version: 66.04
glider: 165
mission: 2
dive: 314
start: 7 17 109 10 39 43
data:
$ID,165
$MISSION,2
$DIVE,314
$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,-123684.82
$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,66
$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
$GPS1,102925,2545.896,12505.044,39,1.3,39,-4.0
$_CALLS,1
$_XMS_NAKs,30
$_XMS_TOUTs,1
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.3
$GPS2,103936,2546.126,12505.315,14,1.3,30,-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,206.0,51353,-18.3,-12.000
$D_GRID,2070
$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,13,-1.11,-194.7,0.0,0.0,0,74,0.00,0.00,-59.45,0.000,2,0.000,0.000,148,2173,1934
$GC,77,-1.11,-194.7,3.2,-3.8,9,142,9.15,2.30,-50.50,0.000,4,0.229,0.056,2446,747,3649
$GC,234,-0.58,-194.7,34.5,-25.7,36,240,0.55,2.20,0.00,0.000,6,0.144,0.039,2620,2147,3650
$GC,561,-0.65,-194.7,79.1,-11.6,97,566,0.00,2.20,0.00,0.000,4,0.000,0.055,2619,3539,3651
$GC,712,-0.75,-194.7,95.1,-11.1,125,718,0.15,2.03,0.00,0.000,6,0.055,0.035,2538,2178,3651
$GC,1039,-0.66,-194.7,143.8,-13.4,186,1046,0.17,2.17,0.00,0.000,4,0.130,0.052,2589,3551,3652
$GC,1181,-0.76,-194.7,158.5,-9.7,212,1187,0.00,2.00,0.00,0.000,6,0.000,0.033,2589,2228,3653
$GC,1508,-1.10,-194.7,188.3,-8.2,273,1514,0.32,2.10,0.00,0.000,4,0.051,0.054,2424,3548,3653
$GC,1616,-0.80,-194.7,204.6,-16.1,293,1622,0.40,1.95,0.00,0.000,6,0.132,0.034,2550,2240,3653
$GC,1942,-0.88,-194.7,237.4,-8.9,354,1949,0.00,2.33,0.00,0.000,4,0.000,0.049,2551,742,3653
$GC,1970,-0.99,-194.7,240.1,-10.0,359,1976,0.17,2.30,0.00,0.000,6,0.052,0.041,2460,2237,3653
$GC,2297,-0.81,-194.7,288.9,-15.5,420,2303,0.25,2.10,0.00,0.000,4,0.133,0.056,2534,3539,3653
$GC,2406,-0.87,-194.7,302.4,-11.3,439,2409,0.00,1.92,0.00,0.000,6,0.000,0.034,2535,2244,3653
$GC,2728,-1.08,-194.7,332.8,-7.7,470,2732,0.20,2.08,0.00,0.000,4,0.049,0.056,2426,3542,3653
$GC,2864,-0.85,-194.7,350.5,-14.0,482,2867,0.35,1.85,0.00,0.000,6,0.134,0.035,2535,2298,3652
$GC,3185,-1.10,-194.7,378.8,-8.8,513,3188,0.22,2.00,0.00,0.000,4,0.048,0.058,2425,3548,3650
$GC,3227,-0.90,-194.7,383.9,-13.2,517,3231,0.25,1.83,0.00,0.000,6,0.133,0.036,2520,2345,3650
$GC,3548,-1.11,-194.7,415.9,-9.7,548,3552,0.20,2.47,0.00,0.000,4,0.051,0.048,2423,753,3648
$GC,3607,-0.90,-194.7,424.0,-14.7,553,3611,0.32,2.45,0.00,0.000,6,0.140,0.044,2516,2316,3648
$GC,3923,-1.11,-194.7,456.7,-10.1,583,3926,0.17,1.95,0.00,0.000,4,0.051,0.059,2423,3543,3646
$GC,3949,-1.06,-194.7,460.0,-13.4,585,3954,0.10,1.85,0.00,0.000,6,0.143,0.036,2469,2327,3645
