version: 66.04
glider: 165
mission: 2
dive: 347
start: 7 24 109 4 56 48
data:
$ID,165
$MISSION,2
$DIVE,347
$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,330
$T_MISSION,396
$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,225
$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,-124537.78
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2817
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.5
$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,34
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,044707,2531.284,12544.397,28,1.3,28,-4.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-66.1
$GPS2,045643,2531.312,12544.533,12,1.3,29,-4.0
$SPEED_LIMITS,0.173,0.311
$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,231.5,42536,-14.7,-10.000
$D_GRID,1225
$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,15,-1.11,-219.0,0.0,0.0,0,75,0.00,0.00,-58.70,0.000,2,0.000,0.000,145,2324,2065
$GC,78,-1.11,-219.0,3.2,-4.1,9,136,9.15,2.33,-44.65,0.000,4,0.225,0.053,2455,871,3750
$GC,146,-0.51,-219.0,12.8,-20.6,20,154,0.57,2.17,0.00,0.000,6,0.137,0.041,2648,2248,3750
$GC,475,-0.74,-219.0,49.7,-7.8,81,481,0.17,2.30,0.00,0.000,4,0.051,0.058,2536,3697,3752
$GC,545,-0.48,-219.0,57.9,-12.2,94,551,0.32,2.12,0.00,0.000,6,0.125,0.032,2658,2279,3752
$GC,872,-0.83,-219.0,93.0,-10.2,155,878,0.25,2.12,0.00,0.000,4,0.093,0.041,2525,893,3752
$GC,904,-0.73,-219.0,96.9,-12.8,161,911,0.15,2.25,0.00,0.000,6,0.124,0.042,2574,2319,3753
$GC,1232,-0.73,-219.0,132.8,-9.6,222,1237,0.00,2.20,0.00,0.000,4,0.000,0.043,2574,893,3753
$GC,1307,-0.68,-219.0,140.7,-10.2,236,1314,0.00,2.15,0.00,0.000,6,0.000,0.039,2574,2276,3753
$GC,1635,-0.75,-219.0,172.6,-9.4,297,1640,0.00,2.22,0.00,0.000,4,0.000,0.057,2574,3682,3753
$GC,1678,-0.94,-219.0,177.1,-9.7,305,1684,0.15,2.08,0.00,0.000,6,0.038,0.033,2468,2303,3753
$GC,2005,-0.67,-219.0,224.4,-14.1,366,2012,0.40,2.17,0.00,0.000,4,0.140,0.044,2599,895,3753
$GC,2066,-0.82,-219.0,230.5,-9.1,377,2072,0.15,2.12,0.00,0.000,6,0.052,0.041,2500,2282,3753
$GC,2392,-0.82,-219.0,265.8,-10.0,438,2398,0.17,2.15,0.00,0.000,4,0.117,0.051,2557,898,3753
$GC,2463,-0.88,-219.0,272.7,-9.8,451,2468,0.00,2.05,0.00,0.000,6,0.000,0.042,2553,2228,3753
$GC,2786,-1.05,-219.0,306.4,-9.8,506,2790,0.20,2.30,0.00,0.000,4,0.048,0.057,2438,3685,3753
$GC,2962,-0.77,-219.0,330.8,-13.8,522,2966,0.35,2.15,0.00,0.000,6,0.116,0.035,2570,2268,3753
$GC,3284,-1.04,-219.0,359.0,-9.1,553,3287,0.20,2.25,0.00,0.000,4,0.048,0.058,2449,3676,3752
