version: 66.04
glider: 165
mission: 2
dive: 326
start: 7 19 109 21 16 43
data:
$ID,165
$MISSION,2
$DIVE,326
$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,275
$T_MISSION,330
$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,250
$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,-124024.97
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$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,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,210607,2545.515,12531.575,37,1.7,37,-4.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-66.4
$GPS2,211636,2545.637,12531.844,15,1.3,25,-4.0
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2548.600,12616.000
$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,108.4,73824,-16.4,-12.000
$D_GRID,2082
$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,-1.08,-243.4,0.0,0.0,0,77,0.00,0.00,-62.30,0.000,2,0.000,0.000,158,2147,1989
$GC,79,-1.08,-243.4,3.2,-4.1,10,143,9.15,2.30,-49.45,0.000,4,0.229,0.065,2452,3540,3850
$GC,303,-0.58,-243.4,54.0,-27.0,50,309,0.47,2.17,0.00,0.000,6,0.129,0.034,2618,2115,3851
$GC,630,-0.96,-243.4,94.8,-11.5,111,636,0.30,2.28,0.00,0.000,4,0.071,0.050,2467,3551,3852
$GC,766,-0.67,-243.4,116.8,-18.1,136,773,0.40,2.08,0.00,0.000,6,0.120,0.034,2594,2156,3852
$GC,1094,-0.91,-243.4,152.9,-11.6,197,1099,0.20,2.20,0.00,0.000,4,0.069,0.053,2480,3535,3853
$GC,1147,-0.79,-243.4,160.0,-13.5,207,1153,0.20,2.08,0.00,0.000,6,0.112,0.034,2552,2159,3853
$GC,1474,-1.11,-243.4,194.7,-10.4,268,1482,0.25,2.17,0.00,0.000,4,0.043,0.053,2410,3535,3853
$GC,1509,-0.90,-243.4,199.3,-14.8,274,1516,0.32,2.03,0.00,0.000,6,0.132,0.032,2530,2190,3854
$GC,1838,-1.13,-243.4,233.6,-9.6,335,1844,0.20,0.00,0.00,0.000,6,0.048,0.000,2413,2190,3853
$GC,2164,-0.83,-243.4,283.0,-16.6,396,2171,0.38,2.17,0.00,0.000,4,0.162,0.057,2533,3547,3853
$GC,2225,-0.90,-243.4,289.8,-10.6,407,2230,0.00,2.03,0.00,0.000,6,0.000,0.034,2533,2194,3853
$GC,2548,-1.10,-243.4,323.3,-10.7,448,2552,0.20,2.22,0.00,0.000,4,0.046,0.047,2424,748,3853
$GC,2633,-0.89,-243.4,336.3,-16.1,456,2637,0.32,2.38,0.00,0.000,6,0.131,0.044,2526,2270,3853
$GC,2955,-1.10,-243.4,367.4,-9.1,487,2959,0.20,2.38,0.00,0.000,4,0.048,0.045,2419,752,3851
$GC,3018,-0.88,-243.4,375.9,-14.0,492,3026,0.32,2.50,0.00,0.000,6,0.128,0.044,2520,2334,3850
$GC,3334,-1.10,-243.4,409.5,-10.9,523,3337,0.17,1.90,0.00,0.000,4,0.051,0.058,2424,3533,3848
$GC,3488,-0.88,-243.4,432.8,-16.7,537,3494,0.28,1.67,0.00,0.000,6,0.122,0.035,2519,2415,3846
$GC,3804,-1.16,-243.4,469.2,-10.6,568,3807,0.22,1.77,0.00,0.000,4,0.047,0.060,2396,3538,3845
$GC,3841,-0.99,-243.4,474.3,-14.8,571,3847,0.25,1.62,0.00,0.000,6,0.135,0.035,2489,2452,3844
$GC,4156,-0.99,-243.4,509.5,-10.5,598,4159,0.00,2.67,0.00,0.000,4,0.000,0.048,2490,753,3841
$GC,4224,-0.99,-243.4,517.0,-10.8,601,4228,0.00,2.60,0.00,0.000,6,0.000,0.044,2490,2418,3841
$GC,4535,-1.17,-243.4,547.2,-9.8,616,4539,0.17,2.62,0.00,0.000,4,0.051,0.045,2392,753,3839
$GC,4582,-0.89,-243.4,553.7,-14.5,618,4586,0.43,2.58,0.00,0.000,6,0.137,0.046,2517,2385,3838
$GC,4899,-1.12,-243.4,585.2,-9.9,634,4903,0.20,2.58,0.00,0.000,4,0.050,0.045,2405,750,3835
$GC,5005,-0.92,-243.4,600.7,-15.3,639,5009,0.38,2.72,0.00,0.000,6,0.136,0.047,2514,2478,3835
