version: 66.04
glider: 165
mission: 2
dive: 546
start: 8 26 109 18 11 13
data:
$ID,165
$MISSION,2
$DIVE,546
$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,-131682.06
$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,30
$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
$GPS1,180007,2509.537,12321.037,25,1.4,25,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.5
$GPS2,181108,2509.732,12321.465,10,1.6,10,-3.7
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_1
$TGT_LATLONG,2436.700,12346.000
$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,194.7,73817,-16.0,-11.000
$D_GRID,1801
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-0.91,-219.0,0.0,0.0,0,59,0.00,0.00,-43.78,0.000,2,0.000,0.000,145,2252,1876
$GC,63,-0.91,-219.0,3.4,-4.3,7,128,9.38,2.20,-50.17,0.000,4,0.222,0.057,2480,897,3750
$GC,272,-0.48,-219.0,62.2,-30.7,44,280,0.50,2.15,0.00,0.000,6,0.144,0.036,2618,2294,3751
$GC,602,-0.53,-219.0,102.4,-9.9,105,607,0.00,2.17,0.00,0.000,4,0.000,0.038,2618,890,3752
$GC,656,-0.67,-219.0,107.6,-9.1,115,663,0.15,2.15,0.00,0.000,6,0.053,0.035,2530,2290,3752
$GC,984,-0.50,-219.0,161.9,-18.4,176,991,0.25,2.17,0.00,0.000,4,0.130,0.039,2612,891,3752
$GC,1029,-0.70,-219.0,167.4,-9.2,184,1037,0.17,2.12,0.00,0.000,6,0.047,0.035,2504,2285,3753
$GC,1359,-0.55,-219.0,230.6,-19.6,245,1365,0.28,2.17,0.00,0.000,4,0.124,0.040,2597,890,3753
$GC,1414,-0.77,-219.0,237.1,-9.6,255,1420,0.17,2.10,0.00,0.000,6,0.048,0.036,2486,2262,3753
$GC,1742,-0.59,-219.0,287.5,-17.0,316,1748,0.30,0.00,0.00,0.000,6,0.125,0.000,2582,2263,3753
$GC,2064,-0.77,-219.0,314.2,-7.0,359,2068,0.15,2.28,0.00,0.000,4,0.054,0.053,2491,3689,3753
$GC,2086,-0.85,-219.0,316.3,-9.6,360,2093,0.00,2.17,0.00,0.000,6,0.000,0.038,2491,2260,3752
$GC,2402,-0.71,-219.0,367.2,-16.5,391,2405,0.17,2.15,0.00,0.000,4,0.130,0.043,2551,881,3751
$GC,2450,-0.81,-219.0,372.9,-9.7,395,2453,0.00,2.12,0.00,0.000,6,0.000,0.039,2551,2249,3751
$GC,2772,-0.93,-219.0,402.3,-9.5,426,2773,0.20,0.00,0.00,0.000,6,0.046,0.000,2443,2249,3749
$GC,3081,-0.70,-219.0,462.3,-19.3,456,3083,0.35,0.00,0.00,0.000,6,0.133,0.000,2552,2249,3747
$GC,3395,-0.84,-219.0,487.0,-5.7,486,3401,0.12,0.00,0.00,0.000,6,0.062,0.000,2473,2249,3745
$GC,3719,-0.75,-219.0,525.4,-12.6,508,3720,0.22,0.00,0.00,0.000,6,0.127,0.000,2543,2249,3743
$GC,4025,-0.88,-219.0,547.0,-6.8,523,4028,0.12,2.35,0.00,0.000,4,0.061,0.060,2468,3686,3740
$GC,4046,-0.92,-219.0,548.9,-8.2,524,4049,0.00,2.17,0.00,0.000,6,0.000,0.035,2468,2263,3740
$GC,4367,-0.81,-219.0,593.8,-14.6,540,4371,0.17,2.20,0.00,0.000,4,0.134,0.049,2526,882,3737
$GC,4405,-0.89,-219.0,598.0,-9.6,542,4408,0.00,2.17,0.00,0.000,6,0.000,0.043,2523,2254,3737
$GC,4732,-0.98,-219.0,624.3,-8.3,558,4736,0.17,2.35,0.00,0.000,4,0.053,0.060,2425,3694,3735
$GC,4780,-0.83,-219.0,630.5,-14.6,560,4784,0.28,2.20,0.00,0.000,6,0.131,0.035,2508,2259,3734
$GC,5091,-0.87,-219.0,663.5,-10.7,575,5094,0.00,2.17,0.00,0.000,4,0.000,0.049,2508,886,3732
