version: 66.04
glider: 165
mission: 2
dive: 556
start: 8 28 109 16 45 37
data:
$ID,165
$MISSION,2
$DIVE,556
$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,-131862.89
$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,45
$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
$GPS1,163730,2459.103,12338.497,34,0.9,40,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-73.5
$GPS2,164532,2459.118,12338.502,9,1.4,9,-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,192.5,43396,-16.0,-11.000
$D_GRID,2017
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,62,0.00,0.00,-43.65,0.000,2,0.000,0.000,145,2325,1852
$GC,66,-0.91,-219.0,3.3,-3.8,7,135,9.27,2.33,-51.70,0.000,4,0.220,0.055,2482,885,3750
$GC,141,-0.35,-219.0,14.5,-29.5,19,147,0.62,2.17,0.00,0.000,6,0.151,0.037,2659,2288,3750
$GC,469,-0.45,-219.0,56.9,-10.3,80,474,0.00,2.20,0.00,0.000,4,0.000,0.039,2659,880,3751
$GC,480,-0.55,-219.0,58.0,-9.2,82,486,0.17,2.17,0.00,0.000,6,0.051,0.036,2562,2290,3751
$GC,808,-0.48,-219.0,116.2,-15.2,143,813,0.17,2.20,0.00,0.000,4,0.130,0.049,2616,3680,3753
$GC,922,-0.69,-219.0,126.4,-8.3,164,928,0.12,2.15,0.00,0.000,6,0.037,0.031,2520,2262,3753
$GC,1251,-0.53,-219.0,178.3,-16.9,225,1258,0.25,2.10,0.00,0.000,4,0.128,0.038,2602,902,3754
$GC,1349,-0.72,-219.0,188.7,-8.4,243,1355,0.12,2.12,0.00,0.000,6,0.038,0.036,2506,2270,3754
$GC,1676,-0.57,-219.0,243.2,-15.6,304,1682,0.25,2.25,0.00,0.000,4,0.130,0.050,2587,3677,3755
$GC,1693,-0.50,-219.0,245.4,-13.8,307,1699,0.10,2.10,0.00,0.000,6,0.116,0.031,2620,2266,3754
$GC,2020,-0.78,-219.0,264.0,-6.1,368,2026,0.22,2.12,0.00,0.000,4,0.066,0.039,2491,894,3754
$GC,2048,-0.78,-219.0,266.9,-12.3,373,2055,0.15,2.12,0.00,0.000,6,0.133,0.037,2535,2269,3754
$GC,2374,-0.74,-219.0,312.6,-12.7,425,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2269,3754
$GC,2686,-0.74,-219.0,351.2,-11.8,455,2689,0.00,2.28,0.00,0.000,4,0.000,0.057,2534,3686,3753
$GC,2718,-0.80,-219.0,355.0,-10.2,457,2725,0.00,2.17,0.00,0.000,6,0.000,0.037,2534,2254,3752
$GC,3033,-0.83,-219.0,386.2,-9.3,488,3036,0.00,2.12,0.00,0.000,4,0.000,0.048,2534,886,3752
$GC,3098,-0.93,-219.0,392.5,-9.4,494,3101,0.15,2.15,0.00,0.000,6,0.055,0.042,2450,2262,3752
$GC,3413,-0.72,-219.0,448.9,-19.0,524,3417,0.28,2.30,0.00,0.000,4,0.131,0.054,2533,3677,3751
$GC,3489,-0.87,-219.0,457.4,-9.3,530,3494,0.00,2.17,0.00,0.000,6,0.000,0.037,2533,2245,3750
$GC,3808,-0.94,-219.0,486.6,-9.1,561,3809,0.17,0.00,0.00,0.000,6,0.050,0.000,2439,2240,3748
$GC,4122,-0.74,-219.0,540.7,-17.2,581,4124,0.32,0.00,0.00,0.000,6,0.130,0.000,2539,2240,3746
$GC,4427,-0.86,-219.0,567.0,-8.1,596,4431,0.12,2.33,0.00,0.000,4,0.061,0.056,2463,3676,3744
$GC,4470,-0.83,-219.0,571.7,-12.3,598,4474,0.17,2.17,0.00,0.000,6,0.120,0.034,2517,2243,3744
$GC,4789,-0.89,-219.0,605.4,-10.8,614,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2239,3742
$GC,5092,-0.96,-219.0,637.5,-9.9,629,5095,0.12,2.38,0.00,0.000,4,0.063,0.057,2441,3686,3739
$GC,5130,-0.89,-219.0,642.3,-13.8,631,5134,0.17,2.20,0.00,0.000,6,0.127,0.034,2493,2246,3739
