version: 66.04
glider: 165
mission: 2
dive: 520
start: 8 21 109 17 6 9
data:
$ID,165
$MISSION,2
$DIVE,520
$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,-131245.94
$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,55
$R_STBD_OVSHOOT,27
$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
$GPS1,165807,2452.181,12229.543,31,1.1,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-72.8
$GPS2,170604,2452.080,12229.688,10,2.5,29,-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,104.6,31858,-16.0,-11.000
$D_GRID,1290
$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,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,65,0.00,0.00,-46.78,0.000,2,0.000,0.000,155,2249,1821
$GC,68,-0.91,-219.0,3.2,-2.5,7,140,9.38,2.22,-57.88,0.000,4,0.228,0.057,2483,887,3749
$GC,279,-0.54,-219.0,51.7,-27.2,44,286,0.35,2.25,0.00,0.000,6,0.133,0.044,2606,2282,3751
$GC,608,-0.67,-219.0,86.7,-9.5,105,614,0.12,2.25,0.00,0.000,4,0.061,0.053,2532,3695,3753
$GC,631,-0.73,-219.0,89.5,-12.2,109,637,0.00,2.15,0.00,0.000,6,0.000,0.032,2532,2264,3753
$GC,958,-0.63,-219.0,141.8,-11.6,170,964,0.15,2.15,0.00,0.000,4,0.131,0.045,2577,886,3754
$GC,1095,-0.82,-219.0,151.1,-6.7,195,1101,0.17,2.15,0.00,0.000,6,0.051,0.043,2478,2270,3755
$GC,1423,-0.63,-219.0,207.6,-17.0,256,1430,0.28,2.28,0.00,0.000,4,0.153,0.051,2563,3682,3755
$GC,1510,-0.84,-219.0,216.4,-8.3,272,1518,0.15,2.15,0.00,0.000,6,0.053,0.033,2470,2258,3755
$GC,1842,-0.62,-219.0,280.3,-18.7,333,1848,0.30,2.15,0.00,0.000,4,0.131,0.047,2569,896,3755
$GC,1901,-0.81,-219.0,287.9,-8.0,344,1909,0.15,2.15,0.00,0.000,6,0.054,0.044,2478,2270,3755
$GC,2223,-0.66,-219.0,332.7,-12.5,383,2224,0.28,0.00,0.00,0.000,6,0.130,0.000,2562,2270,3755
$GC,2535,-0.81,-219.0,348.1,-5.4,413,2539,0.12,2.15,0.00,0.000,4,0.063,0.043,2481,905,3755
$GC,2558,-0.85,-219.0,350.4,-9.3,415,2561,0.00,2.12,0.00,0.000,6,0.000,0.041,2481,2260,3755
$GC,2879,-0.72,-219.0,398.8,-17.6,446,2883,0.17,2.15,0.00,0.000,4,0.137,0.044,2540,905,3753
$GC,2938,-0.85,-219.0,406.9,-12.0,451,2941,0.00,2.12,0.00,0.000,6,0.000,0.040,2537,2266,3753
$GC,3259,-0.95,-219.0,439.0,-8.2,482,3263,0.17,2.30,0.00,0.000,4,0.052,0.056,2437,3689,3752
$GC,3302,-0.81,-219.0,444.5,-14.5,485,3308,0.25,2.17,0.00,0.000,6,0.127,0.038,2514,2280,3751
$GC,3618,-0.81,-219.0,474.1,-9.1,516,3621,0.00,2.20,0.00,0.000,4,0.000,0.047,2514,881,3750
$GC,3667,-0.89,-219.0,478.4,-9.0,520,3674,0.00,2.22,0.00,0.000,6,0.000,0.048,2511,2259,3750
$GC,3994,-0.89,-219.0,507.9,-9.3,548,3997,0.00,2.17,0.00,0.000,4,0.000,0.047,2510,890,3748
$GC,4031,-0.93,-219.0,511.8,-9.6,549,4036,0.00,2.17,0.00,0.000,6,0.000,0.042,2511,2269,3748
$GC,4342,-0.97,-219.0,542.8,-11.1,565,4346,0.12,2.30,0.00,0.000,4,0.062,0.058,2439,3683,3746
$GC,4379,-0.85,-219.0,548.4,-16.0,567,4383,0.22,2.20,0.00,0.000,6,0.126,0.035,2507,2250,3746
$GC,4704,-0.88,-219.0,585.6,-10.4,583,4707,0.00,2.15,0.00,0.000,4,0.000,0.048,2507,887,3744
$GC,4837,-0.97,-219.0,598.4,-7.8,589,4841,0.12,2.15,0.00,0.000,6,0.065,0.044,2443,2243,3743
