version: 66.04
glider: 165
mission: 2
dive: 334
start: 7 21 109 11 55 7
data:
$ID,165
$MISSION,2
$DIVE,334
$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,-124220.16
$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,2285
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,52
$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
$GPS1,114054,2539.814,12541.715,41,0.9,41,-4.0
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.7
$GPS2,115502,2539.907,12542.139,13,1.4,13,-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,210.5,56227,-16.4,-12.000
$D_GRID,1706
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.08,-243.4,0.0,0.0,0,80,0.00,0.00,-64.35,0.000,2,0.000,0.000,166,2316,2049
$GC,83,-1.08,-243.4,3.3,-4.5,10,143,9.07,2.33,-46.47,0.000,4,0.225,0.051,2452,860,3854
$GC,159,-0.58,-243.4,14.9,-22.4,22,166,0.55,2.20,0.00,0.000,6,0.131,0.042,2622,2269,3855
$GC,487,-0.64,-243.4,57.0,-11.0,83,493,0.00,2.28,0.00,0.000,4,0.000,0.054,2620,3683,3855
$GC,525,-0.86,-243.4,61.3,-11.3,90,533,0.25,2.12,0.00,0.000,6,0.042,0.031,2489,2239,3855
$GC,854,-0.62,-243.4,118.8,-16.9,151,860,0.35,2.28,0.00,0.000,4,0.125,0.052,2601,3686,3855
$GC,887,-0.67,-243.4,123.0,-11.7,157,892,0.00,2.08,0.00,0.000,6,0.000,0.033,2601,2303,3855
$GC,1213,-0.98,-243.4,158.5,-10.9,218,1221,0.25,2.15,0.00,0.000,4,0.041,0.041,2454,895,3856
$GC,1231,-1.07,-243.4,160.8,-12.5,221,1237,0.00,2.20,0.00,0.000,6,0.000,0.048,2452,2291,3855
$GC,1557,-0.84,-243.4,215.8,-15.3,282,1564,0.28,2.20,0.00,0.000,4,0.127,0.061,2532,3692,3857
$GC,1586,-0.80,-243.4,219.6,-13.3,287,1591,0.00,2.08,0.00,0.000,6,0.000,0.031,2533,2288,3857
$GC,1912,-1.01,-243.4,252.2,-10.4,348,1918,0.15,2.22,0.00,0.000,4,0.054,0.061,2436,3686,3857
$GC,1944,-0.90,-243.4,256.1,-13.0,354,1952,0.22,2.05,0.00,0.000,6,0.117,0.037,2515,2327,3856
$GC,2273,-1.11,-243.4,290.1,-9.9,415,2278,0.17,2.20,0.00,0.000,4,0.050,0.042,2408,893,3856
$GC,2299,-0.99,-243.4,293.6,-13.5,420,2305,0.25,2.30,0.00,0.000,6,0.137,0.048,2495,2350,3856
$GC,2622,-0.95,-243.4,330.5,-11.2,456,2625,0.00,2.28,0.00,0.000,4,0.000,0.044,2496,875,3855
$GC,2654,-0.95,-243.4,334.1,-11.4,459,2658,0.00,2.30,0.00,0.000,6,0.000,0.042,2494,2357,3854
$GC,2970,-1.09,-243.4,365.6,-9.7,489,2973,0.12,2.28,0.00,0.000,4,0.062,0.044,2420,891,3852
$GC,3088,-0.90,-243.4,382.4,-14.7,499,3094,0.35,2.20,0.00,0.000,6,0.132,0.044,2521,2305,3852
$GC,3403,-1.11,-243.4,416.4,-10.7,530,3406,0.20,2.17,0.00,0.000,4,0.049,0.059,2412,3683,3850
$GC,3538,-0.88,-243.4,436.4,-15.6,542,3545,0.38,2.00,0.00,0.000,6,0.127,0.039,2532,2373,3848
$GC,3853,-1.17,-243.4,466.0,-8.8,573,3855,0.28,0.00,0.00,0.000,6,0.042,0.000,2391,2369,3847
$GC,4164,-0.88,-243.4,510.5,-15.2,600,4168,0.40,2.30,0.00,0.000,4,0.141,0.047,2520,902,3844
$GC,4200,-0.98,-243.4,514.9,-10.3,602,4204,0.00,2.30,0.00,0.000,6,0.000,0.044,2520,2375,3844
$GC,4527,-1.20,-243.4,545.2,-9.3,618,4531,0.22,2.10,0.00,0.000,4,0.048,0.060,2393,3694,3841
$GC,4697,-0.92,-243.4,571.0,-17.1,626,4701,0.35,1.92,0.00,0.000,6,0.130,0.035,2510,2415,3839
$GC,5020,-1.17,-243.4,605.6,-10.1,642,5024,0.17,2.05,0.00,0.000,4,0.053,0.061,2408,3692,3838
