version: 66.04
glider: 165
mission: 2
dive: 344
start: 7 23 109 13 9 57
data:
$ID,165
$MISSION,2
$DIVE,344
$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,-124439.34
$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,44
$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
$GPS1,125727,2532.218,12542.996,27,2.2,46,-4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-67.5
$GPS2,130952,2532.494,12543.058,11,99.0,30,-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,218.2,43588,-13.9,-10.000
$D_GRID,1310
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-243.4,0.0,0.0,0,74,0.00,0.00,-57.92,0.000,2,0.000,0.000,157,2265,1893
$GC,77,-0.96,-243.4,3.0,-3.2,9,148,9.15,2.28,-55.17,0.000,4,0.222,0.063,2486,3694,3849
$GC,185,-0.48,-243.4,19.3,-23.6,27,192,0.52,2.17,0.00,0.000,6,0.122,0.034,2655,2248,3849
$GC,512,-0.72,-243.4,58.6,-11.4,88,518,0.20,2.28,0.00,0.000,4,0.048,0.051,2542,3683,3849
$GC,555,-0.64,-243.4,64.4,-14.7,96,561,0.15,2.05,0.00,0.000,6,0.117,0.032,2597,2320,3849
$GC,882,-0.71,-243.4,104.9,-11.4,157,887,0.00,2.17,0.00,0.000,4,0.000,0.041,2598,893,3850
$GC,909,-0.79,-243.4,107.8,-11.6,162,916,0.10,2.20,0.00,0.000,6,0.044,0.038,2521,2316,3850
$GC,1237,-0.79,-243.4,145.7,-10.8,223,1243,0.12,2.20,0.00,0.000,4,0.119,0.043,2561,885,3851
$GC,1260,-0.84,-243.4,147.8,-10.4,227,1265,0.00,2.17,0.00,0.000,6,0.000,0.038,2561,2307,3851
$GC,1586,-0.95,-243.4,181.7,-11.4,288,1592,0.17,2.15,0.00,0.000,4,0.049,0.053,2448,3684,3851
$GC,1640,-0.63,-243.4,189.7,-16.0,298,1648,0.43,2.05,0.00,0.000,6,0.120,0.031,2603,2316,3851
$GC,1968,-0.90,-243.4,224.0,-9.4,359,1974,0.20,2.15,0.00,0.000,4,0.051,0.052,2493,3682,3851
$GC,1984,-1.09,-243.4,225.7,-10.1,362,1992,0.08,2.03,0.00,0.000,6,0.050,0.031,2435,2324,3851
$GC,2313,-0.73,-243.4,276.1,-15.0,423,2318,0.40,2.20,0.00,0.000,4,0.126,0.045,2568,905,3851
$GC,2339,-0.68,-243.4,279.2,-10.6,428,2345,0.00,2.20,0.00,0.000,6,0.000,0.039,2569,2338,3851
$GC,2662,-0.91,-243.4,309.3,-10.1,480,2666,0.15,2.10,0.00,0.000,4,0.056,0.056,2467,3679,3850
$GC,2748,-0.81,-243.4,319.9,-12.6,488,2751,0.25,1.95,0.00,0.000,6,0.113,0.033,2548,2355,3849
$GC,3070,-0.99,-243.4,351.2,-8.9,519,3073,0.17,2.10,0.00,0.000,4,0.052,0.056,2442,3675,3848
$GC,3122,-0.77,-243.4,357.1,-11.5,523,3128,0.32,1.92,0.00,0.000,6,0.119,0.032,2554,2389,3847
$GC,3438,-0.98,-243.4,385.5,-9.7,554,3442,0.17,2.05,0.00,0.000,4,0.051,0.056,2441,3683,3846
$GC,3459,-0.98,-243.4,388.0,-11.5,556,3462,0.12,1.92,0.00,0.000,6,0.122,0.033,2486,2397,3845
$GC,3780,-0.98,-243.4,421.1,-9.2,587,3783,0.00,2.05,0.00,0.000,4,0.000,0.057,2481,3689,3843
