version: 66.04
glider: 165
mission: 2
dive: 386
start: 7 31 109 1 58 13
data:
$ID,165
$MISSION,2
$DIVE,386
$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,-5
$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,-125615.26
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.5
$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,31
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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
$GPS1,012957,2510.034,12537.110,29,2.1,48,-3.9
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-69.8
$GPS2,015806,2509.960,12537.081,12,1.2,28,-3.9
$SPEED_LIMITS,0.156,0.300
$TGT_NAME,RET_1
$TGT_LATLONG,2441.200,12552.200
$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,157.8,59027,-13.3,-8.992
$D_GRID,700
$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,-0.89,-219.0,0.0,0.0,0,59,0.00,0.00,-44.60,0.000,2,0.000,0.000,156,2286,2028
$GC,62,-0.89,-219.0,3.0,-3.6,7,127,9.18,2.25,-46.85,0.000,4,0.227,0.054,2452,866,3749
$GC,170,-0.89,-219.0,17.8,-17.5,25,176,0.00,2.22,0.00,0.000,6,0.000,0.040,2452,2283,3749
$GC,497,-0.89,-219.0,74.1,-16.2,86,502,0.00,2.20,0.00,0.000,4,0.000,0.055,2452,3682,3749
$GC,609,-0.89,-219.0,92.2,-15.4,107,615,0.00,2.08,0.00,0.000,6,0.000,0.031,2452,2307,3749
$GC,935,-0.89,-219.0,137.0,-12.9,168,942,0.00,2.15,0.00,0.000,4,0.000,0.042,2452,890,3749
$GC,968,-0.89,-219.0,141.6,-14.4,174,975,0.00,2.22,0.00,0.000,6,0.000,0.040,2452,2320,3749
$GC,1297,-0.89,-219.0,183.2,-12.4,235,1302,0.00,2.20,0.00,0.000,4,0.000,0.042,2452,890,3749
$GC,1334,-0.89,-219.0,188.3,-13.2,242,1340,0.00,2.20,0.00,0.000,6,0.000,0.041,2452,2298,3749
$GC,1660,-0.89,-219.0,227.1,-11.5,303,1666,0.00,2.17,0.00,0.000,4,0.000,0.043,2452,885,3749
$GC,1686,-0.89,-219.0,230.4,-12.1,308,1694,0.00,2.20,0.00,0.000,6,0.000,0.041,2452,2294,3749
$GC,2014,-0.89,-219.0,269.8,-12.2,369,2019,0.00,2.17,0.00,0.000,4,0.000,0.055,2452,3684,3749
$GC,2046,-0.89,-219.0,273.9,-12.9,375,2051,0.00,2.05,0.00,0.000,6,0.000,0.032,2452,2284,3749
$GC,2373,-0.89,-219.0,309.7,-10.2,428,2377,0.00,2.12,0.00,0.000,4,0.000,0.044,2452,900,3748
$GC,2459,-0.89,-219.0,318.5,-10.6,436,2462,0.00,2.15,0.00,0.000,6,0.000,0.049,2452,2279,3748
$GC,2780,-0.89,-219.0,355.0,-12.1,467,2783,0.00,2.22,0.00,0.000,4,0.000,0.058,2452,3692,3746
$GC,2902,-0.89,-219.0,369.1,-11.1,478,2908,0.00,2.10,0.00,0.000,6,0.000,0.039,2452,2305,3745
$GC,3218,-0.89,-219.0,398.8,-9.2,509,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2305,3744
$GC,3531,-0.89,-219.0,428.0,-10.2,539,3534,0.00,2.20,0.00,0.000,4,0.000,0.058,2452,3683,3742
$GC,3573,-0.89,-219.0,432.9,-10.8,543,3576,0.00,2.00,0.00,0.000,6,0.000,0.033,2452,2336,3741
$GC,3896,-0.89,-219.0,464.0,-9.4,574,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2329,3739
$GC,4204,-0.89,-219.0,495.1,-9.6,604,4207,0.00,2.20,0.00,0.000,4,0.000,0.046,2452,908,3737
