version: 66.04
glider: 165
mission: 2
dive: 554
start: 8 28 109 7 34 49
data:
$ID,165
$MISSION,2
$DIVE,554
$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,-131834.72
$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,56
$R_STBD_OVSHOOT,39
$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
$GPS1,072006,2502.934,12336.510,28,1.2,28,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-71.2
$GPS2,073444,2503.118,12336.328,12,1.8,12,-3.7
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_1
$TGT_LATLONG,2436.700,12346.000
$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,201.7,51565,-16.0,-11.000
$D_GRID,2070
$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,-219.0,0.0,0.0,0,71,0.00,0.00,-55.47,0.000,2,0.000,0.000,146,2258,1855
$GC,75,-0.91,-219.0,3.3,-4.4,9,145,9.18,2.20,-53.15,0.000,4,0.216,0.054,2478,887,3749
$GC,296,-0.54,-219.0,59.2,-26.9,48,302,0.43,2.15,0.00,0.000,6,0.132,0.036,2598,2284,3750
$GC,623,-0.54,-219.0,107.6,-12.0,109,629,0.00,2.17,0.00,0.000,4,0.000,0.040,2599,884,3753
$GC,787,-0.64,-219.0,123.1,-8.9,139,793,0.00,2.12,0.00,0.000,6,0.000,0.036,2599,2259,3752
$GC,1115,-0.72,-219.0,156.0,-9.8,200,1120,0.15,2.12,0.00,0.000,4,0.054,0.038,2507,887,3752
$GC,1148,-0.61,-219.0,161.0,-16.8,206,1155,0.20,2.15,0.00,0.000,6,0.116,0.038,2585,2258,3752
$GC,1478,-0.69,-219.0,195.3,-9.7,267,1483,0.00,2.12,0.00,0.000,4,0.000,0.041,2585,890,3752
$GC,1528,-0.84,-219.0,200.5,-10.7,276,1535,0.22,2.08,0.00,0.000,6,0.041,0.036,2461,2246,3752
$GC,1856,-0.55,-219.0,272.1,-20.2,337,1862,0.43,2.12,0.00,0.000,4,0.133,0.040,2595,885,3752
$GC,1922,-0.77,-219.0,279.5,-7.5,349,1927,0.17,2.05,0.00,0.000,6,0.049,0.036,2483,2228,3752
$GC,2242,-0.57,-219.0,330.2,-15.8,392,2246,0.32,2.33,0.00,0.000,4,0.148,0.050,2576,3679,3751
$GC,2301,-0.80,-219.0,335.8,-6.0,397,2305,0.15,2.20,0.00,0.000,6,0.051,0.031,2477,2203,3751
$GC,2622,-0.62,-219.0,389.7,-16.5,428,2624,0.32,0.00,0.00,0.000,6,0.125,0.000,2579,2197,3749
$GC,2936,-0.82,-219.0,413.8,-7.2,458,2939,0.17,2.42,0.00,0.000,4,0.048,0.054,2477,3688,3747
$GC,2984,-0.78,-219.0,419.6,-13.0,462,2987,0.17,2.25,0.00,0.000,6,0.120,0.036,2531,2221,3747
$GC,3305,-0.82,-219.0,454.8,-10.3,493,3308,0.00,2.05,0.00,0.000,4,0.000,0.044,2531,897,3745
$GC,3332,-0.87,-219.0,457.7,-10.8,495,3337,0.00,2.10,0.00,0.000,6,0.000,0.042,2531,2229,3745
$GC,3651,-0.93,-219.0,486.1,-8.4,526,3655,0.15,2.35,0.00,0.000,4,0.054,0.054,2439,3689,3742
$GC,3720,-0.77,-219.0,496.2,-15.3,532,3727,0.25,2.25,0.00,0.000,6,0.120,0.038,2534,2244,3741
$GC,4045,-0.85,-219.0,524.7,-8.2,550,4049,0.00,2.12,0.00,0.000,4,0.000,0.048,2534,887,3739
$GC,4088,-0.98,-219.0,528.6,-8.3,552,4092,0.20,2.12,0.00,0.000,6,0.048,0.041,2435,2229,3740
$GC,4412,-0.75,-219.0,585.0,-18.2,568,4413,0.32,0.00,0.00,0.000,6,0.140,0.000,2533,2228,3736
$GC,4715,-0.87,-219.0,614.3,-8.7,583,4719,0.00,2.12,0.00,0.000,4,0.000,0.047,2533,889,3734
$GC,4747,-0.99,-219.0,617.3,-9.0,584,4751,0.20,2.10,0.00,0.000,6,0.048,0.041,2434,2227,3734
$GC,5059,-0.79,-219.0,670.1,-16.6,599,5063,0.28,2.15,0.00,0.000,4,0.137,0.048,2521,893,3731
