version: 66.04
glider: 165
mission: 2
dive: 51
start: 5 29 109 19 1 37
data:
$ID,165
$MISSION,2
$DIVE,51
$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,-116868.83
$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,34
$R_STBD_OVSHOOT,23
$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
$GPS1,185507,2507.770,12239.066,30,0.9,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-65.9
$GPS2,190132,2507.901,12239.065,12,1.7,12,-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,302.4,39451,-15.7,-10.000
$D_GRID,1198
$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,-194.7,0.0,0.0,0,85,0.00,0.00,-70.45,0.000,2,0.000,0.000,159,2074,2193
$GC,87,-0.85,-194.7,3.1,-4.4,11,138,9.25,2.25,-36.30,0.000,4,0.237,0.067,2526,3483,3555
$GC,201,-0.07,-194.7,33.0,-35.5,31,208,0.82,2.22,0.00,0.000,6,0.149,0.038,2788,2063,3556
$GC,528,-0.49,-194.7,57.6,-4.3,92,534,0.35,2.28,0.00,0.000,4,0.042,0.055,2618,3480,3557
$GC,581,-0.11,-194.7,65.9,-19.9,102,588,0.45,2.15,0.00,0.000,6,0.127,0.035,2771,2079,3557
$GC,908,-0.83,-194.7,89.5,-7.0,163,915,0.60,2.20,0.00,0.000,4,0.072,0.054,2546,3484,3558
$GC,962,-0.35,-194.7,97.1,-18.9,173,969,0.45,2.12,0.00,0.000,6,0.132,0.041,2699,2088,3558
$GC,1289,-0.54,-194.7,129.6,-7.5,234,1296,0.15,2.17,0.00,0.000,4,0.060,0.050,2618,681,3559
$GC,1306,-0.62,-194.7,131.3,-8.9,237,1312,0.00,2.22,0.00,0.000,6,0.000,0.041,2617,2113,3559
$GC,1632,-0.36,-194.7,178.8,-15.8,298,1640,0.28,2.25,0.00,0.000,4,0.132,0.049,2707,679,3560
$GC,1698,-0.78,-194.7,184.7,-6.0,310,1706,0.30,2.17,0.00,0.000,6,0.036,0.039,2527,2091,3560
$GC,2027,-0.26,-194.7,251.9,-20.1,371,2032,0.60,0.00,0.00,0.000,6,0.141,0.000,2726,2091,3560
$GC,2351,-0.97,-194.7,277.6,-9.2,432,2359,0.57,2.17,0.00,0.000,4,0.056,0.056,2494,3473,3561
$GC,2384,-0.78,-194.7,281.4,-12.3,438,2391,0.20,2.10,0.00,0.000,6,0.132,0.036,2563,2085,3561
$GC,2709,-0.59,-194.7,327.5,-12.6,481,2713,0.20,2.17,0.00,0.000,4,0.132,0.052,2629,681,3561
$GC,2757,-0.76,-194.7,331.6,-7.6,485,2765,0.12,2.17,0.00,0.000,6,0.046,0.041,2548,2089,3561
$GC,3073,-0.54,-194.7,371.5,-13.5,516,3077,0.30,2.20,0.00,0.000,4,0.129,0.051,2645,682,3560
$GC,3126,-0.82,-194.7,375.9,-6.9,521,3130,0.20,2.15,0.00,0.000,6,0.041,0.042,2532,2070,3559
$GC,3446,-0.62,-194.7,415.2,-11.5,552,3451,0.28,2.22,0.00,0.000,4,0.130,0.060,2616,3469,3558
$GC,3558,-0.90,-194.7,422.4,-5.8,562,3565,0.20,2.10,0.00,0.000,6,0.041,0.038,2506,2088,3556
$GC,3874,-0.59,-194.7,467.3,-15.3,593,3875,0.38,0.00,0.00,0.000,6,0.135,0.000,2627,2084,3554
