version: 66.04
glider: 165
mission: 2
dive: 328
start: 7 20 109 6 55 56
data:
$ID,165
$MISSION,2
$DIVE,328
$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,-124098.26
$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,52
$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
$GPS1,064736,2545.373,12538.549,34,1.3,34,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-69.4
$GPS2,065549,2545.536,12538.770,17,1.6,34,-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,104.2,62332,-16.4,-12.000
$D_GRID,2057
$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,-243.4,0.0,0.0,0,73,0.00,0.00,-58.55,0.000,2,0.000,0.000,155,2112,1916
$GC,76,-1.08,-243.4,3.2,-3.9,9,146,9.12,2.30,-54.30,0.000,4,0.228,0.064,2452,3551,3847
$GC,317,-0.59,-243.4,53.5,-25.0,52,324,0.45,2.17,0.00,0.000,6,0.120,0.039,2618,2128,3848
$GC,645,-0.80,-243.4,92.7,-11.5,113,651,0.20,2.12,0.00,0.000,4,0.048,0.041,2504,735,3849
$GC,763,-0.65,-243.4,111.8,-16.9,135,770,0.32,2.30,0.00,0.000,6,0.123,0.038,2597,2236,3849
$GC,1091,-0.95,-243.4,147.1,-9.1,196,1096,0.22,2.05,0.00,0.000,4,0.077,0.051,2465,3544,3850
$GC,1187,-0.73,-243.4,161.1,-16.2,214,1193,0.30,2.00,0.00,0.000,6,0.117,0.035,2569,2219,3850
$GC,1514,-1.02,-243.4,197.6,-10.7,275,1522,0.22,2.10,0.00,0.000,4,0.046,0.051,2447,3557,3850
$GC,1596,-0.79,-243.4,209.2,-15.8,290,1602,0.28,1.95,0.00,0.000,6,0.120,0.035,2556,2260,3850
$GC,1924,-1.07,-243.4,240.8,-10.2,351,1931,0.22,2.03,0.00,0.000,4,0.046,0.052,2425,3547,3850
$GC,2026,-0.81,-243.4,256.9,-16.7,370,2032,0.35,1.88,0.00,0.000,6,0.124,0.035,2543,2299,3850
$GC,2353,-1.07,-243.4,292.4,-9.6,431,2360,0.22,0.00,0.00,0.000,6,0.046,0.000,2425,2298,3850
$GC,2677,-0.83,-243.4,334.9,-14.5,468,2681,0.38,2.40,0.00,0.000,4,0.130,0.046,2544,751,3850
$GC,2725,-0.97,-243.4,339.9,-9.5,472,2728,0.15,2.42,0.00,0.000,6,0.056,0.040,2460,2322,3850
$GC,3046,-0.84,-243.4,381.0,-13.9,503,3049,0.25,1.95,0.00,0.000,4,0.126,0.058,2536,3554,3848
$GC,3088,-0.97,-243.4,385.7,-10.7,507,3092,0.08,1.85,0.00,0.000,6,0.051,0.035,2458,2329,3848
$GC,3409,-1.04,-243.4,423.0,-11.9,538,3412,0.00,2.45,0.00,0.000,4,0.000,0.047,2458,751,3846
$GC,3483,-0.93,-243.4,432.4,-12.7,545,3487,0.17,2.42,0.00,0.000,6,0.133,0.044,2507,2313,3845
$GC,3804,-1.14,-243.4,464.4,-9.7,576,3807,0.17,1.95,0.00,0.000,4,0.054,0.059,2414,3554,3842
$GC,3830,-1.09,-243.4,467.6,-13.2,578,3837,0.10,1.88,0.00,0.000,6,0.141,0.037,2450,2325,3842
$GC,4145,-1.17,-243.4,503.4,-11.4,608,4149,0.00,2.45,0.00,0.000,4,0.000,0.048,2450,752,3840
$GC,4236,-1.08,-243.4,515.0,-13.1,612,4239,0.00,2.40,0.00,0.000,6,0.000,0.044,2450,2291,3839
$GC,4558,-0.95,-243.4,555.8,-12.3,628,4561,0.17,2.00,0.00,0.000,4,0.133,0.060,2505,3545,3837
$GC,4643,-1.09,-243.4,564.7,-10.1,632,4646,0.10,1.88,0.00,0.000,6,0.045,0.036,2430,2311,3836
$GC,4972,-1.09,-243.4,601.0,-11.1,648,4975,0.10,2.00,0.00,0.000,4,0.137,0.060,2455,3549,3834
$GC,5045,-1.09,-243.4,609.9,-11.3,651,5049,0.00,1.98,0.00,0.000,6,0.000,0.037,2455,2265,3834
$GC,5363,-1.20,-243.4,644.3,-11.0,667,5366,0.00,2.38,0.00,0.000,4,0.000,0.050,2455,747,3832
