version: 66.04
glider: 165
mission: 2
dive: 31
start: 5 26 109 12 27 51
data:
$ID,165
$MISSION,2
$DIVE,31
$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,275
$T_MISSION,330
$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,200
$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,435
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-116500.62
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27.15
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2556
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$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,0
$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,1
$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
$GPS1,122137,2447.557,12249.057,26,1.5,26,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-66.7
$GPS2,122746,2447.658,12249.143,9,2.2,28,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,230.5,37085,-18.3,-12.000
$D_GRID,1104
$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,12,-0.92,-194.7,0.0,0.0,0,79,0.00,0.00,-65.28,0.000,2,0.000,0.000,170,2052,2039
$GC,80,-0.92,-194.7,3.0,-3.5,10,138,9.38,2.35,-43.78,0.000,4,0.248,0.067,2505,3480,3555
$GC,271,-0.27,-194.7,51.7,-31.6,44,279,0.68,2.20,0.00,0.000,6,0.146,0.041,2723,2082,3557
$GC,598,-0.49,-194.7,80.1,-5.6,105,605,0.17,2.22,0.00,0.000,4,0.057,0.055,2632,3470,3558
$GC,631,-0.41,-194.7,83.4,-11.9,111,637,0.12,2.15,0.00,0.000,6,0.132,0.035,2677,2069,3558
$GC,957,-0.58,-194.7,123.1,-9.0,172,965,0.12,2.25,0.00,0.000,4,0.067,0.055,2603,3471,3560
$GC,985,-0.58,-194.7,126.6,-13.8,177,992,0.00,2.08,0.00,0.000,6,0.000,0.035,2603,2109,3560
$GC,1312,-0.53,-194.7,188.1,-17.1,238,1318,0.15,2.22,0.00,0.000,4,0.138,0.051,2651,679,3561
$GC,1403,-0.82,-194.7,200.1,-11.0,255,1409,0.25,2.15,0.00,0.000,6,0.048,0.041,2530,2088,3562
$GC,1728,-0.42,-194.7,264.3,-21.3,316,1737,0.47,2.17,0.00,0.000,4,0.150,0.058,2671,3462,3561
$GC,1783,-0.90,-194.7,269.6,-5.2,326,1791,0.32,2.10,0.00,0.000,6,0.035,0.035,2493,2083,3562
$GC,2110,-0.45,-194.7,336.4,-21.7,372,2114,0.55,2.20,0.00,0.000,4,0.147,0.052,2668,670,3562
$GC,2190,-0.94,-194.7,343.8,-5.8,379,2197,0.35,2.17,0.00,0.000,6,0.036,0.041,2484,2074,3562
$GC,2505,-0.52,-194.7,412.6,-22.5,410,2510,0.52,2.20,0.00,0.000,4,0.150,0.052,2653,677,3561
$GC,2548,-0.87,-194.7,418.6,-10.7,414,2552,0.28,2.17,0.00,0.000,6,0.038,0.043,2507,2076,3562
$GC,2870,-0.67,-194.7,475.5,-16.3,445,2874,0.28,2.20,0.00,0.000,4,0.140,0.060,2588,3473,3561
$GC,2896,-0.73,-194.7,479.1,-13.1,447,2899,0.00,2.15,0.00,0.000,6,0.000,0.038,2589,2067,3561
$GC,3225,-0.91,-194.7,509.3,-7.3,473,3229,0.17,2.15,0.00,0.000,4,0.061,0.054,2504,668,3559
$GC,3256,-0.77,-194.7,512.6,-11.7,474,3260,0.20,2.17,0.00,0.000,6,0.138,0.044,2564,2066,3559
$GC,3572,-0.86,-194.7,542.5,-10.7,490,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2066,3557
$GC,3877,-0.97,-194.7,578.9,-12.7,505,3881,0.17,2.25,0.00,0.000,4,0.063,0.065,2481,3486,3553
