version: 66.04
glider: 165
mission: 2
dive: 343
start: 7 23 109 8 0 46
data:
$ID,165
$MISSION,2
$DIVE,343
$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,-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,-124405.4
$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,59
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,075125,2532.193,12542.523,40,1.3,40,-4.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-70.3
$GPS2,080038,2532.313,12542.726,9,1.8,9,-4.0
$SPEED_LIMITS,0.173,0.326
$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,224.5,43078,-13.9,-10.000
$D_GRID,1387
$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,-0.96,-243.4,0.0,0.0,0,75,0.00,0.00,-60.38,0.000,2,0.000,0.000,155,2257,1956
$GC,78,-0.96,-243.4,3.3,-3.8,9,148,9.25,2.17,-51.40,0.000,4,0.227,0.055,2495,893,3848
$GC,153,-0.40,-243.4,13.1,-21.5,21,159,0.60,2.17,0.00,0.000,6,0.132,0.041,2680,2289,3849
$GC,480,-0.73,-243.4,47.7,-10.3,82,486,0.25,2.17,0.00,0.000,4,0.050,0.039,2556,885,3849
$GC,507,-0.83,-243.4,50.9,-12.1,87,513,0.00,2.15,0.00,0.000,6,0.000,0.038,2550,2263,3849
$GC,834,-0.68,-243.4,96.0,-13.3,148,841,0.15,2.25,0.00,0.000,4,0.129,0.051,2589,3689,3849
$GC,873,-0.68,-243.4,100.4,-10.9,155,879,0.00,2.17,0.00,0.000,6,0.000,0.031,2589,2238,3850
$GC,1200,-0.80,-243.4,134.6,-9.6,216,1208,0.12,2.30,0.00,0.000,4,0.058,0.051,2505,3689,3850
$GC,1250,-0.71,-243.4,140.4,-11.9,225,1256,0.25,2.05,0.00,0.000,6,0.109,0.031,2587,2283,3850
$GC,1577,-0.95,-243.4,176.1,-11.7,286,1583,0.22,2.20,0.00,0.000,4,0.045,0.052,2464,3683,3850
$GC,1599,-1.00,-243.4,178.7,-12.4,290,1605,0.00,2.05,0.00,0.000,6,0.000,0.034,2465,2301,3850
$GC,1926,-0.73,-243.4,226.6,-15.8,351,1932,0.30,2.20,0.00,0.000,4,0.121,0.054,2563,3682,3850
$GC,1974,-0.77,-243.4,233.2,-12.6,360,1981,0.00,2.00,0.00,0.000,6,0.000,0.038,2563,2346,3850
$GC,2303,-0.98,-243.4,269.0,-9.2,421,2308,0.17,2.12,0.00,0.000,4,0.052,0.055,2444,3689,3850
$GC,2329,-0.92,-243.4,272.2,-12.3,426,2335,0.17,1.98,0.00,0.000,6,0.110,0.038,2508,2384,3851
$GC,2658,-0.98,-243.4,307.6,-11.3,482,2661,0.00,2.05,0.00,0.000,4,0.000,0.057,2507,3683,3850
$GC,2700,-1.06,-243.4,312.3,-11.6,486,2704,0.08,1.88,0.00,0.000,6,0.050,0.033,2440,2423,3850
$GC,3022,-0.97,-243.4,353.1,-12.2,517,3025,0.20,2.03,0.00,0.000,4,0.116,0.058,2504,3689,3850
$GC,3107,-1.08,-243.4,362.1,-10.2,525,3110,0.12,1.95,0.00,0.000,6,0.058,0.034,2430,2374,3849
$GC,3427,-0.78,-243.4,401.5,-15.3,556,3431,0.40,2.10,0.00,0.000,4,0.123,0.058,2550,3692,3848
