version: 66.04
glider: 165
mission: 2
dive: 320
start: 7 18 109 15 57 45
data:
$ID,165
$MISSION,2
$DIVE,320
$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,-123828.32
$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,45
$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
$GPS1,154506,2545.215,12520.078,39,1.4,39,-4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-61.7
$GPS2,155738,2545.368,12520.227,10,1.8,10,-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,209.8,50328,-16.4,-12.000
$D_GRID,2010
$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,-243.4,0.0,0.0,0,78,0.00,0.00,-64.10,0.000,2,0.000,0.000,148,2142,2047
$GC,81,-1.08,-243.4,3.3,-3.9,10,145,9.15,2.22,-47.97,0.000,4,0.227,0.056,2459,727,3845
$GC,193,-0.60,-243.4,23.9,-25.8,29,199,0.52,2.25,0.00,0.000,6,0.140,0.045,2612,2162,3846
$GC,519,-0.60,-243.4,71.1,-13.3,90,525,0.00,2.20,0.00,0.000,4,0.000,0.054,2603,3538,3847
$GC,540,-0.60,-243.4,74.1,-14.3,94,546,0.00,2.08,0.00,0.000,6,0.000,0.032,2603,2170,3847
$GC,867,-0.89,-243.4,112.5,-10.1,155,873,0.22,2.20,0.00,0.000,4,0.046,0.042,2472,742,3847
$GC,921,-0.60,-243.4,120.7,-18.0,165,927,0.47,2.28,0.00,0.000,6,0.130,0.044,2618,2208,3848
$GC,1248,-1.00,-243.4,156.3,-9.8,226,1254,0.32,2.10,0.00,0.000,4,0.047,0.053,2469,3551,3848
$GC,1270,-1.15,-243.4,158.7,-10.9,230,1276,0.00,2.05,0.00,0.000,6,0.000,0.031,2469,2169,3848
$GC,1597,-0.95,-243.4,205.4,-14.2,291,1603,0.12,2.20,0.00,0.000,4,0.141,0.044,2505,737,3849
$GC,1629,-0.88,-243.4,209.4,-11.7,297,1635,0.00,2.30,0.00,0.000,6,0.000,0.041,2505,2233,3849
$GC,1955,-0.80,-243.4,247.6,-12.1,358,1961,0.15,2.08,0.00,0.000,4,0.129,0.055,2550,3543,3849
$GC,2047,-0.97,-243.4,257.0,-9.6,375,2052,0.15,1.92,0.00,0.000,6,0.053,0.032,2456,2241,3849
$GC,2372,-0.97,-243.4,293.6,-10.3,436,2380,0.15,2.35,0.00,0.000,4,0.121,0.048,2504,741,3848
$GC,2384,-0.97,-243.4,295.0,-10.5,438,2391,0.00,2.35,0.00,0.000,6,0.000,0.047,2504,2239,3848
$GC,2707,-1.07,-243.4,326.5,-10.2,474,2711,0.12,2.33,0.00,0.000,4,0.059,0.046,2431,738,3848
$GC,2766,-0.87,-243.4,334.7,-15.5,479,2771,0.32,2.47,0.00,0.000,6,0.130,0.044,2530,2322,3847
$GC,3083,-1.12,-243.4,364.9,-8.7,509,3086,0.20,1.92,0.00,0.000,4,0.048,0.058,2411,3542,3845
$GC,3323,-0.86,-243.4,400.7,-16.0,531,3328,0.40,1.73,0.00,0.000,6,0.126,0.035,2539,2382,3843
$GC,3638,-1.11,-243.4,431.5,-9.6,562,3641,0.25,1.85,0.00,0.000,4,0.044,0.060,2414,3548,3841
