version: 66.04
glider: 165
mission: 2
dive: 497
start: 8 18 109 4 5 43
data:
$ID,165
$MISSION,2
$DIVE,497
$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,300
$T_MISSION,360
$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,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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-129959.02
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,39
$R_STBD_OVSHOOT,28
$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,3
$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
$GPS1,035101,2448.243,12218.606,179,0.9,179,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-73.4
$GPS2,040538,2447.839,12218.496,13,1.6,13,-3.5
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$TGT_RADIUS,5000.000
$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,340.6,26657,-16.0,-11.000
$D_GRID,691
$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,14,-0.91,-219.0,0.0,0.0,0,53,0.00,0.00,-38.30,0.000,2,0.000,0.000,156,2321,1860
$GC,57,-0.91,-219.0,3.4,-3.7,6,128,9.40,2.28,-55.58,0.000,4,0.229,0.064,2468,3688,3751
$GC,177,-0.62,-219.0,19.9,-19.5,26,183,0.35,2.15,0.00,0.000,6,0.129,0.035,2575,2276,3751
$GC,504,-0.62,-219.0,60.4,-11.5,87,509,0.00,2.17,0.00,0.000,4,0.000,0.048,2575,883,3753
$GC,536,-0.68,-219.0,63.9,-11.3,93,542,0.00,2.28,0.00,0.000,6,0.000,0.046,2575,2298,3753
$GC,863,-0.78,-219.0,92.6,-9.2,154,869,0.15,0.00,0.00,0.000,6,0.055,0.000,2475,2299,3754
$GC,1190,-0.55,-219.0,152.8,-18.6,215,1196,0.38,2.25,0.00,0.000,4,0.159,0.042,2594,876,3754
$GC,1218,-0.62,-219.0,156.3,-11.3,220,1225,0.00,2.20,0.00,0.000,6,0.000,0.040,2592,2294,3754
$GC,1547,-0.84,-219.0,175.8,-5.9,281,1552,0.20,2.25,0.00,0.000,4,0.048,0.059,2467,3682,3754
$GC,1570,-0.89,-219.0,178.0,-10.0,285,1576,0.00,2.15,0.00,0.000,6,0.000,0.041,2467,2272,3754
$GC,1897,-0.68,-219.0,234.4,-17.3,346,1903,0.28,2.17,0.00,0.000,4,0.137,0.042,2556,887,3753
$GC,1968,-0.83,-219.0,242.0,-8.6,359,1973,0.12,2.20,0.00,0.000,6,0.061,0.041,2472,2293,3753
$GC,2295,-0.68,-219.0,295.0,-16.0,420,2302,0.25,2.22,0.00,0.000,4,0.142,0.043,2553,895,3751
$GC,2372,-0.84,-219.0,303.2,-8.8,431,2375,0.12,2.20,0.00,0.000,6,0.061,0.042,2475,2295,3751
$GC,2688,-0.70,-219.0,349.0,-15.6,461,2691,0.22,2.22,0.00,0.000,4,0.133,0.044,2549,890,3750
$GC,2725,-0.81,-219.0,353.6,-10.2,464,2728,0.00,2.20,0.00,0.000,6,0.000,0.043,2549,2285,3750
$GC,3049,-0.96,-219.0,378.8,-6.9,495,3053,0.17,2.28,0.00,0.000,4,0.051,0.058,2442,3686,3747
$GC,3080,-0.86,-219.0,382.3,-11.4,497,3086,0.20,2.15,0.00,0.000,6,0.127,0.035,2502,2277,3746
$GC,3396,-0.86,-219.0,417.2,-11.5,528,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2270,3745
$GC,3709,-0.86,-219.0,451.1,-11.1,558,3712,0.00,2.30,0.00,0.000,4,0.000,0.059,2494,3680,3742
$GC,3741,-0.90,-219.0,454.7,-10.6,560,3750,0.00,2.17,0.00,0.000,6,0.000,0.041,2495,2274,3742
$GC,4057,-0.86,-219.0,490.0,-11.3,591,4060,0.00,2.17,0.00,0.000,4,0.000,0.048,2495,890,3740
$GC,4143,-0.90,-219.0,498.9,-9.8,599,4146,0.00,2.20,0.00,0.000,6,0.000,0.045,2494,2270,3739
$GC,4470,-0.90,-219.0,537.0,-12.9,616,4473,0.00,2.33,0.00,0.000,4,0.000,0.062,2494,3691,3737
$GC,4490,-0.90,-219.0,539.6,-12.1,617,4494,0.00,2.20,0.00,0.000,6,0.000,0.037,2494,2265,3736
$GC,4813,-0.90,-219.0,578.5,-11.0,633,4816,0.00,2.17,0.00,0.000,4,0.000,0.048,2494,887,3734
$GC,4887,-0.94,-219.0,586.4,-9.6,636,4890,0.00,2.20,0.00,0.000,6,0.000,0.046,2494,2265,3734
$GC,5203,-0.94,-219.0,621.6,-11.6,652,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2265,3732
$GC,5508,-0.94,-219.0,660.8,-12.4,667,5511,0.00,2.22,0.00,0.000,4,0.000,0.050,2494,885,3730
$GC,5545,-0.97,-219.0,665.4,-12.3,668,5552,0.00,2.25,0.00,0.000,6,0.000,0.051,2494,2264,3730
