version: 66.04
glider: 165
mission: 2
dive: 316
start: 7 17 109 20 32 32
data:
$ID,165
$MISSION,2
$DIVE,316
$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,250
$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,-123753.5
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,202425,2545.792,12511.159,57,1.5,57,-4.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-63.1
$GPS2,203225,2545.914,12511.330,15,1.4,32,-4.0
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2519.700,12530.100
$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,196.1,57829,-16.4,-12.000
$D_GRID,2062
$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,-1.08,-243.4,0.0,0.0,0,76,0.00,0.00,-61.95,0.000,2,0.000,0.000,138,2162,2000
$GC,79,-1.08,-243.4,3.3,-3.5,9,141,9.10,2.25,-47.03,0.000,4,0.225,0.055,2455,725,3851
$GC,178,-0.59,-243.4,23.0,-26.1,26,185,0.50,2.22,0.00,0.000,6,0.138,0.039,2622,2137,3851
$GC,505,-0.66,-243.4,68.3,-10.6,87,511,0.00,2.22,0.00,0.000,4,0.000,0.054,2619,3542,3852
$GC,607,-0.73,-243.4,79.8,-11.5,106,613,0.12,2.10,0.00,0.000,6,0.061,0.032,2545,2131,3852
$GC,934,-0.60,-243.4,127.9,-14.3,167,940,0.17,2.25,0.00,0.000,4,0.127,0.053,2603,3551,3853
$GC,1036,-0.76,-243.4,138.7,-9.4,186,1042,0.08,2.00,0.00,0.000,6,0.046,0.032,2531,2216,3853
$GC,1363,-0.93,-243.4,175.2,-10.9,247,1368,0.00,2.10,0.00,0.000,4,0.000,0.056,2530,3541,3855
$GC,1464,-1.08,-243.4,187.4,-12.9,266,1470,0.12,1.92,0.00,0.000,6,0.038,0.032,2428,2253,3855
$GC,1791,-0.78,-243.4,241.4,-15.8,327,1797,0.38,2.05,0.00,0.000,4,0.132,0.055,2548,3541,3855
$GC,1881,-0.82,-243.4,250.8,-9.9,344,1889,0.00,1.90,0.00,0.000,6,0.000,0.033,2547,2266,3855
$GC,2210,-1.07,-243.4,281.8,-9.7,405,2216,0.20,2.35,0.00,0.000,4,0.048,0.045,2428,740,3855
$GC,2279,-0.86,-243.4,292.4,-16.2,418,2286,0.30,2.53,0.00,0.000,6,0.124,0.049,2526,2334,3855
$GC,2603,-1.07,-243.4,326.6,-9.5,455,2607,0.17,2.47,0.00,0.000,4,0.051,0.044,2424,749,3853
$GC,2672,-0.85,-243.4,335.8,-14.3,461,2677,0.35,2.60,0.00,0.000,6,0.130,0.045,2534,2413,3852
$GC,2988,-1.06,-243.4,365.8,-9.6,491,2991,0.17,1.77,0.00,0.000,4,0.051,0.058,2439,3542,3851
$GC,2998,-1.21,-243.4,366.8,-9.6,492,3001,0.00,1.58,0.00,0.000,6,0.000,0.035,2439,2478,3850
$GC,3319,-1.01,-243.4,409.2,-14.5,523,3322,0.15,1.67,0.00,0.000,4,0.143,0.061,2481,3539,3848
$GC,3399,-0.96,-243.4,419.3,-11.8,530,3404,0.00,1.62,0.00,0.000,6,0.000,0.041,2481,2458,3847
$GC,3714,-0.89,-243.4,454.2,-10.7,561,3718,0.15,2.65,0.00,0.000,4,0.129,0.048,2528,754,3845
$GC,3741,-0.93,-243.4,457.1,-10.8,563,3745,0.00,2.67,0.00,0.000,6,0.000,0.044,2523,2467,3845
$GC,4056,-1.17,-243.4,484.8,-8.8,593,4060,0.25,1.73,0.00,0.000,4,0.044,0.060,2396,3540,3842
$GC,4264,-0.87,-243.4,516.7,-16.2,607,4270,0.38,1.58,0.00,0.000,6,0.137,0.036,2520,2490,3840
$GC,4575,-1.11,-243.4,545.1,-9.0,623,4578,0.20,1.70,0.00,0.000,4,0.049,0.063,2417,3541,3838
$GC,4639,-0.91,-243.4,553.1,-14.1,626,4642,0.28,1.58,0.00,0.000,6,0.127,0.036,2510,2499,3837
$GC,4966,-1.14,-243.4,585.7,-9.9,642,4969,0.17,1.67,0.00,0.000,4,0.053,0.062,2408,3547,3835
$GC,5046,-0.89,-243.4,596.6,-15.1,645,5052,0.32,1.60,0.00,0.000,6,0.131,0.038,2516,2494,3834
