version: 66.04
glider: 165
mission: 2
dive: 540
start: 8 25 109 14 28 38
data:
$ID,165
$MISSION,2
$DIVE,540
$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,-131600
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,142055,2509.047,12305.521,40,1.3,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-70.5
$GPS2,142832,2509.282,12305.738,14,1.5,14,-3.7
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,251.8,74102,-16.0,-11.000
$D_GRID,1587
$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,-219.0,0.0,0.0,0,65,0.00,0.00,-47.55,0.000,2,0.000,0.000,142,2252,1801
$GC,69,-0.91,-219.0,3.2,-3.5,7,139,9.27,2.30,-54.17,0.000,4,0.218,0.061,2470,3691,3747
$GC,278,-0.60,-219.0,53.1,-25.3,44,284,0.32,2.15,0.00,0.000,6,0.120,0.033,2589,2296,3748
$GC,605,-0.49,-219.0,110.1,-17.0,105,612,0.10,2.20,0.00,0.000,4,0.143,0.042,2619,881,3749
$GC,739,-0.68,-219.0,122.7,-6.7,129,747,0.12,2.25,0.00,0.000,6,0.040,0.041,2514,2298,3751
$GC,1069,-0.55,-219.0,169.4,-15.7,190,1074,0.25,0.00,0.00,0.000,6,0.128,0.000,2597,2298,3753
$GC,1398,-0.71,-219.0,200.0,-10.1,251,1403,0.12,0.00,0.00,0.000,6,0.059,0.000,2517,2299,3753
$GC,1725,-0.65,-219.0,247.4,-12.7,312,1731,0.17,2.28,0.00,0.000,4,0.124,0.047,2572,882,3752
$GC,1801,-0.83,-219.0,254.3,-8.0,326,1807,0.17,2.22,0.00,0.000,6,0.049,0.044,2470,2290,3753
$GC,2126,-0.63,-219.0,307.4,-16.9,383,2130,0.32,2.25,0.00,0.000,4,0.130,0.058,2575,3677,3753
$GC,2180,-0.86,-219.0,312.1,-5.6,387,2185,0.20,2.12,0.00,0.000,6,0.044,0.033,2460,2285,3752
$GC,2495,-0.64,-219.0,363.2,-17.6,418,2499,0.32,2.20,0.00,0.000,4,0.128,0.046,2567,887,3751
$GC,2603,-0.81,-219.0,372.7,-7.5,427,2608,0.15,2.17,0.00,0.000,6,0.054,0.044,2479,2259,3752
$GC,2918,-0.67,-219.0,415.4,-13.8,458,2922,0.25,2.33,0.00,0.000,4,0.127,0.059,2561,3685,3748
$GC,2994,-0.91,-219.0,421.0,-5.6,464,3000,0.20,2.17,0.00,0.000,6,0.045,0.037,2452,2264,3748
$GC,3309,-0.74,-219.0,471.1,-16.6,495,3313,0.25,2.17,0.00,0.000,4,0.128,0.047,2535,887,3746
$GC,3430,-0.88,-219.0,484.2,-10.1,505,3437,0.12,2.17,0.00,0.000,6,0.062,0.044,2463,2248,3745
$GC,3745,-0.76,-219.0,533.1,-15.7,526,3749,0.20,2.17,0.00,0.000,4,0.134,0.048,2527,888,3744
$GC,3772,-0.76,-219.0,537.8,-15.6,527,3775,0.00,2.15,0.00,0.000,6,0.000,0.045,2523,2241,3744
$GC,4093,-0.85,-219.0,566.2,-6.9,543,4097,0.00,2.38,0.00,0.000,4,0.000,0.062,2523,3694,3741
$GC,4126,-0.99,-219.0,568.2,-6.3,544,4132,0.17,2.25,0.00,0.000,6,0.051,0.035,2433,2238,3740
$GC,4436,-0.81,-219.0,610.5,-14.8,560,4440,0.25,2.15,0.00,0.000,4,0.135,0.048,2515,885,3737
$GC,4484,-0.92,-219.0,615.7,-9.1,562,4487,0.00,2.15,0.00,0.000,6,0.000,0.044,2511,2243,3737
$GC,4801,-0.97,-219.0,641.9,-9.0,578,4802,0.12,0.00,0.00,0.000,6,0.063,0.000,2444,2244,3734
$GC,5105,-0.83,-219.0,686.2,-14.7,593,5109,0.20,2.20,0.00,0.000,4,0.134,0.050,2509,887,3732