$GC,4264,-0.97,-194.7,497.7,-11.1,616,4268,0.10,2.47,0.00,0.000,4,0.155,0.048,2497,744,3643
$GC,4285,-0.97,-194.7,500.0,-11.0,618,4290,0.00,2.47,0.00,0.000,6,0.000,0.044,2494,2321,3643
$GC,4601,-0.97,-194.7,530.0,-9.9,634,4604,0.00,1.95,0.00,0.000,4,0.000,0.062,2494,3542,3641
$GC,4648,-0.97,-194.7,534.9,-10.6,636,4652,0.00,1.83,0.00,0.000,6,0.000,0.037,2494,2344,3639
$GC,4970,-0.97,-194.7,569.5,-10.8,652,4973,0.00,1.92,0.00,0.000,4,0.000,0.061,2494,3542,3638
$GC,4996,-0.97,-194.7,572.5,-11.8,653,4999,0.00,1.85,0.00,0.000,6,0.000,0.036,2494,2333,3637
$GC,5317,-0.97,-194.7,605.8,-10.2,669,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2327,3635
$GC,5623,-0.97,-194.7,636.8,-10.1,684,5626,0.00,1.98,0.00,0.000,4,0.000,0.064,2494,3545,3633
$GC,5643,-0.97,-194.7,638.9,-10.3,685,5647,0.00,1.88,0.00,0.000,6,0.000,0.038,2494,2331,3632
$GC,5969,-0.97,-194.7,668.9,-8.9,701,5973,0.00,2.50,0.00,0.000,4,0.000,0.051,2494,747,3631
$GC,5991,-0.97,-194.7,670.8,-9.2,702,5994,0.00,2.47,0.00,0.000,6,0.000,0.047,2494,2319,3631
$GC,6318,-0.97,-194.7,701.1,-9.9,718,6321,0.00,1.98,0.00,0.000,4,0.000,0.065,2494,3543,3628
$GC,6430,-0.97,-194.7,712.6,-10.0,723,6433,0.00,1.83,0.00,0.000,6,0.000,0.038,2494,2358,3627
$GC,6751,-0.97,-194.7,747.3,-11.6,739,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2352,3625
$GC,7056,-0.97,-194.7,782.2,-11.5,754,7060,0.00,1.98,0.00,0.000,4,0.000,0.067,2494,3538,3623
$GC,7093,-1.00,-194.7,786.5,-11.9,755,7099,0.00,1.80,0.00,0.000,6,0.000,0.039,2494,2356,3623
$GC,7403,-1.00,-194.7,820.3,-10.6,771,7404,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2350,3621
$GC,7709,-1.00,-194.7,852.0,-10.3,786,7712,0.00,1.95,0.00,0.000,4,0.000,0.068,2494,3539,3619
$GC,7789,-1.06,-194.7,859.9,-9.7,789,7795,0.00,1.83,0.00,0.000,6,0.000,0.040,2494,2368,3619
$GC,8099,-1.06,-194.7,892.1,-10.5,805,8103,0.00,2.60,0.00,0.000,4,0.000,0.054,2494,747,3617
$GC,8125,-1.06,-194.7,895.1,-12.0,806,8129,0.00,2.55,0.00,0.000,6,0.000,0.050,2494,2340,3617
$GC,8441,-1.06,-194.7,929.5,-10.5,822,8444,0.00,1.98,0.00,0.000,4,0.000,0.067,2494,3536,3615
$GC,8515,-1.11,-194.7,937.4,-11.2,825,8519,0.10,1.80,0.00,0.000,6,0.053,0.039,2435,2372,3614
$GC,8832,-0.96,-194.7,981.3,-13.8,841,8833,0.22,0.00,0.00,0.000,6,0.140,0.000,2503,2371,3613
$STATE,8930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8930,begin apogee
$GC,8936,-0.24,0.0,991.5,9.6,846,9097,0.68,0.00,158.77,1.385,6,0.116,0.000,2727,2447,2854
