version: 66.04
glider: 165
mission: 2
dive: 502
start: 8 18 109 22 0 25
data:
$ID,165
$MISSION,2
$DIVE,502
$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,-130212.56
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,215030,2449.663,12214.693,116,1.1,116,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-72.9
$GPS2,220020,2449.595,12214.503,9,1.5,9,-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,351.6,20699,-16.0,-11.000
$D_GRID,623
$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,-0.91,-219.0,0.0,0.0,0,55,0.00,0.00,-40.22,0.000,2,0.000,0.000,151,2268,1808
$GC,58,-0.91,-219.0,3.2,-3.0,6,138,9.45,2.28,-65.15,0.000,4,0.232,0.055,2478,868,3749
$GC,315,-0.64,-219.0,57.1,-20.5,51,322,0.30,2.22,0.00,0.000,6,0.135,0.041,2568,2293,3751
$GC,644,-0.69,-219.0,94.8,-9.8,112,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2294,3752
$GC,972,-0.78,-219.0,130.0,-11.2,173,979,0.12,2.22,0.00,0.000,4,0.062,0.042,2491,867,3753
$GC,995,-0.78,-219.0,133.6,-15.1,177,1001,0.15,2.20,0.00,0.000,6,0.136,0.040,2525,2288,3753
$GC,1323,-0.78,-219.0,182.4,-13.4,238,1328,0.00,2.22,0.00,0.000,4,0.000,0.061,2520,3680,3753
$GC,1350,-0.78,-219.0,186.1,-13.5,243,1358,0.00,2.20,0.00,0.000,6,0.000,0.034,2520,2244,3753
$GC,1679,-0.73,-219.0,231.2,-14.1,304,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2238,3753
$GC,2006,-0.69,-219.0,275.9,-12.0,365,2012,0.12,2.12,0.00,0.000,4,0.133,0.047,2559,886,3753
$GC,2039,-0.79,-219.0,279.5,-9.9,371,2046,0.00,2.17,0.00,0.000,6,0.000,0.043,2558,2273,3753
$GC,2371,-0.91,-219.0,303.3,-6.1,428,2374,0.20,2.17,0.00,0.000,4,0.048,0.045,2445,886,3752
$GC,2468,-0.65,-219.0,317.8,-17.8,437,2472,0.43,2.17,0.00,0.000,6,0.137,0.044,2567,2268,3752
$GC,2783,-0.81,-219.0,332.9,-2.6,467,2787,0.15,2.30,0.00,0.000,4,0.055,0.059,2478,3693,3750
$GC,2858,-0.74,-219.0,339.8,-10.8,473,2864,0.20,2.15,0.00,0.000,6,0.122,0.035,2540,2283,3749
$GC,3174,-0.83,-219.0,361.1,-6.7,504,3177,0.00,2.17,0.00,0.000,4,0.000,0.048,2541,888,3748
$GC,3233,-0.96,-219.0,365.3,-6.7,509,3239,0.20,2.20,0.00,0.000,6,0.050,0.047,2440,2272,3748
$GC,3549,-0.71,-219.0,416.7,-17.7,540,3553,0.32,2.22,0.00,0.000,4,0.141,0.047,2543,881,3747
$GC,3654,-0.86,-219.0,426.6,-7.9,549,3658,0.10,2.17,0.00,0.000,6,0.070,0.044,2477,2262,3746
$GC,3970,-0.76,-219.0,468.1,-14.9,579,3973,0.17,2.20,0.00,0.000,4,0.136,0.047,2534,883,3744
$GC,3998,-0.80,-219.0,471.6,-12.7,581,4001,0.00,2.15,0.00,0.000,6,0.000,0.043,2534,2247,3744
$GC,4313,-0.92,-219.0,493.9,-5.4,611,4317,0.15,2.35,0.00,0.000,4,0.056,0.060,2451,3697,3743
$GC,4372,-0.86,-219.0,499.0,-9.5,616,4378,0.17,2.25,0.00,0.000,6,0.125,0.037,2504,2241,3742
$GC,4693,-0.86,-219.0,523.6,-8.2,633,4696,0.00,2.12,0.00,0.000,4,0.000,0.048,2504,887,3740
$GC,4736,-0.91,-219.0,527.3,-8.1,635,4739,0.00,2.17,0.00,0.000,6,0.000,0.046,2504,2252,3740
$GC,5063,-0.91,-219.0,553.9,-8.3,651,5066,0.00,2.17,0.00,0.000,4,0.000,0.048,2504,884,3739
$GC,5089,-0.95,-219.0,556.3,-9.5,652,5092,0.00,2.15,0.00,0.000,6,0.000,0.046,2504,2236,3738
$GC,5411,-0.99,-219.0,582.0,-8.7,668,5415,0.12,2.38,0.00,0.000,4,0.062,0.061,2438,3686,3737
$GC,5448,-0.89,-219.0,586.4,-13.1,670,5452,0.20,2.25,0.00,0.000,6,0.129,0.036,2498,2227,3736
