version: 66.04
glider: 165
mission: 2
dive: 512
start: 8 20 109 7 21 16
data:
$ID,165
$MISSION,2
$DIVE,512
$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,-131112.56
$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,55
$R_STBD_OVSHOOT,26
$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
$GPS1,071449,2456.146,12211.427,99,1.5,116,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-71.3
$GPS2,072108,2456.061,12211.402,12,1.8,12,-3.5
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,334.1,7665,-16.0,-11.000
$D_GRID,733
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.91,-219.0,0.0,0.0,0,52,0.00,0.00,-37.83,0.000,2,0.000,0.000,150,2255,1818
$GC,55,-0.91,-219.0,3.3,-3.5,6,126,9.50,2.40,-55.05,0.000,4,0.232,0.064,2468,3692,3749
$GC,265,-0.51,-219.0,60.4,-28.9,43,272,0.40,2.20,0.00,0.000,6,0.124,0.035,2611,2293,3752
$GC,593,-0.63,-219.0,96.2,-7.9,104,600,0.10,2.17,0.00,0.000,4,0.071,0.041,2544,881,3753
$GC,685,-0.63,-219.0,107.7,-12.9,121,691,0.12,2.20,0.00,0.000,6,0.133,0.044,2572,2295,3753
$GC,1013,-0.75,-219.0,138.2,-10.2,182,1019,0.10,2.20,0.00,0.000,4,0.069,0.040,2488,874,3755
$GC,1057,-0.63,-219.0,143.6,-13.9,190,1063,0.28,2.22,0.00,0.000,6,0.123,0.038,2586,2291,3755
$GC,1386,-0.81,-219.0,160.7,-2.9,251,1392,0.17,2.22,0.00,0.000,4,0.048,0.052,2464,3683,3755
$GC,1413,-0.75,-219.0,162.9,-9.4,256,1421,0.22,2.10,0.00,0.000,6,0.123,0.033,2533,2282,3755
$GC,1743,-0.75,-219.0,203.6,-12.7,317,1748,0.00,2.15,0.00,0.000,4,0.000,0.042,2533,887,3755
$GC,1812,-0.83,-219.0,212.5,-11.6,330,1818,0.00,2.17,0.00,0.000,6,0.000,0.040,2533,2282,3755
$GC,2138,-0.83,-219.0,253.0,-11.1,391,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2283,3755
$GC,2464,-0.83,-219.0,295.7,-10.7,452,2471,0.00,2.22,0.00,0.000,4,0.000,0.044,2533,899,3755
$GC,2498,-0.87,-219.0,299.1,-9.7,458,2504,0.10,2.17,0.00,0.000,6,0.070,0.043,2471,2277,3754
$GC,2819,-0.70,-219.0,343.9,-14.3,490,2823,0.25,2.20,0.00,0.000,4,0.139,0.044,2551,887,3753
$GC,2910,-0.84,-219.0,352.2,-8.2,498,2914,0.12,2.15,0.00,0.000,6,0.062,0.041,2475,2261,3752
$GC,3226,-0.68,-219.0,406.9,-19.7,528,3227,0.28,0.00,0.00,0.000,6,0.135,0.000,2559,2262,3751
$GC,3539,-0.84,-219.0,445.9,-11.2,558,3543,0.15,2.17,0.00,0.000,4,0.054,0.044,2464,886,3750
$GC,3587,-0.76,-219.0,455.2,-20.5,562,3591,0.22,2.15,0.00,0.000,6,0.128,0.044,2532,2246,3750
$GC,3903,-0.83,-219.0,486.2,-10.2,592,3906,0.00,2.33,0.00,0.000,4,0.000,0.060,2532,3682,3749
$GC,3945,-0.98,-219.0,490.6,-8.5,595,3951,0.20,2.20,0.00,0.000,6,0.045,0.035,2425,2241,3748
$GC,4271,-0.75,-219.0,550.8,-19.5,615,4275,0.32,2.38,0.00,0.000,4,0.135,0.056,2520,3692,3747
$GC,4292,-0.68,-219.0,553.9,-12.7,616,4296,0.15,2.22,0.00,0.000,6,0.108,0.034,2569,2235,3747
$GC,4608,-1.00,-219.0,568.2,-7.1,632,4612,0.28,2.38,0.00,0.000,4,0.064,0.056,2455,3693,3746
$GC,4673,-1.00,-219.0,575.1,-12.7,635,4676,0.00,2.20,0.00,0.000,6,0.000,0.035,2455,2254,3745
$GC,4989,-0.88,-219.0,621.9,-13.8,651,4992,0.15,2.17,0.00,0.000,4,0.137,0.049,2499,880,3744
$GC,5032,-0.92,-219.0,628.0,-14.2,653,5035,0.00,2.20,0.00,0.000,6,0.000,0.044,2499,2270,3744
$GC,5347,-0.92,-219.0,671.8,-14.6,669,5350,0.00,2.20,0.00,0.000,4,0.000,0.049,2499,890,3742
$GC,5406,-0.97,-219.0,680.1,-15.5,671,5411,0.00,2.20,0.00,0.000,6,0.000,0.047,2499,2261,3741
$GC,5717,-0.97,-219.0,718.2,-11.5,687,5720,0.00,2.20,0.00,0.000,4,0.000,0.050,2499,888,3739
$GC,5759,-1.04,-219.0,724.5,-14.1,689,5763,0.15,2.20,0.00,0.000,6,0.060,0.046,2425,2266,3739
