version: 66.04
glider: 165
mission: 2
dive: 525
start: 8 22 109 16 19 50
data:
$ID,165
$MISSION,2
$DIVE,525
$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,-131362.23
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,161207,2450.774,12247.621,32,2.0,32,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-70.7
$GPS2,161944,2451.056,12247.963,11,1.4,11,-3.6
$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,237.0,11148,-16.0,-11.000
$D_GRID,1264
$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,-219.0,0.0,0.0,0,57,0.00,0.00,-39.10,0.000,2,0.000,0.000,152,2333,1700
$GC,60,-0.91,-219.0,3.1,-2.5,6,130,9.57,2.38,-55.80,0.000,4,0.232,0.056,2478,877,3750
$GC,275,-0.55,-219.0,59.8,-25.4,44,281,0.45,2.20,0.00,0.000,6,0.135,0.038,2604,2291,3751
$GC,602,-0.63,-219.0,99.0,-12.8,105,609,0.00,2.22,0.00,0.000,4,0.000,0.042,2604,866,3754
$GC,621,-0.72,-219.0,101.4,-12.9,108,627,0.12,2.22,0.00,0.000,6,0.042,0.038,2517,2288,3754
$GC,949,-0.57,-219.0,152.3,-12.3,169,956,0.22,2.22,0.00,0.000,4,0.132,0.042,2592,872,3755
$GC,1026,-0.77,-219.0,157.4,-4.2,183,1032,0.12,2.20,0.00,0.000,6,0.041,0.038,2498,2279,3755
$GC,1355,-0.62,-219.0,203.3,-17.2,244,1361,0.22,2.22,0.00,0.000,4,0.129,0.044,2573,872,3756
$GC,1399,-0.75,-219.0,209.4,-12.1,252,1405,0.12,2.20,0.00,0.000,6,0.058,0.041,2491,2275,3756
$GC,1726,-0.58,-219.0,273.3,-20.0,313,1733,0.30,2.22,0.00,0.000,4,0.129,0.046,2589,874,3756
$GC,1750,-0.58,-219.0,277.3,-17.5,317,1757,0.00,2.20,0.00,0.000,6,0.000,0.047,2590,2267,3756
$GC,2075,-0.79,-219.0,306.3,-8.2,371,2076,0.17,0.00,0.00,0.000,6,0.052,0.000,2485,2267,3756
$GC,2386,-0.65,-219.0,357.3,-17.0,401,2387,0.28,0.00,0.00,0.000,6,0.124,0.000,2571,2267,3754
$GC,2699,-0.83,-219.0,388.5,-9.3,431,2703,0.17,2.22,0.00,0.000,4,0.051,0.048,2467,872,3753
$GC,2741,-0.70,-219.0,394.9,-15.6,434,2747,0.28,2.22,0.00,0.000,6,0.130,0.046,2549,2266,3753
$GC,3058,-0.83,-219.0,427.3,-10.0,465,3061,0.12,2.30,0.00,0.000,4,0.062,0.058,2468,3689,3752
$GC,3089,-0.79,-219.0,431.0,-12.1,467,3095,0.20,2.17,0.00,0.000,6,0.122,0.034,2530,2257,3751
$GC,3405,-0.83,-219.0,463.2,-10.2,498,3408,0.00,2.15,0.00,0.000,4,0.000,0.048,2530,885,3749
$GC,3448,-0.93,-219.0,467.7,-9.4,502,3452,0.15,2.17,0.00,0.000,6,0.056,0.043,2451,2270,3749
$GC,3767,-0.73,-219.0,516.9,-15.3,528,3771,0.28,2.30,0.00,0.000,4,0.137,0.058,2533,3689,3747
$GC,3799,-0.78,-219.0,520.3,-9.2,529,3806,0.00,2.20,0.00,0.000,6,0.000,0.039,2533,2261,3746
$GC,4110,-0.88,-219.0,542.4,-7.8,545,4111,0.12,0.00,0.00,0.000,6,0.060,0.000,2457,2256,3745
$GC,4416,-0.74,-219.0,587.9,-15.7,560,4420,0.25,2.20,0.00,0.000,4,0.129,0.050,2540,880,3743
$GC,4480,-0.91,-219.0,595.1,-9.3,563,4483,0.15,2.20,0.00,0.000,6,0.057,0.044,2457,2272,3742
$GC,4804,-0.78,-219.0,642.6,-14.4,579,4808,0.20,2.22,0.00,0.000,4,0.137,0.049,2522,890,3741
$GC,4868,-0.91,-219.0,649.8,-8.3,582,4876,0.00,2.17,0.00,0.000,6,0.000,0.044,2521,2265,3740
