version: 66.04
glider: 165
mission: 2
dive: 312
start: 7 17 109 0 51 39
data:
$ID,165
$MISSION,2
$DIVE,312
$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,-123617.96
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,004331,2545.868,12457.110,41,1.2,41,-4.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-66.2
$GPS2,005131,2546.042,12457.323,10,1.5,15,-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,193.6,57776,-18.3,-12.000
$D_GRID,2040
$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,-1.11,-194.7,0.0,0.0,0,73,0.00,0.00,-58.97,0.000,2,0.000,0.000,147,2124,1915
$GC,75,-1.11,-194.7,3.2,-3.8,9,139,9.07,2.17,-49.03,0.000,4,0.226,0.053,2446,719,3649
$GC,304,-0.63,-194.7,57.2,-26.3,50,310,0.50,2.25,0.00,0.000,6,0.144,0.043,2604,2144,3649
$GC,631,-0.63,-194.7,102.7,-12.0,111,638,0.00,2.20,0.00,0.000,4,0.000,0.052,2602,3547,3651
$GC,761,-0.71,-194.7,116.7,-10.6,135,768,0.00,2.12,0.00,0.000,6,0.000,0.031,2602,2145,3651
$GC,1088,-0.97,-194.7,149.3,-10.0,196,1094,0.25,2.15,0.00,0.000,4,0.091,0.041,2466,745,3652
$GC,1180,-0.75,-194.7,163.5,-15.9,213,1186,0.32,2.30,0.00,0.000,6,0.134,0.040,2565,2244,3652
$GC,1507,-1.05,-194.7,195.3,-9.0,274,1513,0.22,2.03,0.00,0.000,4,0.069,0.051,2449,3539,3653
$GC,1653,-0.81,-194.7,217.3,-16.9,301,1659,0.32,1.88,0.00,0.000,6,0.129,0.032,2551,2265,3653
$GC,1979,-1.05,-194.7,249.6,-9.0,362,1986,0.22,2.35,0.00,0.000,4,0.045,0.047,2435,735,3654
$GC,2012,-0.86,-194.7,253.8,-13.6,368,2019,0.28,2.40,0.00,0.000,6,0.133,0.042,2528,2261,3653
$GC,2339,-0.91,-194.7,291.7,-12.1,429,2345,0.00,2.00,0.00,0.000,4,0.000,0.055,2520,3540,3653
$GC,2403,-0.91,-194.7,299.7,-12.8,441,2410,0.00,1.90,0.00,0.000,6,0.000,0.032,2520,2262,3653
$GC,2718,-0.91,-194.7,336.1,-10.5,472,2722,0.00,2.05,0.00,0.000,4,0.000,0.056,2520,3551,3653
$GC,2772,-0.94,-194.7,341.6,-10.2,477,2775,0.00,1.90,0.00,0.000,6,0.000,0.033,2520,2295,3652
$GC,3094,-1.00,-194.7,373.0,-9.6,508,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2289,3651
$GC,3405,-1.20,-194.7,401.1,-9.3,538,3409,0.22,2.42,0.00,0.000,4,0.048,0.047,2401,738,3649
$GC,3463,-0.93,-194.7,409.7,-15.8,543,3467,0.38,2.40,0.00,0.000,6,0.150,0.044,2510,2272,3649
$GC,3779,-0.97,-194.7,446.6,-11.4,573,3782,0.00,2.00,0.00,0.000,4,0.000,0.058,2510,3535,3647
$GC,3858,-1.02,-194.7,455.8,-11.1,580,3864,0.00,1.90,0.00,0.000,6,0.000,0.035,2510,2285,3646
$GC,4176,-1.23,-194.7,489.1,-10.4,611,4180,0.22,2.40,0.00,0.000,4,0.049,0.046,2397,745,3644
$GC,4186,-1.36,-194.7,490.4,-10.5,611,4193,0.00,2.40,0.00,0.000,6,0.000,0.044,2396,2278,3643
$GC,4498,-1.06,-194.7,542.6,-16.4,630,4501,0.25,2.03,0.00,0.000,4,0.157,0.059,2465,3547,3641
$GC,4621,-0.98,-194.7,558.5,-12.1,635,4627,0.00,1.90,0.00,0.000,6,0.000,0.037,2466,2286,3640
$GC,4931,-0.89,-194.7,594.2,-11.6,651,4935,0.17,2.03,0.00,0.000,4,0.136,0.060,2520,3535,3637
$GC,5001,-1.01,-194.7,600.3,-7.9,654,5004,0.08,1.90,0.00,0.000,6,0.051,0.035,2459,2291,3637
$GC,5322,-0.90,-194.7,638.0,-12.4,670,5325,0.20,2.03,0.00,0.000,4,0.136,0.061,2520,3536,3636
$GC,5390,-1.02,-194.7,644.9,-9.8,673,5394,0.08,1.88,0.00,0.000,6,0.051,0.036,2459,2309,3635
$GC,5713,-0.91,-194.7,685.5,-12.8,689,5714,0.20,0.00,0.00,0.000,6,0.136,0.000,2520,2304,3632
