version: 66.04
glider: 165
mission: 2
dive: 513
start: 8 20 109 10 38 48
data:
$ID,165
$MISSION,2
$DIVE,513
$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,-131128.77
$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,57
$R_STBD_OVSHOOT,35
$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
$GPS1,103137,2457.500,12210.710,81,1.1,81,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-72.8
$GPS2,103843,2457.536,12210.781,8,1.5,13,-3.5
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$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,108.6,65123,-16.0,-11.000
$D_GRID,765
$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,-219.0,0.0,0.0,0,59,0.00,0.00,-44.12,0.000,2,0.000,0.000,153,2264,1634
$GC,63,-0.91,-219.0,3.0,-1.7,7,149,9.43,2.22,-71.65,0.000,4,0.231,0.056,2482,897,3749
$GC,160,-0.43,-219.0,12.0,-22.8,22,167,0.47,2.22,0.00,0.000,6,0.146,0.042,2638,2278,3749
$GC,488,-0.54,-219.0,48.3,-9.0,83,493,0.00,2.28,0.00,0.000,4,0.000,0.058,2633,3694,3752
$GC,585,-0.75,-219.0,55.7,-7.6,101,592,0.20,2.15,0.00,0.000,6,0.032,0.039,2485,2289,3752
$GC,913,-0.54,-219.0,116.6,-22.3,162,919,0.35,2.17,0.00,0.000,4,0.130,0.042,2600,891,3754
$GC,1017,-0.76,-219.0,131.5,-12.6,181,1024,0.17,2.20,0.00,0.000,6,0.048,0.041,2494,2305,3755
$GC,1347,-0.60,-219.0,181.5,-14.9,242,1353,0.25,2.22,0.00,0.000,4,0.148,0.044,2577,905,3755
$GC,1407,-0.78,-219.0,187.3,-7.3,253,1415,0.15,2.12,0.00,0.000,6,0.054,0.041,2479,2278,3756
$GC,1735,-0.61,-219.0,244.5,-18.8,314,1741,0.30,2.17,0.00,0.000,4,0.128,0.049,2577,909,3756
$GC,1801,-0.82,-219.0,252.3,-9.6,326,1808,0.15,2.15,0.00,0.000,6,0.039,0.048,2473,2249,3756
$GC,2128,-0.65,-219.0,301.5,-13.1,386,2132,0.28,2.15,0.00,0.000,4,0.129,0.047,2565,897,3756
$GC,2160,-0.72,-219.0,304.6,-8.9,388,2166,0.00,2.12,0.00,0.000,6,0.000,0.044,2564,2245,3756
$GC,2479,-0.85,-219.0,322.7,-4.6,419,2480,0.15,0.00,0.00,0.000,6,0.056,0.000,2468,2245,3755
$GC,2788,-0.67,-219.0,375.4,-19.2,449,2791,0.28,2.15,0.00,0.000,4,0.132,0.048,2557,899,3754
$GC,2841,-0.82,-219.0,382.8,-10.8,453,2848,0.12,2.10,0.00,0.000,6,0.060,0.044,2480,2232,3754
$GC,3156,-0.71,-219.0,437.1,-17.1,484,3160,0.20,2.38,0.00,0.000,4,0.135,0.058,2536,3694,3752
$GC,3231,-0.87,-219.0,446.0,-10.5,490,3237,0.10,2.20,0.00,0.000,6,0.069,0.035,2466,2265,3751
$GC,3547,-0.75,-219.0,492.1,-13.6,521,3551,0.20,2.17,0.00,0.000,4,0.133,0.047,2533,886,3750
$GC,3580,-0.81,-219.0,495.8,-10.8,523,3585,0.00,2.17,0.00,0.000,6,0.000,0.047,2533,2247,3750
$GC,3902,-0.90,-219.0,521.6,-7.0,542,3906,0.12,2.35,0.00,0.000,4,0.061,0.059,2455,3694,3749
$GC,3988,-0.81,-219.0,529.1,-8.3,546,3992,0.20,2.20,0.00,0.000,6,0.121,0.035,2516,2259,3748
$GC,4304,-0.89,-219.0,556.2,-14.6,562,4307,0.00,2.17,0.00,0.000,4,0.000,0.050,2516,884,3747
$GC,4390,-0.97,-219.0,569.2,-15.1,566,4393,0.15,2.15,0.00,0.000,6,0.057,0.043,2441,2258,3747
$GC,4719,-0.80,-219.0,633.6,-19.0,582,4723,0.22,2.35,0.00,0.000,4,0.141,0.062,2507,3685,3745
$GC,4772,-0.84,-219.0,645.6,-20.4,584,4777,0.00,2.22,0.00,0.000,6,0.000,0.037,2507,2256,3743
$GC,5083,-0.90,-219.0,691.2,-9.8,600,5086,0.00,2.17,0.00,0.000,4,0.000,0.052,2507,889,3743
$GC,5131,-1.01,-219.0,694.2,-2.1,602,5135,0.15,2.17,0.00,0.000,6,0.058,0.046,2431,2253,3742
