version: 66.04
glider: 165
mission: 2
dive: 551
start: 8 27 109 17 28 12
data:
$ID,165
$MISSION,2
$DIVE,551
$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,-131792.62
$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,39
$R_STBD_OVSHOOT,34
$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
$GPS1,172025,2506.061,12332.370,37,1.3,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-72.3
$GPS2,172807,2506.138,12332.525,9,1.8,14,-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,206.1,59051,-16.0,-11.000
$D_GRID,2031
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,74,0.00,0.00,-55.30,0.000,2,0.000,0.000,149,2275,1861
$GC,77,-0.91,-219.0,3.3,-4.0,9,147,9.38,2.25,-51.58,0.000,4,0.224,0.054,2478,880,3749
$GC,271,-0.40,-219.0,52.8,-34.5,43,278,0.52,2.20,0.00,0.000,6,0.147,0.038,2642,2279,3749
$GC,599,-0.49,-219.0,101.1,-13.7,104,605,0.00,2.20,0.00,0.000,4,0.000,0.040,2642,869,3751
$GC,649,-0.71,-219.0,107.2,-10.7,113,656,0.17,2.20,0.00,0.000,6,0.034,0.035,2502,2288,3751
$GC,978,-0.44,-219.0,174.1,-21.6,174,985,0.40,2.22,0.00,0.000,4,0.135,0.040,2631,869,3752
$GC,1023,-0.64,-219.0,179.7,-7.1,182,1029,0.15,2.17,0.00,0.000,6,0.055,0.035,2545,2293,3753
$GC,1352,-0.60,-219.0,220.1,-13.5,243,1358,0.15,2.20,0.00,0.000,4,0.125,0.039,2591,878,3753
$GC,1408,-0.78,-219.0,226.3,-9.6,253,1413,0.17,2.15,0.00,0.000,6,0.051,0.036,2485,2274,3753
$GC,1734,-0.56,-219.0,289.3,-17.0,314,1740,0.32,2.20,0.00,0.000,4,0.127,0.041,2591,879,3753
$GC,1800,-0.78,-219.0,294.9,-6.2,326,1806,0.17,2.15,0.00,0.000,6,0.049,0.037,2485,2271,3753
$GC,2123,-0.60,-219.0,342.8,-14.9,362,2127,0.28,2.20,0.00,0.000,4,0.127,0.041,2576,874,3753
$GC,2150,-0.60,-219.0,345.7,-10.7,364,2153,0.00,2.12,0.00,0.000,6,0.000,0.038,2576,2249,3753
$GC,2471,-0.78,-219.0,367.3,-7.9,395,2475,0.15,2.30,0.00,0.000,4,0.057,0.052,2481,3691,3752
$GC,2504,-0.75,-219.0,370.9,-13.0,397,2510,0.17,2.22,0.00,0.000,6,0.120,0.033,2535,2237,3751
$GC,2820,-0.79,-219.0,406.4,-11.5,428,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2233,3751
$GC,3134,-0.86,-219.0,438.1,-9.0,458,3137,0.00,2.35,0.00,0.000,4,0.000,0.056,2536,3682,3748
$GC,3171,-1.02,-219.0,441.7,-8.0,461,3177,0.22,2.20,0.00,0.000,6,0.046,0.034,2424,2244,3748
$GC,3497,-0.73,-219.0,505.8,-20.5,492,3501,0.35,2.15,0.00,0.000,4,0.140,0.047,2537,888,3746
$GC,3588,-0.87,-219.0,516.1,-8.8,496,3592,0.10,2.17,0.00,0.000,6,0.070,0.042,2472,2256,3746
$GC,3900,-0.75,-219.0,562.8,-15.9,511,3903,0.17,2.17,0.00,0.000,4,0.135,0.047,2532,898,3743
$GC,3942,-0.84,-219.0,568.0,-10.3,513,3946,0.00,2.17,0.00,0.000,6,0.000,0.047,2531,2261,3743
$GC,4259,-0.95,-219.0,597.1,-8.7,529,4263,0.17,2.33,0.00,0.000,4,0.051,0.058,2438,3690,3740
$GC,4287,-0.89,-219.0,600.4,-13.1,530,4291,0.17,2.17,0.00,0.000,6,0.133,0.034,2489,2265,3740
$GC,4598,-0.85,-219.0,641.1,-13.6,545,4602,0.00,2.17,0.00,0.000,4,0.000,0.048,2490,881,3738
$GC,4641,-0.85,-219.0,646.7,-12.6,547,4644,0.00,2.17,0.00,0.000,6,0.000,0.043,2490,2256,3738
