version: 66.04
glider: 165
mission: 2
dive: 346
start: 7 23 109 23 34 9
data:
$ID,165
$MISSION,2
$DIVE,346
$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,-124505.77
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,232501,2531.627,12543.719,40,1.2,40,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-63.8
$GPS2,233404,2531.737,12543.872,9,99.0,28,-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,241.4,42802,-14.7,-10.000
$D_GRID,1225
$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,14,-1.11,-219.0,0.0,0.0,0,75,0.00,0.00,-58.53,0.000,2,0.000,0.000,148,2250,1918
$GC,77,-1.11,-219.0,3.3,-4.0,9,141,9.10,2.20,-49.70,0.000,4,0.223,0.057,2454,884,3748
$GC,218,-0.70,-219.0,26.5,-19.9,33,224,0.38,2.22,0.00,0.000,6,0.117,0.043,2591,2288,3750
$GC,545,-0.61,-219.0,71.7,-12.9,94,551,0.00,2.17,0.00,0.000,4,0.000,0.043,2591,890,3750
$GC,572,-0.56,-219.0,74.9,-11.9,99,579,0.10,2.15,0.00,0.000,6,0.116,0.038,2641,2267,3750
$GC,900,-1.05,-219.0,108.9,-10.0,160,906,0.43,2.12,0.00,0.000,4,0.060,0.041,2469,888,3751
$GC,965,-0.76,-219.0,117.8,-16.0,172,971,0.28,2.12,0.00,0.000,6,0.114,0.046,2574,2240,3751
$GC,1292,-0.98,-219.0,153.3,-10.0,233,1300,0.17,2.28,0.00,0.000,4,0.050,0.054,2455,3687,3752
$GC,1321,-0.87,-219.0,157.0,-12.5,238,1327,0.25,2.17,0.00,0.000,6,0.112,0.037,2536,2232,3752
$GC,1647,-0.87,-219.0,190.7,-10.5,299,1653,0.00,2.30,0.00,0.000,4,0.000,0.056,2536,3686,3752
$GC,1745,-1.03,-219.0,201.0,-10.3,317,1752,0.15,2.05,0.00,0.000,6,0.054,0.039,2445,2302,3752
$GC,2072,-0.75,-219.0,240.0,-12.8,378,2078,0.38,2.20,0.00,0.000,4,0.130,0.054,2563,3689,3752
$GC,2132,-0.85,-219.0,245.0,-8.1,389,2139,0.00,2.12,0.00,0.000,6,0.000,0.032,2563,2259,3752
$GC,2459,-1.11,-219.0,275.8,-9.9,450,2465,0.28,0.00,0.00,0.000,6,0.041,0.000,2421,2259,3752
$GC,2781,-0.95,-219.0,316.4,-13.1,499,2785,0.25,2.28,0.00,0.000,4,0.127,0.058,2505,3682,3752
$GC,2895,-1.10,-219.0,329.3,-11.6,509,2899,0.12,2.15,0.00,0.000,6,0.058,0.034,2431,2244,3752
$GC,3210,-0.85,-219.0,371.0,-13.4,539,3214,0.32,2.08,0.00,0.000,4,0.123,0.045,2540,893,3751
$GC,3301,-0.93,-219.0,379.6,-8.6,547,3304,0.00,2.08,0.00,0.000,6,0.000,0.042,2537,2235,3750
$GC,3622,-1.07,-219.0,409.9,-10.3,578,3625,0.17,2.30,0.00,0.000,4,0.051,0.059,2438,3689,3748
$GC,3763,-0.85,-219.0,428.7,-14.9,591,3767,0.32,2.12,0.00,0.000,6,0.121,0.035,2543,2284,3747
$GC,4079,-1.12,-219.0,458.1,-7.7,621,4083,0.20,2.25,0.00,0.000,4,0.048,0.058,2423,3683,3745
$GC,4111,-0.99,-219.0,461.2,-10.7,623,4116,0.25,2.08,0.00,0.000,6,0.120,0.035,2503,2296,3745
$GC,4426,-1.10,-219.0,489.4,-9.6,654,4429,0.12,2.22,0.00,0.000,4,0.061,0.060,2428,3689,3743
