version: 66.04
glider: 165
mission: 2
dive: 349
start: 7 24 109 14 30 33
data:
$ID,165
$MISSION,2
$DIVE,349
$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,-124592.92
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,142237,2531.316,12545.152,27,1.7,27,-4.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-67.3
$GPS2,143028,2531.356,12545.239,17,3.2,36,-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,235.9,43123,-14.7,-10.000
$D_GRID,826
$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,-1.14,-219.0,0.0,0.0,0,70,0.00,0.00,-53.67,0.000,2,0.000,0.000,145,2262,1942
$GC,73,-1.14,-219.0,3.0,-2.4,7,137,8.95,2.20,-50.75,0.000,4,0.224,0.053,2429,883,3749
$GC,158,-0.53,-219.0,15.8,-25.3,21,164,0.68,2.20,0.00,0.000,6,0.139,0.044,2628,2291,3750
$GC,485,-0.80,-219.0,53.7,-10.3,82,492,0.22,2.15,0.00,0.000,4,0.044,0.037,2493,880,3751
$GC,508,-0.84,-219.0,56.6,-12.3,86,515,0.08,2.17,0.00,0.000,6,0.117,0.040,2530,2272,3751
$GC,836,-0.70,-219.0,103.0,-12.8,147,842,0.15,0.00,0.00,0.000,6,0.133,0.000,2576,2272,3751
$GC,1162,-0.90,-219.0,134.8,-10.2,208,1167,0.17,0.00,0.00,0.000,6,0.049,0.000,2468,2272,3752
$GC,1488,-0.79,-219.0,174.6,-11.9,269,1494,0.25,2.17,0.00,0.000,4,0.118,0.042,2549,867,3752
$GC,1559,-0.87,-219.0,182.0,-10.1,282,1566,0.00,2.15,0.00,0.000,6,0.000,0.042,2549,2267,3753
$GC,1887,-1.04,-219.0,213.8,-9.4,343,1892,0.20,2.12,0.00,0.000,4,0.048,0.042,2430,887,3752
$GC,2012,-0.74,-219.0,231.0,-14.7,366,2019,0.43,2.17,0.00,0.000,6,0.133,0.045,2558,2284,3752
$GC,2340,-0.93,-219.0,261.3,-9.2,427,2346,0.15,2.22,0.00,0.000,4,0.055,0.058,2455,3689,3752
$GC,2426,-0.67,-219.0,271.9,-13.1,443,2432,0.40,2.08,0.00,0.000,6,0.120,0.034,2585,2300,3752
$GC,2751,-0.98,-219.0,302.2,-9.2,502,2754,0.28,2.15,0.00,0.000,4,0.045,0.044,2452,889,3752
$GC,2777,-0.98,-219.0,305.2,-12.1,504,2784,0.08,2.25,0.00,0.000,6,0.138,0.051,2478,2300,3752
$GC,3093,-1.03,-219.0,336.1,-9.1,535,3096,0.00,2.20,0.00,0.000,4,0.000,0.045,2478,884,3751
$GC,3146,-0.94,-219.0,341.7,-11.3,540,3150,0.00,2.20,0.00,0.000,6,0.000,0.044,2478,2300,3751
$GC,3468,-1.00,-219.0,375.6,-10.7,571,3471,0.00,2.20,0.00,0.000,4,0.000,0.045,2478,886,3749
$GC,3483,-1.05,-219.0,377.3,-10.6,572,3489,0.00,2.20,0.00,0.000,6,0.000,0.050,2478,2271,3749
$GC,3801,-1.09,-219.0,411.3,-10.3,603,3804,0.00,2.25,0.00,0.000,4,0.000,0.061,2478,3686,3748
$GC,3837,-1.09,-219.0,415.6,-11.4,606,3841,0.00,2.17,0.00,0.000,6,0.000,0.035,2478,2260,3748
$GC,4159,-1.13,-219.0,447.6,-9.6,637,4162,0.12,2.30,0.00,0.000,4,0.061,0.059,2401,3688,3745
$GC,4248,-0.80,-219.0,460.0,-15.3,645,4255,0.40,2.10,0.00,0.000,6,0.127,0.035,2547,2303,3745
$GC,4564,-1.05,-219.0,489.4,-8.9,676,4568,0.22,2.22,0.00,0.000,4,0.048,0.060,2424,3693,3743
$GC,4618,-0.90,-219.0,495.3,-12.4,681,4622,0.28,2.00,0.00,0.000,6,0.121,0.035,2512,2349,3743
$GC,4942,-1.06,-219.0,525.4,-9.2,699,4945,0.15,2.15,0.00,0.000,4,0.054,0.061,2426,3683,3741
