version: 66.04
glider: 165
mission: 2
dive: 50
start: 5 29 109 13 40 25
data:
$ID,165
$MISSION,2
$DIVE,50
$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,-116854.02
$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,41
$R_STBD_OVSHOOT,31
$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
$GPS1,133400,2504.847,12241.013,37,1.4,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-71.5
$GPS2,134020,2504.929,12241.044,12,1.0,12,-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,298.4,45848,-15.7,-10.000
$D_GRID,1407
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.85,-194.7,0.0,0.0,0,59,0.00,0.00,-44.80,0.000,2,0.000,0.000,161,2065,2078
$GC,61,-0.85,-194.7,3.2,-3.7,7,118,9.18,2.25,-41.80,0.000,4,0.234,0.063,2525,3476,3555
$GC,214,-0.05,-194.7,41.2,-31.3,34,220,0.82,2.20,0.00,0.000,6,0.150,0.038,2796,2071,3556
$GC,540,-0.76,-194.7,74.1,-13.1,95,547,0.60,2.25,0.00,0.000,4,0.064,0.054,2566,3472,3559
$GC,594,-0.49,-194.7,82.8,-18.5,105,602,0.25,2.17,0.00,0.000,6,0.125,0.037,2654,2062,3559
$GC,922,-0.49,-194.7,130.2,-12.2,166,928,0.00,2.17,0.00,0.000,4,0.000,0.051,2654,678,3560
$GC,1050,-0.62,-194.7,143.0,-9.3,190,1057,0.00,2.15,0.00,0.000,6,0.000,0.041,2650,2060,3561
$GC,1377,-0.72,-194.7,180.7,-10.8,251,1383,0.17,2.25,0.00,0.000,4,0.058,0.058,2561,3473,3562
$GC,1506,-0.45,-194.7,203.1,-18.6,275,1512,0.35,2.15,0.00,0.000,6,0.129,0.038,2675,2049,3562
$GC,1831,-0.74,-194.7,230.9,-7.1,336,1838,0.25,2.28,0.00,0.000,4,0.049,0.058,2551,3468,3562
$GC,1858,-0.62,-194.7,234.2,-13.4,341,1866,0.17,2.15,0.00,0.000,6,0.127,0.037,2613,2061,3562
$GC,2185,-0.62,-194.7,272.0,-10.6,402,2192,0.00,2.17,0.00,0.000,4,0.000,0.052,2613,668,3562
$GC,2217,-0.70,-194.7,275.7,-11.4,408,2224,0.00,2.20,0.00,0.000,6,0.000,0.043,2613,2086,3562
$GC,2546,-0.79,-194.7,309.3,-8.2,460,2550,0.15,2.20,0.00,0.000,4,0.060,0.061,2536,3471,3562
$GC,2620,-0.60,-194.7,318.9,-13.9,467,2624,0.25,2.10,0.00,0.000,6,0.121,0.038,2625,2096,3562
$GC,2941,-0.78,-194.7,343.9,-8.0,498,2945,0.17,2.22,0.00,0.000,4,0.058,0.054,2538,674,3562
$GC,3037,-0.60,-194.7,356.7,-14.0,507,3041,0.25,2.22,0.00,0.000,6,0.123,0.046,2622,2093,3562
$GC,3358,-0.80,-194.7,380.4,-8.0,538,3362,0.17,2.20,0.00,0.000,4,0.056,0.062,2535,3473,3561
$GC,3426,-0.64,-194.7,388.5,-12.5,544,3434,0.20,2.10,0.00,0.000,6,0.123,0.040,2606,2102,3561
$GC,3743,-0.76,-194.7,415.2,-8.1,575,3746,0.00,2.20,0.00,0.000,4,0.000,0.063,2603,3484,3559
$GC,3795,-0.95,-194.7,419.4,-8.1,580,3800,0.20,2.10,0.00,0.000,6,0.045,0.039,2495,2115,3559