$GC,5149,-0.90,-219.0,691.0,-9.0,595,5152,0.00,2.15,0.00,0.000,6,0.000,0.047,2509,2230,3732
$GC,5470,-0.97,-219.0,719.4,-9.3,611,5474,0.12,2.40,0.00,0.000,4,0.064,0.062,2442,3683,3730
$GC,5556,-0.91,-219.0,730.0,-12.8,615,5560,0.15,2.25,0.00,0.000,6,0.131,0.037,2485,2233,3728
$GC,5872,-0.91,-219.0,764.9,-10.6,631,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2233,3726
$GC,6177,-0.91,-219.0,797.6,-10.5,646,6180,0.00,2.15,0.00,0.000,4,0.000,0.053,2485,891,3724
$GC,6237,-0.96,-219.0,803.4,-9.4,648,6242,0.00,2.20,0.00,0.000,6,0.000,0.052,2481,2241,3724
$GC,6547,-0.96,-219.0,834.7,-9.7,664,6551,0.00,2.40,0.00,0.000,4,0.000,0.064,2482,3692,3722
$GC,6580,-1.00,-219.0,837.5,-9.1,665,6587,0.00,2.25,0.00,0.000,6,0.000,0.036,2481,2241,3721
$GC,6891,-1.00,-219.0,869.2,-9.5,681,6894,0.00,2.42,0.00,0.000,4,0.000,0.063,2481,3691,3720
$GC,6928,-1.00,-219.0,873.0,-10.3,683,6931,0.00,2.22,0.00,0.000,6,0.000,0.035,2481,2252,3719
$GC,7250,-1.00,-219.0,902.9,-9.0,699,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2250,3718
$GC,7554,-1.00,-219.0,930.0,-8.8,714,7558,0.00,2.20,0.00,0.000,4,0.000,0.053,2481,884,3716
$GC,7581,-1.00,-219.0,932.6,-10.6,715,7584,0.00,2.22,0.00,0.000,6,0.000,0.048,2482,2262,3716
$GC,7902,-1.00,-219.0,965.3,-10.6,731,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2262,3715
$STATE,8143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8143,begin apogee
$GC,8150,-0.20,0.0,992.0,10.8,743,8332,0.70,0.00,179.90,1.361,6,0.113,0.000,2711,2301,2854
$STATE,8333,end apogee,CONTROL_FINISHED_OK
$STATE,8333,begin climb
$GC,8337,0.91,219.0,1003.0,0.0,752,8535,0.98,2.42,188.70,1.325,4,0.047,0.058,3091,906,1959
$GC,8621,0.55,219.0,981.3,16.8,765,8625,0.47,2.30,0.00,0.000,6,0.168,0.047,2960,2315,1953
$GC,8931,0.47,237.3,947.9,10.4,780,8960,0.00,2.30,18.15,1.093,4,0.000,0.060,2960,3683,1885
$GC,9042,0.33,237.3,935.4,12.3,785,9046,0.28,2.15,0.00,0.000,6,0.154,0.039,2890,2320,1884
$GC,9359,0.58,374.0,914.2,6.4,801,9485,0.17,0.00,123.88,1.284,6,0.056,0.000,2987,2314,1329
$GC,9790,0.52,374.0,851.7,16.1,822,9794,0.15,2.28,0.00,0.000,4,0.142,0.057,2945,3698,1321
$GC,9902,0.57,374.0,834.7,14.7,827,9905,0.00,2.15,0.00,0.000,6,0.000,0.038,2953,2325,1321
$GC,10218,0.61,374.0,790.6,14.5,843,10222,0.00,2.33,0.00,0.000,4,0.000,0.053,2963,884,1320
$GC,10261,0.68,374.0,784.5,14.8,845,10265,0.12,2.30,0.00,0.000,6,0.064,0.041,3025,2338,1318
$GC,10578,0.54,374.0,721.5,20.2,861,10581,0.20,2.20,0.00,0.000,4,0.146,0.055,2961,3693,1318
$GC,10637,0.58,374.0,712.0,14.9,864,10640,0.00,2.15,0.00,0.000,6,0.000,0.038,2969,2318,1317
$GC,10963,0.58,374.0,666.7,13.2,880,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2318,1318
$GC,11268,0.58,374.0,626.0,13.5,895,11272,0.00,2.30,0.00,0.000,4,0.000,0.051,2979,888,1318
$GC,11307,0.62,374.0,620.9,14.1,897,11310,0.00,2.28,0.00,0.000,6,0.000,0.041,2979,2322,1315
