version: 66.04
glider: 165
mission: 2
dive: 518
start: 8 21 109 7 42 7
data:
$ID,165
$MISSION,2
$DIVE,518
$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,-131200.34
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,073501,2453.581,12223.740,164,1.6,164,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-69.9
$GPS2,074202,2453.253,12223.902,11,1.6,11,-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,84.2,41679,-16.0,-11.000
$D_GRID,1221
$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,-53.50,0.000,2,0.000,0.000,150,2275,1716
$GC,72,-0.91,-219.0,3.0,-2.2,8,150,9.45,2.30,-62.70,0.000,4,0.229,0.054,2482,867,3749
$GC,294,-0.62,-219.0,37.6,-12.9,47,301,0.32,2.22,0.00,0.000,6,0.135,0.042,2577,2285,3751
$GC,622,-0.67,-219.0,77.1,-14.1,108,628,0.00,2.22,0.00,0.000,4,0.000,0.054,2576,3692,3753
$GC,683,-0.82,-219.0,84.4,-12.7,119,690,0.17,2.17,0.00,0.000,6,0.050,0.035,2477,2250,3753
$GC,1011,-0.59,-219.0,147.8,-19.2,180,1017,0.32,2.12,0.00,0.000,4,0.131,0.042,2582,888,3755
$GC,1120,-0.78,-219.0,159.9,-10.6,200,1126,0.12,2.17,0.00,0.000,6,0.041,0.038,2493,2275,3755
$GC,1449,-0.65,-219.0,212.1,-12.5,261,1454,0.22,2.25,0.00,0.000,4,0.133,0.053,2563,3681,3755
$GC,1497,-0.84,-219.0,215.9,-5.0,270,1503,0.15,2.12,0.00,0.000,6,0.053,0.034,2468,2281,3755
$GC,1824,-0.64,-219.0,267.7,-17.8,331,1831,0.30,2.17,0.00,0.000,4,0.129,0.043,2567,888,3755
$GC,1923,-0.83,-219.0,277.9,-8.6,349,1929,0.15,2.15,0.00,0.000,6,0.055,0.038,2477,2274,3755
$GC,2250,-0.67,-219.0,327.9,-14.8,394,2251,0.28,0.00,0.00,0.000,6,0.133,0.000,2562,2274,3754
$GC,2562,-0.83,-219.0,344.8,-4.8,424,2565,0.15,2.17,0.00,0.000,4,0.055,0.043,2468,892,3753
$GC,2594,-0.75,-219.0,347.7,-10.5,426,2600,0.22,2.17,0.00,0.000,6,0.132,0.042,2535,2268,3753
$GC,2910,-0.82,-219.0,377.2,-10.5,457,2913,0.00,2.17,0.00,0.000,4,0.000,0.044,2535,888,3751
$GC,2937,-0.91,-219.0,380.0,-11.4,459,2944,0.15,2.17,0.00,0.000,6,0.058,0.041,2457,2278,3750
$GC,3252,-0.74,-219.0,436.6,-16.8,490,3256,0.25,2.20,0.00,0.000,4,0.133,0.045,2538,896,3749
$GC,3334,-0.87,-219.0,444.0,-7.3,497,3337,0.12,2.12,0.00,0.000,6,0.062,0.041,2466,2251,3749
$GC,3655,-0.75,-219.0,482.4,-12.6,528,3658,0.20,2.17,0.00,0.000,4,0.137,0.046,2532,887,3747
$GC,3698,-0.85,-219.0,486.9,-9.5,532,3701,0.00,2.17,0.00,0.000,6,0.000,0.043,2531,2262,3746
$GC,4019,-0.95,-219.0,516.9,-9.7,555,4023,0.15,2.30,0.00,0.000,4,0.055,0.058,2442,3682,3745
$GC,4079,-0.83,-219.0,525.6,-16.4,558,4083,0.22,2.17,0.00,0.000,6,0.131,0.035,2509,2265,3744
$GC,4400,-0.83,-219.0,563.5,-11.8,574,4403,0.00,2.17,0.00,0.000,4,0.000,0.047,2509,882,3743
$GC,4454,-0.91,-219.0,569.8,-10.5,576,4457,0.00,2.17,0.00,0.000,6,0.000,0.042,2509,2265,3742
$GC,4770,-0.95,-219.0,602.5,-10.6,592,4771,0.12,0.00,0.00,0.000,6,0.064,0.000,2441,2265,3740
$GC,5074,-0.79,-219.0,649.6,-16.0,607,5082,0.22,2.20,0.00,0.000,4,0.136,0.049,2516,893,3738
$GC,5147,-0.91,-219.0,658.1,-10.9,610,5150,0.00,2.17,0.00,0.000,6,0.000,0.046,2516,2255,3738
$GC,5463,-1.00,-219.0,689.6,-10.5,626,5467,0.17,2.38,0.00,0.000,4,0.054,0.062,2423,3697,3736