$STATE,5813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5813,begin apogee
$GC,5820,-0.20,0.0,734.2,18.0,692,6002,0.93,0.00,178.73,1.177,6,0.132,0.000,2715,2267,2854
$STATE,6002,end apogee,CONTROL_FINISHED_OK
$STATE,6002,begin climb
$GC,6005,0.91,219.0,749.6,0.0,701,6198,0.95,2.30,181.43,1.152,4,0.045,0.053,3094,909,1960
$GC,6220,0.56,219.0,738.0,18.0,711,6224,0.47,2.28,0.00,0.000,6,0.161,0.046,2961,2300,1956
$GC,6541,0.48,221.7,703.4,10.9,727,6544,0.00,2.25,0.00,0.000,4,0.000,0.060,2961,3683,1952
$GC,6670,0.37,247.4,690.4,10.1,733,6701,0.22,2.12,24.65,1.090,6,0.153,0.039,2905,2309,1844
$GC,7015,0.74,478.7,676.5,3.2,750,7224,0.30,2.33,202.12,1.121,4,0.043,0.056,3038,3681,901
$GC,7260,0.66,478.7,635.5,20.1,762,7263,0.20,2.20,0.00,0.000,6,0.142,0.038,2991,2311,899
$GC,7581,0.70,478.7,588.3,13.4,778,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2305,896
$GC,7886,0.76,478.7,540.9,15.4,793,7887,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2305,895
$GC,8192,0.83,478.7,482.6,16.3,812,8196,0.17,2.25,0.00,0.000,4,0.054,0.051,3094,889,893
$GC,8219,0.77,478.7,478.0,19.2,814,8224,0.22,2.28,0.00,0.000,6,0.140,0.042,3030,2326,893
$GC,8535,0.72,478.7,425.2,17.5,845,8538,0.00,2.17,0.00,0.000,4,0.000,0.055,3029,3681,892
$GC,8620,0.72,478.7,409.2,19.9,853,8624,0.00,2.10,0.00,0.000,6,0.000,0.039,3037,2336,891
$GC,8944,0.68,478.7,351.3,14.9,884,8948,0.15,2.30,0.00,0.000,4,0.141,0.049,3003,888,892
$GC,8992,0.82,497.2,345.0,10.4,888,9015,0.12,2.28,15.65,0.893,6,0.063,0.039,3078,2336,826
$GC,9328,0.68,497.2,275.2,21.4,931,9334,0.25,2.17,0.00,0.000,4,0.139,0.054,2997,3690,824
$GC,9419,0.80,497.2,262.9,11.9,948,9425,0.00,2.10,0.00,0.000,6,0.000,0.038,3005,2340,824
$GC,9746,0.88,497.2,219.1,15.6,1009,9752,0.15,2.30,0.00,0.000,4,0.058,0.048,3102,889,824
$GC,9785,0.76,497.2,211.4,22.5,1016,9791,0.28,2.33,0.00,0.000,6,0.141,0.041,3023,2358,824
$GC,10113,0.81,497.2,160.5,16.4,1077,10120,0.00,2.35,0.00,0.000,4,0.000,0.048,3032,885,824
$GC,10143,0.87,497.2,155.4,16.9,1082,10148,0.00,2.30,0.00,0.000,6,0.000,0.040,3032,2348,824
$GC,10470,0.87,497.2,106.2,13.6,1143,10475,0.00,2.12,0.00,0.000,4,0.000,0.053,3032,3689,824
$GC,10519,0.93,497.2,99.1,14.2,1152,10525,0.10,2.10,0.00,0.000,6,0.071,0.037,3098,2331,824
$GC,10846,0.98,540.1,41.0,9.6,1213,10891,0.00,2.38,40.20,0.700,4,0.000,0.048,3108,888,649
$GC,11009,1.04,548.4,25.2,10.7,1242,11022,0.00,2.28,8.20,0.595,6,0.000,0.041,3109,2337,617
$STATE,11211,end climb,SURFACE_DEPTH_REACHED
$STATE,11211,begin surface coast
$FINISH,2.0,1.010302
$STATE,11238,end surface coast,CONTROL_FINISHED_OK
$STATE,11238,begin surface
$SM_CCo,11317,0.00,0.000,0,0,608,550.94
$SM_GC,2.92,7.65,0.00,0.00,0.037,0.000,0.000,153,2261,608,-8.10,-0.68,550.94
$IRIDIUM_FIX,2446.56,12212.42,141198,040449
$TT8_MAMPS,0.049088
$HUMID,1853
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.00
$XPDR_PINGS,593
$24V_AH,23.1,113.866
$10V_AH,10.3,75.445
$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,25.450,111.350,650.975,0.000,0.000,23.671,37.855,183.279,153.750,0.000,0.000,14.912,0.000,7455.614,726.205,2882.241,611.721,0.000,1831.953,0.000,2429.638,0.000,37.419,0.000
$DEVICE_MAMPS,232.401,75.166,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,870.115,947.772,1317.627,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72693,1285
$CAP_FILE_SIZE,132237,0
$CFSIZE,260165632,212996096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,130.4,1
$GPS,200809,103137,2457.500,12210.710,81,1.1,81,-3.5