$GC,11628,0.62,374.0,573.6,15.0,913,11631,0.00,2.22,0.00,0.000,4,0.000,0.056,2980,3695,1315
$GC,11788,0.62,374.0,546.5,17.0,920,11791,0.00,2.10,0.00,0.000,6,0.000,0.037,2988,2346,1315
$GC,12104,0.62,374.0,492.0,16.8,938,12108,0.00,2.35,0.00,0.000,4,0.000,0.050,2998,883,1315
$GC,12142,0.62,374.0,486.0,15.5,941,12146,0.00,2.33,0.00,0.000,6,0.000,0.040,2998,2350,1315
$GC,12461,0.59,374.0,437.2,12.9,971,12465,0.00,2.38,0.00,0.000,4,0.000,0.048,3009,884,1315
$GC,12504,0.59,374.0,431.6,11.8,974,12511,0.15,2.30,0.00,0.000,6,0.132,0.038,2967,2339,1315
$GC,12820,0.67,397.3,399.3,10.2,1005,12843,0.00,2.28,19.25,0.946,4,0.000,0.055,2967,3693,1233
$GC,12913,0.74,397.3,389.2,11.1,1013,12918,0.12,2.12,0.00,0.000,6,0.064,0.035,3034,2330,1233
$GC,13228,0.65,397.3,337.2,16.9,1044,13230,0.17,0.00,0.00,0.000,6,0.142,0.000,2985,2325,1232
$GC,13539,0.70,397.3,296.5,13.1,1076,13545,0.00,2.25,0.00,0.000,4,0.000,0.059,2984,3695,1232
$GC,13611,0.75,397.3,286.7,14.4,1089,13616,0.00,2.10,0.00,0.000,6,0.000,0.035,2992,2340,1232
$GC,13938,0.80,397.3,237.3,15.2,1150,13945,0.12,0.00,0.00,0.000,6,0.061,0.000,3061,2333,1232
$GC,14266,0.67,397.3,188.8,12.7,1211,14272,0.20,2.30,0.00,0.000,4,0.140,0.046,3006,898,1232
$GC,14300,0.74,417.8,185.1,10.3,1217,14325,0.00,2.30,19.50,0.768,6,0.000,0.038,3006,2342,1149
$GC,14649,0.91,483.8,140.9,8.8,1281,14712,0.17,0.00,56.75,0.746,6,0.052,0.000,3111,2343,882
$GC,15036,0.87,483.8,80.4,18.4,1351,15042,0.17,2.33,0.00,0.000,4,0.130,0.047,3063,899,877
$GC,15075,0.99,483.8,74.6,11.2,1358,15083,0.10,2.35,0.00,0.000,6,0.066,0.041,3130,2396,876
$GC,15404,0.99,483.8,35.6,13.1,1419,15410,0.12,0.00,0.00,0.000,6,0.136,0.000,3094,2396,876
$GC,15731,1.19,538.2,3.0,9.2,1480,15739,0.17,0.00,5.85,0.478,2,0.051,0.000,3197,2396,850
$STATE,15739,end climb,SURFACE_DEPTH_REACHED
$STATE,15739,begin surface coast
$FINISH,1.8,0.997052
$STATE,15769,end surface coast,CONTROL_FINISHED_OK
$STATE,15769,begin surface
$SM_CCo,15848,0.00,0.000,0,0,849,491.83
$SM_GC,2.48,7.82,0.00,0.00,0.036,0.000,0.000,148,2262,849,-8.09,-0.65,491.83
$IRIDIUM_FIX,2458.45,12306.42,191198,090940
$TT8_MAMPS,0.049088
$HUMID,1764
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,25.60
$XPDR_PINGS,698
$24V_AH,22.9,121.181
$10V_AH,10.3,79.011
$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,26.025,130.400,611.975,0.000,0.000,24.214,42.866,220.146,182.500,0.000,0.000,16.530,0.000,11405.984,718.845,3389.043,756.061,0.000,2030.551,0.000,2844.261,0.000,56.443,0.000
$DEVICE_MAMPS,217.828,120.419,1361.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.109,1038.592,1263.720,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82051,1487
$CAP_FILE_SIZE,165905,0
$CFSIZE,260165632,210444288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.415, 53.3,1
$GPS,250809,185336,2510.150,12306.339,27,1.0,27,-3.7