version: 66.04
glider: 165
mission: 2
dive: 387
start: 7 31 109 6 5 33
data:
$ID,165
$MISSION,2
$DIVE,387
$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,-125647.98
$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,47
$R_STBD_OVSHOOT,56
$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
$GPS1,055624,2509.642,12537.139,37,1.4,37,-3.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-68.9
$GPS2,060528,2509.643,12537.047,10,99.0,29,-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,153.3,58524,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.89,-219.0,0.0,0.0,0,68,0.00,0.00,-50.85,0.000,2,0.000,0.000,154,2320,2020
$GC,71,-0.89,-219.0,3.2,-3.8,8,135,9.30,2.28,-46.10,0.000,4,0.232,0.052,2455,881,3749
$GC,183,-0.89,-219.0,19.4,-17.5,27,189,0.00,2.17,0.00,0.000,6,0.000,0.038,2454,2270,3749
$GC,509,-0.89,-219.0,74.3,-16.6,88,515,0.00,2.22,0.00,0.000,4,0.000,0.054,2452,3684,3749
$GC,590,-0.89,-219.0,87.0,-15.2,103,596,0.00,2.10,0.00,0.000,6,0.000,0.031,2452,2285,3749
$GC,916,-0.89,-219.0,131.9,-12.7,164,922,0.00,2.12,0.00,0.000,4,0.000,0.041,2452,884,3750
$GC,938,-0.89,-219.0,135.1,-14.3,168,944,0.00,2.15,0.00,0.000,6,0.000,0.038,2452,2293,3751
$GC,1266,-0.89,-219.0,175.7,-12.3,229,1273,0.00,2.15,0.00,0.000,4,0.000,0.041,2452,887,3751
$GC,1315,-0.89,-219.0,181.8,-12.1,238,1321,0.00,2.12,0.00,0.000,6,0.000,0.040,2451,2250,3751
$GC,1642,-0.89,-219.0,221.0,-12.0,299,1648,0.00,2.08,0.00,0.000,4,0.000,0.042,2452,896,3752
$GC,1663,-0.89,-219.0,223.7,-12.6,303,1669,0.00,2.08,0.00,0.000,6,0.000,0.040,2452,2250,3752
$GC,1989,-0.89,-219.0,262.1,-11.1,364,1995,0.00,2.30,0.00,0.000,4,0.000,0.057,2452,3686,3752
$GC,2021,-0.89,-219.0,265.8,-12.1,370,2028,0.00,2.12,0.00,0.000,6,0.000,0.031,2452,2262,3751
$GC,2348,-0.89,-219.0,299.4,-9.8,431,2353,0.00,2.08,0.00,0.000,4,0.000,0.043,2452,904,3751
$GC,2380,-0.89,-219.0,302.7,-10.7,435,2383,0.00,2.12,0.00,0.000,6,0.000,0.041,2452,2291,3751
$GC,2700,-0.89,-219.0,335.6,-10.0,466,2703,0.00,2.15,0.00,0.000,4,0.000,0.043,2452,895,3751
$GC,2775,-0.89,-219.0,343.6,-10.9,473,2778,0.00,2.08,0.00,0.000,6,0.000,0.041,2452,2246,3751
$GC,3095,-0.89,-219.0,374.9,-10.0,504,3100,0.00,2.28,0.00,0.000,4,0.000,0.055,2452,3692,3750
$GC,3122,-0.89,-219.0,377.5,-10.4,506,3128,0.00,2.15,0.00,0.000,6,0.000,0.034,2452,2263,3749
$GC,3438,-0.89,-219.0,408.1,-9.9,537,3442,0.00,2.28,0.00,0.000,4,0.000,0.056,2452,3694,3748
$GC,3475,-0.89,-219.0,412.0,-9.2,540,3478,0.00,2.10,0.00,0.000,6,0.000,0.031,2452,2299,3747
$GC,3796,-0.89,-219.0,445.9,-10.3,571,3799,0.00,2.15,0.00,0.000,4,0.000,0.044,2452,898,3746
$GC,3833,-0.89,-219.0,449.8,-10.5,574,3840,0.00,2.20,0.00,0.000,6,0.000,0.044,2451,2307,3745
