version: 66.04
glider: 165
mission: 2
dive: 313
start: 7 17 109 5 42 57
data:
$ID,165
$MISSION,2
$DIVE,313
$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,-123650
$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,56
$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
$GPS1,053506,2545.960,12501.258,32,2.0,32,-4.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-68.6
$GPS2,054252,2546.125,12501.440,9,2.8,28,-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,199.7,54215,-18.3,-12.000
$D_GRID,2068
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.11,-194.7,0.0,0.0,0,76,0.00,0.00,-59.15,0.000,2,0.000,0.000,148,2120,1934
$GC,78,-1.11,-194.7,3.3,-4.3,9,141,9.07,2.20,-46.80,0.000,4,0.228,0.056,2443,745,3650
$GC,222,-0.62,-194.7,33.9,-25.9,34,229,0.57,2.17,0.00,0.000,6,0.145,0.039,2608,2156,3650
$GC,549,-0.62,-194.7,81.8,-13.0,95,556,0.00,2.20,0.00,0.000,4,0.000,0.055,2602,3533,3651
$GC,588,-0.67,-194.7,86.8,-12.9,102,594,0.00,2.10,0.00,0.000,6,0.000,0.032,2602,2128,3652
$GC,914,-0.73,-194.7,127.2,-11.3,163,921,0.00,2.25,0.00,0.000,4,0.000,0.057,2602,3545,3653
$GC,996,-0.91,-194.7,136.2,-10.8,178,1002,0.20,2.10,0.00,0.000,6,0.035,0.032,2481,2145,3653
$GC,1323,-0.72,-194.7,186.0,-14.3,239,1330,0.28,2.20,0.00,0.000,4,0.132,0.051,2563,3548,3654
$GC,1426,-0.78,-194.7,198.1,-11.1,258,1432,0.00,2.03,0.00,0.000,6,0.000,0.032,2563,2201,3654
$GC,1753,-0.99,-194.7,229.1,-9.0,319,1759,0.20,2.22,0.00,0.000,4,0.048,0.044,2454,753,3655
$GC,1813,-0.81,-194.7,237.2,-14.3,330,1819,0.30,2.38,0.00,0.000,6,0.133,0.048,2547,2276,3655
$GC,2140,-1.02,-194.7,269.7,-9.2,391,2146,0.17,2.00,0.00,0.000,4,0.051,0.056,2441,3546,3655
$GC,2231,-0.81,-194.7,282.4,-14.7,408,2237,0.30,1.88,0.00,0.000,6,0.125,0.036,2543,2309,3654
$GC,2559,-1.00,-194.7,312.5,-8.8,457,2562,0.15,1.95,0.00,0.000,4,0.055,0.057,2461,3538,3655
$GC,2677,-0.88,-194.7,326.9,-13.3,468,2681,0.17,1.70,0.00,0.000,6,0.123,0.035,2521,2397,3654
$GC,2998,-0.93,-194.7,360.3,-10.4,499,3001,0.00,2.55,0.00,0.000,4,0.000,0.047,2522,757,3653
$GC,3040,-0.98,-194.7,364.7,-10.0,502,3046,0.00,2.55,0.00,0.000,6,0.000,0.044,2520,2362,3652
$GC,3358,-1.17,-194.7,391.0,-8.0,533,3361,0.20,1.85,0.00,0.000,4,0.049,0.057,2412,3533,3651
$GC,3554,-0.92,-194.7,418.7,-14.8,551,3561,0.30,1.62,0.00,0.000,6,0.139,0.035,2510,2443,3649
$GC,3870,-0.92,-194.7,450.9,-10.8,582,3874,0.00,2.65,0.00,0.000,4,0.000,0.048,2510,757,3647
$GC,3918,-0.97,-194.7,456.2,-11.2,586,3922,0.00,2.60,0.00,0.000,6,0.000,0.044,2510,2418,3647
$GC,4233,-0.97,-194.7,489.3,-9.8,616,4237,0.00,2.62,0.00,0.000,4,0.000,0.047,2510,751,3644
$GC,4254,-0.97,-194.7,491.4,-10.4,618,4258,0.00,2.62,0.00,0.000,6,0.000,0.044,2510,2403,3644
$GC,4572,-1.11,-194.7,521.2,-9.0,638,4576,0.17,2.60,0.00,0.000,4,0.054,0.046,2415,754,3642
$GC,4651,-0.92,-194.7,532.2,-14.4,642,4655,0.32,2.53,0.00,0.000,6,0.143,0.047,2510,2356,3641
$GC,4980,-0.97,-194.7,565.6,-9.9,658,4983,0.00,1.88,0.00,0.000,4,0.000,0.061,2510,3535,3638
$GC,5006,-1.03,-194.7,568.4,-9.8,659,5009,0.00,1.75,0.00,0.000,6,0.000,0.036,2510,2378,3638
$GC,5328,-1.27,-194.7,598.3,-9.1,675,5329,0.30,0.00,0.00,0.000,6,0.044,0.000,2371,2373,3636
$GC,5632,-0.91,-194.7,649.0,-17.5,690,5636,0.50,1.88,0.00,0.000,4,0.155,0.064,2520,3533,3634