$GC,5415,-1.12,-243.4,650.9,-12.8,669,5421,0.00,2.40,0.00,0.000,6,0.000,0.045,2455,2258,3831
$GC,5726,-1.03,-243.4,688.6,-11.7,685,5729,0.00,2.08,0.00,0.000,4,0.000,0.064,2454,3548,3829
$GC,5795,-0.94,-243.4,696.7,-10.7,688,5799,0.17,1.92,0.00,0.000,6,0.127,0.038,2507,2276,3828
$GC,6116,-1.17,-243.4,723.8,-8.3,704,6120,0.20,2.40,0.00,0.000,4,0.051,0.050,2409,741,3826
$GC,6230,-0.99,-243.4,738.8,-14.3,709,6234,0.28,2.58,0.00,0.000,6,0.141,0.051,2489,2357,3826
$GC,6540,-1.18,-243.4,768.9,-9.3,724,6544,0.17,1.90,0.00,0.000,4,0.053,0.063,2392,3539,3824
$GC,6657,-0.91,-243.4,785.4,-15.4,729,6661,0.35,1.70,0.00,0.000,6,0.134,0.038,2518,2420,3821
$GC,6973,-1.23,-243.4,811.4,-8.0,745,6976,0.25,1.83,0.00,0.000,4,0.047,0.064,2386,3545,3820
$GC,7075,-0.94,-243.4,825.4,-15.1,749,7080,0.40,1.65,0.00,0.000,6,0.140,0.040,2508,2442,3819
$GC,7385,-1.22,-243.4,852.1,-8.0,765,7388,0.25,1.77,0.00,0.000,4,0.050,0.066,2388,3541,3817
$GC,7438,-0.95,-243.4,858.8,-15.6,767,7441,0.32,1.60,0.00,0.000,6,0.139,0.038,2504,2497,3816
$GC,7753,-1.23,-243.4,888.0,-8.9,783,7755,0.25,0.00,0.00,0.000,6,0.048,0.000,2385,2497,3816
$GC,8059,-0.91,-243.4,937.1,-17.0,798,8063,0.40,1.70,0.00,0.000,4,0.150,0.067,2507,3537,3813
$GC,8090,-0.91,-243.4,941.1,-11.0,799,8094,0.00,1.60,0.00,0.000,6,0.000,0.039,2507,2495,3813
$GC,8406,-1.19,-243.4,970.5,-9.2,815,8408,0.22,0.00,0.00,0.000,6,0.051,0.000,2397,2494,3812
$STATE,8546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8546,begin apogee
$GC,8552,-0.24,0.0,991.2,16.2,822,8754,1.08,0.00,199.48,1.379,6,0.142,0.000,2732,2493,2855
$STATE,8754,end apogee,CONTROL_FINISHED_OK
$STATE,8755,begin climb
$GC,8757,1.08,243.4,1006.4,0.0,832,8974,1.15,2.47,207.98,1.338,4,0.044,0.055,3180,1055,1860
$GC,9080,0.51,243.4,971.7,20.1,847,9084,0.65,2.30,0.00,0.000,6,0.165,0.050,2976,2445,1853
$GC,9404,0.54,305.3,938.7,9.9,863,9470,0.00,2.35,55.62,1.256,4,0.000,0.052,2983,1070,1608
$GC,9553,0.61,363.6,923.0,10.1,870,9610,0.00,2.20,52.55,1.279,6,0.000,0.047,2984,2426,1371
$GC,9918,0.71,407.2,885.1,10.6,887,9962,0.15,2.33,39.55,1.264,4,0.058,0.051,3066,1066,1193
$GC,10059,0.59,407.2,863.4,16.1,893,10063,0.22,2.12,0.00,0.000,6,0.140,0.045,3000,2398,1189
$GC,10375,0.67,425.4,825.6,11.4,909,10403,0.00,2.20,18.95,1.095,4,0.000,0.051,3009,1071,1119
$GC,10474,0.74,429.4,814.1,11.9,913,10484,0.08,2.10,5.22,0.910,6,0.061,0.044,3063,2362,1102
$GC,10808,0.66,429.4,763.3,15.9,930,10812,0.15,2.08,0.00,0.000,4,0.142,0.049,3029,1063,1101
$GC,10887,0.66,429.4,752.0,13.2,934,10891,0.00,2.03,0.00,0.000,6,0.000,0.044,3028,2349,1100
$GC,11214,0.66,429.4,708.9,12.7,950,11217,0.00,2.05,0.00,0.000,4,0.000,0.051,3037,1060,1099
$GC,11293,0.66,429.4,698.9,12.6,953,11299,0.00,2.00,0.00,0.000,6,0.000,0.043,3037,2316,1099
$GC,11604,0.69,455.4,663.5,11.1,969,11647,0.00,2.08,28.58,1.029,4,0.000,0.050,3045,1069,996
$GC,11710,0.69,455.4,651.1,12.4,974,11713,0.00,1.95,0.00,0.000,6,0.000,0.044,3045,2297,994
$GC,12036,0.72,472.8,612.7,11.4,990,12058,0.00,2.00,16.65,1.092,4,0.000,0.050,3053,1063,926
$GC,12116,0.72,472.8,602.4,12.3,993,12122,0.00,1.92,0.00,0.000,6,0.000,0.042,3053,2256,924
