version: 66.04
glider: 165
mission: 2
dive: 505
start: 8 19 109 7 39 37
data:
$ID,165
$MISSION,2
$DIVE,505
$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,-130252.6
$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,40
$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
$GPS1,073236,2450.467,12213.540,79,1.2,79,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-71.8
$GPS2,073931,2450.281,12213.460,9,1.7,14,-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,337.5,18914,-16.0,-11.000
$D_GRID,647
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-0.91,-219.0,0.0,0.0,0,59,0.00,0.00,-45.15,0.000,2,0.000,0.000,150,2276,1661
$GC,63,-0.91,-219.0,3.1,-2.5,7,148,9.48,2.30,-68.57,0.000,4,0.231,0.064,2471,3694,3751
$GC,293,-0.60,-219.0,45.2,-22.3,47,299,0.38,2.17,0.00,0.000,6,0.127,0.038,2587,2267,3752
$GC,620,-0.72,-219.0,85.0,-7.8,108,626,0.12,2.10,0.00,0.000,4,0.061,0.040,2507,893,3754
$GC,664,-0.64,-219.0,90.4,-14.1,116,671,0.22,2.15,0.00,0.000,6,0.128,0.038,2575,2277,3755
$GC,992,-0.75,-219.0,120.0,-9.1,177,999,0.12,2.17,0.00,0.000,4,0.061,0.041,2480,887,3755
$GC,1027,-0.65,-219.0,124.7,-14.9,183,1033,0.30,2.15,0.00,0.000,6,0.126,0.041,2571,2268,3755
$GC,1356,-0.79,-219.0,155.8,-6.4,244,1362,0.12,2.25,0.00,0.000,4,0.060,0.054,2481,3682,3755
$GC,1400,-0.70,-219.0,160.9,-13.0,252,1406,0.20,2.15,0.00,0.000,6,0.112,0.033,2565,2276,3755
$GC,1727,-0.82,-219.0,187.7,-8.8,313,1734,0.15,2.15,0.00,0.000,4,0.056,0.048,2469,893,3755
$GC,1750,-0.82,-219.0,190.8,-13.1,317,1758,0.17,2.20,0.00,0.000,6,0.138,0.045,2519,2293,3756
$GC,2078,-0.77,-219.0,233.6,-12.1,378,2084,0.00,2.20,0.00,0.000,4,0.000,0.048,2519,888,3756
$GC,2171,-0.81,-219.0,243.2,-9.0,395,2176,0.00,2.15,0.00,0.000,6,0.000,0.039,2519,2268,3755
$GC,2498,-0.81,-219.0,276.3,-11.6,456,2503,0.00,2.28,0.00,0.000,4,0.000,0.061,2519,3683,3754
$GC,2557,-0.89,-219.0,282.0,-8.9,467,2563,0.00,2.15,0.00,0.000,6,0.000,0.034,2519,2266,3753
$GC,2879,-0.89,-219.0,317.9,-12.3,514,2882,0.00,2.15,0.00,0.000,4,0.000,0.045,2519,882,3753
$GC,2915,-0.89,-219.0,322.7,-13.0,517,2922,0.00,2.20,0.00,0.000,6,0.000,0.041,2519,2274,3753
$GC,3231,-0.89,-219.0,364.9,-12.6,548,3234,0.00,2.17,0.00,0.000,4,0.000,0.044,2519,892,3752
$GC,3306,-0.93,-219.0,373.3,-10.3,555,3310,0.12,2.15,0.00,0.000,6,0.062,0.043,2452,2255,3752
$GC,3623,-0.71,-219.0,426.2,-18.9,585,3626,0.30,2.17,0.00,0.000,4,0.139,0.047,2548,892,3750
$GC,3671,-0.83,-219.0,432.2,-9.2,589,3675,0.10,2.15,0.00,0.000,6,0.069,0.044,2482,2254,3750
$GC,3992,-0.75,-219.0,471.6,-11.7,620,3995,0.20,2.17,0.00,0.000,4,0.133,0.047,2549,891,3748
$GC,4051,-0.92,-219.0,476.1,-5.5,625,4055,0.17,2.15,0.00,0.000,6,0.051,0.044,2458,2248,3748
$GC,4378,-0.75,-219.0,517.8,-13.8,650,4382,0.22,2.35,0.00,0.000,4,0.138,0.058,2520,3692,3747
$GC,4420,-0.86,-219.0,522.2,-6.7,652,4424,0.00,2.22,0.00,0.000,6,0.000,0.035,2520,2238,3746
$GC,4737,-0.93,-219.0,545.3,-7.3,668,4740,0.12,2.12,0.00,0.000,4,0.061,0.046,2448,887,3745
$GC,4827,-0.81,-219.0,556.5,-14.5,672,4831,0.25,2.12,0.00,0.000,6,0.135,0.044,2516,2228,3745
$GC,5139,-0.88,-219.0,585.4,-9.6,687,5142,0.00,2.38,0.00,0.000,4,0.000,0.062,2516,3692,3743
$GC,5176,-1.01,-219.0,588.8,-9.1,689,5180,0.17,2.25,0.00,0.000,6,0.051,0.035,2425,2227,3743
$GC,5499,-0.78,-219.0,641.4,-16.3,705,5503,0.30,2.15,0.00,0.000,4,0.141,0.049,2521,881,3742