$GC,5057,-1.03,-243.4,610.2,-13.4,643,5063,0.20,1.88,0.00,0.000,6,0.129,0.034,2476,2447,3837
$GC,5368,-1.19,-243.4,640.6,-9.2,659,5372,0.15,2.42,0.00,0.000,4,0.056,0.044,2391,896,3835
$GC,5481,-0.95,-243.4,655.6,-14.3,664,5485,0.38,2.40,0.00,0.000,6,0.141,0.048,2500,2423,3834
$GC,5791,-1.20,-243.4,684.2,-8.9,679,5795,0.17,2.03,0.00,0.000,4,0.052,0.061,2398,3691,3832
$GC,5838,-0.98,-243.4,690.1,-13.9,681,5842,0.28,1.85,0.00,0.000,6,0.129,0.035,2490,2464,3831
$GC,6162,-1.19,-243.4,722.0,-9.8,697,6166,0.17,2.47,0.00,0.000,4,0.053,0.046,2396,896,3830
$GC,6241,-0.98,-243.4,733.3,-14.8,701,6245,0.32,2.47,0.00,0.000,6,0.141,0.049,2494,2451,3829
$GC,6570,-1.21,-243.4,763.1,-8.8,717,6573,0.17,1.98,0.00,0.000,4,0.055,0.063,2395,3682,3826
$GC,6644,-0.98,-243.4,773.1,-14.4,720,6647,0.28,1.77,0.00,0.000,6,0.131,0.037,2487,2515,3825
$GC,6962,-1.21,-243.4,804.3,-9.8,736,6963,0.20,0.00,0.00,0.000,6,0.051,0.000,2385,2515,3823
$GC,7267,-0.91,-243.4,852.0,-16.2,751,7271,0.40,2.58,0.00,0.000,4,0.149,0.049,2512,904,3821
$GC,7298,-0.96,-243.4,856.0,-10.8,752,7304,0.00,2.60,0.00,0.000,6,0.000,0.048,2511,2530,3820
$GC,7609,-1.24,-243.4,881.6,-8.5,768,7612,0.22,1.85,0.00,0.000,4,0.050,0.064,2386,3682,3819
$GC,7760,-0.97,-243.4,903.6,-16.7,775,7763,0.35,1.65,0.00,0.000,6,0.141,0.038,2492,2581,3817
$GC,8088,-1.01,-243.4,937.6,-9.9,791,8092,0.00,2.67,0.00,0.000,4,0.000,0.050,2492,903,3815
$GC,8167,-1.07,-243.4,945.9,-10.1,795,8171,0.00,2.65,0.00,0.000,6,0.000,0.049,2492,2551,3815
$GC,8492,-1.13,-243.4,976.3,-9.2,811,8496,0.15,2.62,0.00,0.000,4,0.061,0.047,2416,908,3813
$GC,8533,-0.99,-243.4,981.8,-13.5,813,8537,0.28,2.60,0.00,0.000,6,0.139,0.050,2494,2523,3812
$STATE,8628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8628,begin apogee
$GC,8634,-0.24,0.0,991.4,9.6,818,8836,0.70,0.00,199.77,1.377,6,0.108,0.000,2732,2307,2853
$STATE,8836,end apogee,CONTROL_FINISHED_OK
$STATE,8836,begin climb
$GC,8839,1.08,243.4,1005.0,0.0,828,9056,1.15,2.42,208.05,1.335,4,0.043,0.063,3173,3678,1860
$GC,9093,0.45,243.4,984.2,21.2,840,9098,0.80,2.20,0.00,0.000,6,0.172,0.041,2961,2312,1857
$GC,9414,0.59,355.7,955.7,8.3,856,9519,0.12,2.38,98.55,1.309,4,0.064,0.054,3037,896,1403
$GC,9561,0.50,355.7,937.6,14.0,863,9565,0.17,2.30,0.00,0.000,6,0.128,0.043,2980,2289,1399
$GC,9888,0.66,432.5,905.9,9.5,879,9961,0.12,2.35,69.05,1.289,4,0.066,0.052,3051,898,1090
$GC,9995,0.62,432.5,892.2,14.2,884,9999,0.15,2.25,0.00,0.000,6,0.137,0.042,3009,2291,1087
$GC,10310,0.69,442.3,855.1,11.7,900,10324,0.00,2.30,9.23,1.114,4,0.000,0.052,3012,902,1050
$GC,10358,0.78,442.3,849.5,13.2,902,10361,0.15,2.15,0.00,0.000,6,0.062,0.042,3095,2258,1049
$GC,10678,0.61,442.3,792.2,17.9,918,10680,0.30,0.00,0.00,0.000,6,0.136,0.000,3004,2258,1048
$GC,10984,0.75,480.9,757.5,10.7,933,11039,0.15,2.30,40.10,1.129,4,0.063,0.053,3089,891,893
$GC,11120,0.64,480.9,736.2,16.6,939,11124,0.20,2.20,0.00,0.000,6,0.135,0.042,3024,2244,891
$GC,11436,0.73,480.9,698.1,12.2,955,11439,0.00,2.17,0.00,0.000,4,0.000,0.051,3033,885,888
$GC,11473,0.78,480.9,693.1,14.0,956,11479,0.00,2.12,0.00,0.000,6,0.000,0.041,3033,2232,888
$GC,11783,0.84,480.9,653.0,12.3,972,11787,0.15,2.12,0.00,0.000,4,0.061,0.051,3120,888,887
