version: 66.04
glider: 165
mission: 2
dive: 317
start: 7 18 109 1 19 31
data:
$ID,165
$MISSION,2
$DIVE,317
$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,-123766.91
$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,60
$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
$GPS1,011154,2545.716,12514.174,24,1.3,41,-4.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-61.2
$GPS2,011926,2545.840,12514.332,10,1.5,10,-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,200.4,55139,-16.4,-12.000
$D_GRID,1766
$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,12,begin dive
$GC,15,-1.08,-243.4,0.0,0.0,0,82,0.00,0.00,-65.10,0.000,2,0.000,0.000,157,2099,2043
$GC,84,-1.08,-243.4,3.3,-3.8,10,148,9.07,2.12,-49.20,0.000,4,0.227,0.058,2455,747,3847
$GC,190,-0.57,-243.4,21.9,-26.6,28,198,0.50,2.20,0.00,0.000,6,0.139,0.040,2620,2138,3848
$GC,518,-0.61,-243.4,68.6,-11.7,89,524,0.00,2.22,0.00,0.000,4,0.000,0.054,2619,3540,3848
$GC,647,-0.68,-243.4,83.7,-11.5,113,653,0.00,2.08,0.00,0.000,6,0.000,0.034,2619,2171,3849
$GC,973,-0.88,-243.4,121.0,-12.2,174,979,0.25,2.17,0.00,0.000,4,0.042,0.043,2481,745,3850
$GC,1092,-0.62,-243.4,142.9,-18.2,196,1099,0.40,2.30,0.00,0.000,6,0.122,0.041,2608,2233,3850
$GC,1421,-0.95,-243.4,176.0,-9.4,257,1427,0.25,2.08,0.00,0.000,4,0.091,0.053,2478,3555,3851
$GC,1512,-0.84,-243.4,187.8,-14.1,274,1518,0.15,1.95,0.00,0.000,6,0.113,0.032,2534,2254,3851
$GC,1838,-1.02,-243.4,221.9,-9.0,335,1844,0.15,2.33,0.00,0.000,4,0.054,0.044,2442,747,3852
$GC,1924,-0.79,-243.4,234.1,-15.9,351,1930,0.38,2.45,0.00,0.000,6,0.130,0.042,2557,2332,3852
$GC,2250,-1.05,-243.4,267.4,-11.1,412,2258,0.20,2.47,0.00,0.000,4,0.047,0.044,2438,748,3852
$GC,2326,-0.84,-243.4,278.8,-16.0,426,2333,0.25,2.62,0.00,0.000,6,0.123,0.046,2536,2401,3851
$GC,2649,-1.08,-243.4,314.8,-10.3,474,2653,0.20,1.80,0.00,0.000,4,0.047,0.057,2428,3539,3850
$GC,2867,-0.85,-243.4,347.7,-15.3,494,2874,0.30,1.62,0.00,0.000,6,0.124,0.037,2531,2454,3849
$GC,3184,-1.05,-243.4,378.0,-9.5,525,3187,0.17,1.73,0.00,0.000,4,0.051,0.058,2430,3551,3848
$GC,3248,-0.86,-243.4,386.3,-14.1,531,3251,0.28,1.58,0.00,0.000,6,0.125,0.035,2524,2498,3847
$GC,3569,-1.09,-243.4,419.6,-9.9,562,3572,0.17,1.65,0.00,0.000,4,0.052,0.058,2425,3545,3846
$GC,3626,-0.87,-243.4,427.1,-13.8,567,3633,0.28,1.58,0.00,0.000,6,0.122,0.035,2521,2489,3844
$GC,3943,-1.09,-243.4,455.7,-8.4,598,3946,0.17,1.67,0.00,0.000,4,0.053,0.060,2427,3545,3842
$GC,3996,-0.94,-243.4,461.5,-11.8,603,3999,0.20,1.58,0.00,0.000,6,0.127,0.036,2510,2498,3841
$GC,4317,-1.12,-243.4,492.8,-10.4,634,4321,0.17,2.75,0.00,0.000,4,0.054,0.046,2411,745,3839
$GC,4375,-0.88,-243.4,501.4,-16.4,639,4379,0.38,2.72,0.00,0.000,6,0.137,0.047,2526,2478,3838
$GC,4698,-1.13,-243.4,534.7,-10.2,655,4701,0.20,1.67,0.00,0.000,4,0.050,0.060,2416,3541,3836
$GC,4848,-0.90,-243.4,555.8,-14.9,662,4851,0.30,1.58,0.00,0.000,6,0.127,0.037,2518,2498,3834
$GC,5176,-1.14,-243.4,584.8,-8.4,678,5179,0.17,1.65,0.00,0.000,4,0.051,0.061,2414,3538,3832
$GC,5276,-0.94,-243.4,596.9,-13.3,682,5282,0.28,1.58,0.00,0.000,6,0.126,0.037,2507,2497,3831
$GC,5587,-1.17,-243.4,624.6,-8.9,698,5595,0.20,2.72,0.00,0.000,4,0.053,0.048,2399,757,3830
