version: 66.04
glider: 165
mission: 2
dive: 38
start: 5 27 109 17 46 39
data:
$ID,165
$MISSION,2
$DIVE,38
$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,-116618.78
$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,25.5
$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,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,31
$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
$GPS1,174007,2450.380,12247.196,40,1.3,40,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-70.9
$GPS2,174634,2450.438,12247.190,10,99.0,29,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_2
$TGT_LATLONG,2454.000,12238.000
$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,251.6,16789,-18.3,-12.000
$D_GRID,1371
$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,-0.96,-194.7,0.0,0.0,0,66,0.00,0.00,-52.22,0.000,2,0.000,0.000,165,2056,2274
$GC,67,-0.96,-194.7,3.3,-4.4,8,118,9.20,2.30,-33.85,0.000,4,0.242,0.067,2498,3488,3552
$GC,309,-0.27,-194.7,79.6,-37.3,52,316,0.73,2.22,0.00,0.000,6,0.162,0.044,2725,2074,3554
$GC,636,-0.73,-194.7,114.1,-4.5,113,642,0.38,2.20,0.00,0.000,4,0.041,0.051,2550,667,3556
$GC,652,-0.91,-194.7,115.5,-6.9,116,659,0.00,2.20,0.00,0.000,6,0.000,0.042,2548,2073,3556
$GC,978,-0.52,-194.7,191.8,-21.7,177,985,0.32,2.22,0.00,0.000,4,0.146,0.055,2649,664,3557
$GC,1069,-0.77,-194.7,202.9,-10.2,194,1076,0.17,2.17,0.00,0.000,6,0.042,0.045,2548,2057,3557
$GC,1396,-0.48,-194.7,265.7,-20.2,255,1404,0.38,2.22,0.00,0.000,4,0.143,0.060,2660,3471,3558
$GC,1472,-0.92,-194.7,273.6,-6.2,269,1478,0.30,2.17,0.00,0.000,6,0.036,0.038,2487,2054,3559
$GC,1792,-0.50,-194.7,336.8,-17.2,313,1796,0.52,2.12,0.00,0.000,4,0.143,0.053,2656,666,3559
$GC,1845,-0.90,-194.7,340.9,-4.5,318,1849,0.30,2.15,0.00,0.000,6,0.038,0.042,2500,2054,3558
$GC,2166,-0.57,-194.7,394.7,-17.5,349,2170,0.43,2.22,0.00,0.000,4,0.143,0.062,2630,3471,3558
$GC,2241,-0.98,-194.7,400.7,-6.3,356,2245,0.30,2.17,0.00,0.000,6,0.038,0.039,2461,2056,3558
$GC,2561,-0.52,-194.7,467.4,-21.0,387,2565,0.60,2.15,0.00,0.000,4,0.146,0.056,2652,664,3558
$GC,2630,-1.02,-194.7,472.9,-5.5,393,2637,0.38,2.15,0.00,0.000,6,0.037,0.044,2463,2045,3558
$GC,2945,-0.65,-194.7,526.5,-17.5,417,2949,0.43,2.17,0.00,0.000,4,0.152,0.054,2601,657,3558
$GC,2970,-0.65,-194.7,529.8,-11.5,418,2974,0.00,2.17,0.00,0.000,6,0.000,0.046,2601,2044,3557
$GC,3286,-0.92,-194.7,548.4,-5.9,434,3290,0.22,2.30,0.00,0.000,4,0.054,0.064,2493,3479,3555
$GC,3414,-0.77,-194.7,563.6,-12.1,440,3418,0.17,2.20,0.00,0.000,6,0.133,0.042,2567,2060,3553
$GC,3741,-0.87,-194.7,588.4,-7.9,456,3744,0.00,2.25,0.00,0.000,4,0.000,0.065,2563,3474,3551
$GC,3793,-1.01,-194.7,592.5,-8.5,458,3797,0.15,2.17,0.00,0.000,6,0.051,0.042,2479,2068,3551
$GC,4109,-0.74,-194.7,641.0,-16.3,474,4113,0.32,2.17,0.00,0.000,4,0.147,0.058,2579,667,3549
