version: 66.04
glider: 165
mission: 2
dive: 504
start: 8 19 109 4 30 37
data:
$ID,165
$MISSION,2
$DIVE,504
$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,-130235.48
$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,48
$R_STBD_OVSHOOT,29
$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
$GPS1,042307,2451.231,12213.775,109,0.9,109,-3.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-73.4
$GPS2,043032,2450.810,12213.933,8,1.5,8,-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,332.3,18255,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,55,0.00,0.00,-37.15,0.000,2,0.000,0.000,161,2268,1604
$GC,59,-0.91,-219.0,3.0,-2.1,6,144,9.35,2.28,-69.40,0.000,4,0.229,0.061,2468,3691,3748
$GC,200,-0.55,-219.0,27.0,-26.0,29,206,0.43,2.15,0.00,0.000,6,0.138,0.034,2595,2278,3750
$GC,527,-0.62,-219.0,68.4,-7.4,90,533,0.00,2.28,0.00,0.000,4,0.000,0.058,2590,3685,3751
$GC,587,-0.78,-219.0,73.0,-7.7,101,594,0.15,2.10,0.00,0.000,6,0.038,0.032,2492,2307,3751
$GC,915,-0.61,-219.0,125.3,-14.0,162,921,0.28,2.20,0.00,0.000,4,0.146,0.041,2579,888,3752
$GC,997,-0.78,-219.0,131.4,-6.1,177,1003,0.15,2.20,0.00,0.000,6,0.054,0.038,2489,2316,3753
$GC,1325,-0.64,-219.0,179.3,-14.1,238,1331,0.25,0.00,0.00,0.000,6,0.131,0.000,2571,2317,3754
$GC,1652,-0.79,-219.0,204.4,-7.8,299,1659,0.15,0.00,0.00,0.000,6,0.055,0.000,2472,2317,3753
$GC,1980,-0.62,-219.0,257.0,-13.5,360,1986,0.30,2.28,0.00,0.000,4,0.131,0.048,2571,885,3753
$GC,2018,-0.77,-219.0,260.4,-6.5,367,2026,0.12,2.22,0.00,0.000,6,0.060,0.041,2489,2312,3753
$GC,2351,-0.67,-219.0,304.8,-14.6,426,2354,0.20,2.25,0.00,0.000,4,0.133,0.044,2556,893,3752
$GC,2388,-0.78,-219.0,309.0,-9.9,429,2392,0.00,2.22,0.00,0.000,6,0.000,0.043,2551,2306,3752
$GC,2704,-0.91,-219.0,333.8,-7.9,459,2705,0.17,0.00,0.00,0.000,6,0.051,0.000,2454,2306,3751
$GC,3015,-0.73,-219.0,381.9,-14.4,489,3018,0.25,2.25,0.00,0.000,4,0.135,0.059,2533,3691,3749
$GC,3036,-0.66,-219.0,384.5,-11.8,490,3041,0.12,2.12,0.00,0.000,6,0.114,0.040,2573,2310,3749
$GC,3353,-0.88,-219.0,403.5,-5.8,521,3357,0.17,2.22,0.00,0.000,4,0.052,0.045,2465,889,3747
$GC,3406,-0.79,-219.0,409.7,-13.1,525,3412,0.20,2.28,0.00,0.000,6,0.137,0.048,2523,2309,3747
$GC,3722,-0.84,-219.0,442.1,-10.4,556,3725,0.00,2.25,0.00,0.000,4,0.000,0.047,2523,890,3745
$GC,3745,-0.93,-219.0,444.5,-10.9,558,3748,0.12,2.25,0.00,0.000,6,0.064,0.044,2456,2314,3745
$GC,4061,-0.77,-219.0,495.1,-16.0,588,4065,0.20,2.30,0.00,0.000,4,0.141,0.048,2521,884,3743
$GC,4109,-0.86,-219.0,501.5,-9.8,591,4112,0.00,2.25,0.00,0.000,6,0.000,0.045,2521,2300,3743
$GC,4419,-0.94,-219.0,533.1,-9.3,606,4420,0.12,0.00,0.00,0.000,6,0.063,0.000,2448,2300,3741
$GC,4725,-0.78,-219.0,580.9,-17.0,621,4729,0.22,2.28,0.00,0.000,4,0.135,0.050,2522,893,3739
$GC,4778,-0.90,-219.0,587.9,-10.7,623,4785,0.00,2.22,0.00,0.000,6,0.000,0.048,2521,2285,3739
$GC,5089,-0.99,-219.0,616.5,-9.4,639,5093,0.17,2.30,0.00,0.000,4,0.053,0.063,2428,3682,3738
$GC,5158,-0.86,-219.0,627.1,-16.4,642,5162,0.25,2.15,0.00,0.000,6,0.129,0.038,2504,2289,3736
$GC,5470,-0.90,-219.0,665.4,-11.9,657,5473,0.00,2.22,0.00,0.000,4,0.000,0.051,2504,881,3736
$GC,5549,-0.99,-219.0,674.7,-11.2,660,5556,0.12,2.28,0.00,0.000,6,0.064,0.051,2439,2287,3735
$STATE,5715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5715,begin apogee