$GC,5359,-1.17,-243.4,625.4,-9.0,661,5363,0.20,2.78,0.00,0.000,4,0.051,0.048,2400,743,3832
$GC,5406,-0.90,-243.4,631.7,-13.9,663,5411,0.40,2.78,0.00,0.000,6,0.139,0.050,2521,2487,3831
$GC,5716,-1.17,-243.4,659.4,-8.7,678,5720,0.25,1.70,0.00,0.000,4,0.047,0.064,2400,3560,3830
$GC,5835,-0.90,-243.4,676.7,-16.9,683,5838,0.38,1.60,0.00,0.000,6,0.133,0.038,2516,2482,3828
$GC,6150,-1.16,-243.4,709.1,-9.5,699,6154,0.22,2.75,0.00,0.000,4,0.048,0.049,2403,745,3827
$GC,6182,-0.95,-243.4,713.3,-14.8,700,6186,0.35,2.78,0.00,0.000,6,0.143,0.048,2504,2470,3826
$GC,6498,-0.95,-243.4,746.0,-9.8,716,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2470,3823
$GC,6803,-0.99,-243.4,775.5,-9.9,731,6807,0.00,2.75,0.00,0.000,4,0.000,0.051,2504,754,3821
$GC,6835,-1.06,-243.4,778.7,-10.7,732,6843,0.10,2.75,0.00,0.000,6,0.072,0.049,2449,2476,3821
$GC,7145,-0.91,-243.4,820.3,-13.8,748,7149,0.20,1.73,0.00,0.000,4,0.141,0.064,2508,3549,3819
$GC,7203,-0.99,-243.4,826.6,-10.0,750,7209,0.00,1.65,0.00,0.000,6,0.000,0.039,2508,2468,3818
$GC,7515,-1.04,-243.4,858.5,-10.5,766,7519,0.00,2.75,0.00,0.000,4,0.000,0.051,2508,748,3817
$GC,7557,-1.13,-243.4,863.3,-11.2,768,7561,0.17,2.75,0.00,0.000,6,0.056,0.049,2423,2465,3816
$GC,7880,-0.91,-243.4,911.8,-15.0,784,7884,0.28,1.75,0.00,0.000,4,0.142,0.066,2507,3545,3814
$GC,7927,-1.00,-243.4,917.3,-9.6,786,7931,0.00,1.65,0.00,0.000,6,0.000,0.040,2507,2468,3813
$GC,8250,-1.06,-243.4,945.9,-8.8,802,8254,0.12,2.75,0.00,0.000,4,0.065,0.052,2443,757,3812
$GC,8291,-0.96,-243.4,950.9,-12.4,804,8295,0.20,2.72,0.00,0.000,6,0.136,0.051,2501,2444,3812
$GC,8614,-0.99,-243.4,982.9,-10.2,820,8617,0.00,1.77,0.00,0.000,4,0.000,0.067,2500,3539,3810
$GC,8657,-1.07,-243.4,987.4,-10.1,822,8660,0.10,1.67,0.00,0.000,6,0.073,0.039,2445,2444,3809
$STATE,8695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8695,begin apogee
$GC,8700,-0.24,0.0,992.7,13.4,824,8902,0.88,0.00,199.50,1.379,6,0.127,0.000,2726,2442,2854
$STATE,8903,end apogee,CONTROL_FINISHED_OK
$STATE,8903,begin climb
$GC,8905,1.08,243.4,1007.1,0.0,834,9119,1.20,0.00,210.02,1.334,6,0.044,0.000,3174,2442,1861
$GC,9412,0.52,243.4,940.8,18.1,859,9416,0.62,2.22,0.00,0.000,4,0.166,0.054,2994,1067,1852
$GC,9508,0.55,332.2,930.7,9.1,863,9589,0.00,2.20,77.45,1.282,6,0.000,0.049,2994,2439,1498
$GC,9902,0.59,366.0,889.1,10.9,883,9944,0.00,2.33,32.55,1.187,4,0.000,0.052,3003,1072,1361
$GC,10002,0.63,392.2,877.5,11.1,887,10032,0.00,2.17,24.60,1.222,6,0.000,0.046,3003,2418,1254
$GC,10356,0.66,392.2,834.6,12.4,905,10359,0.00,2.17,0.00,0.000,4,0.000,0.051,3012,1067,1250
$GC,10441,0.66,392.2,823.6,12.9,909,10444,0.00,2.10,0.00,0.000,6,0.000,0.045,3011,2389,1248
$GC,10767,0.66,392.2,782.0,12.6,925,10770,0.00,2.12,0.00,0.000,4,0.000,0.052,3020,1076,1247
$GC,10814,0.66,392.2,775.7,13.2,927,10818,0.00,2.08,0.00,0.000,6,0.000,0.046,3020,2369,1247
$GC,11136,0.66,392.2,731.8,13.7,943,11139,0.00,2.08,0.00,0.000,4,0.000,0.052,3029,1070,1245
$GC,11183,0.66,392.2,725.1,14.9,945,11187,0.00,2.05,0.00,0.000,6,0.000,0.045,3029,2347,1245
$GC,11505,0.66,392.2,680.8,13.5,961,11508,0.00,2.05,0.00,0.000,4,0.000,0.051,3038,1061,1245
$GC,11563,0.62,392.2,672.6,14.4,963,11569,0.00,2.03,0.00,0.000,6,0.000,0.044,3038,2332,1244
