version: 66.04
glider: 165
mission: 2
dive: 514
start: 8 20 109 13 39 37
data:
$ID,165
$MISSION,2
$DIVE,514
$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,-131144.64
$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,44
$R_STBD_OVSHOOT,43
$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
$GPS1,133254,2457.278,12212.464,29,1.2,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-72.3
$GPS2,133932,2457.265,12212.698,13,1.2,13,-3.5
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$TGT_RADIUS,2000.000
$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,112.9,61934,-16.0,-11.000
$D_GRID,956
$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,-219.0,0.0,0.0,0,69,0.00,0.00,-53.85,0.000,2,0.000,0.000,151,2306,1738
$GC,73,-0.91,-219.0,3.2,-3.0,8,150,9.60,2.33,-62.65,0.000,4,0.231,0.055,2481,883,3749
$GC,391,-0.59,-219.0,84.2,-24.4,65,397,0.35,2.20,0.00,0.000,6,0.134,0.046,2586,2287,3750
$GC,718,-0.69,-219.0,121.8,-9.5,126,725,0.00,2.20,0.00,0.000,4,0.000,0.041,2586,871,3753
$GC,817,-0.85,-219.0,129.3,-6.6,144,823,0.17,2.22,0.00,0.000,6,0.036,0.039,2464,2282,3753
$GC,1145,-0.58,-219.0,184.4,-20.1,205,1151,0.40,0.00,0.00,0.000,6,0.143,0.000,2587,2282,3753
$GC,1473,-0.77,-219.0,218.4,-9.4,266,1480,0.17,2.25,0.00,0.000,4,0.049,0.059,2465,3685,3754
$GC,1513,-0.66,-219.0,224.0,-15.9,273,1519,0.32,2.15,0.00,0.000,6,0.117,0.033,2570,2265,3754
$GC,1843,-0.79,-219.0,251.0,-6.6,334,1850,0.15,2.17,0.00,0.000,4,0.055,0.048,2476,889,3754
$GC,1930,-0.67,-219.0,262.9,-14.8,350,1938,0.30,2.17,0.00,0.000,6,0.127,0.046,2560,2275,3754
$GC,2259,-0.79,-219.0,294.9,-8.9,411,2264,0.10,0.00,0.00,0.000,6,0.070,0.000,2480,2275,3754
$GC,2581,-0.64,-219.0,348.4,-15.7,446,2584,0.28,2.20,0.00,0.000,4,0.131,0.045,2571,886,3753
$GC,2656,-0.83,-219.0,354.3,-6.6,452,2662,0.17,2.17,0.00,0.000,6,0.050,0.042,2470,2271,3753
$GC,2972,-0.68,-219.0,401.8,-12.6,483,2975,0.25,2.28,0.00,0.000,4,0.133,0.058,2550,3690,3751
$GC,2998,-0.68,-219.0,404.6,-9.7,485,3001,0.00,2.17,0.00,0.000,6,0.000,0.033,2549,2253,3750
$GC,3323,-0.80,-219.0,434.1,-7.1,516,3326,0.00,2.12,0.00,0.000,4,0.000,0.045,2549,886,3750
$GC,3425,-0.99,-219.0,440.8,-6.3,525,3430,0.25,2.17,0.00,0.000,6,0.044,0.044,2424,2261,3749
$GC,3740,-0.74,-219.0,492.7,-16.7,556,3744,0.35,2.33,0.00,0.000,4,0.144,0.061,2533,3679,3748
$GC,3805,-0.90,-219.0,499.0,-7.7,561,3811,0.12,2.17,0.00,0.000,6,0.060,0.035,2455,2252,3748
$GC,4126,-0.75,-219.0,546.0,-17.7,578,4129,0.25,2.15,0.00,0.000,4,0.132,0.046,2539,885,3747
$GC,4201,-0.91,-219.0,557.4,-15.3,581,4206,0.15,2.17,0.00,0.000,6,0.055,0.044,2456,2267,3746
