version: 66.04
glider: 165
mission: 2
dive: 310
start: 7 16 109 15 0 14
data:
$ID,165
$MISSION,2
$DIVE,310
$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,-3
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-123567.7
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.034000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,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
$GPS1,145137,2546.457,12448.990,39,1.5,39,-4.0
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-66.8
$GPS2,150008,2546.596,12449.195,9,1.8,9,-4.0
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_5
$TGT_LATLONG,2520.600,12517.300
$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,184.7,67310,-18.3,-12.000
$D_GRID,1913
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.11,-194.7,0.0,0.0,0,68,0.00,0.00,-52.95,0.000,2,0.000,0.000,151,2159,1758
$GC,71,-1.11,-194.7,3.0,-3.0,8,141,9.20,2.22,-53.92,0.000,4,0.233,0.056,2447,746,3647
$GC,233,-0.62,-194.7,36.7,-26.4,36,239,0.50,2.17,0.00,0.000,6,0.146,0.038,2604,2131,3649
$GC,560,-0.62,-194.7,87.0,-15.6,97,566,0.00,2.22,0.00,0.000,4,0.000,0.059,2602,3538,3649
$GC,720,-0.62,-194.7,108.6,-12.3,127,726,0.00,2.10,0.00,0.000,6,0.000,0.038,2602,2157,3650
$GC,1047,-0.98,-194.7,142.0,-9.5,188,1053,0.28,2.17,0.00,0.000,4,0.041,0.042,2451,735,3651
$GC,1063,-1.14,-194.7,143.9,-11.1,191,1069,0.00,2.22,0.00,0.000,6,0.000,0.043,2440,2183,3651
$GC,1389,-0.83,-194.7,203.3,-18.6,252,1396,0.32,2.15,0.00,0.000,4,0.141,0.054,2530,3533,3652
$GC,1449,-0.83,-194.7,211.5,-12.8,263,1454,0.00,2.03,0.00,0.000,6,0.000,0.033,2530,2173,3652
$GC,1775,-0.83,-194.7,248.3,-10.6,324,1781,0.00,2.17,0.00,0.000,4,0.000,0.055,2520,3538,3652
$GC,1860,-0.83,-194.7,257.3,-10.6,340,1866,0.00,2.05,0.00,0.000,6,0.000,0.035,2520,2198,3652
$GC,2187,-0.83,-194.7,291.9,-10.4,401,2193,0.00,2.15,0.00,0.000,4,0.000,0.057,2520,3541,3652
$GC,2304,-0.83,-194.7,305.0,-11.4,419,2308,0.00,1.98,0.00,0.000,6,0.000,0.034,2520,2222,3652
$GC,2627,-0.83,-194.7,339.5,-10.9,450,2630,0.00,2.12,0.00,0.000,4,0.000,0.058,2520,3550,3652
$GC,2663,-0.87,-194.7,343.9,-11.5,453,2669,0.00,2.00,0.00,0.000,6,0.000,0.034,2520,2241,3651
$GC,2979,-0.92,-194.7,378.1,-10.2,484,2982,0.00,2.08,0.00,0.000,4,0.000,0.058,2520,3536,3650
$GC,3048,-0.97,-194.7,385.4,-10.2,490,3056,0.00,1.95,0.00,0.000,6,0.000,0.040,2520,2263,3649
$GC,3366,-1.12,-194.7,416.5,-9.6,521,3370,0.20,2.35,0.00,0.000,4,0.051,0.047,2413,742,3647
$GC,3408,-0.87,-194.7,422.3,-14.5,524,3414,0.32,2.38,0.00,0.000,6,0.137,0.049,2531,2228,3647
$GC,3724,-1.05,-194.7,451.5,-8.6,555,3727,0.17,2.10,0.00,0.000,4,0.051,0.058,2440,3546,3645
$GC,3900,-0.89,-194.7,473.2,-12.6,571,3904,0.28,1.90,0.00,0.000,6,0.135,0.037,2525,2283,3643
$GC,4231,-1.13,-194.7,504.0,-9.5,601,4234,0.22,2.42,0.00,0.000,4,0.048,0.048,2415,735,3642
$GC,4262,-0.97,-194.7,508.2,-14.5,602,4266,0.28,2.38,0.00,0.000,6,0.148,0.046,2493,2246,3641
$GC,4572,-0.97,-194.7,541.4,-10.4,617,4575,0.00,2.10,0.00,0.000,4,0.000,0.062,2493,3538,3639
$GC,4759,-0.97,-194.7,560.4,-9.9,625,4765,0.00,1.92,0.00,0.000,6,0.000,0.037,2494,2284,3637
$GC,5069,-0.97,-194.7,591.9,-10.3,641,5073,0.00,2.05,0.00,0.000,4,0.000,0.062,2493,3530,3636
$GC,5122,-0.97,-194.7,597.3,-10.4,643,5126,0.00,1.90,0.00,0.000,6,0.000,0.037,2493,2293,3635