$GC,3951,-0.75,-194.7,591.7,-18.3,508,3956,0.28,2.17,0.00,0.000,6,0.137,0.041,2574,2078,3553
$GC,4267,-0.90,-194.7,622.3,-8.6,524,4272,0.12,2.20,0.00,0.000,4,0.076,0.056,2516,679,3551
$GC,4288,-0.90,-194.7,624.5,-11.0,525,4292,0.00,2.17,0.00,0.000,6,0.000,0.046,2510,2065,3551
$GC,4615,-0.78,-194.7,666.0,-13.1,541,4616,0.20,0.00,0.00,0.000,6,0.150,0.000,2570,2066,3548
$GC,4920,-0.93,-194.7,694.3,-9.7,556,4922,0.15,0.00,0.00,0.000,6,0.070,0.000,2501,2066,3546
$GC,5225,-0.81,-194.7,734.2,-12.1,571,5226,0.20,0.00,0.00,0.000,6,0.149,0.000,2560,2066,3543
$GC,5531,-0.95,-194.7,759.6,-8.4,586,5534,0.15,2.25,0.00,0.000,4,0.071,0.068,2492,3474,3541
$GC,5588,-0.84,-194.7,766.8,-13.8,588,5597,0.15,2.17,0.00,0.000,6,0.143,0.044,2543,2076,3539
$GC,5901,-0.91,-194.7,800.3,-11.2,604,5904,0.00,2.25,0.00,0.000,4,0.000,0.068,2536,3471,3538
$GC,5926,-0.99,-194.7,803.3,-12.0,605,5930,0.08,2.17,0.00,0.000,6,0.069,0.043,2488,2078,3538
$GC,6247,-0.82,-194.7,854.1,-15.9,621,6251,0.22,2.22,0.00,0.000,4,0.150,0.060,2555,658,3535
$GC,6283,-0.93,-194.7,859.1,-12.8,622,6290,0.00,2.22,0.00,0.000,6,0.000,0.049,2551,2064,3535
$GC,6594,-1.05,-194.7,891.2,-9.8,638,6598,0.20,2.28,0.00,0.000,4,0.064,0.069,2464,3470,3533
$GC,6609,-1.05,-194.7,893.0,-10.3,638,6616,0.00,2.17,0.00,0.000,6,0.000,0.043,2464,2073,3533
$GC,6920,-0.81,-194.7,939.6,-15.0,654,6924,0.30,2.22,0.00,0.000,4,0.153,0.060,2555,672,3531
$GC,6984,-0.95,-194.7,946.8,-10.3,657,6988,0.08,2.20,0.00,0.000,6,0.070,0.051,2504,2058,3531
$GC,7311,-0.89,-194.7,989.6,-14.2,673,7314,0.00,2.28,0.00,0.000,4,0.000,0.069,2494,3474,3530
$STATE,7319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7319,begin apogee
$GC,7323,-0.18,0.0,991.1,14.3,673,7482,0.75,0.00,156.18,1.368,6,0.133,0.000,2750,2534,2759
$STATE,7482,end apogee,CONTROL_FINISHED_OK
$STATE,7483,begin climb
$GC,7484,0.92,194.7,1001.6,0.0,681,7657,0.98,2.42,164.10,1.328,4,0.048,0.057,3132,1166,1964
$GC,7683,0.35,194.7,985.4,18.8,690,7688,0.70,2.40,0.00,0.000,6,0.178,0.054,2936,2555,1960
$GC,7999,0.49,269.8,956.9,8.9,706,8068,0.12,2.40,64.38,1.300,4,0.077,0.055,2998,1155,1657
$GC,8122,0.49,269.8,942.1,13.4,712,8125,0.00,2.35,0.00,0.000,6,0.000,0.052,2998,2561,1652
$GC,8447,0.37,269.8,898.4,13.0,728,8452,0.20,1.85,0.00,0.000,4,0.156,0.068,2942,3682,1649
$GC,8468,0.41,302.8,896.0,10.6,729,8500,0.00,1.77,28.48,1.255,6,0.000,0.044,2950,2553,1524
$GC,8810,0.66,392.3,866.6,8.3,746,8896,0.22,2.40,79.43,1.259,4,0.067,0.058,3049,1151,1158
$GC,8996,0.58,392.3,835.2,17.8,754,9003,0.12,2.30,0.00,0.000,6,0.151,0.051,3010,2524,1153
$GC,9306,0.58,392.3,783.1,17.0,770,9307,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2524,1151
$GC,9611,0.58,392.3,727.4,18.9,785,9615,0.00,2.22,0.00,0.000,4,0.000,0.056,3018,1161,1150
$GC,9659,0.58,392.3,718.9,16.9,787,9663,0.00,2.22,0.00,0.000,6,0.000,0.051,3018,2530,1149
$GC,9980,0.52,392.3,657.8,19.5,803,9984,0.00,2.22,0.00,0.000,4,0.000,0.056,3028,1165,1149
