version: 66.04
glider: 165
mission: 2
dive: 538
start: 8 25 109 5 9 16
data:
$ID,165
$MISSION,2
$DIVE,538
$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,-131551.72
$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,35
$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
$GPS1,045801,2507.428,12303.544,41,1.3,41,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-71.3
$GPS2,050908,2507.812,12303.909,13,1.3,13,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,254.7,72453,-16.0,-11.000
$D_GRID,1610
$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,13,-0.91,-219.0,0.0,0.0,0,67,0.00,0.00,-51.75,0.000,2,0.000,0.000,158,2331,1746
$GC,70,-0.91,-219.0,3.1,-3.5,8,140,9.38,2.38,-55.05,0.000,4,0.224,0.053,2483,869,3749
$GC,296,-0.50,-219.0,64.0,-30.4,48,302,0.38,2.25,0.00,0.000,6,0.130,0.041,2612,2285,3750
$GC,623,-0.56,-219.0,107.7,-12.4,109,629,0.00,2.20,0.00,0.000,4,0.000,0.043,2613,877,3753
$GC,662,-0.69,-219.0,112.9,-13.0,116,668,0.15,2.17,0.00,0.000,6,0.052,0.038,2520,2287,3753
$GC,989,-0.55,-219.0,164.9,-12.7,177,995,0.22,2.22,0.00,0.000,4,0.127,0.044,2595,878,3754
$GC,1040,-0.69,-219.0,168.8,-6.4,186,1047,0.12,2.17,0.00,0.000,6,0.058,0.041,2509,2283,3754
$GC,1370,-0.56,-219.0,214.0,-15.2,247,1376,0.25,2.25,0.00,0.000,4,0.125,0.055,2589,3686,3754
$GC,1397,-0.67,-219.0,217.3,-11.0,252,1403,0.00,2.17,0.00,0.000,6,0.000,0.031,2589,2242,3754
$GC,1725,-0.87,-219.0,246.7,-9.4,313,1730,0.20,0.00,0.00,0.000,6,0.048,0.000,2461,2237,3754
$GC,2050,-0.63,-219.0,307.6,-18.0,370,2054,0.32,2.15,0.00,0.000,4,0.132,0.053,2568,891,3753
$GC,2120,-0.81,-219.0,315.2,-7.7,376,2124,0.15,2.17,0.00,0.000,6,0.054,0.045,2480,2269,3753
$GC,2435,-0.64,-219.0,366.2,-17.2,406,2439,0.28,2.22,0.00,0.000,4,0.130,0.049,2570,887,3751
$GC,2473,-0.77,-219.0,370.6,-9.4,409,2477,0.12,2.17,0.00,0.000,6,0.058,0.042,2491,2270,3751
$GC,2789,-0.66,-219.0,415.7,-13.3,439,2793,0.20,2.20,0.00,0.000,4,0.129,0.048,2559,885,3748
$GC,2896,-0.83,-219.0,424.5,-7.4,448,2902,0.15,2.15,0.00,0.000,6,0.054,0.044,2468,2246,3748
$GC,3211,-0.66,-219.0,469.7,-15.7,479,3213,0.32,0.00,0.00,0.000,6,0.127,0.000,2569,2246,3745
$GC,3526,-0.88,-219.0,492.5,-6.6,509,3531,0.20,0.00,0.00,0.000,6,0.048,0.000,2461,2246,3743
$GC,3838,-0.74,-219.0,535.9,-13.4,528,3841,0.22,2.17,0.00,0.000,4,0.131,0.051,2536,897,3741
$GC,3876,-0.84,-219.0,539.4,-7.9,530,3879,0.00,2.12,0.00,0.000,6,0.000,0.044,2536,2236,3741
$GC,4202,-0.96,-219.0,563.5,-7.9,546,4204,0.17,0.00,0.00,0.000,6,0.052,0.000,2439,2236,3738
$GC,4508,-0.79,-219.0,611.8,-15.6,561,4509,0.28,0.00,0.00,0.000,6,0.134,0.000,2523,2236,3734
$GC,4814,-0.90,-219.0,640.5,-7.9,576,4817,0.00,2.15,0.00,0.000,4,0.000,0.051,2523,897,3733
$GC,4835,-1.02,-219.0,641.9,-6.4,577,4839,0.20,2.15,0.00,0.000,6,0.052,0.047,2424,2237,3733
$GC,5160,-0.79,-219.0,690.7,-16.3,593,5161,0.32,0.00,0.00,0.000,6,0.143,0.000,2522,2238,3729