$GC,3866,-0.90,-243.4,429.4,-10.1,595,3869,0.12,1.98,0.00,0.000,6,0.119,0.034,2520,2349,3843
$GC,4187,-1.02,-243.4,457.5,-9.5,626,4191,0.12,2.12,0.00,0.000,4,0.062,0.057,2442,3685,3841
$GC,4218,-0.94,-243.4,461.2,-11.8,628,4225,0.17,1.98,0.00,0.000,6,0.117,0.035,2504,2387,3840
$GC,4534,-1.03,-243.4,493.7,-10.7,659,4537,0.00,2.30,0.00,0.000,4,0.000,0.044,2504,900,3838
$GC,4635,-1.03,-243.4,504.4,-10.6,666,4643,0.00,2.30,0.00,0.000,6,0.000,0.050,2504,2341,3837
$GC,4946,-1.15,-243.4,536.7,-10.9,682,4949,0.17,2.25,0.00,0.000,4,0.049,0.044,2405,898,3835
$GC,4962,-1.15,-243.4,538.4,-11.1,683,4965,0.15,2.22,0.00,0.000,6,0.156,0.044,2440,2321,3835
$GC,5284,-0.90,-243.4,579.2,-12.0,699,5287,0.22,2.17,0.00,0.000,4,0.134,0.059,2510,3683,3833
$GC,5310,-0.80,-243.4,581.9,-9.8,700,5313,0.08,2.08,0.00,0.000,6,0.115,0.035,2552,2318,3833
$GC,5625,-1.05,-243.4,610.6,-10.1,716,5629,0.22,2.17,0.00,0.000,4,0.050,0.060,2437,3685,3832
$GC,5662,-0.88,-243.4,615.1,-12.7,717,5669,0.22,2.05,0.00,0.000,6,0.120,0.035,2516,2331,3831
$GC,5975,-1.02,-243.4,644.3,-8.4,733,5979,0.12,2.20,0.00,0.000,4,0.063,0.060,2440,3695,3829
$GC,6065,-0.78,-243.4,654.4,-11.6,737,6069,0.32,1.98,0.00,0.000,6,0.120,0.035,2562,2398,3828
$GC,6382,-1.13,-243.4,681.3,-9.1,753,6386,0.28,2.35,0.00,0.000,4,0.054,0.045,2434,893,3826
$GC,6402,-1.24,-243.4,683.6,-11.6,754,6406,0.00,2.40,0.00,0.000,6,0.000,0.047,2428,2412,3825
$GC,6724,-0.96,-243.4,728.0,-13.4,770,6727,0.20,2.05,0.00,0.000,4,0.146,0.061,2492,3688,3822
$GC,6760,-0.89,-243.4,732.8,-12.6,772,6764,0.12,1.92,0.00,0.000,6,0.121,0.035,2531,2402,3822
$GC,7088,-1.08,-243.4,762.9,-8.8,788,7092,0.17,2.10,0.00,0.000,4,0.054,0.062,2425,3695,3820
$GC,7147,-0.83,-243.4,769.6,-12.1,791,7150,0.38,1.88,0.00,0.000,6,0.127,0.036,2544,2436,3819
$GC,7474,-1.10,-243.4,796.1,-7.9,807,7478,0.20,2.03,0.00,0.000,4,0.054,0.062,2438,3686,3817
$GC,7500,-1.10,-243.4,798.8,-10.5,808,7504,0.00,1.85,0.00,0.000,6,0.000,0.036,2438,2475,3816
$GC,7821,-0.85,-243.4,838.5,-13.0,824,7825,0.30,2.47,0.00,0.000,4,0.132,0.048,2532,904,3815
$GC,7885,-0.91,-243.4,845.2,-10.1,827,7889,0.00,2.50,0.00,0.000,6,0.000,0.046,2532,2462,3814
$GC,8208,-1.14,-243.4,875.7,-9.0,843,8211,0.22,1.98,0.00,0.000,4,0.051,0.064,2410,3685,3811
$GC,8352,-0.83,-243.4,895.9,-15.2,849,8359,0.38,1.83,0.00,0.000,6,0.130,0.038,2535,2495,3810
$GC,8666,-1.07,-243.4,925.3,-9.3,865,8669,0.17,1.92,0.00,0.000,4,0.060,0.066,2438,3685,3809
$GC,8723,-0.90,-243.4,932.3,-13.2,867,8730,0.22,1.77,0.00,0.000,6,0.132,0.038,2513,2527,3808
$GC,9035,-1.09,-243.4,959.2,-8.2,883,9038,0.15,1.90,0.00,0.000,4,0.062,0.066,2428,3692,3805
