version: 66.04
glider: 165
mission: 2
dive: 325
start: 7 19 109 16 29 44
data:
$ID,165
$MISSION,2
$DIVE,325
$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,-123996.85
$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,51
$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
$GPS1,162137,2545.642,12528.111,35,2.0,35,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-70.3
$GPS2,162937,2545.767,12528.273,13,1.9,30,-4.0
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2548.600,12616.000
$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,113.1,79745,-16.4,-12.000
$D_GRID,2072
$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,-243.4,0.0,0.0,0,72,0.00,0.00,-57.85,0.000,2,0.000,0.000,160,2109,1870
$GC,75,-1.08,-243.4,3.1,-2.6,9,146,9.15,2.35,-53.17,0.000,4,0.229,0.065,2452,3541,3849
$GC,227,-0.56,-243.4,34.3,-29.8,35,233,0.57,2.15,0.00,0.000,6,0.136,0.034,2631,2118,3850
$GC,554,-0.85,-243.4,76.3,-11.1,96,560,0.25,2.12,0.00,0.000,4,0.044,0.042,2481,740,3851
$GC,666,-0.61,-243.4,96.7,-20.0,117,674,0.35,2.28,0.00,0.000,6,0.118,0.041,2615,2189,3850
$GC,995,-0.98,-243.4,130.9,-10.3,178,1001,0.30,2.12,0.00,0.000,4,0.062,0.051,2464,3545,3851
$GC,1147,-0.74,-243.4,155.6,-17.6,206,1153,0.28,2.00,0.00,0.000,6,0.109,0.040,2572,2227,3852
$GC,1474,-0.99,-243.4,188.1,-10.2,267,1480,0.22,2.12,0.00,0.000,4,0.043,0.054,2450,3545,3853
$GC,1650,-0.77,-243.4,213.5,-14.9,300,1656,0.30,1.90,0.00,0.000,6,0.118,0.037,2555,2287,3854
$GC,1978,-1.00,-243.4,243.6,-8.5,361,1984,0.17,2.00,0.00,0.000,4,0.051,0.055,2448,3545,3853
$GC,2079,-0.80,-243.4,256.1,-13.3,380,2086,0.28,1.83,0.00,0.000,6,0.117,0.038,2545,2339,3854
$GC,2406,-1.04,-243.4,287.7,-10.4,441,2413,0.20,0.00,0.00,0.000,6,0.046,0.000,2436,2336,3853
$GC,2731,-0.86,-243.4,330.3,-14.6,481,2735,0.30,2.50,0.00,0.000,4,0.127,0.048,2530,732,3852
$GC,2801,-0.92,-243.4,338.1,-11.0,487,2804,0.00,2.58,0.00,0.000,6,0.000,0.041,2527,2388,3852
$GC,3116,-1.16,-243.4,368.1,-9.1,517,3119,0.25,1.83,0.00,0.000,4,0.044,0.058,2397,3548,3850
$GC,3286,-0.86,-243.4,393.4,-16.9,533,3290,0.38,1.70,0.00,0.000,6,0.128,0.035,2534,2415,3848
$GC,3607,-1.17,-243.4,424.8,-9.7,564,3612,0.28,1.80,0.00,0.000,4,0.043,0.060,2392,3536,3846
$GC,3661,-0.88,-243.4,432.2,-15.5,569,3665,0.38,1.62,0.00,0.000,6,0.133,0.035,2527,2454,3846
$GC,3982,-1.13,-243.4,466.4,-10.4,600,3985,0.22,1.73,0.00,0.000,4,0.046,0.059,2412,3539,3845
$GC,4051,-0.87,-243.4,475.9,-15.7,606,4057,0.32,1.58,0.00,0.000,6,0.126,0.035,2522,2483,3843
$GC,4376,-1.13,-243.4,505.5,-8.2,635,4379,0.17,1.70,0.00,0.000,4,0.054,0.061,2421,3551,3841
$GC,4401,-1.13,-243.4,508.1,-10.2,636,4405,0.00,1.60,0.00,0.000,6,0.000,0.035,2421,2481,3841
$GC,4724,-0.92,-243.4,550.8,-14.0,652,4728,0.28,2.75,0.00,0.000,4,0.134,0.048,2513,743,3839
$GC,4777,-1.00,-243.4,556.9,-10.6,654,4783,0.00,2.75,0.00,0.000,6,0.000,0.044,2511,2491,3838
$GC,5088,-1.26,-243.4,587.4,-9.6,670,5091,0.25,1.67,0.00,0.000,4,0.045,0.060,2373,3551,3836
$GC,5108,-1.26,-243.4,590.0,-12.3,671,5112,0.08,1.62,0.00,0.000,6,0.152,0.036,2397,2474,3835
$GC,5435,-0.97,-243.4,641.7,-15.8,687,5439,0.30,2.75,0.00,0.000,4,0.145,0.048,2494,740,3833
