version: 66.04
glider: 165
mission: 2
dive: 345
start: 7 23 109 18 27 17
data:
$ID,165
$MISSION,2
$DIVE,345
$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,225
$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,-124473.38
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2817
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$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,41
$R_STBD_OVSHOOT,58
$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
$GPS1,181731,2532.110,12543.239,36,1.2,36,-4.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-62.3
$GPS2,182710,2532.231,12543.411,11,2.3,30,-4.0
$SPEED_LIMITS,0.173,0.311
$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,225.9,43350,-14.7,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-1.11,-219.0,0.0,0.0,0,75,0.00,0.00,-60.78,0.000,2,0.000,0.000,154,2316,1963
$GC,78,-1.11,-219.0,3.2,-3.6,9,141,9.12,2.25,-48.22,0.000,4,0.228,0.055,2453,875,3745
$GC,157,-0.57,-219.0,14.5,-21.6,22,163,0.57,2.17,0.00,0.000,6,0.133,0.042,2630,2254,3746
$GC,484,-0.85,-219.0,55.9,-12.3,83,492,0.22,2.28,0.00,0.000,4,0.048,0.052,2494,3697,3747
$GC,513,-0.81,-219.0,59.8,-14.6,88,519,0.20,2.17,0.00,0.000,6,0.121,0.033,2556,2239,3747
$GC,840,-0.81,-219.0,100.6,-12.2,149,845,0.00,2.05,0.00,0.000,4,0.000,0.041,2557,893,3747
$GC,861,-0.81,-219.0,103.6,-13.9,153,867,0.00,2.20,0.00,0.000,6,0.000,0.039,2551,2305,3748
$GC,1188,-0.96,-219.0,137.9,-10.6,214,1194,0.12,2.17,0.00,0.000,4,0.059,0.047,2464,893,3748
$GC,1226,-0.70,-219.0,142.5,-12.9,221,1232,0.40,2.17,0.00,0.000,6,0.124,0.040,2591,2290,3748
$GC,1552,-0.93,-219.0,177.4,-11.3,282,1558,0.20,2.20,0.00,0.000,4,0.048,0.054,2471,3684,3749
$GC,1623,-0.81,-219.0,186.8,-13.4,295,1630,0.28,2.03,0.00,0.000,6,0.107,0.033,2562,2302,3749
$GC,1951,-1.06,-219.0,218.0,-10.0,356,1957,0.20,2.20,0.00,0.000,4,0.049,0.053,2440,3690,3749
$GC,1972,-1.06,-219.0,220.5,-11.5,360,1978,0.10,2.08,0.00,0.000,6,0.133,0.034,2474,2324,3749
$GC,2299,-1.10,-219.0,260.4,-10.9,421,2305,0.00,2.20,0.00,0.000,4,0.000,0.044,2474,894,3749
$GC,2379,-1.00,-219.0,269.4,-11.1,436,2385,0.00,2.17,0.00,0.000,6,0.000,0.043,2468,2272,3749
$GC,2704,-0.83,-219.0,306.6,-12.1,492,2707,0.25,2.12,0.00,0.000,4,0.120,0.045,2549,899,3749
$GC,2757,-0.90,-219.0,311.6,-9.2,497,2760,0.00,2.10,0.00,0.000,6,0.000,0.042,2549,2266,3749
$GC,3078,-1.14,-219.0,339.6,-8.7,528,3081,0.28,2.25,0.00,0.000,4,0.042,0.058,2409,3688,3747
$GC,3213,-0.82,-219.0,358.7,-15.3,540,3219,0.45,2.12,0.00,0.000,6,0.125,0.036,2553,2284,3746
