version: 66.04
glider: 165
mission: 2
dive: 340
start: 7 22 109 16 22 25
data:
$ID,165
$MISSION,2
$DIVE,340
$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,-124343.12
$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,41
$R_STBD_OVSHOOT,46
$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
$GPS1,161525,2534.351,12541.177,39,1.9,39,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-67.6
$GPS2,162220,2534.459,12541.267,10,1.8,10,-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,197.4,46104,-16.4,-12.000
$D_GRID,1434
$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,-57.97,0.000,2,0.000,0.000,148,2321,1872
$GC,75,-1.08,-243.4,3.1,-3.3,9,146,9.12,2.22,-55.42,0.000,4,0.225,0.064,2452,3674,3848
$GC,199,-0.62,-243.4,24.5,-25.6,30,206,0.45,2.15,0.00,0.000,6,0.122,0.036,2612,2263,3849
$GC,526,-0.70,-243.4,66.5,-11.6,91,533,0.00,2.08,0.00,0.000,4,0.000,0.040,2613,899,3849
$GC,570,-0.85,-243.4,71.7,-12.1,99,578,0.17,2.10,0.00,0.000,6,0.037,0.036,2511,2256,3849
$GC,898,-0.69,-243.4,122.6,-13.5,160,904,0.25,2.25,0.00,0.000,4,0.123,0.050,2588,3689,3850
$GC,947,-0.78,-243.4,128.0,-10.3,169,953,0.00,2.10,0.00,0.000,6,0.000,0.031,2588,2256,3850
$GC,1275,-1.10,-243.4,161.8,-11.0,230,1281,0.32,2.25,0.00,0.000,4,0.079,0.051,2421,3685,3851
$GC,1398,-0.81,-243.4,182.7,-18.8,253,1404,0.35,2.03,0.00,0.000,6,0.117,0.031,2553,2327,3851
$GC,1724,-1.02,-243.4,214.3,-8.5,314,1731,0.20,2.15,0.00,0.000,4,0.047,0.057,2439,3691,3852
$GC,1773,-0.89,-243.4,220.0,-13.0,323,1780,0.28,1.95,0.00,0.000,6,0.123,0.031,2526,2362,3852
$GC,2102,-1.09,-243.4,253.5,-11.4,384,2109,0.17,2.12,0.00,0.000,4,0.050,0.054,2420,3686,3852
$GC,2130,-1.02,-243.4,257.4,-13.7,389,2135,0.20,1.85,0.00,0.000,6,0.130,0.032,2482,2414,3852
$GC,2456,-1.11,-243.4,294.8,-10.7,450,2462,0.00,2.35,0.00,0.000,4,0.000,0.044,2482,892,3852
$GC,2536,-1.11,-243.4,304.1,-11.3,462,2542,0.00,2.38,0.00,0.000,6,0.000,0.044,2482,2391,3852
$GC,2854,-1.24,-243.4,340.0,-11.4,493,2858,0.17,2.33,0.00,0.000,4,0.052,0.043,2372,892,3851
$GC,2907,-0.88,-243.4,348.6,-16.7,498,2911,0.50,2.28,0.00,0.000,6,0.140,0.044,2524,2349,3851
$GC,3228,-1.12,-243.4,382.9,-10.5,529,3232,0.20,2.10,0.00,0.000,4,0.048,0.058,2414,3689,3850
$GC,3313,-0.84,-243.4,395.7,-16.8,537,3317,0.40,1.90,0.00,0.000,6,0.124,0.034,2543,2403,3849
$GC,3634,-1.12,-243.4,429.1,-9.4,568,3637,0.25,2.03,0.00,0.000,4,0.044,0.058,2408,3679,3847
$GC,3698,-0.87,-243.4,437.4,-14.3,574,3701,0.35,1.85,0.00,0.000,6,0.127,0.035,2537,2443,3846