$GC,4117,-0.60,-194.7,471.4,-16.5,611,4121,0.40,2.25,0.00,0.000,4,0.142,0.056,2622,661,3557
$GC,4185,-0.83,-194.7,478.5,-7.7,617,4194,0.15,2.25,0.00,0.000,6,0.048,0.046,2535,2098,3556
$GC,4510,-0.66,-194.7,520.0,-13.6,642,4511,0.22,0.00,0.00,0.000,6,0.136,0.000,2604,2098,3554
$GC,4814,-0.82,-194.7,548.8,-9.6,657,4818,0.15,2.20,0.00,0.000,4,0.064,0.066,2532,3470,3553
$GC,4937,-0.73,-194.7,565.0,-13.1,662,4943,0.12,2.12,0.00,0.000,6,0.132,0.042,2578,2099,3551
$GC,5247,-0.80,-194.7,593.0,-8.1,678,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2096,3550
$GC,5552,-0.87,-194.7,615.0,-6.9,693,5556,0.12,2.25,0.00,0.000,4,0.074,0.068,2518,3477,3548
$GC,5574,-0.82,-194.7,616.8,-9.3,694,5578,0.08,2.12,0.00,0.000,6,0.144,0.044,2558,2105,3547
$GC,5899,-0.82,-194.7,644.7,-8.5,710,5904,0.00,2.28,0.00,0.000,4,0.000,0.059,2558,676,3545
$GC,5979,-0.82,-194.7,652.0,-9.5,713,5987,0.00,2.25,0.00,0.000,6,0.000,0.050,2556,2100,3545
$GC,6290,-0.82,-194.7,679.5,-9.1,729,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2100,3543
$GC,6594,-0.82,-194.7,709.4,-10.1,744,6599,0.00,2.22,0.00,0.000,4,0.000,0.069,2550,3471,3541
$GC,6621,-0.82,-194.7,711.9,-10.7,745,6625,0.00,2.15,0.00,0.000,6,0.000,0.044,2550,2093,3540
$GC,6942,-0.82,-194.7,743.6,-10.0,761,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2091,3539
$GC,7247,-0.82,-194.7,771.2,-8.9,776,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2090,3537
$GC,7552,-0.82,-194.7,798.1,-9.0,791,7557,0.00,2.28,0.00,0.000,4,0.000,0.071,2550,3471,3535
$GC,7589,-0.82,-194.7,801.3,-8.9,792,7597,0.00,2.12,0.00,0.000,6,0.000,0.045,2550,2113,3535
$GC,7900,-0.82,-194.7,827.6,-8.7,808,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2112,3535
$GC,8206,-0.82,-194.7,850.1,-7.0,823,8210,0.00,2.22,0.00,0.000,4,0.000,0.072,2550,3476,3533
$GC,8280,-0.88,-194.7,854.9,-6.1,826,8284,0.00,2.12,0.00,0.000,6,0.000,0.047,2550,2123,3532
$GC,8595,-0.88,-194.7,876.8,-6.8,842,8600,0.00,2.22,0.00,0.000,4,0.000,0.071,2551,3472,3531
$GC,8632,-0.88,-194.7,879.7,-7.3,843,8640,0.00,2.10,0.00,0.000,6,0.000,0.045,2550,2126,3531
$GC,8943,-0.88,-194.7,903.9,-8.1,859,8947,0.00,2.22,0.00,0.000,4,0.000,0.071,2550,3474,3530
$GC,8980,-0.93,-194.7,907.1,-8.6,860,8986,0.00,2.10,0.00,0.000,6,0.000,0.045,2550,2127,3530
$GC,9290,-0.93,-194.7,934.0,-8.7,876,9295,0.00,2.33,0.00,0.000,4,0.000,0.062,2549,675,3529
$GC,9316,-0.93,-194.7,936.4,-10.5,877,9321,0.00,2.30,0.00,0.000,6,0.000,0.053,2550,2118,3529
$GC,9637,-0.93,-194.7,966.0,-9.4,893,9638,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2117,3528
