version: 66.04
glider: 165
mission: 2
dive: 561
start: 8 29 109 16 18 36
data:
$ID,165
$MISSION,2
$DIVE,561
$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,-131956.34
$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,41
$R_STBD_OVSHOOT,38
$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
$GPS1,161030,2447.529,12342.787,36,1.5,36,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.4
$GPS2,161831,2447.640,12342.863,9,1.6,14,-3.6
$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,173.7,20938,-16.0,-11.000
$D_GRID,1840
$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,-219.0,0.0,0.0,0,63,0.00,0.00,-44.45,0.000,2,0.000,0.000,148,2315,1848
$GC,67,-0.91,-219.0,3.2,-3.5,7,130,9.25,2.33,-50.12,0.000,4,0.219,0.052,2480,878,3749
$GC,237,-0.46,-219.0,51.3,-32.5,37,245,0.47,2.22,0.00,0.000,6,0.140,0.039,2630,2288,3751
$GC,567,-0.55,-219.0,95.2,-9.0,98,572,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2288,3753
$GC,894,-0.69,-219.0,123.9,-7.4,159,900,0.17,2.20,0.00,0.000,4,0.049,0.039,2521,877,3754
$GC,944,-0.52,-219.0,131.6,-18.4,168,950,0.25,2.22,0.00,0.000,6,0.127,0.037,2603,2293,3754
$GC,1272,-0.60,-219.0,166.8,-10.8,229,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,2294,3754
$GC,1601,-0.71,-219.0,198.0,-8.6,290,1607,0.15,2.22,0.00,0.000,4,0.054,0.039,2514,868,3754
$GC,1640,-0.61,-219.0,203.2,-14.8,297,1647,0.22,2.20,0.00,0.000,6,0.124,0.037,2582,2293,3754
$GC,1969,-0.69,-219.0,234.8,-8.7,358,1975,0.00,2.20,0.00,0.000,4,0.000,0.051,2582,3679,3753
$GC,2018,-0.88,-219.0,238.9,-7.1,367,2024,0.25,2.10,0.00,0.000,6,0.041,0.031,2450,2266,3753
$GC,2343,-0.54,-219.0,312.2,-22.5,423,2347,0.45,2.28,0.00,0.000,4,0.139,0.050,2587,3679,3753
$GC,2364,-0.37,-219.0,316.4,-20.0,424,2370,0.22,2.10,0.00,0.000,6,0.100,0.031,2664,2287,3753
$GC,2680,-0.91,-219.0,351.5,-13.1,455,2684,0.45,2.28,0.00,0.000,4,0.065,0.054,2485,3683,3752
$GC,2707,-1.18,-219.0,354.9,-13.0,457,2711,0.22,2.08,0.00,0.000,6,0.045,0.031,2370,2300,3751
$GC,3023,-0.72,-219.0,439.8,-25.7,487,3027,0.55,2.22,0.00,0.000,4,0.155,0.044,2540,888,3751
$GC,3149,-0.85,-219.0,454.4,-9.0,498,3152,0.00,2.20,0.00,0.000,6,0.000,0.041,2537,2284,3751
$GC,3471,-0.91,-219.0,484.9,-9.3,529,3472,0.15,0.00,0.00,0.000,6,0.055,0.000,2452,2284,3750
$GC,3778,-0.70,-219.0,535.2,-17.1,549,3782,0.28,2.22,0.00,0.000,4,0.130,0.047,2544,897,3747
$GC,3831,-0.84,-219.0,541.1,-8.3,551,3837,0.10,2.20,0.00,0.000,6,0.067,0.047,2477,2284,3747
$GC,4143,-0.73,-219.0,588.2,-16.7,567,4147,0.20,2.22,0.00,0.000,4,0.130,0.047,2544,894,3745
$GC,4175,-0.81,-219.0,592.4,-11.9,568,4183,0.00,2.20,0.00,0.000,6,0.000,0.048,2544,2270,3745
$GC,4485,-0.96,-219.0,619.7,-8.2,584,4487,0.20,0.00,0.00,0.000,6,0.048,0.000,2437,2271,3742
$GC,4792,-0.77,-219.0,670.2,-16.9,599,4796,0.28,2.33,0.00,0.000,4,0.135,0.058,2520,3690,3739
$GC,4824,-0.81,-219.0,674.7,-11.0,600,4832,0.00,2.17,0.00,0.000,6,0.000,0.035,2520,2286,3739