$GC,3550,-1.07,-243.4,414.4,-10.2,567,3556,0.22,2.00,0.00,0.000,6,0.046,0.034,2430,2348,3847
$GC,3865,-0.79,-243.4,461.3,-15.4,598,3869,0.40,2.22,0.00,0.000,4,0.121,0.047,2559,910,3845
$GC,3925,-0.91,-243.4,467.3,-9.4,603,3930,0.12,2.20,0.00,0.000,6,0.059,0.041,2477,2328,3845
$GC,4240,-0.95,-243.4,499.4,-9.7,634,4243,0.00,2.15,0.00,0.000,4,0.000,0.059,2477,3686,3842
$GC,4293,-1.00,-243.4,504.7,-10.0,637,4296,0.00,2.03,0.00,0.000,6,0.000,0.033,2477,2330,3842
$GC,4608,-1.04,-243.4,537.9,-11.1,653,4612,0.00,2.20,0.00,0.000,4,0.000,0.058,2477,3683,3841
$GC,4688,-1.11,-243.4,546.9,-11.3,656,4695,0.00,2.00,0.00,0.000,6,0.000,0.034,2477,2356,3840
$GC,5000,-1.20,-243.4,576.4,-8.4,672,5004,0.15,2.12,0.00,0.000,4,0.054,0.059,2386,3681,3838
$GC,5031,-0.90,-243.4,579.9,-11.7,673,5037,0.38,2.00,0.00,0.000,6,0.133,0.035,2520,2368,3837
$GC,5342,-1.10,-243.4,607.1,-9.4,689,5346,0.17,2.10,0.00,0.000,4,0.055,0.059,2423,3680,3836
$GC,5395,-0.84,-243.4,613.8,-13.7,691,5401,0.32,1.95,0.00,0.000,6,0.119,0.035,2535,2394,3834
$GC,5706,-1.10,-243.4,644.0,-9.9,707,5710,0.20,2.08,0.00,0.000,4,0.054,0.060,2424,3685,3832
$GC,5732,-1.10,-243.4,647.1,-12.6,708,5735,0.08,1.92,0.00,0.000,6,0.126,0.035,2452,2413,3832
$GC,6048,-1.15,-243.4,683.2,-11.1,724,6052,0.00,2.38,0.00,0.000,4,0.000,0.047,2453,893,3829
$GC,6096,-0.99,-243.4,688.9,-12.4,726,6100,0.12,2.38,0.00,0.000,6,0.138,0.046,2490,2401,3829
$GC,6406,-1.12,-243.4,718.9,-9.6,741,6410,0.12,2.05,0.00,0.000,4,0.060,0.062,2412,3688,3826
$GC,6475,-0.84,-243.4,727.8,-13.9,744,6479,0.40,1.90,0.00,0.000,6,0.130,0.036,2538,2415,3825
$GC,6798,-1.16,-243.4,759.9,-9.9,760,6800,0.28,0.00,0.00,0.000,6,0.055,0.000,2421,2414,3823
$GC,7103,-1.11,-243.4,792.9,-10.1,775,7106,0.10,2.42,0.00,0.000,4,0.141,0.048,2450,884,3820
$GC,7172,-1.00,-243.4,800.4,-10.3,778,7176,0.12,2.47,0.00,0.000,6,0.135,0.048,2486,2444,3819
$GC,7482,-1.12,-243.4,830.0,-9.9,793,7486,0.12,2.00,0.00,0.000,4,0.064,0.064,2414,3683,3817
$GC,7519,-0.97,-243.4,834.4,-12.9,794,7525,0.28,1.83,0.00,0.000,6,0.130,0.038,2499,2466,3817
$GC,7829,-1.14,-243.4,865.0,-9.7,810,7833,0.17,1.98,0.00,0.000,4,0.058,0.065,2405,3682,3816
$GC,7877,-0.92,-243.4,871.1,-13.8,812,7881,0.35,1.75,0.00,0.000,6,0.137,0.038,2512,2521,3815
$GC,8200,-1.13,-243.4,902.2,-9.4,828,8203,0.17,1.90,0.00,0.000,4,0.058,0.065,2411,3688,3813
$GC,8242,-0.94,-243.4,907.5,-13.3,830,8245,0.28,1.73,0.00,0.000,6,0.130,0.038,2502,2559,3812
$GC,8570,-1.13,-243.4,938.1,-9.0,846,8572,0.15,0.00,0.00,0.000,6,0.064,0.000,2421,2559,3811
