version: 66.04
glider: 165
mission: 2
dive: 548
start: 8 27 109 3 34 50
data:
$ID,165
$MISSION,2
$DIVE,548
$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,-131713.41
$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,65
$R_STBD_OVSHOOT,28
$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
$GPS1,032706,2508.211,12326.996,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-73.0
$GPS2,033444,2508.364,12327.131,13,1.1,13,-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,200.3,66695,-16.0,-11.000
$D_GRID,1952
$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,-219.0,0.0,0.0,0,64,0.00,0.00,-46.35,0.000,2,0.000,0.000,152,2252,1762
$GC,68,-0.91,-219.0,3.1,-3.1,7,144,9.30,2.17,-59.42,0.000,4,0.221,0.056,2480,909,3749
$GC,217,-0.43,-219.0,35.2,-32.3,32,223,0.55,2.15,0.00,0.000,6,0.146,0.035,2634,2299,3750
$GC,544,-0.52,-219.0,90.6,-12.2,93,551,0.00,2.17,0.00,0.000,4,0.000,0.039,2634,894,3752
$GC,600,-0.69,-219.0,96.9,-10.7,103,606,0.20,2.15,0.00,0.000,6,0.047,0.036,2527,2296,3752
$GC,927,-0.51,-219.0,158.0,-15.2,164,933,0.25,2.17,0.00,0.000,4,0.130,0.039,2610,906,3753
$GC,988,-0.68,-219.0,163.2,-4.2,175,995,0.10,2.10,0.00,0.000,6,0.043,0.036,2530,2252,3753
$GC,1317,-0.58,-219.0,201.3,-12.7,236,1323,0.17,2.12,0.00,0.000,4,0.128,0.041,2589,904,3753
$GC,1356,-0.68,-219.0,205.7,-9.9,243,1361,0.00,2.05,0.00,0.000,6,0.000,0.037,2589,2241,3754
$GC,1682,-0.81,-219.0,242.6,-11.4,304,1688,0.20,2.08,0.00,0.000,4,0.047,0.039,2470,905,3753
$GC,1710,-0.71,-219.0,246.8,-17.1,309,1717,0.28,2.05,0.00,0.000,6,0.127,0.038,2552,2231,3753
$GC,2040,-0.75,-219.0,280.9,-5.5,370,2046,0.00,2.33,0.00,0.000,4,0.000,0.054,2550,3679,3753
$GC,2095,-0.89,-219.0,283.4,-4.2,380,2101,0.15,2.17,0.00,0.000,6,0.054,0.034,2459,2241,3753
$GC,2417,-0.64,-219.0,340.1,-19.4,421,2418,0.38,0.00,0.00,0.000,6,0.128,0.000,2575,2236,3753
$GC,2728,-0.82,-219.0,368.3,-8.6,451,2729,0.17,0.00,0.00,0.000,6,0.051,0.000,2473,2236,3752
$GC,3036,-0.68,-219.0,415.3,-14.4,481,3040,0.25,2.10,0.00,0.000,4,0.128,0.043,2556,896,3751
$GC,3073,-0.78,-219.0,419.5,-8.4,484,3079,0.00,2.12,0.00,0.000,6,0.000,0.041,2556,2245,3751
$GC,3389,-0.93,-219.0,441.0,-6.4,515,3393,0.20,2.30,0.00,0.000,4,0.048,0.054,2441,3680,3748
$GC,3421,-0.83,-219.0,444.5,-12.9,518,3425,0.22,2.17,0.00,0.000,6,0.124,0.034,2510,2243,3748
$GC,3743,-0.83,-219.0,478.9,-11.2,549,3746,0.00,2.10,0.00,0.000,4,0.000,0.044,2510,891,3746
$GC,3764,-0.83,-219.0,481.3,-11.2,551,3767,0.00,2.12,0.00,0.000,6,0.000,0.041,2510,2249,3746
$GC,4092,-0.83,-219.0,519.9,-12.1,575,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2249,3743
$GC,4398,-0.83,-219.0,559.8,-12.4,590,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2249,3741
$GC,4703,-0.83,-219.0,598.5,-13.2,605,4706,0.00,2.17,0.00,0.000,4,0.000,0.048,2510,888,3739
$GC,4729,-0.88,-219.0,601.9,-13.0,606,4732,0.00,2.15,0.00,0.000,6,0.000,0.043,2510,2247,3739
$GC,5051,-0.92,-219.0,639.2,-10.9,622,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2247,3735
