version: 66.04
glider: 165
mission: 2
dive: 557
start: 8 28 109 21 32 43
data:
$ID,165
$MISSION,2
$DIVE,557
$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,-131878.05
$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,36
$R_STBD_OVSHOOT,43
$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
$GPS1,212506,2456.976,12339.707,22,2.0,22,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-69.7
$GPS2,213238,2456.990,12339.876,12,1.9,12,-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,193.1,38966,-16.0,-11.000
$D_GRID,1985
$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,16,-0.91,-219.0,0.0,0.0,0,74,0.00,0.00,-55.45,0.000,2,0.000,0.000,147,2313,1820
$GC,77,-0.91,-219.0,3.1,-3.5,9,147,9.18,2.20,-53.88,0.000,4,0.216,0.062,2474,3686,3748
$GC,286,-0.53,-219.0,54.4,-29.6,46,293,0.38,2.20,0.00,0.000,6,0.125,0.034,2608,2265,3748
$GC,614,-0.53,-219.0,106.8,-10.3,107,621,0.00,2.25,0.00,0.000,4,0.000,0.050,2603,3674,3751
$GC,649,-0.63,-219.0,110.2,-9.5,113,655,0.00,2.10,0.00,0.000,6,0.000,0.030,2603,2280,3751
$GC,976,-0.70,-219.0,142.8,-11.0,174,982,0.15,2.22,0.00,0.000,4,0.055,0.049,2510,3673,3751
$GC,999,-0.67,-219.0,145.7,-13.0,178,1005,0.17,2.05,0.00,0.000,6,0.124,0.031,2563,2304,3751
$GC,1329,-0.63,-219.0,189.2,-13.4,239,1336,0.00,2.17,0.00,0.000,4,0.000,0.041,2564,894,3752
$GC,1406,-0.68,-219.0,199.2,-11.7,253,1412,0.00,2.15,0.00,0.000,6,0.000,0.038,2564,2283,3751
$GC,1733,-0.68,-219.0,238.5,-12.0,314,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2282,3751
$GC,2060,-0.71,-219.0,276.0,-11.3,375,2066,0.00,2.20,0.00,0.000,4,0.000,0.045,2563,890,3751
$GC,2115,-0.81,-219.0,281.9,-9.5,385,2121,0.12,2.15,0.00,0.000,6,0.061,0.038,2486,2282,3751
$GC,2440,-0.61,-219.0,341.2,-18.8,426,2443,0.28,2.20,0.00,0.000,4,0.131,0.047,2576,894,3751
$GC,2488,-0.73,-219.0,347.6,-10.3,430,2493,0.00,2.17,0.00,0.000,6,0.000,0.044,2576,2272,3751
$GC,2804,-0.85,-219.0,374.4,-7.6,461,2808,0.20,2.28,0.00,0.000,4,0.047,0.054,2455,3694,3749
$GC,2836,-0.71,-219.0,378.6,-15.0,463,2843,0.30,2.17,0.00,0.000,6,0.125,0.034,2547,2269,3748
$GC,3152,-0.76,-219.0,420.6,-13.9,494,3155,0.00,2.15,0.00,0.000,4,0.000,0.045,2548,884,3747
$GC,3210,-0.87,-219.0,428.2,-12.6,499,3218,0.15,2.20,0.00,0.000,6,0.056,0.046,2465,2281,3747
$GC,3526,-0.69,-219.0,483.1,-16.3,530,3530,0.25,2.30,0.00,0.000,4,0.131,0.062,2547,3691,3746
$GC,3607,-0.89,-219.0,490.2,-7.1,537,3611,0.15,2.10,0.00,0.000,6,0.052,0.032,2455,2285,3745
$GC,3927,-0.71,-219.0,538.5,-15.2,556,3931,0.28,2.22,0.00,0.000,4,0.130,0.048,2547,889,3744
$GC,4002,-0.88,-219.0,545.3,-6.3,559,4009,0.15,2.22,0.00,0.000,6,0.054,0.043,2464,2290,3743
$GC,4313,-0.75,-219.0,590.7,-16.3,575,4317,0.22,2.25,0.00,0.000,4,0.130,0.046,2537,885,3741
$GC,4340,-0.75,-219.0,594.6,-13.7,576,4343,0.00,2.22,0.00,0.000,6,0.000,0.044,2537,2273,3741
$GC,4662,-0.86,-219.0,623.6,-8.3,592,4665,0.00,2.30,0.00,0.000,4,0.000,0.060,2537,3686,3739
$GC,4715,-1.07,-219.0,627.4,-7.0,594,4721,0.28,2.17,0.00,0.000,6,0.041,0.036,2405,2271,3738
$GC,5027,-0.79,-219.0,686.5,-19.5,610,5030,0.35,2.20,0.00,0.000,4,0.143,0.047,2517,891,3736