$GC,8873,-1.05,-243.4,970.0,-10.5,861,8877,0.17,1.85,0.00,0.000,4,0.136,0.069,2468,3674,3809
$GC,9020,-0.96,-243.4,984.9,-11.1,867,9025,0.08,1.65,0.00,0.000,6,0.131,0.039,2496,2597,3808
$STATE,9083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9083,begin apogee
$GC,9089,-0.24,0.0,991.1,9.3,871,9291,0.70,0.00,199.55,1.384,6,0.103,0.000,2737,2290,2854
$STATE,9291,end apogee,CONTROL_FINISHED_OK
$STATE,9291,begin climb
$GC,9294,0.96,243.4,1004.6,0.0,881,9511,1.02,2.47,208.10,1.340,4,0.048,0.063,3123,3675,1861
$GC,9570,0.37,243.4,982.1,18.7,893,9577,0.70,2.17,0.00,0.000,6,0.161,0.040,2932,2316,1856
$GC,9880,0.53,313.3,956.7,8.1,909,9947,0.15,2.42,61.28,1.307,4,0.061,0.054,3021,896,1575
$GC,10098,0.36,313.3,930.6,12.2,919,10102,0.25,2.20,0.00,0.000,6,0.130,0.044,2926,2247,1569
$GC,10419,0.60,345.7,901.3,9.1,935,10453,0.22,2.28,29.27,1.276,4,0.049,0.054,3042,898,1444
$GC,10588,0.41,345.7,877.6,14.2,943,10592,0.25,2.08,0.00,0.000,6,0.131,0.043,2945,2178,1439
$GC,10914,0.62,355.4,844.7,9.7,959,10928,0.17,2.12,9.45,1.141,4,0.053,0.053,3040,890,1404
$GC,11052,0.42,355.4,826.8,14.2,965,11056,0.28,1.95,0.00,0.000,6,0.127,0.042,2950,2108,1402
$GC,11368,0.76,438.2,799.8,7.7,981,11457,0.28,2.70,77.68,1.235,4,0.046,0.058,3079,3679,1066
$GC,11527,0.51,438.2,776.5,15.6,988,11531,0.40,2.50,0.00,0.000,6,0.139,0.041,2972,2120,1064
$GC,11844,0.76,485.2,748.9,8.7,1004,11891,0.20,2.62,42.62,1.215,4,0.049,0.056,3079,3677,875
$GC,11928,0.56,485.2,737.9,16.6,1008,11933,0.32,2.62,0.00,0.000,6,0.137,0.041,2994,2046,873
$GC,12245,0.85,509.8,708.1,9.3,1024,12274,0.22,2.75,23.20,1.169,4,0.048,0.057,3106,3676,773
$GC,12362,0.61,509.8,689.1,18.8,1029,12367,0.38,2.70,0.00,0.000,6,0.139,0.040,3006,1970,772
$GC,12673,0.80,509.8,654.4,10.8,1044,12677,0.17,2.80,0.00,0.000,4,0.054,0.054,3102,3692,770
$GC,12688,0.96,509.8,652.5,11.2,1045,12692,0.00,2.67,0.00,0.000,6,0.000,0.039,3114,1975,770
$GC,13014,0.74,509.8,598.3,16.0,1061,13018,0.22,2.75,0.00,0.000,4,0.143,0.055,3046,3680,770
$GC,13030,0.57,509.8,595.9,15.7,1062,13035,0.22,2.65,0.00,0.000,6,0.132,0.040,2988,1986,770
$GC,13351,1.13,509.8,563.0,10.4,1078,13355,0.47,1.73,0.00,0.000,4,0.065,0.052,3175,884,769
$GC,13492,0.72,509.8,534.9,20.6,1084,13495,0.45,1.88,0.00,0.000,6,0.146,0.041,3039,2067,769
$GC,13807,0.95,509.8,496.3,11.4,1101,13811,0.22,1.88,0.00,0.000,4,0.048,0.051,3158,887,768
$GC,13850,0.69,509.8,489.8,16.4,1105,13853,0.40,1.80,0.00,0.000,6,0.140,0.040,3036,2044,768
$GC,14170,1.07,511.6,454.6,10.0,1136,14175,0.32,2.62,0.00,0.000,4,0.048,0.055,3182,3690,768