$GC,4268,-0.89,-219.0,501.3,-9.9,610,4271,0.00,2.25,0.00,0.000,6,0.000,0.044,2452,2352,3737
$GC,4595,-0.89,-219.0,532.8,-9.8,626,4598,0.00,2.12,0.00,0.000,4,0.000,0.060,2452,3692,3735
$GC,4637,-0.89,-219.0,537.2,-10.4,628,4640,0.00,1.98,0.00,0.000,6,0.000,0.032,2452,2359,3734
$GC,4964,-0.89,-219.0,567.5,-8.9,644,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2354,3732
$GC,5268,-0.89,-219.0,594.5,-9.1,659,5272,0.00,2.12,0.00,0.000,4,0.000,0.060,2452,3680,3730
$GC,5321,-0.89,-219.0,599.5,-9.1,661,5325,0.00,1.98,0.00,0.000,6,0.000,0.035,2452,2384,3728
$GC,5639,-0.89,-219.0,626.7,-8.5,677,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2378,3726
$GC,5943,-0.89,-219.0,652.8,-7.9,692,5946,0.00,2.30,0.00,0.000,4,0.000,0.047,2451,909,3723
$GC,5985,-0.89,-219.0,656.8,-9.0,694,5989,0.00,2.35,0.00,0.000,6,0.000,0.044,2452,2403,3723
$GC,6307,-0.89,-219.0,684.3,-8.9,710,6310,0.00,2.38,0.00,0.000,4,0.000,0.047,2452,898,3721
$GC,6327,-0.89,-219.0,686.3,-9.8,711,6331,0.00,2.40,0.00,0.000,6,0.000,0.046,2452,2416,3721
$STATE,6484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6484,begin apogee
$GC,6489,-0.23,0.0,701.1,9.4,719,6667,0.62,0.00,172.02,1.151,6,0.091,0.000,2673,2309,2853
$STATE,6667,end apogee,CONTROL_FINISHED_OK
$STATE,6667,begin climb
$GC,6670,0.89,219.0,715.4,0.0,728,6856,0.95,2.38,176.20,1.129,4,0.046,0.052,3055,906,1961
$GC,6887,0.89,219.0,708.0,11.1,738,6890,0.00,2.28,0.00,0.000,6,0.000,0.043,3055,2298,1957
$GC,7209,0.89,219.0,671.7,11.5,754,7212,0.00,2.22,0.00,0.000,4,0.000,0.058,3055,3692,1954
$GC,7261,0.89,219.0,665.2,12.3,756,7265,0.10,2.12,0.00,0.000,6,0.193,0.037,3036,2331,1953
$GC,7578,0.89,219.0,630.2,11.1,772,7581,0.00,2.17,0.00,0.000,4,0.000,0.055,3036,3687,1951
$GC,7593,0.89,219.0,628.4,10.6,772,7599,0.00,2.15,0.00,0.000,6,0.000,0.039,3046,2286,1950
$GC,7903,0.89,219.0,596.7,10.8,788,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2286,1949
$GC,8208,0.89,219.0,564.1,10.4,803,8212,0.00,2.25,0.00,0.000,4,0.000,0.054,3046,3692,1948
$GC,8294,0.89,219.0,554.5,11.0,807,8297,0.00,2.12,0.00,0.000,6,0.000,0.036,3056,2296,1947
$GC,8621,0.89,219.0,520.6,10.5,823,8624,0.00,2.17,0.00,0.000,4,0.000,0.047,3066,906,1946
$GC,8663,0.89,219.0,516.1,10.7,825,8666,0.12,2.22,0.00,0.000,6,0.179,0.040,3036,2337,1946
$GC,8984,0.89,219.6,486.5,9.0,847,8987,0.00,2.12,0.00,0.000,4,0.000,0.054,3036,3682,1945
$GC,9079,0.90,227.7,477.6,8.8,856,9091,0.00,2.10,6.30,0.834,6,0.000,0.036,3045,2301,1925
$GC,9400,0.94,262.6,449.5,8.0,887,9437,0.00,2.30,31.30,0.996,4,0.000,0.054,3045,3681,1782
$GC,9465,0.94,262.6,443.4,10.0,893,9469,0.00,2.15,0.00,0.000,6,0.000,0.036,3056,2291,1781
$GC,9788,0.94,262.6,409.1,10.6,924,9791,0.00,2.15,0.00,0.000,4,0.000,0.047,3066,905,1778
$GC,9824,0.94,262.6,405.2,10.8,927,9830,0.00,2.17,0.00,0.000,6,0.000,0.038,3066,2289,1776
