version: 66.04
glider: 165
mission: 2
dive: 523
start: 8 22 109 7 18 2
data:
$ID,165
$MISSION,2
$DIVE,523
$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,-131311.64
$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,34
$R_STBD_OVSHOOT,36
$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
$GPS1,071007,2450.348,12242.461,36,1.8,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-69.3
$GPS2,071757,2450.348,12242.812,13,2.4,32,-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,192.6,12003,-16.0,-11.000
$D_GRID,1242
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.91,-219.0,0.0,0.0,0,71,0.00,0.00,-52.80,0.000,2,0.000,0.000,158,2308,1749
$GC,74,-0.91,-219.0,3.3,-3.6,7,144,9.38,2.30,-53.85,0.000,4,0.224,0.054,2482,861,3749
$GC,337,-0.54,-219.0,76.6,-27.0,54,343,0.43,2.25,0.00,0.000,6,0.138,0.042,2606,2290,3750
$GC,664,-0.67,-219.0,118.7,-5.9,115,670,0.12,2.22,0.00,0.000,4,0.059,0.053,2523,3689,3753
$GC,735,-0.67,-219.0,124.6,-8.7,128,743,0.12,2.12,0.00,0.000,6,0.117,0.031,2562,2259,3753
$GC,1065,-0.71,-219.0,155.7,-10.1,189,1071,0.00,2.28,0.00,0.000,4,0.000,0.052,2562,3686,3755
$GC,1103,-0.84,-219.0,159.6,-9.3,196,1111,0.15,2.05,0.00,0.000,6,0.054,0.031,2473,2306,3754
$GC,1433,-0.61,-219.0,227.5,-20.5,257,1439,0.32,2.22,0.00,0.000,4,0.133,0.044,2577,884,3754
$GC,1504,-0.77,-219.0,236.4,-9.1,270,1510,0.15,2.17,0.00,0.000,6,0.055,0.039,2485,2290,3754
$GC,1832,-0.63,-219.0,285.7,-16.2,331,1838,0.25,2.22,0.00,0.000,4,0.132,0.054,2563,3676,3754
$GC,1865,-0.75,-219.0,289.8,-11.0,337,1870,0.00,2.08,0.00,0.000,6,0.000,0.032,2564,2291,3754
$GC,2190,-0.90,-219.0,317.9,-6.2,378,2192,0.20,0.00,0.00,0.000,6,0.047,0.000,2451,2285,3754
$GC,2500,-0.67,-219.0,368.6,-18.7,408,2503,0.32,2.20,0.00,0.000,4,0.129,0.048,2558,900,3753
$GC,2581,-0.88,-219.0,376.6,-7.8,415,2584,0.17,2.17,0.00,0.000,6,0.049,0.042,2461,2288,3753
$GC,2897,-0.72,-219.0,424.5,-16.0,445,2904,0.25,2.25,0.00,0.000,4,0.133,0.057,2536,3677,3749
$GC,2926,-0.76,-219.0,428.3,-11.8,447,2932,0.00,2.12,0.00,0.000,6,0.000,0.035,2536,2281,3749
$GC,3242,-0.86,-219.0,459.2,-11.1,478,3245,0.00,2.20,0.00,0.000,4,0.000,0.048,2536,885,3748
$GC,3280,-1.00,-219.0,463.4,-11.6,481,3285,0.22,2.22,0.00,0.000,6,0.048,0.044,2427,2284,3748
$GC,3596,-0.78,-219.0,519.0,-17.8,507,3597,0.32,0.00,0.00,0.000,6,0.139,0.000,2526,2284,3744
$GC,3900,-0.87,-219.0,545.9,-7.6,522,3903,0.00,2.25,0.00,0.000,4,0.000,0.051,2525,882,3743
$GC,3959,-1.00,-219.0,550.3,-7.1,524,3966,0.20,2.22,0.00,0.000,6,0.051,0.045,2426,2284,3742
$GC,4269,-0.79,-219.0,593.9,-14.7,540,4273,0.30,2.25,0.00,0.000,4,0.140,0.049,2521,892,3740
$GC,4350,-0.92,-219.0,601.1,-8.1,544,4354,0.12,2.17,0.00,0.000,6,0.065,0.047,2454,2250,3739
$GC,4673,-0.79,-219.0,643.8,-13.5,560,4675,0.22,0.00,0.00,0.000,6,0.134,0.000,2521,2250,3736
$GC,4977,-0.90,-219.0,668.2,-7.2,575,4980,0.00,2.38,0.00,0.000,4,0.000,0.064,2521,3692,3734
$GC,5020,-1.07,-219.0,671.1,-6.1,577,5024,0.25,2.22,0.00,0.000,6,0.045,0.035,2406,2243,3734