$GC,4967,-1.02,-219.0,528.6,-11.9,700,4971,0.10,2.03,0.00,0.000,6,0.117,0.035,2464,2352,3741
$GC,5289,-1.07,-219.0,560.3,-10.1,716,5292,0.00,2.28,0.00,0.000,4,0.000,0.047,2464,889,3739
$GC,5363,-1.00,-219.0,568.2,-10.6,719,5369,0.00,2.30,0.00,0.000,6,0.000,0.047,2465,2344,3739
$GC,5674,-1.09,-219.0,598.8,-9.4,735,5678,0.00,2.28,0.00,0.000,4,0.000,0.047,2465,892,3737
$GC,5706,-1.05,-219.0,601.8,-10.2,736,5709,0.00,2.28,0.00,0.000,6,0.000,0.047,2465,2338,3737
$GC,6021,-1.12,-219.0,631.1,-8.9,752,6024,0.00,2.28,0.00,0.000,4,0.000,0.047,2465,889,3735
$GC,6107,-1.08,-219.0,639.5,-9.8,756,6110,0.00,2.22,0.00,0.000,6,0.000,0.048,2465,2297,3735
$GC,6428,-1.16,-219.0,669.2,-9.0,772,6432,0.12,2.22,0.00,0.000,4,0.063,0.064,2397,3682,3733
$GC,6470,-0.91,-219.0,674.1,-12.7,774,6474,0.35,2.05,0.00,0.000,6,0.132,0.038,2505,2327,3732
$GC,6788,-1.08,-219.0,701.2,-8.8,790,6792,0.15,2.22,0.00,0.000,4,0.057,0.064,2414,3693,3730
$GC,6948,-0.86,-219.0,721.6,-14.1,797,6954,0.35,2.03,0.00,0.000,6,0.126,0.037,2525,2357,3728
$GC,7261,-1.11,-219.0,750.8,-9.9,813,7264,0.20,2.17,0.00,0.000,4,0.051,0.064,2410,3683,3726
$GC,7325,-0.86,-219.0,759.2,-13.4,816,7328,0.35,1.95,0.00,0.000,6,0.129,0.038,2519,2396,3725
$GC,7647,-1.14,-219.0,787.6,-8.2,832,7651,0.22,2.12,0.00,0.000,4,0.051,0.065,2398,3694,3724
$GC,7684,-0.94,-219.0,791.7,-11.7,834,7688,0.32,1.92,0.00,0.000,6,0.133,0.038,2498,2414,3723
$GC,8013,-1.14,-219.0,819.7,-8.8,850,8016,0.17,2.08,0.00,0.000,4,0.054,0.065,2398,3682,3722
$STATE,8063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8063,begin apogee
$GC,8071,-0.29,0.0,826.2,12.9,852,8249,0.93,0.00,175.43,1.255,6,0.131,0.000,2702,2294,2854
$STATE,8249,end apogee,CONTROL_FINISHED_OK
$STATE,8249,begin climb
$GC,8251,1.14,219.0,838.0,0.0,861,8435,1.25,0.00,179.75,1.231,6,0.048,0.000,3177,2294,1961
$GC,8727,0.39,219.0,774.9,18.8,885,8729,0.85,0.00,0.00,0.000,6,0.167,0.000,2928,2294,1953
$GC,9032,0.32,251.6,746.8,9.0,900,9065,0.00,2.33,27.83,1.164,4,0.000,0.054,2938,906,1827
$GC,9125,0.24,251.6,737.7,10.1,904,9129,0.12,2.28,0.00,0.000,6,0.114,0.046,2881,2300,1823
$GC,9442,0.46,332.2,713.2,7.5,920,9516,0.17,2.35,69.70,1.176,4,0.054,0.052,2987,902,1498
$GC,9554,0.33,332.2,700.4,12.3,925,9558,0.28,2.20,0.00,0.000,6,0.137,0.045,2906,2257,1494
$GC,9870,0.53,332.2,669.2,10.0,941,9874,0.17,2.17,0.00,0.000,4,0.051,0.051,3009,903,1491
$GC,9986,0.34,332.2,653.9,13.3,946,9993,0.28,2.10,0.00,0.000,6,0.135,0.044,2908,2214,1489
$GC,10297,0.58,356.8,624.5,9.2,962,10320,0.20,0.00,21.30,1.108,6,0.049,0.000,3018,2215,1399
$GC,10622,0.37,356.8,582.4,12.6,978,10626,0.32,2.40,0.00,0.000,4,0.134,0.060,2919,3689,1396
$GC,10670,0.43,368.6,577.3,9.6,980,10686,0.00,2.38,11.50,1.025,6,0.000,0.040,2925,2161,1350
$GC,11003,0.69,372.8,544.8,9.9,997,11012,0.22,2.00,5.05,0.805,4,0.048,0.050,3050,905,1333
$GC,11082,0.43,372.8,534.3,13.0,1001,11086,0.38,1.95,0.00,0.000,6,0.140,0.043,2937,2145,1332
$GC,11405,0.69,415.8,504.9,8.7,1017,11448,0.20,2.10,39.28,1.056,4,0.051,0.052,3049,904,1157