$GC,5356,-0.97,-219.0,668.5,-9.4,637,5359,0.12,2.38,0.00,0.000,4,0.064,0.060,2442,3694,3733
$GC,5420,-0.89,-219.0,676.4,-13.2,640,5424,0.17,2.25,0.00,0.000,6,0.126,0.035,2493,2234,3733
$GC,5736,-0.89,-219.0,708.9,-10.2,656,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2234,3731
$GC,6042,-0.89,-219.0,738.9,-9.9,671,6045,0.00,2.15,0.00,0.000,4,0.000,0.051,2493,887,3729
$GC,6090,-0.94,-219.0,743.8,-9.8,673,6093,0.00,2.17,0.00,0.000,6,0.000,0.045,2494,2248,3729
$GC,6411,-0.97,-219.0,773.3,-9.4,689,6415,0.00,2.38,0.00,0.000,4,0.000,0.061,2493,3693,3726
$GC,6466,-1.08,-219.0,778.1,-8.6,691,6471,0.17,2.25,0.00,0.000,6,0.055,0.035,2412,2238,3725
$GC,6776,-0.84,-219.0,829.5,-17.2,707,6780,0.30,2.17,0.00,0.000,4,0.142,0.050,2508,888,3723
$GC,6814,-0.88,-219.0,834.2,-10.2,708,6820,0.00,2.20,0.00,0.000,6,0.000,0.048,2507,2243,3723
$GC,7125,-0.98,-219.0,859.4,-8.1,724,7129,0.12,2.40,0.00,0.000,4,0.065,0.061,2439,3694,3721
$GC,7167,-0.93,-219.0,863.9,-11.5,726,7171,0.15,2.28,0.00,0.000,6,0.131,0.036,2482,2231,3720
$GC,7484,-0.93,-219.0,894.3,-9.3,742,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2231,3719
$GC,7788,-0.93,-219.0,923.0,-9.6,757,7792,0.00,2.45,0.00,0.000,4,0.000,0.063,2481,3694,3718
$GC,7821,-0.98,-219.0,926.0,-9.6,758,7827,0.00,2.30,0.00,0.000,6,0.000,0.038,2482,2239,3717
$GC,8132,-0.98,-219.0,957.6,-10.2,774,8132,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2239,3715
$GC,8437,-0.98,-219.0,987.9,-10.0,789,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2239,3714
$STATE,8475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8475,begin apogee
$GC,8482,-0.20,0.0,991.9,9.7,791,8664,0.70,0.00,179.07,1.358,6,0.111,0.000,2711,2303,2854
$STATE,8664,end apogee,CONTROL_FINISHED_OK
$STATE,8664,begin climb
$GC,8668,0.91,219.0,1000.7,0.0,800,8864,0.98,2.42,187.43,1.321,4,0.045,0.057,3096,903,1960
$GC,9078,0.54,219.0,947.3,19.4,819,9082,0.50,2.28,0.00,0.000,6,0.167,0.047,2957,2311,1952
$GC,9389,0.44,219.0,909.3,11.3,834,9393,0.12,2.25,0.00,0.000,4,0.163,0.058,2922,3685,1950
$GC,9546,0.40,240.3,893.1,10.3,841,9579,0.00,2.15,20.45,1.108,6,0.000,0.039,2931,2308,1873
$GC,9883,0.49,312.1,863.3,8.6,858,9954,0.00,2.40,64.62,1.255,4,0.000,0.057,2931,3683,1581
$GC,10004,0.51,324.3,851.7,10.6,863,10022,0.00,2.17,12.52,1.118,6,0.000,0.038,2940,2315,1530
$GC,10336,0.53,346.8,818.1,10.2,880,10360,0.00,2.28,20.70,1.181,4,0.000,0.056,2940,3689,1441
$GC,10387,0.55,357.8,812.7,10.6,882,10403,0.00,2.17,11.85,1.099,6,0.000,0.038,2950,2315,1395
$GC,10721,0.60,400.4,779.7,9.6,899,10771,0.00,2.30,41.53,1.150,4,0.000,0.056,2949,3683,1220
$GC,10809,0.69,412.7,771.0,10.6,903,10828,0.12,2.12,12.77,1.085,6,0.065,0.038,3019,2343,1171
$GC,11148,0.57,412.7,716.7,16.6,920,11152,0.20,2.35,0.00,0.000,4,0.143,0.051,2967,891,1167
$GC,11187,0.65,412.7,711.3,11.7,922,11190,0.00,2.30,0.00,0.000,6,0.000,0.041,2967,2335,1166