$GC,4185,-0.87,-194.7,486.2,-5.9,623,4189,0.22,2.20,0.00,0.000,4,0.052,0.063,2520,3471,3552
$GC,4221,-0.70,-194.7,489.9,-11.4,626,4228,0.20,2.15,0.00,0.000,6,0.127,0.040,2590,2074,3551
$GC,4544,-0.80,-194.7,515.8,-7.7,648,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2074,3549
$GC,4849,-0.89,-194.7,540.7,-8.5,663,4854,0.17,2.22,0.00,0.000,4,0.064,0.058,2508,666,3546
$GC,4886,-0.63,-194.7,545.6,-14.7,664,4893,0.30,2.22,0.00,0.000,6,0.136,0.049,2609,2076,3545
$GC,5196,-0.84,-194.7,571.3,-7.4,680,5201,0.17,2.25,0.00,0.000,4,0.059,0.056,2527,661,3543
$GC,5217,-0.84,-194.7,573.5,-10.9,681,5221,0.00,2.22,0.00,0.000,6,0.000,0.047,2523,2079,3543
$GC,5544,-0.66,-194.7,614.0,-12.2,697,5548,0.25,2.22,0.00,0.000,4,0.140,0.057,2602,678,3540
$GC,5575,-0.78,-194.7,617.1,-8.2,698,5580,0.08,2.20,0.00,0.000,6,0.061,0.048,2550,2081,3540
$GC,5891,-0.78,-194.7,645.8,-7.8,714,5895,0.00,2.25,0.00,0.000,4,0.000,0.067,2550,3472,3538
$GC,5992,-0.78,-194.7,653.0,-7.3,718,5999,0.00,2.15,0.00,0.000,6,0.000,0.042,2550,2082,3537
$GC,6303,-0.78,-194.7,680.2,-9.1,734,6307,0.00,2.25,0.00,0.000,4,0.000,0.065,2550,3469,3535
$GC,6328,-0.78,-194.7,682.8,-10.6,735,6333,0.00,2.15,0.00,0.000,6,0.000,0.042,2550,2080,3535
$GC,6650,-0.78,-194.7,714.8,-10.8,751,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2077,3532
$GC,6955,-0.78,-194.7,744.5,-9.8,766,6959,0.00,2.28,0.00,0.000,4,0.000,0.069,2549,3469,3531
$GC,7013,-0.78,-194.7,749.8,-9.1,768,7025,0.00,2.12,0.00,0.000,6,0.000,0.044,2550,2099,3531
$GC,7324,-0.78,-194.7,779.3,-9.4,784,7328,0.00,2.25,0.00,0.000,4,0.000,0.069,2550,3470,3528
$GC,7366,-0.78,-194.7,783.1,-9.1,786,7370,0.00,2.12,0.00,0.000,6,0.000,0.044,2550,2102,3528
$GC,7693,-0.78,-194.7,813.1,-9.4,802,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2099,3527
$GC,7999,-0.78,-194.7,843.3,-9.9,817,8002,0.00,2.22,0.00,0.000,4,0.000,0.071,2549,3473,3525
$GC,8035,-0.78,-194.7,846.9,-9.6,818,8041,0.00,2.15,0.00,0.000,6,0.000,0.045,2549,2096,3525
$GC,8345,-0.78,-194.7,877.3,-10.0,834,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2094,3524
$GC,8650,-0.78,-194.7,907.7,-10.1,849,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2092,3522
$GC,8955,-0.78,-194.7,937.4,-9.2,864,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2092,3521
$GC,9261,-0.78,-194.7,964.1,-8.8,879,9265,0.00,2.28,0.00,0.000,4,0.000,0.073,2550,3472,3519
$GC,9293,-0.78,-194.7,967.0,-9.0,880,9297,0.00,2.12,0.00,0.000,6,0.000,0.047,2550,2109,3518