$GC,5328,-1.19,-243.4,631.2,-8.8,655,5332,0.22,1.67,0.00,0.000,4,0.049,0.061,2396,3544,3833
$GC,5343,-1.32,-243.4,633.0,-9.2,655,5349,0.00,1.60,0.00,0.000,6,0.000,0.036,2396,2482,3832
$GC,5654,-1.04,-243.4,679.4,-15.6,671,5659,0.25,2.75,0.00,0.000,4,0.142,0.049,2473,753,3831
$GC,5712,-1.04,-243.4,686.5,-11.2,674,5716,0.00,2.70,0.00,0.000,6,0.000,0.046,2468,2462,3831
$GC,6039,-0.98,-243.4,725.1,-11.4,690,6043,0.00,2.72,0.00,0.000,4,0.000,0.049,2468,751,3828
$GC,6060,-0.91,-243.4,727.7,-12.5,691,6065,0.17,2.70,0.00,0.000,6,0.131,0.047,2520,2452,3828
$GC,6377,-1.21,-243.4,754.6,-8.9,707,6380,0.25,1.75,0.00,0.000,4,0.048,0.063,2391,3545,3826
$GC,6505,-0.94,-243.4,774.0,-17.4,713,6508,0.32,1.58,0.00,0.000,6,0.133,0.038,2510,2509,3824
$GC,6833,-1.23,-243.4,806.7,-9.4,729,6837,0.22,2.78,0.00,0.000,4,0.051,0.048,2392,765,3823
$GC,6854,-1.28,-243.4,809.4,-12.3,730,6857,0.00,2.75,0.00,0.000,6,0.000,0.049,2386,2482,3822
$GC,7169,-0.96,-243.4,864.4,-17.1,746,7171,0.38,0.00,0.00,0.000,6,0.146,0.000,2500,2482,3820
$GC,7475,-1.00,-243.4,896.8,-10.4,761,7479,0.00,2.78,0.00,0.000,4,0.000,0.052,2500,761,3818
$GC,7495,-1.06,-243.4,899.1,-11.6,762,7499,0.00,2.72,0.00,0.000,6,0.000,0.049,2500,2466,3818
$GC,7817,-1.10,-243.4,931.0,-9.4,778,7818,0.12,0.00,0.00,0.000,6,0.067,0.000,2438,2466,3816
$GC,8122,-0.95,-243.4,968.6,-12.6,793,8127,0.20,2.75,0.00,0.000,4,0.137,0.051,2504,768,3814
$GC,8153,-1.00,-243.4,972.1,-9.4,794,8159,0.00,2.72,0.00,0.000,6,0.000,0.049,2504,2464,3814
$STATE,8360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8360,begin apogee
$GC,8365,-0.24,0.0,990.8,9.1,805,8567,0.68,0.00,199.82,1.374,6,0.111,0.000,2732,2464,2854
$STATE,8567,end apogee,CONTROL_FINISHED_OK
$STATE,8567,begin climb
$GC,8570,1.08,243.4,1004.5,0.0,815,8788,1.20,2.45,207.70,1.332,4,0.046,0.054,3186,1081,1861
$GC,8895,0.49,243.4,967.2,21.6,830,8901,0.75,2.22,0.00,0.000,6,0.169,0.052,2973,2444,1854
$GC,9205,0.55,318.7,934.8,9.5,846,9282,0.00,2.30,67.60,1.263,4,0.000,0.051,2981,1071,1554
$GC,9362,0.67,379.7,919.0,10.0,852,9421,0.10,2.22,54.90,1.278,6,0.054,0.045,3041,2424,1305
$GC,9731,0.58,379.7,866.3,14.9,871,9735,0.15,2.17,0.00,0.000,4,0.140,0.050,3007,1066,1300
$GC,9827,0.58,379.7,854.0,12.3,875,9831,0.00,2.12,0.00,0.000,6,0.000,0.044,3007,2405,1299
$GC,10143,0.58,379.7,814.9,12.2,891,10146,0.00,2.12,0.00,0.000,4,0.000,0.050,3016,1072,1297
$GC,10201,0.58,379.7,807.6,12.7,893,10208,0.00,2.08,0.00,0.000,6,0.000,0.044,3015,2364,1297
$GC,10512,0.58,384.1,769.2,11.9,909,10515,0.00,2.05,0.00,0.000,4,0.000,0.051,3025,1071,1296
$GC,10575,0.58,384.1,761.2,12.3,912,10579,0.00,2.03,0.00,0.000,6,0.000,0.044,3025,2341,1296
$GC,10902,0.58,384.1,720.5,12.3,928,10905,0.00,2.00,0.00,0.000,4,0.000,0.051,3033,1076,1295
$GC,10966,0.53,384.1,712.3,13.0,931,10970,0.17,1.95,0.00,0.000,6,0.136,0.044,2982,2322,1294
$GC,11292,0.70,447.8,679.6,9.9,947,11371,0.15,2.08,64.57,1.131,4,0.061,0.052,3061,1078,1027
$GC,11450,0.65,447.8,657.9,15.0,953,11458,0.12,1.95,0.00,0.000,6,0.132,0.044,3021,2272,1024
$GC,11762,0.72,452.3,622.2,11.8,969,11770,0.00,1.95,4.38,0.781,4,0.000,0.051,3028,1078,1010
$GC,11809,0.77,452.3,616.0,13.9,971,11812,0.00,1.90,0.00,0.000,6,0.000,0.042,3028,2267,1010
