version: 66.04
glider: 165
mission: 2
dive: 543
start: 8 26 109 4 23 7
data:
$ID,165
$MISSION,2
$DIVE,543
$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,-131641
$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,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
$GPS1,041524,2510.433,12311.519,26,1.2,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.0
$GPS2,042301,2510.615,12311.724,9,1.2,9,-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,186.1,85299,-16.0,-11.000
$D_GRID,1616
$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,-219.0,0.0,0.0,0,74,0.00,0.00,-56.03,0.000,2,0.000,0.000,152,2273,1848
$GC,77,-0.91,-219.0,3.3,-4.0,9,147,9.30,2.20,-53.03,0.000,4,0.222,0.054,2477,880,3748
$GC,254,-0.46,-219.0,51.8,-30.6,40,261,0.50,2.22,0.00,0.000,6,0.143,0.036,2633,2293,3749
$GC,582,-0.54,-219.0,101.5,-10.7,101,588,0.00,2.20,0.00,0.000,4,0.000,0.040,2634,877,3751
$GC,643,-0.72,-219.0,107.8,-9.8,112,649,0.22,2.17,0.00,0.000,6,0.043,0.036,2509,2290,3752
$GC,971,-0.54,-219.0,178.2,-18.0,173,977,0.28,2.22,0.00,0.000,4,0.131,0.040,2599,866,3752
$GC,1015,-0.71,-219.0,183.7,-8.3,181,1021,0.15,2.17,0.00,0.000,6,0.052,0.036,2502,2288,3753
$GC,1343,-0.57,-219.0,232.2,-14.9,242,1349,0.28,0.00,0.00,0.000,6,0.127,0.000,2591,2288,3753
$GC,1671,-0.77,-219.0,253.5,-6.0,303,1678,0.17,2.22,0.00,0.000,4,0.051,0.041,2477,868,3754
$GC,1705,-0.67,-219.0,257.2,-13.3,309,1711,0.28,2.20,0.00,0.000,6,0.126,0.040,2561,2284,3754
$GC,2032,-0.77,-219.0,285.4,-8.9,370,2038,0.00,2.28,0.00,0.000,4,0.000,0.060,2561,3691,3753
$GC,2055,-0.91,-219.0,287.4,-9.0,374,2061,0.20,2.17,0.00,0.000,6,0.044,0.034,2451,2261,3753
$GC,2374,-0.66,-219.0,349.4,-19.6,412,2381,0.35,2.17,0.00,0.000,4,0.132,0.050,2563,887,3751
$GC,2446,-0.84,-219.0,357.0,-8.1,418,2452,0.15,2.17,0.00,0.000,6,0.054,0.041,2475,2269,3751
$GC,2763,-0.69,-219.0,403.8,-15.9,449,2764,0.28,0.00,0.00,0.000,6,0.130,0.000,2559,2269,3749
$GC,3076,-0.85,-219.0,428.2,-7.5,479,3079,0.15,2.20,0.00,0.000,4,0.053,0.046,2465,884,3746
$GC,3097,-0.88,-219.0,430.9,-10.8,480,3103,0.12,2.20,0.00,0.000,6,0.140,0.044,2499,2268,3746
$GC,3413,-0.83,-219.0,473.5,-13.9,511,3416,0.00,2.17,0.00,0.000,4,0.000,0.047,2500,896,3743
$GC,3444,-0.80,-219.0,477.6,-12.6,514,3448,0.00,2.15,0.00,0.000,6,0.000,0.044,2500,2250,3744
$GC,3767,-0.75,-219.0,513.4,-10.7,539,3771,0.12,2.35,0.00,0.000,4,0.140,0.058,2536,3695,3741
$GC,3799,-0.86,-219.0,516.3,-7.3,540,3804,0.10,2.22,0.00,0.000,6,0.067,0.034,2468,2248,3741
$GC,4110,-0.73,-219.0,558.3,-15.0,556,4114,0.20,2.15,0.00,0.000,4,0.133,0.048,2536,892,3738
$GC,4142,-0.79,-219.0,562.6,-12.2,557,4147,0.00,2.17,0.00,0.000,6,0.000,0.050,2536,2248,3738
$GC,4452,-0.92,-219.0,593.8,-11.0,573,4454,0.15,0.00,0.00,0.000,6,0.057,0.000,2452,2248,3735
$GC,4759,-0.76,-219.0,647.3,-17.2,588,4762,0.22,2.38,0.00,0.000,4,0.133,0.060,2520,3694,3733
$GC,4796,-0.89,-219.0,651.6,-8.9,589,4802,0.00,2.25,0.00,0.000,6,0.000,0.035,2520,2245,3733