$GC,5462,-0.91,-219.0,715.0,-7.6,608,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2238,3727
$GC,5767,-1.02,-219.0,739.4,-8.3,623,5768,0.20,0.00,0.00,0.000,6,0.053,0.000,2426,2238,3725
$GC,6073,-0.81,-219.0,790.9,-17.4,638,6077,0.28,2.20,0.00,0.000,4,0.140,0.054,2515,901,3722
$GC,6116,-0.89,-219.0,796.4,-10.9,640,6119,0.00,2.15,0.00,0.000,6,0.000,0.048,2515,2236,3721
$GC,6438,-0.99,-219.0,822.1,-7.3,656,6442,0.15,2.42,0.00,0.000,4,0.059,0.064,2437,3697,3720
$GC,6464,-0.99,-219.0,824.9,-10.8,657,6468,0.00,2.28,0.00,0.000,6,0.000,0.036,2438,2234,3719
$GC,6781,-0.84,-219.0,866.4,-13.2,673,6785,0.20,2.17,0.00,0.000,4,0.139,0.052,2503,889,3718
$GC,6872,-0.95,-219.0,874.8,-8.2,677,6876,0.00,2.15,0.00,0.000,6,0.000,0.047,2503,2228,3717
$GC,7190,-1.02,-219.0,901.3,-8.8,693,7194,0.15,2.42,0.00,0.000,4,0.059,0.062,2425,3692,3715
$GC,7237,-0.92,-219.0,907.3,-13.3,695,7241,0.20,2.28,0.00,0.000,6,0.133,0.038,2484,2237,3714
$GC,7548,-0.92,-219.0,940.5,-10.4,710,7551,0.00,2.17,0.00,0.000,4,0.000,0.053,2485,884,3713
$GC,7586,-0.96,-219.0,944.4,-10.6,711,7592,0.00,2.15,0.00,0.000,6,0.000,0.045,2482,2225,3713
$GC,7897,-0.96,-219.0,973.9,-9.8,727,7900,0.00,2.42,0.00,0.000,4,0.000,0.063,2481,3688,3711
$GC,7950,-1.03,-219.0,978.0,-7.8,729,7953,0.00,2.28,0.00,0.000,6,0.000,0.036,2482,2223,3711
$STATE,8115,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8115,begin apogee
$GC,8123,-0.20,0.0,991.3,8.2,737,8304,0.73,0.00,179.07,1.358,6,0.115,0.000,2718,2309,2854
$STATE,8305,end apogee,CONTROL_FINISHED_OK
$STATE,8305,begin climb
$GC,8308,0.91,219.0,996.3,0.0,746,8508,0.95,2.42,188.07,1.318,4,0.044,0.061,3087,3683,1959
$GC,8748,0.43,219.0,923.6,23.9,766,8755,0.62,2.20,0.00,0.000,6,0.174,0.044,2924,2302,1953
$GC,9060,0.43,219.0,884.1,12.1,782,9063,0.00,2.28,0.00,0.000,4,0.000,0.057,2924,3688,1951
$GC,9295,0.36,219.0,849.8,14.3,793,9298,0.12,2.17,0.00,0.000,6,0.153,0.038,2898,2295,1951
$GC,9617,0.42,219.0,809.8,12.3,809,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2295,1950
$GC,9921,0.48,226.6,775.6,10.7,824,9929,0.12,0.00,6.22,0.969,6,0.069,0.000,2960,2289,1930
$GC,10227,0.39,226.6,738.0,11.9,839,10231,0.17,2.30,0.00,0.000,4,0.146,0.057,2903,3687,1928
$GC,10357,0.43,265.5,725.4,9.7,845,10398,0.00,2.15,36.05,1.184,6,0.000,0.038,2912,2305,1770
$GC,10725,0.58,343.6,694.7,8.4,863,10800,0.15,2.38,69.50,1.164,4,0.061,0.056,3002,3678,1453
$GC,10876,0.43,343.6,670.1,18.4,870,10880,0.32,2.17,0.00,0.000,6,0.145,0.038,2919,2306,1449
$GC,11196,0.61,393.8,639.4,9.3,886,11247,0.15,2.35,44.88,1.115,4,0.058,0.055,3004,3680,1248
$GC,11310,0.52,393.8,621.5,17.1,891,11314,0.22,2.15,0.00,0.000,6,0.140,0.038,2951,2326,1246
$GC,11627,0.59,393.8,582.8,12.9,907,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2325,1243
$GC,11931,0.67,393.8,543.0,13.2,922,11935,0.12,2.30,0.00,0.000,4,0.066,0.051,3032,894,1241