$GC,5193,-1.01,-219.0,675.0,-7.0,598,5195,0.17,0.00,0.00,0.000,6,0.052,0.000,2434,2265,3737
$GC,5497,-0.84,-219.0,717.3,-14.0,613,5498,0.25,0.00,0.00,0.000,6,0.135,0.000,2510,2264,3736
$GC,5803,-0.91,-219.0,745.3,-8.8,628,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2265,3734
$GC,6107,-0.99,-219.0,770.0,-7.9,643,6109,0.15,0.00,0.00,0.000,6,0.059,0.000,2436,2265,3732
$GC,6413,-0.82,-219.0,812.4,-15.0,658,6417,0.22,2.25,0.00,0.000,4,0.137,0.054,2511,890,3730
$GC,6456,-0.92,-219.0,817.1,-9.1,660,6459,0.00,2.20,0.00,0.000,6,0.000,0.047,2510,2269,3729
$GC,6777,-1.01,-219.0,845.7,-9.1,676,6781,0.15,2.33,0.00,0.000,4,0.058,0.061,2425,3683,3727
$GC,6816,-0.91,-219.0,850.4,-13.8,678,6820,0.20,2.20,0.00,0.000,6,0.133,0.037,2485,2266,3726
$GC,7137,-0.91,-219.0,887.9,-11.4,694,7140,0.00,2.20,0.00,0.000,4,0.000,0.051,2485,887,3725
$GC,7180,-0.96,-219.0,892.4,-10.0,696,7183,0.00,2.22,0.00,0.000,6,0.000,0.047,2482,2272,3725
$GC,7503,-0.96,-219.0,926.6,-10.5,712,7506,0.00,2.25,0.00,0.000,4,0.000,0.051,2480,883,3723
$GC,7545,-1.00,-219.0,931.1,-10.5,714,7549,0.00,2.25,0.00,0.000,6,0.000,0.047,2482,2283,3723
$GC,7868,-1.00,-219.0,964.0,-10.6,730,7871,0.00,2.25,0.00,0.000,4,0.000,0.050,2481,887,3721
$GC,7894,-1.00,-219.0,966.9,-10.8,731,7897,0.00,2.20,0.00,0.000,6,0.000,0.045,2482,2261,3721
$STATE,8130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8131,begin apogee
$GC,8137,-0.20,0.0,990.1,10.1,743,8322,0.70,0.00,181.60,1.364,6,0.112,0.000,2711,2304,2854
$STATE,8322,end apogee,CONTROL_FINISHED_OK
$STATE,8322,begin climb
$GC,8326,0.91,219.0,998.6,0.0,752,8524,0.98,2.40,189.12,1.325,4,0.041,0.054,3102,907,1961
$GC,8743,0.54,219.0,943.3,20.0,771,8749,0.50,2.28,0.00,0.000,6,0.166,0.048,2962,2312,1952
$GC,9053,0.44,219.0,899.6,13.8,787,9057,0.12,2.25,0.00,0.000,4,0.162,0.058,2927,3693,1950
$GC,9245,0.38,219.0,875.0,12.6,796,9249,0.12,2.12,0.00,0.000,6,0.159,0.037,2902,2324,1949
$GC,9567,0.50,274.0,844.9,9.1,812,9621,0.12,2.35,48.30,1.252,4,0.068,0.057,2965,3685,1736
$GC,9706,0.39,274.0,825.5,16.5,818,9710,0.25,2.15,0.00,0.000,6,0.149,0.038,2903,2321,1733
$GC,10017,0.48,278.9,792.1,10.8,833,10026,0.00,2.25,5.12,0.890,4,0.000,0.056,2904,3692,1714
$GC,10070,0.55,278.9,785.5,13.2,835,10076,0.12,2.12,0.00,0.000,6,0.067,0.037,2976,2329,1715
$GC,10381,0.45,278.9,736.1,15.9,851,10385,0.17,2.22,0.00,0.000,4,0.146,0.055,2920,3686,1714
$GC,10493,0.48,278.9,720.9,12.8,856,10496,0.00,2.08,0.00,0.000,6,0.000,0.038,2928,2351,1713
$GC,10809,0.48,278.9,681.8,12.0,872,10812,0.00,2.17,0.00,0.000,4,0.000,0.056,2928,3688,1713
$GC,10977,0.48,278.9,660.7,13.4,879,10983,0.00,2.08,0.00,0.000,6,0.000,0.041,2938,2356,1713
$GC,11288,0.48,278.9,625.9,11.4,895,11291,0.00,2.17,0.00,0.000,4,0.000,0.055,2938,3695,1712
$GC,11378,0.48,278.9,614.7,12.7,899,11381,0.00,2.08,0.00,0.000,6,0.000,0.036,2946,2371,1712