$GC,4511,-0.77,-219.0,615.2,-19.3,597,4515,0.20,2.33,0.00,0.000,4,0.137,0.061,2520,3685,3744
$GC,4537,-0.77,-219.0,619.9,-17.4,598,4541,0.00,2.20,0.00,0.000,6,0.000,0.035,2520,2249,3744
$GC,4859,-0.88,-219.0,660.9,-12.4,614,4862,0.00,2.15,0.00,0.000,4,0.000,0.050,2520,889,3743
$GC,4897,-1.02,-219.0,664.9,-10.4,615,4902,0.20,2.17,0.00,0.000,6,0.050,0.045,2422,2257,3743
$GC,5208,-0.84,-219.0,724.8,-20.6,631,5212,0.25,2.22,0.00,0.000,4,0.143,0.051,2503,887,3740
$GC,5271,-0.94,-219.0,734.7,-13.5,634,5275,0.00,2.20,0.00,0.000,6,0.000,0.049,2503,2262,3740
$GC,5598,-0.99,-219.0,773.9,-14.3,650,5601,0.12,2.22,0.00,0.000,4,0.063,0.051,2438,886,3737
$GC,5668,-0.88,-219.0,786.7,-20.0,653,5671,0.20,2.17,0.00,0.000,6,0.139,0.049,2495,2236,3736
$GC,5986,-0.95,-219.0,835.2,-16.1,669,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2237,3735
$GC,6290,-1.01,-219.0,860.3,-4.1,684,6293,0.12,2.40,0.00,0.000,4,0.067,0.064,2424,3686,3733
$GC,6321,-0.89,-219.0,863.5,-11.0,685,6327,0.22,2.28,0.00,0.000,6,0.133,0.038,2491,2229,3732
$GC,6633,-0.92,-219.0,889.6,-7.7,701,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2224,3731
$STATE,6853,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6853,begin apogee
$GC,6860,-0.20,0.0,907.9,6.7,712,7044,0.68,0.00,181.77,1.313,6,0.110,0.000,2718,2318,2854
$STATE,7044,end apogee,CONTROL_FINISHED_OK
$STATE,7044,begin climb
$GC,7047,0.91,219.0,918.3,0.0,721,7244,0.95,2.35,187.30,1.276,4,0.046,0.061,3082,3691,1959
$GC,7484,0.41,219.0,856.7,24.1,741,7490,0.62,2.20,0.00,0.000,6,0.170,0.041,2917,2302,1952
$GC,7795,0.42,233.7,816.3,10.5,757,7819,0.00,2.30,14.77,0.989,4,0.000,0.060,2916,3682,1900
$GC,7962,0.42,233.7,795.7,13.7,764,7967,0.00,2.20,0.00,0.000,6,0.000,0.045,2925,2287,1898
$GC,8273,0.42,233.7,761.6,12.4,780,8276,0.00,2.30,0.00,0.000,4,0.000,0.058,2925,3690,1896
$GC,8331,0.37,233.7,754.1,12.9,783,8335,0.12,2.15,0.00,0.000,6,0.153,0.038,2901,2308,1896
$GC,8653,0.59,358.3,731.0,6.8,799,8768,0.20,0.00,110.97,1.197,6,0.054,0.000,3006,2302,1393
$GC,9084,0.48,358.3,671.1,14.2,820,9088,0.22,2.28,0.00,0.000,4,0.140,0.056,2934,3692,1385
$GC,9202,0.55,358.3,657.8,11.5,825,9208,0.00,2.12,0.00,0.000,6,0.000,0.038,2943,2331,1384
$GC,9513,0.64,358.3,622.1,11.7,841,9516,0.12,2.22,0.00,0.000,4,0.065,0.056,3018,3690,1382
$GC,9583,0.51,358.3,609.9,20.8,844,9587,0.30,2.10,0.00,0.000,6,0.149,0.038,2942,2344,1383
$GC,9893,0.61,375.0,573.3,10.4,859,9914,0.10,0.00,14.30,1.042,6,0.073,0.000,3008,2337,1325
$GC,10218,0.53,375.0,529.4,13.5,875,10219,0.20,0.00,0.00,0.000,6,0.135,0.000,2951,2337,1323
