version: 66.04
glider: 165
mission: 2
dive: 515
start: 8 20 109 17 38 49
data:
$ID,165
$MISSION,2
$DIVE,515
$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,-131157.28
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,173137,2455.766,12214.852,245,1.2,245,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-71.8
$GPS2,173844,2455.509,12214.964,10,2.0,10,-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,75.7,57225,-16.0,-11.000
$D_GRID,1024
$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,-219.0,0.0,0.0,0,73,0.00,0.00,-58.08,0.000,2,0.000,0.000,153,2276,1818
$GC,77,-0.91,-219.0,3.3,-3.7,9,148,9.62,2.38,-56.15,0.000,4,0.232,0.064,2471,3700,3749
$GC,192,-0.46,-219.0,24.0,-31.2,28,198,0.45,2.22,0.00,0.000,6,0.128,0.035,2630,2276,3750
$GC,519,-0.56,-219.0,61.6,-11.6,89,525,0.00,2.17,0.00,0.000,4,0.000,0.045,2630,872,3752
$GC,627,-0.75,-219.0,70.6,-5.2,109,633,0.25,2.20,0.00,0.000,6,0.042,0.040,2499,2288,3752
$GC,955,-0.57,-219.0,132.0,-14.8,170,961,0.28,2.20,0.00,0.000,4,0.135,0.040,2588,878,3753
$GC,1016,-0.78,-219.0,138.0,-5.8,181,1022,0.17,2.12,0.00,0.000,6,0.048,0.040,2480,2249,3754
$GC,1344,-0.58,-219.0,181.3,-17.7,242,1350,0.32,2.30,0.00,0.000,4,0.130,0.052,2587,3691,3755
$GC,1388,-0.82,-219.0,186.5,-8.8,250,1394,0.20,2.20,0.00,0.000,6,0.044,0.032,2465,2222,3755
$GC,1715,-0.60,-219.0,243.9,-17.4,311,1722,0.35,2.08,0.00,0.000,4,0.130,0.041,2579,883,3755
$GC,1797,-0.82,-219.0,250.4,-5.4,326,1803,0.17,2.10,0.00,0.000,6,0.050,0.043,2475,2242,3755
$GC,2124,-0.67,-219.0,297.7,-15.4,387,2131,0.25,2.15,0.00,0.000,4,0.131,0.040,2558,869,3755
$GC,2143,-0.59,-219.0,300.0,-13.3,390,2149,0.10,2.10,0.00,0.000,6,0.126,0.039,2588,2224,3755
$GC,2459,-0.84,-219.0,313.7,-4.7,421,2463,0.20,2.33,0.00,0.000,4,0.049,0.053,2468,3683,3754
$GC,2529,-0.77,-219.0,322.3,-14.2,427,2533,0.20,2.20,0.00,0.000,6,0.118,0.034,2531,2227,3753
$GC,2847,-0.82,-219.0,359.2,-10.5,457,2850,0.00,2.08,0.00,0.000,4,0.000,0.043,2531,883,3751
$GC,2900,-0.91,-219.0,364.4,-9.3,462,2903,0.12,2.08,0.00,0.000,6,0.061,0.038,2464,2224,3751
$GC,3222,-0.76,-219.0,415.8,-18.5,493,3226,0.20,2.35,0.00,0.000,4,0.137,0.054,2520,3688,3749
$GC,3254,-0.82,-219.0,420.8,-13.7,495,3260,0.00,2.22,0.00,0.000,6,0.000,0.033,2520,2221,3749
$GC,3569,-0.82,-219.0,459.6,-11.8,526,3572,0.00,2.08,0.00,0.000,4,0.000,0.044,2520,882,3748
$GC,3586,-0.88,-219.0,461.4,-11.5,527,3592,0.00,2.10,0.00,0.000,6,0.000,0.040,2520,2227,3748
$GC,3904,-0.92,-219.0,497.6,-12.3,558,3907,0.10,2.33,0.00,0.000,4,0.071,0.057,2455,3674,3745
$GC,3925,-0.88,-219.0,500.9,-14.0,559,3929,0.15,2.22,0.00,0.000,6,0.127,0.034,2498,2218,3745
$GC,4241,-0.88,-219.0,545.3,-13.9,575,4244,0.00,2.10,0.00,0.000,4,0.000,0.047,2499,877,3743
$GC,4305,-0.94,-219.0,553.2,-11.8,578,4308,0.00,2.10,0.00,0.000,6,0.000,0.041,2494,2214,3743
$GC,4632,-0.94,-219.0,593.9,-13.5,594,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2214,3740
$GC,4937,-0.91,-219.0,632.7,-12.3,609,4940,0.00,2.12,0.00,0.000,4,0.000,0.048,2494,881,3739
$GC,4958,-0.91,-219.0,635.5,-13.8,610,4962,0.00,2.10,0.00,0.000,6,0.000,0.043,2494,2217,3738
$GC,5286,-0.91,-219.0,675.0,-10.8,626,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2217,3736