$GC,11700,0.52,307.1,580.7,10.0,915,11730,0.00,2.40,25.92,1.095,4,0.000,0.049,2955,898,1601
$GC,11768,0.66,378.4,574.5,8.6,918,11842,0.12,2.38,64.97,1.089,6,0.062,0.040,3017,2382,1311
$GC,12147,0.56,378.4,504.9,21.0,937,12150,0.17,2.12,0.00,0.000,4,0.142,0.055,2961,3693,1304
$GC,12313,0.61,378.4,474.3,18.4,951,12316,0.00,2.00,0.00,0.000,6,0.000,0.037,2968,2401,1304
$GC,12637,0.66,378.4,424.8,13.8,982,12640,0.00,2.10,0.00,0.000,4,0.000,0.054,2967,3694,1302
$GC,12663,0.70,378.4,420.5,14.1,984,12669,0.00,2.05,0.00,0.000,6,0.000,0.041,2975,2396,1303
$GC,12982,0.74,379.7,384.8,11.0,1015,12986,0.12,2.10,0.00,0.000,4,0.062,0.053,3042,3692,1302
$GC,13014,0.61,379.7,379.7,17.1,1017,13020,0.25,2.00,0.00,0.000,6,0.148,0.039,2980,2414,1302
$GC,13330,0.65,379.7,336.0,15.2,1048,13333,0.00,2.42,0.00,0.000,4,0.000,0.047,2989,887,1302
$GC,13356,0.71,379.7,331.8,16.5,1050,13360,0.00,2.40,0.00,0.000,6,0.000,0.038,2989,2408,1299
$GC,13676,0.75,379.7,280.7,14.8,1092,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2408,1298
$GC,14003,0.80,385.8,239.7,10.8,1153,14016,0.12,2.05,5.72,0.676,4,0.062,0.060,3054,3686,1281
$GC,14053,0.64,385.8,231.8,16.5,1162,14061,0.25,2.03,0.00,0.000,6,0.146,0.042,2991,2380,1281
$GC,14382,0.71,397.8,196.3,10.6,1223,14400,0.00,2.38,12.25,0.760,4,0.000,0.047,3001,891,1231
$GC,14500,0.83,411.3,183.4,10.5,1244,14520,0.12,2.38,13.15,0.747,6,0.063,0.042,3076,2392,1177
$GC,14844,0.72,411.3,126.7,13.9,1307,14850,0.20,2.10,0.00,0.000,4,0.140,0.054,3012,3692,1176
$GC,14947,1.00,549.0,117.9,6.4,1326,15074,0.17,2.03,121.90,0.734,6,0.040,0.034,3119,2379,615
$GC,15396,1.07,549.0,49.3,11.4,1406,15402,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2378,594
$GC,15724,1.25,582.5,17.7,9.9,1467,15773,0.17,2.40,31.12,0.562,4,0.051,0.049,3231,886,481
$STATE,15813,end climb,SURFACE_DEPTH_REACHED
$STATE,15814,begin surface coast
$FINISH,1.9,1.020767
$STATE,15832,end surface coast,CONTROL_FINISHED_OK
$STATE,15832,begin surface
$SM_CCo,15912,0.00,0.000,0,0,471,584.55
$SM_GC,2.60,7.93,0.00,0.00,0.035,0.000,0.000,165,2297,471,-8.08,0.31,584.55
$IRIDIUM_FIX,2439.44,12244.11,161198,111118
$TT8_MAMPS,0.048321
$HUMID,1766
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.00
$XPDR_PINGS,689
$24V_AH,22.8,117.261
$10V_AH,10.3,77.089
$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,27.425,141.575,699.200,0.000,0.000,24.896,38.280,230.369,180.250,0.000,0.000,12.961,0.000,11334.730,770.866,3454.955,774.588,0.000,2143.732,0.000,2904.071,0.000,53.992,0.000
$DEVICE_MAMPS,231.634,118.118,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.456,1021.738,1231.264,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82141,1486
$CAP_FILE_SIZE,171957,0
$CFSIZE,260165632,211800064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.424, 48.1,1
$GPS,220809,204601,2451.575,12249.074,36,1.5,36,-3.6