$GC,14234,0.65,511.6,444.4,20.3,1141,14240,0.57,2.53,0.00,0.000,6,0.141,0.038,3018,2058,768
$GC,14550,1.21,511.6,411.2,10.2,1172,14554,0.50,2.62,0.00,0.000,4,0.052,0.054,3223,3693,768
$GC,14657,0.70,511.6,389.6,23.0,1181,14663,0.65,2.47,0.00,0.000,6,0.150,0.039,3039,2091,768
$GC,14972,1.23,527.1,357.0,9.6,1212,14996,0.47,1.92,15.65,0.899,4,0.075,0.052,3221,897,704
$GC,15083,0.77,527.1,336.0,22.2,1222,15087,0.52,2.08,0.00,0.000,6,0.140,0.041,3063,2226,704
$GC,15399,1.28,565.4,297.9,8.9,1254,15474,0.40,2.17,48.03,0.768,4,0.060,0.048,3237,887,546
$GC,15529,0.80,565.4,271.6,22.6,1276,15536,0.55,2.15,0.00,0.000,6,0.135,0.040,3069,2246,539
$GC,15857,1.25,565.4,232.3,11.7,1337,15863,0.35,2.15,0.00,0.000,4,0.054,0.045,3222,886,534
$GC,15910,0.90,565.4,224.8,16.9,1347,15918,0.40,2.30,0.00,0.000,6,0.133,0.039,3100,2359,533
$GC,16238,1.45,570.5,192.1,9.9,1408,16245,0.45,2.33,0.00,0.000,4,0.060,0.044,3281,884,532
$GC,16320,0.92,570.5,176.8,21.2,1423,16326,0.57,2.53,0.00,0.000,6,0.152,0.044,3108,2493,532
$GC,16647,1.05,570.5,138.9,12.5,1484,16653,0.12,0.00,0.00,0.000,6,0.060,0.000,3192,2493,531
$GC,16974,0.89,570.5,93.8,12.0,1545,16980,0.28,1.88,0.00,0.000,4,0.117,0.052,3099,3695,531
$GC,17135,1.48,606.1,79.0,9.0,1575,17162,0.50,2.00,15.85,0.586,6,0.053,0.033,3297,2370,484
$GC,17484,1.12,606.1,20.7,17.5,1639,17490,0.40,2.08,0.00,0.000,4,0.150,0.048,3172,3692,475
$GC,17544,1.07,606.1,13.0,11.3,1650,17550,0.00,2.03,0.00,0.000,6,0.000,0.032,3180,2356,474
$STATE,17628,end climb,SURFACE_DEPTH_REACHED
$STATE,17628,begin surface coast
$FINISH,1.8,1.021263
$STATE,17655,end surface coast,CONTROL_FINISHED_OK
$STATE,17656,begin surface
$SM_CCo,17732,0.00,0.000,0,0,473,584.06
$SM_GC,2.46,7.60,0.00,0.00,0.029,0.000,0.000,158,2273,473,-8.17,-0.31,584.06
$IRIDIUM_FIX,2522.28,12540.04,171098,020235
$TT8_MAMPS,0.049088
$HUMID,1647
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.30
$XPDR_PINGS,470
$24V_AH,23.2,78.364
$10V_AH,10.6,53.184
$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,39.675,183.400,730.675,0.000,0.000,25.666,34.591,343.101,125.500,0.000,0.000,11.474,0.000,12467.839,876.279,4085.104,818.793,0.000,2454.144,0.000,3446.374,0.000,53.978,0.000
$DEVICE_MAMPS,227.032,84.370,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.978,1159.983,1811.661,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97857,1671
$CAP_FILE_SIZE,205259,0
$CFSIZE,260165632,226402304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.176, 46.2,1
$GPS,230709,125727,2532.218,12542.996,27,2.2,46,-4.0