version: 66.04
glider: 165
mission: 2
dive: 305
start: 7 15 109 15 35 50
data:
$ID,165
$MISSION,2
$DIVE,305
$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,413
$T_MISSION,495
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,475
$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,-123478.76
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.034000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$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,2854
$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,25
$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
$GPS1,152624,2546.201,12423.067,23,1.3,41,-4.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-72.5
$GPS2,153544,2546.404,12423.487,10,1.3,10,-4.0
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2508.400,12448.900
$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,197.8,82276,-13.7,-7.990
$D_GRID,831
$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,14,-0.86,-170.3,0.0,0.0,0,59,0.00,0.00,-44.03,0.000,2,0.000,0.000,149,2105,2038
$GC,62,-0.86,-170.3,3.3,-3.2,7,119,9.45,2.17,-40.25,0.000,4,0.230,0.056,2525,747,3550
$GC,178,-0.36,-170.3,23.7,-21.4,27,184,0.50,2.20,0.00,0.000,6,0.137,0.040,2689,2139,3551
$GC,505,-0.69,-170.3,58.6,-9.2,88,512,0.25,2.22,0.00,0.000,4,0.099,0.050,2567,3552,3553
$GC,618,-0.45,-170.3,72.1,-12.5,109,625,0.25,2.12,0.00,0.000,6,0.109,0.033,2658,2150,3552
$GC,945,-0.69,-170.3,102.8,-9.0,170,951,0.20,2.22,0.00,0.000,4,0.048,0.053,2547,3553,3553
$GC,1081,-0.48,-170.3,120.3,-14.5,195,1087,0.32,2.03,0.00,0.000,6,0.110,0.032,2656,2216,3554
$GC,1408,-0.79,-170.3,148.8,-8.3,256,1416,0.25,2.28,0.00,0.000,4,0.064,0.043,2534,739,3555
$GC,1437,-0.87,-170.3,151.7,-9.5,261,1443,0.00,2.33,0.00,0.000,6,0.000,0.042,2534,2239,3555
$GC,1764,-0.67,-170.3,188.8,-11.2,322,1770,0.17,0.00,0.00,0.000,6,0.129,0.000,2593,2239,3555
$GC,2090,-0.85,-170.3,218.2,-9.6,383,2096,0.15,2.05,0.00,0.000,4,0.054,0.054,2505,3539,3555
$GC,2154,-0.71,-170.3,225.8,-12.3,395,2160,0.22,1.98,0.00,0.000,6,0.117,0.033,2577,2211,3555
$GC,2480,-0.84,-170.3,255.2,-7.4,456,2488,0.12,2.15,0.00,0.000,4,0.062,0.061,2501,3534,3555
$GC,2612,-0.61,-170.3,268.9,-10.9,480,2619,0.30,1.88,0.00,0.000,6,0.115,0.036,2617,2299,3555
$GC,2940,-0.87,-170.3,295.4,-8.4,541,2945,0.20,1.98,0.00,0.000,4,0.052,0.056,2507,3537,3554
$GC,3025,-0.74,-170.3,304.5,-11.6,554,3029,0.17,1.80,0.00,0.000,6,0.111,0.035,2570,2346,3554
$GC,3346,-0.85,-170.3,331.6,-7.5,585,3349,0.00,1.90,0.00,0.000,4,0.000,0.058,2570,3538,3553
$GC,3415,-0.94,-170.3,336.9,-7.1,591,3421,0.15,1.75,0.00,0.000,6,0.039,0.034,2468,2369,3552
$GC,3730,-0.63,-170.3,373.2,-12.3,622,3734,0.43,1.88,0.00,0.000,4,0.127,0.059,2602,3548,3551