$GC,3528,-1.10,-219.0,390.6,-10.1,571,3529,0.25,0.00,0.00,0.000,6,0.046,0.000,2424,2279,3745
$GC,3838,-0.98,-219.0,427.7,-11.5,601,3842,0.25,2.17,0.00,0.000,4,0.120,0.046,2504,883,3743
$GC,3934,-0.98,-219.0,437.7,-10.4,609,3940,0.00,2.22,0.00,0.000,6,0.000,0.044,2504,2291,3743
$GC,4252,-1.09,-219.0,468.4,-9.9,640,4256,0.12,2.20,0.00,0.000,4,0.058,0.059,2426,3683,3741
$GC,4332,-0.84,-219.0,478.3,-13.3,647,4336,0.38,2.05,0.00,0.000,6,0.122,0.036,2546,2320,3740
$GC,4646,-1.15,-219.0,508.2,-9.6,673,4650,0.25,2.20,0.00,0.000,4,0.047,0.058,2413,3686,3739
$GC,4693,-0.91,-219.0,514.1,-13.2,675,4697,0.30,2.03,0.00,0.000,6,0.123,0.035,2527,2349,3738
$GC,5010,-1.16,-219.0,542.5,-8.3,691,5011,0.22,0.00,0.00,0.000,6,0.047,0.000,2406,2349,3737
$GC,5314,-1.07,-219.0,577.6,-12.2,706,5318,0.22,2.30,0.00,0.000,4,0.125,0.048,2478,886,3735
$GC,5416,-1.07,-219.0,588.9,-10.8,711,5419,0.00,2.35,0.00,0.000,6,0.000,0.048,2478,2371,3734
$GC,5742,-1.18,-219.0,620.6,-9.2,727,5746,0.12,2.35,0.00,0.000,4,0.061,0.047,2404,884,3732
$GC,5758,-1.18,-219.0,622.3,-9.5,728,5762,0.15,2.35,0.00,0.000,6,0.153,0.047,2441,2373,3731
$GC,6080,-1.04,-219.0,657.0,-11.0,744,6084,0.15,2.35,0.00,0.000,4,0.138,0.048,2487,892,3729
$GC,6149,-1.04,-219.0,664.0,-10.0,747,6152,0.00,2.33,0.00,0.000,6,0.000,0.047,2481,2341,3728
$GC,6466,-1.19,-219.0,693.8,-9.8,763,6469,0.15,2.17,0.00,0.000,4,0.058,0.063,2397,3688,3726
$GC,6497,-0.96,-219.0,697.7,-13.7,764,6503,0.30,2.08,0.00,0.000,6,0.130,0.037,2508,2340,3726
$GC,6809,-1.14,-219.0,727.5,-9.5,780,6813,0.17,2.20,0.00,0.000,4,0.056,0.064,2409,3688,3724
$GC,6889,-0.90,-219.0,737.7,-14.2,784,6893,0.38,1.98,0.00,0.000,6,0.127,0.038,2528,2382,3722
$GC,7212,-1.18,-219.0,768.7,-9.3,800,7214,0.25,0.00,0.00,0.000,6,0.048,0.000,2399,2381,3721
$GC,7515,-0.90,-219.0,808.6,-14.7,815,7519,0.40,2.38,0.00,0.000,4,0.141,0.052,2522,884,3718
$GC,7559,-1.03,-219.0,813.2,-9.2,817,7563,0.10,2.42,0.00,0.000,6,0.073,0.048,2466,2406,3718
$GC,7881,-1.16,-219.0,844.3,-9.3,833,7884,0.00,2.40,0.00,0.000,4,0.000,0.049,2466,887,3716
$GC,7912,-1.16,-219.0,847.7,-10.2,834,7916,0.00,2.47,0.00,0.000,6,0.000,0.049,2466,2413,3715
$GC,8229,-1.08,-219.0,880.2,-10.4,850,8232,0.00,2.05,0.00,0.000,4,0.000,0.067,2466,3676,3713
$GC,8254,-1.01,-219.0,882.9,-10.9,851,8258,0.00,1.92,0.00,0.000,6,0.000,0.036,2466,2419,3713
$GC,8576,-0.94,-219.0,916.8,-10.5,867,8580,0.17,2.42,0.00,0.000,4,0.127,0.050,2520,885,3711
$GC,8624,-1.07,-219.0,921.0,-8.4,869,8628,0.15,2.42,0.00,0.000,6,0.061,0.047,2444,2406,3711
$GC,8934,-0.92,-219.0,953.4,-11.1,884,8937,0.25,2.08,0.00,0.000,4,0.134,0.065,2520,3686,3709