$GC,11848,0.65,480.9,641.9,16.8,975,11851,0.32,2.08,0.00,0.000,6,0.139,0.041,3023,2212,887
$GC,12169,0.76,499.7,603.7,11.4,991,12191,0.00,2.20,17.52,1.108,4,0.000,0.054,3031,890,816
$GC,12228,0.84,499.7,596.6,12.6,993,12234,0.10,2.08,0.00,0.000,6,0.052,0.041,3103,2177,815
$GC,12539,0.74,499.7,548.5,15.5,1009,12543,0.17,2.05,0.00,0.000,4,0.139,0.051,3055,887,813
$GC,12559,0.69,499.7,545.3,14.9,1010,12563,0.00,2.05,0.00,0.000,6,0.000,0.041,3055,2179,813
$GC,12886,0.69,499.7,502.0,13.0,1026,12889,0.00,2.05,0.00,0.000,4,0.000,0.051,3063,888,813
$GC,12917,0.69,499.7,497.9,13.8,1028,12921,0.00,2.00,0.00,0.000,6,0.000,0.040,3064,2154,813
$GC,13240,0.70,506.9,458.8,11.8,1059,13251,0.00,0.00,7.65,0.896,6,0.000,0.000,3063,2154,787
$GC,13561,0.74,506.9,417.4,13.2,1090,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2154,786
$GC,13872,0.99,520.2,378.4,11.6,1120,13893,0.17,2.08,13.43,0.916,4,0.053,0.051,3160,894,732
$GC,14001,0.74,520.2,356.4,18.3,1132,14004,0.38,1.98,0.00,0.000,6,0.137,0.041,3047,2156,732
$GC,14322,1.27,587.0,322.1,9.8,1163,14392,0.43,2.15,65.38,0.910,4,0.041,0.051,3255,888,481
$GC,14424,0.83,587.0,299.9,27.0,1172,14430,0.55,2.05,0.00,0.000,6,0.149,0.040,3076,2153,468
$GC,14752,1.32,598.4,257.8,11.6,1233,14758,0.40,2.00,0.00,0.000,4,0.046,0.048,3257,893,456
$GC,14872,0.91,598.4,230.4,26.0,1255,14878,0.50,2.10,0.00,0.000,6,0.148,0.041,3107,2236,455
$GC,15199,1.15,598.4,186.9,12.4,1316,15205,0.17,2.12,0.00,0.000,4,0.049,0.048,3220,893,452
$GC,15301,0.91,598.4,168.4,18.7,1335,15307,0.32,2.08,0.00,0.000,6,0.124,0.045,3100,2204,451
$GC,15627,1.48,619.6,133.7,11.3,1396,15634,0.47,2.10,0.00,0.000,4,0.049,0.048,3306,882,450
$GC,15693,1.09,619.6,121.7,22.0,1408,15699,0.43,2.22,0.00,0.000,6,0.150,0.040,3161,2301,450
$GC,16022,1.34,676.1,83.8,10.1,1469,16029,0.17,2.17,0.00,0.000,4,0.048,0.053,3266,3693,449
$GC,16109,1.14,676.1,69.4,16.9,1485,16117,0.35,2.30,0.00,0.000,6,0.143,0.041,3172,2203,449
$GC,16438,1.44,715.3,31.9,10.7,1546,16444,0.25,2.35,0.00,0.000,4,0.044,0.050,3308,3687,448
$GC,16471,1.22,715.3,26.9,16.8,1552,16477,0.40,2.40,0.00,0.000,6,0.157,0.035,3204,2107,448
$STATE,16651,end climb,SURFACE_DEPTH_REACHED
$STATE,16651,begin surface coast
$FINISH,1.9,1.009671
$STATE,16672,end surface coast,CONTROL_FINISHED_OK
$STATE,16672,begin surface
$SM_CCo,16748,0.00,0.000,0,0,447,590.19
$SM_GC,2.47,7.72,0.00,0.00,0.036,0.000,0.000,156,2300,447,-8.17,0.42,590.19
$IRIDIUM_FIX,2531.83,12542.83,151098,111107
$TT8_MAMPS,0.047554
$HUMID,1667
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.20
$XPDR_PINGS,399
$24V_AH,23.3,75.722
$10V_AH,10.6,51.827
$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,35.250,167.550,728.725,0.000,0.000,81.585,162.761,337.111,107.750,0.000,0.000,15.392,0.000,11903.075,852.672,3833.738,971.915,0.000,2322.842,0.000,3225.112,0.000,53.992,0.000
$DEVICE_MAMPS,224.731,63.661,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.702,1098.227,1719.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91578,1590
$CAP_FILE_SIZE,192276,0
$CFSIZE,260165632,227323904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.063, 54.9,1
$GPS,210709,163506,2538.502,12541.503,30,2.0,30,-4.0