version: 66.04
glider: 165
mission: 2
dive: 531
start: 8 23 109 20 33 14
data:
$ID,165
$MISSION,2
$DIVE,531
$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,-131447.3
$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,31
$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
$GPS1,202531,2458.501,12257.386,40,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-72.6
$GPS2,203308,2458.616,12257.759,11,1.1,11,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,270.3,73418,-16.0,-11.000
$D_GRID,1612
$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,-219.0,0.0,0.0,0,55,0.00,0.00,-37.58,0.000,2,0.000,0.000,149,2269,1764
$GC,59,-0.91,-219.0,3.2,-3.9,6,129,9.40,2.30,-54.60,0.000,4,0.224,0.062,2470,3699,3749
$GC,257,-0.51,-219.0,53.2,-29.4,41,263,0.45,2.12,0.00,0.000,6,0.121,0.032,2611,2290,3750
$GC,585,-0.51,-219.0,103.2,-8.9,102,590,0.00,2.15,0.00,0.000,4,0.000,0.041,2612,886,3751
$GC,688,-0.62,-219.0,113.8,-10.7,121,694,0.00,2.10,0.00,0.000,6,0.000,0.036,2612,2257,3752
$GC,1015,-0.79,-219.0,142.4,-7.1,182,1021,0.20,0.00,0.00,0.000,6,0.046,0.000,2480,2257,3754
$GC,1343,-0.55,-219.0,200.2,-18.8,243,1350,0.35,2.15,0.00,0.000,4,0.127,0.044,2595,893,3754
$GC,1394,-0.77,-219.0,206.0,-7.7,252,1400,0.15,2.12,0.00,0.000,6,0.037,0.038,2487,2248,3755
$GC,1722,-0.61,-219.0,259.3,-15.2,313,1728,0.28,2.15,0.00,0.000,4,0.127,0.044,2578,884,3755
$GC,1787,-0.82,-219.0,265.7,-6.8,325,1793,0.17,2.08,0.00,0.000,6,0.050,0.039,2474,2227,3755
$GC,2116,-0.64,-219.0,318.6,-16.8,377,2120,0.28,2.35,0.00,0.000,4,0.129,0.055,2563,3685,3755
$GC,2138,-0.59,-219.0,321.4,-12.8,378,2143,0.00,2.25,0.00,0.000,6,0.000,0.035,2563,2218,3755
$GC,2457,-0.74,-219.0,345.9,-7.8,409,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2218,3753
$GC,2767,-0.89,-219.0,365.3,-5.9,439,2770,0.17,2.08,0.00,0.000,4,0.052,0.047,2453,888,3751
$GC,2841,-0.74,-219.0,374.5,-14.5,446,2846,0.30,2.08,0.00,0.000,6,0.130,0.044,2544,2205,3751
$GC,3163,-0.85,-219.0,398.4,-7.4,477,3166,0.12,2.38,0.00,0.000,4,0.062,0.058,2465,3677,3749
$GC,3195,-0.80,-219.0,401.7,-11.4,480,3198,0.17,2.22,0.00,0.000,6,0.125,0.035,2518,2212,3748
$GC,3516,-0.80,-219.0,436.3,-11.0,511,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2212,3746
$GC,3829,-0.84,-219.0,470.1,-10.8,541,3832,0.00,2.08,0.00,0.000,4,0.000,0.051,2519,891,3744
$GC,3889,-0.93,-219.0,476.6,-9.7,546,3894,0.12,2.10,0.00,0.000,6,0.061,0.048,2451,2205,3743
$GC,4204,-0.74,-219.0,528.4,-16.8,569,4208,0.28,2.40,0.00,0.000,4,0.136,0.059,2534,3674,3741
$GC,4247,-0.90,-219.0,533.3,-8.2,571,4251,0.12,2.25,0.00,0.000,6,0.058,0.034,2456,2201,3740
$GC,4565,-0.74,-219.0,579.5,-15.7,587,4569,0.25,2.08,0.00,0.000,4,0.130,0.050,2540,898,3738
$GC,4641,-0.92,-219.0,586.8,-7.7,590,4647,0.15,2.08,0.00,0.000,6,0.057,0.051,2458,2194,3738
$GC,4951,-0.80,-219.0,627.9,-13.8,606,4953,0.22,0.00,0.00,0.000,6,0.133,0.000,2526,2194,3736