$GC,9061,-1.04,-243.4,961.9,-10.5,884,9065,0.12,1.70,0.00,0.000,6,0.130,0.038,2471,2582,3805
$STATE,9339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9339,begin apogee
$GC,9345,-0.24,0.0,990.4,10.0,898,9553,0.77,0.00,200.20,1.369,6,0.120,0.000,2727,2294,2854
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9556,0.96,243.4,1001.2,0.0,908,9774,1.05,2.45,207.00,1.337,4,0.043,0.062,3132,3681,1860
$GC,9821,0.23,243.4,972.2,21.8,920,9825,0.82,2.22,0.00,0.000,6,0.164,0.041,2883,2324,1856
$GC,10137,0.36,295.3,943.9,8.6,936,10194,0.12,2.38,47.50,1.247,4,0.067,0.053,2954,890,1648
$GC,10338,0.22,295.3,921.0,12.4,944,10344,0.20,2.20,0.00,0.000,6,0.130,0.044,2886,2247,1642
$GC,10649,0.44,348.1,893.4,8.5,960,10700,0.17,2.28,47.20,1.290,4,0.054,0.052,2992,887,1433
$GC,10801,0.24,348.1,873.9,13.4,967,10805,0.28,2.12,0.00,0.000,6,0.133,0.042,2893,2195,1429
$GC,11118,0.53,409.7,846.5,8.3,983,11180,0.20,2.53,55.53,1.276,4,0.051,0.058,2999,3686,1183
$GC,11291,0.33,409.7,822.6,15.4,991,11295,0.32,2.50,0.00,0.000,6,0.140,0.040,2914,2118,1180
$GC,11613,0.53,409.7,791.4,10.2,1007,11617,0.17,2.55,0.00,0.000,4,0.054,0.056,3011,3684,1176
$GC,11731,0.31,409.7,773.0,15.1,1012,11737,0.38,2.58,0.00,0.000,6,0.140,0.041,2909,2044,1175
$GC,12041,0.66,454.9,743.3,8.8,1028,12086,0.28,1.90,41.05,1.223,4,0.045,0.054,3055,887,998
$GC,12158,0.40,454.9,724.3,17.5,1033,12162,0.38,1.83,0.00,0.000,6,0.135,0.041,2942,2029,995
$GC,12474,0.40,454.9,686.2,12.4,1049,12478,0.00,2.67,0.00,0.000,4,0.000,0.057,2942,3693,992
$GC,12569,0.40,454.9,673.6,12.7,1053,12575,0.00,2.60,0.00,0.000,6,0.000,0.039,2953,2057,992
$GC,12881,0.58,454.9,639.0,10.8,1069,12885,0.12,2.65,0.00,0.000,4,0.066,0.055,3026,3690,991
$GC,12949,0.39,454.9,628.9,16.9,1072,12954,0.35,2.67,0.00,0.000,6,0.135,0.039,2931,1984,991
$GC,13260,0.81,454.9,596.3,10.3,1087,13264,0.35,2.78,0.00,0.000,4,0.052,0.055,3085,3694,990
$GC,13319,0.42,454.9,586.7,19.7,1090,13323,0.50,2.62,0.00,0.000,6,0.147,0.040,2947,2013,990
$GC,13641,0.82,467.6,553.0,9.6,1106,13665,0.30,2.75,13.38,0.905,4,0.051,0.054,3088,3686,946
$GC,13688,0.43,467.6,546.1,17.2,1108,13692,0.50,2.60,0.00,0.000,6,0.146,0.038,2950,2036,946
$GC,14003,0.96,468.0,515.3,10.0,1124,14007,0.47,1.80,0.00,0.000,4,0.066,0.050,3127,885,945
$GC,14099,0.54,468.0,499.5,19.4,1128,14103,0.47,1.98,0.00,0.000,6,0.149,0.040,2986,2155,945
$GC,14414,0.72,468.0,463.9,11.6,1158,14418,0.17,2.03,0.00,0.000,4,0.054,0.050,3085,875,945
$GC,14533,0.45,468.0,444.6,17.6,1169,14536,0.43,1.92,0.00,0.000,6,0.137,0.039,2956,2106,945