$GC,5107,-0.90,-219.0,675.6,-8.7,601,5110,0.00,2.10,0.00,0.000,6,0.000,0.044,2521,2222,3731
$GC,5424,-1.00,-219.0,699.0,-7.5,617,5428,0.17,2.38,0.00,0.000,4,0.053,0.058,2424,3673,3728
$GC,5466,-0.87,-219.0,704.2,-13.7,619,5470,0.25,2.22,0.00,0.000,6,0.128,0.034,2500,2223,3727
$GC,5782,-0.90,-219.0,739.6,-11.4,635,5785,0.00,2.10,0.00,0.000,4,0.000,0.048,2500,893,3725
$GC,5810,-0.94,-219.0,742.7,-12.1,636,5813,0.00,2.10,0.00,0.000,6,0.000,0.044,2496,2222,3725
$GC,6131,-0.98,-219.0,778.5,-10.7,652,6134,0.00,2.38,0.00,0.000,4,0.000,0.060,2497,3675,3722
$GC,6179,-1.08,-219.0,783.6,-10.2,654,6183,0.20,2.22,0.00,0.000,6,0.050,0.034,2400,2224,3721
$GC,6490,-0.82,-219.0,840.1,-18.1,669,6494,0.35,2.15,0.00,0.000,4,0.143,0.050,2512,890,3719
$GC,6544,-0.93,-219.0,846.3,-8.6,671,6549,0.00,2.15,0.00,0.000,6,0.000,0.044,2510,2223,3719
$GC,6855,-1.03,-219.0,871.8,-8.5,687,6859,0.17,2.40,0.00,0.000,4,0.053,0.060,2424,3676,3718
$GC,6903,-0.93,-219.0,877.8,-13.2,689,6907,0.17,2.25,0.00,0.000,6,0.136,0.035,2476,2225,3717
$GC,7214,-0.93,-219.0,914.8,-11.9,704,7217,0.00,2.12,0.00,0.000,4,0.000,0.051,2477,894,3714
$GC,7240,-0.93,-219.0,918.0,-12.6,705,7243,0.00,2.12,0.00,0.000,6,0.000,0.046,2476,2222,3714
$GC,7561,-0.93,-219.0,955.0,-11.5,721,7565,0.00,2.40,0.00,0.000,4,0.000,0.061,2476,3674,3712
$GC,7605,-0.99,-219.0,959.6,-10.5,723,7608,0.00,2.22,0.00,0.000,6,0.000,0.035,2476,2238,3712
$STATE,7897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7897,begin apogee
$GC,7904,-0.20,0.0,991.3,10.5,738,8084,0.73,0.00,177.48,1.346,6,0.111,0.000,2715,2292,2854
$STATE,8085,end apogee,CONTROL_FINISHED_OK
$STATE,8085,begin climb
$GC,8088,0.91,219.0,1000.9,0.0,747,8284,0.98,2.40,186.18,1.312,4,0.040,0.059,3092,3694,1959
$GC,8474,0.43,219.0,946.5,23.1,765,8479,0.65,2.17,0.00,0.000,6,0.174,0.037,2923,2306,1953
$GC,8785,0.45,235.2,910.6,10.5,780,8810,0.00,2.28,16.08,1.038,4,0.000,0.056,2922,3688,1895
$GC,8880,0.41,235.2,899.5,12.6,784,8886,0.00,2.17,0.00,0.000,6,0.000,0.037,2931,2298,1892
$GC,9191,0.44,263.7,866.8,10.0,800,9221,0.00,2.33,26.12,1.216,4,0.000,0.055,2932,3693,1777
$GC,9302,0.40,263.7,854.2,12.4,805,9305,0.00,2.15,0.00,0.000,6,0.000,0.035,2941,2317,1775
$GC,9619,0.40,263.7,818.5,11.4,821,9622,0.00,2.25,0.00,0.000,4,0.000,0.055,2941,3693,1772
$GC,9645,0.36,263.7,815.3,11.9,822,9649,0.20,2.12,0.00,0.000,6,0.143,0.035,2893,2321,1773
$GC,9966,0.54,325.6,787.6,8.9,838,10030,0.17,2.35,55.30,1.211,4,0.054,0.056,2984,3687,1525
$GC,10097,0.42,325.6,767.7,17.9,844,10101,0.28,2.12,0.00,0.000,6,0.144,0.036,2916,2345,1523
$GC,10422,0.56,350.8,732.7,10.2,860,10451,0.12,2.40,22.88,1.141,4,0.063,0.051,3000,898,1424
$GC,10474,0.50,350.8,725.0,14.7,862,10478,0.20,2.33,0.00,0.000,6,0.135,0.040,2944,2350,1421
$GC,10785,0.56,350.8,686.7,12.1,877,10788,0.00,2.15,0.00,0.000,4,0.000,0.055,2944,3683,1419
$GC,10865,0.60,350.8,676.1,13.3,880,10871,0.00,2.12,0.00,0.000,6,0.000,0.037,2952,2332,1418
$GC,11176,0.64,350.8,634.2,12.7,896,11180,0.10,2.30,0.00,0.000,4,0.074,0.048,3021,893,1417
$GC,11197,0.64,350.8,631.1,14.9,897,11201,0.12,2.30,0.00,0.000,6,0.140,0.039,2988,2340,1416
