version: 66.04
glider: 165
mission: 2
dive: 330
start: 7 20 109 16 36 55
data:
$ID,165
$MISSION,2
$DIVE,330
$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,-124144.44
$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,32
$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
$GPS1,162537,2544.142,12541.832,26,1.9,26,-4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-69.3
$GPS2,163650,2544.297,12542.064,12,1.8,12,-4.0
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2510.500,12533.800
$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,222.5,64107,-16.4,-12.000
$D_GRID,2014
$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,-58.80,0.000,2,0.000,0.000,148,2108,1916
$GC,76,-1.08,-243.4,3.0,-3.0,9,146,9.25,2.30,-54.05,0.000,4,0.233,0.066,2452,3539,3849
$GC,177,-0.59,-243.4,20.2,-26.7,26,184,0.45,2.20,0.00,0.000,6,0.124,0.033,2615,2100,3850
$GC,504,-0.64,-243.4,62.5,-11.1,87,510,0.00,2.30,0.00,0.000,4,0.000,0.054,2615,3547,3849
$GC,606,-0.68,-243.4,74.4,-11.9,106,611,0.00,2.08,0.00,0.000,6,0.000,0.032,2615,2169,3849
$GC,932,-1.02,-243.4,109.5,-10.8,167,937,0.32,0.00,0.00,0.000,6,0.056,0.000,2444,2166,3850
$GC,1258,-0.72,-243.4,166.1,-14.9,228,1265,0.40,2.20,0.00,0.000,4,0.132,0.052,2572,3560,3852
$GC,1341,-0.95,-243.4,174.1,-9.3,243,1346,0.20,2.03,0.00,0.000,6,0.044,0.035,2453,2193,3852
$GC,1667,-0.95,-243.4,213.5,-13.2,304,1674,0.17,2.22,0.00,0.000,4,0.117,0.049,2509,748,3853
$GC,1710,-0.95,-243.4,219.1,-12.5,312,1718,0.00,2.28,0.00,0.000,6,0.000,0.044,2510,2201,3853
$GC,2039,-1.13,-243.4,256.5,-9.7,373,2045,0.17,2.25,0.00,0.000,4,0.050,0.044,2411,748,3853
$GC,2130,-0.86,-243.4,269.4,-14.9,390,2136,0.32,2.35,0.00,0.000,6,0.127,0.048,2531,2235,3853
$GC,2458,-1.01,-243.4,300.1,-9.9,451,2462,0.15,2.33,0.00,0.000,4,0.053,0.044,2439,740,3852
$GC,2532,-0.82,-243.4,310.1,-13.9,457,2538,0.35,2.45,0.00,0.000,6,0.129,0.044,2548,2307,3851
$GC,2847,-1.08,-243.4,341.4,-9.9,488,2851,0.22,1.95,0.00,0.000,4,0.045,0.058,2427,3554,3850
$GC,2954,-0.85,-243.4,356.3,-14.9,498,2958,0.28,1.83,0.00,0.000,6,0.122,0.034,2533,2345,3848
$GC,3276,-1.14,-243.4,388.8,-9.8,529,3279,0.22,1.90,0.00,0.000,4,0.048,0.057,2400,3541,3847
$GC,3366,-0.84,-243.4,401.8,-16.0,537,3372,0.38,1.75,0.00,0.000,6,0.130,0.035,2537,2375,3845
$GC,3681,-1.14,-243.4,432.3,-10.0,568,3685,0.25,1.85,0.00,0.000,4,0.046,0.059,2403,3540,3844
$GC,3772,-0.87,-243.4,445.6,-16.0,576,3779,0.38,1.67,0.00,0.000,6,0.128,0.035,2529,2416,3842
$GC,4088,-1.10,-243.4,479.2,-10.4,607,4091,0.20,1.80,0.00,0.000,4,0.049,0.058,2419,3548,3841
$GC,4124,-0.99,-243.4,483.6,-13.2,610,4132,0.17,1.65,0.00,0.000,6,0.127,0.036,2481,2455,3840
$GC,4441,-1.13,-243.4,513.5,-8.7,634,4444,0.10,1.73,0.00,0.000,4,0.071,0.058,2422,3542,3838
$GC,4509,-0.91,-243.4,521.7,-13.2,637,4513,0.28,1.73,0.00,0.000,6,0.127,0.035,2515,2397,3836
$GC,4833,-1.18,-243.4,551.6,-9.9,653,4836,0.20,1.83,0.00,0.000,4,0.051,0.060,2397,3538,3835
$GC,4864,-1.04,-243.4,556.0,-13.7,654,4868,0.22,1.67,0.00,0.000,6,0.136,0.035,2472,2421,3834
$GC,5181,-0.99,-243.4,594.3,-11.6,670,5184,0.00,2.62,0.00,0.000,4,0.000,0.048,2472,754,3833
