version: 66.04
glider: 165
mission: 2
dive: 327
start: 7 20 109 2 4 13
data:
$ID,165
$MISSION,2
$DIVE,327
$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,-124061.74
$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,68
$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
$GPS1,015607,2545.344,12534.890,27,1.5,27,-4.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-66.6
$GPS2,020406,2545.471,12535.085,14,3.0,33,-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,104.1,68462,-16.4,-12.000
$D_GRID,2076
$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,-63.72,0.000,2,0.000,0.000,161,2115,2035
$GC,81,-1.08,-243.4,3.4,-4.0,10,146,9.07,2.33,-47.12,0.000,4,0.225,0.066,2452,3534,3849
$GC,317,-0.60,-243.4,57.3,-25.4,52,323,0.45,2.12,0.00,0.000,6,0.123,0.033,2612,2136,3850
$GC,644,-0.80,-243.4,100.0,-9.8,113,650,0.17,2.15,0.00,0.000,4,0.049,0.042,2505,740,3850
$GC,746,-0.66,-243.4,114.1,-14.9,132,752,0.28,2.28,0.00,0.000,6,0.119,0.040,2593,2201,3850
$GC,1073,-1.03,-243.4,149.3,-10.6,193,1079,0.28,2.12,0.00,0.000,4,0.042,0.051,2445,3559,3852
$GC,1250,-0.79,-243.4,177.3,-15.8,226,1257,0.30,1.95,0.00,0.000,6,0.117,0.032,2560,2258,3852
$GC,1579,-1.05,-243.4,209.5,-9.2,287,1584,0.20,2.03,0.00,0.000,4,0.049,0.052,2438,3542,3852
$GC,1648,-0.77,-243.4,218.3,-14.2,300,1654,0.35,1.88,0.00,0.000,6,0.120,0.039,2557,2293,3852
$GC,1976,-1.07,-243.4,248.1,-9.5,361,1981,0.22,2.00,0.00,0.000,4,0.046,0.054,2425,3556,3852
$GC,2050,-0.78,-243.4,258.0,-14.4,375,2056,0.43,1.80,0.00,0.000,6,0.127,0.033,2561,2336,3852
$GC,2376,-1.09,-243.4,288.3,-8.7,436,2382,0.28,1.95,0.00,0.000,4,0.042,0.059,2418,3539,3851
$GC,2430,-0.86,-243.4,294.5,-11.9,446,2438,0.30,1.75,0.00,0.000,6,0.130,0.035,2534,2371,3851
$GC,2755,-1.12,-243.4,324.6,-10.3,483,2759,0.20,1.85,0.00,0.000,4,0.051,0.055,2412,3542,3850
$GC,2845,-0.85,-243.4,337.6,-15.4,491,2851,0.35,1.70,0.00,0.000,6,0.127,0.034,2531,2411,3849
$GC,3162,-1.07,-243.4,369.6,-10.0,522,3165,0.17,1.80,0.00,0.000,4,0.050,0.056,2428,3551,3848
$GC,3210,-0.97,-243.4,375.5,-12.4,526,3217,0.17,1.65,0.00,0.000,6,0.126,0.035,2489,2436,3846
$GC,3525,-1.15,-243.4,409.1,-10.3,557,3529,0.15,2.65,0.00,0.000,4,0.057,0.045,2408,744,3846
$GC,3594,-0.91,-243.4,418.8,-15.4,563,3598,0.38,2.67,0.00,0.000,6,0.136,0.044,2515,2451,3845
$GC,3909,-1.14,-243.4,449.7,-9.6,593,3917,0.20,1.73,0.00,0.000,4,0.048,0.059,2409,3545,3842
$GC,4041,-0.89,-243.4,468.8,-15.8,605,4044,0.38,1.58,0.00,0.000,6,0.132,0.036,2527,2497,3841
$GC,4371,-1.15,-243.4,504.9,-10.3,635,4375,0.22,1.67,0.00,0.000,4,0.047,0.061,2411,3539,3839
$GC,4407,-1.04,-243.4,509.5,-12.9,636,4414,0.17,1.58,0.00,0.000,6,0.131,0.041,2471,2499,3839
$GC,4719,-1.17,-243.4,541.0,-9.4,652,4723,0.10,2.75,0.00,0.000,4,0.073,0.047,2412,752,3837
$GC,4771,-0.93,-243.4,547.2,-12.4,654,4780,0.28,2.80,0.00,0.000,6,0.133,0.051,2503,2491,3836
$GC,5085,-1.16,-243.4,575.9,-9.5,670,5086,0.20,0.00,0.00,0.000,6,0.049,0.000,2400,2492,3835
$GC,5387,-0.90,-243.4,617.6,-14.4,685,5392,0.35,2.78,0.00,0.000,4,0.141,0.048,2514,747,3832
$GC,5424,-1.00,-243.4,621.9,-9.9,687,5428,0.00,2.75,0.00,0.000,6,0.000,0.044,2511,2494,3832