$GC,3788,-0.86,-243.4,452.9,-14.6,576,3792,0.38,1.67,0.00,0.000,6,0.127,0.036,2533,2415,3840
$GC,4109,-1.14,-243.4,482.1,-9.5,607,4113,0.25,1.80,0.00,0.000,4,0.046,0.059,2397,3541,3837
$GC,4233,-0.83,-243.4,500.8,-16.8,618,4239,0.38,1.62,0.00,0.000,6,0.129,0.036,2538,2456,3835
$GC,4544,-1.13,-243.4,530.1,-8.8,634,4548,0.22,1.75,0.00,0.000,4,0.048,0.061,2410,3554,3834
$GC,4586,-0.94,-243.4,535.1,-12.5,636,4590,0.28,1.60,0.00,0.000,6,0.128,0.036,2503,2497,3833
$GC,4915,-1.17,-243.4,566.4,-9.6,652,4920,0.17,2.75,0.00,0.000,4,0.051,0.047,2399,751,3831
$GC,4957,-0.89,-243.4,572.3,-14.8,654,4962,0.40,2.78,0.00,0.000,6,0.140,0.048,2520,2500,3830
$GC,5275,-1.15,-243.4,602.6,-9.2,670,5279,0.20,1.65,0.00,0.000,4,0.052,0.061,2412,3539,3828
$GC,5339,-0.94,-243.4,610.6,-13.9,673,5343,0.25,1.58,0.00,0.000,6,0.123,0.037,2507,2499,3827
$GC,5667,-1.20,-243.4,643.2,-9.6,689,5672,0.20,2.78,0.00,0.000,4,0.054,0.047,2398,745,3825
$GC,5682,-1.36,-243.4,645.1,-9.9,690,5686,0.00,2.78,0.00,0.000,6,0.000,0.048,2397,2492,3824
$GC,6003,-1.04,-243.4,697.7,-16.4,706,6007,0.25,1.67,0.00,0.000,4,0.150,0.064,2466,3551,3822
$GC,6046,-0.97,-243.4,703.5,-12.5,708,6049,0.08,1.60,0.00,0.000,6,0.131,0.038,2494,2498,3821
$GC,6374,-0.97,-243.4,734.7,-8.9,724,6378,0.00,2.78,0.00,0.000,4,0.000,0.050,2494,751,3819
$GC,6427,-1.04,-243.4,739.5,-8.7,726,6433,0.00,2.75,0.00,0.000,6,0.000,0.048,2494,2482,3819
$GC,6737,-1.04,-243.4,767.3,-9.0,742,6741,0.00,2.75,0.00,0.000,4,0.000,0.049,2494,754,3818
$GC,6774,-1.09,-243.4,770.9,-9.6,744,6777,0.00,2.72,0.00,0.000,6,0.000,0.048,2494,2465,3818
$GC,7102,-1.09,-243.4,801.5,-9.7,760,7104,0.00,1.73,0.00,0.000,4,0.000,0.066,2494,3541,3814
$GC,7133,-1.12,-243.4,804.5,-9.2,761,7136,0.10,1.65,0.00,0.000,6,0.050,0.038,2434,2454,3814
$GC,7449,-0.94,-243.4,848.4,-14.0,777,7453,0.20,2.72,0.00,0.000,4,0.139,0.050,2501,753,3812
$GC,7474,-0.94,-243.4,851.6,-11.5,778,7478,0.00,2.72,0.00,0.000,6,0.000,0.048,2500,2459,3812
$GC,7790,-0.94,-243.4,882.6,-9.8,794,7793,0.00,1.77,0.00,0.000,4,0.000,0.066,2500,3544,3810
$GC,7844,-1.01,-243.4,888.0,-9.5,796,7847,0.00,1.67,0.00,0.000,6,0.000,0.039,2500,2449,3810
$GC,8159,-1.05,-243.4,918.6,-9.5,812,8163,0.00,2.72,0.00,0.000,4,0.000,0.051,2500,745,3808
$GC,8212,-1.13,-243.4,924.0,-9.9,814,8218,0.15,2.72,0.00,0.000,6,0.063,0.048,2426,2446,3808
$GC,8523,-0.93,-243.4,968.6,-14.5,830,8526,0.28,1.77,0.00,0.000,4,0.141,0.064,2507,3545,3806
