version: 66.04
glider: 165
mission: 2
dive: 336
start: 7 21 109 21 27 11
data:
$ID,165
$MISSION,2
$DIVE,336
$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,-124281.27
$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,63
$R_STBD_OVSHOOT,24
$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
$GPS1,211925,2537.520,12541.118,40,1.3,40,-4.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-63.8
$GPS2,212706,2537.629,12541.338,10,1.4,26,-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,200.8,51808,-16.4,-12.000
$D_GRID,1523
$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,-57.50,0.000,2,0.000,0.000,154,2238,1883
$GC,75,-1.08,-243.4,3.1,-2.4,9,145,8.93,2.38,-51.78,0.000,4,0.220,0.066,2452,3689,3849
$GC,177,-0.58,-243.4,22.7,-28.2,26,183,0.47,2.15,0.00,0.000,6,0.132,0.038,2618,2283,3850
$GC,504,-0.74,-243.4,66.5,-12.8,87,511,0.15,2.10,0.00,0.000,4,0.055,0.040,2533,902,3851
$GC,543,-0.68,-243.4,72.3,-15.7,94,549,0.15,2.12,0.00,0.000,6,0.123,0.040,2584,2256,3851
$GC,869,-0.97,-243.4,111.2,-10.9,155,877,0.20,2.10,0.00,0.000,4,0.046,0.040,2458,887,3852
$GC,903,-0.79,-243.4,115.7,-14.6,161,910,0.28,2.08,0.00,0.000,6,0.128,0.039,2563,2225,3852
$GC,1231,-1.03,-243.4,150.8,-10.4,222,1237,0.20,2.30,0.00,0.000,4,0.049,0.052,2441,3685,3853
$GC,1377,-0.77,-243.4,172.6,-16.5,249,1384,0.32,2.10,0.00,0.000,6,0.120,0.033,2564,2280,3853
$GC,1704,-1.09,-243.4,207.8,-11.4,310,1710,0.28,0.00,0.00,0.000,6,0.041,0.000,2414,2278,3854
$GC,2030,-0.78,-243.4,258.2,-16.0,371,2037,0.43,2.25,0.00,0.000,4,0.133,0.055,2548,3694,3854
$GC,2107,-0.92,-243.4,266.5,-9.4,385,2112,0.00,2.05,0.00,0.000,6,0.000,0.032,2547,2306,3854
$GC,2433,-1.21,-243.4,299.9,-11.2,446,2443,0.30,2.17,0.00,0.000,4,0.087,0.043,2395,891,3853
$GC,2453,-1.28,-243.4,302.6,-12.1,448,2459,0.00,2.25,0.00,0.000,6,0.000,0.044,2386,2312,3854
$GC,2769,-0.92,-243.4,356.2,-17.0,479,2773,0.38,2.17,0.00,0.000,4,0.140,0.057,2498,3692,3853
$GC,2844,-0.87,-243.4,365.9,-12.9,486,2847,0.10,2.03,0.00,0.000,6,0.131,0.034,2528,2329,3853
$GC,3165,-1.10,-243.4,399.1,-9.9,517,3169,0.17,2.15,0.00,0.000,4,0.050,0.058,2424,3683,3852
$GC,3256,-0.87,-243.4,411.1,-15.2,525,3259,0.32,1.95,0.00,0.000,6,0.125,0.035,2526,2376,3850
$GC,3576,-1.14,-243.4,442.0,-9.5,556,3580,0.22,2.08,0.00,0.000,4,0.048,0.059,2408,3682,3849
$GC,3602,-1.08,-243.4,445.2,-13.0,558,3609,0.15,1.98,0.00,0.000,6,0.129,0.041,2460,2389,3848
$GC,3918,-1.18,-243.4,481.5,-11.2,589,3922,0.00,2.08,0.00,0.000,4,0.000,0.060,2460,3691,3846
$GC,4009,-1.27,-243.4,492.1,-11.7,597,4015,0.12,2.05,0.00,0.000,6,0.044,0.038,2382,2349,3846
$GC,4323,-0.94,-243.4,542.2,-16.7,616,4327,0.38,2.28,0.00,0.000,4,0.138,0.045,2502,889,3843
$GC,4349,-0.88,-243.4,546.1,-12.3,617,4353,0.00,2.33,0.00,0.000,6,0.000,0.044,2502,2354,3843
$GC,4665,-1.09,-243.4,576.2,-9.6,633,4669,0.12,2.12,0.00,0.000,4,0.062,0.061,2422,3686,3841
$GC,4746,-0.94,-243.4,585.5,-12.6,637,4749,0.28,1.92,0.00,0.000,6,0.127,0.035,2508,2393,3839
$GC,5073,-1.18,-243.4,617.2,-9.7,653,5077,0.20,2.35,0.00,0.000,4,0.051,0.045,2395,886,3838
$GC,5094,-1.18,-243.4,619.7,-11.7,654,5098,0.15,2.40,0.00,0.000,6,0.158,0.045,2427,2418,3837