$GC,4967,-0.85,-219.0,685.1,-11.0,563,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2256,3734
$GC,5273,-0.85,-219.0,715.6,-10.1,578,5276,0.00,2.20,0.00,0.000,4,0.000,0.050,2489,888,3733
$GC,5305,-0.85,-219.0,719.0,-10.4,579,5308,0.00,2.17,0.00,0.000,6,0.000,0.045,2490,2247,3733
$GC,5621,-0.85,-219.0,752.3,-10.8,595,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2247,3730
$GC,5927,-0.85,-219.0,786.0,-10.8,610,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2248,3727
$GC,6231,-0.85,-219.0,819.4,-11.3,625,6235,0.00,2.38,0.00,0.000,4,0.000,0.064,2490,3684,3725
$GC,6258,-0.90,-219.0,822.2,-11.1,626,6261,0.00,2.22,0.00,0.000,6,0.000,0.035,2490,2243,3724
$GC,6569,-0.94,-219.0,855.6,-10.9,641,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2243,3722
$GC,6874,-0.97,-219.0,888.2,-10.6,656,6877,0.00,2.17,0.00,0.000,4,0.000,0.053,2490,890,3721
$GC,6912,-1.03,-219.0,892.3,-10.8,657,6917,0.12,2.20,0.00,0.000,6,0.064,0.048,2430,2257,3720
$GC,7222,-0.87,-219.0,940.1,-15.7,673,7226,0.20,2.25,0.00,0.000,4,0.142,0.052,2493,890,3719
$GC,7270,-0.93,-219.0,945.7,-10.6,675,7273,0.00,2.20,0.00,0.000,6,0.000,0.048,2493,2249,3719
$GC,7587,-0.98,-219.0,974.1,-8.6,691,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2249,3716
$STATE,7786,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7786,begin apogee
$GC,7793,-0.20,0.0,991.5,8.5,701,7975,0.68,0.00,179.10,1.351,6,0.107,0.000,2718,2305,2854
$STATE,7975,end apogee,CONTROL_FINISHED_OK
$STATE,7975,begin climb
$GC,7979,0.91,219.0,1000.6,0.0,710,8176,0.95,2.42,187.10,1.315,4,0.038,0.056,3112,906,1959
$GC,8411,0.51,219.0,943.5,19.8,730,8415,0.60,2.25,0.00,0.000,6,0.173,0.045,2946,2302,1951
$GC,8727,0.49,262.9,910.7,9.5,746,8776,0.00,2.33,40.05,1.195,4,0.000,0.061,2946,3683,1782
$GC,8895,0.42,262.9,892.6,11.3,754,8899,0.15,2.15,0.00,0.000,6,0.158,0.038,2914,2317,1779
$GC,9217,0.55,325.8,864.8,8.9,770,9280,0.12,2.40,56.83,1.246,4,0.067,0.058,2981,3693,1525
$GC,9307,0.44,325.8,852.4,16.7,774,9311,0.25,2.20,0.00,0.000,6,0.144,0.037,2921,2308,1523
$GC,9623,0.54,342.9,818.2,10.4,790,9643,0.10,0.00,16.02,1.151,6,0.072,0.000,2978,2302,1455
$GC,9949,0.50,342.9,770.7,14.7,806,9953,0.15,2.28,0.00,0.000,4,0.142,0.055,2935,3694,1452
$GC,10045,0.55,342.9,758.5,12.8,810,10050,0.00,2.17,0.00,0.000,6,0.000,0.038,2943,2306,1451
$GC,10356,0.61,354.5,725.2,10.6,826,10378,0.10,2.25,11.20,1.058,4,0.072,0.049,3016,903,1408
$GC,10400,0.53,354.5,719.1,14.7,828,10404,0.22,2.25,0.00,0.000,6,0.135,0.041,2952,2316,1407
$GC,10722,0.59,365.4,683.5,10.6,844,10737,0.00,2.22,11.25,1.056,4,0.000,0.057,2952,3683,1363
$GC,10817,0.59,365.4,671.8,13.8,847,10823,0.00,2.15,0.00,0.000,6,0.000,0.037,2959,2308,1362
$GC,11128,0.63,365.4,631.3,13.5,863,11131,0.00,2.25,0.00,0.000,4,0.000,0.054,2960,3687,1361
$GC,11188,0.67,365.4,622.6,15.6,865,11193,0.00,2.12,0.00,0.000,6,0.000,0.036,2967,2318,1362
$GC,11499,0.70,365.4,582.3,12.3,881,11502,0.12,2.25,0.00,0.000,4,0.064,0.054,3032,3692,1361