$GC,8961,-0.98,-219.0,955.6,-8.6,885,8964,0.00,1.95,0.00,0.000,6,0.000,0.038,2520,2398,3708
$GC,9282,-1.25,-219.0,979.3,-7.4,901,9286,0.25,2.12,0.00,0.000,4,0.048,0.064,2387,3688,3707
$STATE,9370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9370,begin apogee
$GC,9378,-0.29,0.0,990.2,13.7,905,9559,1.02,0.00,178.60,1.389,6,0.137,0.000,2717,2300,2854
$STATE,9559,end apogee,CONTROL_FINISHED_OK
$STATE,9560,begin climb
$GC,9562,1.11,219.0,1000.0,0.0,914,9760,1.25,2.42,187.07,1.344,4,0.049,0.061,3185,3675,1959
$GC,9866,0.27,219.0,962.8,22.1,928,9871,0.98,2.20,0.00,0.000,6,0.180,0.040,2904,2309,1954
$GC,10184,0.28,286.7,935.2,7.9,944,10249,0.00,2.42,59.08,1.305,4,0.000,0.052,2913,882,1684
$GC,10305,0.31,315.6,924.6,9.1,949,10344,0.00,2.28,28.52,1.186,6,0.000,0.042,2913,2295,1566
$GC,10658,0.37,358.7,894.0,8.7,967,10708,0.00,2.35,41.10,1.231,4,0.000,0.053,2919,892,1391
$GC,10737,0.46,390.5,886.6,9.0,970,10778,0.15,2.22,31.65,1.186,6,0.064,0.041,3004,2269,1262
$GC,11092,0.29,390.5,836.4,14.4,988,11096,0.28,2.22,0.00,0.000,4,0.133,0.051,2926,887,1256
$GC,11113,0.25,390.5,833.5,12.6,989,11116,0.00,2.20,0.00,0.000,6,0.000,0.041,2926,2262,1254
$GC,11434,0.43,411.3,802.0,9.4,1005,11464,0.00,2.33,21.42,1.129,4,0.000,0.058,2926,3683,1176
$GC,11550,0.44,421.3,790.4,9.7,1010,11565,0.00,2.38,10.70,1.132,6,0.000,0.039,2937,2170,1135
$GC,11878,0.55,462.7,761.2,8.7,1027,11923,0.15,2.10,38.90,1.230,4,0.062,0.051,3028,896,966
$GC,11983,0.39,462.7,746.4,14.7,1031,11990,0.28,2.05,0.00,0.000,6,0.132,0.041,2946,2177,963
$GC,12293,0.51,462.7,712.9,10.8,1047,12296,0.10,2.42,0.00,0.000,4,0.069,0.058,3011,3686,959
$GC,12309,0.67,462.7,711.2,10.1,1047,12316,0.00,2.40,0.00,0.000,6,0.000,0.039,3022,2149,959
$GC,12619,0.53,462.7,664.7,15.1,1063,12623,0.12,1.98,0.00,0.000,4,0.145,0.051,2995,893,959
$GC,12645,0.45,462.7,660.9,14.0,1064,12649,0.08,2.03,0.00,0.000,6,0.124,0.041,2969,2174,958
$GC,12966,0.45,462.7,619.1,12.8,1080,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2174,959
$GC,13271,0.61,462.7,586.3,10.1,1095,13275,0.12,2.42,0.00,0.000,4,0.063,0.058,3036,3686,959
$GC,13341,0.41,462.7,576.8,14.3,1098,13345,0.32,2.38,0.00,0.000,6,0.134,0.038,2949,2161,959
$GC,13657,0.96,548.0,551.6,7.4,1114,13748,0.47,2.12,82.03,1.082,4,0.056,0.053,3144,884,618
$GC,13776,0.56,548.0,529.1,23.9,1119,13784,0.45,2.15,0.00,0.000,6,0.153,0.040,3007,2201,611
$GC,14089,0.79,548.0,491.0,10.6,1139,14093,0.17,2.10,0.00,0.000,4,0.052,0.049,3106,892,604
$GC,14200,0.52,548.0,472.0,20.2,1149,14206,0.35,2.00,0.00,0.000,6,0.141,0.041,2983,2148,603