$GC,5349,-0.82,-219.0,724.4,-17.6,593,5354,0.32,2.20,0.00,0.000,4,0.146,0.051,2509,881,3730
$GC,5402,-0.92,-219.0,730.9,-8.6,595,5406,0.00,2.20,0.00,0.000,6,0.000,0.046,2509,2256,3730
$GC,5714,-1.00,-219.0,760.4,-10.3,610,5718,0.15,2.35,0.00,0.000,4,0.060,0.061,2425,3683,3728
$GC,5735,-0.96,-219.0,763.3,-13.4,611,5738,0.15,2.22,0.00,0.000,6,0.139,0.037,2468,2248,3727
$GC,6058,-0.91,-219.0,808.9,-14.4,627,6062,0.00,2.17,0.00,0.000,4,0.000,0.051,2468,886,3726
$GC,6085,-0.87,-219.0,812.9,-14.5,628,6089,0.12,2.20,0.00,0.000,6,0.142,0.048,2502,2249,3726
$GC,6404,-0.94,-219.0,844.9,-9.0,644,6407,0.00,2.38,0.00,0.000,4,0.000,0.062,2502,3692,3724
$GC,6447,-1.06,-219.0,848.5,-8.5,646,6451,0.20,2.25,0.00,0.000,6,0.051,0.035,2411,2238,3723
$GC,6765,-0.85,-219.0,895.0,-14.3,662,6769,0.28,2.20,0.00,0.000,4,0.141,0.052,2501,884,3721
$GC,6846,-0.95,-219.0,902.5,-7.5,666,6849,0.00,2.20,0.00,0.000,6,0.000,0.048,2500,2246,3721
$GC,7173,-1.00,-219.0,927.4,-7.2,682,7174,0.12,0.00,0.00,0.000,6,0.064,0.000,2436,2246,3720
$GC,7478,-0.86,-219.0,968.5,-14.3,697,7481,0.20,2.22,0.00,0.000,4,0.140,0.053,2501,890,3719
$GC,7543,-0.97,-219.0,975.3,-8.0,700,7546,0.00,2.17,0.00,0.000,6,0.000,0.048,2501,2236,3718
$STATE,7739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7739,begin apogee
$GC,7746,-0.20,0.0,991.7,9.0,710,7930,0.65,0.00,181.70,1.371,6,0.109,0.000,2718,2318,2854
$STATE,7930,end apogee,CONTROL_FINISHED_OK
$STATE,7930,begin climb
$GC,7934,0.91,219.0,1001.9,0.0,719,8135,0.95,2.42,190.18,1.332,4,0.041,0.061,3091,3689,1961
$GC,8189,0.43,219.0,980.6,22.1,731,8193,0.65,2.20,0.00,0.000,6,0.176,0.039,2923,2306,1957
$GC,8510,0.43,219.0,942.3,11.8,747,8514,0.00,2.28,0.00,0.000,4,0.000,0.059,2923,3688,1952
$GC,8563,0.37,219.0,935.5,12.6,749,8570,0.00,2.17,0.00,0.000,6,0.000,0.037,2932,2291,1951
$GC,8875,0.34,219.0,897.3,12.0,765,8878,0.15,2.30,0.00,0.000,4,0.149,0.056,2887,3691,1951
$GC,8912,0.39,219.0,892.9,11.4,767,8915,0.00,2.15,0.00,0.000,6,0.000,0.036,2896,2307,1950
$GC,9239,0.54,302.0,864.8,8.2,783,9326,0.15,2.42,75.40,1.246,4,0.061,0.058,2973,3691,1621
$GC,9392,0.44,302.0,845.1,13.7,790,9395,0.22,2.20,0.00,0.000,6,0.149,0.038,2920,2308,1618
$GC,9708,0.58,356.5,815.2,9.2,806,9762,0.12,2.38,49.33,1.233,4,0.067,0.057,2985,3682,1400
$GC,9831,0.49,356.5,797.3,16.8,811,9837,0.20,2.15,0.00,0.000,6,0.149,0.043,2940,2331,1397
$GC,10142,0.55,356.5,758.8,11.8,827,10142,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2331,1395
$GC,10448,0.62,356.5,722.5,11.2,842,10451,0.12,2.22,0.00,0.000,4,0.067,0.055,3011,3692,1394
$GC,10506,0.48,356.5,712.6,18.4,845,10510,0.30,2.12,0.00,0.000,6,0.146,0.038,2933,2332,1393
$GC,10828,0.66,430.1,683.9,8.5,861,10900,0.17,2.33,66.50,1.172,4,0.054,0.056,3031,3694,1099
$GC,10941,0.54,430.1,666.4,18.4,866,10945,0.30,2.17,0.00,0.000,6,0.140,0.038,2955,2333,1098
$GC,11261,0.65,439.1,633.1,10.7,882,11274,0.10,2.38,8.48,0.982,4,0.071,0.051,3025,888,1062
$GC,11329,0.65,439.1,623.8,14.2,885,11333,0.12,2.30,0.00,0.000,6,0.136,0.040,2992,2338,1062