$STATE,9900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9900,begin apogee
$GC,9904,-0.20,0.0,991.4,9.5,906,10065,0.62,0.00,156.40,1.386,6,0.127,0.000,2758,2521,2759
$STATE,10065,end apogee,CONTROL_FINISHED_OK
$STATE,10065,begin climb
$GC,10067,0.85,194.7,998.6,0.0,914,10239,0.93,2.45,165.30,1.342,4,0.047,0.060,3119,1130,1964
$GC,10292,0.23,194.7,971.7,20.6,924,10300,0.77,2.40,0.00,0.000,6,0.176,0.055,2900,2519,1959
$GC,10603,0.33,206.7,940.6,9.6,940,10618,0.00,2.33,10.85,1.167,4,0.000,0.058,2907,1126,1915
$GC,10676,0.46,206.7,933.5,10.2,942,10684,0.12,2.33,0.00,0.000,6,0.059,0.053,2976,2519,1913
$GC,10987,0.26,206.7,890.6,13.9,958,10988,0.25,0.00,0.00,0.000,6,0.148,0.000,2903,2519,1912
$GC,11293,0.41,243.8,862.5,8.7,973,11330,0.15,2.35,32.78,1.266,4,0.075,0.059,2978,1120,1765
$GC,11350,0.29,243.8,855.6,11.9,975,11358,0.17,2.35,0.00,0.000,6,0.146,0.051,2922,2517,1761
$GC,11662,0.37,253.2,824.7,9.7,991,11672,0.00,0.00,9.15,1.138,6,0.000,0.000,2922,2518,1726
$GC,11967,0.46,253.2,792.0,11.7,1006,11971,0.12,2.28,0.00,0.000,4,0.080,0.058,2984,1128,1724
$GC,12009,0.34,253.2,785.7,15.3,1008,12014,0.15,2.28,0.00,0.000,6,0.143,0.051,2935,2518,1722
$GC,12335,0.34,253.2,745.8,11.4,1024,12339,0.00,1.90,0.00,0.000,4,0.000,0.068,2935,3683,1722
$GC,12372,0.34,253.2,740.9,13.3,1025,12380,0.00,1.85,0.00,0.000,6,0.000,0.045,2942,2516,1722
$GC,12682,0.34,253.2,704.8,11.7,1041,12687,0.00,2.25,0.00,0.000,4,0.000,0.056,2952,1117,1722
$GC,12725,0.34,253.2,700.1,11.6,1043,12729,0.00,2.25,0.00,0.000,6,0.000,0.051,2952,2512,1721
$GC,13051,0.34,253.2,658.9,13.1,1059,13055,0.00,2.25,0.00,0.000,4,0.000,0.054,2961,1117,1721
$GC,13109,0.34,253.2,651.2,13.1,1061,13118,0.08,2.22,0.00,0.000,6,0.146,0.051,2935,2496,1720
$GC,13420,0.40,253.2,616.0,11.3,1077,13424,0.00,2.22,0.00,0.000,4,0.000,0.056,2944,1116,1720
$GC,13478,0.49,253.2,609.7,10.9,1079,13485,0.00,2.17,0.00,0.000,6,0.000,0.051,2944,2473,1720
$GC,13788,0.51,274.6,578.3,9.3,1095,13812,0.12,2.25,19.00,1.100,4,0.080,0.056,3008,1122,1638
$GC,13842,0.36,274.6,571.9,12.9,1097,13847,0.20,2.20,0.00,0.000,6,0.146,0.050,2943,2471,1637
$GC,14159,0.43,281.8,539.2,9.8,1113,14167,0.00,0.00,7.55,0.966,6,0.000,0.000,2943,2473,1609
$GC,14485,0.51,281.8,505.0,10.8,1129,14486,0.12,0.00,0.00,0.000,6,0.078,0.000,2996,2473,1607
$GC,14795,0.37,281.8,464.7,13.4,1157,14799,0.20,2.15,0.00,0.000,4,0.150,0.055,2948,1119,1607
$GC,14847,0.55,301.8,459.1,9.3,1162,14871,0.10,2.20,18.58,1.012,6,0.062,0.051,3002,2488,1528