$GC,5522,-0.87,-219.0,698.6,-16.8,629,5526,0.25,2.25,0.00,0.000,6,0.131,0.037,2498,2245,3734
$GC,5846,-0.90,-219.0,735.1,-10.4,645,5849,0.00,2.17,0.00,0.000,4,0.000,0.051,2498,881,3734
$GC,5899,-0.97,-219.0,741.0,-10.3,647,5902,0.00,2.20,0.00,0.000,6,0.000,0.045,2497,2261,3733
$GC,6210,-0.97,-219.0,771.3,-9.4,662,6213,0.00,2.20,0.00,0.000,4,0.000,0.048,2496,887,3732
$GC,6254,-1.05,-219.0,775.2,-7.6,664,6258,0.15,2.20,0.00,0.000,6,0.061,0.046,2425,2258,3732
$GC,6576,-0.86,-219.0,821.6,-15.8,680,6580,0.22,2.25,0.00,0.000,4,0.146,0.051,2495,880,3730
$GC,6624,-0.92,-219.0,827.4,-10.0,682,6628,0.00,2.20,0.00,0.000,6,0.000,0.048,2494,2248,3730
$GC,6941,-0.95,-219.0,858.1,-9.3,698,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2249,3728
$GC,7245,-1.00,-219.0,888.2,-10.1,713,7249,0.10,2.22,0.00,0.000,4,0.074,0.051,2440,884,3727
$GC,7293,-0.91,-219.0,894.4,-13.6,715,7297,0.17,2.20,0.00,0.000,6,0.143,0.050,2487,2240,3726
$GC,7604,-0.91,-219.0,929.5,-11.4,730,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2240,3725
$GC,7909,-0.94,-219.0,966.3,-12.3,745,7912,0.00,2.42,0.00,0.000,4,0.000,0.066,2482,3694,3724
$GC,7956,-1.02,-219.0,972.0,-11.7,747,7960,0.00,2.28,0.00,0.000,6,0.000,0.037,2481,2238,3723
$STATE,8101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8101,begin apogee
$GC,8109,-0.20,0.0,990.5,12.8,754,8295,0.70,0.00,184.00,1.373,6,0.114,0.000,2711,2302,2854
$STATE,8295,end apogee,CONTROL_FINISHED_OK
$STATE,8295,begin climb
$GC,8298,0.91,219.0,1004.7,0.0,763,8502,0.98,2.50,191.62,1.338,4,0.046,0.057,3091,902,1959
$GC,8550,0.56,219.0,991.4,16.9,774,8556,0.45,2.33,0.00,0.000,6,0.168,0.050,2965,2313,1954
$GC,8861,0.49,260.6,959.2,9.6,790,8911,0.00,2.38,39.03,1.226,4,0.000,0.061,2965,3692,1790
$GC,9110,0.37,260.6,929.7,13.2,801,9116,0.25,2.20,0.00,0.000,6,0.157,0.044,2903,2306,1786
$GC,9421,0.53,334.0,904.6,8.5,817,9490,0.15,0.00,66.78,1.286,6,0.061,0.000,2984,2300,1492
$GC,9787,0.45,334.0,849.4,15.7,835,9791,0.17,2.30,0.00,0.000,4,0.146,0.058,2929,3699,1486
$GC,9851,0.50,334.0,840.9,12.8,838,9855,0.00,2.17,0.00,0.000,6,0.000,0.038,2938,2307,1485
$GC,10167,0.54,334.0,801.5,12.0,854,10171,0.00,2.25,0.00,0.000,4,0.000,0.055,2938,3689,1484
$GC,10204,0.54,334.0,797.1,12.8,856,10207,0.00,2.15,0.00,0.000,6,0.000,0.038,2947,2306,1484
$GC,10531,0.56,352.3,760.6,10.4,872,10560,0.00,2.33,18.73,1.065,4,0.000,0.058,2948,3686,1417
$GC,10599,0.56,352.3,752.6,12.9,875,10602,0.00,2.15,0.00,0.000,6,0.000,0.038,2957,2321,1416
$GC,10920,0.56,352.3,714.8,12.3,891,10921,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2321,1415
$GC,11226,0.56,352.3,676.5,12.4,906,11230,0.00,2.25,0.00,0.000,4,0.000,0.058,2957,3695,1414
$GC,11327,0.56,352.3,662.8,13.4,911,11330,0.00,2.12,0.00,0.000,6,0.000,0.038,2965,2333,1414
$GC,11654,0.56,352.3,619.5,13.3,927,11657,0.00,2.22,0.00,0.000,4,0.000,0.055,2966,3696,1414
$GC,11707,0.56,352.3,611.5,15.3,929,11711,0.00,2.12,0.00,0.000,6,0.000,0.037,2973,2331,1414
$GC,12023,0.56,352.3,570.5,12.7,945,12026,0.00,2.22,0.00,0.000,4,0.000,0.055,2973,3694,1414