$GC,5410,-1.01,-243.4,660.8,-13.2,670,5411,0.20,0.00,0.00,0.000,6,0.142,0.000,2487,2417,3835
$GC,5716,-1.22,-243.4,690.6,-9.7,685,5720,0.17,2.42,0.00,0.000,4,0.053,0.048,2386,889,3834
$GC,5774,-0.96,-243.4,698.9,-14.6,688,5778,0.38,2.40,0.00,0.000,6,0.140,0.050,2499,2392,3834
$GC,6097,-1.22,-243.4,731.0,-9.8,704,6101,0.20,2.08,0.00,0.000,4,0.049,0.064,2386,3680,3831
$GC,6192,-0.96,-243.4,745.4,-16.6,708,6199,0.32,1.92,0.00,0.000,6,0.132,0.038,2493,2423,3829
$GC,6506,-1.17,-243.4,776.6,-9.8,724,6510,0.17,2.40,0.00,0.000,4,0.056,0.048,2404,901,3827
$GC,6532,-1.09,-243.4,780.2,-12.9,725,6536,0.20,2.45,0.00,0.000,6,0.153,0.051,2456,2431,3827
$GC,6855,-1.01,-243.4,819.1,-11.6,741,6858,0.10,2.03,0.00,0.000,4,0.156,0.066,2481,3679,3825
$GC,6892,-1.01,-243.4,823.3,-10.4,742,6897,0.00,1.88,0.00,0.000,6,0.000,0.038,2482,2440,3824
$GC,7202,-1.01,-243.4,855.7,-10.5,758,7205,0.00,2.45,0.00,0.000,4,0.000,0.051,2482,889,3822
$GC,7239,-1.01,-243.4,859.8,-11.1,759,7247,0.00,2.50,0.00,0.000,6,0.000,0.050,2481,2433,3821
$GC,7550,-1.01,-243.4,892.4,-10.2,775,7553,0.00,2.03,0.00,0.000,4,0.000,0.067,2481,3682,3819
$GC,7581,-1.01,-243.4,895.8,-10.5,776,7585,0.00,1.90,0.00,0.000,6,0.000,0.038,2482,2445,3819
$GC,7897,-1.01,-243.4,928.1,-10.1,792,7901,0.00,2.45,0.00,0.000,4,0.000,0.051,2482,902,3818
$GC,7945,-1.04,-243.4,933.2,-10.5,794,7949,0.00,2.45,0.00,0.000,6,0.000,0.052,2481,2422,3817
$GC,8266,-1.04,-243.4,966.5,-10.4,810,8269,0.00,2.08,0.00,0.000,4,0.000,0.069,2481,3676,3815
$GC,8292,-1.04,-243.4,969.2,-10.8,811,8296,0.00,1.90,0.00,0.000,6,0.000,0.036,2481,2437,3814
$STATE,8509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8509,begin apogee
$GC,8515,-0.24,0.0,991.1,10.0,822,8718,0.75,0.00,200.40,1.379,6,0.114,0.000,2730,2308,2854
$STATE,8718,end apogee,CONTROL_FINISHED_OK
$STATE,8719,begin climb
$GC,8721,1.08,243.4,1005.5,0.0,832,8936,1.17,2.50,208.90,1.336,4,0.038,0.057,3193,894,1860
$GC,8953,0.48,243.4,989.0,18.5,843,8961,0.80,2.35,0.00,0.000,6,0.163,0.048,2969,2295,1856
$GC,9263,0.58,327.2,958.7,9.2,859,9338,0.00,0.00,73.75,1.307,6,0.000,0.000,2969,2295,1520
$GC,9629,0.74,404.1,923.2,9.5,877,9703,0.17,2.38,69.20,1.295,4,0.054,0.054,3071,893,1205
$GC,9794,0.61,404.1,899.2,15.2,885,9798,0.22,2.28,0.00,0.000,6,0.140,0.044,3006,2282,1199
$GC,10121,0.67,425.2,861.7,11.3,901,10152,0.00,2.28,21.33,1.133,4,0.000,0.054,3011,900,1118
$GC,10178,0.74,425.3,854.8,12.0,904,10182,0.10,2.20,0.00,0.000,6,0.079,0.042,3066,2269,1118
$GC,10505,0.64,425.3,804.6,15.9,920,10508,0.17,2.20,0.00,0.000,4,0.140,0.050,3025,900,1116
$GC,10535,0.64,425.3,800.2,13.1,921,10542,0.00,2.17,0.00,0.000,6,0.000,0.042,3025,2251,1115
$GC,10846,0.64,428.6,761.5,11.9,937,10850,0.00,2.15,0.00,0.000,4,0.000,0.052,3034,901,1114
$GC,10867,0.64,428.6,758.8,12.7,938,10871,0.00,2.12,0.00,0.000,6,0.000,0.043,3034,2250,1114
$GC,11193,0.64,428.6,718.2,12.0,954,11197,0.00,2.17,0.00,0.000,4,0.000,0.051,3043,905,1114
$GC,11219,0.64,428.6,714.9,12.6,955,11223,0.00,2.10,0.00,0.000,6,0.000,0.041,3042,2224,1112
$GC,11541,0.64,428.6,674.1,12.7,971,11544,0.00,2.12,0.00,0.000,4,0.000,0.051,3052,887,1113
