version: 66.04
glider: 165
mission: 2
dive: 527
start: 8 23 109 1 48 13
data:
$ID,165
$MISSION,2
$DIVE,527
$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,-131391.47
$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,57
$R_STBD_OVSHOOT,31
$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
$GPS1,014025,2453.524,12250.854,38,1.1,38,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-71.7
$GPS2,014808,2453.838,12251.289,11,1.1,11,-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,245.7,17718,-16.0,-11.000
$D_GRID,1568
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,62,0.00,0.00,-43.33,0.000,2,0.000,0.000,138,2257,1735
$GC,65,-0.91,-219.0,3.1,-2.9,7,136,9.27,2.30,-55.05,0.000,4,0.218,0.060,2469,3695,3748
$GC,237,-0.51,-219.0,46.1,-33.7,37,243,0.47,2.12,0.00,0.000,6,0.125,0.034,2616,2300,3750
$GC,565,-0.58,-219.0,87.6,-7.6,98,570,0.00,2.20,0.00,0.000,4,0.000,0.044,2616,884,3752
$GC,614,-0.71,-219.0,91.7,-7.5,107,621,0.17,2.17,0.00,0.000,6,0.050,0.039,2519,2285,3752
$GC,942,-0.56,-219.0,150.8,-20.3,168,950,0.22,2.22,0.00,0.000,4,0.130,0.044,2594,874,3753
$GC,971,-0.59,-219.0,155.7,-16.6,173,977,0.00,2.17,0.00,0.000,6,0.000,0.040,2592,2271,3753
$GC,1300,-0.76,-219.0,183.8,-5.9,234,1306,0.17,2.17,0.00,0.000,4,0.051,0.044,2474,884,3753
$GC,1376,-0.56,-219.0,195.3,-17.4,248,1383,0.43,2.15,0.00,0.000,6,0.130,0.042,2599,2265,3753
$GC,1705,-0.77,-219.0,217.4,-5.1,309,1710,0.17,2.25,0.00,0.000,4,0.049,0.055,2480,3685,3753
$GC,1754,-0.65,-219.0,223.2,-13.8,318,1760,0.22,2.22,0.00,0.000,6,0.112,0.038,2570,2243,3753
$GC,2084,-0.77,-219.0,250.8,-10.2,379,2090,0.12,2.12,0.00,0.000,4,0.060,0.049,2494,893,3753
$GC,2165,-0.68,-219.0,264.7,-18.7,394,2171,0.22,2.15,0.00,0.000,6,0.127,0.048,2561,2250,3754
$GC,2490,-0.77,-219.0,307.8,-11.7,449,2493,0.00,2.12,0.00,0.000,4,0.000,0.047,2562,897,3751
$GC,2524,-0.90,-219.0,311.3,-10.5,452,2527,0.20,2.15,0.00,0.000,6,0.047,0.047,2458,2254,3751
$GC,2839,-0.67,-219.0,363.5,-16.6,482,2843,0.30,2.17,0.00,0.000,4,0.137,0.048,2556,890,3750
$GC,2904,-0.81,-219.0,369.6,-6.9,487,2909,0.00,2.15,0.00,0.000,6,0.000,0.044,2553,2248,3750
$GC,3223,-0.93,-219.0,395.4,-9.2,518,3228,0.20,0.00,0.00,0.000,6,0.048,0.000,2443,2248,3748
$GC,3540,-0.70,-219.0,452.8,-17.7,549,3544,0.32,2.17,0.00,0.000,4,0.135,0.049,2549,888,3746
$GC,3620,-0.90,-219.0,461.8,-8.5,556,3624,0.17,2.12,0.00,0.000,6,0.050,0.043,2455,2244,3746
$GC,3945,-0.72,-219.0,513.6,-15.5,583,3948,0.28,2.33,0.00,0.000,4,0.133,0.057,2535,3682,3744
$GC,3987,-0.87,-219.0,517.8,-7.7,585,3991,0.10,2.22,0.00,0.000,6,0.067,0.034,2468,2222,3743
$GC,4317,-0.76,-219.0,559.3,-12.3,601,4321,0.17,2.10,0.00,0.000,4,0.133,0.049,2528,894,3741
$GC,4387,-0.90,-219.0,565.3,-6.6,604,4390,0.10,2.10,0.00,0.000,6,0.071,0.044,2465,2227,3741
$GC,4702,-0.79,-219.0,604.8,-13.8,620,4704,0.20,0.00,0.00,0.000,6,0.132,0.000,2523,2227,3739
