version: 66.04
glider: 165
mission: 2
dive: 511
start: 8 20 109 4 46 29
data:
$ID,165
$MISSION,2
$DIVE,511
$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,-131097.03
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,004210,2454.985,12210.567,34,2.4,53,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-69.3
$GPS2,044624,2456.434,12210.712,64,1.2,64,-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,38.2,6712,-27.9,-11.000
$D_GRID,733
$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,-1.21,-72.7,0.0,0.0,0,69,0.00,0.00,-53.97,0.000,2,0.000,0.000,156,2278,1765
$GC,73,-1.31,-154.2,3.1,-2.8,8,139,8.90,2.30,-52.80,0.000,4,0.223,0.056,2351,868,3484
$GC,332,-1.02,-154.2,81.8,-39.0,54,338,0.40,2.25,0.00,0.000,6,0.172,0.044,2452,2293,3486
$GC,659,-1.09,-212.7,164.1,-5.1,115,664,0.00,2.25,0.00,0.000,4,0.000,0.048,2452,866,3488
$GC,905,-1.18,-212.7,179.7,-17.0,161,912,0.15,2.20,0.00,0.000,6,0.061,0.044,2367,2270,3489
$GC,1233,-1.07,-212.7,268.2,-26.6,222,1239,0.20,2.25,0.00,0.000,4,0.173,0.049,2426,864,3489
$GC,1319,-1.15,-212.7,288.7,-21.7,238,1325,0.00,2.20,0.00,0.000,6,0.000,0.044,2424,2260,3489
$GC,1643,-1.22,-212.7,354.5,-19.9,274,1647,0.12,2.30,0.00,0.000,4,0.065,0.057,2345,3693,3489
$GC,1697,-1.14,-212.7,367.6,-26.0,279,1701,0.25,2.25,0.00,0.000,6,0.154,0.035,2415,2225,3488
$GC,2013,-1.22,-212.7,434.5,-17.0,309,2016,0.00,2.15,0.00,0.000,4,0.000,0.052,2415,869,3486
$GC,2057,-1.32,-212.7,441.6,-16.8,313,2060,0.15,2.15,0.00,0.000,6,0.062,0.042,2340,2244,3486
$GC,2377,-1.20,-212.7,516.6,-24.9,341,2380,0.17,2.20,0.00,0.000,4,0.169,0.048,2393,869,3484
$GC,2502,-1.24,-212.7,540.2,-18.1,347,2505,0.00,2.17,0.00,0.000,6,0.000,0.045,2386,2227,3483
$GC,2829,-1.27,-212.7,593.1,-16.0,363,2832,0.00,2.17,0.00,0.000,4,0.000,0.049,2385,862,3480
$GC,2850,-1.27,-212.7,597.0,-18.1,364,2853,0.00,2.15,0.00,0.000,6,0.000,0.046,2386,2222,3480
$GC,3177,-1.27,-212.7,659.3,-19.2,380,3181,0.00,2.38,0.00,0.000,4,0.000,0.061,2383,3682,3476
$GC,3203,-1.32,-212.7,664.6,-19.6,381,3207,0.00,2.30,0.00,0.000,6,0.000,0.037,2383,2190,3476
$GC,3515,-1.36,-212.7,722.2,-17.8,396,3518,0.12,2.10,0.00,0.000,4,0.069,0.051,2324,871,3474
$STATE,3570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3570,begin apogee
$GC,3579,-0.20,0.0,733.8,20.7,399,3707,1.35,0.00,125.28,1.157,6,0.160,0.000,2710,2306,2854
$STATE,3707,end apogee,CONTROL_FINISHED_OK
$STATE,3707,begin climb
$GC,3710,1.38,212.7,740.8,0.0,405,3897,1.35,2.38,175.43,1.135,4,0.033,0.058,3254,3690,1985
$GC,3977,0.97,212.7,704.6,29.4,417,3981,0.65,2.22,0.00,0.000,6,0.197,0.039,3093,2295,1981