$GC,12098,0.56,352.3,560.2,13.2,948,12102,0.00,2.10,0.00,0.000,6,0.000,0.037,2982,2340,1414
$GC,12414,0.53,352.3,517.7,14.1,964,12418,0.12,2.22,0.00,0.000,4,0.158,0.054,2948,3697,1414
$GC,12532,0.60,352.3,503.4,11.5,969,12537,0.00,2.10,0.00,0.000,6,0.000,0.038,2955,2351,1414
$GC,12850,0.71,405.6,473.3,9.2,998,12904,0.15,2.40,48.15,1.029,4,0.058,0.051,3042,895,1199
$GC,12984,0.66,405.6,454.3,14.3,1010,12990,0.17,2.38,0.00,0.000,6,0.137,0.041,2993,2362,1196
$GC,13301,0.66,405.6,411.2,14.6,1041,13304,0.00,2.15,0.00,0.000,4,0.000,0.056,2993,3695,1194
$GC,13327,0.66,405.6,406.7,14.8,1043,13334,0.00,2.10,0.00,0.000,6,0.000,0.036,3001,2345,1194
$GC,13646,0.66,405.6,359.6,14.8,1074,13650,0.00,2.33,0.00,0.000,4,0.000,0.050,3012,885,1193
$GC,13678,0.66,405.6,354.0,15.6,1076,13684,0.00,2.35,0.00,0.000,6,0.000,0.040,3012,2363,1192
$GC,13997,0.62,405.6,306.8,12.1,1107,14001,0.12,2.15,0.00,0.000,4,0.140,0.056,2977,3696,1192
$GC,14045,0.68,408.5,300.4,10.9,1111,14048,0.00,2.10,0.00,0.000,6,0.000,0.038,2983,2351,1192
$GC,14371,0.73,408.5,257.0,11.6,1171,14378,0.00,2.33,0.00,0.000,4,0.000,0.048,2994,882,1192
$GC,14415,0.85,428.2,252.1,10.3,1179,14440,0.17,2.33,19.85,0.844,6,0.054,0.038,3082,2361,1107
$GC,14764,0.65,428.2,195.0,18.6,1243,14772,0.28,2.15,0.00,0.000,4,0.146,0.052,2996,3690,1106
$GC,14825,0.72,428.2,184.8,13.7,1254,14831,0.00,2.05,0.00,0.000,6,0.000,0.035,3004,2351,1106
$GC,15153,0.86,498.8,147.2,8.6,1315,15223,0.15,2.25,61.08,0.779,4,0.059,0.052,3092,3687,819
$GC,15234,0.69,498.8,132.8,19.9,1328,15240,0.28,2.12,0.00,0.000,6,0.142,0.037,3004,2363,819
$GC,15562,0.86,498.8,94.6,12.1,1389,15568,0.15,2.35,0.00,0.000,4,0.055,0.052,3101,891,815
$GC,15633,0.80,498.8,81.9,19.1,1402,15639,0.22,2.35,0.00,0.000,6,0.137,0.038,3036,2388,815
$GC,15961,1.09,594.2,53.6,7.8,1463,16045,0.22,2.20,77.40,0.694,4,0.044,0.053,3153,3698,480
$GC,16077,1.09,594.2,35.6,17.7,1482,16083,0.12,2.08,0.00,0.000,6,0.133,0.036,3127,2375,470
$STATE,16321,end climb,SURFACE_DEPTH_REACHED
$STATE,16321,begin surface coast
$FINISH,2.0,1.021055
$STATE,16348,end surface coast,CONTROL_FINISHED_OK
$STATE,16348,begin surface
$SM_CCo,16426,0.00,0.000,0,0,459,587.49
$SM_GC,2.77,7.62,0.00,0.00,0.033,0.000,0.000,154,2257,459,-8.08,-0.79,587.49
$IRIDIUM_FIX,2446.56,12251.97,151198,030300
$TT8_MAMPS,0.048321
$HUMID,1814
$INTERNAL_PRESSURE,8.75034
$TCM_TEMP,23.40
$XPDR_PINGS,681
$24V_AH,22.7,115.422
$10V_AH,10.3,76.185
$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,26.900,160.025,706.625,0.000,0.000,23.776,31.437,211.418,178.250,0.000,0.000,13.238,0.000,11726.291,812.950,3539.638,734.809,0.000,2215.176,0.000,2970.009,0.000,53.974,0.000
$DEVICE_MAMPS,228.566,72.865,1372.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.667,1062.139,1284.646,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88347,1533
$CAP_FILE_SIZE,175600,0
$CFSIZE,260165632,212439040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.057, 96.7,1
$GPS,210809,121837,2453.847,12227.307,140,1.0,140,-3.5