$GC,3756,-0.63,-170.3,375.4,-7.9,624,3765,0.00,1.75,0.00,0.000,6,0.000,0.035,2603,2389,3551
$GC,4075,-0.94,-170.3,397.9,-7.1,655,4079,0.22,2.58,0.00,0.000,4,0.051,0.046,2484,746,3550
$GC,4111,-0.75,-170.3,401.7,-10.6,658,4115,0.20,2.62,0.00,0.000,6,0.120,0.045,2564,2400,3549
$GC,4434,-0.91,-170.3,425.7,-7.7,689,4438,0.15,2.60,0.00,0.000,4,0.058,0.046,2478,752,3546
$GC,4481,-0.64,-170.3,430.7,-10.9,693,4486,0.40,2.55,0.00,0.000,6,0.130,0.046,2602,2369,3546
$GC,4797,-0.98,-170.3,454.4,-6.6,723,4800,0.28,1.88,0.00,0.000,4,0.054,0.059,2477,3552,3543
$GC,4865,-0.73,-170.3,460.6,-10.7,729,4872,0.28,1.75,0.00,0.000,6,0.118,0.037,2572,2396,3543
$GC,5181,-0.92,-170.3,480.7,-6.6,760,5185,0.17,1.85,0.00,0.000,4,0.054,0.061,2474,3535,3541
$GC,5332,-0.70,-170.3,495.6,-9.9,774,5335,0.35,1.62,0.00,0.000,6,0.122,0.037,2584,2435,3539
$GC,5661,-0.96,-170.3,519.9,-7.5,793,5664,0.20,1.77,0.00,0.000,4,0.054,0.061,2481,3539,3537
$GC,5697,-0.83,-170.3,523.7,-10.0,794,5703,0.15,1.62,0.00,0.000,6,0.121,0.037,2534,2461,3536
$GC,6009,-0.94,-170.3,550.1,-8.1,810,6012,0.00,2.72,0.00,0.000,4,0.000,0.049,2535,745,3534
$GC,6067,-0.90,-170.3,555.4,-9.5,813,6070,0.00,2.72,0.00,0.000,6,0.000,0.048,2535,2463,3534
$GC,6388,-1.00,-170.3,583.4,-8.2,829,6391,0.15,1.73,0.00,0.000,4,0.059,0.064,2454,3538,3531
$GC,6601,-0.72,-170.3,607.7,-11.6,839,6605,0.35,1.60,0.00,0.000,6,0.130,0.038,2570,2493,3530
$GC,6929,-0.94,-170.3,631.3,-7.4,855,6933,0.17,1.70,0.00,0.000,4,0.058,0.065,2478,3540,3528
$GC,6982,-0.80,-170.3,636.4,-10.4,857,6986,0.20,1.60,0.00,0.000,6,0.122,0.038,2547,2497,3526
$GC,7298,-0.98,-170.3,660.0,-7.0,873,7301,0.15,1.70,0.00,0.000,4,0.061,0.066,2464,3530,3524
$GC,7351,-0.80,-170.3,664.8,-9.8,875,7354,0.25,1.58,0.00,0.000,6,0.125,0.039,2549,2502,3524
$GC,7666,-0.95,-170.3,686.3,-7.0,891,7671,0.12,2.80,0.00,0.000,4,0.069,0.051,2477,747,3523
$GC,7683,-1.01,-170.3,687.6,-7.8,892,7687,0.00,2.80,0.00,0.000,6,0.000,0.049,2468,2491,3522
$GC,8003,-0.74,-170.3,723.6,-11.2,908,8007,0.32,1.70,0.00,0.000,4,0.137,0.066,2564,3527,3521
$GC,8051,-0.82,-170.3,727.1,-6.4,910,8055,0.00,1.58,0.00,0.000,6,0.000,0.039,2564,2498,3520
$GC,8373,-1.05,-170.3,746.9,-6.1,926,8376,0.25,1.73,0.00,0.000,4,0.050,0.066,2441,3538,3519
$GC,8473,-0.73,-170.3,757.9,-13.0,930,8480,0.40,1.60,0.00,0.000,6,0.133,0.038,2571,2497,3518
$GC,8785,-0.97,-170.3,777.9,-6.4,946,8788,0.20,1.70,0.00,0.000,4,0.056,0.065,2468,3541,3518
$GC,8832,-0.83,-170.3,782.3,-10.1,948,8836,0.20,1.60,0.00,0.000,6,0.128,0.038,2536,2499,3516
$GC,9156,-0.79,-170.3,807.5,-8.0,964,9160,0.00,2.80,0.00,0.000,4,0.000,0.052,2537,749,3515
$GC,9230,-0.79,-170.3,813.8,-8.1,967,9236,0.00,2.78,0.00,0.000,6,0.000,0.050,2537,2472,3516
