version: 66.04
glider: 165
mission: 2
dive: 516
start: 8 20 109 22 40 22
data:
$ID,165
$MISSION,2
$DIVE,516
$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,-131168.94
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,222907,2456.353,12218.122,118,0.9,118,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-73.2
$GPS2,224014,2456.260,12218.226,9,1.7,9,-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,113.5,52624,-16.0,-11.000
$D_GRID,1098
$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,-219.0,0.0,0.0,0,57,0.00,0.00,-41.88,0.000,2,0.000,0.000,164,2255,1810
$GC,60,-0.91,-219.0,3.4,-3.0,6,131,9.40,2.20,-54.97,0.000,4,0.231,0.052,2478,892,3750
$GC,372,-0.65,-219.0,78.8,-20.2,62,378,0.30,2.17,0.00,0.000,6,0.128,0.041,2569,2290,3753
$GC,700,-0.74,-219.0,113.8,-10.1,123,706,0.00,2.25,0.00,0.000,4,0.000,0.058,2569,3691,3754
$GC,749,-0.92,-219.0,118.1,-8.0,132,757,0.20,2.15,0.00,0.000,6,0.034,0.033,2448,2279,3754
$GC,1078,-0.62,-219.0,192.1,-22.9,193,1084,0.40,2.17,0.00,0.000,4,0.139,0.042,2573,891,3754
$GC,1127,-0.76,-219.0,198.9,-9.7,202,1133,0.08,2.17,0.00,0.000,6,0.051,0.038,2504,2275,3754
$GC,1456,-0.67,-219.0,245.7,-14.5,263,1462,0.20,2.17,0.00,0.000,4,0.132,0.042,2570,894,3754
$GC,1516,-0.85,-219.0,251.3,-8.0,274,1522,0.17,2.17,0.00,0.000,6,0.051,0.045,2468,2277,3754
$GC,1848,-0.66,-219.0,302.2,-15.2,335,1852,0.28,2.20,0.00,0.000,4,0.133,0.046,2559,896,3753
$GC,1891,-0.75,-219.0,307.1,-10.2,338,1896,0.00,2.17,0.00,0.000,6,0.000,0.041,2558,2272,3753
$GC,2207,-0.88,-219.0,328.7,-7.0,369,2211,0.17,2.15,0.00,0.000,4,0.050,0.042,2457,906,3752
$GC,2244,-0.73,-219.0,333.5,-14.9,372,2248,0.30,2.12,0.00,0.000,6,0.130,0.042,2546,2258,3752
$GC,2560,-0.83,-219.0,361.8,-8.2,402,2563,0.00,2.15,0.00,0.000,4,0.000,0.044,2546,893,3750
$GC,2592,-0.95,-219.0,364.5,-8.1,405,2596,0.20,2.15,0.00,0.000,6,0.048,0.041,2447,2269,3750
$GC,2908,-0.74,-219.0,415.7,-18.3,435,2909,0.30,0.00,0.00,0.000,6,0.137,0.000,2538,2269,3748
$GC,3222,-0.85,-219.0,448.1,-8.6,465,3225,0.00,2.17,0.00,0.000,4,0.000,0.046,2538,895,3747
$GC,3266,-0.99,-219.0,452.6,-10.1,469,3269,0.20,2.15,0.00,0.000,6,0.049,0.044,2440,2252,3746
$GC,3581,-0.78,-219.0,505.0,-17.0,498,3584,0.25,2.17,0.00,0.000,4,0.140,0.047,2521,894,3744
$GC,3613,-0.78,-219.0,509.2,-11.7,499,3618,0.00,2.20,0.00,0.000,6,0.000,0.044,2521,2268,3744
$GC,3923,-0.86,-219.0,536.0,-8.8,515,3927,0.00,2.30,0.00,0.000,4,0.000,0.061,2521,3682,3743
$GC,3971,-1.00,-219.0,540.2,-8.2,517,3975,0.17,2.15,0.00,0.000,6,0.051,0.035,2431,2275,3742
$GC,4285,-0.81,-219.0,586.0,-13.6,532,4289,0.25,2.20,0.00,0.000,4,0.138,0.047,2514,891,3741
$GC,4410,-0.89,-219.0,596.2,-6.5,538,4413,0.00,2.17,0.00,0.000,6,0.000,0.044,2511,2262,3741
$GC,4738,-0.95,-219.0,613.9,-4.7,554,4741,0.10,2.33,0.00,0.000,4,0.071,0.061,2450,3680,3738