$GC,5096,-0.91,-219.0,695.1,-9.5,613,5099,0.00,2.20,0.00,0.000,6,0.000,0.044,2517,2277,3735
$GC,5412,-0.98,-219.0,722.6,-9.0,629,5416,0.15,2.33,0.00,0.000,4,0.057,0.060,2437,3694,3733
$GC,5456,-0.91,-219.0,727.8,-13.2,631,5459,0.17,2.17,0.00,0.000,6,0.127,0.035,2488,2275,3732
$GC,5771,-0.91,-219.0,760.4,-10.3,647,5775,0.00,2.33,0.00,0.000,4,0.000,0.059,2482,3683,3730
$GC,5788,-0.91,-219.0,762.0,-10.5,648,5791,0.00,2.17,0.00,0.000,6,0.000,0.035,2481,2268,3729
$GC,6115,-0.91,-219.0,797.9,-10.8,664,6118,0.00,2.20,0.00,0.000,4,0.000,0.049,2481,881,3728
$GC,6152,-0.91,-219.0,801.8,-11.0,665,6157,0.00,2.28,0.00,0.000,6,0.000,0.051,2481,2285,3727
$GC,6462,-0.91,-219.0,832.6,-9.7,681,6466,0.00,2.30,0.00,0.000,4,0.000,0.062,2481,3682,3724
$GC,6505,-0.96,-219.0,836.2,-8.4,683,6508,0.00,2.15,0.00,0.000,6,0.000,0.035,2481,2287,3723
$GC,6827,-0.96,-219.0,865.6,-9.0,699,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2287,3721
$GC,7131,-0.96,-219.0,894.3,-9.6,714,7135,0.00,2.35,0.00,0.000,4,0.000,0.062,2481,3694,3719
$GC,7158,-1.00,-219.0,896.8,-9.8,715,7161,0.00,2.17,0.00,0.000,6,0.000,0.035,2481,2287,3719
$GC,7475,-1.00,-219.0,927.8,-10.1,731,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2287,3717
$GC,7779,-1.00,-219.0,958.0,-9.9,746,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2287,3715
$GC,8084,-1.00,-219.0,988.3,-10.1,761,8088,0.00,2.35,0.00,0.000,4,0.000,0.064,2481,3682,3713
$STATE,8102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8102,begin apogee
$GC,8112,-0.20,0.0,990.3,9.7,762,8293,0.68,0.00,178.18,1.350,6,0.105,0.000,2712,2300,2854
$STATE,8293,end apogee,CONTROL_FINISHED_OK
$STATE,8293,begin climb
$GC,8296,0.91,219.0,999.6,0.0,771,8493,0.95,2.42,186.25,1.312,4,0.042,0.055,3094,898,1959
$GC,8734,0.56,219.0,940.2,20.7,791,8738,0.47,2.25,0.00,0.000,6,0.164,0.044,2962,2301,1951
$GC,9045,0.45,219.0,899.9,12.2,806,9049,0.12,2.28,0.00,0.000,4,0.162,0.058,2927,3692,1949
$GC,9109,0.39,219.0,892.1,11.9,809,9112,0.00,2.17,0.00,0.000,6,0.000,0.037,2937,2296,1949
$GC,9437,0.36,232.4,857.4,10.5,825,9460,0.15,2.35,11.65,1.066,4,0.150,0.056,2893,3688,1907
$GC,9553,0.46,279.9,846.4,9.4,830,9602,0.00,2.12,43.67,1.230,6,0.000,0.035,2902,2320,1711
$GC,9919,0.62,337.6,813.3,9.1,848,9975,0.22,0.00,51.92,1.215,6,0.048,0.000,3023,2314,1477
$GC,10280,0.46,337.6,749.2,18.8,866,10284,0.28,2.25,0.00,0.000,4,0.138,0.054,2934,3686,1472
$GC,10367,0.51,337.6,737.6,12.5,870,10370,0.00,2.12,0.00,0.000,6,0.000,0.038,2943,2327,1471
$GC,10688,0.56,337.6,697.7,12.1,886,10691,0.00,2.30,0.00,0.000,4,0.000,0.051,2951,891,1470
$GC,10720,0.64,337.6,693.6,12.4,887,10725,0.10,2.28,0.00,0.000,6,0.070,0.039,3009,2331,1468
$GC,11031,0.53,337.6,644.6,15.8,903,11035,0.17,2.20,0.00,0.000,4,0.141,0.055,2954,3685,1468
$GC,11105,0.53,337.6,634.3,13.1,906,11111,0.00,2.15,0.00,0.000,6,0.000,0.042,2961,2311,1467
$GC,11416,0.53,337.6,597.1,11.7,922,11419,0.00,2.25,0.00,0.000,4,0.000,0.054,2962,3683,1468
$GC,11475,0.53,337.6,589.7,12.7,924,11481,0.00,2.12,0.00,0.000,6,0.000,0.043,2964,2336,1468