$GC,10023,0.52,392.3,649.9,18.0,805,10027,0.10,2.17,0.00,0.000,6,0.143,0.051,2993,2513,1147
$GC,10349,0.59,392.3,600.0,15.8,821,10353,0.00,2.20,0.00,0.000,4,0.000,0.056,3002,1153,1147
$GC,10407,0.72,392.3,591.1,15.2,823,10414,0.10,2.17,0.00,0.000,6,0.067,0.048,3057,2505,1146
$GC,10718,0.52,392.3,523.4,21.4,839,10719,0.25,0.00,0.00,0.000,6,0.156,0.000,2985,2506,1147
$GC,11026,0.68,392.3,478.6,14.1,861,11027,0.15,0.00,0.00,0.000,6,0.073,0.000,3047,2506,1145
$GC,11337,0.56,392.3,410.5,20.2,891,11340,0.17,2.12,0.00,0.000,4,0.156,0.054,3006,1156,1146
$GC,11378,0.73,392.3,404.5,12.3,895,11383,0.10,2.10,0.00,0.000,6,0.068,0.048,3064,2477,1145
$GC,11699,0.59,392.3,348.1,17.5,926,11704,0.20,1.95,0.00,0.000,4,0.154,0.064,3005,3694,1145
$GC,11763,0.65,392.3,337.5,15.8,932,11767,0.00,1.85,0.00,0.000,6,0.000,0.041,3013,2497,1144
$GC,12081,0.75,392.3,289.7,13.1,969,12087,0.15,2.10,0.00,0.000,4,0.073,0.053,3090,1163,1145
$GC,12128,0.62,392.3,281.1,19.6,978,12136,0.22,2.10,0.00,0.000,6,0.155,0.048,3018,2491,1145
$GC,12456,0.74,392.3,236.9,14.6,1039,12462,0.12,2.10,0.00,0.000,4,0.074,0.052,3085,1162,1144
$GC,12492,0.74,392.3,231.1,16.3,1046,12500,0.00,2.08,0.00,0.000,6,0.000,0.046,3085,2480,1144
$GC,12819,0.65,392.3,166.4,20.3,1107,12825,0.20,0.00,0.00,0.000,6,0.148,0.000,3025,2481,1144
$GC,13145,0.99,437.8,122.9,10.1,1168,13186,0.30,2.17,35.80,0.730,4,0.051,0.051,3164,1151,973
$GC,13206,0.77,437.8,110.5,23.5,1178,13213,0.30,2.10,0.00,0.000,6,0.144,0.044,3068,2467,972
$GC,13532,0.98,445.5,70.4,11.7,1239,13547,0.20,2.08,7.43,0.599,4,0.058,0.048,3166,1150,941
$GC,13594,0.85,445.5,59.9,19.9,1250,13601,0.22,2.10,0.00,0.000,6,0.139,0.043,3093,2475,940
$GC,13921,1.12,505.4,24.1,9.5,1311,13974,0.25,2.17,48.58,0.634,4,0.053,0.045,3215,1142,697
$GC,13999,0.96,505.4,8.5,24.6,1324,14007,0.25,2.12,0.00,0.000,6,0.137,0.041,3135,2472,696
$STATE,14037,end climb,SURFACE_DEPTH_REACHED
$STATE,14037,begin surface coast
$FINISH,1.8,1.021942
$STATE,14058,end surface coast,CONTROL_FINISHED_OK
$STATE,14058,begin surface
$SM_CCo,14131,0.00,0.000,0,0,693,506.79
$SM_GC,2.22,7.68,0.00,0.00,0.036,0.000,0.000,164,2078,693,-8.23,0.20,506.79
$IRIDIUM_FIX,2439.44,12249.39,200898,080831
$TT8_MAMPS,0.047554
$HUMID,1527
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.40
$XPDR_PINGS,87
$24V_AH,23.6,10.411
$10V_AH,10.7,8.657
$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,30.400,134.950,584.350,0.000,0.000,27.869,38.295,194.192,29.750,0.000,0.000,31.449,0.000,10193.310,722.302,3132.438,428.338,0.000,1915.755,0.000,2611.924,0.000,53.976,0.000
$DEVICE_MAMPS,247.741,69.030,1367.561,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,902.218,945.761,1477.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75877,1335
$CAP_FILE_SIZE,155696,0
$CFSIZE,260165632,255279104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.338, 17.4,1
$GPS,260509,162407,2448.600,12247.743,27,1.1,27,-3.5