version: 66.04
glider: 165
mission: 2
dive: 339
start: 7 22 109 11 42 45
data:
$ID,165
$MISSION,2
$DIVE,339
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,-124330.28
$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,2285
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,52
$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
$GPS1,113454,2535.278,12541.375,23,1.2,41,-4.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-66.7
$GPS2,114238,2535.388,12541.464,12,1.1,12,-4.0
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2510.500,12533.800
$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,202.4,47849,-16.4,-12.000
$D_GRID,1447
$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,13,-1.08,-243.4,0.0,0.0,0,79,0.00,0.00,-64.93,0.000,2,0.000,0.000,154,2305,2059
$GC,82,-1.08,-243.4,3.3,-3.9,10,145,9.00,2.22,-46.62,0.000,4,0.222,0.067,2452,3661,3848
$GC,232,-0.61,-243.4,33.5,-25.9,36,240,0.52,2.10,0.00,0.000,6,0.127,0.035,2617,2263,3849
$GC,560,-0.91,-243.4,75.4,-11.0,97,566,0.25,2.22,0.00,0.000,4,0.043,0.051,2468,3667,3849
$GC,577,-1.07,-243.4,77.5,-11.7,100,585,0.00,2.03,0.00,0.000,6,0.000,0.032,2469,2296,3849
$GC,906,-0.81,-243.4,138.1,-17.7,161,911,0.22,0.00,0.00,0.000,6,0.127,0.000,2545,2296,3850
$GC,1232,-1.00,-243.4,177.9,-12.1,222,1238,0.17,2.15,0.00,0.000,4,0.049,0.044,2446,892,3851
$GC,1250,-1.08,-243.4,180.2,-13.6,225,1255,0.00,2.17,0.00,0.000,6,0.000,0.041,2439,2309,3851
$GC,1576,-0.81,-243.4,232.8,-15.3,286,1582,0.32,2.17,0.00,0.000,4,0.146,0.054,2534,3689,3851
$GC,1635,-0.81,-243.4,239.1,-9.5,297,1641,0.00,2.03,0.00,0.000,6,0.000,0.031,2534,2321,3851
$GC,1961,-0.99,-243.4,268.7,-10.5,358,1967,0.12,2.17,0.00,0.000,4,0.060,0.064,2452,3682,3852
$GC,2031,-0.85,-243.4,277.6,-13.9,371,2037,0.28,1.98,0.00,0.000,6,0.120,0.033,2540,2347,3851
$GC,2353,-1.07,-243.4,313.3,-10.1,420,2354,0.20,0.00,0.00,0.000,6,0.048,0.000,2430,2346,3851
$GC,2663,-0.93,-243.4,352.3,-13.9,450,2667,0.25,2.25,0.00,0.000,4,0.127,0.045,2508,889,3850
$GC,2738,-0.93,-243.4,361.2,-11.9,457,2741,0.00,2.25,0.00,0.000,6,0.000,0.041,2507,2340,3849
$GC,3061,-1.08,-243.4,396.0,-10.2,488,3064,0.12,2.12,0.00,0.000,4,0.060,0.058,2428,3679,3848
$GC,3129,-0.85,-243.4,405.7,-14.9,494,3133,0.30,1.95,0.00,0.000,6,0.119,0.035,2532,2390,3847
$GC,3451,-1.12,-243.4,438.1,-9.7,525,3452,0.22,0.00,0.00,0.000,6,0.044,0.000,2411,2390,3846
$GC,3761,-1.04,-243.4,476.8,-12.5,555,3765,0.20,2.33,0.00,0.000,4,0.130,0.047,2473,893,3843
$GC,3852,-1.04,-243.4,487.3,-11.1,563,3855,0.00,2.38,0.00,0.000,6,0.000,0.044,2468,2404,3842
$GC,4176,-1.16,-243.4,522.7,-11.5,584,4179,0.00,2.38,0.00,0.000,4,0.000,0.045,2468,887,3840
$GC,4265,-1.16,-243.4,534.0,-12.7,588,4269,0.00,2.33,0.00,0.000,6,0.000,0.045,2468,2352,3839
$GC,4587,-1.29,-243.4,568.3,-10.0,604,4591,0.20,2.30,0.00,0.000,4,0.050,0.044,2363,885,3838
$GC,4614,-1.12,-243.4,571.7,-14.3,605,4618,0.30,2.30,0.00,0.000,6,0.153,0.044,2444,2353,3837
$GC,4926,-1.01,-243.4,609.3,-11.9,620,4929,0.12,2.30,0.00,0.000,4,0.145,0.045,2481,889,3835