$GC,14849,0.99,489.6,412.7,9.4,1199,14876,0.47,2.60,20.75,0.970,4,0.061,0.054,3137,3690,857
$GC,14898,0.60,489.6,405.4,18.0,1203,14904,0.47,2.33,0.00,0.000,6,0.146,0.038,3005,2211,857
$GC,15214,0.74,489.6,370.7,10.9,1234,15218,0.12,2.40,0.00,0.000,4,0.064,0.054,3083,3698,855
$GC,15267,0.43,489.6,363.0,15.9,1238,15273,0.43,2.45,0.00,0.000,6,0.132,0.037,2948,2137,855
$GC,15584,0.97,489.6,328.0,10.7,1269,15587,0.43,1.98,0.00,0.000,4,0.048,0.047,3137,878,855
$GC,15674,0.60,489.6,313.1,17.5,1277,15678,0.43,2.10,0.00,0.000,6,0.143,0.039,3009,2231,855
$GC,15996,0.91,489.6,276.8,11.0,1327,16002,0.25,2.12,0.00,0.000,4,0.044,0.048,3145,886,855
$GC,16060,0.53,489.6,267.1,17.2,1339,16066,0.52,2.05,0.00,0.000,6,0.141,0.039,2985,2210,855
$GC,16386,0.97,489.6,231.8,12.3,1400,16393,0.38,2.38,0.00,0.000,4,0.049,0.056,3145,3696,855
$GC,16426,0.76,489.6,226.6,16.8,1407,16432,0.35,2.12,0.00,0.000,6,0.143,0.036,3051,2304,855
$GC,16753,0.80,489.6,186.7,10.0,1468,16759,0.00,2.25,0.00,0.000,4,0.000,0.058,3051,3687,855
$GC,16807,0.76,489.6,180.7,10.3,1478,16812,0.00,2.25,0.00,0.000,6,0.000,0.036,3060,2222,855
$GC,17133,0.76,489.6,141.1,12.9,1539,17139,0.00,2.35,0.00,0.000,4,0.000,0.057,3060,3698,855
$GC,17203,0.68,490.9,133.1,10.0,1552,17209,0.15,2.35,0.00,0.000,6,0.137,0.039,3026,2162,855
$GC,17530,1.17,544.2,105.7,8.5,1613,17586,0.40,2.05,48.85,0.718,4,0.067,0.052,3207,899,631
$GC,17642,0.83,544.2,89.1,18.5,1632,17648,0.43,2.05,0.00,0.000,6,0.131,0.041,3078,2206,627
$GC,17969,1.33,611.7,58.6,8.1,1693,18031,0.40,0.00,41.42,0.591,6,0.048,0.000,3254,2206,482
$STATE,18301,end climb,SURFACE_DEPTH_REACHED
$STATE,18301,begin surface coast
$FINISH,1.8,1.021330
$STATE,18320,end surface coast,CONTROL_FINISHED_OK
$STATE,18320,begin surface
$SM_CCo,18396,0.00,0.000,0,0,468,585.29
$SM_GC,2.55,7.82,0.00,0.00,0.029,0.000,0.000,155,2318,468,-8.17,0.93,585.29
$IRIDIUM_FIX,2524.66,12548.65,171098,131347
$TT8_MAMPS,0.048321
$HUMID,1663
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.90
$XPDR_PINGS,527
$24V_AH,23.3,78.658
$10V_AH,10.6,53.350
$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,39.475,197.825,722.875,0.000,0.000,48.345,79.907,384.590,139.750,0.000,0.000,33.305,0.000,12993.307,875.621,4296.751,936.658,0.000,2520.765,0.000,3604.953,0.000,53.986,0.000
$DEVICE_MAMPS,221.663,65.962,1369.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1184.187,1217.848,1910.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100996,1757
$CAP_FILE_SIZE,215454,0
$CFSIZE,260165632,226283520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.203, 53.7,1
$GPS,230709,181731,2532.110,12543.239,36,1.2,36,-4.0