$GC,5605,-1.24,-243.4,626.6,-9.8,698,5611,0.00,2.75,0.00,0.000,6,0.000,0.048,2398,2491,3829
$GC,5915,-0.91,-243.4,680.7,-17.9,714,5919,0.38,1.67,0.00,0.000,4,0.142,0.062,2507,3530,3827
$GC,5952,-0.91,-243.4,685.7,-11.6,715,5958,0.00,1.58,0.00,0.000,6,0.000,0.037,2507,2481,3827
$GC,6263,-0.95,-243.4,718.2,-10.5,731,6267,0.00,2.75,0.00,0.000,4,0.000,0.050,2507,746,3824
$GC,6316,-1.00,-243.4,724.1,-11.5,733,6322,0.00,2.70,0.00,0.000,6,0.000,0.046,2507,2453,3824
$GC,6627,-1.24,-243.4,755.6,-10.2,749,6630,0.22,1.75,0.00,0.000,4,0.050,0.064,2386,3546,3823
$GC,6873,-0.92,-243.4,800.4,-19.2,760,6876,0.43,1.60,0.00,0.000,6,0.137,0.040,2517,2478,3820
$GC,7188,-1.00,-243.4,834.1,-9.9,776,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2478,3818
$GC,7494,-1.08,-243.4,862.3,-8.8,791,7498,0.15,2.78,0.00,0.000,4,0.060,0.054,2446,747,3816
$GC,7531,-0.97,-243.4,866.5,-12.4,793,7535,0.17,2.78,0.00,0.000,6,0.137,0.050,2493,2481,3816
$GC,7851,-0.97,-243.4,896.9,-9.3,809,7855,0.00,1.73,0.00,0.000,4,0.000,0.067,2493,3534,3813
$GC,7878,-0.97,-243.4,899.5,-10.6,810,7881,0.00,1.60,0.00,0.000,6,0.000,0.039,2493,2488,3813
$GC,8199,-0.97,-243.4,930.8,-10.1,826,8203,0.00,2.78,0.00,0.000,4,0.000,0.051,2493,751,3811
$GC,8241,-1.03,-243.4,935.2,-9.8,828,8245,0.00,2.78,0.00,0.000,6,0.000,0.050,2493,2483,3811
$GC,8557,-1.03,-243.4,968.0,-10.8,844,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2484,3809
$STATE,8778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8778,begin apogee
$GC,8783,-0.24,0.0,990.6,10.0,855,8984,0.70,0.00,198.77,1.374,6,0.112,0.000,2729,2483,2854
$STATE,8984,end apogee,CONTROL_FINISHED_OK
$STATE,8984,begin climb
$GC,8987,1.08,243.4,1003.5,0.0,865,9205,1.17,2.50,208.38,1.332,4,0.051,0.054,3173,1076,1860
$GC,9263,0.52,243.4,976.6,20.9,877,9270,0.68,2.28,0.00,0.000,6,0.169,0.050,2983,2449,1855
$GC,9573,0.53,307.7,943.6,9.9,893,9637,0.00,2.35,56.17,1.291,4,0.000,0.052,2991,1075,1597
$GC,9713,0.53,310.3,928.5,11.9,899,9716,0.00,2.22,0.00,0.000,6,0.000,0.047,2991,2446,1593
$GC,10022,0.57,343.9,895.0,10.9,914,10073,0.00,2.28,36.38,1.154,4,0.000,0.051,3000,1075,1452
$GC,10132,0.59,362.8,882.2,11.4,919,10156,0.00,2.17,18.30,1.210,6,0.000,0.045,3000,2404,1374
$GC,10468,0.59,362.8,841.5,12.2,936,10471,0.00,2.15,0.00,0.000,4,0.000,0.050,3010,1063,1371
$GC,10510,0.59,362.8,836.1,12.6,938,10513,0.00,2.12,0.00,0.000,6,0.000,0.045,3010,2381,1369
$GC,10837,0.59,362.8,794.2,13.1,954,10840,0.00,2.10,0.00,0.000,4,0.000,0.050,3019,1061,1368
$GC,10873,0.59,362.8,789.2,13.9,955,10879,0.00,2.12,0.00,0.000,6,0.000,0.044,3019,2385,1368
$GC,11184,0.59,362.8,749.3,12.6,971,11187,0.00,2.12,0.00,0.000,4,0.000,0.051,3028,1066,1367
$GC,11243,0.54,362.8,741.5,13.9,973,11250,0.15,2.05,0.00,0.000,6,0.139,0.044,2985,2362,1367
$GC,11553,0.67,411.0,708.4,10.4,989,11601,0.12,2.12,43.92,1.200,4,0.067,0.050,3057,1072,1176
$GC,11643,0.57,411.0,695.8,14.7,993,11647,0.17,2.08,0.00,0.000,6,0.133,0.044,3000,2339,1173
$GC,11960,0.71,463.1,663.2,10.3,1009,12011,0.12,2.12,47.03,1.164,4,0.067,0.051,3069,1064,966
$GC,12049,0.65,463.1,650.2,15.0,1013,12053,0.15,2.08,0.00,0.000,6,0.135,0.044,3021,2328,963