$GC,4769,-0.91,-219.0,616.2,-7.4,555,4775,0.12,2.20,0.00,0.000,6,0.131,0.036,2486,2250,3737
$GC,5080,-0.91,-219.0,637.4,-7.2,571,5083,0.00,2.15,0.00,0.000,4,0.000,0.048,2486,892,3737
$GC,5101,-0.91,-219.0,639.1,-7.8,572,5105,0.00,2.17,0.00,0.000,6,0.000,0.045,2482,2260,3737
$GC,5428,-0.87,-219.0,678.9,-13.6,588,5432,0.00,2.35,0.00,0.000,4,0.000,0.062,2482,3691,3735
$GC,5455,-0.87,-219.0,682.2,-11.9,589,5458,0.00,2.22,0.00,0.000,6,0.000,0.037,2481,2252,3735
$GC,5771,-0.83,-219.0,717.8,-12.5,605,5775,0.12,2.20,0.00,0.000,4,0.134,0.050,2518,881,3733
$GC,5841,-0.97,-219.0,724.9,-9.4,608,5846,0.15,2.20,0.00,0.000,6,0.058,0.047,2442,2252,3732
$GC,6159,-0.83,-219.0,769.3,-13.6,624,6160,0.22,0.00,0.00,0.000,6,0.138,0.000,2510,2252,3730
$GC,6462,-0.92,-219.0,791.8,-6.8,639,6465,0.00,2.38,0.00,0.000,4,0.000,0.065,2509,3685,3729
$GC,6505,-1.07,-219.0,794.8,-6.6,641,6509,0.22,2.25,0.00,0.000,6,0.050,0.038,2409,2243,3729
$GC,6834,-0.85,-219.0,845.1,-16.2,657,6838,0.28,2.20,0.00,0.000,4,0.145,0.052,2498,884,3727
$GC,6888,-0.94,-219.0,852.0,-9.4,659,6892,0.00,2.20,0.00,0.000,6,0.000,0.048,2494,2248,3727
$GC,7199,-0.94,-219.0,885.9,-11.0,674,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2248,3725
$GC,7504,-0.97,-219.0,921.7,-11.5,689,7507,0.00,2.40,0.00,0.000,4,0.000,0.066,2495,3687,3724
$GC,7547,-1.09,-219.0,926.5,-11.3,691,7551,0.17,2.25,0.00,0.000,6,0.055,0.038,2413,2242,3723
$GC,7868,-0.88,-219.0,984.8,-19.5,707,7872,0.22,2.20,0.00,0.000,4,0.145,0.054,2486,888,3722
$STATE,7902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7902,begin apogee
$GC,7912,-0.20,0.0,990.3,13.6,708,8098,0.70,0.00,184.07,1.375,6,0.124,0.000,2711,2302,2854
$STATE,8098,end apogee,CONTROL_FINISHED_OK
$STATE,8098,begin climb
$GC,8101,0.91,219.0,1004.0,0.0,718,8304,0.98,2.45,191.82,1.337,4,0.045,0.064,3082,3681,1960
$GC,8545,0.46,219.0,946.9,21.6,738,8551,0.60,2.20,0.00,0.000,6,0.182,0.042,2929,2306,1954
$GC,8856,0.58,315.5,918.2,7.7,754,8955,0.12,2.40,88.55,1.262,4,0.074,0.059,2997,3696,1565
$GC,9121,0.42,315.5,877.5,18.1,765,9127,0.32,2.22,0.00,0.000,6,0.153,0.039,2914,2292,1561
$GC,9431,0.57,365.3,848.3,9.3,781,9481,0.15,2.40,45.12,1.248,4,0.060,0.058,2996,3698,1364
$GC,9537,0.46,365.3,832.4,17.7,786,9540,0.28,2.20,0.00,0.000,6,0.146,0.039,2929,2311,1362
$GC,9863,0.63,422.5,800.4,9.1,802,9918,0.15,0.00,53.00,1.227,6,0.060,0.000,3012,2305,1130
$GC,10209,0.54,422.5,744.5,16.8,819,10213,0.20,2.28,0.00,0.000,4,0.139,0.056,2948,3692,1125
$GC,10262,0.64,422.5,737.0,13.0,821,10268,0.00,2.15,0.00,0.000,6,0.000,0.038,2956,2318,1125
$GC,10573,0.78,462.7,704.1,9.6,837,10613,0.20,0.00,36.97,1.170,6,0.050,0.000,3048,2318,967
$GC,10919,0.62,462.7,641.7,19.1,854,10923,0.20,2.28,0.00,0.000,4,0.149,0.055,2985,3701,963
$GC,10993,0.68,462.7,631.4,11.6,857,10999,0.00,2.17,0.00,0.000,6,0.000,0.039,2993,2321,962
$GC,11304,0.68,462.7,587.9,14.9,873,11308,0.00,2.30,0.00,0.000,4,0.000,0.052,3004,887,961