$STATE,9545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9545,begin apogee
$GC,9549,-0.20,0.0,991.4,9.3,893,9709,0.60,0.00,154.65,1.380,6,0.124,0.000,2751,2516,2758
$STATE,9710,end apogee,CONTROL_FINISHED_OK
$STATE,9710,begin climb
$GC,9711,0.85,194.7,997.3,0.0,901,9884,0.93,2.08,164.62,1.337,4,0.047,0.071,3103,3681,1964
$GC,10071,0.12,194.7,933.9,25.3,918,10075,0.80,1.88,0.00,0.000,6,0.173,0.047,2866,2530,1958
$GC,10398,0.48,302.7,909.7,6.3,934,10497,0.30,2.45,92.78,1.281,4,0.056,0.059,3000,1119,1523
$GC,10577,0.36,302.7,884.9,13.7,942,10582,0.20,2.35,0.00,0.000,6,0.144,0.052,2938,2513,1517
$GC,10893,0.44,302.7,850.2,10.3,958,10897,0.00,2.30,0.00,0.000,4,0.000,0.057,2947,1120,1515
$GC,10946,0.54,302.9,844.6,10.0,960,10950,0.10,2.28,0.00,0.000,6,0.064,0.051,3002,2506,1513
$GC,11262,0.34,302.9,794.1,16.3,976,11266,0.25,2.25,0.00,0.000,4,0.146,0.056,2938,1105,1513
$GC,11282,0.34,302.9,791.2,13.7,977,11287,0.00,2.25,0.00,0.000,6,0.000,0.051,2938,2495,1512
$GC,11609,0.44,302.9,756.0,11.1,993,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2495,1512
$GC,11914,0.53,302.9,721.8,11.1,1008,11918,0.15,2.22,0.00,0.000,4,0.074,0.057,3013,1114,1512
$GC,11951,0.39,302.9,716.2,16.7,1009,11959,0.20,2.20,0.00,0.000,6,0.145,0.051,2949,2485,1510
$GC,12262,0.43,302.9,679.8,11.4,1025,12266,0.00,1.95,0.00,0.000,4,0.000,0.067,2949,3687,1510
$GC,12309,0.43,302.9,673.9,12.8,1027,12314,0.00,1.90,0.00,0.000,6,0.000,0.044,2955,2479,1510
$GC,12630,0.43,302.9,635.8,11.6,1043,12634,0.00,2.17,0.00,0.000,4,0.000,0.057,2965,1121,1510
$GC,12662,0.49,302.9,632.1,10.1,1044,12667,0.00,2.20,0.00,0.000,6,0.000,0.051,2965,2494,1509
$GC,12978,0.49,302.9,592.9,12.5,1060,12982,0.00,2.20,0.00,0.000,4,0.000,0.055,2973,1126,1509
$GC,13009,0.49,302.9,588.6,13.5,1061,13014,0.00,2.15,0.00,0.000,6,0.000,0.051,2973,2476,1509
$GC,13325,0.49,302.9,540.7,14.1,1077,13329,0.00,2.17,0.00,0.000,4,0.000,0.057,2982,1126,1509
$GC,13415,0.49,302.9,528.3,14.0,1081,13420,0.00,2.12,0.00,0.000,6,0.000,0.051,2982,2463,1508
$GC,13728,0.41,302.9,482.6,15.3,1102,13733,0.00,2.15,0.00,0.000,4,0.000,0.056,2992,1123,1509
$GC,13803,0.35,302.9,471.4,15.2,1109,13807,0.17,2.10,0.00,0.000,6,0.146,0.051,2935,2447,1508
$GC,14124,0.55,321.0,437.7,9.4,1140,14147,0.17,2.17,14.18,0.988,4,0.066,0.056,3021,1120,1449
$GC,14172,0.43,321.0,430.9,15.7,1144,14180,0.17,2.15,0.00,0.000,6,0.138,0.049,2965,2458,1448
$GC,14488,0.51,321.0,394.5,10.7,1175,14492,0.00,2.00,0.00,0.000,4,0.000,0.066,2964,3694,1448