$GC,11874,0.58,392.2,631.4,12.5,979,11875,0.15,0.00,0.00,0.000,6,0.133,0.000,2993,2332,1244
$GC,12179,0.76,466.4,600.8,9.5,994,12271,0.17,2.15,72.40,1.061,4,0.056,0.051,3088,1067,951
$GC,12384,0.63,466.4,569.7,16.9,1003,12391,0.22,2.05,0.00,0.000,6,0.137,0.045,3016,2323,947
$GC,12696,0.77,489.2,533.9,11.2,1019,12729,0.12,2.10,22.50,0.976,4,0.065,0.052,3091,1069,858
$GC,12796,0.67,489.2,518.8,16.3,1023,12801,0.22,2.00,0.00,0.000,6,0.139,0.044,3026,2301,857
$GC,13110,0.80,513.4,483.0,11.2,1046,13136,0.12,2.03,22.62,1.017,4,0.067,0.052,3104,1064,760
$GC,13224,0.68,513.4,464.7,15.5,1056,13230,0.22,1.92,0.00,0.000,6,0.133,0.044,3018,2250,758
$GC,13540,1.21,606.9,431.6,8.9,1087,13630,0.45,2.40,75.25,0.952,4,0.038,0.058,3230,3684,481
$GC,13712,0.88,606.9,388.7,26.1,1103,13717,0.50,2.30,0.00,0.000,6,0.157,0.041,3096,2244,466
$GC,14028,0.93,606.9,341.6,14.3,1133,14031,0.00,1.85,0.00,0.000,4,0.000,0.051,3104,1065,457
$GC,14118,0.93,606.9,327.2,15.9,1141,14124,0.00,1.80,0.00,0.000,6,0.000,0.041,3104,2194,455
$GC,14438,0.98,606.9,280.5,13.9,1185,14443,0.00,1.77,0.00,0.000,4,0.000,0.051,3112,1067,453
$GC,14470,0.98,606.9,276.4,13.5,1191,14476,0.00,1.73,0.00,0.000,6,0.000,0.040,3111,2183,453
$GC,14796,1.03,606.9,232.7,14.1,1252,14802,0.00,1.77,0.00,0.000,4,0.000,0.050,3119,1072,451
$GC,14828,1.03,606.9,228.2,13.7,1258,14835,0.00,1.70,0.00,0.000,6,0.000,0.040,3119,2158,452
$GC,15157,1.09,606.9,184.8,12.7,1319,15163,0.12,2.45,0.00,0.000,4,0.064,0.055,3188,3697,450
$GC,15183,1.02,606.9,180.5,15.6,1324,15190,0.17,2.35,0.00,0.000,6,0.130,0.035,3141,2196,450
$GC,15510,1.10,606.9,139.9,12.3,1385,15516,0.00,1.77,0.00,0.000,4,0.000,0.048,3148,1064,448
$GC,15606,1.10,606.9,127.5,12.9,1403,15612,0.00,1.70,0.00,0.000,6,0.000,0.038,3148,2161,448
$GC,15933,1.28,654.0,88.4,10.4,1464,15939,0.20,2.42,0.00,0.000,4,0.051,0.054,3245,3692,448
$GC,15971,1.13,654.0,82.5,17.6,1471,15977,0.28,2.33,0.00,0.000,6,0.144,0.041,3174,2177,448
$GC,16298,1.28,695.8,43.1,10.6,1532,16304,0.15,2.40,0.00,0.000,4,0.056,0.050,3251,3695,447
$GC,16434,1.13,695.8,22.0,19.4,1557,16440,0.30,2.42,0.00,0.000,6,0.146,0.039,3173,2104,448
$STATE,16597,end climb,SURFACE_DEPTH_REACHED
$STATE,16598,begin surface coast
$FINISH,1.7,1.021578
$STATE,16625,end surface coast,CONTROL_FINISHED_OK
$STATE,16625,begin surface
$SM_CCo,16700,0.00,0.000,0,0,447,590.44
$SM_GC,2.41,7.57,0.00,0.00,0.031,0.000,0.000,160,2101,447,-8.18,-0.96,590.44
$IRIDIUM_FIX,2534.22,12506.97,111098,151553
$TT8_MAMPS,0.048321
$HUMID,1614
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,26.30
$XPDR_PINGS,321
$24V_AH,23.2,70.463
$10V_AH,10.6,49.126
$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,30.250,164.900,736.900,0.000,0.000,29.336,31.527,258.796,88.250,0.000,0.000,33.812,0.000,11714.010,886.757,3854.929,690.132,0.000,2358.785,0.000,3240.293,0.000,53.977,0.000
$DEVICE_MAMPS,225.498,67.496,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.656,1109.883,1738.450,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91672,1593
$CAP_FILE_SIZE,187502,0
$CFSIZE,260165632,229089280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.445, 68.8,1
$GPS,180709,011154,2545.716,12514.174,24,1.3,41,-4.0