version: 66.04
glider: 165
mission: 2
dive: 503
start: 8 19 109 1 10 7
data:
$ID,165
$MISSION,2
$DIVE,503
$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,-130224.49
$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,34
$R_STBD_OVSHOOT,35
$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
$GPS1,010306,2450.861,12213.868,111,1.0,111,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-73.7
$GPS2,011002,2450.818,12213.961,9,1.2,9,-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,344.6,18259,-16.0,-11.000
$D_GRID,698
$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,-219.0,0.0,0.0,0,66,0.00,0.00,-50.33,0.000,2,0.000,0.000,153,2269,1682
$GC,70,-0.91,-219.0,3.4,-3.0,8,144,9.43,0.00,-62.95,0.000,6,0.232,0.000,2478,2270,3749
$GC,465,-0.64,-219.0,89.4,-22.7,79,471,0.25,2.20,0.00,0.000,4,0.138,0.043,2562,869,3754
$GC,519,-0.64,-219.0,97.4,-11.3,89,526,0.00,2.20,0.00,0.000,6,0.000,0.040,2561,2285,3754
$GC,848,-0.70,-219.0,135.8,-12.5,150,854,0.00,2.22,0.00,0.000,4,0.000,0.048,2561,863,3755
$GC,908,-0.82,-219.0,141.8,-9.3,161,915,0.10,2.22,0.00,0.000,6,0.047,0.039,2486,2273,3755
$GC,1236,-0.66,-219.0,199.8,-15.8,222,1246,0.22,2.22,0.00,0.000,4,0.133,0.042,2562,868,3756
$GC,1273,-0.74,-219.0,204.0,-9.4,228,1279,0.00,2.20,0.00,0.000,6,0.000,0.045,2562,2275,3755
$GC,1600,-0.85,-219.0,227.3,-6.6,289,1606,0.15,0.00,0.00,0.000,6,0.055,0.000,2463,2275,3755
$GC,1927,-0.66,-219.0,279.0,-19.5,350,1933,0.30,2.22,0.00,0.000,4,0.162,0.045,2559,878,3755
$GC,2019,-0.84,-219.0,291.7,-12.6,367,2025,0.15,2.17,0.00,0.000,6,0.054,0.043,2465,2269,3755
$GC,2342,-0.69,-219.0,348.4,-14.1,403,2346,0.28,2.22,0.00,0.000,4,0.132,0.046,2555,869,3754
$GC,2374,-0.77,-219.0,351.5,-8.2,405,2381,0.00,2.17,0.00,0.000,6,0.000,0.043,2553,2250,3754
$GC,2692,-0.91,-219.0,361.7,-2.2,436,2694,0.20,0.00,0.00,0.000,6,0.048,0.000,2448,2250,3753
$GC,3003,-0.72,-219.0,396.9,-12.2,466,3007,0.28,2.20,0.00,0.000,4,0.136,0.047,2539,874,3752
$GC,3019,-0.59,-219.0,399.1,-12.3,467,3023,0.17,2.20,0.00,0.000,6,0.119,0.045,2591,2262,3752
$GC,3340,-1.13,-219.0,422.8,-11.0,498,3344,0.45,2.22,0.00,0.000,4,0.069,0.046,2417,868,3749
$GC,3421,-0.95,-219.0,434.6,-17.6,505,3425,0.22,2.17,0.00,0.000,6,0.150,0.045,2476,2233,3749
$GC,3736,-0.85,-219.0,488.8,-17.0,535,3739,0.00,2.17,0.00,0.000,4,0.000,0.050,2476,871,3748
$GC,3773,-0.79,-219.0,495.1,-16.7,538,3779,0.17,2.20,0.00,0.000,6,0.130,0.048,2529,2235,3748
$GC,4087,-0.91,-219.0,530.2,-11.0,556,4091,0.12,2.38,0.00,0.000,4,0.060,0.062,2454,3683,3745
$GC,4135,-0.86,-219.0,537.7,-15.8,558,4139,0.15,2.25,0.00,0.000,6,0.126,0.037,2498,2222,3744
$GC,4452,-0.86,-219.0,577.8,-12.2,574,4455,0.00,2.12,0.00,0.000,4,0.000,0.051,2499,881,3743
$GC,4510,-0.92,-219.0,585.2,-11.9,576,4516,0.00,2.17,0.00,0.000,6,0.000,0.051,2497,2225,3742
$GC,4821,-0.92,-219.0,617.7,-7.6,592,4824,0.00,2.40,0.00,0.000,4,0.000,0.064,2494,3685,3740
$GC,4859,-0.99,-219.0,620.2,-6.7,594,4862,0.00,2.30,0.00,0.000,6,0.000,0.037,2494,2203,3739
$GC,5180,-0.99,-219.0,647.7,-9.8,610,5183,0.00,2.10,0.00,0.000,4,0.000,0.049,2494,875,3738
$GC,5218,-1.05,-219.0,651.9,-10.4,611,5225,0.15,2.15,0.00,0.000,6,0.060,0.047,2420,2223,3738
$STATE,5504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5504,begin apogee
$GC,5511,-0.20,0.0,698.2,18.5,626,5692,0.93,0.00,178.32,1.161,6,0.134,0.000,2709,2313,2854
$STATE,5692,end apogee,CONTROL_FINISHED_OK
$STATE,5692,begin climb