$GC,6017,-1.01,-194.7,716.0,-9.8,704,6021,0.10,2.00,0.00,0.000,4,0.074,0.064,2464,3539,3630
$GC,6081,-0.96,-194.7,723.9,-12.4,707,6084,0.08,1.88,0.00,0.000,6,0.136,0.037,2492,2318,3629
$GC,6409,-0.96,-194.7,762.0,-11.5,723,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2313,3627
$GC,6712,-0.96,-194.7,795.4,-10.5,738,6715,0.00,2.03,0.00,0.000,4,0.000,0.066,2491,3531,3625
$GC,6761,-1.01,-194.7,800.4,-9.4,740,6764,0.00,1.83,0.00,0.000,6,0.000,0.038,2492,2334,3624
$GC,7082,-1.01,-194.7,833.5,-10.1,756,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2332,3622
$GC,7387,-1.01,-194.7,864.0,-10.1,771,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2330,3620
$GC,7692,-1.01,-194.7,895.3,-9.9,786,7695,0.00,2.00,0.00,0.000,4,0.000,0.068,2492,3544,3618
$GC,7756,-1.06,-194.7,901.6,-9.1,789,7759,0.00,1.88,0.00,0.000,6,0.000,0.040,2492,2345,3618
$GC,8083,-1.06,-194.7,934.3,-10.2,805,8086,0.00,1.98,0.00,0.000,4,0.000,0.067,2492,3540,3617
$GC,8136,-1.11,-194.7,939.5,-10.0,807,8139,0.12,1.83,0.00,0.000,6,0.067,0.039,2434,2347,3616
$GC,8451,-0.95,-194.7,980.3,-12.9,823,8455,0.22,2.58,0.00,0.000,4,0.144,0.054,2502,741,3615
$GC,8489,-1.02,-194.7,984.3,-9.0,825,8492,0.00,2.55,0.00,0.000,6,0.000,0.049,2500,2334,3615
$STATE,8563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8563,begin apogee
$GC,8568,-0.24,0.0,991.0,8.7,829,8730,0.70,0.00,158.77,1.382,6,0.118,0.000,2732,2446,2854
$STATE,8730,end apogee,CONTROL_FINISHED_OK
$STATE,8730,begin climb
$GC,8732,1.11,194.7,998.9,0.0,837,8907,1.23,2.40,168.02,1.338,4,0.044,0.051,3197,1063,2058
$GC,8939,0.53,194.7,983.8,20.0,847,8944,0.77,2.33,0.00,0.000,6,0.176,0.048,2986,2453,2054
$GC,9250,0.53,247.6,951.7,9.8,862,9300,0.00,2.35,45.92,1.295,4,0.000,0.051,2995,1076,1844
$GC,9382,0.55,261.6,937.3,11.4,868,9399,0.00,2.22,13.30,1.187,6,0.000,0.046,2994,2448,1787
$GC,9702,0.56,270.0,900.1,11.7,884,9716,0.00,2.28,8.45,1.108,4,0.000,0.049,3004,1066,1753
$GC,9755,0.56,270.0,893.8,12.9,886,9758,0.00,2.20,0.00,0.000,6,0.000,0.045,3004,2441,1751
$GC,10070,0.56,272.1,855.9,11.9,902,10074,0.00,2.22,0.00,0.000,4,0.000,0.049,3014,1067,1750
$GC,10128,0.52,272.1,848.3,12.3,904,10135,0.10,2.15,0.00,0.000,6,0.138,0.044,2981,2404,1748
$GC,10440,0.60,307.2,814.9,10.5,920,10484,0.00,2.22,35.75,1.198,4,0.000,0.050,2988,1058,1601
$GC,10539,0.67,319.8,803.7,11.5,924,10566,0.08,2.17,14.38,1.009,6,0.060,0.044,3037,2383,1549
$GC,10872,0.60,319.8,758.7,13.6,941,10875,0.12,2.12,0.00,0.000,4,0.148,0.048,3011,1058,1547
$GC,10930,0.62,334.7,751.2,11.4,944,10951,0.00,2.12,14.73,1.164,6,0.000,0.044,3011,2380,1487
$GC,11256,0.62,334.7,712.2,12.0,960,11259,0.00,2.10,0.00,0.000,4,0.000,0.049,3021,1063,1485
$GC,11292,0.62,334.7,707.8,12.2,961,11298,0.00,2.10,0.00,0.000,6,0.000,0.044,3021,2363,1484
$GC,11602,0.62,334.7,667.3,13.2,977,11603,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2363,1483
$GC,11908,0.62,334.7,627.6,13.5,992,11912,0.00,2.10,0.00,0.000,4,0.000,0.049,3030,1060,1483
$GC,11934,0.62,334.7,624.0,13.9,993,11938,0.00,2.08,0.00,0.000,6,0.000,0.043,3030,2358,1482
$GC,12255,0.62,334.7,581.2,12.5,1009,12259,0.00,2.05,0.00,0.000,4,0.000,0.049,3039,1063,1482