$GC,4019,-1.16,-243.4,467.3,-9.1,605,4023,0.25,1.98,0.00,0.000,4,0.044,0.058,2400,3683,3845
$GC,4051,-1.01,-243.4,471.0,-12.3,608,4054,0.22,1.83,0.00,0.000,6,0.131,0.035,2477,2460,3844
$GC,4381,-1.15,-243.4,504.1,-9.8,638,4385,0.12,2.42,0.00,0.000,4,0.062,0.044,2402,897,3842
$GC,4477,-0.91,-243.4,517.1,-13.7,642,4481,0.38,2.42,0.00,0.000,6,0.137,0.045,2515,2438,3842
$GC,4794,-1.14,-243.4,547.3,-9.1,658,4797,0.17,1.98,0.00,0.000,4,0.051,0.059,2412,3683,3841
$GC,4846,-1.01,-243.4,553.5,-12.1,660,4850,0.20,1.83,0.00,0.000,6,0.130,0.035,2480,2477,3840
$GC,5163,-1.15,-243.4,584.5,-10.1,676,5167,0.12,2.47,0.00,0.000,4,0.064,0.044,2410,892,3838
$GC,5226,-0.97,-243.4,592.9,-14.1,679,5230,0.32,2.42,0.00,0.000,6,0.134,0.045,2499,2431,3838
$GC,5551,-1.18,-243.4,625.0,-10.9,695,5554,0.17,2.00,0.00,0.000,4,0.053,0.061,2396,3685,3835
$GC,5630,-0.95,-243.4,636.3,-13.7,698,5636,0.30,1.88,0.00,0.000,6,0.128,0.037,2497,2455,3834
$GC,5940,-1.15,-243.4,668.2,-10.8,714,5944,0.17,2.42,0.00,0.000,4,0.054,0.046,2403,899,3833
$GC,5983,-0.90,-243.4,674.0,-14.8,716,5987,0.40,2.45,0.00,0.000,6,0.135,0.049,2522,2441,3832
$GC,6306,-1.20,-243.4,703.3,-9.1,732,6309,0.25,1.98,0.00,0.000,4,0.047,0.061,2388,3676,3830
$GC,6446,-0.95,-243.4,723.3,-14.9,738,6449,0.38,1.77,0.00,0.000,6,0.133,0.037,2505,2482,3828
$GC,6763,-1.21,-243.4,752.1,-8.6,754,6767,0.20,1.95,0.00,0.000,4,0.049,0.063,2395,3688,3826
$GC,6794,-1.04,-243.4,755.8,-12.3,755,6798,0.22,1.75,0.00,0.000,6,0.140,0.036,2469,2531,3825
$GC,7110,-1.04,-243.4,788.4,-10.0,771,7114,0.00,2.58,0.00,0.000,4,0.000,0.048,2469,903,3824
$GC,7191,-1.04,-243.4,796.5,-10.1,775,7195,0.00,2.55,0.00,0.000,6,0.000,0.048,2468,2500,3823
$GC,7512,-1.00,-243.4,829.0,-10.2,791,7516,0.00,2.55,0.00,0.000,4,0.000,0.048,2468,901,3820
$GC,7576,-1.00,-243.4,835.4,-10.2,794,7579,0.00,2.53,0.00,0.000,6,0.000,0.048,2468,2482,3820
$GC,7891,-0.95,-243.4,867.7,-10.3,810,7892,0.12,0.00,0.00,0.000,6,0.145,0.000,2504,2482,3818
$GC,8196,-1.22,-243.4,894.1,-9.1,825,8200,0.25,1.95,0.00,0.000,4,0.047,0.068,2384,3673,3816
$GC,8293,-0.96,-243.4,908.4,-15.7,829,8296,0.38,1.80,0.00,0.000,6,0.135,0.038,2500,2481,3815
$GC,8608,-1.21,-243.4,941.5,-10.0,845,8612,0.22,2.50,0.00,0.000,4,0.050,0.049,2391,905,3814
$GC,8624,-1.32,-243.4,943.4,-10.7,846,8628,0.00,2.55,0.00,0.000,6,0.000,0.051,2386,2491,3813
$STATE,8901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8901,begin apogee