$GC,5135,-0.92,-219.0,702.0,-8.8,616,5139,0.10,2.22,0.00,0.000,4,0.068,0.047,2455,884,3737
$GC,5178,-0.87,-219.0,707.1,-13.0,618,5182,0.15,2.22,0.00,0.000,6,0.137,0.045,2497,2281,3736
$GC,5497,-0.93,-219.0,740.0,-10.7,634,5500,0.00,2.22,0.00,0.000,4,0.000,0.047,2497,890,3734
$GC,5633,-1.01,-219.0,754.7,-10.3,640,5637,0.12,2.20,0.00,0.000,6,0.064,0.045,2432,2269,3733
$GC,5950,-0.88,-219.0,798.0,-13.4,656,5954,0.17,2.22,0.00,0.000,4,0.140,0.047,2490,890,3730
$GC,6153,-0.95,-219.0,816.3,-8.2,665,6158,0.00,2.17,0.00,0.000,6,0.000,0.048,2490,2243,3728
$GC,6465,-1.01,-219.0,842.0,-8.5,681,6469,0.10,2.17,0.00,0.000,4,0.071,0.048,2434,887,3726
$GC,6607,-0.91,-219.0,859.6,-13.2,687,6612,0.20,2.17,0.00,0.000,6,0.138,0.049,2486,2221,3725
$GC,6918,-0.96,-219.0,889.7,-9.3,703,6921,0.00,2.15,0.00,0.000,4,0.000,0.050,2486,889,3722
$GC,7015,-1.03,-219.0,899.4,-10.0,707,7019,0.00,2.12,0.00,0.000,6,0.000,0.047,2482,2212,3721
$GC,7332,-1.07,-219.0,930.0,-9.4,723,7335,0.12,2.15,0.00,0.000,4,0.065,0.050,2420,889,3720
$GC,7449,-0.94,-219.0,945.5,-13.8,728,7456,0.22,2.15,0.00,0.000,6,0.143,0.048,2476,2201,3719
$GC,7764,-0.97,-219.0,976.1,-9.6,744,7767,0.00,2.12,0.00,0.000,4,0.000,0.050,2477,885,3718
$GC,7855,-1.03,-219.0,985.3,-10.1,748,7858,0.00,2.10,0.00,0.000,6,0.000,0.048,2477,2185,3717
$STATE,7908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7908,begin apogee
$GC,7915,-0.20,0.0,990.6,9.3,751,8096,0.73,0.00,178.48,1.343,6,0.109,0.000,2717,2313,2854
$STATE,8096,end apogee,CONTROL_FINISHED_OK
$STATE,8096,begin climb
$GC,8100,0.91,219.0,1000.2,0.0,760,8290,0.95,0.00,186.70,1.308,6,0.038,0.000,3096,2313,1961
$GC,8592,0.49,219.0,929.0,20.2,784,8596,0.52,2.25,0.00,0.000,4,0.165,0.058,2944,3682,1952
$GC,8757,0.37,219.0,906.6,12.8,792,8761,0.20,2.12,0.00,0.000,6,0.155,0.038,2897,2323,1951
$GC,9079,0.54,318.9,880.6,7.6,808,9169,0.15,0.00,87.93,1.249,6,0.061,0.000,2973,2317,1553
$GC,9464,0.47,318.9,829.7,13.1,827,9467,0.15,2.25,0.00,0.000,4,0.144,0.057,2931,3683,1548
$GC,9598,0.47,318.9,813.8,12.2,833,9601,0.00,2.12,0.00,0.000,6,0.000,0.038,2940,2324,1547
$GC,9913,0.47,318.9,777.0,11.9,849,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2324,1545
$GC,10219,0.47,318.9,741.5,11.6,864,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2324,1544
$GC,10525,0.52,330.6,708.2,10.6,879,10539,0.00,2.25,10.35,1.054,4,0.000,0.055,2940,3690,1505
$GC,10626,0.52,330.6,696.4,11.5,883,10629,0.00,2.15,0.00,0.000,6,0.000,0.037,2949,2314,1505
$GC,10953,0.52,330.6,659.7,11.1,899,10956,0.00,2.25,0.00,0.000,4,0.000,0.054,2949,3689,1504
$GC,11044,0.52,330.6,648.8,12.2,903,11047,0.00,2.10,0.00,0.000,6,0.000,0.036,2957,2337,1504
$GC,11365,0.52,330.6,611.2,12.3,919,11368,0.00,2.20,0.00,0.000,4,0.000,0.054,2958,3683,1503
$GC,11408,0.52,330.6,605.3,14.3,921,11411,0.00,2.08,0.00,0.000,6,0.000,0.036,2964,2354,1503
