version: 66.04
glider: 165
mission: 2
dive: 524
start: 8 22 109 11 50 33
data:
$ID,165
$MISSION,2
$DIVE,524
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-131348.64
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$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,39
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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,3
$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
$GPS1,114237,2449.485,12245.811,36,1.0,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.7
$GPS2,115028,2449.726,12246.154,14,3.8,33,-3.5
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$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,219.1,8685,-16.0,-11.000
$D_GRID,1242
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.91,-219.0,0.0,0.0,0,60,0.00,0.00,-42.33,0.000,2,0.000,0.000,143,2318,1899
$GC,63,-0.91,-219.0,3.4,-4.4,7,126,9.38,2.25,-46.35,0.000,4,0.223,0.065,2474,3682,3750
$GC,255,-0.59,-219.0,55.2,-26.2,41,262,0.38,2.15,0.00,0.000,6,0.127,0.034,2588,2265,3752
$GC,583,-0.59,-219.0,105.4,-12.1,102,588,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2259,3753
$GC,910,-0.64,-219.0,145.7,-13.1,163,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2589,2259,3754
$GC,1236,-0.77,-219.0,176.1,-6.5,224,1242,0.17,2.15,0.00,0.000,4,0.051,0.043,2490,879,3755
$GC,1291,-0.62,-219.0,182.5,-13.8,234,1298,0.30,2.20,0.00,0.000,6,0.127,0.041,2574,2291,3755
$GC,1619,-0.73,-219.0,212.1,-9.1,295,1625,0.00,2.22,0.00,0.000,4,0.000,0.046,2575,877,3755
$GC,1647,-0.86,-219.0,214.1,-7.5,300,1653,0.20,2.20,0.00,0.000,6,0.046,0.041,2465,2293,3755
$GC,1977,-0.60,-219.0,279.3,-20.6,361,1984,0.35,2.25,0.00,0.000,4,0.139,0.049,2577,885,3755
$GC,2022,-0.75,-219.0,286.0,-9.1,369,2029,0.12,2.15,0.00,0.000,6,0.060,0.039,2493,2270,3754
$GC,2344,-0.62,-219.0,326.4,-11.7,410,2348,0.25,2.22,0.00,0.000,4,0.128,0.047,2577,877,3754
$GC,2371,-0.66,-219.0,328.8,-8.4,412,2374,0.00,2.17,0.00,0.000,6,0.000,0.041,2577,2273,3754
$GC,2695,-0.84,-219.0,342.2,-5.1,443,2696,0.20,0.00,0.00,0.000,6,0.048,0.000,2463,2273,3752
$GC,3002,-0.67,-219.0,391.2,-16.3,473,3006,0.30,2.22,0.00,0.000,4,0.126,0.047,2563,878,3750
$GC,3051,-0.86,-219.0,396.0,-7.8,477,3055,0.17,2.17,0.00,0.000,6,0.050,0.041,2464,2269,3751
$GC,3372,-0.68,-219.0,449.4,-17.6,508,3374,0.30,0.00,0.00,0.000,6,0.130,0.000,2557,2269,3749
$GC,3683,-0.85,-219.0,480.2,-8.8,538,3686,0.15,2.20,0.00,0.000,4,0.054,0.048,2467,886,3746
$GC,3704,-0.89,-219.0,482.7,-12.1,539,3709,0.00,2.17,0.00,0.000,6,0.000,0.050,2465,2248,3746
$GC,4030,-0.75,-219.0,532.9,-14.6,561,4033,0.20,2.35,0.00,0.000,4,0.134,0.058,2534,3694,3744
$GC,4077,-0.92,-219.0,537.6,-7.3,563,4081,0.15,2.17,0.00,0.000,6,0.054,0.033,2447,2261,3744
$GC,4391,-0.77,-219.0,582.5,-13.9,578,4395,0.25,2.17,0.00,0.000,4,0.130,0.048,2530,890,3742
$GC,4493,-0.92,-219.0,591.2,-7.6,583,4496,0.12,2.15,0.00,0.000,6,0.061,0.044,2459,2245,3741
$GC,4817,-0.80,-219.0,630.9,-13.1,599,4820,0.17,2.35,0.00,0.000,4,0.138,0.058,2507,3686,3739