$GC,8907,-0.24,0.0,993.2,18.1,860,9110,1.10,0.00,200.27,1.383,6,0.143,0.000,2728,2319,2854
$STATE,9110,end apogee,CONTROL_FINISHED_OK
$STATE,9111,begin climb
$GC,9113,1.08,243.4,1009.1,0.0,870,9331,1.15,2.42,208.23,1.338,4,0.046,0.063,3163,3678,1860
$GC,9400,0.47,243.4,983.8,19.7,883,9405,0.73,2.20,0.00,0.000,6,0.165,0.041,2966,2308,1855
$GC,9716,0.59,337.9,954.9,8.9,899,9803,0.00,2.42,82.88,1.307,4,0.000,0.055,2972,876,1475
$GC,9849,0.75,397.6,941.6,10.0,905,9915,0.22,2.28,56.08,1.243,6,0.050,0.042,3071,2291,1233
$GC,10232,0.62,397.6,883.9,14.9,924,10236,0.22,2.25,0.00,0.000,4,0.139,0.052,3013,890,1226
$GC,10281,0.68,420.1,878.1,11.3,926,10312,0.00,2.17,22.88,1.136,6,0.000,0.041,3013,2267,1141
$GC,10619,0.73,426.6,838.2,11.8,942,10627,0.00,0.00,6.72,1.025,6,0.000,0.000,3013,2267,1115
$GC,10923,0.80,449.6,803.8,11.2,957,10952,0.15,2.33,22.73,1.224,4,0.063,0.053,3105,888,1020
$GC,11012,0.61,449.6,788.7,17.8,961,11016,0.32,2.17,0.00,0.000,6,0.142,0.042,3009,2249,1018
$GC,11327,0.72,471.4,751.9,11.3,977,11361,0.00,2.30,22.75,1.113,4,0.000,0.052,3018,881,931
$GC,11384,0.82,476.0,745.6,11.8,979,11394,0.17,2.17,5.72,0.923,6,0.058,0.041,3109,2242,913
$GC,11712,0.67,476.0,688.5,17.6,996,11716,0.25,2.17,0.00,0.000,4,0.139,0.050,3039,890,910
$GC,11743,0.67,476.0,683.7,12.0,997,11749,0.00,2.10,0.00,0.000,6,0.000,0.041,3039,2225,910
$GC,12053,0.71,484.3,646.7,11.7,1013,12067,0.00,2.20,8.77,1.041,4,0.000,0.051,3048,885,878
$GC,12100,0.71,484.3,640.6,13.2,1015,12104,0.00,2.10,0.00,0.000,6,0.000,0.040,3048,2206,878
$GC,12422,0.71,484.3,601.4,12.1,1031,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2205,877
$GC,12727,0.72,486.6,565.7,11.9,1046,12730,0.00,2.10,0.00,0.000,4,0.000,0.051,3057,887,877
$GC,12763,0.72,486.6,560.9,12.7,1047,12770,0.00,2.08,0.00,0.000,6,0.000,0.039,3057,2194,877
$GC,13075,0.72,487.8,523.6,12.0,1063,13083,0.00,2.10,4.45,0.765,4,0.000,0.051,3066,889,865
$GC,13122,0.72,487.8,517.5,12.9,1065,13125,0.00,2.03,0.00,0.000,6,0.000,0.039,3066,2168,865
$GC,13436,0.72,487.8,476.4,13.3,1089,13440,0.00,2.45,0.00,0.000,4,0.000,0.057,3066,3693,865
$GC,13462,0.72,487.8,472.7,13.9,1091,13466,0.12,2.40,0.00,0.000,6,0.148,0.038,3041,2152,864
$GC,13783,1.07,551.0,438.1,9.9,1122,13852,0.30,2.55,62.40,1.008,4,0.044,0.054,3180,3683,604
$GC,13911,0.82,551.0,414.6,19.7,1133,13917,0.40,2.50,0.00,0.000,6,0.141,0.039,3073,2109,597
$GC,14226,1.41,616.0,377.7,9.8,1164,14284,0.52,1.98,37.45,0.825,4,0.057,0.052,3284,888,481