$STATE,5544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5544,begin apogee
$GC,5553,-0.20,0.0,647.5,9.4,707,5733,0.52,0.00,177.10,1.105,6,0.100,0.000,2709,2310,2853
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5733,begin climb
$GC,5736,0.91,219.0,658.3,0.0,716,5919,0.95,0.00,179.15,1.085,6,0.043,0.000,3084,2310,1960
$GC,6223,0.53,219.0,602.2,15.6,740,6227,0.43,2.25,0.00,0.000,4,0.160,0.060,2957,3688,1953
$GC,6399,0.41,219.0,583.0,11.1,748,6402,0.20,2.15,0.00,0.000,6,0.155,0.037,2909,2301,1952
$GC,6715,0.57,297.3,557.3,8.4,764,6787,0.15,2.38,66.32,1.039,4,0.060,0.057,2994,3683,1640
$GC,6901,0.43,297.3,530.9,15.0,772,6907,0.30,2.17,0.00,0.000,6,0.147,0.044,2919,2306,1637
$GC,7212,0.67,394.7,505.5,7.7,788,7302,0.20,0.00,84.93,1.014,6,0.050,0.000,3024,2300,1242
$GC,7612,0.58,394.7,439.0,16.1,824,7616,0.20,2.25,0.00,0.000,4,0.136,0.054,2961,3685,1235
$GC,7729,0.68,394.7,423.4,12.7,834,7736,0.00,2.12,0.00,0.000,6,0.000,0.044,2968,2329,1236
$GC,8049,0.77,394.7,385.2,11.7,865,8053,0.17,2.28,0.00,0.000,4,0.052,0.048,3064,891,1235
$GC,8145,0.66,394.7,367.6,19.3,873,8150,0.25,2.25,0.00,0.000,6,0.139,0.041,2991,2322,1234
$GC,8460,0.66,399.4,328.7,10.8,904,8463,0.00,2.20,0.00,0.000,4,0.000,0.055,2990,3695,1232
$GC,8545,0.66,399.4,318.6,11.5,912,8549,0.00,2.12,0.00,0.000,6,0.000,0.036,2998,2312,1232
$GC,8866,0.66,399.4,277.7,13.3,958,8873,0.00,2.22,0.00,0.000,4,0.000,0.058,2998,3687,1232
$GC,8932,0.66,399.4,268.9,12.0,970,8939,0.00,2.10,0.00,0.000,6,0.000,0.037,3008,2328,1232
$GC,9260,0.66,399.4,226.7,16.4,1031,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2329,1232
$GC,9586,0.66,399.4,184.7,12.2,1092,9592,0.00,2.22,0.00,0.000,4,0.000,0.056,3008,3677,1232
$GC,9672,0.66,399.4,174.5,11.8,1108,9678,0.00,2.08,0.00,0.000,6,0.000,0.041,3017,2336,1232
$GC,9999,0.66,399.4,132.2,11.1,1169,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2336,1232
$GC,10325,0.69,399.4,94.9,11.6,1230,10332,0.00,2.30,0.00,0.000,4,0.000,0.048,3028,884,1232
$GC,10375,0.76,399.4,89.1,11.5,1239,10381,0.00,2.30,0.00,0.000,6,0.000,0.038,3028,2343,1232
$GC,10703,0.83,399.4,45.0,16.0,1300,10708,0.00,2.15,0.00,0.000,4,0.000,0.055,3028,3690,1232
$GC,10840,1.01,473.0,29.0,8.5,1325,10910,0.20,2.05,64.20,0.675,6,0.051,0.041,3133,2346,924
$STATE,11095,end climb,SURFACE_DEPTH_REACHED
$STATE,11095,begin surface coast
$FINISH,1.8,1.002125
$STATE,11121,end surface coast,CONTROL_FINISHED_OK
$STATE,11121,begin surface
$SM_CCo,11139,-0.03,0.000,0,0,916,475.15
$SM_GC,3.56,0.00,0.00,-0.03,0.000,0.000,0.000,163,2277,916,-8.18,-0.23,475.15
$IRIDIUM_FIX,2439.44,12159.32,131198,040431
$TT8_MAMPS,0.049088
$HUMID,1817
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,23.30
$XPDR_PINGS,643
$24V_AH,23.3,112.330
$10V_AH,10.4,74.637
$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,24.500,105.500,571.700,0.000,0.000,30.582,36.414,194.504,165.250,0.000,0.000,16.501,0.000,7118.722,706.884,3063.063,642.288,0.000,1841.102,0.000,2601.490,0.000,30.798,0.000
$DEVICE_MAMPS,230.867,75.933,1105.247,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,931.190,1028.460,1484.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78855,1376
$CAP_FILE_SIZE,133718,0
$CFSIZE,260165632,213512192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,137.3,1
$GPS,190809,104707,2451.340,12212.698,84,1.1,84,-3.5