$GC,11969,0.61,393.8,536.8,18.3,924,11973,0.20,2.30,0.00,0.000,6,0.137,0.041,2976,2339,1239
$GC,12281,0.61,393.8,489.2,15.1,942,12284,0.00,2.20,0.00,0.000,4,0.000,0.055,2976,3700,1240
$GC,12357,0.65,393.8,477.4,16.5,949,12360,0.00,2.15,0.00,0.000,6,0.000,0.038,2982,2326,1239
$GC,12680,0.65,393.8,429.7,14.9,980,12683,0.00,2.30,0.00,0.000,4,0.000,0.050,2992,890,1239
$GC,12701,0.65,393.8,426.1,15.1,981,12706,0.00,2.30,0.00,0.000,6,0.000,0.040,2992,2345,1237
$GC,13020,0.65,393.8,383.1,11.9,1012,13023,0.00,2.17,0.00,0.000,4,0.000,0.056,2992,3692,1237
$GC,13094,0.65,393.8,373.9,11.9,1019,13097,0.00,2.10,0.00,0.000,6,0.000,0.037,3001,2345,1237
$GC,13418,0.65,393.8,335.8,13.7,1050,13419,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2345,1237
$GC,13727,0.65,393.8,289.5,16.4,1086,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2340,1237
$GC,14055,0.65,393.8,241.4,11.7,1147,14061,0.00,2.33,0.00,0.000,4,0.000,0.049,3012,888,1237
$GC,14104,0.72,412.0,235.9,10.4,1156,14134,0.00,2.38,17.17,0.732,6,0.000,0.041,3012,2353,1173
$GC,14459,0.76,412.0,188.6,14.2,1221,14464,0.00,2.17,0.00,0.000,4,0.000,0.058,3012,3695,1173
$GC,14507,0.79,412.0,180.8,15.3,1230,14514,0.00,2.08,0.00,0.000,6,0.000,0.035,3020,2355,1173
$GC,14836,0.83,412.0,141.2,12.7,1291,14842,0.00,2.35,0.00,0.000,4,0.000,0.050,3030,885,1173
$GC,14917,0.90,412.0,130.1,12.8,1306,14925,0.05,2.30,0.00,0.000,6,0.030,0.038,3104,2336,1171
$GC,15246,0.84,412.0,88.3,11.8,1367,15252,0.17,2.17,0.00,0.000,4,0.134,0.055,3046,3681,1171
$GC,15296,0.96,419.4,82.9,10.7,1376,15309,0.08,2.08,7.80,0.604,6,0.053,0.034,3109,2346,1143
$GC,15633,1.05,490.5,47.2,8.6,1438,15698,0.00,2.25,60.03,0.653,4,0.000,0.049,3109,3687,853
$GC,15797,1.11,490.5,28.4,12.4,1466,15804,0.00,2.08,0.00,0.000,6,0.000,0.033,3119,2351,852
$STATE,16015,end climb,SURFACE_DEPTH_REACHED
$STATE,16015,begin surface coast
$FINISH,1.8,1.018226
$STATE,16048,end surface coast,CONTROL_FINISHED_OK
$STATE,16048,begin surface
$SM_CCo,16126,0.00,0.000,0,0,851,491.34
$SM_GC,2.48,7.60,0.00,0.00,0.034,0.000,0.000,150,2276,851,-8.09,-0.25,491.34
$IRIDIUM_FIX,2500.82,12304.43,191198,050533
$TT8_MAMPS,0.049088
$HUMID,1739
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,25.90
$XPDR_PINGS,729
$24V_AH,22.9,120.676
$10V_AH,10.3,78.754
$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,26.625,129.400,608.800,0.000,0.000,60.001,70.362,304.845,190.250,0.000,0.000,15.447,0.000,11661.817,700.469,3473.679,926.252,0.000,2051.779,0.000,2918.332,0.000,54.019,0.000
$DEVICE_MAMPS,223.964,73.632,1357.590,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.474,1048.490,1272.660,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85203,1513
$CAP_FILE_SIZE,171264,0
$CFSIZE,260165632,210620416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.385, 63.7,1
$GPS,250809,093900,2508.110,12304.718,35,1.7,35,-3.6