$GC,14333,0.85,616.0,352.9,30.3,1173,14340,0.70,1.95,0.00,0.000,6,0.165,0.040,3085,2115,473
$GC,14648,1.45,634.0,313.5,11.4,1204,14652,0.52,2.53,0.00,0.000,4,0.058,0.054,3285,3686,465
$GC,14734,0.94,634.0,295.1,30.4,1213,14741,0.62,2.38,0.00,0.000,6,0.159,0.038,3114,2163,465
$GC,15060,0.94,634.0,249.1,13.0,1274,15067,0.00,2.05,0.00,0.000,4,0.000,0.052,3122,884,462
$GC,15109,0.94,634.0,242.5,13.6,1283,15115,0.00,1.95,0.00,0.000,6,0.000,0.037,3122,2153,462
$GC,15435,1.10,634.0,201.5,12.6,1344,15441,0.12,2.45,0.00,0.000,4,0.064,0.051,3192,3691,461
$GC,15516,0.92,634.0,188.0,18.3,1359,15522,0.32,2.55,0.00,0.000,6,0.136,0.041,3105,2048,461
$GC,15843,1.64,745.8,153.0,8.3,1420,15849,0.60,1.80,0.00,0.000,4,0.085,0.047,3334,882,459
$GC,15897,1.12,745.8,142.4,27.1,1430,15904,0.50,2.05,0.00,0.000,6,0.165,0.038,3173,2195,459
$GC,16225,1.12,745.8,95.1,13.2,1491,16230,0.00,2.35,0.00,0.000,4,0.000,0.051,3173,3690,459
$GC,16252,1.12,745.8,91.7,12.7,1496,16258,0.00,2.33,0.00,0.000,6,0.000,0.034,3183,2154,459
$GC,16578,1.12,745.8,56.5,12.1,1557,16584,0.00,2.00,0.00,0.000,4,0.000,0.046,3192,881,458
$GC,16696,1.12,745.8,43.2,12.5,1579,16702,0.00,1.95,0.00,0.000,6,0.000,0.035,3192,2137,458
$GC,17023,1.16,772.7,7.0,11.1,1640,17029,0.00,2.00,0.00,0.000,4,0.000,0.046,3201,882,458
$GC,17034,1.20,773.7,5.5,12.0,1642,17041,0.00,1.95,0.00,0.000,6,0.000,0.041,3201,2137,458
$STATE,17054,end climb,SURFACE_DEPTH_REACHED
$STATE,17054,begin surface coast
$FINISH,1.7,1.021079
$STATE,17076,end surface coast,CONTROL_FINISHED_OK
$STATE,17076,begin surface
$SM_CCo,17152,0.00,0.000,0,0,457,587.98
$SM_GC,2.45,7.68,0.00,0.00,0.032,0.000,0.000,155,2305,457,-8.18,0.57,587.98
$IRIDIUM_FIX,2527.05,12543.37,161098,111101
$TT8_MAMPS,0.048321
$HUMID,1645
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,26.40
$XPDR_PINGS,467
$24V_AH,23.2,77.463
$10V_AH,10.6,52.703
$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,35.025,179.225,741.325,0.000,0.000,29.581,31.071,217.040,124.750,0.000,0.000,12.205,0.000,12053.367,873.541,3936.297,669.006,0.000,2398.472,0.000,3323.812,0.000,55.652,0.000
$DEVICE_MAMPS,225.498,68.263,1382.901,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1113.013,1145.079,1794.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94715,1650
$CAP_FILE_SIZE,193306,0
$CFSIZE,260165632,226734080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.089, 52.6,1
$GPS,220709,210906,2533.073,12541.343,28,1.4,28,-4.0