$STATE,5751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5751,begin apogee
$GC,5758,-0.20,0.0,692.0,12.9,679,5938,0.65,0.00,177.30,1.141,6,0.105,0.000,2713,2297,2854
$STATE,5938,end apogee,CONTROL_FINISHED_OK
$STATE,5938,begin climb
$GC,5941,0.91,219.0,707.5,0.0,688,6134,1.00,2.42,181.90,1.117,4,0.047,0.054,3100,906,1959
$GC,6182,0.53,219.0,697.1,16.6,699,6188,0.52,2.30,0.00,0.000,6,0.167,0.049,2955,2304,1955
$GC,6493,0.50,241.9,664.6,10.2,715,6517,0.00,2.28,20.20,1.040,4,0.000,0.063,2955,3683,1866
$GC,6667,0.41,241.9,642.8,14.5,723,6671,0.17,2.15,0.00,0.000,6,0.158,0.039,2916,2311,1864
$GC,6989,0.56,319.8,615.9,8.4,739,7061,0.12,2.33,67.97,1.077,4,0.069,0.059,2983,3686,1551
$GC,7118,0.46,319.8,599.4,15.4,745,7122,0.22,2.15,0.00,0.000,6,0.146,0.039,2930,2331,1549
$GC,7434,0.59,358.0,566.8,9.7,761,7475,0.12,2.38,34.50,1.042,4,0.065,0.058,3013,893,1393
$GC,7486,0.48,358.0,559.9,14.2,763,7490,0.28,2.33,0.00,0.000,6,0.137,0.043,2934,2328,1391
$GC,7797,0.67,424.8,531.3,8.7,778,7861,0.17,2.33,59.25,1.032,4,0.054,0.058,3034,3682,1121
$GC,7951,0.56,424.8,504.7,19.3,785,7955,0.30,2.15,0.00,0.000,6,0.144,0.040,2959,2331,1119
$GC,8273,0.70,457.6,470.3,9.9,814,8306,0.12,0.00,29.65,0.983,6,0.064,0.000,3029,2324,988
$GC,8614,0.62,457.6,415.0,16.4,847,8617,0.17,2.22,0.00,0.000,4,0.139,0.058,2978,3682,983
$GC,8673,0.76,466.9,407.4,10.7,852,8687,0.12,2.10,8.90,0.848,6,0.061,0.039,3048,2334,950
$GC,8994,0.65,466.9,351.2,17.8,883,8997,0.20,2.33,0.00,0.000,4,0.140,0.050,2994,884,949
$GC,9031,0.73,466.9,346.1,11.7,886,9035,0.00,2.33,0.00,0.000,6,0.000,0.041,2995,2352,948
$GC,9349,0.80,466.9,306.1,13.3,916,9353,0.12,2.15,0.00,0.000,4,0.064,0.057,3061,3683,947
$GC,9387,0.69,466.9,299.1,19.2,919,9393,0.22,2.10,0.00,0.000,6,0.150,0.038,3006,2339,947
$GC,9714,0.73,466.9,247.0,16.3,980,9720,0.00,2.33,0.00,0.000,4,0.000,0.052,3016,887,947
$GC,9758,0.80,466.9,239.7,15.8,988,9766,0.00,2.33,0.00,0.000,6,0.000,0.042,3016,2346,946
$GC,10087,0.80,466.9,186.5,16.6,1049,10093,0.00,2.15,0.00,0.000,4,0.000,0.057,3016,3689,946
$GC,10147,0.86,466.9,176.3,16.6,1060,10155,0.00,2.17,0.00,0.000,6,0.000,0.044,3024,2328,947
$GC,10477,0.90,478.4,133.5,10.6,1121,10494,0.12,2.33,11.12,0.719,4,0.068,0.051,3105,882,902
$GC,10532,0.75,478.4,124.9,16.9,1131,10538,0.28,2.30,0.00,0.000,6,0.143,0.041,3025,2338,902
$GC,10859,0.83,478.4,83.7,11.4,1192,10866,0.00,2.15,0.00,0.000,4,0.000,0.056,3025,3684,901
$GC,10979,0.94,478.4,67.4,13.4,1214,10985,0.15,2.05,0.00,0.000,6,0.058,0.036,3111,2350,900
$GC,11307,0.94,478.4,16.0,14.4,1275,11312,0.00,2.33,0.00,0.000,4,0.000,0.053,3122,886,900
$GC,11393,1.00,483.0,5.4,10.8,1291,11406,0.00,2.28,4.43,0.467,6,0.000,0.041,3122,2334,884
$STATE,11420,end climb,SURFACE_DEPTH_REACHED
$STATE,11420,begin surface coast
$FINISH,2.0,1.006246
$STATE,11447,end surface coast,CONTROL_FINISHED_OK
$STATE,11447,begin surface
$SM_CCo,11525,0.00,0.000,0,0,882,483.73
$SM_GC,3.09,7.65,0.00,0.00,0.038,0.000,0.000,153,2264,882,-8.10,-0.59,483.73
$IRIDIUM_FIX,2439.44,12218.44,121198,040445
$TT8_MAMPS,0.049088
$HUMID,1843
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,23.00
$XPDR_PINGS,591
$24V_AH,23.2,110.571
$10V_AH,10.3,73.688
$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,24.600,116.125,595.225,0.000,0.000,83.553,101.929,397.361,152.750,0.000,0.000,15.492,0.000,7759.048,686.367,2939.137,983.234,0.000,1814.635,0.000,2482.408,0.000,34.105,0.000
$DEVICE_MAMPS,228.566,171.041,1141.296,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,882.419,959.696,1323.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72541,1301
$CAP_FILE_SIZE,140887,0
$CFSIZE,260165632,214126592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,165.9,1
$GPS,180809,072006,2448.350,12217.747,115,0.9,115,-3.5