$GC,3320,-0.87,-219.0,363.1,-12.6,556,3328,0.22,2.10,0.00,0.000,6,0.114,0.034,2529,2283,3751
$GC,3636,-1.03,-219.0,390.8,-8.1,587,3637,0.12,0.00,0.00,0.000,6,0.059,0.000,2451,2282,3750
$GC,3948,-0.96,-219.0,421.8,-10.8,617,3952,0.20,2.15,0.00,0.000,4,0.120,0.045,2520,898,3748
$GC,3975,-0.96,-219.0,424.8,-10.7,619,3980,0.00,2.17,0.00,0.000,6,0.000,0.044,2520,2297,3748
$GC,4295,-1.12,-219.0,458.1,-10.1,650,4296,0.17,0.00,0.00,0.000,6,0.051,0.000,2415,2297,3746
$GC,4608,-0.81,-219.0,499.6,-14.2,680,4612,0.40,2.20,0.00,0.000,4,0.137,0.048,2547,906,3743
$GC,4671,-0.92,-219.0,505.9,-8.9,684,4674,0.00,2.15,0.00,0.000,6,0.000,0.044,2547,2290,3744
$GC,4998,-1.14,-219.0,531.6,-7.8,700,5002,0.22,2.17,0.00,0.000,4,0.047,0.044,2417,896,3742
$GC,5067,-0.85,-219.0,539.9,-13.3,703,5071,0.43,2.28,0.00,0.000,6,0.135,0.046,2544,2325,3741
$GC,5385,-1.05,-219.0,568.4,-9.2,719,5388,0.17,2.17,0.00,0.000,4,0.051,0.060,2437,3685,3739
$GC,5524,-0.81,-219.0,586.2,-13.3,725,5530,0.38,1.95,0.00,0.000,6,0.123,0.037,2556,2387,3737
$GC,5835,-1.10,-219.0,617.4,-10.1,741,5838,0.22,2.33,0.00,0.000,4,0.049,0.046,2429,903,3736
$GC,5860,-1.05,-219.0,620.6,-12.9,742,5864,0.17,2.35,0.00,0.000,6,0.147,0.047,2476,2387,3735
$GC,6179,-1.11,-219.0,653.4,-9.4,758,6182,0.00,2.33,0.00,0.000,4,0.000,0.047,2476,911,3733
$GC,6247,-1.04,-219.0,660.6,-9.7,761,6251,0.00,2.30,0.00,0.000,6,0.000,0.048,2476,2344,3732
$GC,6563,-1.11,-219.0,689.6,-9.4,777,6566,0.00,2.17,0.00,0.000,4,0.000,0.064,2476,3694,3730
$GC,6643,-1.17,-219.0,697.6,-10.4,780,6650,0.08,2.00,0.00,0.000,6,0.052,0.036,2412,2390,3729
$GC,6955,-0.90,-219.0,735.3,-13.5,796,6959,0.35,2.12,0.00,0.000,4,0.134,0.064,2520,3694,3727
$GC,7085,-1.06,-219.0,748.1,-9.3,802,7088,0.12,2.03,0.00,0.000,6,0.060,0.036,2448,2353,3727
$GC,7405,-1.06,-219.0,782.0,-10.5,818,7409,0.10,2.17,0.00,0.000,4,0.137,0.064,2468,3688,3724
$GC,7501,-0.93,-219.0,792.9,-11.4,822,7505,0.17,2.10,0.00,0.000,6,0.127,0.038,2521,2309,3723
$GC,7819,-1.08,-219.0,822.8,-9.7,838,7823,0.15,2.28,0.00,0.000,4,0.060,0.064,2442,3692,3721
$GC,7967,-0.90,-219.0,842.3,-13.5,845,7971,0.22,2.08,0.00,0.000,6,0.122,0.038,2519,2351,3719
$GC,8291,-1.06,-219.0,874.3,-9.6,861,8294,0.12,2.20,0.00,0.000,4,0.063,0.065,2451,3691,3718
$GC,8307,-1.11,-219.0,876.1,-9.8,862,8310,0.00,1.92,0.00,0.000,6,0.000,0.038,2451,2422,3717
$GC,8633,-0.92,-219.0,918.0,-12.8,878,8636,0.22,2.08,0.00,0.000,4,0.137,0.067,2518,3682,3716
$GC,8757,-1.03,-219.0,929.8,-9.3,883,8763,0.00,1.90,0.00,0.000,6,0.000,0.040,2519,2424,3715