$GC,11508,0.69,412.7,672.9,12.1,938,11511,0.10,2.20,0.00,0.000,4,0.071,0.054,3021,3695,1165
$GC,11562,0.58,412.7,664.0,18.1,940,11567,0.22,2.15,0.00,0.000,6,0.146,0.041,2967,2330,1165
$GC,11872,0.68,447.8,631.1,9.8,956,11916,0.00,2.38,33.70,1.058,4,0.000,0.050,2976,895,1028
$GC,11968,0.85,482.0,621.8,9.8,960,12012,0.22,2.30,34.35,1.038,6,0.050,0.039,3080,2340,888
$GC,12327,0.65,482.0,541.4,23.6,978,12331,0.28,2.17,0.00,0.000,4,0.150,0.052,2991,3686,883
$GC,12376,0.72,482.0,531.8,15.2,980,12379,0.00,2.10,0.00,0.000,6,0.000,0.035,2999,2334,882
$GC,12694,0.76,482.0,478.7,18.1,1001,12697,0.00,2.30,0.00,0.000,4,0.000,0.048,3010,887,882
$GC,12742,0.86,482.0,470.4,17.1,1005,12746,0.12,2.30,0.00,0.000,6,0.067,0.038,3082,2342,882
$GC,13058,0.66,482.0,391.0,25.6,1035,13062,0.28,2.17,0.00,0.000,4,0.146,0.052,2997,3689,881
$GC,13133,0.78,482.0,377.5,15.4,1041,13138,0.00,2.08,0.00,0.000,6,0.000,0.035,3005,2347,881
$GC,13452,0.85,482.0,335.7,11.3,1072,13455,0.12,2.33,0.00,0.000,4,0.065,0.047,3085,887,881
$GC,13506,0.76,482.0,327.4,15.8,1077,13510,0.22,2.30,0.00,0.000,6,0.141,0.038,3022,2349,881
$GC,13824,0.84,507.4,290.0,10.1,1116,13854,0.00,2.20,22.17,0.850,4,0.000,0.058,3021,3679,783
$GC,13965,0.95,507.4,271.7,15.1,1141,13971,0.17,2.08,0.00,0.000,6,0.055,0.035,3113,2346,782
$GC,14293,0.79,507.4,197.0,22.7,1202,14300,0.25,2.35,0.00,0.000,4,0.146,0.048,3045,888,782
$GC,14349,0.87,507.4,187.9,13.1,1212,14354,0.00,2.30,0.00,0.000,6,0.000,0.040,3045,2346,781
$GC,14676,0.95,507.4,141.9,17.1,1273,14681,0.12,0.00,0.00,0.000,6,0.061,0.000,3113,2345,781
$GC,15003,0.90,507.4,89.1,12.7,1334,15010,0.15,2.33,0.00,0.000,4,0.133,0.044,3080,885,781
$GC,15054,1.14,606.9,84.1,7.6,1343,15136,0.17,2.30,72.40,0.681,6,0.051,0.038,3169,2342,478
$GC,15458,1.10,606.9,13.3,17.5,1416,15464,0.12,2.35,0.00,0.000,4,0.143,0.044,3145,882,457
$GC,15512,1.25,625.9,5.8,10.4,1426,15520,0.10,2.28,0.00,0.000,6,0.069,0.040,3214,2336,456
$STATE,15533,end climb,SURFACE_DEPTH_REACHED
$STATE,15533,begin surface coast
$FINISH,2.0,1.004385
$STATE,15555,end surface coast,CONTROL_FINISHED_OK
$STATE,15555,begin surface
$SM_CCo,15634,0.00,0.000,0,0,455,588.47
$SM_GC,2.59,7.85,0.00,0.00,0.034,0.000,0.000,152,2274,455,-8.08,-0.31,588.47
$IRIDIUM_FIX,2458.45,12326.88,201198,222248
$TT8_MAMPS,0.049088
$HUMID,1788
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.00
$XPDR_PINGS,686
$24V_AH,23.0,123.262
$10V_AH,10.3,80.019
$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,26.625,142.700,713.575,0.000,0.000,28.216,32.360,225.705,179.500,0.000,0.000,14.976,0.000,11200.258,798.235,3296.484,761.354,0.000,2124.657,0.000,2747.834,0.000,53.973,0.000
$DEVICE_MAMPS,220.896,73.632,1357.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,969.037,971.918,1149.997,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78991,1434
$CAP_FILE_SIZE,168481,0
$CFSIZE,260165632,209723392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.358, 56.4,1
$GPS,270809,075624,2507.499,12329.094,36,1.4,36,-3.7