$GC,11336,0.68,462.7,583.2,14.9,874,11342,0.00,2.30,0.00,0.000,6,0.000,0.044,3004,2333,961
$GC,11646,0.68,462.7,537.2,14.6,890,11649,0.00,2.17,0.00,0.000,4,0.000,0.057,3004,3682,961
$GC,11683,0.68,462.7,531.5,15.5,891,11689,0.00,2.12,0.00,0.000,6,0.000,0.038,3013,2324,961
$GC,11996,0.68,462.7,482.5,15.8,912,12000,0.00,2.30,0.00,0.000,4,0.000,0.052,3023,885,961
$GC,12028,0.68,462.7,477.4,16.3,914,12033,0.00,2.33,0.00,0.000,6,0.000,0.042,3024,2340,960
$GC,12347,0.61,462.7,423.9,18.2,945,12351,0.17,2.17,0.00,0.000,4,0.136,0.054,2967,3686,960
$GC,12422,0.76,462.7,412.1,15.1,951,12428,0.15,2.10,0.00,0.000,6,0.055,0.038,3047,2339,960
$GC,12738,0.66,462.7,345.1,20.0,982,12741,0.20,2.33,0.00,0.000,4,0.141,0.050,2993,891,960
$GC,12764,0.66,462.7,340.6,17.8,984,12767,0.00,2.30,0.00,0.000,6,0.000,0.040,2993,2342,959
$GC,13088,0.73,462.7,300.8,11.3,1015,13091,0.00,2.17,0.00,0.000,4,0.000,0.056,2993,3690,958
$GC,13142,0.82,462.7,294.1,11.7,1024,13149,0.12,2.12,0.00,0.000,6,0.064,0.043,3068,2333,958
$GC,13471,0.67,462.7,235.8,19.4,1085,13477,0.20,2.33,0.00,0.000,4,0.146,0.049,3013,884,958
$GC,13546,0.76,462.7,225.4,11.8,1099,13552,0.00,2.30,0.00,0.000,6,0.000,0.038,3013,2345,958
$GC,13873,0.80,462.7,183.4,12.1,1160,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2345,958
$GC,14200,0.85,462.7,143.1,12.1,1221,14206,0.12,2.17,0.00,0.000,4,0.064,0.057,3087,3683,958
$GC,14250,0.71,462.7,134.4,20.1,1230,14256,0.28,2.12,0.00,0.000,6,0.143,0.038,3001,2335,958
$GC,14578,0.82,462.7,94.4,13.0,1291,14584,0.12,0.00,0.00,0.000,6,0.061,0.000,3077,2328,958
$GC,14905,0.82,462.7,49.6,13.3,1352,14912,0.12,2.20,0.00,0.000,4,0.136,0.054,3040,3683,958
$GC,15033,1.02,505.9,36.1,9.5,1375,15074,0.12,2.12,36.35,0.683,6,0.043,0.040,3128,2342,791
$STATE,15274,end climb,SURFACE_DEPTH_REACHED
$STATE,15274,begin surface coast
$FINISH,2.0,1.008977
$STATE,15296,end surface coast,CONTROL_FINISHED_OK
$STATE,15296,begin surface
$SM_CCo,15374,0.00,0.000,0,0,788,506.79
$SM_GC,2.85,7.68,0.00,0.00,0.035,0.000,0.000,150,2281,788,-8.10,-0.11,506.79
$IRIDIUM_FIX,2448.93,12215.69,141198,222259
$TT8_MAMPS,0.049088
$HUMID,1824
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.00
$XPDR_PINGS,603
$24V_AH,22.6,114.881
$10V_AH,10.3,75.933
$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,27.700,146.800,635.900,0.000,0.000,60.755,159.766,225.100,158.750,0.000,0.000,11.034,0.000,11062.752,736.046,3314.806,893.892,0.000,2033.757,0.000,2772.091,0.000,57.152,0.000
$DEVICE_MAMPS,230.867,87.438,1375.231,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,967.943,978.473,1179.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79050,1423
$CAP_FILE_SIZE,166729,0
$CFSIZE,260165632,212627456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,270.2,1
$GPS,210809,025830,2455.752,12220.777,86,0.9,91,-3.5