$GC,5453,-0.89,-219.0,678.3,-10.4,647,5457,0.00,2.35,0.00,0.000,4,0.000,0.058,2494,3676,3736
$GC,5486,-0.95,-219.0,681.7,-9.6,648,5492,0.00,2.20,0.00,0.000,6,0.000,0.035,2494,2258,3736
$GC,5797,-0.95,-219.0,711.0,-9.2,664,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2253,3734
$GC,6102,-0.95,-219.0,739.3,-9.4,679,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2252,3733
$GC,6408,-0.98,-219.0,771.0,-11.0,694,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2253,3730
$GC,6713,-1.02,-219.0,804.3,-10.9,709,6714,0.12,0.00,0.00,0.000,6,0.065,0.000,2430,2252,3728
$GC,7018,-0.88,-219.0,848.4,-14.2,724,7020,0.22,0.00,0.00,0.000,6,0.133,0.000,2498,2252,3726
$GC,7323,-0.95,-219.0,874.4,-8.7,739,7326,0.00,2.38,0.00,0.000,4,0.000,0.065,2495,3675,3724
$GC,7350,-1.04,-219.0,876.7,-9.1,740,7353,0.15,2.20,0.00,0.000,6,0.058,0.036,2421,2258,3724
$GC,7670,-0.88,-219.0,927.0,-17.4,756,7673,0.20,2.22,0.00,0.000,4,0.141,0.051,2488,884,3721
$GC,7717,-0.95,-219.0,934.7,-12.5,758,7721,0.00,2.20,0.00,0.000,6,0.000,0.047,2482,2250,3721
$GC,8029,-0.95,-219.0,973.1,-12.1,773,8032,0.00,2.40,0.00,0.000,4,0.000,0.064,2482,3693,3720
$GC,8066,-1.03,-219.0,977.4,-11.4,775,8070,0.10,2.25,0.00,0.000,6,0.072,0.036,2425,2246,3719
$STATE,8160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8160,begin apogee
$GC,8167,-0.20,0.0,992.0,15.5,780,8356,0.90,0.00,181.05,1.337,6,0.126,0.000,2710,2317,2854
$STATE,8356,end apogee,CONTROL_FINISHED_OK
$STATE,8356,begin climb
$GC,8360,0.91,219.0,1004.1,0.0,789,8551,0.98,0.00,187.20,1.316,6,0.040,0.000,3094,2317,1960
$GC,8852,0.51,219.0,935.9,20.1,813,8856,0.50,2.25,0.00,0.000,4,0.164,0.058,2946,3686,1952
$GC,9010,0.39,219.0,914.0,13.7,820,9014,0.17,2.15,0.00,0.000,6,0.159,0.038,2903,2311,1951
$GC,9322,0.51,292.5,885.4,8.5,835,9388,0.12,0.00,64.62,1.254,6,0.067,0.000,2969,2306,1661
$GC,9686,0.44,292.5,838.7,12.9,853,9690,0.15,2.28,0.00,0.000,4,0.145,0.056,2925,3693,1655
$GC,9809,0.44,292.5,824.4,11.3,859,9812,0.00,2.17,0.00,0.000,6,0.000,0.037,2934,2303,1653
$GC,10136,0.44,292.5,787.8,11.7,875,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2304,1653
$GC,10440,0.44,292.5,751.2,11.9,890,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2304,1651
$GC,10746,0.44,292.5,714.7,11.9,905,10749,0.00,2.28,0.00,0.000,4,0.000,0.056,2934,3689,1651
$GC,10815,0.44,292.5,705.7,11.9,908,10818,0.00,2.15,0.00,0.000,6,0.000,0.038,2942,2305,1650
$GC,11137,0.48,321.8,670.6,10.0,924,11166,0.00,2.30,25.70,1.128,4,0.000,0.054,2941,3690,1540
$GC,11227,0.51,344.4,661.4,10.2,928,11252,0.00,2.12,21.55,1.093,6,0.000,0.036,2950,2332,1449
$GC,11560,0.54,345.6,627.0,11.0,944,11563,0.00,2.22,0.00,0.000,4,0.000,0.054,2950,3695,1446
$GC,11597,0.54,345.6,622.1,12.1,945,11603,0.00,2.15,0.00,0.000,6,0.000,0.036,2951,2318,1446
$GC,11909,0.59,345.6,588.3,11.1,961,11912,0.00,2.22,0.00,0.000,4,0.000,0.053,2952,3687,1446
$GC,11941,0.59,345.6,584.3,11.4,962,11944,0.00,2.10,0.00,0.000,6,0.000,0.036,2951,2334,1446