$GC,11464,0.53,415.8,497.7,12.1,1019,11470,0.28,1.92,0.00,0.000,6,0.133,0.041,2969,2105,1155
$GC,11779,0.71,415.8,465.0,11.0,1050,11783,0.17,2.55,0.00,0.000,4,0.051,0.058,3055,3689,1152
$GC,11812,0.52,415.8,460.9,13.8,1053,11816,0.32,2.50,0.00,0.000,6,0.151,0.038,2971,2090,1152
$GC,12127,0.73,415.8,426.5,10.3,1083,12131,0.17,1.88,0.00,0.000,4,0.051,0.050,3066,896,1152
$GC,12223,0.51,415.8,414.1,12.5,1092,12227,0.32,1.80,0.00,0.000,6,0.133,0.041,2967,2048,1150
$GC,12544,0.75,415.8,382.1,10.4,1123,12548,0.20,2.65,0.00,0.000,4,0.048,0.056,3072,3698,1150
$GC,12593,0.43,415.8,375.4,15.3,1127,12598,0.47,2.62,0.00,0.000,6,0.140,0.038,2939,2004,1149
$GC,12909,0.99,489.0,346.0,7.8,1157,12978,0.43,1.77,62.55,0.930,4,0.038,0.051,3153,903,858
$GC,13090,0.59,489.0,313.1,19.1,1173,13097,0.50,1.90,0.00,0.000,6,0.147,0.041,2988,2087,855
$GC,13412,0.97,489.0,279.0,10.9,1223,13418,0.30,1.88,0.00,0.000,4,0.040,0.047,3147,903,853
$GC,13438,0.97,489.0,275.5,13.1,1228,13445,0.10,2.00,0.00,0.000,6,0.144,0.045,3113,2159,853
$GC,13765,0.73,489.0,224.2,14.0,1289,13771,0.25,2.00,0.00,0.000,4,0.140,0.048,3045,897,853
$GC,13840,0.73,489.0,214.9,10.9,1303,13846,0.00,2.00,0.00,0.000,6,0.000,0.038,3045,2177,852
$GC,14166,0.87,489.0,179.3,10.1,1364,14172,0.10,2.03,0.00,0.000,4,0.071,0.049,3117,891,853
$GC,14292,0.68,489.0,163.2,13.3,1387,14298,0.30,1.92,0.00,0.000,6,0.127,0.039,3017,2117,853
$GC,14618,1.28,557.2,133.3,7.9,1448,14688,0.50,2.60,61.08,0.749,4,0.050,0.054,3228,3687,578
$GC,14783,0.82,557.2,102.9,19.1,1477,14791,0.57,2.38,0.00,0.000,6,0.146,0.037,3067,2166,570
$GC,15112,1.32,560.7,70.9,9.9,1538,15119,0.38,1.95,0.00,0.000,4,0.051,0.045,3232,900,566
$GC,15238,1.01,560.7,52.2,15.6,1561,15244,0.32,2.17,0.00,0.000,6,0.129,0.044,3124,2282,565
$GC,15565,1.24,582.4,19.1,9.3,1622,15609,0.17,2.22,24.27,0.542,4,0.048,0.045,3239,898,483
$STATE,15670,end climb,SURFACE_DEPTH_REACHED
$STATE,15671,begin surface coast
$FINISH,1.8,1.009202
$STATE,15686,end surface coast,CONTROL_FINISHED_OK
$STATE,15686,begin surface
$SM_CCo,15764,0.00,0.000,0,0,476,583.32
$SM_GC,2.56,7.82,0.00,0.00,0.033,0.000,0.000,150,2314,476,-8.14,0.82,583.32
$IRIDIUM_FIX,2524.66,12545.31,181098,101024
$TT8_MAMPS,0.048321
$HUMID,1662
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.10
$XPDR_PINGS,537
$24V_AH,23.5,80.015
$10V_AH,10.6,54.138
$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,34.625,155.850,677.725,0.000,0.000,29.067,34.251,233.212,140.750,0.000,0.000,38.723,0.000,10849.864,807.338,3846.660,695.451,0.000,2243.653,0.000,3233.216,0.000,44.062,0.000
$DEVICE_MAMPS,223.964,65.195,1254.812,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.044,1164.867,1856.505,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94839,1644
$CAP_FILE_SIZE,182510,0
$CFSIZE,260165632,225804288
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.164, 65.3,1
$GPS,240709,185407,2531.128,12545.436,29,1.8,29,-4.0