$GC,5438,-0.97,-194.7,630.0,-10.7,659,5441,0.00,2.03,0.00,0.000,4,0.000,0.064,2494,3537,3633
$GC,5523,-0.97,-194.7,639.0,-11.0,663,5527,0.00,1.88,0.00,0.000,6,0.000,0.037,2494,2314,3632
$GC,5851,-0.97,-194.7,672.0,-10.3,679,5854,0.00,2.00,0.00,0.000,4,0.000,0.064,2494,3539,3630
$GC,5893,-1.02,-194.7,676.4,-10.4,681,5896,0.00,1.88,0.00,0.000,6,0.000,0.038,2493,2324,3629
$GC,6219,-1.02,-194.7,710.8,-10.4,697,6222,0.00,2.50,0.00,0.000,4,0.000,0.053,2493,745,3627
$GC,6256,-1.06,-194.7,714.8,-10.8,698,6263,0.00,2.50,0.00,0.000,6,0.000,0.048,2494,2319,3626
$GC,6567,-1.06,-194.7,746.6,-10.1,714,6570,0.00,1.98,0.00,0.000,4,0.000,0.064,2494,3542,3624
$GC,6646,-1.10,-194.7,754.6,-10.2,717,6653,0.08,1.88,0.00,0.000,6,0.057,0.038,2442,2331,3623
$GC,6958,-0.95,-194.7,793.9,-12.5,733,6959,0.20,0.00,0.00,0.000,6,0.143,0.000,2501,2327,3621
$GC,7262,-0.99,-194.7,820.0,-8.3,748,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2327,3620
$GC,7568,-1.03,-194.7,846.0,-8.8,763,7571,0.00,1.98,0.00,0.000,4,0.000,0.067,2495,3533,3618
$GC,7610,-1.07,-194.7,850.1,-9.6,765,7613,0.00,1.83,0.00,0.000,6,0.000,0.038,2495,2339,3618
$GC,7937,-1.07,-194.7,882.9,-10.0,781,7940,0.00,1.98,0.00,0.000,4,0.000,0.066,2495,3538,3616
$GC,7973,-1.12,-194.7,886.9,-10.7,782,7981,0.10,1.83,0.00,0.000,6,0.053,0.038,2436,2356,3615
$GC,8283,-0.96,-194.7,929.9,-14.0,798,8285,0.22,0.00,0.00,0.000,6,0.145,0.000,2502,2350,3615
$GC,8589,-1.01,-194.7,958.1,-8.6,813,8593,0.00,1.95,0.00,0.000,4,0.000,0.067,2495,3537,3613
$GC,8642,-1.08,-194.7,962.8,-8.5,815,8645,0.00,1.83,0.00,0.000,6,0.000,0.038,2495,2365,3612
$STATE,8935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8935,begin apogee
$GC,8941,-0.24,0.0,990.3,9.5,830,9101,0.73,0.00,158.45,1.390,6,0.122,0.000,2732,2449,2854
$STATE,9102,end apogee,CONTROL_FINISHED_OK
$STATE,9102,begin climb
$GC,9104,1.11,194.7,998.8,0.0,838,9280,1.20,2.42,167.60,1.345,4,0.048,0.054,3190,1060,2058
$GC,9381,0.57,194.7,970.7,18.5,851,9386,0.70,2.28,0.00,0.000,6,0.176,0.048,2995,2450,2052
$GC,9697,0.53,243.1,936.1,10.0,867,9742,0.00,2.33,42.03,1.293,4,0.000,0.053,2998,1066,1862
$GC,9765,0.59,286.6,929.0,10.2,870,9808,0.00,2.28,39.20,1.272,6,0.000,0.046,2998,2451,1685
$GC,10125,0.62,316.4,889.2,10.8,888,10156,0.00,2.30,26.95,1.258,4,0.000,0.050,3008,1061,1562
$GC,10236,0.62,316.4,876.4,13.0,893,10240,0.00,2.22,0.00,0.000,6,0.000,0.045,3008,2439,1558
$GC,10552,0.63,321.3,840.0,11.8,909,10561,0.00,2.22,4.72,0.891,4,0.000,0.051,3017,1065,1544
$GC,10594,0.63,321.3,834.6,12.6,911,10597,0.00,2.17,0.00,0.000,6,0.000,0.044,3017,2411,1543
$GC,10921,0.63,321.3,792.5,12.9,927,10924,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,1063,1542
$GC,10968,0.63,321.3,785.9,14.1,929,10972,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2402,1542
$GC,11290,0.59,321.3,742.4,13.5,945,11293,0.00,2.12,0.00,0.000,4,0.000,0.048,3035,1064,1541
$GC,11364,0.54,321.3,732.0,13.8,948,11367,0.12,2.10,0.00,0.000,6,0.137,0.044,2983,2375,1540
$GC,11680,0.65,343.1,696.3,11.1,964,11714,0.12,2.17,22.92,1.101,4,0.071,0.050,3051,1065,1454
$GC,11752,0.59,343.1,685.8,15.6,967,11756,0.15,2.10,0.00,0.000,6,0.137,0.043,3002,2359,1452
$GC,12068,0.65,343.1,646.7,12.0,983,12071,0.00,2.08,0.00,0.000,4,0.000,0.049,3010,1059,1451