$GC,4221,-0.94,-194.7,652.9,-10.4,479,4225,0.12,2.20,0.00,0.000,6,0.057,0.048,2507,2064,3548
$GC,4541,-0.82,-194.7,696.8,-13.9,495,4546,0.17,2.22,0.00,0.000,4,0.148,0.059,2559,672,3546
$GC,4589,-0.93,-194.7,702.6,-11.4,497,4594,0.08,2.20,0.00,0.000,6,0.067,0.051,2508,2058,3545
$GC,4910,-0.84,-194.7,744.1,-13.0,513,4915,0.15,2.30,0.00,0.000,4,0.153,0.069,2550,3479,3542
$GC,4958,-0.97,-194.7,749.4,-9.8,515,4963,0.10,2.20,0.00,0.000,6,0.060,0.044,2487,2069,3541
$GC,5280,-0.78,-194.7,792.0,-12.8,531,5284,0.25,2.28,0.00,0.000,4,0.147,0.069,2562,3480,3539
$GC,5305,-0.85,-194.7,794.8,-10.2,532,5310,0.00,2.22,0.00,0.000,6,0.000,0.044,2562,2059,3539
$GC,5627,-1.01,-194.7,818.2,-6.8,548,5631,0.20,2.33,0.00,0.000,4,0.063,0.068,2468,3477,3537
$GC,5691,-0.81,-194.7,825.5,-12.5,551,5695,0.28,2.17,0.00,0.000,6,0.143,0.047,2553,2071,3537
$GC,6017,-0.93,-194.7,849.0,-6.7,567,6021,0.00,2.22,0.00,0.000,4,0.000,0.061,2553,674,3535
$GC,6070,-1.07,-194.7,852.8,-6.7,569,6074,0.17,2.22,0.00,0.000,6,0.054,0.051,2465,2071,3535
$GC,6385,-0.82,-194.7,892.2,-12.5,585,6387,0.30,0.00,0.00,0.000,6,0.154,0.000,2555,2071,3533
$GC,6691,-0.96,-194.7,912.4,-6.4,600,6695,0.12,2.28,0.00,0.000,4,0.079,0.069,2494,3472,3532
$GC,6744,-0.86,-194.7,917.4,-10.7,602,6748,0.12,2.20,0.00,0.000,6,0.148,0.047,2537,2068,3531
$GC,7059,-0.92,-194.7,942.2,-8.0,618,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2065,3530
$GC,7364,-0.98,-194.7,969.5,-9.4,633,7366,0.10,0.00,0.00,0.000,6,0.087,0.000,2492,2064,3528
$STATE,7526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7526,begin apogee
$GC,7529,-0.20,0.0,990.5,13.2,641,7693,0.80,0.00,155.68,1.378,6,0.143,0.000,2751,2522,2758
$STATE,7693,end apogee,CONTROL_FINISHED_OK
$STATE,7693,begin climb
$GC,7694,0.96,194.7,996.7,0.0,649,7865,1.02,2.12,163.62,1.337,4,0.045,0.072,3141,3697,1964
$GC,8104,0.21,194.7,911.7,27.8,668,8109,0.88,1.92,0.00,0.000,6,0.183,0.048,2896,2526,1958
$GC,8425,0.53,262.5,877.7,9.2,684,8491,0.25,2.05,58.00,1.268,4,0.059,0.071,3002,3682,1687
$GC,8521,0.36,262.5,862.8,17.3,688,8526,0.22,1.92,0.00,0.000,6,0.145,0.046,2941,2515,1685
$GC,8837,0.57,317.5,828.8,9.7,704,8901,0.17,2.42,50.03,1.203,4,0.070,0.058,3024,1116,1462
$GC,8964,0.57,317.5,810.5,16.6,710,8968,0.00,2.35,0.00,0.000,6,0.000,0.054,3024,2510,1458
$GC,9290,0.43,317.5,750.9,18.9,726,9294,0.22,1.95,0.00,0.000,4,0.153,0.068,2961,3695,1457
$GC,9407,0.53,317.5,733.6,14.4,731,9412,0.00,1.85,0.00,0.000,6,0.000,0.047,2967,2527,1456
$GC,9723,0.64,317.5,689.8,14.0,747,9727,0.17,2.28,0.00,0.000,4,0.071,0.057,3049,1120,1455
$GC,9765,0.50,317.5,682.2,19.8,749,9770,0.20,2.30,0.00,0.000,6,0.157,0.053,2986,2530,1453
$GC,10091,0.50,317.5,630.2,15.3,765,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2530,1453