$GC,4288,0.93,212.7,644.5,19.6,432,4292,0.00,2.28,0.00,0.000,4,0.000,0.056,3093,3692,1977
$GC,4534,0.82,212.7,596.7,18.5,443,4540,0.22,2.17,0.00,0.000,6,0.181,0.038,3044,2289,1974
$GC,4845,0.91,212.7,552.1,15.2,459,4848,0.00,2.28,0.00,0.000,4,0.000,0.055,3044,3692,1972
$GC,5091,0.94,212.7,508.8,15.7,470,5094,0.00,2.12,0.00,0.000,6,0.000,0.038,3053,2318,1971
$GC,5413,1.01,212.7,464.3,12.7,498,5417,0.15,2.22,0.00,0.000,4,0.071,0.054,3117,3697,1969
$GC,5659,0.85,212.7,414.5,22.6,521,5663,0.28,2.10,0.00,0.000,6,0.181,0.038,3055,2341,1968
$GC,5980,0.91,212.7,379.7,11.0,552,5983,0.00,2.30,0.00,0.000,4,0.000,0.048,3065,884,1967
$GC,6050,1.00,212.7,371.9,12.5,558,6054,0.10,2.35,0.00,0.000,6,0.083,0.041,3113,2376,1965
$GC,6366,0.96,212.7,320.9,16.3,588,6369,0.00,2.10,0.00,0.000,4,0.000,0.054,3113,3691,1965
$GC,6611,0.83,212.7,274.7,19.6,623,6617,0.28,2.05,0.00,0.000,6,0.178,0.037,3050,2360,1965
$GC,6938,0.94,212.7,223.4,16.3,684,6943,0.00,2.17,0.00,0.000,4,0.000,0.059,3050,3695,1965
$GC,7184,1.00,212.7,183.6,14.3,730,7190,0.12,2.03,0.00,0.000,6,0.074,0.040,3111,2379,1965
$GC,7512,1.00,212.7,126.2,20.4,791,7517,0.00,2.35,0.00,0.000,4,0.000,0.047,3122,886,1965
$GC,7747,1.01,225.5,92.1,9.7,835,7760,0.00,2.45,8.15,0.650,6,0.000,0.041,3122,2444,1934
$GC,8081,1.22,345.7,78.2,-1.2,897,8186,0.15,2.58,99.35,0.720,4,0.065,0.045,3212,886,1443
$GC,8283,1.22,345.7,52.2,18.9,931,8289,0.15,2.45,0.00,0.000,6,0.166,0.045,3175,2420,1437
$STATE,8601,end climb,SURFACE_DEPTH_REACHED
$STATE,8601,begin surface coast
$FINISH,1.8,1.021784
$STATE,8637,end surface coast,CONTROL_FINISHED_OK
$STATE,8637,begin surface
$SM_CCo,8655,102.18,0.644,0,0,918,475.15
$SM_GC,2.75,0.00,0.00,102.18,0.000,0.000,0.644,151,2253,918,-8.22,-0.90,475.15
$IRIDIUM_FIX,2444.18,12209.14,141198,000052
$TT8_MAMPS,0.048321
$HUMID,1784
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,23.30
$XPDR_PINGS,547
$24V_AH,23.2,113.632
$10V_AH,10.4,75.329
$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,23.175,80.950,408.200,102.175,0.000,24.488,43.407,209.308,142.250,0.000,0.000,65.311,0.000,5619.961,578.601,2421.448,590.750,0.000,1478.693,0.000,2013.072,0.000,37.428,0.000
$DEVICE_MAMPS,223.197,61.360,1156.636,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.412,746.679,1047.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56985,997
$CAP_FILE_SIZE,102149,0
$CFSIZE,260165632,213102592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,148.1,1
$GPS,200809,071449,2456.146,12211.427,99,1.5,116,-3.5