$GC,14516,1.06,574.9,438.7,9.2,1180,14573,0.50,2.08,33.03,0.907,4,0.072,0.051,3175,896,504
$GC,14649,0.60,574.9,411.4,24.7,1192,14653,0.55,2.12,0.00,0.000,6,0.152,0.041,3013,2229,495
$GC,14964,1.16,574.9,371.1,11.9,1222,14968,0.47,2.12,0.00,0.000,4,0.067,0.048,3190,887,490
$GC,15071,0.68,574.9,349.4,24.3,1232,15075,0.52,2.28,0.00,0.000,6,0.152,0.041,3034,2336,489
$GC,15386,1.02,577.6,310.9,9.9,1262,15390,0.30,2.15,0.00,0.000,4,0.046,0.055,3175,3689,487
$GC,15505,0.63,577.6,287.7,22.8,1277,15510,0.55,2.17,0.00,0.000,6,0.138,0.037,3016,2276,486
$GC,15831,1.19,577.6,251.5,11.7,1338,15837,0.45,2.17,0.00,0.000,4,0.044,0.047,3225,891,484
$GC,15945,0.69,577.6,226.3,24.4,1359,15951,0.60,2.38,0.00,0.000,6,0.145,0.041,3043,2406,484
$GC,16272,1.26,577.6,190.8,10.8,1420,16279,0.45,2.40,0.00,0.000,4,0.054,0.046,3229,883,483
$GC,16322,0.83,577.6,182.4,21.6,1429,16328,0.47,2.62,0.00,0.000,6,0.141,0.044,3085,2552,483
$GC,16649,0.77,577.6,138.2,13.2,1490,16656,0.00,2.65,0.00,0.000,4,0.000,0.045,3095,882,483
$GC,16715,0.71,577.6,129.8,13.3,1502,16722,0.10,2.42,0.00,0.000,6,0.117,0.042,3045,2419,483
$GC,17043,1.27,577.6,92.3,11.1,1563,17050,0.47,2.42,0.00,0.000,4,0.074,0.044,3238,884,482
$GC,17076,1.20,577.6,88.0,14.6,1569,17084,0.12,2.55,0.00,0.000,6,0.160,0.041,3204,2515,482
$GC,17404,0.96,577.6,37.1,13.9,1630,17410,0.22,2.58,0.00,0.000,4,0.141,0.044,3141,886,483
$GC,17507,0.96,577.6,24.6,12.8,1649,17514,0.00,2.47,0.00,0.000,6,0.000,0.037,3141,2493,482
$STATE,17698,end climb,SURFACE_DEPTH_REACHED
$STATE,17698,begin surface coast
$FINISH,1.8,1.008932
$STATE,17725,end surface coast,CONTROL_FINISHED_OK
$STATE,17725,begin surface
$SM_CCo,17802,0.00,0.000,0,0,481,581.85
$SM_GC,2.56,7.57,0.00,0.00,0.035,0.000,0.000,150,2251,481,-8.22,-0.96,581.85
$IRIDIUM_FIX,2524.66,12530.04,171098,131339
$TT8_MAMPS,0.048321
$HUMID,1668
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,26.00
$XPDR_PINGS,483
$24V_AH,22.4,78.951
$10V_AH,10.6,53.508
$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,37.075,188.225,712.100,0.000,0.000,22.388,32.997,353.754,128.750,0.000,0.000,33.406,0.000,12580.701,868.609,4075.914,816.970,0.000,2428.348,0.000,3415.291,0.000,56.227,0.000
$DEVICE_MAMPS,227.799,66.729,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.783,1173.371,1835.923,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97914,1690
$CAP_FILE_SIZE,202470,0
$CFSIZE,260165632,226193408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.220, 76.0,1
$GPS,230709,232501,2531.627,12543.719,40,1.2,40,-4.0