$GC,5465,-0.97,-243.4,645.6,-10.8,688,5472,0.00,2.75,0.00,0.000,6,0.000,0.046,2494,2478,3833
$GC,5777,-1.19,-243.4,674.3,-9.2,704,5781,0.17,2.75,0.00,0.000,4,0.055,0.047,2390,745,3831
$GC,5905,-0.94,-243.4,693.0,-15.5,710,5910,0.40,2.65,0.00,0.000,6,0.140,0.048,2508,2416,3830
$GC,6223,-1.19,-243.4,721.9,-9.4,726,6226,0.20,1.80,0.00,0.000,4,0.051,0.062,2402,3542,3828
$GC,6368,-0.94,-243.4,744.3,-17.1,732,6374,0.30,1.62,0.00,0.000,6,0.132,0.038,2500,2469,3826
$GC,6680,-1.19,-243.4,780.3,-10.7,748,6684,0.17,2.75,0.00,0.000,4,0.054,0.049,2400,741,3825
$GC,6705,-1.11,-243.4,783.9,-14.3,749,6709,0.20,2.78,0.00,0.000,6,0.155,0.050,2455,2474,3824
$GC,7022,-0.99,-243.4,824.8,-12.6,765,7023,0.12,0.00,0.00,0.000,6,0.149,0.000,2491,2474,3822
$GC,7326,-0.99,-243.4,856.5,-10.3,780,7330,0.00,2.78,0.00,0.000,4,0.000,0.051,2491,747,3820
$GC,7363,-1.06,-243.4,860.4,-10.6,781,7371,0.00,2.75,0.00,0.000,6,0.000,0.048,2492,2470,3820
$GC,7674,-1.06,-243.4,892.9,-10.7,797,7677,0.00,1.73,0.00,0.000,4,0.000,0.066,2492,3545,3818
$GC,7711,-1.11,-243.4,896.9,-11.1,798,7717,0.08,1.65,0.00,0.000,6,0.053,0.037,2440,2457,3817
$GC,8022,-0.95,-243.4,942.9,-15.4,814,8026,0.17,2.75,0.00,0.000,4,0.139,0.050,2498,743,3815
$GC,8064,-1.04,-243.4,948.3,-12.3,816,8068,0.00,2.72,0.00,0.000,6,0.000,0.048,2496,2448,3815
$GC,8380,-1.04,-243.4,985.0,-11.8,832,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2448,3813
$STATE,8439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8439,begin apogee
$GC,8444,-0.24,0.0,992.0,11.5,835,8646,0.70,0.00,199.65,1.378,6,0.111,0.000,2732,2448,2854
$STATE,8647,end apogee,CONTROL_FINISHED_OK
$STATE,8647,begin climb
$GC,8649,1.08,243.4,1008.0,0.0,845,8865,1.15,2.15,207.85,1.337,4,0.045,0.063,3169,3692,1860
$GC,8891,0.47,243.4,990.1,20.7,856,8898,0.77,2.00,0.00,0.000,6,0.172,0.039,2964,2453,1857
$GC,9201,0.57,331.3,960.3,9.1,872,9285,0.00,2.40,76.62,1.309,4,0.000,0.053,2971,1046,1502
$GC,9408,0.70,370.6,940.8,10.7,881,9456,0.12,2.22,37.42,1.220,6,0.047,0.044,3055,2414,1342
$GC,9761,0.57,370.6,892.3,13.8,899,9765,0.20,2.20,0.00,0.000,4,0.139,0.051,2998,1050,1339
$GC,9835,0.62,411.3,883.9,10.7,902,9876,0.00,2.15,37.15,1.270,6,0.000,0.046,2998,2401,1177
$GC,10184,0.70,427.2,845.6,11.5,919,10210,0.10,2.20,17.17,1.080,4,0.074,0.050,3061,1046,1112
$GC,10292,0.60,427.2,828.8,16.6,924,10296,0.20,2.12,0.00,0.000,6,0.141,0.044,3003,2374,1109
$GC,10608,0.70,456.9,791.7,11.0,940,10640,0.00,2.20,28.23,1.233,4,0.000,0.051,3011,1039,989
$GC,10709,0.81,477.8,780.3,11.3,945,10742,0.17,2.10,22.08,1.104,6,0.059,0.044,3099,2345,905
$GC,11056,0.66,477.8,722.2,17.1,962,11059,0.22,2.10,0.00,0.000,4,0.140,0.051,3036,1042,901
$GC,11108,0.66,477.8,714.7,13.2,964,11115,0.00,2.05,0.00,0.000,6,0.000,0.044,3036,2336,901
$GC,11418,0.70,477.8,676.8,12.3,980,11422,0.00,2.08,0.00,0.000,4,0.000,0.051,3045,1034,901
$GC,11476,0.70,477.8,669.1,13.7,982,11482,0.00,2.05,0.00,0.000,6,0.000,0.044,3045,2316,899
$GC,11788,0.74,477.8,630.2,12.2,998,11791,0.00,2.03,0.00,0.000,4,0.000,0.051,3053,1040,899
$GC,11840,0.74,477.8,623.4,12.8,1000,11844,0.00,2.00,0.00,0.000,6,0.000,0.042,3054,2294,898