$GC,5722,-0.20,0.0,700.2,15.9,669,5902,0.88,0.00,177.43,1.151,6,0.130,0.000,2715,2286,2854
$STATE,5902,end apogee,CONTROL_FINISHED_OK
$STATE,5902,begin climb
$GC,5906,0.91,219.0,710.2,0.0,678,6095,1.00,2.38,180.35,1.123,4,0.046,0.061,3092,3692,1961
$GC,6335,0.44,219.0,645.1,21.7,698,6341,0.65,2.20,0.00,0.000,6,0.176,0.042,2923,2300,1955
$GC,6646,0.61,358.7,620.5,6.3,714,6773,0.15,2.42,120.00,1.078,4,0.064,0.058,3003,3689,1390
$GC,6847,0.50,358.7,592.4,18.1,723,6851,0.25,2.22,0.00,0.000,6,0.146,0.038,2943,2285,1387
$GC,7159,0.63,394.6,557.6,9.8,738,7201,0.12,2.40,31.62,1.025,4,0.064,0.056,3016,3692,1244
$GC,7238,0.49,394.6,543.3,23.6,741,7243,0.30,2.22,0.00,0.000,6,0.143,0.038,2940,2286,1243
$GC,7548,0.74,498.8,511.8,7.5,757,7645,0.17,2.35,91.62,1.022,4,0.054,0.053,3047,898,820
$GC,7671,0.68,498.8,493.3,17.7,764,7678,0.17,2.25,0.00,0.000,6,0.133,0.041,2997,2294,817
$GC,7987,0.75,498.8,452.5,12.7,795,7990,0.00,2.25,0.00,0.000,4,0.000,0.056,2997,3689,813
$GC,8051,0.86,498.8,444.3,11.5,800,8057,0.12,2.20,0.00,0.000,6,0.047,0.039,3084,2306,812
$GC,8369,0.69,498.8,373.9,24.1,831,8373,0.25,2.25,0.00,0.000,4,0.149,0.050,3017,895,811
$GC,8390,0.60,498.8,368.6,22.3,832,8396,0.15,2.25,0.00,0.000,6,0.126,0.040,2974,2317,811
$GC,8706,0.76,498.8,325.9,12.0,863,8708,0.15,0.00,0.00,0.000,6,0.054,0.000,3051,2318,810
$GC,9022,0.70,498.8,266.4,17.4,909,9027,0.17,2.20,0.00,0.000,4,0.137,0.055,2993,3687,810
$GC,9103,0.84,498.8,255.8,11.9,924,9109,0.15,2.15,0.00,0.000,6,0.057,0.040,3081,2306,809
$GC,9431,0.70,498.8,189.0,23.6,985,9437,0.22,2.25,0.00,0.000,4,0.143,0.049,3019,890,809
$GC,9464,0.74,498.8,182.3,17.7,991,9471,0.00,2.22,0.00,0.000,6,0.000,0.038,3020,2315,809
$GC,9793,0.82,498.8,134.6,14.4,1052,9799,0.00,2.22,0.00,0.000,4,0.000,0.055,3020,3674,809
$GC,9858,0.94,498.8,124.8,14.5,1064,9864,0.15,2.12,0.00,0.000,6,0.057,0.041,3109,2308,810
$GC,10185,0.84,498.8,67.9,15.6,1125,10191,0.17,2.25,0.00,0.000,4,0.138,0.048,3063,886,809
$GC,10267,0.95,498.8,58.3,11.1,1140,10273,0.00,2.25,0.00,0.000,6,0.000,0.043,3063,2299,809
$GC,10595,1.13,548.0,20.3,9.3,1201,10646,0.20,2.25,44.50,0.673,4,0.050,0.053,3169,3689,616
$GC,10708,1.06,548.0,4.8,14.5,1220,10714,0.15,2.22,0.00,0.000,6,0.134,0.040,3118,2285,609
$STATE,10717,end climb,SURFACE_DEPTH_REACHED
$STATE,10717,begin surface coast
$FINISH,2.0,1.006392
$STATE,10738,end surface coast,CONTROL_FINISHED_OK
$STATE,10738,begin surface
$SM_CCo,10817,0.00,0.000,0,0,605,551.68
$SM_GC,2.89,7.68,0.00,0.00,0.036,0.000,0.000,150,2280,605,-8.10,-0.17,551.68
$IRIDIUM_FIX,2434.69,12513.51,131198,010137
$TT8_MAMPS,0.049088
$HUMID,1834
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,22.90
$XPDR_PINGS,562
$24V_AH,23.2,112.131
$10V_AH,10.3,74.513
$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,26.800,103.100,645.525,0.000,0.000,28.384,38.822,231.484,145.750,0.000,0.000,10.349,0.000,7048.043,719.702,2804.066,660.685,0.000,1813.109,0.000,2365.563,0.000,35.784,0.000
$DEVICE_MAMPS,229.333,62.894,1151.267,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,829.206,901.131,1250.086,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69577,1226
$CAP_FILE_SIZE,131688,0
$CFSIZE,260165632,213598208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.332,154.2,1
$GPS,190809,073236,2450.467,12213.540,79,1.2,79,-3.5