$GC,4963,-1.01,-243.4,613.8,-10.8,622,4966,0.00,2.28,0.00,0.000,6,0.000,0.044,2481,2338,3835
$GC,5284,-1.16,-243.4,646.3,-9.8,638,5287,0.12,2.15,0.00,0.000,4,0.061,0.062,2407,3685,3833
$GC,5413,-0.96,-243.4,663.0,-13.5,644,5417,0.30,1.92,0.00,0.000,6,0.127,0.036,2502,2400,3831
$GC,5741,-1.22,-243.4,693.6,-9.3,660,5742,0.25,0.00,0.00,0.000,6,0.045,0.000,2378,2394,3830
$GC,6045,-0.91,-243.4,738.6,-15.4,675,6049,0.43,2.10,0.00,0.000,4,0.146,0.064,2507,3683,3827
$GC,6109,-1.03,-243.4,745.0,-9.3,678,6112,0.00,1.90,0.00,0.000,6,0.000,0.037,2507,2418,3826
$GC,6430,-1.29,-243.4,771.0,-8.0,694,6434,0.28,2.05,0.00,0.000,4,0.045,0.063,2368,3676,3824
$GC,6670,-0.97,-243.4,808.2,-16.0,705,6674,0.38,1.83,0.00,0.000,6,0.138,0.038,2489,2482,3821
$GC,6987,-1.20,-243.4,839.1,-9.4,721,6990,0.17,1.95,0.00,0.000,4,0.056,0.064,2397,3682,3820
$GC,7013,-1.15,-243.4,842.2,-12.2,722,7016,0.10,1.77,0.00,0.000,6,0.143,0.038,2431,2522,3819
$GC,7336,-0.99,-243.4,886.1,-13.8,738,7340,0.17,2.60,0.00,0.000,4,0.144,0.049,2491,893,3817
$GC,7394,-1.06,-243.4,893.0,-10.7,741,7397,0.00,2.58,0.00,0.000,6,0.000,0.048,2491,2500,3817
$GC,7721,-1.29,-243.4,921.4,-8.0,757,7724,0.22,1.90,0.00,0.000,4,0.049,0.066,2372,3676,3814
$GC,7758,-1.01,-243.4,925.8,-13.2,758,7764,0.38,1.73,0.00,0.000,6,0.143,0.038,2485,2525,3813
$GC,8067,-1.01,-243.4,954.7,-9.1,774,8071,0.00,2.60,0.00,0.000,4,0.000,0.049,2485,889,3812
$GC,8137,-1.05,-243.4,961.1,-9.3,777,8141,0.00,2.62,0.00,0.000,6,0.000,0.048,2482,2526,3811
$GC,8458,-1.05,-243.4,989.8,-9.1,793,8462,0.00,2.60,0.00,0.000,4,0.000,0.048,2481,898,3809
$STATE,8466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8466,begin apogee
$GC,8473,-0.24,0.0,990.7,9.1,793,8675,0.73,0.00,199.60,1.379,6,0.113,0.000,2730,2292,2854
$STATE,8675,end apogee,CONTROL_FINISHED_OK
$STATE,8675,begin climb
$GC,8678,1.08,243.4,1002.3,0.0,803,8895,1.17,2.42,207.73,1.333,4,0.049,0.061,3170,3694,1860
$GC,8969,0.46,243.4,971.5,20.1,816,8976,0.75,2.22,0.00,0.000,6,0.166,0.042,2965,2322,1856
$GC,9280,0.54,309.9,939.2,9.8,832,9351,0.00,2.45,60.30,1.259,4,0.000,0.054,2973,890,1589
$GC,9440,0.63,330.2,922.2,11.3,839,9472,0.12,2.22,20.75,1.124,6,0.064,0.043,3040,2278,1507
$GC,9778,0.49,330.2,875.0,14.3,856,9781,0.20,2.28,0.00,0.000,4,0.139,0.058,2975,3684,1503
$GC,9809,0.49,330.2,870.8,12.3,857,9812,0.00,2.20,0.00,0.000,6,0.000,0.039,2984,2266,1503
$GC,10124,0.51,343.7,836.1,11.6,873,10146,0.00,2.25,13.02,1.185,4,0.000,0.051,2993,893,1451
$GC,10177,0.57,343.7,829.7,12.3,875,10181,0.00,2.22,0.00,0.000,6,0.000,0.041,2993,2274,1450
$GC,10494,0.58,357.6,792.8,11.5,891,10514,0.00,0.00,13.80,1.182,6,0.000,0.000,2993,2275,1396
$GC,10818,0.64,403.9,757.0,10.5,907,10867,0.00,2.35,42.65,1.225,4,0.000,0.051,3002,897,1206
$GC,10911,0.76,435.9,747.3,10.9,911,10953,0.15,2.20,32.03,1.130,6,0.060,0.041,3090,2260,1076
$GC,11264,0.61,435.9,692.3,15.7,929,11268,0.28,2.17,0.00,0.000,4,0.137,0.051,3016,900,1071
$GC,11290,0.61,435.9,688.8,13.0,930,11294,0.00,2.15,0.00,0.000,6,0.000,0.041,3016,2244,1070