$GC,10142,0.94,262.6,374.1,9.5,958,10145,0.00,2.20,0.00,0.000,4,0.000,0.046,3076,889,1776
$GC,10179,0.94,262.6,370.6,9.6,961,10186,0.00,2.17,0.00,0.000,6,0.000,0.038,3076,2292,1776
$GC,10496,0.94,262.6,340.7,9.9,992,10499,0.00,2.20,0.00,0.000,4,0.000,0.052,3076,3687,1776
$GC,10669,0.94,262.6,321.4,11.6,1008,10672,0.15,2.10,0.00,0.000,6,0.181,0.035,3049,2306,1776
$GC,10987,0.95,271.8,292.1,8.7,1046,10999,0.00,2.25,8.73,0.782,4,0.000,0.044,3058,903,1744
$GC,11058,1.02,328.6,287.0,7.4,1059,11112,0.00,2.15,49.03,0.868,6,0.000,0.038,3059,2295,1513
$GC,11435,1.02,328.6,251.6,9.8,1128,11440,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2296,1510
$GC,11761,1.03,332.6,220.6,8.9,1189,11769,0.00,2.25,4.20,0.541,4,0.000,0.051,3059,3680,1497
$GC,11876,1.03,332.6,209.7,9.4,1210,11881,0.00,2.25,0.00,0.000,6,0.000,0.037,3069,2235,1497
$GC,12202,1.06,357.6,183.8,8.3,1271,12229,0.00,2.15,22.52,0.760,4,0.000,0.044,3079,894,1396
$GC,12240,1.09,383.3,180.7,8.3,1277,12272,0.00,2.15,23.00,0.743,6,0.000,0.040,3079,2257,1289
$GC,12595,1.11,396.7,149.6,8.6,1342,12613,0.00,2.15,12.35,0.690,4,0.000,0.049,3089,897,1235
$GC,12704,1.14,421.7,139.9,8.3,1362,12730,0.00,2.05,21.95,0.709,6,0.000,0.041,3089,2204,1135
$GC,13051,1.14,421.7,105.8,9.1,1426,13056,0.00,2.08,0.00,0.000,4,0.000,0.050,3098,881,1132
$GC,13094,1.17,448.8,102.2,8.2,1434,13125,0.00,2.03,23.55,0.678,6,0.000,0.041,3098,2181,1023
$GC,13445,1.26,519.4,72.5,7.0,1499,13509,0.15,2.03,57.83,0.660,4,0.060,0.048,3186,904,735
$GC,13575,1.26,519.4,59.2,10.5,1521,13582,0.08,1.95,0.00,0.000,6,0.140,0.041,3150,2157,733
$GC,13904,1.26,519.4,25.8,9.3,1582,13909,0.00,1.98,0.00,0.000,4,0.000,0.044,3158,903,733
$GC,14016,1.26,519.4,14.6,10.4,1603,14022,0.00,1.85,0.00,0.000,6,0.000,0.038,3159,2090,733
$STATE,14126,end climb,SURFACE_DEPTH_REACHED
$STATE,14126,begin surface coast
$FINISH,1.5,1.009092
$STATE,14156,end surface coast,CONTROL_FINISHED_OK
$STATE,14156,begin surface
$SM_CCo,14232,0.00,0.000,0,0,732,520.53
$SM_GC,2.25,7.57,0.00,0.00,0.033,0.000,0.000,155,2316,732,-7.98,0.85,520.53
$IRIDIUM_FIX,2458.45,12536.96,251098,010158
$TT8_MAMPS,0.047554
$HUMID,1631
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.90
$XPDR_PINGS,793
$24V_AH,23.6,87.646
$10V_AH,10.6,59.393
$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,18.925,134.525,608.975,0.000,0.000,138.289,188.098,911.333,203.500,0.000,0.000,29.927,0.000,9882.861,692.133,3641.158,1668.654,0.000,2051.936,0.000,3099.994,0.000,35.802,0.000
$DEVICE_MAMPS,227.032,59.826,1150.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1093.136,1169.226,1894.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94712,1629
$CAP_FILE_SIZE,166337,0
$CFSIZE,260165632,222666752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,324.7,1
$GPS,310709,055624,2509.642,12537.139,37,1.4,37,-3.9