$GC,8575,-1.03,-243.4,974.2,-9.3,832,8579,0.00,1.70,0.00,0.000,6,0.000,0.039,2507,2436,3805
$STATE,8747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8747,begin apogee
$GC,8753,-0.24,0.0,990.6,9.6,841,8954,0.68,0.00,198.48,1.379,6,0.109,0.000,2735,2433,2854
$STATE,8954,end apogee,CONTROL_FINISHED_OK
$STATE,8954,begin climb
$GC,8956,1.08,243.4,1004.9,0.0,851,9173,1.15,2.25,208.45,1.337,4,0.045,0.064,3172,3690,1860
$GC,9188,0.47,243.4,987.7,19.8,861,9195,0.75,2.03,0.00,0.000,6,0.170,0.040,2968,2470,1857
$GC,9499,0.57,327.3,957.3,9.2,877,9582,0.00,2.45,73.40,1.305,4,0.000,0.054,2977,1045,1518
$GC,9704,0.70,382.9,936.1,10.2,886,9759,0.12,2.25,50.15,1.284,6,0.048,0.047,3051,2416,1292
$GC,10075,0.59,382.9,882.0,14.5,905,10078,0.17,2.22,0.00,0.000,4,0.139,0.050,3009,1036,1286
$GC,10170,0.62,406.5,870.7,11.2,909,10197,0.00,2.17,21.40,1.230,6,0.000,0.045,3009,2381,1196
$GC,10502,0.65,429.0,833.5,11.3,926,10536,0.00,2.25,23.40,1.141,4,0.000,0.052,3011,1043,1105
$GC,10596,0.74,456.6,822.9,11.1,930,10628,0.08,2.17,26.60,1.224,6,0.058,0.044,3063,2373,991
$GC,10934,0.68,456.6,774.2,15.0,947,10938,0.12,2.15,0.00,0.000,4,0.142,0.049,3037,1034,988
$GC,10986,0.68,456.6,766.7,13.7,949,10993,0.00,2.12,0.00,0.000,6,0.000,0.044,3037,2353,987
$GC,11297,0.68,456.6,726.6,12.8,965,11300,0.00,2.12,0.00,0.000,4,0.000,0.050,3046,1039,985
$GC,11356,0.68,456.6,718.5,14.8,967,11361,0.00,2.08,0.00,0.000,6,0.000,0.044,3046,2353,985
$GC,11666,0.68,456.6,674.8,14.1,983,11669,0.00,2.12,0.00,0.000,4,0.000,0.051,3055,1038,985
$GC,11713,0.68,456.6,667.9,13.9,985,11717,0.00,2.05,0.00,0.000,6,0.000,0.044,3055,2320,984
$GC,12035,0.68,456.6,622.8,13.1,1001,12038,0.00,2.05,0.00,0.000,4,0.000,0.052,3063,1033,985
$GC,12077,0.68,456.6,617.2,13.3,1003,12081,0.12,2.05,0.00,0.000,6,0.140,0.044,3029,2336,984
$GC,12403,0.75,465.9,580.0,11.7,1019,12417,0.00,2.10,8.50,1.005,4,0.000,0.050,3037,1045,954
$GC,12462,0.80,465.9,573.0,13.0,1021,12467,0.00,1.98,0.00,0.000,6,0.000,0.042,3037,2301,954
$GC,12772,0.86,465.9,535.2,12.2,1037,12775,0.15,2.00,0.00,0.000,4,0.060,0.051,3122,1039,954
$GC,12787,0.86,465.9,533.0,12.5,1037,12793,0.10,2.00,0.00,0.000,6,0.139,0.043,3089,2292,954
$GC,13100,0.78,465.9,484.2,15.6,1057,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2292,954
$GC,13411,0.69,465.9,436.0,15.1,1087,13415,0.20,2.00,0.00,0.000,4,0.145,0.049,3032,1030,953
