version: 66.04
glider: 165
mission: 2
dive: 508
start: 8 19 109 18 1 37
data:
$ID,165
$MISSION,2
$DIVE,508
$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,-130353.02
$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,43
$R_STBD_OVSHOOT,31
$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
$GPS1,175436,2452.833,12211.270,86,0.9,91,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-73.4
$GPS2,180132,2452.524,12211.398,13,1.1,13,-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,355.4,14043,-16.0,-11.000
$D_GRID,737
$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,-219.0,0.0,0.0,0,47,0.00,0.00,-31.58,0.000,2,0.000,0.000,158,2275,1664
$GC,51,-0.91,-219.0,3.1,-3.1,5,131,9.50,2.28,-65.55,0.000,4,0.235,0.054,2478,871,3749
$GC,224,-0.58,-219.0,40.4,-28.5,34,231,0.32,2.25,0.00,0.000,6,0.137,0.041,2589,2290,3751
$GC,553,-0.65,-219.0,80.9,-10.5,95,558,0.00,2.20,0.00,0.000,4,0.000,0.041,2590,869,3752
$GC,591,-0.74,-219.0,85.4,-10.2,102,598,0.15,2.22,0.00,0.000,6,0.058,0.038,2504,2300,3752
$GC,919,-0.61,-219.0,133.5,-16.6,163,925,0.22,2.20,0.00,0.000,4,0.133,0.052,2576,3687,3754
$GC,964,-0.81,-219.0,138.4,-8.0,171,970,0.15,2.10,0.00,0.000,6,0.051,0.032,2477,2271,3754
$GC,1293,-0.64,-219.0,187.6,-16.2,232,1299,0.28,2.12,0.00,0.000,4,0.127,0.047,2569,903,3754
$GC,1358,-0.83,-219.0,193.9,-6.8,244,1364,0.17,2.15,0.00,0.000,6,0.051,0.041,2465,2290,3755
$GC,1685,-0.63,-219.0,245.9,-17.8,305,1690,0.32,2.17,0.00,0.000,4,0.135,0.041,2571,902,3755
$GC,1739,-0.82,-219.0,251.8,-7.6,315,1745,0.15,2.12,0.00,0.000,6,0.054,0.039,2478,2272,3755
$GC,2067,-0.69,-219.0,300.3,-15.9,376,2070,0.22,2.25,0.00,0.000,4,0.132,0.054,2548,3677,3755
$GC,2089,-0.69,-219.0,303.5,-14.8,377,2094,0.00,2.10,0.00,0.000,6,0.000,0.034,2548,2285,3755
$GC,2406,-0.80,-219.0,336.2,-9.9,408,2407,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2279,3754
$GC,2718,-0.93,-219.0,362.8,-7.3,438,2719,0.17,0.00,0.00,0.000,6,0.051,0.000,2450,2279,3752
$GC,3024,-0.75,-219.0,414.3,-15.2,468,3028,0.25,2.20,0.00,0.000,4,0.135,0.045,2532,884,3751
$GC,3132,-0.89,-219.0,421.9,-3.6,477,3138,0.12,2.20,0.00,0.000,6,0.062,0.042,2460,2288,3751
$GC,3448,-0.74,-219.0,454.6,-11.5,508,3452,0.22,2.22,0.00,0.000,4,0.138,0.044,2534,887,3749
$GC,3485,-0.83,-219.0,457.6,-6.4,511,3489,0.00,2.20,0.00,0.000,6,0.000,0.043,2533,2284,3749
$GC,3805,-0.93,-219.0,473.3,-5.4,541,3808,0.15,2.20,0.00,0.000,4,0.054,0.045,2450,896,3747
$GC,3827,-0.93,-219.0,475.4,-8.6,542,3834,0.12,2.17,0.00,0.000,6,0.143,0.046,2484,2267,3746
$GC,4154,-0.89,-219.0,510.3,-9.9,569,4157,0.00,2.30,0.00,0.000,4,0.000,0.059,2482,3686,3745
$GC,4202,-0.89,-219.0,515.8,-10.3,571,4205,0.00,2.17,0.00,0.000,6,0.000,0.035,2481,2264,3744
$GC,4517,-0.84,-219.0,554.8,-11.8,587,4521,0.00,2.17,0.00,0.000,4,0.000,0.048,2482,881,3742
$GC,4576,-0.84,-219.0,561.9,-11.9,589,4582,0.00,2.20,0.00,0.000,6,0.000,0.044,2481,2270,3742
$GC,4887,-0.80,-219.0,604.6,-13.8,605,4888,0.15,0.00,0.00,0.000,6,0.135,0.000,2526,2270,3740
$GC,5192,-0.92,-219.0,633.8,-9.2,620,5194,0.12,0.00,0.00,0.000,6,0.064,0.000,2455,2270,3739
$GC,5498,-0.81,-219.0,680.9,-16.1,635,5499,0.22,0.00,0.00,0.000,6,0.135,0.000,2523,2270,3737
$GC,5802,-0.92,-219.0,710.3,-8.4,650,5806,0.12,2.25,0.00,0.000,4,0.065,0.051,2454,883,3736
$GC,5889,-0.87,-219.0,720.5,-12.4,654,5892,0.15,2.22,0.00,0.000,6,0.138,0.049,2496,2264,3735
$STATE,6059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6059,begin apogee