$GC,5257,-0.91,-219.0,651.5,-7.5,621,5259,0.12,0.00,0.00,0.000,6,0.064,0.000,2459,2194,3734
$GC,5563,-0.79,-219.0,694.8,-15.4,636,5564,0.22,0.00,0.00,0.000,6,0.131,0.000,2527,2194,3731
$GC,5868,-0.92,-219.0,725.9,-10.2,651,5872,0.12,2.45,0.00,0.000,4,0.064,0.063,2461,3674,3729
$GC,5922,-0.92,-219.0,733.1,-14.6,653,5927,0.00,2.33,0.00,0.000,6,0.000,0.041,2461,2193,3728
$GC,6232,-0.81,-219.0,783.6,-16.7,669,6233,0.20,0.00,0.00,0.000,6,0.136,0.000,2520,2193,3726
$GC,6539,-0.92,-219.0,816.7,-9.7,684,6542,0.12,2.47,0.00,0.000,4,0.067,0.062,2455,3673,3725
$GC,6565,-0.92,-219.0,819.9,-12.6,685,6568,0.00,2.30,0.00,0.000,6,0.000,0.036,2454,2189,3723
$GC,6881,-0.80,-219.0,867.0,-14.8,701,6884,0.17,2.08,0.00,0.000,4,0.138,0.053,2513,902,3722
$GC,6957,-0.93,-219.0,875.2,-9.9,704,6960,0.00,2.05,0.00,0.000,6,0.000,0.048,2511,2177,3722
$GC,7273,-1.02,-219.0,905.8,-9.4,720,7277,0.17,2.47,0.00,0.000,4,0.058,0.062,2414,3673,3721
$GC,7306,-0.90,-219.0,910.2,-15.1,721,7311,0.25,2.33,0.00,0.000,6,0.134,0.038,2488,2180,3720
$GC,7616,-0.90,-219.0,947.1,-11.7,737,7619,0.00,2.08,0.00,0.000,4,0.000,0.054,2489,887,3719
$GC,7669,-0.97,-219.0,953.5,-11.4,739,7672,0.00,2.08,0.00,0.000,6,0.000,0.048,2489,2176,3719
$STATE,7982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7982,begin apogee
$GC,7990,-0.20,0.0,990.9,11.8,755,8173,0.68,0.00,180.85,1.362,6,0.111,0.000,2712,2306,2854
$STATE,8173,end apogee,CONTROL_FINISHED_OK
$STATE,8173,begin climb
$GC,8176,0.91,219.0,1003.6,0.0,764,8375,0.98,2.38,188.98,1.327,4,0.043,0.061,3089,3682,1959
$GC,8616,0.45,219.0,945.6,21.2,784,8622,0.62,2.17,0.00,0.000,6,0.177,0.041,2927,2309,1953
$GC,8927,0.50,257.5,914.7,9.7,800,8967,0.00,2.35,33.97,1.254,4,0.000,0.053,2937,888,1803
$GC,8988,0.54,294.9,908.5,9.7,803,9034,0.00,2.30,36.58,1.181,6,0.000,0.041,2937,2312,1651
$GC,9360,0.54,294.9,864.3,13.0,821,9363,0.00,2.22,0.00,0.000,4,0.000,0.057,2938,3686,1646
$GC,9434,0.54,294.9,853.2,14.8,824,9437,0.00,2.17,0.00,0.000,6,0.000,0.038,2947,2292,1645
$GC,9750,0.54,294.9,808.0,14.2,840,9753,0.00,2.28,0.00,0.000,4,0.000,0.054,2947,3689,1644
$GC,9825,0.50,294.9,796.6,15.3,843,9828,0.00,2.12,0.00,0.000,6,0.000,0.038,2957,2321,1644
$GC,10141,0.46,294.9,750.1,14.9,859,10144,0.00,2.22,0.00,0.000,4,0.000,0.054,2957,3683,1643
$GC,10210,0.40,294.9,739.0,16.9,862,10214,0.20,2.10,0.00,0.000,6,0.151,0.037,2908,2333,1643
$GC,10527,0.49,294.9,701.5,11.3,878,10530,0.00,2.20,0.00,0.000,4,0.000,0.054,2908,3685,1642
$GC,10585,0.57,294.9,694.1,13.2,880,10591,0.12,2.10,0.00,0.000,6,0.067,0.037,2981,2340,1641
$GC,10897,0.47,294.9,644.9,16.1,896,10900,0.17,2.20,0.00,0.000,4,0.146,0.054,2922,3682,1641
$GC,10961,0.51,294.9,635.4,14.4,899,10964,0.00,2.08,0.00,0.000,6,0.000,0.037,2930,2345,1641
$GC,11283,0.56,294.9,593.8,12.7,915,11286,0.00,2.20,0.00,0.000,4,0.000,0.055,2930,3692,1640
$GC,11352,0.59,294.9,584.1,14.3,918,11355,0.00,2.08,0.00,0.000,6,0.000,0.036,2939,2352,1640
