version: 66.04
glider: 165
mission: 2
dive: 361
start: 7 26 109 10 15 41
data:
$ID,165
$MISSION,2
$DIVE,361
$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,367
$T_MISSION,440
$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,-124882.64
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,49
$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
$GPS1,100907,2527.572,12541.179,36,1.9,36,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.9
$GPS2,101534,2527.639,12541.285,13,3.0,32,-4.0
$SPEED_LIMITS,0.156,0.300
$TGT_NAME,OFF_5
$TGT_LATLONG,2520.300,12530.500
$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,251.2,22597,-13.3,-8.992
$D_GRID,628
$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,-1.05,-219.0,0.0,0.0,0,60,0.00,0.00,-45.72,0.000,2,0.000,0.000,154,2325,2064
$GC,63,-1.05,-219.0,3.3,-3.0,6,120,9.12,2.25,-42.95,0.000,4,0.229,0.053,2456,881,3747
$GC,163,-1.05,-219.0,20.8,-21.1,23,170,0.00,2.15,0.00,0.000,6,0.000,0.039,2454,2250,3749
$GC,491,-1.05,-219.0,81.5,-16.9,84,497,0.00,2.28,0.00,0.000,4,0.000,0.055,2452,3694,3749
$GC,539,-1.05,-219.0,90.6,-19.2,93,545,0.00,2.10,0.00,0.000,6,0.000,0.031,2452,2300,3749
$GC,866,-1.05,-219.0,144.7,-14.9,154,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2294,3750
$GC,1192,-1.05,-219.0,194.3,-14.9,215,1199,0.00,2.17,0.00,0.000,4,0.000,0.044,2452,893,3751
$GC,1237,-1.05,-219.0,201.3,-15.0,223,1244,0.00,2.17,0.00,0.000,6,0.000,0.041,2452,2306,3751
$GC,1565,-1.05,-219.0,248.3,-13.6,284,1570,0.00,2.17,0.00,0.000,4,0.000,0.062,2452,3682,3751
$GC,1602,-1.05,-219.0,253.5,-13.8,291,1609,0.00,2.08,0.00,0.000,6,0.000,0.032,2452,2288,3751
$GC,1929,-1.05,-219.0,295.8,-12.9,352,1935,0.00,2.17,0.00,0.000,4,0.000,0.048,2452,894,3751
$GC,2003,-1.05,-219.0,306.2,-13.6,362,2007,0.00,2.15,0.00,0.000,6,0.000,0.041,2452,2272,3751
$GC,2326,-1.05,-219.0,349.7,-13.4,393,2330,0.00,2.12,0.00,0.000,4,0.000,0.044,2452,891,3751
$GC,2357,-1.05,-219.0,353.7,-13.2,396,2360,0.00,2.15,0.00,0.000,6,0.000,0.041,2452,2269,3751
$GC,2680,-1.05,-219.0,390.3,-10.6,427,2683,0.00,2.12,0.00,0.000,4,0.000,0.044,2452,889,3751
$GC,2748,-1.05,-219.0,397.8,-10.8,433,2754,0.00,2.10,0.00,0.000,6,0.000,0.041,2452,2228,3751
$GC,3064,-1.05,-219.0,430.7,-10.8,464,3068,0.00,2.10,0.00,0.000,4,0.000,0.044,2452,894,3750
$GC,3133,-1.05,-219.0,438.7,-12.0,470,3140,0.00,2.03,0.00,0.000,6,0.000,0.044,2452,2179,3749
$GC,3451,-1.05,-219.0,471.8,-10.3,501,3454,0.00,2.00,0.00,0.000,4,0.000,0.046,2452,890,3748
$GC,3509,-1.05,-219.0,478.6,-11.4,506,3515,0.00,1.98,0.00,0.000,6,0.000,0.044,2452,2138,3747
$GC,3825,-1.05,-219.0,510.9,-10.3,532,3828,0.00,2.47,0.00,0.000,4,0.000,0.059,2452,3691,3746
$GC,3856,-1.05,-219.0,514.3,-10.7,533,3862,0.00,2.33,0.00,0.000,6,0.000,0.034,2452,2150,3745
$GC,4166,-1.05,-219.0,543.5,-10.3,549,4170,0.00,1.95,0.00,0.000,4,0.000,0.048,2452,906,3743
$GC,4187,-1.05,-219.0,546.1,-12.3,550,4191,0.00,1.98,0.00,0.000,6,0.000,0.044,2452,2176,3743
$GC,4514,-1.05,-219.0,581.4,-10.1,566,4518,0.00,2.42,0.00,0.000,4,0.000,0.060,2452,3692,3742
$GC,4636,-1.05,-219.0,595.1,-11.5,572,4640,0.00,2.28,0.00,0.000,6,0.000,0.035,2452,2216,3740
$STATE,4960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4960,begin apogee
$GC,4966,-0.29,0.0,630.1,10.5,588,5144,0.73,0.00,172.35,1.085,6,0.099,0.000,2702,2311,2853
$STATE,5145,end apogee,CONTROL_FINISHED_OK
$STATE,5145,begin climb
$GC,5147,1.05,219.0,643.0,0.0,597,5328,1.15,2.33,172.68,1.068,4,0.047,0.050,3157,911,1960