$GC,5156,-0.81,-219.0,646.1,-15.8,605,5157,0.25,0.00,0.00,0.000,6,0.138,0.000,2518,2243,3741
$GC,5459,-0.90,-219.0,673.0,-7.7,620,5462,0.00,2.38,0.00,0.000,4,0.000,0.062,2518,3691,3740
$GC,5480,-1.01,-219.0,674.4,-6.6,621,5484,0.20,2.25,0.00,0.000,6,0.049,0.035,2423,2237,3739
$GC,5799,-0.80,-219.0,717.4,-13.8,637,5800,0.32,0.00,0.00,0.000,6,0.139,0.000,2521,2232,3737
$GC,6101,-0.92,-219.0,736.8,-5.9,652,6102,0.12,0.00,0.00,0.000,6,0.067,0.000,2455,2232,3736
$GC,6407,-0.81,-219.0,774.6,-13.2,667,6411,0.20,2.20,0.00,0.000,4,0.133,0.052,2520,880,3734
$GC,6438,-0.87,-219.0,778.1,-9.6,668,6441,0.00,2.20,0.00,0.000,6,0.000,0.048,2521,2247,3735
$GC,6755,-0.99,-219.0,803.0,-8.1,684,6759,0.17,2.40,0.00,0.000,4,0.054,0.062,2425,3695,3733
$GC,6781,-0.96,-219.0,806.2,-12.9,685,6785,0.15,2.25,0.00,0.000,6,0.140,0.038,2468,2246,3732
$GC,7097,-0.90,-219.0,847.8,-13.3,701,7100,0.00,2.20,0.00,0.000,4,0.000,0.053,2468,880,3731
$GC,7124,-0.86,-219.0,851.5,-14.2,702,7128,0.12,2.22,0.00,0.000,6,0.140,0.048,2502,2258,3731
$GC,7443,-0.93,-219.0,884.7,-10.4,718,7446,0.00,2.38,0.00,0.000,4,0.000,0.064,2503,3689,3729
$GC,7486,-1.08,-219.0,889.0,-9.7,720,7490,0.20,2.25,0.00,0.000,6,0.051,0.037,2411,2242,3729
$GC,7802,-0.86,-219.0,940.6,-16.2,736,7805,0.28,2.22,0.00,0.000,4,0.142,0.054,2500,878,3728
$GC,7839,-0.89,-219.0,945.2,-10.8,738,7842,0.00,2.22,0.00,0.000,6,0.000,0.048,2500,2250,3728
$GC,8161,-0.96,-219.0,971.0,-7.5,754,8164,0.00,2.40,0.00,0.000,4,0.000,0.064,2500,3694,3726
$GC,8209,-1.09,-219.0,974.7,-7.8,756,8213,0.20,2.22,0.00,0.000,6,0.053,0.037,2410,2263,3726
$STATE,8333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8333,begin apogee
$GC,8341,-0.20,0.0,992.6,15.2,762,8528,0.98,0.00,184.25,1.375,6,0.133,0.000,2712,2303,2854
$STATE,8528,end apogee,CONTROL_FINISHED_OK
$STATE,8528,begin climb
$GC,8531,0.91,219.0,1001.2,0.0,771,8733,0.98,2.45,191.38,1.335,4,0.041,0.056,3102,900,1960
$GC,8922,0.54,219.0,952.2,19.8,789,8926,0.52,2.30,0.00,0.000,6,0.170,0.048,2957,2313,1952
$GC,9238,0.44,219.0,911.4,12.0,805,9242,0.12,2.25,0.00,0.000,4,0.165,0.058,2922,3692,1950
$GC,9395,0.39,219.0,893.3,12.4,812,9398,0.00,2.15,0.00,0.000,6,0.000,0.038,2930,2317,1949
$GC,9712,0.35,219.0,858.4,11.2,828,9716,0.15,2.28,0.00,0.000,4,0.152,0.058,2887,3697,1948
$GC,9797,0.38,219.0,849.2,11.1,832,9801,0.00,2.15,0.00,0.000,6,0.000,0.037,2896,2305,1948
$GC,10118,0.46,240.0,816.5,10.3,848,10148,0.00,2.33,20.05,1.110,4,0.000,0.058,2896,3683,1874
$GC,10278,0.46,240.9,799.0,11.0,855,10281,0.00,2.12,0.00,0.000,6,0.000,0.038,2905,2330,1873
$GC,10594,0.56,285.1,768.3,9.5,871,10637,0.15,0.00,41.72,1.223,6,0.061,0.000,2987,2324,1691
$GC,10940,0.45,285.1,719.2,14.3,888,10944,0.17,2.25,0.00,0.000,4,0.149,0.057,2931,3692,1685
$GC,11036,0.45,285.7,707.4,11.0,892,11043,0.00,2.15,0.00,0.000,6,0.000,0.042,2940,2330,1684
$GC,11347,0.49,316.1,676.9,10.0,908,11379,0.00,2.25,28.15,1.155,4,0.000,0.056,2940,3691,1564
$GC,11464,0.49,316.1,663.3,12.1,913,11470,0.00,2.12,0.00,0.000,6,0.000,0.037,2949,2340,1562
$GC,11776,0.49,316.1,628.7,11.5,929,11779,0.00,2.22,0.00,0.000,4,0.000,0.057,2950,3698,1561