$GC,5590,-0.91,-219.0,704.2,-8.2,641,5593,0.00,2.12,0.00,0.000,4,0.000,0.049,2495,887,3734
$GC,5611,-0.91,-219.0,705.9,-8.2,642,5614,0.00,2.10,0.00,0.000,6,0.000,0.045,2495,2206,3734
$GC,5939,-0.91,-219.0,731.2,-7.1,658,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2206,3733
$GC,6243,-0.91,-219.0,757.8,-9.4,673,6246,0.00,2.42,0.00,0.000,4,0.000,0.063,2495,3680,3731
$GC,6297,-1.00,-219.0,762.3,-8.3,675,6304,0.12,2.28,0.00,0.000,6,0.064,0.037,2428,2209,3731
$GC,6607,-0.84,-219.0,806.0,-13.6,691,6609,0.28,0.00,0.00,0.000,6,0.135,0.000,2512,2203,3729
$GC,6913,-0.94,-219.0,826.8,-6.4,706,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2203,3727
$GC,7219,-1.04,-219.0,848.4,-7.7,721,7223,0.17,2.47,0.00,0.000,4,0.057,0.064,2423,3681,3726
$GC,7272,-0.94,-219.0,855.2,-13.7,723,7279,0.17,2.30,0.00,0.000,6,0.137,0.040,2474,2216,3725
$GC,7583,-0.91,-219.0,891.6,-11.9,739,7586,0.00,2.12,0.00,0.000,4,0.000,0.054,2474,890,3724
$GC,7620,-0.91,-219.0,896.0,-12.1,740,7625,0.00,2.15,0.00,0.000,6,0.000,0.051,2468,2210,3724
$GC,7931,-0.86,-219.0,931.4,-10.9,756,7935,0.12,2.45,0.00,0.000,4,0.146,0.063,2494,3682,3722
$GC,7958,-0.90,-219.0,933.9,-9.9,757,7962,0.00,2.30,0.00,0.000,6,0.000,0.038,2494,2215,3722
$GC,8269,-0.95,-219.0,959.4,-8.3,772,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2215,3721
$GC,8575,-1.01,-219.0,985.0,-8.4,787,8576,0.12,0.00,0.00,0.000,6,0.067,0.000,2432,2215,3720
$STATE,8631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8632,begin apogee
$GC,8638,-0.20,0.0,992.1,10.6,790,8824,0.90,0.00,183.38,1.379,6,0.128,0.000,2715,2298,2854
$STATE,8825,end apogee,CONTROL_FINISHED_OK
$STATE,8825,begin climb
$GC,8828,0.91,219.0,999.3,0.0,799,9026,0.98,2.45,191.50,1.338,4,0.043,0.064,3091,3678,1960
$GC,9072,0.43,219.0,976.8,22.4,810,9076,0.65,2.22,0.00,0.000,6,0.179,0.041,2925,2305,1957
$GC,9382,0.46,239.4,944.2,10.3,825,9406,0.00,2.35,18.70,1.230,4,0.000,0.061,2924,3678,1876
$GC,9483,0.44,260.4,933.6,10.3,829,9509,0.00,2.20,19.83,1.230,6,0.000,0.040,2933,2287,1792
$GC,9814,0.50,308.1,901.8,9.4,846,9870,0.00,2.42,45.42,1.231,4,0.000,0.059,2933,3686,1598
$GC,9976,0.52,322.1,886.1,10.5,853,9994,0.00,2.17,14.25,1.178,6,0.000,0.038,2943,2308,1539
$GC,10312,0.52,322.1,849.9,11.1,870,10315,0.00,2.25,0.00,0.000,4,0.000,0.057,2943,3683,1535
$GC,10372,0.52,322.1,842.9,12.3,872,10377,0.00,2.12,0.00,0.000,6,0.000,0.044,2952,2333,1534
$GC,10682,0.52,322.1,806.2,11.9,888,10685,0.00,2.20,0.00,0.000,4,0.000,0.056,2953,3681,1534
$GC,10746,0.52,322.1,797.5,14.6,891,10749,0.00,2.12,0.00,0.000,6,0.000,0.040,2961,2330,1533
$GC,11073,0.52,322.1,754.9,13.4,907,11076,0.00,2.22,0.00,0.000,4,0.000,0.056,2962,3693,1533
$GC,11137,0.46,322.1,745.1,16.5,910,11140,0.15,2.10,0.00,0.000,6,0.155,0.038,2929,2337,1533
$GC,11464,0.53,322.1,708.8,11.2,926,11467,0.00,2.22,0.00,0.000,4,0.000,0.057,2930,3695,1532
$GC,11490,0.57,322.1,705.5,12.6,927,11493,0.00,2.10,0.00,0.000,6,0.000,0.037,2937,2349,1532
$GC,11812,0.63,337.7,670.5,10.5,943,11833,0.12,0.00,14.30,1.115,6,0.067,0.000,3011,2343,1476
$GC,12137,0.49,337.7,616.1,18.2,959,12141,0.22,2.20,0.00,0.000,4,0.144,0.056,2941,3685,1475