$STATE,9097,end apogee,CONTROL_FINISHED_OK
$STATE,9097,begin climb
$GC,9100,1.11,194.7,1000.5,0.0,854,9273,1.23,2.40,167.05,1.342,4,0.048,0.055,3189,1075,2059
$GC,9333,0.56,194.7,981.0,18.7,864,9339,0.65,2.30,0.00,0.000,6,0.170,0.050,2992,2445,2054
$GC,9644,0.52,237.2,948.5,10.2,880,9686,0.00,2.35,37.28,1.290,4,0.000,0.051,3001,1069,1885
$GC,9717,0.49,244.1,940.7,11.7,883,9729,0.08,2.30,7.32,1.048,6,0.127,0.048,2966,2451,1858
$GC,10035,0.61,302.6,910.3,9.6,899,10091,0.12,2.33,52.15,1.291,4,0.069,0.051,3034,1068,1619
$GC,10151,0.55,302.6,894.8,14.5,903,10157,0.17,2.22,0.00,0.000,6,0.144,0.048,2985,2433,1614
$GC,10462,0.63,325.2,859.8,11.1,919,10486,0.00,2.25,20.60,1.236,4,0.000,0.051,2994,1065,1527
$GC,10556,0.70,326.1,848.5,12.0,923,10562,0.08,2.20,0.00,0.000,6,0.062,0.046,3046,2412,1523
$GC,10867,0.62,326.1,802.5,14.9,939,10870,0.12,2.15,0.00,0.000,4,0.146,0.051,3021,1069,1523
$GC,10908,0.62,326.1,796.6,13.1,941,10912,0.00,2.15,0.00,0.000,6,0.000,0.046,3020,2401,1521
$GC,11235,0.62,326.1,754.9,12.4,957,11239,0.00,2.15,0.00,0.000,4,0.000,0.050,3029,1069,1520
$GC,11299,0.62,326.1,746.8,13.4,960,11302,0.00,2.08,0.00,0.000,6,0.000,0.046,3029,2381,1519
$GC,11625,0.62,326.1,705.4,12.6,976,11629,0.00,2.08,0.00,0.000,4,0.000,0.049,3039,1069,1519
$GC,11657,0.57,326.1,701.2,12.7,977,11661,0.12,2.08,0.00,0.000,6,0.137,0.045,2997,2362,1519
$GC,11975,0.66,342.1,665.6,11.3,993,11996,0.00,2.08,15.18,1.140,4,0.000,0.051,3005,1064,1459
$GC,12070,0.73,347.7,654.3,11.8,997,12081,0.08,2.08,6.75,0.971,6,0.061,0.044,3056,2347,1435
$GC,12387,0.66,347.7,609.1,14.1,1013,12390,0.12,2.05,0.00,0.000,4,0.147,0.049,3030,1066,1434
$GC,12450,0.67,358.4,601.2,11.6,1016,12471,0.00,2.03,11.02,1.058,6,0.000,0.044,3030,2330,1392
$GC,12776,0.67,358.4,561.7,12.5,1032,12779,0.00,2.20,0.00,0.000,4,0.000,0.061,3031,3690,1391
$GC,12791,0.67,358.4,559.7,12.4,1032,12797,0.00,2.12,0.00,0.000,6,0.000,0.039,3040,2345,1391
$GC,13102,0.67,358.4,519.5,12.7,1048,13105,0.00,2.03,0.00,0.000,4,0.000,0.051,3049,1072,1391
$GC,13181,0.67,358.4,509.7,13.1,1051,13187,0.00,1.95,0.00,0.000,6,0.000,0.044,3049,2294,1389
$GC,13497,0.67,358.4,471.6,12.6,1078,13500,0.00,2.25,0.00,0.000,4,0.000,0.060,3049,3693,1389
$GC,13550,0.61,358.4,464.1,15.1,1083,13553,0.17,2.12,0.00,0.000,6,0.143,0.039,3008,2314,1389
$GC,13870,0.74,378.4,427.7,11.2,1114,13895,0.12,1.98,18.83,0.991,4,0.067,0.051,3081,1068,1310
$GC,14003,0.66,378.4,408.9,14.8,1126,14006,0.20,1.95,0.00,0.000,6,0.147,0.044,3024,2278,1307
