version: 66.04
glider: 165
mission: 2
dive: 19
start: 5 24 109 11 57 37
data:
$ID,165
$MISSION,2
$DIVE,19
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,435
$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,-116307.66
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2836
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,2071
$C_ROLL_CLIMB,2463
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$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,0
$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
$GPS1,115230,2447.168,12300.257,34,1.1,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-68.9
$GPS2,115732,2447.206,12300.194,10,1.3,10,-3.6
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,232.6,55020,-18.3,-12.000
$D_GRID,1550
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.92,-194.7,0.0,0.0,0,59,0.00,0.00,-45.25,0.000,2,0.000,0.000,169,2071,2118
$GC,61,-0.92,-194.7,3.3,-4.6,7,113,9.55,2.28,-37.80,0.000,4,0.249,0.062,2530,664,3555
$GC,352,-0.92,-194.7,98.3,-32.5,60,359,0.00,2.22,0.00,0.000,6,0.000,0.046,2520,2070,3558
$GC,678,-0.92,-194.7,195.9,-27.7,121,685,0.00,2.22,0.00,0.000,4,0.000,0.049,2520,663,3560
$GC,731,-0.92,-194.7,211.0,-26.9,131,739,0.00,2.22,0.00,0.000,6,0.000,0.046,2519,2070,3560
$GC,1058,-0.92,-194.7,282.7,-19.5,192,1065,0.00,2.20,0.00,0.000,4,0.000,0.051,2519,676,3561
$GC,1138,-0.92,-194.7,299.0,-21.7,207,1146,0.00,2.20,0.00,0.000,6,0.000,0.045,2519,2082,3562
$GC,1460,-0.92,-194.7,362.4,-18.3,239,1465,0.00,2.22,0.00,0.000,4,0.000,0.051,2519,672,3562
$GC,1540,-0.92,-194.7,376.3,-17.0,246,1548,0.00,2.20,0.00,0.000,6,0.000,0.045,2519,2076,3562
$GC,1856,-0.92,-194.7,430.8,-16.6,277,1860,0.00,2.22,0.00,0.000,4,0.000,0.051,2519,665,3562
$GC,1914,-0.92,-194.7,440.0,-15.1,282,1921,0.00,2.20,0.00,0.000,6,0.000,0.045,2519,2070,3562
$GC,2230,-0.92,-194.7,488.6,-14.7,313,2234,0.00,2.20,0.00,0.000,4,0.000,0.053,2519,675,3562
$GC,2272,-0.92,-194.7,495.0,-15.2,317,2276,0.00,2.17,0.00,0.000,6,0.000,0.045,2519,2068,3562
$GC,2599,-0.92,-194.7,539.0,-12.9,335,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2068,3560
$GC,2903,-0.92,-194.7,582.9,-15.0,350,2908,0.00,2.20,0.00,0.000,4,0.000,0.054,2519,678,3559
$GC,2978,-0.92,-194.7,594.2,-14.5,353,2982,0.00,2.17,0.00,0.000,6,0.000,0.046,2519,2069,3558
$GC,3294,-0.92,-194.7,638.1,-13.5,369,3298,0.00,2.28,0.00,0.000,4,0.000,0.067,2519,3480,3555
$GC,3341,-0.92,-194.7,644.4,-13.4,371,3346,0.00,2.17,0.00,0.000,6,0.000,0.042,2519,2070,3554
$GC,3663,-0.92,-194.7,688.2,-13.6,387,3667,0.00,2.20,0.00,0.000,4,0.000,0.057,2518,675,3552
$GC,3726,-0.92,-194.7,696.9,-13.7,390,3731,0.00,2.20,0.00,0.000,6,0.000,0.051,2519,2067,3552
$GC,4052,-0.92,-194.7,736.5,-11.7,406,4057,0.00,2.28,0.00,0.000,4,0.000,0.069,2519,3472,3549
$GC,4095,-0.92,-194.7,741.5,-11.4,408,4099,0.00,2.17,0.00,0.000,6,0.000,0.044,2519,2069,3548
$GC,4421,-0.92,-194.7,779.9,-12.0,424,4426,0.00,2.22,0.00,0.000,4,0.000,0.059,2519,663,3547
$GC,4506,-0.92,-194.7,790.3,-12.4,428,4511,0.00,2.22,0.00,0.000,6,0.000,0.051,2518,2069,3546
$GC,4833,-0.92,-194.7,828.7,-11.8,444,4837,0.00,2.30,0.00,0.000,4,0.000,0.071,2519,3480,3543
$GC,4907,-0.92,-194.7,837.3,-10.9,447,4912,0.00,2.20,0.00,0.000,6,0.000,0.045,2519,2070,3542
$GC,5224,-0.92,-194.7,873.8,-11.2,463,5227,0.00,2.22,0.00,0.000,4,0.000,0.061,2519,669,3540
$GC,5276,-0.92,-194.7,879.7,-10.8,465,5280,0.00,2.22,0.00,0.000,6,0.000,0.052,2519,2069,3540
$GC,5592,-0.92,-194.7,915.1,-11.3,481,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2069,3538