$GC,11519,0.60,350.8,584.2,13.8,913,11522,0.00,2.17,0.00,0.000,4,0.000,0.055,2988,3688,1416
$GC,11636,0.55,350.8,566.8,14.9,918,11640,0.15,2.08,0.00,0.000,6,0.146,0.036,2955,2351,1416
$GC,11953,0.61,353.6,532.7,10.9,934,11957,0.00,2.33,0.00,0.000,4,0.000,0.048,2964,893,1416
$GC,11980,0.70,362.8,529.8,10.7,935,11995,0.12,2.35,10.80,0.960,6,0.063,0.039,3028,2379,1374
$GC,12303,0.57,362.8,479.3,15.2,957,12307,0.20,2.12,0.00,0.000,4,0.142,0.054,2965,3695,1373
$GC,12415,0.61,362.8,464.1,12.6,967,12418,0.00,2.03,0.00,0.000,6,0.000,0.035,2970,2382,1373
$GC,12740,0.61,362.8,427.4,12.3,998,12743,0.00,2.12,0.00,0.000,4,0.000,0.054,2971,3692,1372
$GC,12831,0.64,362.8,415.2,12.5,1006,12837,0.00,2.03,0.00,0.000,6,0.000,0.041,2978,2394,1372
$GC,13150,0.68,362.8,377.6,11.6,1037,13154,0.00,2.40,0.00,0.000,4,0.000,0.047,2987,885,1373
$GC,13209,0.77,365.2,370.5,10.9,1042,13213,0.12,2.40,0.00,0.000,6,0.063,0.038,3053,2404,1371
$GC,13531,0.63,365.2,321.3,14.6,1073,13534,0.20,2.08,0.00,0.000,4,0.137,0.052,2988,3699,1371
$GC,13666,0.63,367.1,305.4,10.9,1085,13675,0.00,2.00,5.07,0.644,6,0.000,0.034,2995,2396,1357
$GC,13997,0.63,367.1,268.6,11.8,1142,14003,0.00,2.12,0.00,0.000,4,0.000,0.056,2995,3695,1357
$GC,14036,0.63,367.1,263.5,13.7,1149,14042,0.00,1.98,0.00,0.000,6,0.000,0.033,3004,2402,1357
$GC,14363,0.63,367.1,223.5,11.8,1210,14370,0.00,2.42,0.00,0.000,4,0.000,0.048,3015,888,1357
$GC,14488,0.72,379.8,209.0,10.6,1233,14507,0.00,2.40,12.80,0.727,6,0.000,0.037,3015,2416,1305
$GC,14828,0.72,382.9,173.2,10.9,1296,14840,0.00,2.08,4.50,0.518,4,0.000,0.051,3015,3693,1291
$GC,14899,0.72,382.9,164.8,12.5,1309,14905,0.00,2.00,0.00,0.000,6,0.000,0.032,3023,2397,1291
$GC,15226,0.79,398.6,127.1,10.5,1370,15246,0.00,2.38,14.70,0.666,4,0.000,0.044,3033,891,1228
$GC,15391,0.92,422.3,110.0,10.2,1400,15418,0.12,2.35,21.58,0.667,6,0.061,0.037,3115,2399,1132
$GC,15743,0.83,422.3,59.4,11.1,1464,15749,0.20,2.08,0.00,0.000,4,0.132,0.054,3050,3695,1131
$GC,15968,1.07,514.6,39.2,7.9,1506,16052,0.20,2.00,76.22,0.623,6,0.048,0.038,3157,2401,754
$STATE,16231,end climb,SURFACE_DEPTH_REACHED
$STATE,16231,begin surface coast
$FINISH,1.7,1.008163
$STATE,16252,end surface coast,CONTROL_FINISHED_OK
$STATE,16252,begin surface
$SM_CCo,16332,0.00,0.000,0,0,749,516.36
$SM_GC,2.60,7.70,0.00,0.00,0.031,0.000,0.000,146,2247,749,-8.10,-1.07,516.36
$IRIDIUM_FIX,2456.07,12337.44,221198,070738
$TT8_MAMPS,0.049088
$HUMID,1761
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,25.60
$XPDR_PINGS,806
$24V_AH,23.1,124.788
$10V_AH,10.3,80.800
$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,27.225,167.325,629.700,0.000,0.000,83.415,110.053,379.814,209.500,0.000,0.000,14.136,0.000,11730.490,729.632,3626.028,1086.631,0.000,2148.145,0.000,3032.169,0.000,54.005,0.000
$DEVICE_MAMPS,216.294,69.030,1346.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1051.172,1094.422,1350.570,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88491,1557
$CAP_FILE_SIZE,186482,0
$CFSIZE,260165632,209145856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.196, 72.2,1
$GPS,280809,120801,2501.155,12337.534,36,1.3,36,-3.7