$GC,10524,0.62,375.8,497.9,11.0,890,10527,0.00,2.20,0.00,0.000,4,0.000,0.059,2950,3684,1321
$GC,10535,0.72,375.8,496.7,11.6,891,10539,0.17,2.10,0.00,0.000,6,0.055,0.038,3037,2334,1321
$GC,10851,0.54,375.8,442.2,18.9,921,10855,0.25,2.22,0.00,0.000,4,0.148,0.055,2960,3690,1321
$GC,10957,0.60,375.8,426.9,13.4,930,10963,0.00,2.08,0.00,0.000,6,0.000,0.038,2966,2366,1321
$GC,11277,0.65,375.8,392.7,12.2,961,11280,0.00,2.35,0.00,0.000,4,0.000,0.050,2975,893,1321
$GC,11330,0.77,375.8,384.6,15.6,965,11336,0.15,2.30,0.00,0.000,6,0.058,0.041,3050,2343,1319
$GC,11646,0.61,375.8,310.7,23.7,996,11649,0.22,2.17,0.00,0.000,4,0.143,0.055,2978,3689,1319
$GC,11801,0.61,375.8,286.6,12.2,1019,11807,0.00,2.08,0.00,0.000,6,0.000,0.038,2985,2351,1319
$GC,12129,0.61,375.8,246.7,13.2,1080,12135,0.00,2.22,0.00,0.000,4,0.000,0.058,2985,3689,1319
$GC,12200,0.61,375.8,237.0,13.9,1093,12205,0.00,2.05,0.00,0.000,6,0.000,0.036,2994,2356,1319
$GC,12527,0.76,503.2,195.6,6.7,1154,12643,0.00,2.47,109.93,0.823,4,0.000,0.048,3005,890,801
$GC,12661,1.21,755.1,190.3,2.5,1175,12746,0.45,2.40,78.97,0.794,6,0.035,0.041,3207,2381,483
$GC,13067,0.97,755.1,64.1,25.5,1248,13073,0.38,2.10,0.00,0.000,4,0.150,0.051,3093,3690,453
$GC,13106,1.00,755.1,56.5,14.3,1255,13113,0.00,2.03,0.00,0.000,6,0.000,0.035,3101,2361,452
$GC,13434,1.32,880.8,23.9,6.8,1316,13440,0.25,2.35,0.00,0.000,4,0.043,0.048,3243,885,447
$GC,13506,1.16,880.8,11.3,20.9,1329,13512,0.30,2.33,0.00,0.000,6,0.136,0.042,3154,2362,447
$STATE,13552,end climb,SURFACE_DEPTH_REACHED
$STATE,13552,begin surface coast
$FINISH,2.0,1.008442
$STATE,13574,end surface coast,CONTROL_FINISHED_OK
$STATE,13574,begin surface
$SM_CCo,13651,0.00,0.000,0,0,445,590.93
$SM_GC,2.89,7.75,0.00,0.00,0.037,0.000,0.000,153,2277,445,-8.11,-0.23,590.93
$IRIDIUM_FIX,2448.93,12207.13,141198,101007
$TT8_MAMPS,0.049855
$HUMID,1856
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,23.20
$XPDR_PINGS,605
$ALTIM_BOTTOM_PING,825.8,105.9
$24V_AH,22.9,114.364
$10V_AH,10.3,75.668
$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,28.175,119.950,698.025,0.000,0.000,29.234,28.039,188.253,158.250,0.000,0.000,15.249,0.000,9500.136,795.425,3065.508,660.848,0.000,2008.250,0.000,2580.530,0.000,50.089,0.000
$DEVICE_MAMPS,230.867,75.933,1313.104,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,908.274,906.209,1131.530,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75759,1342
$CAP_FILE_SIZE,147901,0
$CFSIZE,260165632,212819968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.196,195.6,1
$GPS,200809,173137,2455.766,12214.852,245,1.2,245,-3.5