$STATE,5261,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5261,begin apogee
$GC,5268,-0.20,0.0,708.1,14.3,609,5449,0.90,0.00,178.20,1.153,6,0.132,0.000,2713,2317,2854
$STATE,5450,end apogee,CONTROL_FINISHED_OK
$STATE,5450,begin climb
$GC,5453,0.91,219.0,717.3,0.0,618,5645,0.95,2.40,180.52,1.130,4,0.044,0.059,3097,903,1959
$GC,5752,0.57,219.0,700.0,19.5,632,5757,0.47,2.25,0.00,0.000,6,0.164,0.046,2964,2298,1953
$GC,6074,0.76,304.7,666.5,8.1,648,6152,0.17,2.35,73.10,1.101,4,0.053,0.063,3048,3683,1610
$GC,6392,0.32,304.7,629.8,25.9,662,6396,0.60,2.15,0.00,0.000,6,0.159,0.041,2883,2328,1604
$GC,6709,0.88,574.0,592.1,1.9,678,6994,0.45,2.33,252.50,1.030,4,0.042,0.055,3076,3684,509
$GC,7066,0.84,574.0,526.1,18.6,695,7070,0.12,2.22,0.00,0.000,6,0.156,0.039,3054,2288,497
$GC,7383,0.80,574.0,462.1,17.9,719,7386,0.00,2.28,0.00,0.000,4,0.000,0.054,3054,3690,488
$GC,7425,0.80,574.0,454.9,15.7,722,7432,0.00,2.17,0.00,0.000,6,0.000,0.038,3062,2305,488
$GC,7744,0.75,574.0,397.1,20.1,753,7747,0.15,2.25,0.00,0.000,4,0.146,0.051,3029,892,484
$GC,7793,0.85,574.0,388.7,14.6,757,7796,0.00,2.22,0.00,0.000,6,0.000,0.039,3029,2314,483
$GC,8116,0.93,574.0,341.5,15.0,788,8117,0.15,0.00,0.00,0.000,6,0.057,0.000,3109,2314,483
$GC,8429,0.77,574.0,262.4,24.7,831,8435,0.22,2.30,0.00,0.000,4,0.140,0.050,3046,891,483
$GC,8494,0.85,574.0,250.9,14.4,843,8499,0.00,2.20,0.00,0.000,6,0.000,0.038,3046,2300,481
$GC,8820,0.91,574.0,205.0,13.8,904,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2300,481
$GC,9147,0.97,574.0,165.1,11.1,965,9153,0.12,2.25,0.00,0.000,4,0.062,0.048,3125,889,480
$GC,9191,0.86,574.0,158.2,18.4,973,9197,0.17,2.22,0.00,0.000,6,0.123,0.038,3055,2297,480
$GC,9518,0.95,574.0,118.0,12.1,1034,9525,0.00,2.22,0.00,0.000,4,0.000,0.054,3055,3683,480
$GC,9552,1.03,574.0,113.1,15.2,1040,9558,0.10,2.22,0.00,0.000,6,0.046,0.040,3146,2270,480
$GC,9879,0.97,574.0,45.8,17.2,1101,9885,0.17,2.28,0.00,0.000,4,0.130,0.050,3088,3692,480
$GC,9940,1.08,574.0,37.8,11.7,1112,9946,0.00,2.17,0.00,0.000,6,0.000,0.035,3096,2296,479
$GC,10268,1.31,618.9,4.9,9.5,1173,10274,0.25,2.20,0.00,0.000,4,0.044,0.049,3235,903,479
$STATE,10282,end climb,SURFACE_DEPTH_REACHED
$STATE,10282,begin surface coast
$FINISH,1.8,0.999851
$STATE,10309,end surface coast,CONTROL_FINISHED_OK
$STATE,10309,begin surface
$SM_CCo,10389,0.00,0.000,0,0,478,582.83
$SM_GC,2.57,7.90,0.00,0.00,0.035,0.000,0.000,151,2302,478,-8.09,0.51,582.83
$IRIDIUM_FIX,2446.56,12209.14,141198,070753
$TT8_MAMPS,0.049088
$HUMID,1823
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,23.70
$XPDR_PINGS,567
$ALTIM_BOTTOM_PING,651.3,80.2
$24V_AH,23.2,114.109
$10V_AH,10.4,75.555
$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,26.575,102.150,684.325,0.000,0.000,29.646,36.938,203.103,146.750,0.000,0.000,15.578,0.000,6621.371,760.177,2774.816,628.996,0.000,1858.763,0.000,2351.177,0.000,35.428,0.000
$DEVICE_MAMPS,230.867,95.875,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.250,880.899,1226.516,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66465,1181
$CAP_FILE_SIZE,126668,0
$CFSIZE,260165632,212926464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.037,273.7,1
$GPS,200809,133254,2457.278,12212.464,29,1.2,33,-3.5