$GC,13448,0.77,465.9,430.9,12.3,1090,13454,0.00,1.98,0.00,0.000,6,0.000,0.042,3031,2276,952
$GC,13766,0.91,512.2,395.1,10.5,1121,13813,0.17,2.05,42.35,0.983,4,0.057,0.051,3132,1043,764
$GC,13880,0.74,512.2,376.6,17.8,1131,13886,0.28,1.95,0.00,0.000,6,0.135,0.042,3051,2272,762
$GC,14195,0.83,512.2,336.4,12.6,1162,14199,0.00,2.00,0.00,0.000,4,0.000,0.050,3059,1035,760
$GC,14253,0.88,512.2,329.2,12.6,1167,14259,0.00,1.90,0.00,0.000,6,0.000,0.041,3059,2224,760
$GC,14572,0.95,512.2,291.8,12.1,1204,14579,0.15,1.90,0.00,0.000,4,0.059,0.050,3140,1038,760
$GC,14611,0.79,512.2,285.9,16.9,1211,14616,0.25,1.88,0.00,0.000,6,0.134,0.041,3066,2243,760
$GC,14937,0.90,539.2,247.4,11.1,1272,14969,0.10,1.98,25.42,0.853,4,0.071,0.049,3133,1042,652
$GC,15070,0.81,539.2,227.8,15.1,1296,15077,0.17,1.83,0.00,0.000,6,0.124,0.039,3075,2190,648
$GC,15398,1.22,578.1,190.9,10.7,1357,15473,0.30,2.50,47.20,0.701,4,0.041,0.054,3228,3687,494
$GC,15595,0.99,578.1,150.7,18.0,1392,15603,0.30,2.53,0.00,0.000,6,0.146,0.038,3131,2097,483
$GC,15923,1.28,617.5,112.3,10.7,1453,15929,0.22,1.67,0.00,0.000,4,0.045,0.054,3253,1043,477
$GC,15946,1.34,617.5,109.5,13.8,1457,15951,0.00,1.67,0.00,0.000,6,0.000,0.046,3253,2108,477
$GC,16272,1.15,617.5,53.3,15.8,1518,16278,0.25,1.73,0.00,0.000,4,0.147,0.053,3185,1032,476
$GC,16391,1.27,675.3,39.0,10.1,1540,16398,0.00,1.70,0.00,0.000,6,0.000,0.039,3186,2116,475
$STATE,16668,end climb,SURFACE_DEPTH_REACHED
$STATE,16668,begin surface coast
$FINISH,1.9,1.009851
$STATE,16690,end surface coast,CONTROL_FINISHED_OK
$STATE,16690,begin surface
$SM_CCo,16765,0.00,0.000,0,0,474,583.81
$SM_GC,2.53,7.65,0.00,0.00,0.033,0.000,0.000,153,2122,474,-8.19,-0.37,583.81
$IRIDIUM_FIX,2536.61,12522.25,121098,151527
$TT8_MAMPS,0.047554
$HUMID,1637
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.10
$XPDR_PINGS,338
$24V_AH,23.3,71.632
$10V_AH,10.6,49.723
$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,29.850,172.975,725.350,0.000,0.000,51.896,94.396,402.406,92.500,0.000,0.000,12.798,0.000,11870.502,861.917,3818.537,932.529,0.000,2350.756,0.000,3225.244,0.000,53.981,0.000
$DEVICE_MAMPS,227.032,65.962,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.324,1091.502,1705.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91683,1596
$CAP_FILE_SIZE,191116,0
$CFSIZE,260165632,228700160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.284, 59.9,1
$GPS,180709,203807,2544.992,12521.376,36,1.3,36,-4.0