$GC,11735,0.52,330.6,561.9,13.3,937,11738,0.00,2.17,0.00,0.000,4,0.000,0.053,2964,3688,1503
$GC,11773,0.52,330.6,556.5,14.0,938,11778,0.00,2.10,0.00,0.000,6,0.000,0.041,2971,2355,1503
$GC,12083,0.52,330.6,517.4,12.5,954,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2355,1503
$GC,12391,0.52,330.6,481.0,11.2,976,12395,0.00,2.17,0.00,0.000,4,0.000,0.052,2972,3692,1503
$GC,12428,0.52,330.6,476.5,12.2,979,12434,0.12,2.08,0.00,0.000,6,0.152,0.035,2948,2355,1503
$GC,12744,0.65,364.6,444.4,9.9,1010,12777,0.12,0.00,31.05,0.962,6,0.060,0.000,3022,2350,1367
$GC,13085,0.58,364.6,396.4,13.1,1043,13089,0.20,2.35,0.00,0.000,4,0.131,0.046,2968,890,1364
$GC,13128,0.75,398.6,391.9,9.9,1046,13167,0.15,2.38,30.40,0.913,6,0.055,0.041,3047,2381,1228
$GC,13477,0.64,398.6,334.1,16.0,1080,13480,0.17,2.10,0.00,0.000,4,0.137,0.051,2989,3688,1226
$GC,13589,0.70,398.6,319.0,11.8,1090,13592,0.00,2.03,0.00,0.000,6,0.000,0.034,2996,2373,1226
$GC,13910,0.74,398.6,277.0,13.6,1136,13916,0.00,2.17,0.00,0.000,4,0.000,0.053,2996,3684,1224
$GC,13986,0.78,398.6,266.9,13.0,1150,13992,0.00,2.00,0.00,0.000,6,0.000,0.035,3005,2409,1224
$GC,14313,0.82,398.6,226.5,11.5,1211,14319,0.12,2.40,0.00,0.000,4,0.062,0.044,3094,889,1224
$GC,14368,0.69,398.6,217.7,17.1,1221,14375,0.32,2.40,0.00,0.000,6,0.139,0.037,2999,2417,1224
$GC,14698,0.83,434.8,181.3,9.8,1282,14735,0.15,2.03,31.60,0.736,4,0.056,0.056,3088,3690,1080
$GC,14768,0.70,434.8,169.7,18.3,1294,14774,0.32,2.03,0.00,0.000,6,0.136,0.034,3002,2375,1080
$GC,15096,0.94,507.3,136.4,8.6,1355,15166,0.17,2.45,61.25,0.703,4,0.048,0.051,3126,873,785
$GC,15263,0.86,507.3,107.9,19.5,1384,15269,0.22,2.40,0.00,0.000,6,0.123,0.035,3060,2404,783
$GC,15591,1.11,585.5,70.9,8.4,1445,15666,0.17,0.00,69.25,0.641,6,0.049,0.000,3163,2404,479
$GC,15988,1.11,585.5,8.5,16.5,1517,15995,0.00,2.42,0.00,0.000,4,0.000,0.045,3174,894,461
$STATE,16024,end climb,SURFACE_DEPTH_REACHED
$STATE,16024,begin surface coast
$FINISH,1.8,1.008483
$STATE,16040,end surface coast,CONTROL_FINISHED_OK
$STATE,16040,begin surface
$SM_CCo,16121,0.00,0.000,0,0,460,587.25
$SM_GC,2.50,7.75,0.00,0.00,0.034,0.000,0.000,155,2309,460,-8.08,0.68,587.25
$IRIDIUM_FIX,2441.81,12340.75,231198,111132
$TT8_MAMPS,0.048321
$HUMID,1738
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.70
$XPDR_PINGS,736
$24V_AH,23.1,126.542
$10V_AH,10.3,81.709
$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,27.800,136.475,687.000,0.000,0.000,29.007,35.237,241.242,192.000,0.000,0.000,16.412,0.000,11431.318,801.887,3531.699,798.829,0.000,2159.676,0.000,2968.535,0.000,54.030,0.000
$DEVICE_MAMPS,219.362,70.564,1343.017,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.175,1074.422,1323.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85198,1527
$CAP_FILE_SIZE,171475,0
$CFSIZE,260165632,208531456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 17.1,1
$GPS,290809,204806,2445.895,12344.106,25,1.1,25,-3.6