$GC,5129,-0.95,-219.0,667.7,-10.1,576,5136,0.10,2.20,0.00,0.000,6,0.071,0.048,2452,2257,3732
$GC,5439,-0.82,-219.0,714.4,-15.4,592,5443,0.20,2.35,0.00,0.000,4,0.138,0.059,2510,3689,3729
$GC,5471,-0.88,-219.0,718.3,-11.1,593,5476,0.00,2.20,0.00,0.000,6,0.000,0.035,2510,2253,3728
$GC,5783,-0.96,-219.0,747.3,-9.3,609,5784,0.12,0.00,0.00,0.000,6,0.065,0.000,2442,2249,3727
$GC,6087,-0.80,-219.0,791.6,-14.5,624,6088,0.25,0.00,0.00,0.000,6,0.133,0.000,2517,2248,3724
$GC,6393,-0.92,-219.0,814.2,-7.0,639,6396,0.00,2.40,0.00,0.000,4,0.000,0.063,2517,3692,3722
$GC,6452,-1.10,-219.0,818.3,-6.1,642,6456,0.25,2.22,0.00,0.000,6,0.044,0.035,2403,2250,3722
$GC,6776,-0.84,-219.0,871.1,-17.0,658,6780,0.32,2.20,0.00,0.000,4,0.147,0.051,2505,891,3720
$GC,6846,-0.95,-219.0,879.1,-8.4,661,6849,0.00,2.20,0.00,0.000,6,0.000,0.047,2505,2261,3720
$GC,7162,-1.03,-219.0,906.1,-8.8,677,7165,0.17,2.38,0.00,0.000,4,0.054,0.061,2412,3694,3718
$GC,7183,-1.03,-219.0,908.6,-11.6,678,7187,0.12,2.22,0.00,0.000,6,0.149,0.036,2446,2259,3718
$GC,7502,-0.92,-219.0,953.0,-13.8,694,7505,0.12,2.22,0.00,0.000,4,0.153,0.052,2483,886,3716
$GC,7556,-0.96,-219.0,959.7,-10.4,696,7563,0.00,2.22,0.00,0.000,6,0.000,0.051,2482,2247,3716
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7863,begin apogee
$GC,7870,-0.20,0.0,991.4,10.1,712,8052,0.70,0.00,178.75,1.350,6,0.113,0.000,2711,2315,2854
$STATE,8052,end apogee,CONTROL_FINISHED_OK
$STATE,8052,begin climb
$GC,8056,0.91,219.0,1000.2,0.0,721,8253,0.98,2.38,187.20,1.315,4,0.043,0.061,3092,3674,1959
$GC,8354,0.43,219.0,966.6,22.8,735,8359,0.65,2.17,0.00,0.000,6,0.177,0.038,2923,2298,1955
$GC,8676,0.47,254.2,932.2,9.8,751,8711,0.00,2.33,31.12,1.243,4,0.000,0.057,2923,3682,1816
$GC,8808,0.47,254.2,917.4,12.0,756,8811,0.00,2.17,0.00,0.000,6,0.000,0.038,2932,2303,1813
$GC,9124,0.47,254.2,882.6,11.2,772,9128,0.00,2.25,0.00,0.000,4,0.000,0.056,2932,3681,1810
$GC,9151,0.42,254.2,879.5,11.9,773,9154,0.00,2.12,0.00,0.000,6,0.000,0.038,2942,2318,1810
$GC,9467,0.39,254.2,843.2,11.4,789,9471,0.12,2.25,0.00,0.000,4,0.153,0.055,2906,3690,1809
$GC,9510,0.41,276.0,838.6,10.3,791,9534,0.00,2.12,19.52,1.199,6,0.000,0.036,2915,2318,1728
$GC,9854,0.48,290.9,803.4,10.5,808,9879,0.00,2.28,16.20,1.029,4,0.000,0.056,2915,3690,1668
$GC,9925,0.48,290.9,795.0,12.9,811,9928,0.00,2.12,0.00,0.000,6,0.000,0.036,2924,2330,1667
$GC,10246,0.53,290.9,758.4,11.0,827,10249,0.00,2.22,0.00,0.000,4,0.000,0.054,2924,3696,1665
$GC,10294,0.53,290.9,752.2,13.3,829,10297,0.00,2.10,0.00,0.000,6,0.000,0.034,2934,2337,1666
$GC,10616,0.53,290.9,714.6,11.8,845,10619,0.00,2.20,0.00,0.000,4,0.000,0.053,2933,3691,1665
$GC,10680,0.53,290.9,706.1,13.2,848,10683,0.00,2.08,0.00,0.000,6,0.000,0.035,2943,2348,1664
$GC,11007,0.53,290.9,665.7,12.4,864,11010,0.00,2.17,0.00,0.000,4,0.000,0.054,2943,3686,1664
$GC,11049,0.53,290.9,660.3,12.6,866,11052,0.00,2.08,0.00,0.000,6,0.000,0.035,2952,2347,1664
$GC,11376,0.53,290.9,622.9,11.4,882,11379,0.00,2.17,0.00,0.000,4,0.000,0.053,2952,3684,1663
$GC,11462,0.48,290.9,612.1,12.8,886,11465,0.00,2.05,0.00,0.000,6,0.000,0.035,2961,2358,1663