$GC,5009,-0.88,-219.0,633.7,-9.8,635,5012,0.00,2.38,0.00,0.000,4,0.000,0.062,2521,3680,3736
$GC,5056,-1.05,-219.0,638.8,-9.8,637,5060,0.22,2.25,0.00,0.000,6,0.047,0.035,2412,2218,3736
$GC,5368,-0.80,-219.0,699.5,-19.6,652,5372,0.32,2.12,0.00,0.000,4,0.140,0.051,2516,889,3734
$GC,5415,-0.89,-219.0,706.1,-10.9,654,5418,0.00,2.10,0.00,0.000,6,0.000,0.045,2517,2215,3734
$GC,5737,-0.99,-219.0,736.8,-9.5,670,5738,0.15,0.00,0.00,0.000,6,0.058,0.000,2439,2215,3731
$GC,6042,-0.82,-219.0,784.6,-15.9,685,6045,0.22,2.15,0.00,0.000,4,0.134,0.052,2513,894,3729
$GC,6095,-0.93,-219.0,790.7,-9.1,687,6100,0.00,2.10,0.00,0.000,6,0.000,0.046,2510,2215,3728
$GC,6406,-1.01,-219.0,819.1,-9.3,703,6410,0.15,2.42,0.00,0.000,4,0.059,0.061,2428,3685,3726
$GC,6427,-1.01,-219.0,821.6,-11.3,704,6431,0.00,2.28,0.00,0.000,6,0.000,0.037,2428,2218,3725
$GC,6744,-0.83,-219.0,872.4,-16.5,720,6747,0.25,2.10,0.00,0.000,4,0.141,0.051,2509,902,3724
$GC,6787,-0.91,-219.0,877.8,-9.7,722,6790,0.00,2.10,0.00,0.000,6,0.000,0.048,2510,2210,3724
$GC,7114,-1.00,-219.0,904.8,-8.4,738,7118,0.15,2.45,0.00,0.000,4,0.060,0.062,2431,3691,3722
$GC,7151,-0.91,-219.0,909.1,-13.3,740,7155,0.20,2.30,0.00,0.000,6,0.133,0.037,2489,2212,3721
$GC,7472,-0.91,-219.0,943.8,-10.6,756,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2212,3720
$GC,7779,-0.91,-219.0,976.2,-11.1,771,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2212,3718
$STATE,7917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7917,begin apogee
$GC,7924,-0.20,0.0,991.7,10.8,778,8107,0.68,0.00,180.88,1.364,6,0.111,0.000,2713,2296,2854
$STATE,8108,end apogee,CONTROL_FINISHED_OK
$STATE,8108,begin climb
$GC,8111,0.91,219.0,1002.1,0.0,787,8307,0.95,0.00,189.00,1.328,6,0.041,0.000,3086,2296,1961
$GC,8601,0.52,219.0,942.2,16.6,811,8605,0.45,2.30,0.00,0.000,4,0.167,0.063,2955,3683,1952
$GC,8846,0.43,255.9,917.0,9.8,822,8885,0.15,2.15,32.58,1.255,6,0.165,0.041,2924,2311,1810
$GC,9200,0.51,319.2,886.6,8.9,840,9271,0.00,2.40,59.12,1.230,4,0.000,0.058,2924,3686,1551
$GC,9412,0.60,338.8,864.5,10.3,850,9442,0.12,2.17,20.73,1.095,6,0.067,0.038,2995,2305,1472
$GC,9756,0.49,338.8,814.2,15.7,867,9759,0.17,2.28,0.00,0.000,4,0.144,0.052,2950,896,1468
$GC,9782,0.49,338.8,809.9,13.9,868,9785,0.00,2.25,0.00,0.000,6,0.000,0.041,2950,2315,1467
$GC,10098,0.49,338.8,771.0,12.6,884,10101,0.00,2.22,0.00,0.000,4,0.000,0.057,2950,3693,1467
$GC,10184,0.49,338.8,759.2,13.9,888,10187,0.00,2.15,0.00,0.000,6,0.000,0.038,2959,2315,1467
$GC,10510,0.49,338.8,714.6,13.3,904,10513,0.00,2.22,0.00,0.000,4,0.000,0.056,2959,3680,1466
$GC,10590,0.49,338.8,703.3,13.9,907,10596,0.00,2.12,0.00,0.000,6,0.000,0.039,2968,2317,1466
$GC,10901,0.49,338.8,662.3,13.7,923,10904,0.00,2.22,0.00,0.000,4,0.000,0.057,2968,3679,1466
$GC,10975,0.45,338.8,651.1,17.0,926,10979,0.17,2.10,0.00,0.000,6,0.145,0.038,2927,2331,1465
