version: 66.04
glider: 165
mission: 2
dive: 388
start: 7 31 109 10 11 15
data:
$ID,165
$MISSION,2
$DIVE,388
$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,-125659.84
$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,64
$R_STBD_OVSHOOT,39
$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
$GPS1,100336,2509.247,12537.023,40,1.2,45,-3.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-71.1
$GPS2,101107,2509.301,12536.978,9,1.5,9,-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,150.7,58005,-13.3,-8.992
$D_GRID,673
$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,-219.0,0.0,0.0,0,61,0.00,0.00,-46.22,0.000,2,0.000,0.000,150,2253,2092
$GC,64,-0.89,-219.0,3.5,-4.2,7,121,9.25,2.10,-42.50,0.000,4,0.229,0.051,2456,890,3747
$GC,168,-0.89,-219.0,20.9,-19.9,25,175,0.00,2.17,0.00,0.000,6,0.000,0.041,2452,2273,3748
$GC,496,-0.89,-219.0,84.5,-16.6,86,501,0.00,2.22,0.00,0.000,4,0.000,0.054,2452,3692,3748
$GC,560,-0.89,-219.0,95.8,-16.6,98,566,0.00,2.10,0.00,0.000,6,0.000,0.031,2452,2298,3748
$GC,886,-0.89,-219.0,147.7,-15.5,159,892,0.00,2.15,0.00,0.000,4,0.000,0.042,2452,889,3750
$GC,929,-0.89,-219.0,154.5,-16.1,167,935,0.00,2.20,0.00,0.000,6,0.000,0.041,2452,2298,3750
$GC,1256,-0.89,-219.0,204.4,-14.3,228,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2299,3751
$GC,1581,-0.89,-219.0,251.1,-14.1,289,1588,0.00,2.17,0.00,0.000,4,0.000,0.044,2452,891,3751
$GC,1642,-0.89,-219.0,259.2,-13.8,300,1647,0.00,2.17,0.00,0.000,6,0.000,0.044,2452,2295,3751
$GC,1972,-0.89,-219.0,304.3,-12.5,359,1975,0.00,2.17,0.00,0.000,4,0.000,0.044,2452,887,3751
$GC,2041,-0.89,-219.0,312.7,-11.7,365,2048,0.00,2.10,0.00,0.000,6,0.000,0.047,2452,2244,3751
$GC,2358,-0.89,-219.0,347.6,-11.4,396,2361,0.00,2.10,0.00,0.000,4,0.000,0.044,2452,886,3750
$GC,2427,-0.89,-219.0,356.0,-11.9,402,2433,0.00,2.08,0.00,0.000,6,0.000,0.044,2452,2205,3750
$GC,2743,-0.89,-219.0,391.8,-11.6,433,2746,0.00,2.03,0.00,0.000,4,0.000,0.044,2452,895,3750
$GC,2796,-0.89,-219.0,398.6,-12.8,438,2799,0.00,1.98,0.00,0.000,6,0.000,0.042,2452,2178,3750
$GC,3117,-0.89,-219.0,437.3,-10.8,469,3120,0.00,2.00,0.00,0.000,4,0.000,0.045,2452,889,3747
$GC,3164,-0.89,-219.0,442.5,-11.0,473,3171,0.00,1.95,0.00,0.000,6,0.000,0.042,2452,2131,3747
$GC,3482,-0.89,-219.0,474.6,-10.0,504,3486,0.00,1.92,0.00,0.000,4,0.000,0.046,2452,889,3745
$GC,3502,-0.89,-219.0,477.1,-10.5,506,3506,0.00,1.95,0.00,0.000,6,0.000,0.043,2452,2126,3745
$GC,3824,-0.89,-219.0,510.0,-11.0,533,3828,0.00,2.47,0.00,0.000,4,0.000,0.059,2452,3679,3743