$GC,5675,-1.01,-194.7,653.8,-9.7,692,5678,0.08,1.77,0.00,0.000,6,0.051,0.038,2456,2375,3634
$GC,6002,-0.89,-194.7,690.9,-11.5,708,6004,0.22,0.00,0.00,0.000,6,0.134,0.000,2524,2371,3633
$GC,6306,-1.16,-194.7,714.5,-7.3,723,6309,0.25,1.88,0.00,0.000,4,0.048,0.066,2409,3529,3630
$GC,6381,-0.93,-194.7,723.8,-14.6,726,6384,0.32,1.73,0.00,0.000,6,0.142,0.039,2508,2387,3629
$GC,6698,-0.98,-194.7,754.5,-9.7,742,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2386,3628
$GC,7002,-1.04,-194.7,785.2,-9.9,757,7006,0.00,2.60,0.00,0.000,4,0.000,0.054,2508,763,3625
$GC,7028,-1.10,-194.7,787.9,-10.3,758,7032,0.15,2.58,0.00,0.000,6,0.064,0.050,2440,2369,3625
$GC,7344,-0.95,-194.7,830.1,-13.5,774,7347,0.22,1.90,0.00,0.000,4,0.144,0.066,2506,3536,3623
$GC,7381,-1.03,-194.7,834.2,-9.2,775,7388,0.00,1.77,0.00,0.000,6,0.000,0.039,2506,2384,3622
$GC,7691,-1.09,-194.7,862.7,-8.9,791,7692,0.15,0.00,0.00,0.000,6,0.061,0.000,2436,2384,3621
$GC,7997,-0.93,-194.7,901.9,-13.1,806,7999,0.25,0.00,0.00,0.000,6,0.141,0.000,2512,2384,3619
$GC,8302,-1.01,-194.7,928.2,-8.5,821,8305,0.00,2.60,0.00,0.000,4,0.000,0.054,2511,767,3618
$GC,8339,-1.12,-194.7,931.5,-8.6,822,8345,0.17,2.58,0.00,0.000,6,0.059,0.051,2431,2367,3618
$GC,8650,-0.96,-194.7,972.6,-13.8,838,8653,0.20,1.92,0.00,0.000,4,0.150,0.067,2494,3540,3616
$GC,8681,-0.96,-194.7,976.4,-10.8,839,8684,0.00,1.77,0.00,0.000,6,0.000,0.040,2494,2397,3615
$STATE,8832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8832,begin apogee
$GC,8838,-0.24,0.0,991.7,10.0,847,8999,0.73,0.00,159.27,1.385,6,0.120,0.000,2733,2437,2854
$STATE,9000,end apogee,CONTROL_FINISHED_OK
$STATE,9000,begin climb
$GC,9002,1.11,194.7,1001.2,0.0,855,9176,1.23,0.00,168.15,1.341,6,0.046,0.000,3187,2437,2059
$GC,9481,0.55,194.7,936.6,18.8,879,9485,0.68,2.22,0.00,0.000,4,0.176,0.053,3000,1067,2052
$GC,9549,0.49,210.5,927.9,11.3,882,9569,0.08,2.25,13.88,1.198,6,0.142,0.050,2975,2443,1994
$GC,9888,0.56,267.7,895.4,9.6,899,9944,0.00,2.33,50.78,1.282,4,0.000,0.052,2984,1082,1762
$GC,10004,0.63,291.1,882.9,11.0,904,10030,0.00,2.20,21.85,1.224,6,0.000,0.048,2984,2412,1666
$GC,10337,0.71,312.8,846.3,11.1,920,10361,0.15,2.20,19.88,1.220,4,0.059,0.053,3062,1068,1578
$GC,10394,0.58,312.8,837.3,15.7,922,10400,0.20,2.20,0.00,0.000,6,0.146,0.048,3000,2402,1575
$GC,10704,0.58,312.8,798.2,12.5,938,10708,0.00,2.15,0.00,0.000,4,0.000,0.050,3008,1078,1574
$GC,10752,0.58,312.8,792.1,13.4,940,10755,0.00,2.12,0.00,0.000,6,0.000,0.046,3008,2389,1572
$GC,11073,0.58,312.8,751.8,12.5,956,11077,0.00,2.12,0.00,0.000,4,0.000,0.052,3017,1078,1572
$GC,11126,0.58,312.8,745.1,12.9,958,11130,0.00,2.08,0.00,0.000,6,0.000,0.046,3017,2363,1571
$GC,11442,0.58,312.8,705.5,12.4,974,11445,0.00,2.05,0.00,0.000,4,0.000,0.051,3026,1076,1571
$GC,11484,0.58,312.8,700.1,12.9,976,11488,0.00,2.03,0.00,0.000,6,0.000,0.046,3027,2359,1570
$GC,11811,0.58,312.8,658.1,13.0,992,11812,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2359,1570
$GC,12115,0.58,312.8,617.9,12.6,1007,12119,0.00,2.08,0.00,0.000,4,0.000,0.051,3035,1071,1570
$GC,12148,0.54,312.8,613.7,13.6,1008,12151,0.12,2.03,0.00,0.000,6,0.136,0.046,2983,2337,1569