$GC,14323,0.81,429.3,374.5,9.9,1157,14373,0.12,2.33,45.33,0.963,4,0.067,0.058,3091,3681,1102
$GC,14400,0.73,429.3,363.8,15.5,1163,14405,0.20,2.17,0.00,0.000,6,0.141,0.039,3045,2310,1101
$GC,14715,0.83,435.2,328.1,11.8,1194,14728,0.00,2.00,5.82,0.735,4,0.000,0.050,3054,1048,1079
$GC,14831,0.93,445.9,314.3,11.6,1204,14847,0.10,1.98,10.88,0.841,6,0.030,0.043,3133,2283,1035
$GC,15165,0.83,445.9,261.9,16.0,1258,15172,0.20,1.92,0.00,0.000,4,0.137,0.048,3083,1068,1034
$GC,15187,0.83,445.9,258.5,14.3,1262,15194,0.00,1.90,0.00,0.000,6,0.000,0.041,3083,2265,1033
$GC,15515,0.91,455.5,217.5,11.6,1323,15532,0.00,1.92,9.57,0.762,4,0.000,0.048,3091,1070,996
$GC,15559,1.01,473.5,212.5,11.3,1331,15583,0.12,1.85,17.20,0.796,6,0.066,0.041,3157,2259,922
$GC,15906,0.92,473.5,163.9,14.1,1395,15912,0.17,2.30,0.00,0.000,4,0.137,0.055,3106,3693,920
$GC,15933,0.92,473.5,160.2,12.6,1400,15938,0.00,2.15,0.00,0.000,6,0.000,0.035,3115,2285,918
$GC,16260,1.09,502.7,124.5,10.8,1461,16291,0.12,1.90,25.45,0.734,4,0.066,0.044,3193,1065,803
$GC,16323,1.02,502.7,116.3,13.8,1472,16329,0.15,1.92,0.00,0.000,6,0.133,0.043,3143,2273,802
$GC,16651,1.15,529.8,80.5,10.9,1533,16682,0.10,1.95,23.40,0.685,4,0.074,0.045,3211,1065,693
$GC,16816,1.08,529.8,57.7,13.5,1563,16822,0.15,1.88,0.00,0.000,6,0.132,0.044,3162,2250,692
$GC,17143,1.28,566.0,25.5,10.5,1624,17204,0.17,1.88,40.90,0.565,4,0.053,0.044,3261,1057,541
$GC,17295,1.15,566.0,4.1,13.6,1651,17301,0.22,1.88,0.00,0.000,6,0.143,0.038,3174,2247,534
$STATE,17303,end climb,SURFACE_DEPTH_REACHED
$STATE,17303,begin surface coast
$FINISH,1.7,1.017286
$STATE,17320,end surface coast,CONTROL_FINISHED_OK
$STATE,17320,begin surface
$SM_CCo,17396,0.00,0.000,0,0,532,569.59
$SM_GC,2.51,7.62,0.00,0.00,0.028,0.000,0.000,155,2135,532,-8.18,0.00,569.59
$IRIDIUM_FIX,2536.61,12459.72,111098,050514
$TT8_MAMPS,0.049088
$HUMID,1602
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.40
$XPDR_PINGS,360
$24V_AH,23.2,69.921
$10V_AH,10.6,48.826
$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,26.850,171.725,673.500,0.000,0.000,30.539,34.409,384.128,98.000,0.000,0.000,34.186,0.000,12406.138,811.614,3917.976,837.979,0.000,2309.086,0.000,3288.793,0.000,55.562,0.000
$DEVICE_MAMPS,228.566,86.671,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.419,1152.293,1805.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94617,1656
$CAP_FILE_SIZE,195213,0
$CFSIZE,260165632,229281792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.471, 69.9,1
$GPS,170709,153037,2545.898,12508.399,37,1.5,37,-4.0