$GC,12156,0.74,477.8,581.8,13.4,1016,12159,0.00,2.00,0.00,0.000,4,0.000,0.051,3062,1034,898
$GC,12187,0.74,477.8,577.4,14.6,1017,12191,0.00,1.98,0.00,0.000,6,0.000,0.042,3062,2273,898
$GC,12504,0.74,477.8,533.3,13.9,1033,12507,0.00,1.95,0.00,0.000,4,0.000,0.051,3070,1041,898
$GC,12529,0.74,477.8,529.7,13.2,1034,12533,0.00,1.95,0.00,0.000,6,0.000,0.041,3070,2271,898
$GC,12842,0.74,477.8,487.6,13.2,1054,12846,0.00,1.98,0.00,0.000,4,0.000,0.050,3079,1043,898
$GC,12890,0.69,477.8,480.9,14.1,1058,12896,0.12,1.92,0.00,0.000,6,0.133,0.041,3036,2254,898
$GC,13206,0.76,477.8,443.3,12.2,1089,13209,0.00,1.92,0.00,0.000,4,0.000,0.051,3044,1040,898
$GC,13264,0.82,477.8,436.1,12.9,1094,13270,0.00,1.90,0.00,0.000,6,0.000,0.041,3044,2235,898
$GC,13582,1.05,505.9,399.6,11.1,1125,13614,0.25,2.38,25.45,0.974,4,0.048,0.058,3166,3687,790
$GC,13656,0.76,505.9,385.9,20.8,1132,13660,0.43,2.45,0.00,0.000,6,0.150,0.040,3053,2128,789
$GC,13971,0.87,549.9,350.2,10.5,1162,14020,0.12,1.77,42.83,0.943,4,0.065,0.051,3130,1051,609
$GC,14069,0.76,549.9,335.8,15.1,1171,14073,0.20,1.75,0.00,0.000,6,0.128,0.041,3054,2137,602
$GC,14390,1.47,612.3,300.6,9.9,1202,14450,0.60,2.60,38.85,0.788,4,0.040,0.054,3321,3690,481
$GC,14583,0.87,612.3,242.0,32.7,1236,14590,0.85,2.33,0.00,0.000,6,0.172,0.039,3090,2219,469
$GC,14911,1.65,708.3,201.2,8.8,1297,14916,0.68,1.85,0.00,0.000,4,0.079,0.048,3339,1035,463
$GC,14969,1.06,708.3,188.5,27.2,1308,14977,0.60,1.88,0.00,0.000,6,0.176,0.042,3154,2222,462
$GC,15297,1.06,708.3,139.6,14.5,1369,15303,0.00,1.88,0.00,0.000,4,0.000,0.049,3161,1047,460
$GC,15345,1.06,708.3,132.4,14.3,1378,15352,0.00,1.77,0.00,0.000,6,0.000,0.039,3161,2179,460
$GC,15672,1.10,708.3,92.6,12.3,1439,15677,0.00,1.83,0.00,0.000,4,0.000,0.053,3170,1039,459
$GC,15682,1.14,708.3,91.2,12.7,1441,15688,0.00,1.80,0.00,0.000,6,0.000,0.038,3170,2185,459
$GC,16008,1.37,751.6,53.3,10.6,1502,16014,0.22,1.83,0.00,0.000,4,0.047,0.046,3287,1041,458
$GC,16073,1.10,751.6,43.3,18.5,1514,16079,0.38,1.73,0.00,0.000,6,0.141,0.037,3167,2152,458
$GC,16401,1.25,778.1,7.6,11.1,1575,16406,0.12,1.75,0.00,0.000,4,0.061,0.044,3243,1040,457
$STATE,16436,end climb,SURFACE_DEPTH_REACHED
$STATE,16436,begin surface coast
$FINISH,1.8,1.021338
$STATE,16447,end surface coast,CONTROL_FINISHED_OK
$STATE,16447,begin surface
$SM_CCo,16524,0.00,0.000,0,0,456,587.98
$SM_GC,2.47,7.82,0.00,0.00,0.035,0.000,0.000,160,2141,456,-8.19,0.17,587.98
$IRIDIUM_FIX,2531.83,12206.42,131098,111142
$TT8_MAMPS,0.049088
$HUMID,1626
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,26.20
$XPDR_PINGS,360
$24V_AH,23.3,73.097
$10V_AH,10.6,50.482
$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,33.150,163.500,733.300,0.000,0.000,27.774,40.732,250.437,98.000,0.000,0.000,32.811,0.000,11601.761,876.417,3798.512,693.944,0.000,2339.124,0.000,3190.401,0.000,53.999,0.000
$DEVICE_MAMPS,229.333,65.962,1378.299,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.444,1099.690,1725.785,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91639,1584
$CAP_FILE_SIZE,184371,0
$CFSIZE,260165632,228200448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.177, 46.8,1
$GPS,190709,210607,2545.515,12531.575,37,1.7,37,-4.0