$GC,11673,0.63,294.9,543.7,12.3,934,11674,0.12,0.00,0.00,0.000,6,0.068,0.000,3011,2346,1641
$GC,11979,0.48,294.9,495.4,15.5,950,11983,0.22,2.20,0.00,0.000,4,0.146,0.054,2940,3693,1640
$GC,12059,0.48,294.9,485.3,11.9,957,12062,0.00,2.08,0.00,0.000,6,0.000,0.035,2948,2352,1640
$GC,12384,0.53,338.8,454.5,9.5,988,12427,0.00,2.28,38.35,1.009,4,0.000,0.054,2948,3681,1472
$GC,12510,0.58,338.8,441.7,11.0,999,12516,0.00,2.03,0.00,0.000,6,0.000,0.036,2955,2379,1470
$GC,12829,0.67,371.3,410.0,9.9,1030,12862,0.12,0.00,29.45,0.963,6,0.064,0.000,3025,2374,1339
$GC,13173,0.56,371.3,355.6,16.0,1063,13174,0.22,0.00,0.00,0.000,6,0.139,0.000,2960,2374,1336
$GC,13485,0.65,371.3,321.9,11.3,1093,13486,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2373,1334
$GC,13798,0.75,373.0,284.7,10.9,1135,13804,0.17,2.12,0.00,0.000,4,0.054,0.054,3050,3686,1334
$GC,13858,0.57,373.0,273.9,19.2,1146,13864,0.30,2.05,0.00,0.000,6,0.145,0.038,2955,2394,1334
$GC,14185,0.81,473.3,243.7,7.6,1207,14281,0.20,2.53,87.38,0.843,4,0.049,0.053,3070,889,923
$GC,14346,0.77,473.3,219.0,16.8,1235,14352,0.15,2.40,0.00,0.000,6,0.137,0.038,3029,2392,920
$GC,14674,0.77,473.3,171.4,15.0,1296,14680,0.00,2.08,0.00,0.000,4,0.000,0.058,3029,3684,918
$GC,14707,0.82,473.3,166.0,15.4,1302,14713,0.00,2.03,0.00,0.000,6,0.000,0.038,3035,2381,918
$GC,15034,0.90,473.3,120.3,12.2,1363,15042,0.10,2.12,0.00,0.000,4,0.073,0.051,3104,3681,916
$GC,15059,0.90,473.3,116.2,17.4,1367,15066,0.15,2.03,0.00,0.000,6,0.128,0.035,3070,2391,916
$GC,15388,1.10,566.0,80.0,7.9,1428,15481,0.17,2.47,84.07,0.697,4,0.051,0.046,3178,892,539
$GC,15609,1.10,566.0,48.1,14.4,1467,15616,0.17,2.35,0.00,0.000,6,0.130,0.037,3128,2383,525
$GC,15938,1.22,566.0,12.8,11.8,1528,15944,0.12,2.08,0.00,0.000,4,0.061,0.054,3201,3686,522
$STATE,16000,end climb,SURFACE_DEPTH_REACHED
$STATE,16000,begin surface coast
$FINISH,1.8,1.010431
$STATE,16016,end surface coast,CONTROL_FINISHED_OK
$STATE,16016,begin surface
$SM_CCo,16097,0.00,0.000,0,0,521,572.28
$SM_GC,2.64,7.85,0.00,0.00,0.035,0.000,0.000,148,2261,521,-8.10,-0.71,572.28
$IRIDIUM_FIX,2448.93,12255.25,171198,151509
$TT8_MAMPS,0.049088
$HUMID,1760
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.40
$XPDR_PINGS,741
$24V_AH,22.8,118.849
$10V_AH,10.3,77.865
$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,27.475,136.550,679.625,0.000,0.000,23.736,37.014,228.758,193.250,0.000,0.000,12.944,0.000,11514.354,755.325,3476.667,770.731,0.000,2117.819,0.000,2921.853,0.000,53.986,0.000
$DEVICE_MAMPS,223.964,72.865,1362.192,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.900,1059.203,1290.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88293,1543
$CAP_FILE_SIZE,168937,0
$CFSIZE,260165632,211247104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.425, 58.3,1
$GPS,240809,010230,2500.172,12258.248,36,1.3,36,-3.6