$GC,9067,-1.23,-219.0,956.1,-8.1,899,9071,0.28,2.08,0.00,0.000,4,0.045,0.068,2384,3694,3714
$STATE,9289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9289,begin apogee
$GC,9296,-0.29,0.0,990.6,16.2,909,9479,1.05,0.00,179.45,1.384,6,0.143,0.000,2717,2300,2854
$STATE,9479,end apogee,CONTROL_FINISHED_OK
$STATE,9479,begin climb
$GC,9481,1.11,219.0,1002.1,0.0,918,9678,1.23,2.47,186.45,1.341,4,0.044,0.063,3184,3692,1959
$GC,9747,0.27,219.0,975.3,22.7,930,9752,0.95,2.25,0.00,0.000,6,0.177,0.041,2911,2307,1955
$GC,10064,0.24,268.5,946.3,8.5,946,10120,0.00,2.38,45.40,1.251,4,0.000,0.054,2918,896,1758
$GC,10170,0.26,286.0,936.6,9.5,951,10199,0.00,2.28,18.33,1.104,6,0.000,0.044,2918,2303,1688
$GC,10518,0.26,320.9,904.6,8.9,968,10559,0.00,0.00,34.28,1.220,6,0.000,0.000,2918,2302,1544
$GC,10862,0.31,359.8,872.9,8.8,985,10909,0.00,2.35,37.53,1.223,4,0.000,0.054,2928,896,1386
$GC,10952,0.35,359.8,864.6,10.2,989,10956,0.00,2.22,0.00,0.000,6,0.000,0.043,2928,2285,1383
$GC,11267,0.47,379.5,834.5,9.4,1005,11290,0.12,2.35,18.30,1.227,4,0.066,0.061,3000,3680,1307
$GC,11364,0.27,379.5,821.1,15.2,1009,11368,0.35,2.38,0.00,0.000,6,0.140,0.041,2906,2187,1306
$GC,11681,0.50,412.3,792.9,9.0,1025,11716,0.17,2.53,30.83,1.245,4,0.052,0.059,3001,3689,1173
$GC,11743,0.34,412.3,784.9,13.6,1027,11747,0.30,2.55,0.00,0.000,6,0.141,0.041,2927,2097,1172
$GC,12065,0.58,433.1,755.1,9.4,1043,12098,0.17,2.70,21.77,1.111,4,0.054,0.061,3021,3680,1087
$GC,12181,0.38,433.1,737.5,17.0,1048,12185,0.32,2.62,0.00,0.000,6,0.137,0.041,2936,2028,1087
$GC,12492,0.61,433.1,704.1,10.7,1063,12495,0.17,1.80,0.00,0.000,4,0.053,0.054,3034,887,1085
$GC,12582,0.44,433.1,690.8,16.1,1067,12585,0.22,1.75,0.00,0.000,6,0.127,0.042,2960,1987,1083
$GC,12903,0.47,460.9,655.0,9.1,1083,12933,0.00,1.80,26.30,1.164,4,0.000,0.055,2966,893,973
$GC,13048,0.47,460.9,640.1,11.2,1090,13051,0.00,1.80,0.00,0.000,6,0.000,0.041,2966,2030,971
$GC,13374,0.67,460.9,603.0,11.5,1106,13377,0.17,1.85,0.00,0.000,4,0.053,0.054,3065,884,969
$GC,13405,0.59,460.9,598.7,14.5,1107,13409,0.17,1.73,0.00,0.000,6,0.139,0.041,3007,1969,969
$GC,13722,0.50,460.9,556.8,12.7,1123,13726,0.00,2.75,0.00,0.000,4,0.000,0.058,3007,3683,969
$GC,13812,0.41,460.9,544.2,13.0,1127,13816,0.22,2.67,0.00,0.000,6,0.137,0.041,2953,1965,969
$GC,14128,0.80,469.2,512.9,9.7,1143,14141,0.32,1.77,7.43,0.932,4,0.044,0.052,3117,882,941
$GC,14191,0.43,469.2,503.4,17.4,1146,14195,0.52,1.75,0.00,0.000,6,0.150,0.041,2961,1998,941
$GC,14507,0.83,491.8,472.6,9.3,1175,14534,0.30,2.75,21.75,1.024,4,0.044,0.056,3120,3683,849