$GC,14595,0.51,321.0,381.8,12.8,1185,14599,0.00,1.90,0.00,0.000,6,0.000,0.044,2970,2468,1448
$GC,14916,0.58,321.0,344.4,10.6,1216,14920,0.10,2.10,0.00,0.000,4,0.084,0.054,3025,1117,1448
$GC,15027,0.49,321.0,328.0,14.5,1226,15034,0.12,2.15,0.00,0.000,6,0.139,0.048,2983,2468,1447
$GC,15346,0.49,321.0,289.0,11.6,1266,15353,0.00,1.95,0.00,0.000,4,0.000,0.064,2983,3687,1447
$GC,15448,0.49,321.0,275.3,14.0,1285,15455,0.00,1.88,0.00,0.000,6,0.000,0.042,2989,2469,1447
$GC,15774,0.49,321.0,233.0,12.6,1346,15782,0.00,2.12,0.00,0.000,4,0.000,0.052,2998,1114,1447
$GC,15813,0.56,321.0,228.5,11.7,1353,15820,0.00,2.15,0.00,0.000,6,0.000,0.048,2998,2476,1447
$GC,16140,0.57,328.4,191.6,9.7,1414,16153,0.00,2.12,7.72,0.739,4,0.000,0.052,3008,1123,1419
$GC,16254,0.66,352.9,180.6,9.2,1435,16280,0.00,2.12,21.48,0.795,6,0.000,0.048,3007,2466,1319
$GC,16600,0.73,352.9,140.0,13.7,1499,16606,0.12,2.15,0.00,0.000,4,0.077,0.051,3076,1120,1317
$GC,16701,0.54,352.9,123.8,14.8,1518,16708,0.25,2.12,0.00,0.000,6,0.140,0.047,2994,2456,1315
$GC,17028,0.87,410.6,93.6,8.0,1579,17080,0.28,2.22,47.17,0.713,4,0.050,0.051,3131,1114,1084
$GC,17154,0.66,410.6,70.4,18.1,1601,17162,0.30,2.12,0.00,0.000,6,0.137,0.045,3033,2434,1080
$GC,17482,1.05,472.9,40.1,7.8,1662,17539,0.32,2.15,50.38,0.655,4,0.042,0.050,3192,1110,830
$GC,17586,0.81,472.9,22.7,17.1,1680,17593,0.35,2.10,0.00,0.000,6,0.138,0.044,3081,2408,828
$STATE,17793,end climb,SURFACE_DEPTH_REACHED
$STATE,17793,begin surface coast
$FINISH,1.8,1.021829
$STATE,17836,end surface coast,CONTROL_FINISHED_OK
$STATE,17836,begin surface
$SM_CCo,17909,0.00,0.000,0,0,823,474.90
$SM_GC,2.45,7.50,0.00,0.00,0.037,0.000,0.000,164,2055,823,-8.22,-0.45,474.90
$IRIDIUM_FIX,2456.07,12239.40,230898,131335
$TT8_MAMPS,0.048321
$HUMID,1528
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.00
$XPDR_PINGS,135
$24V_AH,23.6,14.189
$10V_AH,10.7,11.166
$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,30.500,165.725,552.975,0.000,0.000,26.454,32.878,221.156,41.750,0.000,0.000,14.169,0.000,13009.626,762.167,3997.708,490.631,0.000,2260.409,0.000,3382.369,0.000,53.996,0.000
$DEVICE_MAMPS,237.003,72.865,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1171.080,1216.798,1912.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97945,1727
$CAP_FILE_SIZE,189631,0
$CFSIZE,260165632,253575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 73.0,1
$GPS,300509,000101,2509.771,12237.017,36,1.4,36,-3.6