$GC,11651,0.65,439.1,576.5,14.3,901,11654,0.00,2.17,0.00,0.000,4,0.000,0.056,2991,3684,1060
$GC,11693,0.65,439.1,569.7,16.0,903,11696,0.00,2.12,0.00,0.000,6,0.000,0.038,2999,2325,1060
$GC,12020,0.65,439.1,519.1,15.2,919,12023,0.00,2.30,0.00,0.000,4,0.000,0.051,3010,885,1060
$GC,12047,0.65,439.1,515.4,14.8,920,12050,0.00,2.30,0.00,0.000,6,0.000,0.038,3010,2341,1059
$GC,12369,0.65,439.1,465.1,15.7,946,12372,0.00,2.17,0.00,0.000,4,0.000,0.056,3009,3693,1059
$GC,12502,0.65,439.1,443.5,15.7,958,12507,0.00,2.12,0.00,0.000,6,0.000,0.040,3019,2341,1059
$GC,12821,0.61,439.1,395.5,16.8,989,12825,0.15,2.33,0.00,0.000,4,0.143,0.049,2986,888,1059
$GC,12853,0.70,439.1,390.0,13.3,991,12859,0.00,2.30,0.00,0.000,6,0.000,0.038,2986,2345,1058
$GC,13173,0.82,464.4,351.2,10.1,1022,13204,0.15,2.22,23.12,0.930,4,0.056,0.056,3062,3680,959
$GC,13306,0.73,464.4,328.3,16.5,1034,13312,0.20,2.10,0.00,0.000,6,0.148,0.038,3015,2351,958
$GC,13626,0.77,464.4,285.2,13.1,1075,13631,0.00,2.33,0.00,0.000,4,0.000,0.050,3025,893,957
$GC,13675,0.85,464.4,279.2,12.1,1084,13681,0.00,2.35,0.00,0.000,6,0.000,0.044,3025,2353,957
$GC,14003,0.85,464.4,229.7,13.8,1145,14009,0.00,2.15,0.00,0.000,4,0.000,0.054,3025,3695,957
$GC,14041,0.85,464.4,223.1,17.1,1152,14047,0.00,2.15,0.00,0.000,6,0.000,0.040,3032,2323,957
$GC,14368,0.89,464.4,170.8,13.3,1213,14375,0.00,2.28,0.00,0.000,4,0.000,0.048,3043,886,957
$GC,14472,0.98,464.4,157.3,12.0,1232,14478,0.15,2.25,0.00,0.000,6,0.056,0.039,3124,2316,957
$GC,14799,0.85,464.4,99.7,17.3,1293,14806,0.22,2.20,0.00,0.000,4,0.137,0.051,3051,3687,957
$GC,14877,0.94,464.4,88.7,12.8,1307,14883,0.00,2.12,0.00,0.000,6,0.000,0.034,3059,2305,957
$GC,15205,1.12,465.2,55.0,11.0,1368,15211,0.20,2.22,0.00,0.000,4,0.049,0.050,3171,3689,956
$GC,15353,0.99,465.2,32.1,13.2,1395,15359,0.28,2.08,0.00,0.000,6,0.142,0.033,3101,2328,957
$GC,15680,1.24,568.0,4.8,7.5,1456,15707,0.17,0.00,25.15,0.606,2,0.051,0.000,3205,2319,838
$STATE,15707,end climb,SURFACE_DEPTH_REACHED
$STATE,15708,begin surface coast
$FINISH,1.7,1.008575
$STATE,15737,end surface coast,CONTROL_FINISHED_OK
$STATE,15737,begin surface
$SM_CCo,15816,0.00,0.000,0,0,835,495.26
$SM_GC,2.66,7.82,0.00,0.00,0.033,0.000,0.000,146,2324,835,-8.08,1.10,495.26
$IRIDIUM_FIX,2441.81,12236.83,161198,020248
$TT8_MAMPS,0.048321
$HUMID,1749
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.60
$XPDR_PINGS,671
$24V_AH,22.8,116.737
$10V_AH,10.3,76.839
$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,28.650,155.975,619.850,0.000,0.000,24.225,29.638,229.027,175.750,0.000,0.000,35.076,0.000,11334.737,739.617,3412.208,762.731,0.000,2072.126,0.000,2833.140,0.000,54.007,0.000
$DEVICE_MAMPS,223.964,85.137,1371.396,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.415,1015.584,1222.799,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82106,1466
$CAP_FILE_SIZE,173151,0
$CFSIZE,260165632,211980288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.382, 58.0,1
$GPS,220809,114237,2449.485,12245.811,36,1.0,36,-3.5