$GC,5108,-1.00,-219.0,674.8,-6.6,605,5109,0.17,0.00,0.00,0.000,6,0.051,0.000,2433,2245,3731
$GC,5412,-0.82,-219.0,717.4,-14.2,620,5413,0.28,0.00,0.00,0.000,6,0.135,0.000,2517,2238,3728
$GC,5718,-0.92,-219.0,741.6,-7.9,635,5721,0.00,2.40,0.00,0.000,4,0.000,0.064,2517,3682,3726
$GC,5744,-1.06,-219.0,743.8,-8.5,636,5748,0.22,2.20,0.00,0.000,6,0.047,0.036,2411,2254,3726
$GC,6064,-0.82,-219.0,801.4,-19.9,652,6068,0.30,2.20,0.00,0.000,4,0.143,0.051,2508,891,3723
$GC,6129,-0.93,-219.0,810.5,-10.6,655,6132,0.00,2.17,0.00,0.000,6,0.000,0.047,2507,2246,3723
$GC,6450,-1.02,-219.0,840.4,-8.6,671,6454,0.17,2.40,0.00,0.000,4,0.055,0.062,2414,3694,3720
$GC,6499,-0.89,-219.0,846.5,-14.2,673,6503,0.25,2.25,0.00,0.000,6,0.133,0.037,2488,2243,3720
$GC,6812,-0.89,-219.0,879.1,-10.0,688,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2243,3719
$GC,7115,-0.93,-219.0,909.0,-9.4,703,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2243,3717
$GC,7421,-0.96,-219.0,935.3,-8.2,718,7424,0.00,2.42,0.00,0.000,4,0.000,0.064,2481,3691,3715
$GC,7463,-1.04,-219.0,938.7,-6.8,720,7467,0.10,2.25,0.00,0.000,6,0.072,0.037,2428,2243,3714
$GC,7782,-0.86,-219.0,982.6,-15.0,736,7786,0.20,2.20,0.00,0.000,4,0.142,0.053,2494,889,3713
$STATE,7843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7843,begin apogee
$GC,7852,-0.20,0.0,990.0,8.8,739,8034,0.68,0.00,179.20,1.357,6,0.106,0.000,2719,2307,2854
$STATE,8034,end apogee,CONTROL_FINISHED_OK
$STATE,8034,begin climb
$GC,8038,0.91,219.0,998.8,0.0,748,8235,0.95,2.42,187.95,1.318,4,0.042,0.055,3101,903,1959
$GC,8315,0.53,219.0,972.3,20.6,761,8320,0.52,2.28,0.00,0.000,6,0.169,0.046,2955,2304,1953
$GC,8632,0.44,219.0,934.4,11.7,777,8635,0.12,2.25,0.00,0.000,4,0.160,0.058,2920,3683,1950
$GC,8773,0.39,219.0,918.8,11.4,783,8779,0.00,2.15,0.00,0.000,6,0.000,0.039,2929,2306,1949
$GC,9084,0.37,225.2,886.2,10.8,799,9093,0.12,2.28,5.18,0.913,4,0.157,0.057,2894,3692,1934
$GC,9190,0.41,261.3,875.1,9.8,804,9229,0.00,2.12,33.62,1.244,6,0.000,0.037,2902,2327,1787
$GC,9556,0.51,285.5,839.4,10.2,822,9584,0.12,2.33,22.15,1.206,4,0.064,0.057,2971,3688,1689
$GC,9704,0.38,285.5,817.0,15.9,829,9708,0.28,2.12,0.00,0.000,6,0.149,0.038,2901,2334,1687
$GC,10026,0.53,322.8,786.2,9.7,845,10066,0.15,0.00,34.35,1.205,6,0.059,0.000,2982,2328,1537
$GC,10371,0.45,322.8,732.1,15.9,862,10375,0.20,2.22,0.00,0.000,4,0.141,0.054,2918,3689,1533
$GC,10491,0.53,322.8,717.2,11.2,867,10498,0.00,2.12,0.00,0.000,6,0.000,0.036,2927,2321,1533
$GC,10802,0.67,376.8,686.2,9.2,883,10853,0.20,0.00,49.25,1.158,6,0.051,0.000,3029,2315,1317
$GC,11148,0.53,376.8,630.1,15.6,900,11151,0.25,2.25,0.00,0.000,4,0.140,0.054,2949,3689,1312
$GC,11273,0.60,376.8,615.7,11.5,906,11276,0.00,2.10,0.00,0.000,6,0.000,0.036,2956,2349,1310
$GC,11600,0.65,376.8,577.0,12.5,922,11604,0.10,2.35,0.00,0.000,4,0.074,0.048,3028,882,1310