$GC,5897,-0.92,-194.7,948.0,-10.5,496,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2069,3536
$GC,6202,-0.92,-194.7,978.3,-9.5,511,6206,0.00,2.30,0.00,0.000,4,0.000,0.074,2519,3472,3534
$GC,6234,-0.92,-194.7,981.2,-9.3,512,6238,0.00,2.20,0.00,0.000,6,0.000,0.048,2519,2063,3533
$STATE,6345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6345,begin apogee
$GC,6348,-0.19,0.0,991.4,9.2,518,6509,0.77,0.00,156.80,1.351,6,0.134,0.000,2775,2477,2759
$STATE,6509,end apogee,CONTROL_FINISHED_OK
$STATE,6509,begin climb
$GC,6510,0.92,194.7,995.4,0.0,526,6683,0.98,2.45,163.88,1.308,4,0.048,0.059,3152,1043,1964
$GC,6724,0.92,194.7,966.8,23.5,536,6729,0.00,2.42,0.00,0.000,6,0.000,0.055,3152,2458,1960
$GC,7050,0.92,194.7,887.9,23.8,552,7055,0.00,2.05,0.00,0.000,4,0.000,0.070,3152,3687,1955
$GC,7296,0.92,194.7,825.1,25.7,563,7301,0.10,1.98,0.00,0.000,6,0.212,0.047,3135,2453,1954
$GC,7612,0.92,194.7,756.6,22.9,579,7616,0.00,2.05,0.00,0.000,4,0.000,0.068,3135,3691,1953
$GC,7857,0.92,194.7,697.0,25.2,590,7862,0.00,1.95,0.00,0.000,6,0.000,0.048,3143,2458,1952
$GC,8173,0.92,194.7,626.5,21.9,606,8177,0.00,2.03,0.00,0.000,4,0.000,0.069,3143,3690,1951
$GC,8386,0.92,194.7,576.1,24.5,616,8391,0.00,1.95,0.00,0.000,6,0.000,0.047,3152,2446,1951
$GC,8713,0.92,194.7,510.0,19.0,632,8717,0.00,2.03,0.00,0.000,4,0.000,0.067,3152,3684,1950
$GC,8958,0.92,194.7,459.4,21.6,652,8963,0.00,1.92,0.00,0.000,6,0.000,0.046,3161,2443,1949
$GC,9280,0.92,194.7,397.9,18.3,683,9284,0.00,2.03,0.00,0.000,4,0.000,0.066,3161,3687,1949
$GC,9525,0.92,194.7,346.4,19.9,706,9529,0.12,1.92,0.00,0.000,6,0.202,0.044,3135,2453,1949
$GC,9842,0.92,194.7,292.5,17.1,740,9849,0.00,2.00,0.00,0.000,4,0.000,0.064,3135,3688,1949
$GC,9895,0.92,194.7,281.7,21.3,750,9903,0.00,1.92,0.00,0.000,6,0.000,0.044,3143,2445,1949
$GC,10222,0.92,194.7,223.3,18.0,811,10229,0.00,2.17,0.00,0.000,4,0.000,0.054,3153,1063,1949
$GC,10389,0.92,197.4,200.7,11.9,842,10395,0.00,2.22,0.00,0.000,6,0.000,0.050,3153,2471,1949
$GC,10715,0.92,197.4,161.3,12.3,903,10722,0.00,1.92,0.00,0.000,4,0.000,0.062,3153,3689,1950
$GC,10962,0.94,211.0,132.6,11.4,949,10982,0.00,1.88,12.12,0.696,6,0.000,0.041,3162,2457,1897
$GC,11301,1.04,295.0,97.8,8.5,1012,11371,0.00,2.08,65.80,0.680,4,0.000,0.059,3162,3692,1556
$GC,11536,1.04,295.0,63.3,16.1,1054,11543,0.00,1.90,0.00,0.000,6,0.000,0.038,3172,2468,1553
$GC,11862,1.07,314.9,18.9,11.2,1115,11883,0.00,2.03,16.83,0.591,4,0.000,0.058,3171,3696,1474
$STATE,11960,end climb,SURFACE_DEPTH_REACHED
$STATE,11960,begin surface coast
$FINISH,1.5,1.021888
$STATE,11978,end surface coast,CONTROL_FINISHED_OK
$STATE,11978,begin surface
$SM_CCo,11993,91.70,0.590,0,0,985,435.16
$SM_GC,2.23,0.00,0.00,91.70,0.000,0.000,0.590,162,2063,985,-8.35,-0.23,435.16
$IRIDIUM_FIX,2437.06,12259.94,180898,080807
$TT8_MAMPS,0.048321
$HUMID,1513
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.60
$XPDR_PINGS,41
$24V_AH,23.6,8.059
$10V_AH,10.7,7.182
$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,19.325,108.300,415.425,91.700,0.000,29.270,39.178,154.296,18.250,0.000,0.000,12.004,0.000,8533.667,643.566,2830.648,361.834,0.000,1703.297,0.000,2414.471,0.000,55.522,0.000
$DEVICE_MAMPS,248.508,74.399,1350.687,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,768.416,793.236,1331.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66546,1136
$CAP_FILE_SIZE,118692,0
$CFSIZE,260165632,256286720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187, 22.3,1
$GPS,240509,152001,2447.120,12300.058,40,0.9,40,-3.6