$STATE,9477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9477,begin apogee
$GC,9483,-0.24,0.0,831.1,6.6,980,9621,0.57,0.00,135.80,1.278,6,0.093,0.000,2739,2472,2854
$STATE,9621,end apogee,CONTROL_FINISHED_OK
$STATE,9622,begin climb
$GC,9624,0.86,170.3,837.8,0.0,987,9774,0.95,2.15,143.38,1.240,4,0.050,0.066,3097,3678,2157
$GC,9827,0.26,170.3,825.9,16.0,996,9831,0.70,1.95,0.00,0.000,6,0.164,0.040,2900,2478,2154
$GC,10143,0.30,205.5,801.7,6.9,1012,10179,0.00,2.40,29.83,1.199,4,0.000,0.054,2902,1044,2015
$GC,10262,0.44,259.2,794.4,6.3,1017,10314,0.15,2.25,47.10,1.205,6,0.061,0.048,2984,2432,1797
$GC,10618,0.30,259.2,758.1,10.4,1035,10622,0.25,2.25,0.00,0.000,4,0.132,0.052,2917,1038,1790
$GC,10650,0.40,274.5,755.5,7.5,1036,10667,0.00,2.25,14.15,1.128,6,0.000,0.046,2917,2425,1734
$GC,10985,0.56,285.9,730.5,7.6,1053,11000,0.17,2.05,11.20,1.101,4,0.053,0.061,3017,3684,1688
$GC,11133,0.30,285.9,709.9,15.3,1059,11137,0.40,2.10,0.00,0.000,6,0.140,0.041,2906,2347,1686
$GC,11454,0.53,285.9,680.7,9.0,1075,11458,0.20,2.20,0.00,0.000,4,0.051,0.061,3010,3696,1684
$GC,11577,0.28,285.9,663.1,15.8,1080,11584,0.32,2.25,0.00,0.000,6,0.130,0.041,2904,2270,1684
$GC,11887,0.53,285.9,634.1,8.9,1096,11891,0.20,2.30,0.00,0.000,4,0.050,0.060,3009,3687,1683
$GC,12022,0.29,285.9,616.3,12.6,1102,12026,0.38,2.30,0.00,0.000,6,0.138,0.041,2906,2218,1683
$GC,12332,0.53,285.9,591.5,8.2,1117,12336,0.20,1.83,0.00,0.000,4,0.048,0.052,3010,1030,1683
$GC,12342,0.70,285.9,590.7,8.3,1117,12345,0.00,1.80,0.00,0.000,6,0.000,0.044,3010,2162,1681
$GC,12658,0.53,285.9,555.4,10.7,1133,12662,0.00,2.47,0.00,0.000,4,0.000,0.060,3010,3693,1681
$GC,12808,0.29,285.9,536.9,10.6,1140,12812,0.38,2.40,0.00,0.000,6,0.138,0.040,2908,2151,1681
$GC,13124,0.61,334.5,515.7,6.5,1156,13170,0.25,1.80,42.83,1.083,4,0.047,0.052,3047,1039,1489
$GC,13331,0.41,334.5,490.6,12.9,1168,13339,0.32,1.75,0.00,0.000,6,0.132,0.043,2943,2124,1484
$GC,13647,0.63,343.0,465.3,7.7,1199,13659,0.20,1.80,8.00,0.923,4,0.050,0.051,3047,1034,1455
$GC,13707,0.42,343.0,458.6,12.9,1204,13714,0.30,1.70,0.00,0.000,6,0.130,0.044,2950,2089,1454
$GC,14022,0.64,343.0,431.2,9.1,1235,14026,0.20,1.67,0.00,0.000,4,0.049,0.052,3051,1029,1454
$GC,14059,0.46,343.0,427.0,13.1,1238,14065,0.25,1.70,0.00,0.000,6,0.130,0.042,2959,2093,1454
$GC,14375,0.65,343.0,399.3,8.3,1269,14376,0.17,0.00,0.00,0.000,6,0.053,0.000,3044,2093,1452
$GC,14688,0.47,343.0,365.2,10.7,1299,14692,0.25,2.60,0.00,0.000,4,0.132,0.057,2963,3698,1452
$GC,14811,0.50,367.8,354.6,7.2,1310,14844,0.00,2.53,22.80,0.962,6,0.000,0.041,2967,2083,1353
$GC,15152,0.73,367.8,326.4,8.7,1343,15156,0.22,2.62,0.00,0.000,4,0.047,0.058,3085,3695,1351