$GC,11786,0.53,337.6,552.9,12.2,940,11789,0.00,2.33,0.00,0.000,4,0.000,0.049,2964,885,1468
$GC,11833,0.62,337.6,547.2,11.4,942,11837,0.00,2.28,0.00,0.000,6,0.000,0.038,2964,2331,1465
$GC,12145,0.62,337.6,509.5,11.9,957,12148,0.00,2.20,0.00,0.000,4,0.000,0.054,2964,3690,1465
$GC,12192,0.62,337.6,503.1,13.6,959,12196,0.00,2.12,0.00,0.000,6,0.000,0.035,2964,2317,1465
$GC,12512,0.66,337.6,468.0,11.3,988,12515,0.00,2.28,0.00,0.000,4,0.000,0.048,2964,891,1465
$GC,12566,0.80,372.5,461.9,9.8,993,12602,0.20,2.28,30.15,0.980,6,0.051,0.038,3058,2332,1334
$GC,12919,0.63,372.5,398.7,18.7,1027,12923,0.22,2.20,0.00,0.000,4,0.139,0.053,2987,3692,1331
$GC,13010,0.66,372.5,386.8,12.0,1035,13014,0.00,2.12,0.00,0.000,6,0.000,0.035,2995,2317,1331
$GC,13331,0.66,372.5,350.5,12.3,1066,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2317,1331
$GC,13644,0.66,372.5,307.7,13.6,1096,13647,0.00,2.25,0.00,0.000,4,0.000,0.047,3005,892,1330
$GC,13682,0.70,372.5,302.3,12.8,1099,13688,0.00,2.28,0.00,0.000,6,0.000,0.042,3006,2326,1329
$GC,14008,0.70,372.5,260.3,12.1,1158,14014,0.00,2.22,0.00,0.000,4,0.000,0.053,3006,3679,1329
$GC,14047,0.70,372.5,255.0,14.1,1165,14053,0.00,2.08,0.00,0.000,6,0.000,0.035,3015,2331,1330
$GC,14375,0.70,372.5,213.7,11.1,1226,14380,0.00,2.30,0.00,0.000,4,0.000,0.051,3026,891,1329
$GC,14450,0.76,388.1,205.6,10.5,1240,14469,0.00,2.25,14.25,0.732,6,0.000,0.042,3026,2317,1270
$GC,14790,0.76,388.1,163.4,13.4,1303,14796,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2317,1270
$GC,15117,0.94,478.2,127.9,8.0,1364,15200,0.15,2.22,76.05,0.703,4,0.055,0.051,3112,3693,904
$GC,15313,0.90,478.2,98.2,14.3,1398,15319,0.20,2.15,0.00,0.000,6,0.129,0.036,3065,2311,901
$GC,15641,1.07,513.7,65.3,9.8,1459,15678,0.17,2.30,30.08,0.632,4,0.050,0.048,3173,891,758
$GC,15716,0.97,513.7,52.7,18.9,1472,15722,0.28,2.25,0.00,0.000,6,0.127,0.041,3090,2329,757
$GC,16044,1.19,558.3,16.9,9.5,1533,16089,0.17,2.35,41.42,0.588,4,0.048,0.044,3207,895,574
$STATE,16130,end climb,SURFACE_DEPTH_REACHED
$STATE,16130,begin surface coast
$FINISH,1.8,0.998559
$STATE,16149,end surface coast,CONTROL_FINISHED_OK
$STATE,16149,begin surface
$SM_CCo,16230,0.00,0.000,0,0,564,561.74
$SM_GC,2.41,7.90,0.00,0.00,0.036,0.000,0.000,148,2296,564,-8.09,0.31,561.74
$IRIDIUM_FIX,2448.93,12340.09,221198,161612
$TT8_MAMPS,0.049088
$HUMID,1737
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.10
$XPDR_PINGS,760
$24V_AH,23.0,125.538
$10V_AH,10.3,81.189
$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,25.375,160.000,663.625,0.000,0.000,24.258,31.545,224.814,198.000,0.000,0.000,14.529,0.000,11541.697,772.056,3555.685,776.318,0.000,2172.277,0.000,2981.086,0.000,53.986,0.000
$DEVICE_MAMPS,216.294,63.661,1349.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1045.223,1078.588,1328.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85171,1551
$CAP_FILE_SIZE,173956,0
$CFSIZE,260165632,208891904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107, 87.8,1
$GPS,290809,020406,2454.444,12340.745,29,1.0,29,-3.7