$GC,15178,0.43,301.8,410.4,14.4,1194,15183,0.17,1.95,0.00,0.000,4,0.147,0.065,2954,3685,1525
$GC,15269,0.49,301.8,399.8,10.7,1202,15276,0.00,1.90,0.00,0.000,6,0.000,0.043,2960,2472,1525
$GC,15586,0.59,301.8,366.2,10.8,1233,15589,0.15,2.12,0.00,0.000,4,0.071,0.054,3033,1118,1524
$GC,15744,0.45,301.8,341.2,15.8,1248,15749,0.20,2.15,0.00,0.000,6,0.139,0.049,2968,2459,1523
$GC,16066,0.59,316.8,306.9,9.5,1279,16088,0.12,2.20,13.48,0.880,4,0.074,0.054,3030,1121,1466
$GC,16102,0.51,316.8,302.6,12.0,1282,16110,0.12,2.12,0.00,0.000,6,0.132,0.048,2988,2444,1465
$GC,16428,0.58,316.8,268.1,11.4,1341,16429,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2444,1465
$GC,16749,0.68,324.1,232.8,9.7,1401,16762,0.15,2.10,7.97,0.753,4,0.070,0.052,3061,1122,1435
$GC,16869,0.52,324.1,217.6,11.9,1423,16875,0.25,2.08,0.00,0.000,6,0.146,0.047,2988,2445,1434
$GC,17194,0.73,324.1,189.4,10.7,1484,17201,0.17,1.98,0.00,0.000,4,0.061,0.061,3067,3682,1434
$GC,17232,0.50,324.1,183.9,14.0,1491,17239,0.28,1.95,0.00,0.000,6,0.130,0.041,2983,2426,1434
$GC,17559,0.83,398.1,156.7,7.4,1552,17625,0.28,2.17,60.67,0.751,4,0.051,0.051,3118,1111,1135
$GC,17848,0.70,398.1,108.8,16.2,1604,17855,0.22,2.08,0.00,0.000,6,0.133,0.044,3044,2406,1130
$GC,18175,1.03,504.9,77.8,6.3,1665,18266,0.28,2.15,85.70,0.669,4,0.047,0.056,3170,3682,699
$GC,18308,0.76,504.9,56.0,22.5,1687,18314,0.32,2.05,0.00,0.000,6,0.133,0.038,3061,2397,697
$GC,18634,1.29,612.1,29.6,6.3,1748,18687,0.45,2.10,48.30,0.614,4,0.039,0.048,3263,1111,481
$STATE,18748,end climb,SURFACE_DEPTH_REACHED
$STATE,18749,begin surface coast
$FINISH,1.5,1.022380
$STATE,18759,end surface coast,CONTROL_FINISHED_OK
$STATE,18759,begin surface
$SM_CCo,18834,0.00,0.000,0,0,466,562.47
$SM_GC,2.11,8.07,0.00,0.00,0.038,0.000,0.000,159,2071,466,-8.23,0.00,562.47
$IRIDIUM_FIX,2453.69,12239.40,230898,080803
$TT8_MAMPS,0.049088
$HUMID,1515
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.90
$XPDR_PINGS,74
$24V_AH,23.5,13.982
$10V_AH,10.7,11.011
$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,29.825,165.900,635.725,0.000,0.000,29.985,30.741,214.811,26.500,0.000,0.000,14.813,0.000,13832.002,802.332,4062.174,483.947,0.000,2331.836,0.000,3428.220,0.000,53.960,0.000
$DEVICE_MAMPS,233.935,72.098,1385.969,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1198.736,1200.405,1872.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101105,1770
$CAP_FILE_SIZE,195245,0
$CFSIZE,260165632,253669376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137, 27.2,1
$GPS,290509,185507,2507.770,12239.066,30,0.9,30,-3.6