$GC,3845,-0.89,-219.0,512.7,-11.6,534,3848,0.00,2.35,0.00,0.000,6,0.000,0.035,2452,2127,3743
$GC,4167,-0.89,-219.0,542.8,-8.3,550,4170,0.00,1.90,0.00,0.000,4,0.000,0.048,2452,896,3740
$GC,4188,-0.89,-219.0,545.1,-10.8,551,4191,0.00,1.92,0.00,0.000,6,0.000,0.044,2452,2133,3740
$GC,4514,-0.89,-219.0,574.5,-8.8,567,4517,0.00,2.47,0.00,0.000,4,0.000,0.059,2452,3677,3738
$GC,4561,-0.89,-219.0,578.9,-9.3,569,4565,0.00,2.35,0.00,0.000,6,0.000,0.035,2452,2148,3737
$GC,4883,-0.89,-219.0,612.3,-11.3,585,4886,0.00,1.95,0.00,0.000,4,0.000,0.048,2452,890,3735
$GC,4930,-0.89,-219.0,617.9,-12.0,587,4934,0.00,1.98,0.00,0.000,6,0.000,0.044,2452,2133,3734
$GC,5252,-0.89,-219.0,650.9,-9.3,603,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2133,3732
$STATE,5493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5493,begin apogee
$GC,5499,-0.23,0.0,674.4,9.4,615,5677,0.62,0.00,172.40,1.128,6,0.104,0.000,2666,2295,2854
$STATE,5678,end apogee,CONTROL_FINISHED_OK
$STATE,5678,begin climb
$GC,5680,0.89,219.0,685.1,0.0,624,5865,1.00,2.38,175.12,1.107,4,0.077,0.053,3034,909,1959
$GC,5896,0.89,219.0,674.6,11.0,634,5900,0.00,2.25,0.00,0.000,6,0.000,0.043,3034,2295,1956
$GC,6212,0.89,219.0,641.3,10.1,650,6216,0.00,2.22,0.00,0.000,4,0.000,0.058,3034,3687,1953
$GC,6255,0.89,219.0,636.8,10.7,652,6258,0.00,2.08,0.00,0.000,6,0.000,0.036,3045,2329,1952
$GC,6582,0.89,219.0,605.4,9.2,668,6585,0.00,2.17,0.00,0.000,4,0.000,0.057,3045,3683,1950
$GC,6607,0.89,219.0,602.8,10.0,669,6611,0.00,2.05,0.00,0.000,6,0.000,0.037,3054,2356,1950
$GC,6929,0.89,219.0,572.7,10.8,685,6932,0.00,2.30,0.00,0.000,4,0.000,0.049,3065,891,1948
$GC,6950,0.89,219.0,570.3,11.6,686,6954,0.12,2.33,0.00,0.000,6,0.162,0.041,3034,2382,1947
$GC,7276,0.94,259.4,540.1,7.9,702,7318,0.00,2.17,33.12,1.052,4,0.000,0.057,3033,3684,1795
$GC,7408,0.94,259.4,528.7,9.6,708,7412,0.00,2.03,0.00,0.000,6,0.000,0.037,3042,2391,1793
$GC,7730,0.94,259.4,500.3,9.8,724,7733,0.00,2.08,0.00,0.000,4,0.000,0.055,3042,3685,1790
$GC,7869,0.94,259.4,485.5,11.0,736,7872,0.00,2.05,0.00,0.000,6,0.000,0.036,3052,2343,1790
$GC,8193,0.97,281.1,457.2,8.4,767,8216,0.00,2.25,19.12,0.987,4,0.000,0.054,3052,3694,1706
$GC,8306,0.97,281.1,446.7,9.6,777,8312,0.00,2.17,0.00,0.000,6,0.000,0.035,3062,2306,1705
$GC,8624,0.98,289.9,418.9,8.7,808,8639,0.00,2.28,8.52,0.871,4,0.000,0.046,3072,894,1671
$GC,8752,0.98,289.9,407.4,9.1,820,8756,0.00,2.17,0.00,0.000,6,0.000,0.038,3072,2292,1669
$GC,9076,0.98,289.9,378.6,9.1,851,9079,0.00,2.20,0.00,0.000,4,0.000,0.052,3073,3684,1668
$GC,9107,0.98,289.9,375.4,9.3,854,9110,0.00,2.22,0.00,0.000,6,0.000,0.035,3083,2245,1668