$GC,12239,0.55,337.7,599.5,15.2,964,12242,0.00,2.10,0.00,0.000,6,0.000,0.038,2950,2348,1474
$GC,12566,0.56,347.2,556.1,10.7,980,12579,0.00,2.22,9.75,0.996,4,0.000,0.059,2950,3690,1438
$GC,12629,0.59,347.2,547.1,14.7,983,12633,0.00,2.10,0.00,0.000,6,0.000,0.038,2958,2350,1438
$GC,12956,0.59,347.2,502.9,12.7,999,12956,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2345,1437
$GC,13266,0.62,347.2,463.4,13.5,1027,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2344,1437
$GC,13579,0.65,347.2,427.3,11.1,1057,13582,0.00,2.17,0.00,0.000,4,0.000,0.057,2958,3683,1437
$GC,13659,0.65,347.2,417.9,11.1,1064,13665,0.00,2.08,0.00,0.000,6,0.000,0.043,2966,2361,1437
$GC,13977,0.65,347.2,383.2,11.6,1095,13980,0.00,2.17,0.00,0.000,4,0.000,0.056,2966,3696,1437
$GC,14063,0.65,347.2,371.2,14.5,1103,14066,0.00,2.08,0.00,0.000,6,0.000,0.037,2974,2359,1436
$GC,14386,0.65,347.2,331.8,11.2,1134,14389,0.00,2.35,0.00,0.000,4,0.000,0.050,2984,886,1436
$GC,14435,0.71,347.2,326.0,11.0,1138,14438,0.00,2.35,0.00,0.000,6,0.000,0.041,2984,2367,1435
$GC,14754,0.71,347.2,284.6,12.0,1179,14760,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2367,1435
$GC,15081,0.71,347.2,242.2,13.2,1240,15087,0.00,2.17,0.00,0.000,4,0.000,0.059,2984,3679,1434
$GC,15151,0.71,347.2,232.8,13.4,1253,15157,0.00,2.03,0.00,0.000,6,0.000,0.038,2993,2373,1435
$GC,15478,0.71,347.2,188.9,14.3,1314,15483,0.00,2.40,0.00,0.000,4,0.000,0.052,3004,885,1435
$GC,15533,0.74,347.2,181.2,13.9,1324,15538,0.00,2.40,0.00,0.000,6,0.000,0.045,3004,2385,1435
$GC,15860,0.71,347.2,137.3,11.7,1385,15866,0.00,2.10,0.00,0.000,4,0.000,0.056,3004,3693,1435
$GC,15914,0.66,347.2,130.7,11.8,1395,15921,0.00,2.05,0.00,0.000,6,0.000,0.036,3014,2362,1435
$GC,16243,0.63,347.2,99.0,11.1,1456,16249,0.12,2.17,0.00,0.000,4,0.147,0.056,2980,3686,1435
$GC,16341,0.70,371.5,88.7,10.2,1474,16367,0.00,2.03,22.25,0.728,6,0.000,0.041,2987,2375,1339
$GC,16690,0.91,447.9,57.9,8.4,1538,16762,0.20,2.42,65.00,0.709,4,0.048,0.051,3125,889,1027
$GC,16808,0.79,447.9,39.2,18.1,1557,16814,0.30,2.40,0.00,0.000,6,0.131,0.043,3036,2399,1024
$GC,17136,1.23,592.6,8.2,6.1,1618,17183,0.32,0.00,44.25,0.656,2,0.038,0.000,3201,2399,809
$STATE,17183,end climb,SURFACE_DEPTH_REACHED
$STATE,17183,begin surface coast
$FINISH,2.0,1.021154
$STATE,17196,end surface coast,CONTROL_FINISHED_OK
$STATE,17196,begin surface
$SM_CCo,17275,0.00,0.000,0,0,805,502.37
$SM_GC,2.77,7.93,0.00,0.00,0.034,0.000,0.000,163,2255,805,-8.08,-0.88,502.37
$IRIDIUM_FIX,2451.31,12213.68,141198,131313
$TT8_MAMPS,0.049088
$HUMID,1810
$INTERNAL_PRESSURE,8.74057
$TCM_TEMP,22.80
$XPDR_PINGS,724
$24V_AH,22.7,114.612
$10V_AH,10.3,75.808
$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,26.050,154.875,628.625,0.000,0.000,30.679,33.155,211.676,189.000,0.000,0.000,11.993,0.000,12513.471,759.022,3642.239,756.536,0.000,2171.952,0.000,3061.612,0.000,53.962,0.000
$DEVICE_MAMPS,232.401,74.399,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.384,1137.961,1389.805,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91605,1628
$CAP_FILE_SIZE,176149,0
$CFSIZE,260165632,212688896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041,138.7,1
$GPS,200809,222907,2456.353,12218.122,118,0.9,118,-3.5