$GC,12258,0.65,355.6,550.5,10.7,978,12272,0.12,2.30,10.52,0.963,4,0.066,0.048,3031,896,1403
$GC,12310,0.56,355.6,543.1,15.9,979,12317,0.25,2.25,0.00,0.000,6,0.137,0.038,2959,2329,1402
$GC,12621,0.62,358.5,509.9,10.9,995,12629,0.00,2.20,4.22,0.683,4,0.000,0.054,2958,3690,1392
$GC,12701,0.66,358.5,500.6,12.1,998,12707,0.00,2.12,0.00,0.000,6,0.000,0.035,2962,2318,1392
$GC,13021,0.73,376.4,467.2,10.4,1029,13040,0.15,0.00,17.48,0.954,6,0.056,0.000,3040,2314,1319
$GC,13348,0.60,376.4,412.9,17.1,1061,13351,0.20,2.22,0.00,0.000,4,0.138,0.051,2977,3682,1317
$GC,13496,0.66,376.4,394.5,11.8,1074,13499,0.00,2.08,0.00,0.000,6,0.000,0.037,2984,2343,1317
$GC,13817,0.70,376.4,358.5,11.6,1105,13820,0.00,2.30,0.00,0.000,4,0.000,0.048,2994,891,1317
$GC,13839,0.75,376.4,355.9,12.2,1107,13843,0.00,2.30,0.00,0.000,6,0.000,0.038,2994,2349,1315
$GC,14155,0.75,376.4,317.8,11.9,1137,14158,0.00,2.15,0.00,0.000,4,0.000,0.053,2994,3692,1315
$GC,14203,0.75,376.4,311.6,12.9,1141,14208,0.00,2.08,0.00,0.000,6,0.000,0.034,3004,2349,1315
$GC,14527,0.75,376.4,272.5,12.9,1193,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2349,1315
$GC,14853,0.79,376.4,230.5,12.3,1254,14858,0.00,2.35,0.00,0.000,4,0.000,0.051,3014,884,1315
$GC,14907,0.86,376.4,223.8,11.5,1264,14913,0.12,2.35,0.00,0.000,6,0.061,0.042,3091,2362,1315
$GC,15235,0.69,376.4,165.1,16.8,1325,15241,0.28,2.12,0.00,0.000,4,0.140,0.049,3003,3684,1315
$GC,15306,0.76,376.4,156.2,11.0,1338,15312,0.00,2.08,0.00,0.000,6,0.000,0.035,3010,2366,1315
$GC,15634,0.86,406.8,122.4,10.0,1399,15668,0.12,2.20,26.95,0.692,4,0.061,0.050,3091,3690,1195
$GC,15740,0.70,406.8,104.8,18.8,1417,15746,0.32,2.05,0.00,0.000,6,0.138,0.034,3006,2363,1195
$GC,16068,1.05,526.9,74.5,6.9,1478,16175,0.28,2.17,100.43,0.653,4,0.039,0.052,3152,3689,704
$GC,16218,0.97,526.9,50.1,17.1,1503,16225,0.20,2.08,0.00,0.000,6,0.130,0.032,3095,2365,700
$GC,16547,1.17,581.5,16.2,9.2,1564,16604,0.17,2.35,50.53,0.589,4,0.050,0.044,3210,885,480
$STATE,16628,end climb,SURFACE_DEPTH_REACHED
$STATE,16629,begin surface coast
$FINISH,1.8,1.010002
$STATE,16642,end surface coast,CONTROL_FINISHED_OK
$STATE,16642,begin surface
$SM_CCo,16723,0.00,0.000,0,0,469,585.04
$SM_GC,2.32,7.88,0.00,0.00,0.034,0.000,0.000,148,2309,469,-8.09,0.68,585.04
$IRIDIUM_FIX,2453.69,12334.15,221198,121244
$TT8_MAMPS,0.048321
$HUMID,1723
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.80
$XPDR_PINGS,775
$24V_AH,23.1,125.287
$10V_AH,10.3,81.058
$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,26.725,137.050,690.250,0.000,0.000,29.458,34.588,246.757,201.750,0.000,0.000,11.817,0.000,12068.468,800.561,3479.960,820.640,0.000,2138.856,0.000,2916.097,0.000,53.980,0.000
$DEVICE_MAMPS,220.129,72.098,1336.881,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1066.008,1089.107,1326.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88340,1580
$CAP_FILE_SIZE,173067,0
$CFSIZE,260165632,208977920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136, 79.6,1
$GPS,280809,212506,2456.976,12339.707,22,2.0,22,-3.7