$GC,11823,0.49,316.1,622.3,12.3,931,11826,0.00,2.10,0.00,0.000,6,0.000,0.037,2958,2351,1561
$GC,12144,0.49,316.1,583.9,11.1,947,12147,0.00,2.17,0.00,0.000,4,0.000,0.054,2958,3690,1560
$GC,12183,0.45,318.4,579.6,10.9,948,12190,0.15,2.10,0.00,0.000,6,0.159,0.042,2926,2351,1560
$GC,12493,0.63,412.6,556.1,7.8,964,12585,0.17,2.45,86.68,1.094,4,0.058,0.051,3031,890,1171
$GC,12622,0.58,412.6,539.2,14.6,970,12626,0.22,2.40,0.00,0.000,6,0.135,0.040,2968,2361,1167
$GC,12943,0.65,412.6,502.9,11.5,986,12947,0.00,2.38,0.00,0.000,4,0.000,0.048,2977,892,1164
$GC,12969,0.73,412.6,499.8,11.6,987,12973,0.12,2.33,0.00,0.000,6,0.064,0.040,3038,2357,1163
$GC,13286,0.60,412.6,437.3,19.6,1017,13289,0.20,2.15,0.00,0.000,4,0.146,0.054,2975,3689,1161
$GC,13349,0.66,412.6,427.5,12.8,1023,13352,0.00,2.08,0.00,0.000,6,0.000,0.036,2981,2351,1161
$GC,13674,0.71,412.6,390.3,11.5,1054,13677,0.00,2.17,0.00,0.000,4,0.000,0.054,2981,3692,1161
$GC,13727,0.71,412.6,384.0,12.8,1059,13730,0.00,2.08,0.00,0.000,6,0.000,0.036,2990,2352,1161
$GC,14051,0.71,412.6,344.3,12.4,1090,14052,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2347,1161
$GC,14360,0.74,412.6,302.1,13.0,1120,14361,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2346,1161
$GC,14678,0.84,467.2,267.5,9.2,1178,14733,0.17,2.42,46.42,0.877,4,0.056,0.052,3098,894,948
$GC,14750,0.64,467.2,254.5,20.8,1190,14756,0.38,2.40,0.00,0.000,6,0.145,0.042,2990,2383,946
$GC,15078,0.77,483.1,215.1,10.5,1251,15097,0.12,0.00,14.43,0.792,6,0.063,0.000,3056,2383,883
$GC,15418,0.72,483.1,164.5,16.2,1314,15425,0.15,2.15,0.00,0.000,4,0.137,0.059,3012,3689,881
$GC,15452,0.79,483.1,159.7,13.8,1320,15459,0.00,2.08,0.00,0.000,6,0.000,0.041,3020,2354,881
$GC,15780,0.91,483.1,120.0,13.5,1381,15785,0.15,0.00,0.00,0.000,6,0.058,0.000,3106,2349,880
$GC,16107,0.84,483.1,56.7,14.8,1442,16113,0.17,0.00,0.00,0.000,6,0.135,0.000,3049,2349,880
$GC,16435,1.03,515.9,25.6,9.9,1503,16467,0.17,2.22,28.30,0.666,4,0.052,0.051,3144,3692,749
$STATE,16582,end climb,SURFACE_DEPTH_REACHED
$STATE,16582,begin surface coast
$FINISH,1.9,1.010086
$STATE,16604,end surface coast,CONTROL_FINISHED_OK
$STATE,16604,begin surface
$SM_CCo,16684,0.00,0.000,0,0,746,517.09
$SM_GC,2.77,7.72,0.00,0.00,0.034,0.000,0.000,145,2269,746,-8.10,-0.45,517.09
$IRIDIUM_FIX,2444.18,12226.27,151198,121220
$TT8_MAMPS,0.049088
$HUMID,1790
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,23.40
$XPDR_PINGS,650
$24V_AH,22.6,115.931
$10V_AH,10.3,76.448
$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,27.750,151.325,641.375,0.000,0.000,31.218,33.977,228.235,170.500,0.000,0.000,31.778,0.000,12033.463,741.921,3572.436,776.697,0.000,2127.111,0.000,2972.870,0.000,53.972,0.000
$DEVICE_MAMPS,227.799,91.273,1375.231,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.621,1045.092,1242.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85398,1534
$CAP_FILE_SIZE,177250,0
$CFSIZE,260165632,212254720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.164,130.9,1
$GPS,210809,214507,2450.972,12233.785,30,1.3,30,-3.5