$GC,6065,-0.20,0.0,737.4,9.1,663,6246,0.65,0.00,178.32,1.187,6,0.109,0.000,2714,2294,2854
$STATE,6247,end apogee,CONTROL_FINISHED_OK
$STATE,6247,begin climb
$GC,6250,0.91,219.0,745.6,0.0,672,6444,0.95,2.42,181.62,1.156,4,0.046,0.062,3084,3693,1960
$GC,6652,0.47,219.0,688.0,19.8,690,6658,0.57,2.20,0.00,0.000,6,0.175,0.039,2934,2302,1955
$GC,6962,0.47,219.0,653.7,11.3,706,6965,0.00,2.28,0.00,0.000,4,0.000,0.058,2934,3696,1953
$GC,7010,0.40,219.0,648.0,12.0,708,7013,0.12,2.17,0.00,0.000,6,0.156,0.037,2909,2296,1953
$GC,7327,0.60,342.7,623.2,6.8,724,7439,0.17,2.40,107.12,1.101,4,0.058,0.058,3002,3701,1455
$GC,7591,0.49,342.7,583.7,16.7,736,7595,0.25,2.17,0.00,0.000,6,0.143,0.038,2941,2322,1452
$GC,7901,0.57,342.7,545.7,12.2,751,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2317,1449
$GC,8207,0.66,342.7,504.4,13.7,766,8211,0.15,2.25,0.00,0.000,4,0.059,0.057,3023,3698,1447
$GC,8314,0.49,342.7,484.8,16.9,774,8321,0.32,2.17,0.00,0.000,6,0.148,0.042,2939,2311,1447
$GC,8630,0.66,400.7,456.2,9.0,805,8685,0.15,2.38,50.17,1.009,4,0.058,0.051,3033,900,1219
$GC,8706,0.56,400.7,445.1,16.6,812,8710,0.25,2.30,0.00,0.000,6,0.134,0.041,2962,2325,1217
$GC,9022,0.76,490.5,415.6,8.0,842,9109,0.17,2.33,78.60,0.976,4,0.053,0.057,3046,3681,853
$GC,9125,0.67,490.5,400.7,17.1,851,9131,0.22,2.20,0.00,0.000,6,0.140,0.038,2993,2311,850
$GC,9441,0.74,490.5,360.8,11.9,882,9444,0.00,2.25,0.00,0.000,4,0.000,0.054,2993,3695,847
$GC,9467,0.82,490.5,357.3,14.2,884,9471,0.12,2.15,0.00,0.000,6,0.061,0.038,3070,2317,847
$GC,9784,0.70,490.5,292.1,20.5,917,9790,0.20,2.22,0.00,0.000,4,0.146,0.053,3005,3686,847
$GC,9822,0.75,490.5,285.6,15.9,924,9827,0.00,2.12,0.00,0.000,6,0.000,0.039,3013,2326,846
$GC,10149,0.80,490.5,239.5,12.2,985,10154,0.00,2.30,0.00,0.000,4,0.000,0.050,3023,882,846
$GC,10192,0.88,490.5,234.4,12.1,993,10198,0.12,2.28,0.00,0.000,6,0.067,0.038,3102,2338,846
$GC,10519,0.70,490.5,166.8,22.6,1054,10526,0.30,2.15,0.00,0.000,4,0.147,0.053,3009,3681,846
$GC,10597,0.80,490.5,153.8,16.1,1068,10603,0.00,2.12,0.00,0.000,6,0.000,0.040,3017,2337,845
$GC,10925,0.86,490.5,105.2,15.2,1129,10931,0.12,2.28,0.00,0.000,4,0.067,0.047,3104,891,845
$GC,11006,0.78,490.5,88.8,21.6,1144,11014,0.25,2.28,0.00,0.000,6,0.137,0.044,3031,2336,845
$GC,11335,0.91,490.5,49.7,12.1,1205,11341,0.12,2.20,0.00,0.000,4,0.063,0.058,3114,3681,845
$GC,11483,0.91,490.5,24.7,14.1,1232,11489,0.17,2.08,0.00,0.000,6,0.124,0.038,3072,2343,845
$STATE,11748,end climb,SURFACE_DEPTH_REACHED
$STATE,11748,begin surface coast
$FINISH,1.9,1.008561
$STATE,11786,end surface coast,CONTROL_FINISHED_OK
$STATE,11786,begin surface
$SM_CCo,11865,0.00,0.000,0,0,845,492.81
$SM_GC,2.75,7.50,0.00,0.00,0.035,0.000,0.000,155,2269,845,-8.09,-0.45,492.81
$IRIDIUM_FIX,2441.81,12211.15,131198,141428
$TT8_MAMPS,0.049088
$HUMID,1840
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,23.00
$XPDR_PINGS,597
$24V_AH,23.1,112.977
$10V_AH,10.3,74.989
$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,26.250,106.500,595.850,0.000,0.000,24.124,32.330,205.969,154.750,0.000,0.000,15.604,0.000,8010.433,672.665,2930.817,636.237,0.000,1799.453,0.000,2464.739,0.000,37.420,0.000
$DEVICE_MAMPS,234.702,170.274,1187.316,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,873.735,923.792,1237.813,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72721,1289
$CAP_FILE_SIZE,136777,0
$CFSIZE,260165632,213282816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,145.8,1
$GPS,190809,212137,2453.670,12211.379,112,1.5,112,-3.5