$GC,12464,0.72,376.6,582.4,9.4,1024,12527,0.17,2.28,56.33,1.126,4,0.061,0.061,3063,3695,1317
$GC,12592,0.64,376.6,564.3,15.8,1030,12595,0.20,2.10,0.00,0.000,6,0.147,0.039,3016,2370,1314
$GC,12914,0.75,405.4,529.1,10.8,1046,12944,0.10,2.10,25.73,1.065,4,0.078,0.051,3080,1074,1200
$GC,13036,0.68,405.4,511.5,14.9,1052,13040,0.17,2.00,0.00,0.000,6,0.148,0.044,3032,2320,1197
$GC,13355,0.77,405.4,471.2,12.7,1078,13359,0.00,2.03,0.00,0.000,4,0.000,0.051,3040,1073,1195
$GC,13376,0.85,405.4,468.5,13.4,1080,13380,0.08,2.00,0.00,0.000,6,0.059,0.044,3095,2317,1195
$GC,13698,0.75,405.4,419.6,14.8,1111,13701,0.15,1.95,0.00,0.000,4,0.151,0.050,3061,1073,1195
$GC,13750,0.75,405.4,412.3,12.6,1116,13754,0.00,1.98,0.00,0.000,6,0.000,0.044,3061,2311,1194
$GC,14074,0.76,406.5,371.6,12.0,1147,14077,0.00,1.95,0.00,0.000,4,0.000,0.051,3070,1075,1194
$GC,14110,0.76,406.5,366.8,12.7,1150,14117,0.00,1.92,0.00,0.000,6,0.000,0.043,3070,2290,1194
$GC,14427,0.76,407.9,328.5,11.9,1181,14428,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2290,1194
$GC,14738,0.76,410.1,291.5,11.9,1217,14750,0.00,1.98,4.40,0.638,4,0.000,0.050,3078,1072,1182
$GC,14786,0.76,410.1,285.3,13.0,1226,14793,0.00,1.90,0.00,0.000,6,0.000,0.043,3078,2270,1182
$GC,15113,0.78,426.6,243.9,11.3,1287,15137,0.00,1.98,16.33,0.836,4,0.000,0.049,3087,1063,1113
$GC,15153,0.78,426.6,239.2,12.3,1294,15159,0.00,1.90,0.00,0.000,6,0.000,0.041,3087,2259,1112
$GC,15480,0.91,496.4,203.6,9.1,1355,15543,0.00,2.00,59.47,0.819,4,0.000,0.048,3096,1066,830
$GC,15614,1.02,509.4,189.3,11.5,1378,15630,0.10,1.85,12.43,0.739,6,0.048,0.038,3158,2220,777
$GC,15950,1.02,509.4,140.5,13.2,1440,15956,0.00,2.35,0.00,0.000,4,0.000,0.054,3158,3687,774
$GC,15998,0.98,509.4,134.0,13.8,1449,16004,0.12,2.17,0.00,0.000,6,0.136,0.037,3128,2295,773
$GC,16327,1.31,579.3,100.7,9.1,1510,16398,0.25,2.35,66.25,0.715,4,0.047,0.053,3252,3688,488
$GC,16447,1.15,579.3,81.3,18.4,1530,16453,0.28,2.33,0.00,0.000,6,0.153,0.036,3185,2203,478
$GC,16774,1.32,644.5,42.7,9.3,1591,16781,0.15,1.77,0.00,0.000,4,0.059,0.047,3265,1066,470
$GC,16930,1.20,644.5,17.1,17.3,1620,16936,0.20,1.73,0.00,0.000,6,0.145,0.037,3200,2168,468
$STATE,17030,end climb,SURFACE_DEPTH_REACHED
$STATE,17030,begin surface coast
$FINISH,1.7,1.001770
$STATE,17053,end surface coast,CONTROL_FINISHED_OK
$STATE,17053,begin surface
$SM_CCo,17128,0.00,0.000,0,0,467,585.53
$SM_GC,2.45,7.65,0.00,0.00,0.028,0.000,0.000,150,2175,467,-8.19,1.13,585.53
$IRIDIUM_FIX,2534.22,12456.39,111098,000030
$TT8_MAMPS,0.048321
$HUMID,1618
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,26.20
$XPDR_PINGS,337
$24V_AH,23.2,69.663
$10V_AH,10.6,48.671
$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,28.050,156.900,674.725,0.000,0.000,29.341,36.317,243.017,92.250,0.000,0.000,31.409,0.000,12273.733,811.201,3787.086,687.513,0.000,2234.335,0.000,3180.659,0.000,53.976,0.000
$DEVICE_MAMPS,227.799,96.642,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1109.825,1119.491,1754.218,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94707,1643
$CAP_FILE_SIZE,184038,0
$CFSIZE,260165632,229392384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.484, 66.7,1
$GPS,170709,102925,2545.896,12505.044,39,1.3,39,-4.0