$GC,4149,-0.89,-219.0,478.7,-9.2,605,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2307,3744
$GC,4468,-0.89,-219.0,510.9,-10.7,631,4471,0.00,2.20,0.00,0.000,4,0.000,0.059,2452,3691,3741
$GC,4515,-0.89,-219.0,516.0,-10.9,633,4519,0.00,2.17,0.00,0.000,6,0.000,0.033,2452,2264,3741
$GC,4837,-0.89,-219.0,548.1,-9.3,649,4840,0.00,2.12,0.00,0.000,4,0.000,0.046,2452,884,3739
$GC,4901,-0.89,-219.0,554.0,-9.4,652,4905,0.00,2.12,0.00,0.000,6,0.000,0.044,2452,2247,3739
$GC,5227,-0.89,-219.0,582.3,-9.1,668,5231,0.00,2.30,0.00,0.000,4,0.000,0.059,2452,3686,3736
$GC,5285,-0.89,-219.0,587.8,-9.4,670,5291,0.00,2.22,0.00,0.000,6,0.000,0.039,2452,2238,3735
$GC,5597,-0.89,-219.0,619.7,-10.3,686,5600,0.00,2.33,0.00,0.000,4,0.000,0.058,2452,3694,3733
$GC,5714,-0.89,-219.0,631.6,-9.7,691,5719,0.00,2.10,0.00,0.000,6,0.000,0.034,2452,2293,3732
$GC,6024,-0.89,-219.0,661.8,-10.3,707,6027,0.00,2.25,0.00,0.000,4,0.000,0.061,2452,3685,3729
$GC,6141,-0.89,-219.0,673.5,-10.6,712,6145,0.00,2.08,0.00,0.000,6,0.000,0.035,2452,2333,3728
$STATE,6435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6435,begin apogee
$GC,6441,-0.23,0.0,701.9,9.9,727,6619,0.62,0.00,172.82,1.151,6,0.094,0.000,2671,2327,2854
$STATE,6619,end apogee,CONTROL_FINISHED_OK
$STATE,6619,begin climb
$GC,6622,0.89,219.0,714.7,0.0,736,6807,0.95,2.33,175.73,1.127,4,0.046,0.058,3043,3684,1959
$GC,6845,0.89,219.0,703.1,14.3,746,6848,0.00,2.15,0.00,0.000,6,0.000,0.038,3054,2308,1957
$GC,7160,0.89,219.0,664.5,12.0,762,7163,0.00,2.22,0.00,0.000,4,0.000,0.055,3053,3693,1953
$GC,7191,0.89,219.0,660.6,12.6,763,7195,0.10,2.15,0.00,0.000,6,0.190,0.036,3034,2313,1953
$GC,7508,0.89,219.0,627.8,9.9,779,7511,0.00,2.22,0.00,0.000,4,0.000,0.049,3044,887,1950
$GC,7560,0.89,219.0,622.5,9.7,781,7564,0.00,2.28,0.00,0.000,6,0.000,0.041,3044,2321,1949
$GC,7876,0.89,219.0,589.7,10.5,797,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2321,1949
$GC,8182,0.89,219.0,559.7,9.6,812,8185,0.00,2.28,0.00,0.000,4,0.000,0.049,3055,887,1947
$GC,8267,0.89,219.0,551.5,9.8,816,8270,0.00,2.22,0.00,0.000,6,0.000,0.041,3054,2315,1945
$GC,8593,0.89,219.0,518.5,9.6,832,8596,0.00,2.17,0.00,0.000,4,0.000,0.055,3055,3683,1946
$GC,8684,0.89,219.0,508.9,11.0,836,8687,0.12,2.10,0.00,0.000,6,0.193,0.037,3035,2309,1945
$GC,9000,0.95,267.0,481.3,7.7,862,9044,0.00,2.28,39.50,1.019,4,0.000,0.047,3045,894,1763
$GC,9077,0.95,267.0,474.1,9.8,869,9080,0.00,2.30,0.00,0.000,6,0.000,0.039,3045,2340,1760
$GC,9399,0.95,267.0,444.0,9.6,900,9402,0.00,2.15,0.00,0.000,4,0.000,0.054,3045,3695,1758
$GC,9478,0.95,267.0,435.1,11.0,907,9485,0.00,2.08,0.00,0.000,6,0.000,0.035,3055,2356,1757
$GC,9796,0.95,267.0,402.9,9.7,938,9799,0.00,2.28,0.00,0.000,4,0.000,0.046,3065,901,1756