$GC,12287,0.63,343.5,577.2,11.6,1010,12301,0.00,2.05,8.65,1.012,6,0.000,0.044,3039,2363,1452
$GC,12624,0.63,343.5,533.1,12.8,1027,12627,0.00,2.12,0.00,0.000,4,0.000,0.059,3039,3688,1451
$GC,12650,0.57,343.5,529.4,13.5,1028,12654,0.15,2.08,0.00,0.000,6,0.137,0.038,2998,2365,1451
$GC,12962,0.74,400.3,497.8,9.7,1044,13018,0.15,2.17,50.78,1.065,4,0.061,0.049,3084,1066,1221
$GC,13113,0.65,400.3,475.4,14.5,1058,13117,0.20,2.03,0.00,0.000,6,0.143,0.043,3021,2314,1217
$GC,13434,0.79,421.2,438.4,11.1,1089,13468,0.12,2.03,21.05,0.919,4,0.068,0.048,3098,1061,1135
$GC,13494,0.70,421.2,429.9,14.9,1094,13500,0.20,2.00,0.00,0.000,6,0.139,0.042,3035,2302,1134
$GC,13810,0.83,451.6,393.9,10.7,1125,13844,0.12,2.08,27.58,0.968,4,0.067,0.049,3114,1061,1011
$GC,13908,0.72,451.6,378.3,16.7,1134,13912,0.25,1.95,0.00,0.000,6,0.141,0.042,3042,2289,1009
$GC,14229,0.85,451.6,338.4,12.7,1165,14232,0.12,1.95,0.00,0.000,4,0.064,0.049,3121,1057,1008
$GC,14266,0.74,451.6,332.5,16.5,1168,14272,0.20,1.92,0.00,0.000,6,0.136,0.048,3055,2256,1008
$GC,14582,0.92,503.3,297.4,9.9,1201,14632,0.15,2.00,44.75,0.898,4,0.057,0.050,3140,1065,801
$GC,14648,0.85,503.3,288.0,15.1,1212,14654,0.17,1.90,0.00,0.000,6,0.133,0.042,3084,2238,800
$GC,14974,0.96,503.3,245.1,13.7,1273,14979,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2238,798
$GC,15300,1.07,519.9,205.3,11.3,1334,15320,0.20,1.92,14.98,0.788,4,0.054,0.048,3191,1064,733
$GC,15362,0.86,519.9,195.2,17.5,1345,15368,0.30,1.88,0.00,0.000,6,0.142,0.042,3086,2237,732
$GC,15689,1.21,548.8,160.1,10.8,1406,15728,0.28,2.40,28.77,0.769,4,0.040,0.058,3227,3693,612
$GC,15861,1.00,548.8,125.9,20.4,1437,15867,0.38,2.42,0.00,0.000,6,0.153,0.041,3130,2149,606
$GC,16188,1.24,596.6,90.1,10.0,1498,16245,0.17,1.77,36.60,0.616,4,0.054,0.048,3236,1058,482
$GC,16294,1.09,596.6,73.8,16.7,1516,16300,0.20,1.73,0.00,0.000,6,0.140,0.044,3158,2139,474
$GC,16620,1.28,619.6,36.8,11.0,1577,16626,0.17,1.73,0.00,0.000,4,0.052,0.046,3252,1062,469
$GC,16740,1.19,619.6,17.4,18.8,1599,16747,0.17,1.65,0.00,0.000,6,0.143,0.038,3194,2118,468
$STATE,16857,end climb,SURFACE_DEPTH_REACHED
$STATE,16857,begin surface coast
$FINISH,1.9,1.010804
$STATE,16878,end surface coast,CONTROL_FINISHED_OK
$STATE,16878,begin surface
$SM_CCo,16953,0.00,0.000,0,0,466,585.78
$SM_GC,2.47,7.62,0.00,0.00,0.029,0.000,0.000,151,2120,466,-8.17,-0.42,585.78
$IRIDIUM_FIX,2534.22,12453.05,101098,202007
$TT8_MAMPS,0.048321
$HUMID,1619
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,26.10
$XPDR_PINGS,324
$24V_AH,23.2,69.412
$10V_AH,10.6,48.523
$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,27.875,154.675,692.475,0.000,0.000,23.392,32.699,285.378,89.000,0.000,0.000,19.560,0.000,12092.961,846.724,3769.779,692.329,0.000,2277.179,0.000,3170.432,0.000,54.018,0.000
$DEVICE_MAMPS,226.265,79.768,1382.134,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.993,1119.879,1757.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94641,1625
$CAP_FILE_SIZE,184763,0
$CFSIZE,260165632,229482496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.538, 63.2,1
$GPS,170709,053506,2545.960,12501.258,32,2.0,32,-4.0