$GC,5770,-0.89,-219.0,612.9,-8.9,686,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2227,3735
$STATE,5868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5868,begin apogee
$GC,5874,-0.20,0.0,624.8,12.1,691,6053,0.65,0.00,175.88,1.103,6,0.110,0.000,2714,2316,2854
$STATE,6053,end apogee,CONTROL_FINISHED_OK
$STATE,6053,begin climb
$GC,6056,0.91,219.0,641.6,0.0,700,6244,0.95,2.33,178.73,1.084,4,0.046,0.061,3084,3683,1961
$GC,6444,0.46,219.0,600.2,22.0,717,6448,0.57,2.15,0.00,0.000,6,0.173,0.039,2933,2308,1955
$GC,6760,0.46,219.0,557.3,13.7,733,6763,0.00,2.25,0.00,0.000,4,0.000,0.058,2934,3683,1952
$GC,6851,0.42,219.0,543.1,16.3,737,6854,0.00,2.15,0.00,0.000,6,0.000,0.038,2942,2300,1952
$GC,7163,0.42,219.0,496.6,13.8,753,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2300,1950
$GC,7472,0.45,242.4,461.0,10.2,783,7495,0.00,0.00,19.83,0.971,6,0.000,0.000,2942,2300,1865
$GC,7806,0.64,401.0,434.1,5.7,815,7949,0.12,2.35,136.40,0.981,4,0.067,0.057,3015,3681,1218
$GC,8118,0.57,401.0,399.5,13.7,843,8123,0.22,2.17,0.00,0.000,6,0.143,0.039,2961,2303,1213
$GC,8433,0.68,401.0,365.0,13.6,874,8437,0.12,2.25,0.00,0.000,4,0.061,0.051,3043,893,1211
$GC,8524,0.63,401.0,346.9,20.7,882,8528,0.20,2.20,0.00,0.000,6,0.133,0.041,2985,2289,1210
$GC,8842,0.63,401.0,287.9,17.8,918,8847,0.00,2.28,0.00,0.000,4,0.000,0.058,2985,3692,1208
$GC,8945,0.70,401.0,271.9,14.4,937,8950,0.00,2.17,0.00,0.000,6,0.000,0.037,2993,2285,1208
$GC,9272,0.91,536.6,237.4,6.4,998,9398,0.17,2.28,118.68,0.850,4,0.055,0.054,3103,903,662
$GC,9424,0.79,536.6,217.9,14.6,1024,9432,0.25,2.22,0.00,0.000,6,0.137,0.044,3031,2288,654
$GC,9753,0.87,561.2,188.6,10.2,1085,9795,0.00,2.25,26.45,0.689,4,0.000,0.054,3032,3678,565
$GC,9838,1.00,561.2,178.1,14.4,1100,9846,0.15,2.22,0.00,0.000,6,0.040,0.038,3125,2288,558
$GC,10168,0.85,561.2,89.1,25.6,1161,10174,0.20,2.22,0.00,0.000,4,0.138,0.049,3069,889,551
$GC,10212,0.91,561.2,79.8,19.0,1169,10217,0.00,2.15,0.00,0.000,6,0.000,0.038,3070,2270,550
$GC,10539,1.05,575.9,31.2,10.5,1230,10565,0.15,2.25,14.77,0.581,4,0.056,0.052,3148,3680,504
$GC,10655,1.09,575.9,13.5,16.1,1250,10660,0.00,2.17,0.00,0.000,6,0.000,0.042,3157,2280,498
$STATE,10727,end climb,SURFACE_DEPTH_REACHED
$STATE,10727,begin surface coast
$FINISH,2.0,1.004933
$STATE,10749,end surface coast,CONTROL_FINISHED_OK
$STATE,10749,begin surface
$SM_CCo,10827,0.00,0.000,0,0,494,578.91
$SM_GC,2.84,7.75,0.00,0.00,0.037,0.000,0.000,153,2272,494,-8.10,-0.37,578.91
$IRIDIUM_FIX,2437.06,12213.16,121198,222245
$TT8_MAMPS,0.048321
$HUMID,1863
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,22.60
$XPDR_PINGS,576
$24V_AH,23.3,111.684
$10V_AH,10.3,74.288
$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,24.100,97.650,670.725,0.000,0.000,59.070,64.517,261.735,148.250,0.000,0.000,11.226,0.000,7077.947,726.321,2846.956,739.577,0.000,1847.097,0.000,2414.204,0.000,29.149,0.000
$DEVICE_MAMPS,231.634,71.331,1102.946,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,856.520,887.068,1229.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72571,1268
$CAP_FILE_SIZE,129305,0
$CFSIZE,260165632,213749760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.044,177.4,1
$GPS,190809,010306,2450.861,12213.868,111,1.0,111,-3.5