version: 66.04
glider: 165
mission: 2
dive: 315
start: 7 17 109 15 38 32
data:
$ID,165
$MISSION,2
$DIVE,315
$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,-123719.06
$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,53
$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,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
$GPS1,153037,2545.898,12508.399,37,1.5,37,-4.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-59.2
$GPS2,153825,2546.048,12508.557,14,1.1,31,-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,211.7,49349,-18.3,-12.000
$D_GRID,2078
$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,11,begin dive
$GC,13,-1.11,-194.7,0.0,0.0,0,78,0.00,0.00,-63.03,0.000,2,0.000,0.000,152,2127,2085
$GC,80,-1.11,-194.7,3.3,-4.3,10,139,9.10,2.22,-40.85,0.000,4,0.228,0.058,2443,737,3651
$GC,202,-0.61,-194.7,29.0,-26.4,31,209,0.52,2.22,0.00,0.000,6,0.141,0.044,2610,2139,3652
$GC,529,-0.65,-194.7,74.2,-12.1,92,535,0.00,2.20,0.00,0.000,4,0.000,0.053,2602,3539,3653
$GC,732,-0.69,-194.7,100.2,-12.4,130,739,0.00,2.08,0.00,0.000,6,0.000,0.032,2602,2170,3653
$GC,1060,-1.01,-194.7,137.1,-11.0,191,1066,0.30,2.20,0.00,0.000,4,0.067,0.043,2447,735,3654
$GC,1135,-0.68,-194.7,150.3,-20.5,205,1142,0.45,2.22,0.00,0.000,6,0.131,0.042,2586,2150,3654
$GC,1463,-0.98,-194.7,183.8,-8.6,266,1470,0.22,2.17,0.00,0.000,4,0.043,0.052,2452,3539,3655
$GC,1667,-0.73,-194.7,216.9,-16.3,304,1674,0.32,2.12,0.00,0.000,6,0.123,0.039,2574,2144,3655
$GC,1995,-1.02,-194.7,246.4,-8.6,365,2000,0.22,2.15,0.00,0.000,4,0.044,0.045,2449,745,3656
$GC,2096,-0.84,-194.7,259.9,-14.2,384,2102,0.25,2.33,0.00,0.000,6,0.125,0.047,2541,2227,3656
$GC,2423,-1.06,-194.7,291.9,-9.4,445,2428,0.20,2.08,0.00,0.000,4,0.048,0.054,2437,3546,3656
$GC,2615,-0.84,-194.7,319.1,-15.3,469,2619,0.32,1.92,0.00,0.000,6,0.133,0.035,2538,2259,3656
$GC,2936,-1.08,-194.7,349.7,-9.2,500,2940,0.20,2.03,0.00,0.000,4,0.049,0.058,2437,3535,3655
$GC,2993,-0.87,-194.7,357.4,-14.4,505,3000,0.25,1.90,0.00,0.000,6,0.127,0.034,2522,2279,3655
$GC,3309,-0.97,-194.7,389.2,-9.9,536,3313,0.00,2.40,0.00,0.000,4,0.000,0.048,2522,737,3653
$GC,3373,-1.03,-194.7,396.0,-10.8,542,3377,0.12,2.35,0.00,0.000,6,0.064,0.042,2453,2250,3652
$GC,3694,-0.89,-194.7,437.3,-12.9,573,3698,0.22,2.03,0.00,0.000,4,0.135,0.059,2520,3535,3650
$GC,3779,-0.95,-194.7,446.1,-9.5,581,3782,0.00,1.90,0.00,0.000,6,0.000,0.035,2520,2265,3650
$GC,4102,-1.22,-194.7,475.3,-8.3,612,4106,0.25,2.38,0.00,0.000,4,0.044,0.047,2388,735,3648
$GC,4170,-0.94,-194.7,484.8,-14.9,618,4174,0.40,2.35,0.00,0.000,6,0.150,0.046,2504,2230,3647
$GC,4501,-0.94,-194.7,515.1,-9.1,642,4504,0.00,2.10,0.00,0.000,4,0.000,0.061,2505,3547,3645
$GC,4608,-0.98,-194.7,525.4,-9.4,647,4611,0.00,2.00,0.00,0.000,6,0.000,0.037,2505,2225,3643
$GC,4934,-1.02,-194.7,559.9,-11.3,663,4938,0.00,2.12,0.00,0.000,4,0.000,0.061,2505,3540,3642
$GC,5008,-1.06,-194.7,568.8,-11.5,666,5012,0.08,1.95,0.00,0.000,6,0.053,0.037,2451,2265,3640
$GC,5325,-0.93,-194.7,610.4,-12.5,682,5328,0.17,2.08,0.00,0.000,4,0.140,0.060,2507,3541,3639
$GC,5404,-0.99,-194.7,618.6,-9.0,686,5407,0.00,1.92,0.00,0.000,6,0.000,0.037,2507,2285,3638