$GC,12371,0.76,489.9,613.6,11.1,1029,12397,0.10,0.00,24.52,1.114,6,0.076,0.000,3074,2329,856
$GC,12696,0.76,489.9,563.6,15.7,1045,12699,0.00,2.05,0.00,0.000,4,0.000,0.051,3083,1068,852
$GC,12755,0.68,489.9,554.0,17.5,1047,12761,0.12,2.00,0.00,0.000,6,0.133,0.044,3030,2313,852
$GC,13065,0.78,494.5,516.0,11.8,1063,13074,0.00,2.03,4.78,0.787,4,0.000,0.051,3037,1069,837
$GC,13118,0.83,494.5,509.6,13.1,1065,13121,0.12,1.95,0.00,0.000,6,0.068,0.043,3102,2311,837
$GC,13438,0.73,494.5,458.7,15.8,1093,13441,0.20,1.95,0.00,0.000,4,0.139,0.049,3052,1071,837
$GC,13463,0.73,494.5,454.9,14.2,1095,13469,0.00,1.92,0.00,0.000,6,0.000,0.043,3052,2283,837
$GC,13782,0.83,522.3,417.7,11.1,1126,13814,0.00,1.95,25.95,0.989,4,0.000,0.050,3060,1064,725
$GC,13829,0.94,560.3,412.1,10.7,1130,13882,0.12,1.92,43.42,0.939,6,0.049,0.041,3132,2268,568
$GC,14199,0.86,560.3,350.9,16.7,1166,14203,0.15,1.92,0.00,0.000,4,0.137,0.049,3095,1061,551
$GC,14253,0.86,560.3,342.7,13.7,1171,14256,0.00,1.88,0.00,0.000,6,0.000,0.041,3096,2256,550
$GC,14569,0.91,560.3,297.5,14.7,1203,14574,0.00,1.88,0.00,0.000,4,0.000,0.050,3105,1070,549
$GC,14594,0.91,560.3,293.5,15.3,1208,14601,0.00,1.85,0.00,0.000,6,0.000,0.041,3104,2243,548
$GC,14921,0.91,560.3,246.8,12.7,1269,14928,0.00,2.33,0.00,0.000,4,0.000,0.057,3105,3697,548
$GC,14938,0.91,560.3,244.6,13.3,1272,14944,0.00,2.22,0.00,0.000,6,0.000,0.037,3114,2264,548
$GC,15264,0.91,560.3,200.5,13.6,1333,15271,0.00,1.88,0.00,0.000,4,0.000,0.049,3123,1053,547
$GC,15346,0.91,560.3,189.2,13.5,1348,15351,0.00,1.85,0.00,0.000,6,0.000,0.041,3123,2242,547
$GC,15672,1.14,605.0,151.7,10.5,1409,15705,0.15,1.85,20.60,0.702,4,0.054,0.046,3219,1066,480
$GC,15803,0.95,605.0,129.1,19.5,1432,15809,0.30,1.77,0.00,0.000,6,0.133,0.040,3111,2202,472
$GC,16129,1.55,620.0,92.0,11.5,1493,16136,0.52,2.35,0.00,0.000,4,0.071,0.053,3309,3692,468
$GC,16282,1.15,620.0,60.2,22.8,1521,16289,0.47,2.12,0.00,0.000,6,0.159,0.036,3182,2300,468
$GC,16610,1.24,660.5,23.3,10.7,1582,16616,0.00,1.92,0.00,0.000,4,0.000,0.051,3189,1070,467
$GC,16751,1.27,681.2,7.2,11.3,1608,16757,0.00,1.85,0.00,0.000,6,0.000,0.041,3189,2250,466
$STATE,16775,end climb,SURFACE_DEPTH_REACHED
$STATE,16775,begin surface coast
$FINISH,1.8,1.010976
$STATE,16792,end surface coast,CONTROL_FINISHED_OK
$STATE,16792,begin surface
$SM_CCo,16868,0.00,0.000,0,0,466,585.78
$SM_GC,2.43,7.62,0.00,0.00,0.029,0.000,0.000,150,2125,466,-8.20,-0.28,585.78
$IRIDIUM_FIX,2536.61,12513.63,111098,202036
$TT8_MAMPS,0.047554
$HUMID,1634
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.00
$XPDR_PINGS,342
$24V_AH,23.2,70.747
$10V_AH,10.6,49.276
$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,29.600,162.575,728.225,0.000,0.000,33.092,53.117,223.718,93.500,0.000,0.000,12.789,0.000,11876.746,860.051,3880.276,667.859,0.000,2358.280,0.000,3272.703,0.000,54.005,0.000
$DEVICE_MAMPS,227.032,68.263,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.040,1119.750,1757.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94818,1616
$CAP_FILE_SIZE,186665,0
$CFSIZE,260165632,228990976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.418, 65.6,1
$GPS,180709,060137,2545.632,12516.893,37,1.3,37,-4.0