$GC,11789,0.49,320.3,576.5,10.0,902,11821,0.00,2.25,26.90,1.072,4,0.000,0.054,2961,3686,1547
$GC,11871,0.50,327.3,567.7,10.8,906,11885,0.00,2.05,8.07,0.915,6,0.000,0.035,2969,2371,1518
$GC,12198,0.50,327.3,534.2,11.0,922,12201,0.00,2.15,0.00,0.000,4,0.000,0.052,2969,3698,1516
$GC,12273,0.45,327.3,525.1,12.8,925,12276,0.17,2.00,0.00,0.000,6,0.146,0.034,2928,2393,1516
$GC,12590,0.65,400.7,497.5,8.5,942,12660,0.17,2.47,65.47,1.022,4,0.055,0.048,3034,894,1219
$GC,12706,0.60,400.7,479.5,16.4,952,12710,0.20,2.40,0.00,0.000,6,0.135,0.038,2978,2395,1215
$GC,13021,0.65,400.7,434.7,14.1,982,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2396,1213
$GC,13335,0.72,400.7,393.1,13.4,1012,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2396,1212
$GC,13645,0.79,400.7,354.6,11.2,1042,13648,0.17,2.08,0.00,0.000,4,0.054,0.054,3072,3687,1212
$GC,13660,0.79,400.7,352.3,11.8,1043,13666,0.17,2.03,0.00,0.000,6,0.160,0.035,3033,2371,1212
$GC,13976,0.70,400.7,298.5,18.2,1074,13982,0.00,2.17,0.00,0.000,4,0.000,0.057,3033,3683,1212
$GC,14062,0.61,400.7,282.7,17.5,1090,14068,0.22,2.05,0.00,0.000,6,0.138,0.035,2977,2373,1211
$GC,14390,0.77,430.1,248.1,10.0,1151,14420,0.15,2.38,25.05,0.815,4,0.055,0.046,3063,891,1099
$GC,14475,0.73,430.1,235.0,16.0,1166,14481,0.17,2.38,0.00,0.000,6,0.135,0.038,3014,2383,1097
$GC,14803,0.78,430.1,187.4,11.1,1227,14809,0.00,2.08,0.00,0.000,4,0.000,0.051,3013,3687,1097
$GC,14900,0.88,435.2,175.9,10.8,1245,14912,0.12,2.00,5.38,0.585,6,0.065,0.032,3092,2394,1079
$GC,15236,0.79,435.2,124.8,14.4,1307,15242,0.17,2.40,0.00,0.000,4,0.142,0.044,3045,888,1079
$GC,15297,1.00,526.9,118.4,7.9,1318,15385,0.15,2.38,78.82,0.713,6,0.054,0.036,3128,2392,703
$GC,15706,1.00,526.9,54.4,15.3,1392,15712,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2392,698
$GC,16035,1.06,530.0,9.8,10.9,1453,16040,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2392,697
$STATE,16096,end climb,SURFACE_DEPTH_REACHED
$STATE,16096,begin surface coast
$FINISH,1.9,1.002510
$STATE,16123,end surface coast,CONTROL_FINISHED_OK
$STATE,16123,begin surface
$SM_CCo,16201,0.00,0.000,0,0,696,529.36
$SM_GC,2.68,7.62,0.00,0.00,0.034,0.000,0.000,148,2260,696,-8.10,-0.71,529.36
$IRIDIUM_FIX,2458.45,12335.46,201198,181845
$TT8_MAMPS,0.049088
$HUMID,1768
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.50
$XPDR_PINGS,716
$24V_AH,23.0,122.735
$10V_AH,10.3,79.769
$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,26.825,141.225,642.500,0.000,0.000,55.778,71.901,298.577,187.000,0.000,0.000,11.839,0.000,11843.854,723.572,3343.196,914.984,0.000,2047.568,0.000,2791.831,0.000,53.972,0.000
$DEVICE_MAMPS,222.430,92.807,1349.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.481,997.655,1168.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82097,1470
$CAP_FILE_SIZE,171648,0
$CFSIZE,260165632,209899520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.372, 57.8,1
$GPS,260809,224206,2508.605,12324.147,29,1.0,29,-3.7