$GC,5731,-1.20,-194.7,645.4,-8.0,702,5735,0.20,2.42,0.00,0.000,4,0.051,0.049,2399,744,3636
$GC,5870,-0.95,-194.7,665.4,-15.4,708,5876,0.35,2.58,0.00,0.000,6,0.150,0.050,2502,2360,3634
$GC,6181,-0.99,-194.7,697.6,-10.1,724,6184,0.00,1.90,0.00,0.000,4,0.000,0.064,2502,3540,3632
$GC,6282,-1.06,-194.7,708.1,-10.4,728,6287,0.00,1.77,0.00,0.000,6,0.000,0.038,2503,2384,3631
$GC,6593,-1.10,-194.7,739.8,-10.2,744,6597,0.15,2.60,0.00,0.000,4,0.061,0.051,2432,747,3629
$GC,6673,-0.93,-194.7,750.7,-14.5,748,6677,0.28,2.58,0.00,0.000,6,0.144,0.048,2507,2361,3628
$GC,6995,-0.99,-194.7,782.0,-9.5,764,6998,0.00,1.90,0.00,0.000,4,0.000,0.065,2507,3539,3626
$GC,7085,-1.08,-194.7,790.7,-9.8,768,7088,0.12,1.77,0.00,0.000,6,0.064,0.038,2443,2363,3625
$GC,7408,-0.93,-194.7,834.8,-14.2,784,7411,0.17,1.92,0.00,0.000,4,0.143,0.063,2494,3542,3623
$GC,7444,-0.98,-194.7,839.5,-11.5,785,7450,0.00,1.75,0.00,0.000,6,0.000,0.039,2494,2387,3623
$GC,7754,-0.98,-194.7,872.2,-10.0,801,7758,0.00,2.62,0.00,0.000,4,0.000,0.053,2494,745,3622
$GC,7819,-1.04,-194.7,878.5,-9.6,804,7823,0.00,2.60,0.00,0.000,6,0.000,0.050,2494,2367,3622
$GC,8140,-1.04,-194.7,908.6,-9.5,820,8143,0.00,1.90,0.00,0.000,4,0.000,0.066,2494,3540,3620
$GC,8230,-1.10,-194.7,917.4,-9.2,824,8234,0.08,1.77,0.00,0.000,6,0.056,0.039,2444,2394,3619
$GC,8553,-0.97,-194.7,957.4,-12.7,840,8555,0.17,0.00,0.00,0.000,6,0.146,0.000,2495,2392,3617
$GC,8856,-1.00,-194.7,988.8,-10.5,855,8859,0.00,1.90,0.00,0.000,4,0.000,0.067,2494,3531,3616
$STATE,8869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8869,begin apogee
$GC,8876,-0.24,0.0,990.4,9.9,855,9042,0.68,0.00,159.60,1.383,6,0.115,0.000,2724,2456,2853
$STATE,9043,end apogee,CONTROL_FINISHED_OK
$STATE,9043,begin climb
$GC,9045,1.11,194.7,1000.6,0.0,864,9220,1.23,2.20,166.95,1.341,4,0.044,0.064,3184,3681,2059
$GC,9232,0.51,194.7,991.0,17.9,873,9236,0.75,2.03,0.00,0.000,6,0.178,0.041,2978,2464,2057
$GC,9554,0.56,267.2,959.9,9.0,889,9623,0.00,2.45,63.33,1.306,4,0.000,0.054,2987,1037,1763
$GC,9707,0.64,297.1,944.2,10.8,896,9738,0.00,2.25,27.05,1.262,6,0.000,0.048,2987,2422,1642
$GC,10045,0.72,323.9,906.7,10.9,912,10076,0.15,2.35,24.58,1.256,4,0.058,0.053,3068,1038,1532
$GC,10132,0.58,323.9,893.4,16.9,916,10136,0.25,2.25,0.00,0.000,6,0.151,0.048,2997,2421,1529
$GC,10452,0.65,340.0,855.6,11.3,932,10474,0.00,2.25,15.32,1.210,4,0.000,0.051,3006,1046,1466
$GC,10532,0.73,364.1,846.0,11.0,935,10568,0.12,2.15,25.10,1.153,6,0.071,0.045,3065,2382,1369
$GC,10887,0.64,364.1,790.5,16.0,953,10891,0.17,2.15,0.00,0.000,4,0.145,0.049,3018,1042,1365
$GC,10940,0.68,364.1,783.2,13.5,955,10945,0.00,2.12,0.00,0.000,6,0.000,0.044,3018,2373,1363
$GC,11250,0.73,364.1,743.3,12.5,971,11253,0.00,2.12,0.00,0.000,4,0.000,0.050,3027,1039,1363
$GC,11335,0.73,364.1,732.1,13.3,975,11339,0.00,2.08,0.00,0.000,6,0.000,0.044,3027,2335,1362
$GC,11662,0.73,364.1,690.3,12.6,991,11665,0.00,2.17,0.00,0.000,4,0.000,0.061,3027,3690,1362
$GC,11682,0.73,364.1,687.5,13.6,992,11686,0.00,2.12,0.00,0.000,6,0.000,0.040,3037,2337,1362
$GC,12009,0.73,364.1,643.6,13.6,1008,12012,0.00,2.05,0.00,0.000,4,0.000,0.051,3046,1047,1362
$GC,12078,0.73,364.1,633.8,14.2,1011,12082,0.00,2.05,0.00,0.000,6,0.000,0.045,3046,2328,1361