$GC,5747,-1.24,-243.4,651.1,-9.6,703,5750,0.22,1.65,0.00,0.000,4,0.049,0.061,2385,3543,3830
$GC,5811,-0.96,-243.4,659.9,-15.7,706,5814,0.32,1.60,0.00,0.000,6,0.135,0.037,2503,2486,3829
$GC,6139,-1.23,-243.4,692.5,-10.0,722,6140,0.25,0.00,0.00,0.000,6,0.046,0.000,2382,2486,3828
$GC,6442,-0.90,-243.4,742.4,-17.9,737,6447,0.45,2.78,0.00,0.000,4,0.148,0.051,2518,749,3826
$GC,6458,-0.71,-243.4,744.6,-16.3,738,6463,0.20,2.78,0.00,0.000,6,0.114,0.047,2583,2494,3825
$GC,6781,-1.26,-243.4,772.9,-8.8,754,6784,0.45,1.67,0.00,0.000,4,0.060,0.061,2402,3545,3823
$GC,6978,-1.03,-243.4,801.0,-15.6,763,6982,0.20,1.70,0.00,0.000,6,0.137,0.038,2469,2432,3822
$GC,7299,-0.97,-243.4,840.5,-12.4,779,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,2432,3820
$GC,7605,-0.90,-243.4,878.9,-12.5,794,7609,0.17,2.70,0.00,0.000,4,0.135,0.052,2531,752,3818
$GC,7631,-1.00,-243.4,881.8,-11.5,795,7635,0.12,2.67,0.00,0.000,6,0.062,0.048,2466,2429,3818
$GC,7941,-0.93,-243.4,918.2,-11.9,810,7945,0.15,1.80,0.00,0.000,4,0.137,0.066,2507,3531,3816
$GC,7995,-1.04,-243.4,923.5,-9.2,812,7998,0.00,1.67,0.00,0.000,6,0.000,0.039,2507,2434,3815
$GC,8310,-1.12,-243.4,952.6,-9.1,828,8314,0.17,2.67,0.00,0.000,4,0.058,0.051,2423,759,3814
$GC,8347,-0.98,-243.4,957.1,-13.5,830,8352,0.25,2.67,0.00,0.000,6,0.137,0.051,2498,2420,3813
$GC,8670,-1.02,-243.4,987.9,-9.4,846,8672,0.00,1.80,0.00,0.000,4,0.000,0.065,2495,3536,3811
$STATE,8693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8693,begin apogee
$GC,8700,-0.24,0.0,990.6,10.3,847,8902,0.68,0.00,199.25,1.380,6,0.108,0.000,2729,2454,2854
$STATE,8902,end apogee,CONTROL_FINISHED_OK
$STATE,8902,begin climb
$GC,8904,1.08,243.4,1003.6,0.0,857,9122,1.15,2.42,207.77,1.337,4,0.043,0.054,3178,1067,1860
$GC,9153,0.51,243.4,982.0,19.7,868,9159,0.65,2.33,0.00,0.000,6,0.162,0.048,2980,2445,1857
$GC,9463,0.54,322.0,950.7,9.4,884,9538,0.00,2.40,68.82,1.305,4,0.000,0.051,2988,1057,1540
$GC,9606,0.60,370.0,936.5,10.4,890,9655,0.00,2.22,43.60,1.278,6,0.000,0.046,2988,2427,1345
$GC,9960,0.68,395.4,897.7,11.2,908,9989,0.12,2.30,23.20,1.247,4,0.066,0.052,3057,1061,1241
$GC,10078,0.56,395.4,880.0,15.0,913,10081,0.22,2.15,0.00,0.000,6,0.139,0.045,2991,2402,1238
$GC,10393,0.63,401.7,841.8,11.8,929,10403,0.00,2.17,6.50,1.022,4,0.000,0.050,2999,1051,1215
$GC,10483,0.69,401.7,830.9,12.6,933,10486,0.10,2.10,0.00,0.000,6,0.077,0.044,3051,2376,1214
$GC,10799,0.61,401.7,784.7,14.4,949,10803,0.15,2.10,0.00,0.000,4,0.141,0.048,3017,1060,1214
$GC,10846,0.61,401.7,778.4,12.4,951,10849,0.00,2.03,0.00,0.000,6,0.000,0.044,3016,2350,1213
$GC,11162,0.62,410.0,740.0,11.7,967,11175,0.00,2.10,9.00,1.095,4,0.000,0.051,3025,1064,1182
$GC,11235,0.62,410.0,731.3,12.3,970,11239,0.00,2.03,0.00,0.000,6,0.000,0.043,3025,2331,1181
$GC,11552,0.62,411.9,693.6,11.9,986,11555,0.00,2.03,0.00,0.000,4,0.000,0.051,3033,1059,1180
$GC,11599,0.62,411.9,687.6,12.0,988,11603,0.00,2.03,0.00,0.000,6,0.000,0.043,3033,2329,1179
$GC,11920,0.62,411.9,648.9,12.3,1004,11923,0.00,2.05,0.00,0.000,4,0.000,0.050,3041,1056,1179
$GC,12016,0.58,411.9,637.2,12.4,1008,12020,0.15,1.95,0.00,0.000,6,0.137,0.044,2997,2300,1178