$GC,11594,0.59,428.6,667.2,13.3,973,11598,0.15,2.10,0.00,0.000,6,0.124,0.041,3000,2207,1112
$GC,11910,0.85,467.3,634.0,10.7,989,11960,0.22,2.47,40.65,1.117,4,0.048,0.059,3111,3695,947
$GC,12063,0.66,467.3,605.9,17.8,996,12067,0.35,2.47,0.00,0.000,6,0.141,0.039,3019,2128,945
$GC,12380,0.91,491.8,568.4,11.2,1012,12408,0.20,2.60,22.50,1.090,4,0.050,0.056,3121,3679,848
$GC,12486,0.73,491.8,551.0,16.7,1017,12490,0.30,2.58,0.00,0.000,6,0.141,0.041,3044,2061,847
$GC,12809,0.77,496.2,512.7,11.9,1033,12815,0.00,0.00,5.20,0.811,6,0.000,0.000,3044,2061,830
$GC,13116,0.83,496.2,474.6,12.6,1057,13120,0.00,2.62,0.00,0.000,4,0.000,0.055,3043,3684,830
$GC,13153,0.83,496.2,469.7,13.8,1060,13156,0.00,2.50,0.00,0.000,6,0.000,0.037,3053,2079,830
$GC,13477,1.12,543.1,432.3,10.4,1091,13533,0.28,2.70,46.00,1.001,4,0.047,0.053,3186,3686,634
$GC,13629,0.79,543.1,402.4,20.4,1105,13633,0.45,2.65,0.00,0.000,6,0.148,0.038,3067,2008,630
$GC,13944,1.07,557.1,361.2,11.5,1135,13969,0.25,1.75,16.33,0.811,4,0.045,0.048,3195,888,581
$GC,13992,0.81,557.1,353.2,19.1,1139,13995,0.40,1.77,0.00,0.000,6,0.138,0.038,3075,2021,574
$GC,14312,1.30,597.6,313.5,10.7,1170,14357,0.43,1.88,30.10,0.801,4,0.043,0.050,3265,897,482
$GC,14395,0.79,597.6,294.8,27.2,1179,14401,0.68,1.73,0.00,0.000,6,0.153,0.038,3066,1992,474
$GC,14723,1.44,647.5,253.2,10.3,1240,14729,0.55,0.00,0.00,0.000,6,0.097,0.000,3268,1996,465
$GC,15050,1.07,647.5,181.3,22.1,1301,15056,0.35,2.72,0.00,0.000,4,0.145,0.055,3157,3696,464
$GC,15098,1.01,647.5,173.5,14.7,1310,15104,0.12,2.45,0.00,0.000,6,0.137,0.035,3131,2094,464
$GC,15425,1.25,647.5,132.4,12.7,1371,15432,0.22,2.55,0.00,0.000,4,0.046,0.051,3242,3689,462
$GC,15459,1.08,647.5,127.0,17.7,1377,15465,0.32,2.55,0.00,0.000,6,0.152,0.036,3159,2018,462
$GC,15785,1.08,647.5,82.8,13.3,1438,15791,0.00,2.65,0.00,0.000,4,0.000,0.049,3159,3687,461
$GC,15898,1.10,662.5,68.9,11.5,1459,15905,0.00,2.50,0.00,0.000,6,0.000,0.034,3170,2040,461
$GC,16226,1.37,686.3,32.8,11.2,1520,16232,0.20,1.80,0.00,0.000,4,0.106,0.045,3284,879,460
$GC,16280,1.13,686.3,24.6,16.8,1530,16286,0.32,1.77,0.00,0.000,6,0.137,0.035,3178,2032,460
$STATE,16459,end climb,SURFACE_DEPTH_REACHED
$STATE,16459,begin surface coast
$FINISH,1.8,1.020834
$STATE,16486,end surface coast,CONTROL_FINISHED_OK
$STATE,16486,begin surface
$SM_CCo,16562,0.00,0.000,0,0,460,587.49
$SM_GC,2.44,7.65,0.00,0.00,0.035,0.000,0.000,150,2301,460,-8.19,0.45,587.49
$IRIDIUM_FIX,2529.44,12540.04,151098,161625
$TT8_MAMPS,0.048321
$HUMID,1641
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.10
$XPDR_PINGS,404
$24V_AH,23.3,76.302
$10V_AH,10.6,52.116
$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,32.900,169.675,734.350,0.000,0.000,24.838,42.775,235.710,109.000,0.000,0.000,28.007,0.000,11697.285,916.813,3684.563,689.524,0.000,2309.028,0.000,3091.378,0.000,56.302,0.000
$DEVICE_MAMPS,220.129,69.030,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.501,1100.595,1717.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91423,1569
$CAP_FILE_SIZE,182888,0
$CFSIZE,260165632,227131392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.117,  5.6,1
$GPS,220709,020406,2536.567,12540.957,32,1.7,32,-4.0