$GC,4469,-0.88,-219.0,494.4,-12.4,658,4472,0.32,2.00,0.00,0.000,6,0.125,0.035,2531,2347,3743
$GC,4797,-1.10,-219.0,524.8,-8.7,677,4801,0.17,2.15,0.00,0.000,4,0.051,0.060,2421,3687,3741
$GC,4844,-0.95,-219.0,530.2,-11.9,679,4848,0.28,1.98,0.00,0.000,6,0.120,0.035,2509,2368,3740
$GC,5167,-1.12,-219.0,559.0,-8.8,695,5170,0.15,2.12,0.00,0.000,4,0.058,0.060,2423,3692,3739
$GC,5208,-1.00,-219.0,563.9,-11.5,697,5212,0.20,1.95,0.00,0.000,6,0.115,0.035,2494,2409,3738
$GC,5532,-1.16,-219.0,595.3,-9.6,713,5536,0.15,2.38,0.00,0.000,4,0.058,0.046,2411,889,3737
$GC,5563,-0.93,-219.0,599.0,-12.2,714,5570,0.28,2.45,0.00,0.000,6,0.134,0.048,2515,2418,3736
$GC,5877,-1.14,-219.0,625.9,-8.7,730,5881,0.17,2.03,0.00,0.000,4,0.053,0.061,2411,3686,3735
$GC,5999,-0.89,-219.0,641.4,-13.9,735,6006,0.32,1.88,0.00,0.000,6,0.123,0.036,2521,2455,3733
$GC,6311,-1.16,-219.0,669.9,-8.9,751,6315,0.20,2.45,0.00,0.000,4,0.054,0.046,2409,895,3732
$GC,6358,-0.90,-219.0,675.8,-13.3,753,6362,0.35,2.47,0.00,0.000,6,0.131,0.048,2525,2441,3731
$GC,6675,-1.18,-219.0,704.1,-9.2,769,6678,0.20,2.00,0.00,0.000,4,0.052,0.062,2411,3689,3729
$GC,6717,-1.03,-219.0,709.0,-12.6,771,6721,0.20,1.88,0.00,0.000,6,0.125,0.036,2480,2455,3728
$GC,7046,-1.19,-219.0,740.1,-9.4,787,7047,0.12,0.00,0.00,0.000,6,0.063,0.000,2407,2455,3727
$GC,7349,-1.07,-219.0,772.5,-10.7,802,7353,0.20,2.00,0.00,0.000,4,0.139,0.064,2468,3683,3724
$GC,7450,-1.00,-219.0,782.6,-9.3,806,7456,0.00,1.88,0.00,0.000,6,0.000,0.043,2468,2462,3723
$GC,7761,-1.12,-219.0,811.3,-9.8,822,7764,0.00,1.98,0.00,0.000,4,0.000,0.067,2468,3679,3721
$GC,7878,-1.25,-219.0,823.7,-10.6,827,7882,0.12,1.92,0.00,0.000,6,0.048,0.038,2385,2427,3720
$GC,8194,-0.91,-219.0,872.8,-16.0,843,8198,0.40,2.45,0.00,0.000,4,0.142,0.052,2515,894,3718
$GC,8257,-1.00,-219.0,878.9,-8.5,846,8261,0.00,2.42,0.00,0.000,6,0.000,0.048,2515,2416,3718
$GC,8579,-1.24,-219.0,905.7,-8.4,862,8583,0.22,2.05,0.00,0.000,4,0.051,0.064,2395,3680,3717
$GC,8714,-0.96,-219.0,923.7,-14.9,868,8717,0.38,1.83,0.00,0.000,6,0.135,0.040,2511,2476,3715
$GC,9032,-1.19,-219.0,950.3,-8.2,884,9035,0.17,1.98,0.00,0.000,4,0.057,0.067,2409,3679,3714
$GC,9079,-0.99,-219.0,955.8,-12.4,886,9083,0.25,1.80,0.00,0.000,6,0.132,0.040,2491,2519,3713
$GC,9403,-1.18,-219.0,984.7,-9.0,902,9407,0.15,2.60,0.00,0.000,4,0.061,0.050,2410,894,3711
$STATE,9447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9447,begin apogee
$GC,9455,-0.29,0.0,990.6,13.1,904,9637,0.95,0.00,179.50,1.388,6,0.131,0.000,2720,2294,2854
$STATE,9637,end apogee,CONTROL_FINISHED_OK