$GC,9431,1.06,357.2,348.9,7.1,885,9496,0.00,2.40,57.55,0.937,4,0.000,0.056,3083,3672,1398
$GC,9618,1.06,357.2,331.5,9.9,902,9624,0.00,2.28,0.00,0.000,6,0.000,0.036,3094,2229,1396
$GC,9937,1.06,357.2,299.8,11.0,933,9942,0.00,2.33,0.00,0.000,4,0.000,0.051,3094,3682,1394
$GC,10012,1.06,357.2,291.1,11.6,947,10019,0.00,2.30,0.00,0.000,6,0.000,0.035,3105,2181,1394
$GC,10339,1.08,371.7,259.7,8.6,1008,10357,0.00,2.47,13.30,0.813,4,0.000,0.051,3105,3687,1337
$GC,10488,1.08,371.7,245.2,9.8,1035,10494,0.00,2.25,0.00,0.000,6,0.000,0.034,3116,2217,1337
$GC,10815,1.08,371.7,209.4,9.3,1096,10822,0.00,2.05,0.00,0.000,4,0.000,0.045,3126,900,1335
$GC,10886,1.08,377.9,203.1,8.8,1109,10898,0.12,2.00,6.55,0.670,6,0.132,0.035,3091,2206,1312
$GC,11219,1.08,377.9,172.5,9.9,1171,11226,0.00,2.33,0.00,0.000,4,0.000,0.050,3091,3683,1313
$GC,11397,1.15,430.3,157.3,7.5,1204,11449,0.00,2.25,44.58,0.765,6,0.000,0.034,3100,2216,1098
$GC,11772,1.16,441.8,126.0,8.7,1272,11790,0.00,2.38,10.45,0.662,4,0.000,0.054,3100,3675,1052
$GC,12030,1.25,512.2,105.9,7.0,1320,12094,0.12,2.28,58.42,0.702,6,0.060,0.037,3183,2171,765
$GC,12415,1.25,512.2,65.9,11.1,1390,12421,0.12,2.00,0.00,0.000,4,0.125,0.044,3153,890,761
$GC,12592,1.34,588.1,51.4,6.9,1423,12661,0.00,1.95,62.35,0.641,6,0.000,0.034,3153,2152,480
$GC,12984,1.34,588.1,12.8,9.9,1494,12990,0.00,2.00,0.00,0.000,4,0.000,0.048,3154,897,466
$GC,13059,1.34,588.1,4.0,11.4,1508,13065,0.00,2.10,0.00,0.000,6,0.000,0.037,3154,2248,465
$STATE,13068,end climb,SURFACE_DEPTH_REACHED
$STATE,13068,begin surface coast
$FINISH,1.5,1.007701
$STATE,13095,end surface coast,CONTROL_FINISHED_OK
$STATE,13095,begin surface
$SM_CCo,13172,0.00,0.000,0,0,464,586.27
$SM_GC,2.27,7.60,0.00,0.00,0.035,0.000,0.000,164,2253,464,-7.97,-0.90,586.27
$IRIDIUM_FIX,2503.20,12535.03,251098,060648
$TT8_MAMPS,0.048321
$HUMID,1666
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,26.30
$XPDR_PINGS,663
$24V_AH,23.6,88.067
$10V_AH,10.6,59.685
$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,18.975,129.975,661.500,0.000,0.000,24.068,31.705,246.263,170.500,0.000,0.000,11.237,0.000,8767.981,744.014,3398.294,682.358,0.000,2035.996,0.000,2916.386,0.000,32.514,0.000
$DEVICE_MAMPS,229.333,66.729,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.136,1094.976,1774.334,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88338,1515
$CAP_FILE_SIZE,141268,0
$CFSIZE,260165632,222519296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,197.4,1
$GPS,310709,135136,2508.480,12537.317,27,1.2,27,-3.9