$GC,12400,0.73,364.1,590.1,13.1,1027,12401,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2328,1361
$GC,12704,0.73,364.1,553.4,12.0,1042,12708,0.00,2.05,0.00,0.000,4,0.000,0.051,3055,1039,1361
$GC,12742,0.69,364.1,548.8,12.8,1043,12747,0.00,2.00,0.00,0.000,6,0.000,0.044,3055,2316,1359
$GC,13052,0.65,364.1,507.4,13.8,1059,13055,0.12,2.20,0.00,0.000,4,0.148,0.060,3020,3686,1359
$GC,13067,0.65,364.1,505.2,14.1,1059,13073,0.00,2.17,0.00,0.000,6,0.000,0.038,3027,2297,1360
$GC,13384,0.72,377.6,467.7,11.4,1088,13400,0.00,1.98,12.00,0.986,4,0.000,0.050,3036,1043,1313
$GC,13493,0.79,391.1,454.9,11.4,1098,13514,0.00,1.95,13.65,0.980,6,0.000,0.041,3036,2291,1258
$GC,13823,0.88,414.3,418.0,11.0,1130,13847,0.15,0.00,21.95,0.981,6,0.061,0.000,3115,2291,1164
$GC,14154,0.76,414.3,367.2,15.9,1162,14157,0.20,2.03,0.00,0.000,4,0.146,0.050,3066,1019,1163
$GC,14212,0.78,428.8,359.9,11.4,1167,14231,0.00,2.00,14.15,0.908,6,0.000,0.041,3067,2270,1104
$GC,14538,0.82,428.8,318.3,12.6,1199,14541,0.00,2.28,0.00,0.000,4,0.000,0.058,3067,3684,1102
$GC,14564,0.82,428.8,314.7,13.3,1201,14570,0.00,2.25,0.00,0.000,6,0.000,0.038,3076,2258,1102
$GC,14887,0.82,428.8,272.9,12.9,1251,14892,0.00,1.90,0.00,0.000,4,0.000,0.050,3085,1039,1102
$GC,14993,0.82,428.8,258.7,12.7,1271,14999,0.00,1.90,0.00,0.000,6,0.000,0.041,3085,2238,1101
$GC,15319,0.91,472.3,220.0,10.2,1332,15362,0.00,1.92,38.00,0.836,4,0.000,0.048,3094,1041,926
$GC,15383,0.98,472.3,212.4,12.6,1343,15389,0.00,1.88,0.00,0.000,6,0.000,0.040,3094,2229,925
$GC,15710,1.19,545.5,173.7,9.0,1404,15780,0.25,1.92,64.85,0.786,4,0.049,0.048,3225,1039,626
$GC,15801,1.01,545.5,159.1,17.6,1419,15807,0.28,1.85,0.00,0.000,6,0.141,0.038,3140,2183,621
$GC,16128,1.18,585.7,118.0,10.3,1480,16190,0.15,2.45,40.12,0.646,4,0.059,0.054,3217,3686,480
$GC,16281,1.12,585.7,92.3,18.5,1507,16287,0.17,2.33,0.00,0.000,6,0.139,0.035,3172,2220,471
$GC,16608,1.28,622.9,50.6,10.5,1568,16615,0.15,2.38,0.00,0.000,4,0.057,0.055,3243,3698,466
$GC,16716,1.23,622.9,34.6,14.3,1588,16724,0.15,2.38,0.00,0.000,6,0.155,0.034,3207,2170,466
$STATE,16978,end climb,SURFACE_DEPTH_REACHED
$STATE,16978,begin surface coast
$FINISH,1.7,1.009536
$STATE,17000,end surface coast,CONTROL_FINISHED_OK
$STATE,17000,begin surface
$SM_CCo,17075,0.00,0.000,0,0,463,586.51
$SM_GC,2.40,7.65,0.00,0.00,0.028,0.000,0.000,146,2165,463,-8.20,0.85,586.51
$IRIDIUM_FIX,2536.61,12503.05,111098,101043
$TT8_MAMPS,0.048321
$HUMID,1630
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.20
$XPDR_PINGS,344
$24V_AH,23.2,70.177
$10V_AH,10.6,48.977
$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,27.775,165.700,686.650,0.000,0.000,30.286,35.125,238.488,94.000,0.000,0.000,33.619,0.000,12069.743,812.056,3934.309,692.584,0.000,2316.597,0.000,3325.630,0.000,54.005,0.000
$DEVICE_MAMPS,227.799,67.496,1382.901,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1107.451,1131.913,1767.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94684,1641
$CAP_FILE_SIZE,187903,0
$CFSIZE,260165632,229183488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.419, 71.9,1
$GPS,170709,202425,2545.792,12511.159,57,1.5,57,-4.0