$STATE,9637,begin climb
$GC,9640,1.11,219.0,1003.3,0.0,913,9836,1.23,2.42,187.20,1.345,4,0.046,0.061,3185,3696,1960
$GC,9868,0.27,219.0,986.8,21.5,924,9872,1.05,2.22,0.00,0.000,6,0.182,0.040,2906,2319,1956
$GC,10192,0.29,301.3,960.6,7.5,940,10276,0.00,2.45,74.10,1.289,4,0.000,0.054,2916,894,1624
$GC,10320,0.34,343.6,949.7,8.7,946,10364,0.00,2.28,38.58,1.285,6,0.000,0.044,2916,2296,1452
$GC,10689,0.41,343.6,913.9,10.3,964,10693,0.00,2.28,0.00,0.000,4,0.000,0.052,2916,885,1446
$GC,10742,0.52,343.6,908.1,10.6,966,10748,0.15,2.22,0.00,0.000,6,0.044,0.043,3008,2270,1444
$GC,11053,0.31,343.6,860.5,15.4,982,11055,0.30,0.00,0.00,0.000,6,0.135,0.000,2918,2270,1443
$GC,11358,0.41,343.6,828.9,10.3,997,11361,0.00,2.20,0.00,0.000,4,0.000,0.051,2926,891,1443
$GC,11379,0.50,343.6,826.8,10.4,998,11382,0.15,2.17,0.00,0.000,6,0.061,0.043,3005,2272,1442
$GC,11706,0.30,343.6,781.1,14.0,1014,11709,0.28,2.28,0.00,0.000,4,0.138,0.058,2916,3683,1442
$GC,11827,0.30,343.6,766.9,10.7,1020,11831,0.00,2.30,0.00,0.000,6,0.000,0.041,2926,2224,1442
$GC,12155,0.44,363.5,735.6,9.4,1036,12177,0.10,2.20,17.45,1.192,4,0.075,0.053,2995,888,1372
$GC,12294,0.30,363.5,718.7,13.1,1042,12298,0.22,2.10,0.00,0.000,6,0.136,0.043,2911,2195,1370
$GC,12610,0.56,395.3,690.0,9.0,1058,12653,0.20,2.15,31.80,1.132,4,0.053,0.052,3027,888,1241
$GC,12764,0.37,395.3,668.1,13.3,1065,12768,0.28,2.00,0.00,0.000,6,0.137,0.042,2939,2123,1237
$GC,13087,0.56,395.3,634.3,10.7,1081,13091,0.17,2.55,0.00,0.000,4,0.056,0.058,3034,3692,1236
$GC,13107,0.56,395.3,631.6,12.8,1082,13111,0.17,2.50,0.00,0.000,6,0.160,0.039,2998,2103,1236
$GC,13429,0.44,395.3,589.5,12.5,1098,13433,0.12,2.58,0.00,0.000,4,0.146,0.057,2963,3683,1236
$GC,13487,0.40,395.3,582.9,10.8,1101,13490,0.00,2.40,0.00,0.000,6,0.000,0.040,2971,2146,1236
$GC,13813,0.50,411.9,551.6,9.5,1117,13836,0.00,2.53,15.88,1.068,4,0.000,0.058,2971,3684,1173
$GC,13889,0.40,411.9,543.8,11.4,1120,13893,0.12,2.53,0.00,0.000,6,0.155,0.039,2949,2082,1172
$GC,14200,0.60,411.9,511.9,10.6,1135,14204,0.17,2.60,0.00,0.000,4,0.053,0.056,3036,3688,1171
$GC,14306,0.35,411.9,496.6,13.8,1140,14312,0.38,2.60,0.00,0.000,6,0.139,0.038,2936,2014,1171
$GC,14622,0.80,445.3,465.6,9.0,1171,14658,0.35,2.83,30.62,1.027,4,0.048,0.055,3097,3692,1037
$GC,14690,0.43,445.3,456.0,16.8,1177,14695,0.52,2.60,0.00,0.000,6,0.145,0.039,2954,2055,1037
$GC,15006,0.96,506.6,427.6,8.1,1207,15066,0.43,2.75,54.40,0.993,4,0.054,0.056,3130,3689,788
$GC,15122,0.59,506.6,408.0,19.5,1217,15126,0.45,2.50,0.00,0.000,6,0.146,0.038,3009,2109,785
$GC,15437,0.81,506.6,369.7,11.5,1247,15441,0.20,2.58,0.00,0.000,4,0.048,0.054,3115,3693,783