$GC,12116,0.70,343.1,640.6,12.9,985,12119,0.00,2.05,0.00,0.000,6,0.000,0.043,3010,2353,1450
$GC,12437,0.73,343.1,598.6,13.0,1001,12440,0.10,2.15,0.00,0.000,4,0.077,0.060,3062,3695,1450
$GC,12458,0.66,343.1,595.4,14.5,1002,12462,0.12,2.10,0.00,0.000,6,0.156,0.038,3030,2354,1450
$GC,12785,0.66,343.1,547.9,14.2,1018,12788,0.00,2.03,0.00,0.000,4,0.000,0.049,3039,1063,1450
$GC,12869,0.66,343.1,535.5,15.5,1022,12873,0.00,2.00,0.00,0.000,6,0.000,0.043,3039,2317,1449
$GC,13187,0.66,343.1,493.6,12.5,1039,13190,0.00,2.20,0.00,0.000,4,0.000,0.059,3040,3689,1449
$GC,13272,0.57,343.1,482.1,14.6,1047,13275,0.20,2.10,0.00,0.000,6,0.142,0.038,2990,2327,1449
$GC,13593,0.78,413.0,451.6,9.1,1078,13660,0.20,2.08,61.72,1.037,4,0.054,0.048,3097,1058,1169
$GC,13793,0.67,413.0,420.3,16.3,1096,13800,0.20,2.00,0.00,0.000,6,0.140,0.043,3033,2294,1164
$GC,14109,0.77,413.0,381.3,12.0,1127,14112,0.00,1.95,0.00,0.000,4,0.000,0.048,3042,1064,1163
$GC,14141,0.86,417.6,377.4,11.8,1130,14154,0.10,1.95,4.45,0.691,6,0.051,0.041,3107,2286,1149
$GC,14461,0.76,417.6,330.2,14.6,1161,14465,0.17,1.92,0.00,0.000,4,0.146,0.048,3065,1064,1150
$GC,14493,0.76,417.6,326.1,12.1,1164,14496,0.00,1.92,0.00,0.000,6,0.000,0.040,3065,2277,1148
$GC,14811,0.82,435.6,290.8,11.3,1202,14836,0.00,2.33,16.85,0.881,4,0.000,0.058,3065,3692,1077
$GC,14862,0.82,435.6,284.9,12.1,1211,14868,0.00,2.20,0.00,0.000,6,0.000,0.038,3076,2275,1077
$GC,15188,0.91,458.6,248.6,11.0,1272,15213,0.00,1.98,21.38,0.850,4,0.000,0.047,3084,1060,983
$GC,15304,0.95,458.6,234.4,12.5,1293,15310,0.00,1.90,0.00,0.000,6,0.000,0.039,3084,2271,981
$GC,15631,1.02,461.0,195.1,11.9,1354,15637,0.15,0.00,0.00,0.000,6,0.062,0.000,3155,2271,981
$GC,15958,0.97,461.0,145.1,15.0,1415,15964,0.12,1.90,0.00,0.000,4,0.147,0.045,3128,1062,980
$GC,15974,0.92,461.0,142.9,13.7,1418,15982,0.00,1.90,0.00,0.000,6,0.000,0.038,3128,2275,980
$GC,16303,0.99,461.0,103.4,12.2,1479,16309,0.00,1.92,0.00,0.000,4,0.000,0.046,3136,1064,980
$GC,16399,1.15,521.5,92.7,9.5,1497,16456,0.10,1.83,52.45,0.717,6,0.049,0.038,3206,2238,726
$GC,16777,1.16,528.4,45.3,11.7,1566,16790,0.00,1.90,6.60,0.554,4,0.000,0.045,3214,1055,699
$GC,16817,1.14,537.7,40.4,11.6,1573,16832,0.10,1.83,10.43,0.603,6,0.134,0.037,3181,2226,661
$STATE,17150,end climb,SURFACE_DEPTH_REACHED
$STATE,17152,begin surface coast
$FINISH,1.6,1.021383
$STATE,17171,end surface coast,CONTROL_FINISHED_OK
$STATE,17171,begin surface
$SM_CCo,17246,0.00,0.000,0,0,655,539.41
$SM_GC,2.45,7.72,0.00,0.00,0.035,0.000,0.000,156,2137,655,-8.18,0.06,539.41
$IRIDIUM_FIX,2534.22,12444.43,101098,101056
$TT8_MAMPS,0.049088
$HUMID,1618
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.30
$XPDR_PINGS,309
$24V_AH,23.1,68.897
$10V_AH,10.6,48.226
$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,24.700,162.800,635.750,0.000,0.000,24.876,34.973,314.476,85.250,0.000,0.000,11.367,0.000,12338.302,749.616,3902.267,732.471,0.000,2243.896,0.000,3301.389,0.000,55.524,0.000
$DEVICE_MAMPS,233.168,80.535,1389.804,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1108.332,1114.070,1745.647,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94570,1639
$CAP_FILE_SIZE,186976,0
$CFSIZE,260165632,229670912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.478, 67.7,1
$GPS,160709,194855,2546.189,12453.067,36,1.7,54,-4.0