$GC,11613,0.67,435.9,651.5,12.4,946,11616,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,897,1069
$GC,11654,0.73,435.9,645.7,13.4,948,11658,0.00,2.10,0.00,0.000,6,0.000,0.040,3026,2224,1068
$GC,11982,0.89,435.9,602.0,12.1,964,11985,0.17,2.12,0.00,0.000,4,0.055,0.049,3130,888,1067
$GC,12072,0.66,435.9,587.6,16.5,968,12075,0.30,2.03,0.00,0.000,6,0.140,0.041,3023,2161,1067
$GC,12388,0.95,500.6,555.5,9.9,984,12452,0.22,2.60,57.38,1.101,4,0.051,0.057,3141,3683,812
$GC,12553,0.71,500.6,526.6,18.0,991,12559,0.38,2.53,0.00,0.000,6,0.142,0.038,3042,2092,809
$GC,12865,1.09,554.5,492.6,10.2,1010,12925,0.30,2.03,54.03,1.042,4,0.044,0.052,3195,894,589
$GC,13063,0.78,554.5,449.2,20.1,1028,13067,0.38,1.85,0.00,0.000,6,0.141,0.040,3068,2043,576
$GC,13384,1.10,554.5,407.0,12.0,1059,13386,0.25,0.00,0.00,0.000,6,0.044,0.000,3188,2045,573
$GC,13697,0.85,554.5,347.9,19.8,1089,13698,0.35,0.00,0.00,0.000,6,0.137,0.000,3082,2048,572
$GC,14007,1.18,589.6,309.2,10.8,1119,14051,0.25,1.90,29.70,0.800,4,0.044,0.051,3217,900,482
$GC,14068,0.88,589.6,298.5,22.1,1125,14073,0.43,1.75,0.00,0.000,6,0.140,0.038,3091,2021,476
$GC,14394,1.59,637.2,258.4,10.4,1186,14401,0.62,1.80,0.00,0.000,4,0.077,0.048,3325,888,467
$GC,14459,1.01,637.2,242.7,32.6,1198,14466,0.60,1.92,0.00,0.000,6,0.174,0.042,3135,2094,467
$GC,14787,1.01,637.2,192.1,14.6,1259,14793,0.00,2.55,0.00,0.000,4,0.000,0.054,3135,3693,464
$GC,14830,1.01,637.2,185.8,14.8,1267,14836,0.00,2.53,0.00,0.000,6,0.000,0.041,3144,2081,464
$GC,15157,1.06,643.0,143.7,11.8,1328,15162,0.00,1.88,0.00,0.000,4,0.000,0.048,3152,892,463
$GC,15210,1.06,643.0,136.9,12.1,1338,15217,0.00,1.88,0.00,0.000,6,0.000,0.037,3152,2090,462
$GC,15538,1.31,683.2,98.7,10.7,1399,15544,0.17,2.55,0.00,0.000,4,0.051,0.050,3250,3699,462
$GC,15555,1.39,694.0,96.6,11.6,1402,15562,0.00,2.53,0.00,0.000,6,0.000,0.035,3263,2044,462
$GC,15884,1.20,694.0,44.0,16.4,1463,15890,0.20,1.83,0.00,0.000,4,0.147,0.046,3205,887,461
$GC,15937,1.21,701.0,36.7,11.8,1473,15943,0.00,1.83,0.00,0.000,6,0.000,0.035,3205,2069,461
$STATE,16203,end climb,SURFACE_DEPTH_REACHED
$STATE,16203,begin surface coast
$FINISH,1.8,1.019923
$STATE,16224,end surface coast,CONTROL_FINISHED_OK
$STATE,16224,begin surface
$SM_CCo,16300,0.00,0.000,0,0,461,587.00
$SM_GC,2.42,7.70,0.00,0.00,0.034,0.000,0.000,150,2315,461,-8.18,0.88,587.00
$IRIDIUM_FIX,2524.66,12541.98,161098,070713
$TT8_MAMPS,0.048321
$HUMID,1651
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.30
$XPDR_PINGS,409
$24V_AH,22.7,77.171
$10V_AH,10.6,52.551
$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,31.350,152.800,730.975,0.000,0.000,28.124,35.270,262.188,110.250,0.000,0.000,13.967,0.000,11496.671,835.736,3702.893,696.475,0.000,2275.521,0.000,3129.537,0.000,53.991,0.000
$DEVICE_MAMPS,222.430,66.729,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.000,1049.846,1635.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88688,1527
$CAP_FILE_SIZE,179039,0
$CFSIZE,260165632,226852864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.095,  7.1,1
$GPS,220709,161525,2534.351,12541.177,39,1.9,39,-4.0