$GC,11638,0.58,376.8,570.9,16.3,924,11642,0.20,2.33,0.00,0.000,6,0.138,0.039,2972,2353,1308
$GC,11959,0.58,376.8,522.8,14.9,940,11963,0.00,2.15,0.00,0.000,4,0.000,0.055,2972,3686,1308
$GC,12018,0.58,376.8,513.0,16.6,942,12023,0.00,2.10,0.00,0.000,6,0.000,0.035,2978,2331,1308
$GC,12335,0.58,376.8,464.5,14.8,969,12338,0.00,2.22,0.00,0.000,4,0.000,0.053,2978,3697,1308
$GC,12351,0.58,376.8,461.8,13.8,970,12357,0.00,2.10,0.00,0.000,6,0.000,0.036,2986,2351,1308
$GC,12670,0.58,376.8,418.4,12.5,1001,12671,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2349,1308
$GC,12978,0.58,376.8,378.3,12.8,1031,12981,0.00,2.17,0.00,0.000,4,0.000,0.054,2987,3690,1308
$GC,13096,0.58,376.8,361.9,12.5,1042,13099,0.00,2.08,0.00,0.000,6,0.000,0.035,2996,2351,1308
$GC,13421,0.58,376.8,317.5,14.3,1073,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2350,1308
$GC,13742,0.58,376.8,271.0,13.4,1122,13748,0.00,2.20,0.00,0.000,4,0.000,0.056,2996,3687,1308
$GC,13792,0.58,376.8,263.8,14.5,1131,13799,0.12,2.05,0.00,0.000,6,0.142,0.035,2972,2354,1308
$GC,14120,0.78,457.7,230.9,8.3,1192,14194,0.17,2.28,68.93,0.822,4,0.051,0.051,3071,3692,988
$GC,14239,0.66,457.7,212.6,17.0,1212,14246,0.22,2.10,0.00,0.000,6,0.136,0.039,2993,2375,986
$GC,14567,0.81,457.7,177.1,14.4,1273,14573,0.15,2.35,0.00,0.000,4,0.054,0.045,3092,894,984
$GC,14622,0.75,457.7,166.4,20.1,1283,14630,0.22,2.30,0.00,0.000,6,0.130,0.037,3026,2361,982
$GC,14952,0.98,533.6,121.5,8.4,1344,15028,0.17,2.20,65.55,0.724,4,0.051,0.051,3130,3690,674
$GC,15050,0.88,533.6,107.2,16.6,1360,15056,0.25,2.08,0.00,0.000,6,0.130,0.033,3067,2356,672
$GC,15378,1.03,533.6,73.4,11.6,1421,15383,0.12,2.30,0.00,0.000,4,0.057,0.044,3149,895,668
$GC,15443,1.03,533.6,62.4,16.9,1433,15449,0.12,2.33,0.00,0.000,6,0.131,0.035,3112,2390,666
$GC,15770,1.13,533.6,18.4,11.3,1494,15775,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2391,666
$STATE,15922,end climb,SURFACE_DEPTH_REACHED
$STATE,15922,begin surface coast
$FINISH,1.8,1.013579
$STATE,15960,end surface coast,CONTROL_FINISHED_OK
$STATE,15960,begin surface
$SM_CCo,16038,0.00,0.000,0,0,665,536.96
$SM_GC,2.59,7.55,0.00,0.00,0.032,0.000,0.000,159,2265,665,-8.08,-0.57,536.96
$IRIDIUM_FIX,2500.82,12307.72,191198,232332
$TT8_MAMPS,0.049088
$HUMID,1744
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.70
$XPDR_PINGS,732
$24V_AH,22.9,121.970
$10V_AH,10.3,79.393
$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,27.950,138.025,646.175,0.000,0.000,28.816,31.547,230.096,191.000,0.000,0.000,11.194,0.000,11455.549,768.214,3451.202,784.515,0.000,2111.598,0.000,2893.333,0.000,53.993,0.000
$DEVICE_MAMPS,221.663,63.661,1356.823,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.453,1037.207,1261.622,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85258,1530
$CAP_FILE_SIZE,171515,0
$CFSIZE,260165632,210169856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.442, 54.5,1
$GPS,260809,085130,2510.071,12315.324,35,1.0,41,-3.7