$GC,5695,0.91,219.0,713.0,0.0,635,5889,0.95,2.45,181.32,1.134,4,0.037,0.054,3109,897,1959
$GC,6078,0.52,219.0,680.8,16.5,652,6084,0.57,2.28,0.00,0.000,6,0.169,0.050,2947,2303,1952
$GC,6390,0.52,257.1,648.8,9.7,668,6432,0.00,2.35,32.58,1.079,4,0.000,0.061,2947,3680,1804
$GC,6571,0.45,257.1,626.8,12.3,676,6574,0.00,2.15,0.00,0.000,6,0.000,0.039,2956,2309,1801
$GC,6887,0.47,314.5,594.1,9.1,692,6950,0.00,2.33,51.88,1.045,4,0.000,0.058,2956,3685,1572
$GC,7032,0.55,378.2,580.7,8.8,698,7093,0.00,2.15,56.95,1.062,6,0.000,0.041,2965,2326,1312
$GC,7402,0.56,386.0,544.6,10.7,716,7414,0.00,2.30,7.32,0.872,4,0.000,0.057,2965,3693,1280
$GC,7486,0.59,386.0,534.4,11.6,720,7489,0.00,2.12,0.00,0.000,6,0.000,0.038,2974,2332,1278
$GC,7803,0.59,386.0,498.0,13.5,736,7806,0.00,2.20,0.00,0.000,4,0.000,0.056,2974,3683,1278
$GC,7850,0.59,386.0,490.2,16.7,740,7856,0.00,2.12,0.00,0.000,6,0.000,0.042,2984,2351,1277
$GC,8169,0.59,386.0,438.3,16.8,771,8172,0.00,2.17,0.00,0.000,4,0.000,0.056,2983,3693,1276
$GC,8277,0.59,386.0,417.5,19.2,781,8280,0.00,2.05,0.00,0.000,6,0.000,0.037,2993,2368,1276
$GC,8599,0.59,386.0,367.7,14.4,812,8603,0.00,2.35,0.00,0.000,4,0.000,0.051,3004,893,1276
$GC,8631,0.59,386.0,362.7,14.8,814,8637,0.12,2.38,0.00,0.000,6,0.133,0.047,2970,2380,1274
$GC,8947,0.64,386.0,322.9,12.3,845,8950,0.00,2.10,0.00,0.000,4,0.000,0.058,2969,3686,1274
$GC,9054,0.69,386.0,310.6,11.5,855,9058,0.00,2.03,0.00,0.000,6,0.000,0.037,2976,2370,1274
$GC,9378,0.83,456.3,281.0,8.6,905,9446,0.20,2.20,61.78,0.891,4,0.051,0.055,3078,3687,992
$GC,9467,0.66,456.3,266.9,17.7,920,9473,0.25,2.08,0.00,0.000,6,0.143,0.039,2994,2399,992
$GC,9795,0.74,456.3,232.5,11.6,981,9801,0.00,2.40,0.00,0.000,4,0.000,0.048,3004,894,988
$GC,9892,0.85,456.3,221.2,11.9,999,9898,0.15,2.38,0.00,0.000,6,0.061,0.040,3091,2399,987
$GC,10219,0.70,456.3,148.9,21.1,1060,10225,0.28,2.08,0.00,0.000,4,0.142,0.054,3004,3697,987
$GC,10290,0.80,456.3,138.3,13.3,1073,10297,0.00,2.03,0.00,0.000,6,0.000,0.036,3011,2375,988
$GC,10620,0.89,462.7,103.8,10.8,1134,10632,0.15,2.35,6.07,0.615,4,0.060,0.047,3113,892,966
$GC,10707,0.77,462.7,89.3,18.1,1150,10713,0.30,2.35,0.00,0.000,6,0.136,0.041,3024,2383,966
$GC,11034,0.96,522.0,49.7,9.0,1211,11091,0.17,2.12,50.72,0.705,4,0.052,0.054,3132,3696,723
$GC,11332,0.96,522.0,3.4,12.7,1265,11339,0.17,2.03,0.00,0.000,6,0.119,0.035,3088,2375,719
$STATE,11342,end climb,SURFACE_DEPTH_REACHED
$STATE,11342,begin surface coast
$FINISH,2.1,1.003407
$STATE,11369,end surface coast,CONTROL_FINISHED_OK
$STATE,11369,begin surface
$SM_CCo,11448,0.00,0.000,0,0,719,523.96
$SM_GC,3.07,7.57,0.00,0.00,0.036,0.000,0.000,162,2271,719,-8.08,-0.37,523.96
$IRIDIUM_FIX,2439.44,12216.43,121198,222210
$TT8_MAMPS,0.049088
$HUMID,1847
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,23.00
$XPDR_PINGS,578
$24V_AH,23.2,111.903
$10V_AH,10.3,74.401
$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,24.625,110.900,626.950,0.000,0.000,29.670,44.661,193.975,149.500,0.000,0.000,11.296,0.000,7580.575,713.490,2905.776,636.205,0.000,1856.212,0.000,2457.870,0.000,37.135,0.000
$DEVICE_MAMPS,232.401,87.438,1161.238,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.504,893.494,1211.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72557,1272
$CAP_FILE_SIZE,132527,0
$CFSIZE,260165632,213671936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.240,145.3,1
$GPS,190809,042307,2451.231,12213.775,109,0.9,109,-3.5