$GC,5365,1.05,219.0,627.7,16.3,607,5369,0.00,2.25,0.00,0.000,6,0.000,0.043,3157,2292,1956
$GC,5681,1.05,219.0,577.6,14.6,623,5684,0.00,2.20,0.00,0.000,4,0.000,0.048,3167,906,1952
$GC,5782,1.05,219.0,563.5,13.3,627,5788,0.00,2.20,0.00,0.000,6,0.000,0.042,3167,2294,1950
$GC,6093,1.05,219.0,522.6,13.0,643,6096,0.00,2.20,0.00,0.000,4,0.000,0.054,3167,3695,1948
$GC,6215,1.05,219.0,503.6,15.6,648,6223,0.12,2.12,0.00,0.000,6,0.191,0.037,3142,2329,1948
$GC,6533,1.05,219.0,463.3,12.5,677,6536,0.00,2.22,0.00,0.000,4,0.000,0.046,3151,884,1946
$GC,6633,1.05,219.0,450.5,12.7,686,6640,0.00,2.22,0.00,0.000,6,0.000,0.041,3151,2300,1946
$GC,6951,1.05,219.0,414.4,11.6,717,6955,0.00,2.22,0.00,0.000,4,0.000,0.048,3162,887,1944
$GC,6998,1.05,219.0,408.7,11.5,721,7004,0.00,2.17,0.00,0.000,6,0.000,0.041,3162,2269,1944
$GC,7316,1.05,219.0,371.4,11.8,752,7319,0.00,2.25,0.00,0.000,4,0.000,0.052,3162,3697,1943
$GC,7352,1.05,219.0,366.5,13.3,755,7358,0.12,2.20,0.00,0.000,6,0.204,0.035,3144,2249,1943
$GC,7667,1.05,219.0,330.9,10.2,786,7671,0.00,2.30,0.00,0.000,4,0.000,0.052,3144,3693,1942
$GC,7769,1.05,219.0,319.9,11.2,795,7776,0.00,2.12,0.00,0.000,6,0.000,0.035,3154,2288,1942
$GC,8088,1.05,219.0,287.6,10.7,836,8094,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2288,1942
$GC,8414,1.05,219.0,255.2,10.0,897,8420,0.00,2.15,0.00,0.000,4,0.000,0.046,3163,905,1942
$GC,8627,1.05,219.0,235.1,9.3,937,8633,0.00,2.22,0.00,0.000,6,0.000,0.039,3163,2344,1941
$GC,8954,1.12,271.7,205.7,7.5,998,9003,0.00,2.35,41.03,0.791,4,0.000,0.044,3174,903,1744
$GC,9111,1.12,271.7,190.9,10.0,1026,9116,0.00,2.22,0.00,0.000,6,0.000,0.041,3174,2323,1741
$GC,9437,1.12,271.7,153.9,12.7,1087,9443,0.00,2.22,0.00,0.000,4,0.000,0.044,3184,897,1741
$GC,9538,1.12,271.7,142.4,10.6,1106,9544,0.00,2.20,0.00,0.000,6,0.000,0.040,3183,2294,1740
$GC,9864,1.12,271.7,112.0,10.0,1167,9870,0.00,2.17,0.00,0.000,4,0.000,0.051,3184,3692,1740
$GC,9908,1.12,271.7,107.9,9.9,1175,9914,0.10,2.15,0.00,0.000,6,0.182,0.033,3165,2281,1740
$GC,10235,1.25,382.1,86.3,5.9,1236,10329,0.12,2.28,88.82,0.682,4,0.071,0.048,3222,3684,1294
$GC,10420,1.25,382.1,65.2,13.4,1268,10428,0.08,2.10,0.00,0.000,6,0.179,0.034,3210,2331,1293
$GC,10748,1.25,382.1,29.4,10.6,1329,10754,0.00,2.22,0.00,0.000,4,0.000,0.048,3219,890,1291
$GC,10925,1.26,386.8,11.2,8.9,1362,10937,0.00,2.17,4.35,0.419,6,0.000,0.037,3220,2316,1277
$STATE,10998,end climb,SURFACE_DEPTH_REACHED
$STATE,10998,begin surface coast
$FINISH,1.4,1.008542
$STATE,11027,end surface coast,CONTROL_FINISHED_OK
$STATE,11027,begin surface
$SM_CCo,11043,68.90,0.596,0,0,915,475.15
$SM_GC,2.25,0.00,0.00,68.90,0.000,0.000,0.596,149,2319,915,-8.29,0.96,475.15
$IRIDIUM_FIX,2517.50,12542.52,201098,070715
$TT8_MAMPS,0.047554
$HUMID,1617
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.80
$XPDR_PINGS,573
$24V_AH,23.8,82.407
$10V_AH,10.6,55.582
$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,19.250,109.375,479.225,68.900,0.000,27.786,32.422,182.114,147.750,0.000,0.000,35.039,0.000,7151.157,666.466,3118.171,542.290,0.000,1816.559,0.000,2650.791,0.000,32.567,0.000
$DEVICE_MAMPS,228.566,77.467,1084.538,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,925.585,1009.750,1657.257,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79047,1381
$CAP_FILE_SIZE,123351,0
$CFSIZE,260165632,224968704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149, 49.7,1
$GPS,260709,132200,2527.765,12541.149,38,1.6,43,-4.0