$GC,5276,-0.99,-243.4,606.0,-12.4,674,5282,0.00,2.58,0.00,0.000,6,0.000,0.044,2468,2395,3832
$GC,5586,-1.11,-243.4,639.5,-10.1,690,5590,0.00,2.60,0.00,0.000,4,0.000,0.048,2468,748,3830
$GC,5677,-1.11,-243.4,649.0,-9.9,694,5681,0.00,2.50,0.00,0.000,6,0.000,0.045,2468,2339,3829
$GC,5993,-1.26,-243.4,678.7,-10.0,710,5994,0.17,0.00,0.00,0.000,6,0.054,0.000,2378,2340,3827
$GC,6299,-0.92,-243.4,728.5,-18.3,725,6303,0.40,2.53,0.00,0.000,4,0.150,0.049,2505,751,3825
$GC,6330,-0.92,-243.4,732.8,-11.3,726,6336,0.00,2.55,0.00,0.000,6,0.000,0.045,2505,2342,3825
$GC,6641,-1.15,-243.4,762.3,-9.1,742,6645,0.17,2.53,0.00,0.000,4,0.054,0.047,2409,749,3823
$GC,6743,-0.98,-243.4,775.7,-13.7,747,6747,0.32,2.67,0.00,0.000,6,0.140,0.048,2498,2426,3822
$GC,7065,-1.20,-243.4,804.6,-8.9,763,7069,0.17,1.77,0.00,0.000,4,0.054,0.063,2398,3537,3819
$GC,7193,-0.95,-243.4,823.4,-16.9,769,7197,0.35,1.62,0.00,0.000,6,0.137,0.038,2505,2452,3818
$GC,7521,-1.22,-243.4,856.8,-9.8,785,7524,0.20,1.77,0.00,0.000,4,0.051,0.065,2395,3545,3817
$GC,7750,-0.96,-243.4,892.7,-15.5,795,7756,0.30,1.75,0.00,0.000,6,0.137,0.040,2492,2411,3815
$GC,8062,-0.96,-243.4,925.6,-10.1,811,8066,0.00,2.65,0.00,0.000,4,0.000,0.052,2493,756,3813
$GC,8093,-1.01,-243.4,929.2,-10.8,812,8100,0.00,2.60,0.00,0.000,6,0.000,0.049,2493,2381,3812
$GC,8403,-1.01,-243.4,961.0,-10.6,828,8407,0.00,1.90,0.00,0.000,4,0.000,0.066,2493,3534,3811
$GC,8447,-1.09,-243.4,965.5,-10.1,830,8449,0.00,1.73,0.00,0.000,6,0.000,0.038,2493,2393,3810
$STATE,8689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8689,begin apogee
$GC,8694,-0.24,0.0,991.8,10.7,842,8895,0.70,0.00,198.85,1.376,6,0.112,0.000,2728,2452,2854
$STATE,8896,end apogee,CONTROL_FINISHED_OK
$STATE,8896,begin climb
$GC,8898,1.08,243.4,1007.6,0.0,852,9115,1.20,2.38,208.00,1.336,4,0.043,0.054,3190,1072,1859
$GC,9183,0.48,243.4,981.5,19.5,866,9188,0.77,2.30,0.00,0.000,6,0.166,0.049,2970,2471,1854
$GC,9505,0.56,335.1,951.4,9.0,882,9598,0.00,2.40,81.70,1.281,4,0.000,0.051,2976,1077,1488
$GC,9706,0.70,407.0,932.0,9.6,891,9784,0.17,2.17,67.03,1.256,6,0.059,0.046,3054,2423,1193
$GC,10107,0.61,407.0,874.4,14.6,911,10110,0.17,2.17,0.00,0.000,4,0.138,0.050,3011,1065,1187
$GC,10187,0.61,407.0,864.1,12.7,914,10193,0.00,2.12,0.00,0.000,6,0.000,0.050,3011,2402,1186
$GC,10497,0.63,419.0,827.6,11.6,930,10511,0.00,2.15,10.62,1.145,4,0.000,0.049,3020,1065,1145
$GC,10576,0.64,432.6,818.0,11.5,933,10598,0.00,2.10,14.20,1.178,6,0.000,0.044,3020,2368,1089
$GC,10902,0.65,435.7,779.2,11.9,949,10910,0.00,2.12,4.05,0.792,4,0.000,0.051,3028,1070,1076
$GC,10986,0.65,435.7,768.5,13.0,953,10990,0.00,2.05,0.00,0.000,6,0.000,0.044,3028,2347,1076
$GC,11313,0.65,435.7,729.7,12.1,969,11316,0.00,2.03,0.00,0.000,4,0.000,0.051,3036,1072,1075
$GC,11393,0.65,435.7,718.8,14.6,972,11399,0.00,2.00,0.00,0.000,6,0.000,0.043,3036,2325,1074
$GC,11703,0.65,435.7,678.8,12.6,988,11706,0.00,2.00,0.00,0.000,4,0.000,0.050,3045,1064,1075
$GC,11762,0.61,435.7,671.2,12.7,990,11768,0.10,2.00,0.00,0.000,6,0.132,0.043,3010,2319,1074
$GC,12072,0.74,474.5,637.0,10.7,1006,12120,0.12,2.05,38.50,1.112,4,0.067,0.051,3084,1066,918
$GC,12186,0.64,474.5,620.3,15.5,1011,12189,0.22,1.95,0.00,0.000,6,0.139,0.043,3020,2291,916