$GC,12332,0.81,451.5,604.1,10.7,1024,12382,0.20,2.30,40.53,1.094,4,0.052,0.060,3106,3689,1012
$GC,12516,0.61,451.5,572.5,17.9,1033,12520,0.38,2.28,0.00,0.000,6,0.142,0.039,3005,2244,1011
$GC,12838,0.97,523.9,539.9,9.6,1049,12910,0.28,2.50,64.82,1.084,4,0.044,0.057,3140,3687,718
$GC,12927,0.77,523.9,524.8,18.3,1053,12932,0.32,2.47,0.00,0.000,6,0.141,0.040,3057,2154,716
$GC,13247,0.87,551.6,486.0,11.1,1074,13301,0.00,1.80,33.03,0.930,4,0.000,0.052,3064,1060,602
$GC,13360,0.92,556.8,472.1,11.8,1084,13370,0.08,1.73,6.22,0.812,6,0.057,0.041,3121,2136,583
$GC,13686,0.84,556.8,417.9,16.9,1116,13690,0.15,1.73,0.00,0.000,4,0.137,0.051,3084,1066,572
$GC,13712,0.84,556.8,413.8,14.8,1118,13719,0.00,1.70,0.00,0.000,6,0.000,0.041,3084,2135,572
$GC,14031,0.88,556.8,369.8,13.2,1149,14034,0.00,1.67,0.00,0.000,4,0.000,0.050,3092,1063,571
$GC,14046,0.88,556.8,367.5,14.0,1150,14052,0.00,1.67,0.00,0.000,6,0.000,0.039,3092,2120,571
$GC,14364,0.92,556.8,323.7,12.8,1181,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2120,570
$GC,14675,0.92,556.8,283.7,13.2,1222,14682,0.00,2.53,0.00,0.000,4,0.000,0.056,3093,3678,569
$GC,14708,0.92,556.8,279.3,13.5,1228,14714,0.00,2.45,0.00,0.000,6,0.000,0.039,3102,2114,569
$GC,15034,0.97,556.8,235.7,13.2,1289,15040,0.00,1.65,0.00,0.000,4,0.000,0.051,3110,1065,569
$GC,15071,0.97,556.8,230.6,12.3,1296,15077,0.00,1.62,0.00,0.000,6,0.000,0.038,3110,2112,569
$GC,15397,0.97,556.8,187.2,12.3,1357,15403,0.00,2.50,0.00,0.000,4,0.000,0.054,3110,3692,569
$GC,15457,0.97,556.8,179.3,13.0,1368,15463,0.00,2.42,0.00,0.000,6,0.000,0.040,3121,2118,568
$GC,15784,1.32,632.4,141.0,9.5,1429,15828,0.28,1.65,27.90,0.671,4,0.044,0.048,3264,1058,481
$GC,15919,0.99,632.4,115.2,20.9,1453,15925,0.43,1.65,0.00,0.000,6,0.144,0.039,3130,2109,472
$GC,16245,1.55,693.7,79.8,10.0,1514,16252,0.43,1.65,0.00,0.000,4,0.036,0.046,3349,1052,468
$GC,16316,1.10,693.7,66.2,23.4,1527,16322,0.57,1.65,0.00,0.000,6,0.157,0.041,3163,2100,468
$GC,16643,1.43,744.6,28.5,10.3,1588,16649,0.25,1.65,0.00,0.000,4,0.075,0.044,3296,1060,467
$GC,16692,1.15,744.6,21.2,19.5,1597,16698,0.35,1.62,0.00,0.000,6,0.140,0.041,3183,2107,467
$STATE,16847,end climb,SURFACE_DEPTH_REACHED
$STATE,16847,begin surface coast
$FINISH,1.8,1.021461
$STATE,16872,end surface coast,CONTROL_FINISHED_OK
$STATE,16872,begin surface
$SM_CCo,16948,0.00,0.000,0,0,465,586.02
$SM_GC,2.42,7.62,0.00,0.00,0.033,0.000,0.000,157,2111,465,-8.18,-0.68,586.02
$IRIDIUM_FIX,2536.61,12528.92,131098,212138
$TT8_MAMPS,0.049088
$HUMID,1645
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.20
$XPDR_PINGS,399
$24V_AH,22.8,73.674
$10V_AH,10.6,50.783
$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,33.175,161.450,730.650,0.000,0.000,30.019,34.075,246.954,107.750,0.000,0.000,36.151,0.000,11917.052,854.063,3911.484,710.196,0.000,2365.459,0.000,3287.904,0.000,54.003,0.000
$DEVICE_MAMPS,225.498,65.962,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1101.136,1122.116,1756.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94775,1631
$CAP_FILE_SIZE,190125,0
$CFSIZE,260165632,227995648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.145, 45.0,1
$GPS,200709,064736,2545.373,12538.549,34,1.3,34,-4.0