$GC,4843,-0.80,-219.0,634.4,-11.6,600,4846,0.00,2.22,0.00,0.000,6,0.000,0.035,2507,2238,3738
$GC,5165,-0.86,-219.0,666.1,-9.2,616,5168,0.00,2.15,0.00,0.000,4,0.000,0.051,2507,883,3737
$GC,5235,-0.95,-219.0,672.4,-8.6,619,5238,0.00,2.15,0.00,0.000,6,0.000,0.044,2507,2241,3737
$GC,5556,-1.00,-219.0,703.5,-10.6,635,5557,0.15,0.00,0.00,0.000,6,0.058,0.000,2431,2241,3734
$GC,5862,-0.81,-219.0,756.9,-18.1,650,5865,0.25,2.20,0.00,0.000,4,0.137,0.050,2513,884,3731
$GC,5888,-0.78,-219.0,761.1,-16.0,651,5891,0.00,2.15,0.00,0.000,6,0.000,0.046,2510,2229,3730
$GC,6210,-0.86,-219.0,792.0,-8.9,667,6214,0.00,2.40,0.00,0.000,4,0.000,0.062,2511,3694,3728
$GC,6248,-1.01,-219.0,794.9,-7.5,669,6251,0.15,2.28,0.00,0.000,6,0.057,0.035,2435,2221,3728
$GC,6571,-0.84,-219.0,841.0,-15.0,685,6575,0.20,2.12,0.00,0.000,4,0.137,0.050,2502,887,3726
$GC,6598,-0.81,-219.0,844.6,-12.6,686,6601,0.00,2.15,0.00,0.000,6,0.000,0.046,2500,2231,3727
$GC,6919,-0.86,-219.0,874.2,-9.6,702,6923,0.00,2.40,0.00,0.000,4,0.000,0.063,2500,3686,3724
$GC,6968,-0.98,-219.0,878.6,-9.9,704,6972,0.12,2.25,0.00,0.000,6,0.063,0.035,2435,2226,3723
$GC,7285,-0.84,-219.0,925.1,-14.5,720,7288,0.20,2.15,0.00,0.000,4,0.133,0.051,2502,887,3722
$GC,7316,-0.84,-219.0,929.0,-11.2,721,7319,0.00,2.17,0.00,0.000,6,0.000,0.048,2502,2239,3722
$GC,7633,-0.92,-219.0,957.3,-8.9,737,7636,0.00,2.20,0.00,0.000,4,0.000,0.051,2501,878,3720
$GC,7660,-1.01,-219.0,959.8,-9.3,738,7663,0.15,2.20,0.00,0.000,6,0.058,0.047,2425,2246,3720
$STATE,7870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7870,begin apogee
$GC,7878,-0.20,0.0,992.8,15.8,749,8062,0.93,0.00,181.23,1.365,6,0.130,0.000,2716,2315,2854
$STATE,8062,end apogee,CONTROL_FINISHED_OK
$STATE,8062,begin climb
$GC,8065,0.91,219.0,1006.7,0.0,758,8264,0.95,2.42,189.00,1.330,4,0.044,0.055,3094,904,1960
$GC,8414,0.55,219.0,972.6,19.6,774,8418,0.47,2.25,0.00,0.000,6,0.166,0.046,2962,2298,1953
$GC,8724,0.45,219.0,932.5,12.3,789,8728,0.12,2.28,0.00,0.000,4,0.163,0.059,2928,3690,1950
$GC,8827,0.38,219.0,921.0,11.4,794,8830,0.12,2.15,0.00,0.000,6,0.158,0.038,2902,2308,1950
$GC,9148,0.53,310.8,895.2,7.9,810,9235,0.15,2.40,81.05,1.281,4,0.064,0.057,2978,3686,1586
$GC,9322,0.43,310.8,872.3,15.0,818,9326,0.25,2.15,0.00,0.000,6,0.146,0.038,2917,2328,1583
$GC,9638,0.51,310.8,837.1,11.9,834,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2328,1580
$GC,9944,0.60,310.8,801.3,11.7,849,9948,0.15,2.22,0.00,0.000,4,0.059,0.056,3001,3690,1579
$GC,9992,0.43,310.8,793.6,17.3,851,9995,0.30,2.12,0.00,0.000,6,0.149,0.038,2925,2328,1579
$GC,10303,0.56,354.0,762.7,9.5,866,10347,0.10,2.30,38.90,1.209,4,0.075,0.056,2982,3677,1410
$GC,10416,0.49,354.0,748.1,15.1,871,10420,0.20,2.12,0.00,0.000,6,0.143,0.037,2936,2326,1409
$GC,10733,0.64,412.5,717.8,9.0,887,10793,0.15,0.00,54.03,1.180,6,0.058,0.000,3018,2319,1171
$GC,11097,0.55,412.5,656.8,17.2,905,11101,0.20,2.25,0.00,0.000,4,0.140,0.054,2955,3698,1166