$GC,12501,0.75,488.3,583.4,11.5,1027,12523,0.00,2.03,12.88,1.052,4,0.000,0.051,3028,1069,862
$GC,12566,0.83,501.3,575.8,11.6,1030,12587,0.15,1.92,13.32,1.042,6,0.059,0.041,3105,2290,810
$GC,12892,0.73,501.3,525.6,15.4,1046,12895,0.20,1.95,0.00,0.000,4,0.140,0.048,3049,1066,808
$GC,12945,0.79,519.9,518.6,11.4,1048,12968,0.00,1.88,18.08,1.040,6,0.000,0.040,3049,2242,733
$GC,13283,1.03,541.0,478.4,11.3,1073,13310,0.22,2.38,22.40,1.019,4,0.047,0.058,3162,3690,645
$GC,13408,0.82,541.0,455.3,20.9,1084,13412,0.32,2.33,0.00,0.000,6,0.142,0.039,3077,2217,640
$GC,13722,0.82,541.0,412.2,13.2,1114,13726,0.00,2.40,0.00,0.000,4,0.000,0.056,3077,3692,637
$GC,13823,0.87,541.0,398.3,13.2,1123,13831,0.00,2.38,0.00,0.000,6,0.000,0.038,3086,2181,637
$GC,14140,0.87,541.0,356.6,12.9,1154,14143,0.00,1.75,0.00,0.000,4,0.000,0.051,3094,1061,637
$GC,14236,0.87,541.0,343.2,13.5,1163,14239,0.00,1.67,0.00,0.000,6,0.000,0.040,3094,2145,637
$GC,14558,0.87,541.0,300.7,13.1,1194,14562,0.00,2.47,0.00,0.000,4,0.000,0.057,3094,3693,637
$GC,14579,0.87,541.0,297.7,13.8,1197,14584,0.00,2.38,0.00,0.000,6,0.000,0.035,3103,2150,637
$GC,14904,0.87,541.0,255.4,13.7,1258,14910,0.00,1.70,0.00,0.000,4,0.000,0.048,3111,1066,637
$GC,14942,0.83,541.0,250.4,14.1,1265,14948,0.12,1.65,0.00,0.000,6,0.130,0.038,3075,2151,637
$GC,15269,1.31,637.3,216.0,8.8,1326,15342,0.38,1.80,48.40,0.723,4,0.038,0.048,3274,1064,482
$GC,15502,0.86,637.3,160.4,25.5,1368,15508,0.57,1.65,0.00,0.000,6,0.152,0.045,3096,2105,468
$GC,15828,1.35,674.3,124.3,10.8,1429,15834,0.38,1.65,0.00,0.000,4,0.052,0.051,3255,1070,463
$GC,15970,1.07,674.3,102.1,17.0,1455,15975,0.25,1.75,0.00,0.000,6,0.138,0.045,3158,2184,462
$GC,16296,1.30,694.3,61.2,11.3,1516,16304,0.20,2.38,0.00,0.000,4,0.045,0.051,3263,3690,462
$GC,16341,1.09,694.3,54.6,15.8,1524,16348,0.30,2.33,0.00,0.000,6,0.142,0.041,3162,2197,462
$GC,16669,1.43,724.2,20.9,11.0,1585,16675,0.25,2.38,0.00,0.000,4,0.041,0.051,3302,3689,461
$GC,16766,1.13,724.2,3.2,19.5,1603,16772,0.43,2.38,0.00,0.000,6,0.101,0.036,3169,2103,461
$STATE,16775,end climb,SURFACE_DEPTH_REACHED
$STATE,16775,begin surface coast
$FINISH,1.8,1.021477
$STATE,16797,end surface coast,CONTROL_FINISHED_OK
$STATE,16797,begin surface
$SM_CCo,16872,0.00,0.000,0,0,460,587.25
$SM_GC,2.51,7.60,0.00,0.00,0.031,0.000,0.000,149,2100,460,-8.20,-0.99,587.25
$IRIDIUM_FIX,2536.61,12540.88,141098,161646
$TT8_MAMPS,0.047554
$HUMID,1660
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,26.10
$XPDR_PINGS,387
$24V_AH,23.3,74.544
$10V_AH,10.6,51.233
$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,31.650,163.975,738.025,0.000,0.000,52.271,65.783,345.600,104.750,0.000,0.000,14.561,0.000,11835.784,887.079,3945.115,842.203,0.000,2415.682,0.000,3339.764,0.000,53.982,0.000
$DEVICE_MAMPS,233.168,88.972,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.061,1105.179,1731.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91742,1609
$CAP_FILE_SIZE,192292,0
$CFSIZE,260165632,227708928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.155, 90.6,1
$GPS,200709,211906,2543.420,12542.060,38,1.3,38,-4.0