$GC,10397,0.56,317.5,579.8,15.4,780,10401,0.00,2.28,0.00,0.000,4,0.000,0.057,2995,1129,1452
$GC,10493,0.73,363.9,568.7,10.1,784,10536,0.12,2.25,39.05,1.106,6,0.062,0.052,3061,2517,1275
$GC,10847,0.49,363.9,507.9,18.0,802,10850,0.28,1.90,0.00,0.000,4,0.155,0.067,2981,3696,1269
$GC,10932,0.65,412.3,497.2,10.0,807,10978,0.08,1.85,41.83,1.047,6,0.068,0.046,3032,2525,1078
$GC,11285,0.65,412.3,436.2,19.8,841,11289,0.00,2.28,0.00,0.000,4,0.000,0.057,3042,1132,1072
$GC,11316,0.65,412.3,430.3,18.3,844,11321,0.00,2.30,0.00,0.000,6,0.000,0.051,3042,2533,1072
$GC,11638,0.59,412.3,369.4,19.5,875,11642,0.12,2.25,0.00,0.000,4,0.154,0.056,3017,1130,1072
$GC,11674,0.71,412.3,362.7,17.3,878,11682,0.00,2.25,0.00,0.000,6,0.000,0.051,3017,2517,1070
$GC,11991,0.79,412.3,312.2,15.7,909,11994,0.17,2.22,0.00,0.000,4,0.069,0.055,3104,1123,1070
$GC,12048,0.63,412.3,299.5,22.4,914,12056,0.25,2.22,0.00,0.000,6,0.155,0.050,3025,2504,1070
$GC,12376,0.71,412.3,249.7,15.2,975,12381,0.00,2.20,0.00,0.000,4,0.000,0.054,3034,1123,1070
$GC,12433,0.85,412.3,241.0,14.1,986,12440,0.12,2.20,0.00,0.000,6,0.058,0.049,3101,2495,1068
$GC,12760,0.68,412.3,167.0,20.9,1047,12767,0.22,2.17,0.00,0.000,4,0.153,0.053,3046,1130,1068
$GC,12781,0.68,412.3,163.2,17.3,1051,12788,0.00,2.17,0.00,0.000,6,0.000,0.048,3046,2496,1068
$GC,13108,0.81,412.3,119.0,12.7,1112,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2496,1068
$GC,13428,1.06,432.1,81.2,11.2,1172,13450,0.30,2.22,16.33,0.704,4,0.053,0.050,3185,1124,996
$GC,13481,0.82,432.1,70.2,23.9,1181,13488,0.30,2.20,0.00,0.000,6,0.153,0.047,3089,2506,995
$GC,13808,0.98,432.1,21.5,12.3,1242,13814,0.12,1.85,0.00,0.000,4,0.071,0.059,3147,3678,995
$GC,13888,0.89,432.1,7.6,18.7,1257,13895,0.15,1.77,0.00,0.000,6,0.143,0.039,3106,2524,995
$STATE,13924,end climb,SURFACE_DEPTH_REACHED
$STATE,13924,begin surface coast
$FINISH,1.7,1.021912
$STATE,13951,end surface coast,CONTROL_FINISHED_OK
$STATE,13951,begin surface
$SM_CCo,13964,2.88,0.325,0,0,985,435.16
$SM_GC,3.23,0.00,0.00,2.88,0.000,0.000,0.325,161,2064,985,-8.31,-0.20,435.16
$IRIDIUM_FIX,2444.18,12247.40,210898,131302
$TT8_MAMPS,0.047554
$HUMID,1566
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,24.70
$XPDR_PINGS,63
$24V_AH,23.6,11.805
$10V_AH,10.7,9.529
$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,31.150,136.450,524.525,2.875,0.000,29.864,35.240,213.430,23.750,0.000,0.000,31.988,0.000,10086.344,659.463,3137.893,446.686,0.000,1850.427,0.000,2624.155,0.000,53.971,0.000
$DEVICE_MAMPS,241.605,72.098,1377.532,325.208,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,860.508,873.532,1349.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72700,1269
$CAP_FILE_SIZE,157127,0
$CFSIZE,260165632,254681088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.208, 32.8,1
$GPS,270509,214025,2450.939,12245.842,39,1.3,39,-3.5