$GC,15221,0.42,367.8,317.6,12.9,1349,15225,0.50,2.53,0.00,0.000,6,0.141,0.040,2946,2089,1351
$GC,15538,0.90,402.0,295.3,6.9,1385,15576,0.38,2.65,30.00,0.910,4,0.054,0.057,3107,3698,1215
$GC,15602,0.62,402.0,287.5,14.4,1396,15608,0.38,2.50,0.00,0.000,6,0.140,0.037,3006,2123,1214
$GC,15929,0.79,404.3,257.5,7.9,1457,15936,0.15,1.75,3.42,0.509,4,0.056,0.048,3098,1038,1204
$GC,16054,0.58,404.3,242.4,13.4,1480,16060,0.28,1.67,0.00,0.000,6,0.130,0.041,2994,2092,1204
$GC,16380,0.89,404.3,211.8,8.8,1541,16386,0.28,2.55,0.00,0.000,4,0.044,0.055,3135,3690,1204
$GC,16402,1.00,404.3,209.6,10.1,1545,16408,0.00,2.50,0.00,0.000,6,0.000,0.036,3146,2073,1203
$GC,16728,0.73,404.3,161.9,14.2,1606,16735,0.32,2.60,0.00,0.000,4,0.136,0.051,3047,3692,1203
$GC,16821,0.67,404.3,151.8,10.2,1623,16827,0.12,2.45,0.00,0.000,6,0.137,0.035,3021,2094,1204
$GC,17148,1.04,438.4,127.0,6.9,1684,17186,0.30,1.67,30.05,0.747,4,0.044,0.047,3180,1042,1064
$GC,17298,0.77,438.4,107.4,14.6,1711,17304,0.32,1.70,0.00,0.000,6,0.130,0.038,3060,2114,1063
$GC,17626,1.16,473.7,83.9,6.9,1772,17664,0.30,1.75,30.05,0.696,4,0.043,0.046,3223,1033,921
$GC,17701,0.88,473.7,74.7,13.2,1785,17707,0.35,1.70,0.00,0.000,6,0.133,0.044,3096,2112,919
$GC,18028,1.11,495.9,47.7,7.3,1846,18054,0.17,1.75,19.25,0.641,4,0.048,0.049,3212,1027,830
$GC,18107,0.90,495.9,39.2,11.8,1860,18113,0.32,1.70,0.00,0.000,6,0.123,0.036,3105,2109,830
$GC,18434,1.18,495.9,12.8,8.7,1921,18440,0.22,1.70,0.00,0.000,4,0.046,0.045,3237,1032,829
$GC,18461,1.24,495.9,10.1,10.2,1926,18469,0.08,1.67,0.00,0.000,6,0.147,0.036,3212,2112,828
$STATE,18526,end climb,SURFACE_DEPTH_REACHED
$STATE,18526,begin surface coast
$FINISH,1.6,1.014895
$STATE,18553,end surface coast,CONTROL_FINISHED_OK
$STATE,18553,begin surface
$SM_CCo,18628,0.00,0.000,0,0,828,496.98
$SM_GC,2.56,7.75,0.00,0.00,0.034,0.000,0.000,154,2117,828,-8.18,-0.51,496.98
$IRIDIUM_FIX,2534.22,12423.86,091098,090913
$TT8_MAMPS,0.048321
$HUMID,1615
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.30
$XPDR_PINGS,389
$24V_AH,23.4,67.679
$10V_AH,10.6,47.485
$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,37.600,181.925,567.850,0.000,0.000,30.568,35.601,337.512,103.750,0.000,0.000,12.706,0.000,12974.343,740.917,4603.566,823.994,0.000,2442.105,0.000,3902.687,0.000,46.007,0.000
$DEVICE_MAMPS,230.100,65.962,1277.822,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1314.931,1366.457,2181.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113548,1943
$CAP_FILE_SIZE,220820,0
$CFSIZE,260165632,230117376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.536, 60.9,1
$GPS,150709,204707,2547.004,12428.210,28,1.3,28,-4.0