$GC,12130,0.83,452.3,574.8,12.6,987,12133,0.15,1.92,0.00,0.000,4,0.062,0.051,3114,1051,1010
$GC,12162,0.66,452.3,569.7,16.5,988,12165,0.25,1.90,0.00,0.000,6,0.135,0.043,3022,2243,1009
$GC,12477,0.78,464.6,530.9,11.6,1004,12498,0.12,1.92,12.70,1.022,4,0.064,0.050,3103,1072,958
$GC,12556,0.64,464.6,519.4,15.5,1007,12562,0.22,1.83,0.00,0.000,6,0.131,0.042,3019,2214,958
$GC,12870,0.97,525.2,485.7,10.0,1029,12930,0.25,2.47,54.78,1.045,4,0.046,0.058,3141,3675,711
$GC,12995,0.76,525.2,463.5,20.0,1040,13002,0.25,2.47,0.00,0.000,6,0.137,0.040,3058,2140,708
$GC,13312,0.84,537.4,425.3,11.6,1071,13334,0.00,1.75,13.80,0.815,4,0.000,0.052,3065,1071,662
$GC,13393,0.90,537.4,415.4,13.0,1078,13398,0.00,1.62,0.00,0.000,6,0.000,0.040,3065,2093,660
$GC,13710,1.14,537.4,376.9,12.7,1109,13714,0.28,2.58,0.00,0.000,4,0.047,0.055,3200,3692,659
$GC,13801,0.81,537.4,356.9,23.9,1117,13805,0.47,2.45,0.00,0.000,6,0.149,0.040,3071,2118,658
$GC,14117,0.88,549.4,315.4,11.6,1147,14141,0.00,1.67,15.38,0.781,4,0.000,0.053,3077,1077,613
$GC,14190,0.93,549.4,306.3,12.2,1154,14194,0.00,1.62,0.00,0.000,6,0.000,0.040,3078,2108,609
$GC,14516,1.02,549.4,266.3,12.0,1210,14522,0.17,2.53,0.00,0.000,4,0.057,0.054,3159,3689,606
$GC,14548,0.87,549.4,261.1,17.2,1216,14554,0.22,2.42,0.00,0.000,6,0.133,0.039,3081,2146,605
$GC,14876,1.22,606.5,224.2,10.1,1277,14937,0.30,2.53,39.88,0.741,4,0.041,0.051,3228,3694,480
$GC,14952,0.92,606.5,209.9,21.7,1290,14959,0.45,2.50,0.00,0.000,6,0.152,0.038,3108,2114,476
$GC,15280,1.21,637.2,167.4,11.0,1351,15286,0.22,1.65,0.00,0.000,4,0.048,0.054,3229,1075,466
$GC,15392,0.93,637.2,147.1,20.8,1372,15399,0.35,1.62,0.00,0.000,6,0.136,0.047,3114,2109,464
$GC,15721,1.53,705.5,110.3,9.7,1433,15727,0.47,1.62,0.00,0.000,4,0.055,0.045,3315,1064,462
$GC,15775,1.11,705.5,100.5,22.5,1443,15781,0.45,1.60,0.00,0.000,6,0.159,0.038,3165,2096,462
$GC,16102,1.33,768.9,63.1,9.9,1504,16108,0.17,2.53,0.00,0.000,4,0.049,0.051,3265,3698,461
$GC,16135,1.14,768.9,58.3,15.8,1510,16142,0.35,2.42,0.00,0.000,6,0.153,0.035,3174,2124,461
$GC,16464,1.27,812.3,21.2,10.6,1571,16470,0.12,1.62,0.00,0.000,4,0.063,0.045,3248,1078,461
$GC,16518,1.12,812.3,13.4,15.0,1581,16524,0.22,1.58,0.00,0.000,6,0.129,0.037,3172,2109,460
$STATE,16606,end climb,SURFACE_DEPTH_REACHED
$STATE,16606,begin surface coast
$FINISH,1.8,1.014991
$STATE,16641,end surface coast,CONTROL_FINISHED_OK
$STATE,16641,begin surface
$SM_CCo,16716,0.00,0.000,0,0,459,587.25
$SM_GC,2.43,7.53,0.00,0.00,0.028,0.000,0.000,162,2113,459,-8.17,-0.62,587.25
$IRIDIUM_FIX,2536.61,12525.59,131098,161656
$TT8_MAMPS,0.049088
$HUMID,1622
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.20
$XPDR_PINGS,372
$24V_AH,23.3,73.387
$10V_AH,10.6,50.633
$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,33.550,170.150,735.500,0.000,0.000,61.279,87.466,267.072,101.000,0.000,0.000,27.490,0.000,11763.998,886.959,3869.586,791.963,0.000,2374.255,0.000,3254.365,0.000,54.001,0.000
$DEVICE_MAMPS,228.566,65.195,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.695,1114.805,1746.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91634,1604
$CAP_FILE_SIZE,190457,0
$CFSIZE,260165632,228102144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.133, 42.7,1
$GPS,200709,015607,2545.344,12534.890,27,1.5,27,-4.0