$GC,11146,0.63,412.5,649.8,14.0,907,11149,0.00,2.15,0.00,0.000,6,0.000,0.038,2963,2319,1166
$GC,11461,0.68,412.5,606.5,14.1,923,11463,0.10,0.00,0.00,0.000,6,0.074,0.000,3022,2319,1165
$GC,11766,0.59,412.5,550.7,17.6,938,11768,0.17,0.00,0.00,0.000,6,0.140,0.000,2973,2315,1164
$GC,12073,0.64,425.0,516.2,10.6,953,12088,0.00,2.22,10.90,0.976,4,0.000,0.055,2972,3686,1121
$GC,12136,0.71,425.0,508.7,11.3,955,12139,0.00,2.10,0.00,0.000,6,0.000,0.037,2978,2334,1121
$GC,12454,0.79,453.8,477.6,10.0,981,12486,0.17,2.35,27.58,1.015,4,0.054,0.050,3071,888,1001
$GC,12502,0.63,453.8,469.7,17.6,985,12509,0.30,2.33,0.00,0.000,6,0.140,0.039,2984,2343,1000
$GC,12818,0.69,453.8,431.4,15.2,1016,12821,0.00,2.17,0.00,0.000,4,0.000,0.054,2984,3695,998
$GC,12855,0.77,453.8,424.9,18.1,1019,12860,0.10,2.15,0.00,0.000,6,0.068,0.043,3048,2333,998
$GC,13170,0.67,453.8,362.0,18.7,1050,13174,0.17,2.33,0.00,0.000,4,0.143,0.049,3000,881,998
$GC,13229,0.85,509.9,354.5,9.1,1055,13284,0.15,2.28,49.70,0.933,6,0.059,0.038,3081,2330,774
$GC,13596,0.72,509.9,288.2,19.2,1095,13601,0.20,2.17,0.00,0.000,4,0.144,0.052,3017,3680,770
$GC,13650,0.78,509.9,280.1,12.6,1105,13657,0.00,2.12,0.00,0.000,6,0.000,0.037,3023,2312,770
$GC,13977,0.83,509.9,236.5,14.7,1166,13983,0.00,2.30,0.00,0.000,4,0.000,0.054,3033,894,769
$GC,14043,0.90,509.9,226.4,15.2,1178,14049,0.10,2.25,0.00,0.000,6,0.072,0.038,3098,2327,769
$GC,14371,0.78,509.9,153.0,20.1,1239,14377,0.20,2.17,0.00,0.000,4,0.138,0.051,3032,3688,769
$GC,14479,0.89,509.9,136.4,13.9,1259,14486,0.00,2.10,0.00,0.000,6,0.000,0.035,3040,2345,768
$GC,14807,1.02,518.3,93.6,10.7,1320,14822,0.17,2.30,7.55,0.628,4,0.053,0.048,3145,893,741
$GC,14909,0.92,518.3,78.0,15.0,1338,14915,0.22,2.25,0.00,0.000,6,0.124,0.043,3077,2326,740
$GC,15236,1.10,518.3,43.9,13.2,1399,15242,0.17,2.17,0.00,0.000,4,0.051,0.056,3180,3683,739
$GC,15435,1.01,518.3,11.0,14.8,1436,15441,0.28,2.08,0.00,0.000,6,0.134,0.035,3108,2338,738
$STATE,15529,end climb,SURFACE_DEPTH_REACHED
$STATE,15529,begin surface coast
$FINISH,2.0,1.016345
$STATE,15562,end surface coast,CONTROL_FINISHED_OK
$STATE,15562,begin surface
$SM_CCo,15639,0.00,0.000,0,0,738,519.05
$SM_GC,2.58,7.57,0.00,0.00,0.035,0.000,0.000,160,2330,738,-8.08,1.27,519.05
$IRIDIUM_FIX,2441.81,12240.83,161198,070738
$TT8_MAMPS,0.049088
$HUMID,1810
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,24.80
$XPDR_PINGS,701
$24V_AH,22.9,117.000
$10V_AH,10.3,76.963
$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,28.600,141.925,639.925,0.000,0.000,29.917,33.416,215.228,183.250,0.000,0.000,36.378,0.000,11228.268,728.188,3364.333,754.055,0.000,2026.693,0.000,2790.461,0.000,53.974,0.000
$DEVICE_MAMPS,223.197,95.108,1365.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,989.933,1019.537,1233.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82097,1460
$CAP_FILE_SIZE,170353,0
$CFSIZE,260165632,211890176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.490, 39.3,1
$GPS,220809,161207,2450.774,12247.621,32,2.0,32,-3.5