000,0.051,2952,2497,1575
$GC,12706,0.50,288.5,646.8,10.7,1088,12711,0.00,1.95,0.00,0.000,4,0.000,0.067,2953,3688,1575
$GC,12738,0.50,288.5,643.2,11.6,1089,12743,0.00,1.88,0.00,0.000,6,0.000,0.044,2960,2494,1575
$GC,13054,0.50,288.5,611.1,10.3,1105,13058,0.00,2.20,0.00,0.000,4,0.000,0.057,2970,1126,1575
$GC,13144,0.50,288.5,601.6,10.6,1109,13149,0.00,2.20,0.00,0.000,6,0.000,0.051,2971,2490,1573
$GC,13465,0.45,288.5,562.7,12.1,1125,13470,0.00,1.95,0.00,0.000,4,0.000,0.067,2970,3687,1572
$GC,13492,0.38,288.5,559.4,12.2,1126,13496,0.10,1.88,0.00,0.000,6,0.144,0.044,2944,2489,1573
$GC,13813,0.50,309.4,529.2,9.3,1142,13836,0.12,2.25,17.95,1.060,4,0.076,0.056,3011,1123,1497
$GC,13850,0.38,309.4,524.8,12.3,1143,13857,0.20,2.22,0.00,0.000,6,0.142,0.051,2947,2490,1496
$GC,14163,0.49,309.4,489.8,12.0,1163,14166,0.00,1.95,0.00,0.000,4,0.000,0.067,2947,3680,1494
$GC,14183,0.58,309.4,487.1,12.4,1165,14187,0.12,1.88,0.00,0.000,6,0.059,0.044,3016,2487,1494
$GC,14504,0.41,309.4,434.0,15.0,1196,14508,0.22,2.17,0.00,0.000,4,0.148,0.056,2961,1129,1494
$GC,14627,0.56,327.1,422.1,9.4,1207,14648,0.08,2.17,16.42,0.983,6,0.067,0.050,3008,2484,1424
$GC,14963,0.43,327.1,373.6,15.8,1240,14968,0.17,1.95,0.00,0.000,4,0.143,0.064,2959,3682,1422
$GC,15092,0.53,327.1,356.9,12.1,1252,15096,0.00,1.85,0.00,0.000,6,0.000,0.044,2965,2503,1422
$GC,15412,0.65,327.1,317.7,10.8,1283,15417,0.17,2.20,0.00,0.000,4,0.066,0.054,3049,1124,1422
$GC,15502,0.48,327.1,304.8,14.5,1291,15509,0.22,2.17,0.00,0.000,6,0.143,0.049,2976,2483,1420
$GC,15827,0.60,343.8,275.0,9.4,1348,15848,0.12,2.20,14.88,0.863,4,0.074,0.054,3044,1113,1358
$GC,15890,0.48,343.8,266.1,15.2,1359,15896,0.20,2.20,0.00,0.000,6,0.137,0.049,2978,2474,1356
$GC,16215,0.64,350.5,229.9,9.8,1420,16230,0.15,1.95,7.25,0.746,4,0.064,0.062,3045,3693,1329
$GC,16239,0.64,350.5,227.0,12.6,1424,16246,0.00,1.90,0.00,0.000,6,0.000,0.041,3054,2481,1329
$GC,16565,0.46,350.5,176.7,13.7,1485,16573,0.28,2.15,0.00,0.000,4,0.140,0.051,2979,1126,1329
$GC,16652,0.76,375.2,167.9,9.1,1501,16679,0.20,2.15,21.55,0.775,6,0.046,0.046,3088,2482,1229
$GC,17000,0.61,375.2,109.1,15.1,1565,17007,0.20,2.15,0.00,0.000,4,0.143,0.049,3032,1114,1227
$GC,17081,0.82,411.9,101.0,8.7,1580,17120,0.10,2.15,31.45,0.717,6,0.053,0.044,3099,2465,1078
$GC,17441,0.77,411.9,46.9,16.4,1646,17447,0.12,2.12,0.00,0.000,4,0.140,0.048,3074,1125,1074
$GC,17515,0.95,411.9,37.2,12.8,1660,17522,0.12,2.12,0.00,0.000,6,0.049,0.044,3151,2464,1074
$STATE,17728,end climb,SURFACE_DEPTH_REACHED
$STATE,17728,begin surface coast
$FINISH,1.7,1.016793
$STATE,17744,end surface coast,CONTROL_FINISHED_OK
$STATE,17744,begin surface
$SM_CCo,17757,17.48,0.615,0,0,985,435.16
$SM_GC,2.39,0.00,0.00,17.48,0.000,0.000,0.615,165,2065,985,-8.29,-0.17,435.16
$IRIDIUM_FIX,2451.31,12241.40,230898,030334
$TT8_MAMPS,0.049088
$HUMID,1558
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.80
$XPDR_PINGS,119
$24V_AH,23.6,13.765
$10V_AH,10.7,10.856
$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,33.150,170.275,518.250,17.475,0.000,31.537,38.948,204.240,37.750,0.000,0.000,13.249,0.000,12879.334,745.808,4007.803,486.039,0.000,2238.666,0.000,3374.142,0.000,53.962,0.000
$DEVICE_MAMPS,238.537,72.098,1378.299,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1155.621,1167.010,1827.037,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97929,1703
$CAP_FILE_SIZE,199375,0
$CFSIZE,260165632,253771776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153, 72.9,1
$GPS,290509,133400,2504.847,12241.013,37,1.4,42,-3.6