$GC,14560,0.46,491.8,463.9,19.7,1179,14566,0.55,2.67,0.00,0.000,6,0.144,0.040,2968,1993,848
$GC,14876,0.96,562.4,433.3,7.8,1210,14959,0.40,1.83,73.18,0.976,4,0.048,0.054,3147,887,558
$GC,15088,0.59,562.4,392.1,22.1,1229,15092,0.47,1.90,0.00,0.000,6,0.145,0.041,3006,2086,542
$GC,15403,1.14,562.4,355.6,10.3,1259,15407,0.45,1.92,0.00,0.000,4,0.038,0.051,3220,884,537
$GC,15483,0.57,562.4,338.8,25.5,1266,15487,0.68,2.05,0.00,0.000,6,0.151,0.041,2999,2180,537
$GC,15804,1.12,571.5,303.6,9.7,1297,15816,0.45,2.12,6.20,0.719,4,0.054,0.050,3194,885,521
$GC,15901,0.68,571.5,285.4,21.8,1312,15908,0.52,2.17,0.00,0.000,6,0.143,0.046,3035,2266,518
$GC,16229,1.21,571.5,246.3,12.9,1373,16235,0.43,2.17,0.00,0.000,4,0.048,0.047,3222,888,514
$GC,16283,0.74,571.5,236.6,22.9,1383,16290,0.55,2.40,0.00,0.000,6,0.145,0.041,3056,2420,515
$GC,16611,0.99,571.5,200.3,10.6,1444,16617,0.20,2.03,0.00,0.000,4,0.044,0.054,3177,3695,514
$GC,16702,0.70,571.5,184.9,17.8,1461,16708,0.38,2.10,0.00,0.000,6,0.128,0.038,3047,2351,514
$GC,17030,1.34,603.4,151.0,9.0,1522,17048,0.50,2.35,10.32,0.687,4,0.059,0.050,3267,888,482
$GC,17097,0.82,603.4,138.1,25.4,1534,17103,0.62,2.58,0.00,0.000,6,0.152,0.040,3080,2529,476
$GC,17424,1.43,650.3,100.7,8.6,1595,17431,0.50,1.80,0.00,0.000,4,0.054,0.053,3285,3693,473
$GC,17537,0.91,650.3,77.9,21.5,1616,17544,0.55,1.85,0.00,0.000,6,0.145,0.035,3111,2486,473
$GC,17864,1.12,650.3,41.6,11.0,1677,17871,0.17,0.00,0.00,0.000,6,0.049,0.000,3210,2480,473
$STATE,18119,end climb,SURFACE_DEPTH_REACHED
$STATE,18119,begin surface coast
$FINISH,1.8,1.013773
$STATE,18135,end surface coast,CONTROL_FINISHED_OK
$STATE,18136,begin surface
$SM_CCo,18211,0.00,0.000,0,0,471,584.30
$SM_GC,2.48,7.70,0.00,0.00,0.031,0.000,0.000,166,2241,471,-8.20,-1.24,584.30
$IRIDIUM_FIX,2522.28,12545.31,171098,232318
$TT8_MAMPS,0.049088
$HUMID,1670
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.10
$XPDR_PINGS,520
$24V_AH,22.4,79.515
$10V_AH,10.6,53.838
$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,38.725,178.900,717.500,0.000,0.000,31.249,33.685,343.661,138.000,0.000,0.000,31.384,0.000,12785.074,836.609,4301.609,823.862,0.000,2479.127,0.000,3621.517,0.000,54.052,0.000
$DEVICE_MAMPS,225.498,68.263,1384.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.703,1198.708,1878.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101071,1728
$CAP_FILE_SIZE,208916,0
$CFSIZE,260165632,225972224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.176, 82.8,1
$GPS,240709,100107,2531.260,12545.165,26,1.4,26,-4.0