$GC,11292,0.54,338.8,611.7,12.8,942,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2331,1465
$GC,11596,0.70,380.2,577.6,9.6,957,11640,0.20,2.25,37.25,1.098,4,0.052,0.054,3034,3678,1303
$GC,11694,0.52,380.2,562.0,16.7,961,11697,0.32,2.10,0.00,0.000,6,0.145,0.038,2951,2343,1301
$GC,12010,0.80,539.8,536.3,5.6,977,12173,0.22,2.45,149.15,1.047,4,0.049,0.052,3069,883,651
$GC,12199,0.73,539.8,509.3,15.7,986,12203,0.20,2.35,0.00,0.000,6,0.135,0.039,3013,2336,641
$GC,12514,0.78,539.8,469.8,12.9,1013,12517,0.00,2.17,0.00,0.000,4,0.000,0.054,3013,3692,632
$GC,12536,0.85,539.8,466.9,12.8,1015,12540,0.10,2.12,0.00,0.000,6,0.072,0.035,3074,2327,632
$GC,12853,0.74,539.8,397.9,22.5,1045,12856,0.17,2.30,0.00,0.000,4,0.146,0.051,3028,892,630
$GC,12912,0.84,539.8,388.3,14.3,1050,12916,0.00,2.30,0.00,0.000,6,0.000,0.038,3029,2354,630
$GC,13228,0.89,539.8,337.4,15.9,1080,13231,0.10,2.35,0.00,0.000,4,0.074,0.049,3100,892,629
$GC,13282,0.80,539.8,326.7,22.0,1084,13288,0.22,2.25,0.00,0.000,6,0.134,0.041,3034,2323,628
$GC,13603,0.83,539.8,270.6,16.3,1130,13609,0.00,2.20,0.00,0.000,4,0.000,0.054,3034,3687,628
$GC,13625,0.87,539.8,266.8,15.6,1134,13631,0.00,2.17,0.00,0.000,6,0.000,0.041,3041,2304,628
$GC,13952,0.91,539.8,209.0,19.6,1195,13958,0.00,2.25,0.00,0.000,4,0.000,0.049,3050,889,628
$GC,14065,0.99,539.8,189.7,16.1,1216,14071,0.15,2.22,0.00,0.000,6,0.054,0.041,3131,2301,627
$GC,14392,0.85,539.8,115.8,21.5,1277,14400,0.22,2.22,0.00,0.000,4,0.140,0.051,3057,3690,627
$GC,14582,1.04,539.8,86.6,14.8,1312,14588,0.10,2.15,0.00,0.000,6,0.044,0.041,3133,2324,627
$GC,14912,1.11,553.6,37.1,10.5,1373,14926,0.00,2.25,9.65,0.610,4,0.000,0.050,3133,3683,595
$GC,14964,1.19,553.6,30.9,11.2,1382,14970,0.00,2.17,0.00,0.000,6,0.000,0.038,3143,2277,592
$STATE,15219,end climb,SURFACE_DEPTH_REACHED
$STATE,15219,begin surface coast
$FINISH,1.9,1.019876
$STATE,15251,end surface coast,CONTROL_FINISHED_OK
$STATE,15251,begin surface
$SM_CCo,15329,0.00,0.000,0,0,587,556.10
$SM_GC,2.82,7.70,0.00,0.00,0.036,0.000,0.000,149,2273,587,-8.09,-0.31,556.10
$IRIDIUM_FIX,2441.81,12250.68,161198,212107
$TT8_MAMPS,0.049088
$HUMID,1816
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.00
$XPDR_PINGS,698
$24V_AH,22.8,117.805
$10V_AH,10.3,77.344
$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,27.650,141.725,678.350,0.000,0.000,27.667,30.745,239.101,182.500,0.000,0.000,13.322,0.000,10889.968,754.047,3352.341,758.952,0.000,2077.730,0.000,2803.081,0.000,57.209,0.000
$DEVICE_MAMPS,217.828,75.933,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,973.327,982.070,1190.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82095,1436
$CAP_FILE_SIZE,167556,0
$CFSIZE,260165632,211619840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.490, 50.8,1
$GPS,230809,060437,2454.998,12252.586,32,0.9,32,-3.6