$GC,12427,0.72,472.8,562.5,12.5,1009,12430,0.00,1.90,0.00,0.000,4,0.000,0.051,3061,1063,923
$GC,12474,0.72,472.8,556.6,12.6,1011,12478,0.00,1.88,0.00,0.000,6,0.000,0.042,3061,2244,923
$GC,12796,0.72,472.8,515.7,12.6,1027,12799,0.00,1.88,0.00,0.000,4,0.000,0.051,3069,1061,923
$GC,12832,0.68,472.8,511.0,13.1,1028,12838,0.10,1.83,0.00,0.000,6,0.133,0.040,3034,2211,923
$GC,13148,0.96,531.8,478.9,10.0,1054,13206,0.20,1.92,53.00,1.032,4,0.051,0.051,3146,1065,685
$GC,13346,0.75,531.8,444.7,19.1,1072,13353,0.28,1.75,0.00,0.000,6,0.135,0.041,3059,2153,682
$GC,13662,1.06,567.9,408.5,10.8,1103,13733,0.25,2.58,44.15,0.867,4,0.044,0.056,3178,3692,538
$GC,13799,0.81,567.9,382.2,22.0,1115,13807,0.38,2.50,0.00,0.000,6,0.143,0.038,3073,2107,531
$GC,14114,1.12,567.9,341.5,12.1,1146,14118,0.28,1.65,0.00,0.000,4,0.042,0.050,3209,1067,524
$GC,14130,1.27,567.9,339.4,12.8,1147,14137,0.00,1.62,0.00,0.000,6,0.000,0.039,3210,2107,524
$GC,14449,1.03,567.9,277.1,18.4,1189,14455,0.25,2.53,0.00,0.000,4,0.147,0.053,3137,3689,523
$GC,14518,0.96,567.9,265.6,15.1,1202,14525,0.00,2.47,0.00,0.000,6,0.000,0.037,3146,2105,523
$GC,14845,0.92,567.9,216.0,15.1,1263,14852,0.15,1.60,0.00,0.000,4,0.137,0.050,3108,1066,522
$GC,14916,0.97,567.9,206.2,14.5,1276,14921,0.00,1.62,0.00,0.000,6,0.000,0.038,3108,2112,522
$GC,15243,1.22,614.5,165.8,10.5,1337,15268,0.22,1.67,13.60,0.643,4,0.051,0.049,3228,1065,483
$GC,15380,0.97,614.5,143.1,19.6,1362,15386,0.28,1.62,0.00,0.000,6,0.135,0.039,3124,2105,476
$GC,15706,1.40,666.9,106.6,10.3,1423,15714,0.32,2.53,0.00,0.000,4,0.039,0.055,3297,3696,474
$GC,15741,1.13,666.9,101.2,17.4,1429,15747,0.47,2.42,0.00,0.000,6,0.164,0.041,3172,2120,474
$GC,16068,1.22,697.1,61.8,11.0,1490,16074,0.00,2.50,0.00,0.000,4,0.000,0.051,3172,3696,473
$GC,16111,1.23,702.4,56.6,11.8,1498,16117,0.00,2.40,0.00,0.000,6,0.000,0.035,3182,2128,473
$GC,16438,1.33,750.8,20.3,10.4,1559,16445,0.15,1.65,0.00,0.000,4,0.058,0.044,3263,1063,473
$GC,16504,1.13,750.8,10.3,18.6,1571,16510,0.22,1.65,0.00,0.000,6,0.133,0.044,3173,2130,472
$STATE,16566,end climb,SURFACE_DEPTH_REACHED
$STATE,16567,begin surface coast
$FINISH,1.7,1.008849
$STATE,16594,end surface coast,CONTROL_FINISHED_OK
$STATE,16596,begin surface
$SM_CCo,16671,0.00,0.000,0,0,472,584.55
$SM_GC,2.44,7.60,0.00,0.00,0.034,0.000,0.000,161,2134,472,-8.17,0.00,584.55
$IRIDIUM_FIX,2536.61,12537.54,141098,020224
$TT8_MAMPS,0.048321
$HUMID,1630
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.30
$XPDR_PINGS,382
$24V_AH,23.3,73.962
$10V_AH,10.6,50.933
$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,31.500,156.775,735.325,0.000,0.000,28.730,36.017,259.988,103.500,0.000,0.000,35.885,0.000,11654.033,869.626,3896.090,710.585,0.000,2376.972,0.000,3284.753,0.000,53.988,0.000
$DEVICE_MAMPS,227.799,66.729,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1070.861,1109.634,1736.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91539,1588
$CAP_FILE_SIZE,186601,0
$CFSIZE,260165632,227901440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$CURRENT,0.067, 25.1,1
$GPS,200709,113436,2545.126,12540.946,28,1.0,28,-4.0