$GC,11541,0.54,365.4,575.1,18.4,883,11545,0.30,2.12,0.00,0.000,6,0.145,0.036,2955,2325,1361
$GC,11858,0.61,365.4,538.6,11.1,899,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2321,1361
$GC,12162,0.68,365.4,501.9,12.3,914,12163,0.12,0.00,0.00,0.000,6,0.063,0.000,3025,2319,1361
$GC,12475,0.58,365.4,450.9,16.7,943,12478,0.17,2.25,0.00,0.000,4,0.139,0.054,2970,3692,1360
$GC,12544,0.58,365.4,441.0,12.1,949,12548,0.00,2.12,0.00,0.000,6,0.000,0.036,2976,2326,1360
$GC,12865,0.64,387.6,406.7,10.3,980,12891,0.00,2.28,20.67,0.932,4,0.000,0.054,2976,3682,1273
$GC,12931,0.67,387.6,399.6,11.8,986,12934,0.00,2.10,0.00,0.000,6,0.000,0.037,2984,2331,1272
$GC,13256,0.73,387.6,362.8,13.1,1017,13259,0.00,2.22,0.00,0.000,4,0.000,0.054,2985,3698,1271
$GC,13395,0.80,387.6,344.1,12.9,1030,13398,0.12,2.10,0.00,0.000,6,0.063,0.035,3056,2343,1271
$GC,13712,0.69,387.6,294.1,12.7,1064,13719,0.17,2.22,0.00,0.000,4,0.145,0.057,3000,3692,1271
$GC,13768,0.73,387.6,286.9,11.6,1074,13773,0.00,2.10,0.00,0.000,6,0.000,0.035,3009,2349,1271
$GC,14094,0.73,387.6,243.0,14.2,1135,14099,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2349,1271
$GC,14420,0.77,387.6,203.3,11.6,1196,14427,0.00,2.33,0.00,0.000,4,0.000,0.048,3019,894,1271
$GC,14503,0.89,415.8,194.7,10.1,1211,14535,0.08,2.35,25.33,0.755,6,0.055,0.037,3096,2373,1159
$GC,14859,0.76,415.8,132.5,17.2,1276,14866,0.22,2.10,0.00,0.000,4,0.136,0.051,3026,3689,1157
$GC,15075,0.88,446.0,106.0,10.0,1316,15109,0.00,2.00,26.55,0.680,6,0.000,0.033,3032,2400,1034
$GC,15434,1.11,492.7,76.0,9.4,1381,15478,0.25,2.47,39.55,0.653,4,0.041,0.045,3176,887,844
$GC,15545,1.03,492.7,55.5,19.2,1400,15553,0.22,2.42,0.00,0.000,6,0.135,0.041,3110,2422,842
$GC,15874,1.09,492.7,15.4,11.2,1461,15880,0.00,2.03,0.00,0.000,4,0.000,0.050,3111,3696,842
$GC,15897,1.15,494.4,13.0,10.9,1465,15902,0.00,2.03,0.00,0.000,6,0.000,0.037,3118,2372,842
$STATE,15980,end climb,SURFACE_DEPTH_REACHED
$STATE,15980,begin surface coast
$FINISH,1.7,0.998913
$STATE,16007,end surface coast,CONTROL_FINISHED_OK
$STATE,16010,begin surface
$SM_CCo,16088,0.00,0.000,0,0,840,494.03
$SM_GC,2.47,7.55,0.00,0.00,0.032,0.000,0.000,149,2261,840,-8.08,-0.68,494.03
$IRIDIUM_FIX,2458.45,12332.16,211198,121215
$TT8_MAMPS,0.048321
$HUMID,1752
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,25.70
$XPDR_PINGS,737
$24V_AH,23.0,124.018
$10V_AH,10.3,80.397
$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,26.250,141.825,613.650,0.000,0.000,24.276,39.922,226.193,192.250,0.000,0.000,15.978,0.000,11628.024,723.311,3383.005,779.488,0.000,2050.975,0.000,2829.083,0.000,56.515,0.000
$DEVICE_MAMPS,223.964,100.477,1351.454,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.226,1016.817,1209.927,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82205,1486
$CAP_FILE_SIZE,170221,0
$CFSIZE,260165632,209448960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.272, 46.6,1
$GPS,270809,215724,2505.199,12333.857,23,0.9,41,-3.7