$GC,9886,0.95,267.0,393.8,10.3,946,9890,0.00,2.20,0.00,0.000,6,0.000,0.039,3065,2317,1755
$GC,10210,0.95,267.0,360.5,9.8,977,10213,0.00,2.17,0.00,0.000,4,0.000,0.053,3066,3692,1754
$GC,10252,0.95,267.0,355.4,12.6,981,10256,0.00,2.12,0.00,0.000,6,0.000,0.035,3076,2297,1754
$GC,10573,0.95,267.0,322.7,9.3,1012,10576,0.00,2.22,0.00,0.000,4,0.000,0.051,3075,3692,1754
$GC,10690,0.95,267.0,311.6,9.5,1023,10694,0.15,2.05,0.00,0.000,6,0.178,0.034,3048,2334,1754
$GC,11011,0.95,267.0,283.2,10.1,1070,11017,0.00,2.20,0.00,0.000,4,0.000,0.057,3048,3683,1754
$GC,11193,0.95,267.0,266.0,9.3,1104,11199,0.00,2.12,0.00,0.000,6,0.000,0.036,3057,2311,1754
$GC,11521,1.03,336.5,240.9,7.1,1165,11587,0.00,2.30,57.65,0.830,4,0.000,0.044,3068,896,1479
$GC,11721,1.03,336.5,223.4,9.0,1201,11726,0.00,2.17,0.00,0.000,6,0.000,0.037,3068,2297,1477
$GC,12047,1.03,336.5,191.8,9.4,1262,12053,0.00,2.20,0.00,0.000,4,0.000,0.046,3078,901,1476
$GC,12187,1.06,359.8,179.6,8.3,1288,12212,0.00,2.08,20.08,0.749,6,0.000,0.041,3078,2226,1387
$GC,12533,1.06,359.8,146.3,9.7,1352,12539,0.00,2.08,0.00,0.000,4,0.000,0.049,3088,903,1387
$GC,12560,1.06,359.8,143.6,10.1,1357,12566,0.00,2.03,0.00,0.000,6,0.000,0.035,3087,2206,1384
$GC,12888,1.08,374.8,113.2,8.6,1418,12907,0.00,2.05,14.02,0.671,4,0.000,0.048,3097,898,1324
$GC,13009,1.08,374.8,101.8,9.4,1440,13014,0.00,1.98,0.00,0.000,6,0.000,0.041,3097,2169,1323
$GC,13335,1.15,433.3,74.5,7.4,1501,13391,0.00,2.45,48.25,0.669,4,0.000,0.053,3097,3677,1086
$GC,13599,1.20,468.4,53.4,8.0,1549,13637,0.00,2.28,29.60,0.634,6,0.000,0.035,3108,2178,942
$GC,13960,1.20,469.5,20.3,9.0,1615,13967,0.00,2.38,0.00,0.000,4,0.000,0.051,3108,3680,941
$STATE,14162,end climb,SURFACE_DEPTH_REACHED
$STATE,14162,begin surface coast
$FINISH,1.5,1.008821
$STATE,14189,end surface coast,CONTROL_FINISHED_OK
$STATE,14189,begin surface
$SM_CCo,14207,6.15,0.476,0,0,918,475.15
$SM_GC,3.01,0.00,0.00,6.15,0.000,0.000,0.476,151,2258,918,-8.11,-0.76,475.15
$IRIDIUM_FIX,2458.45,12536.96,251098,020222
$TT8_MAMPS,0.048321
$HUMID,1652
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,26.90
$XPDR_PINGS,740
$24V_AH,23.6,87.849
$10V_AH,10.6,59.545
$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,18.750,143.800,557.650,6.150,0.000,26.397,39.270,311.603,190.250,0.000,0.000,32.088,0.000,9527.235,675.279,3752.858,770.754,0.000,2070.096,0.000,3206.053,0.000,37.755,0.000
$DEVICE_MAMPS,231.634,60.593,1150.500,476.307,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.645,1195.420,1940.268,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,95054,1658
$CAP_FILE_SIZE,153901,0
$CFSIZE,260165632,222588928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115,315.3,1
$GPS,310709,100336,2509.247,12537.023,40,1.2,45,-3.9