$GC,15538,0.50,506.6,352.9,16.9,1256,15542,0.47,2.58,0.00,0.000,6,0.136,0.038,2982,2054,782
$GC,15853,1.04,513.4,323.2,9.8,1286,15866,0.47,1.85,6.55,0.751,4,0.060,0.051,3171,882,760
$GC,15902,0.68,513.4,316.4,16.9,1290,15909,0.40,2.10,0.00,0.000,6,0.146,0.047,3044,2200,760
$GC,16224,0.77,513.4,273.2,12.2,1340,16231,0.00,2.12,0.00,0.000,4,0.000,0.051,3053,885,760
$GC,16295,0.91,513.4,265.6,10.2,1353,16301,0.15,1.92,0.00,0.000,6,0.058,0.038,3131,2135,760
$GC,16622,0.68,513.4,215.9,14.4,1414,16628,0.30,2.47,0.00,0.000,4,0.166,0.052,3037,3686,760
$GC,16659,0.68,513.4,210.8,11.8,1421,16665,0.00,2.45,0.00,0.000,6,0.000,0.036,3048,2090,760
$GC,16986,0.82,513.4,175.8,10.1,1482,16993,0.10,2.58,0.00,0.000,4,0.070,0.054,3116,3693,760
$GC,17025,0.63,513.4,170.5,13.2,1489,17031,0.35,2.60,0.00,0.000,6,0.133,0.038,3022,2007,760
$GC,17351,1.16,513.4,139.0,10.8,1550,17358,0.43,1.75,0.00,0.000,4,0.044,0.048,3214,882,760
$GC,17411,0.75,513.4,129.8,17.3,1561,17417,0.45,1.98,0.00,0.000,6,0.137,0.038,3060,2149,760
$GC,17738,0.92,513.4,97.8,10.5,1622,17744,0.15,2.45,0.00,0.000,4,0.053,0.051,3148,3690,760
$GC,17760,0.92,513.4,94.7,12.7,1626,17766,0.17,2.50,0.00,0.000,6,0.138,0.036,3109,2067,759
$GC,18088,0.82,513.4,61.3,10.1,1687,18094,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2067,759
$GC,18415,1.04,549.7,28.4,8.9,1748,18454,0.12,2.65,33.72,0.636,4,0.060,0.048,3188,3690,610
$GC,18555,0.83,549.7,9.3,17.6,1773,18561,0.38,2.47,0.00,0.000,6,0.125,0.034,3083,2078,605
$STATE,18617,end climb,SURFACE_DEPTH_REACHED
$STATE,18617,begin surface coast
$FINISH,1.7,1.020961
$STATE,18652,end surface coast,CONTROL_FINISHED_OK
$STATE,18652,begin surface
$SM_CCo,18728,0.00,0.000,0,0,602,552.42
$SM_GC,2.47,7.40,0.00,0.00,0.030,0.000,0.000,148,2325,602,-8.22,1.13,552.42
$IRIDIUM_FIX,2522.28,12541.98,171098,181844
$TT8_MAMPS,0.047554
$HUMID,1645
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.30
$XPDR_PINGS,546
$24V_AH,22.3,79.224
$10V_AH,10.6,53.675
$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,37.650,198.225,669.800,0.000,0.000,28.642,39.894,306.094,144.500,0.000,0.000,31.768,0.000,13224.277,814.739,4368.449,825.010,0.000,2470.385,0.000,3675.300,0.000,54.001,0.000
$DEVICE_MAMPS,223.197,66.729,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1208.793,1257.449,1969.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104406,1791
$CAP_FILE_SIZE,215168,0
$CFSIZE,260165632,226070528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.174, 68.2,1
$GPS,240709,044707,2531.284,12544.397,28,1.3,28,-4.0