version: 66.04
glider: 165
mission: 2
dive: 16
start: 5 24 109 1 21 48
data:
$ID,165
$MISSION,2
$DIVE,16
$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,275
$T_MISSION,330
$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,200
$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,435
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-116248.2
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2853
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2343
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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,1
$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
$GPS1,011600,2447.506,12301.410,36,1.1,36,-3.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-72.7
$GPS2,012143,2447.494,12301.458,10,1.1,15,-3.6
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,242.9,57207,-18.3,-12.000
$D_GRID,1544
$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,12,-0.92,-194.7,0.0,0.0,0,58,0.00,0.00,-44.67,0.000,2,0.000,0.000,161,2059,2105
$GC,60,-0.92,-194.7,3.3,-4.1,7,118,9.80,2.35,-39.28,0.000,4,0.253,0.069,2536,3486,3555
$GC,267,-0.92,-194.7,60.4,-33.0,44,274,0.00,2.22,0.00,0.000,6,0.000,0.040,2536,2071,3556
$GC,593,-0.92,-194.7,165.8,-22.9,105,600,0.00,2.20,0.00,0.000,4,0.000,0.049,2536,666,3559
$GC,614,-0.92,-194.7,170.7,-22.8,109,621,0.00,2.22,0.00,0.000,6,0.000,0.044,2532,2082,3559
$GC,940,-0.92,-194.7,240.3,-21.6,170,947,0.00,2.25,0.00,0.000,4,0.000,0.050,2532,658,3560
$GC,1085,-0.92,-194.7,269.2,-18.2,197,1091,0.00,2.22,0.00,0.000,6,0.000,0.045,2532,2073,3561
$GC,1410,-0.92,-194.7,327.7,-16.2,244,1415,0.00,2.22,0.00,0.000,4,0.000,0.052,2532,664,3561
$GC,1479,-0.92,-194.7,338.8,-13.7,250,1487,0.00,2.20,0.00,0.000,6,0.000,0.044,2532,2070,3560
$GC,1796,-0.92,-194.7,392.7,-15.7,281,1799,0.00,2.22,0.00,0.000,4,0.000,0.052,2532,661,3561
$GC,1998,-0.92,-194.7,422.7,-14.0,300,2003,0.00,2.20,0.00,0.000,6,0.000,0.045,2532,2069,3561
$GC,2319,-0.92,-194.7,469.1,-14.9,331,2323,0.00,2.25,0.00,0.000,4,0.000,0.064,2532,3472,3560
$GC,2350,-0.92,-194.7,473.9,-14.9,334,2355,0.00,2.17,0.00,0.000,6,0.000,0.040,2532,2058,3560
$GC,2680,-0.92,-194.7,520.0,-14.1,359,2684,0.00,2.17,0.00,0.000,4,0.000,0.057,2532,673,3559
$GC,2759,-0.92,-194.7,531.9,-14.9,362,2766,0.00,2.20,0.00,0.000,6,0.000,0.048,2532,2069,3559
$GC,3070,-0.92,-194.7,575.5,-13.6,378,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2070,3557
$GC,3375,-0.92,-194.7,611.8,-12.4,393,3379,0.00,2.22,0.00,0.000,4,0.000,0.057,2532,673,3555
$GC,3449,-0.92,-194.7,621.0,-12.4,396,3454,0.00,2.20,0.00,0.000,6,0.000,0.049,2532,2069,3554
$GC,3765,-0.92,-194.7,655.5,-10.6,412,3769,0.00,2.28,0.00,0.000,4,0.000,0.067,2531,3473,3552
$GC,3823,-0.92,-194.7,661.9,-11.0,414,3831,0.00,2.17,0.00,0.000,6,0.000,0.044,2532,2072,3551
$GC,4134,-0.92,-194.7,697.1,-11.3,430,4138,0.00,2.30,0.00,0.000,4,0.000,0.068,2532,3475,3549
$GC,4170,-0.92,-194.7,701.0,-10.4,431,4179,0.00,2.17,0.00,0.000,6,0.000,0.044,2532,2073,3549
$GC,4481,-0.92,-194.7,733.5,-10.3,447,4485,0.00,2.22,0.00,0.000,4,0.000,0.061,2532,670,3546
$GC,4512,-0.92,-194.7,737.0,-11.9,448,4517,0.00,2.22,0.00,0.000,6,0.000,0.051,2532,2074,3546
$GC,4828,-0.92,-194.7,770.7,-10.5,464,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2074,3543
$GC,5134,-0.92,-194.7,802.7,-10.6,479,5138,0.00,2.30,0.00,0.000,4,0.000,0.072,2532,3483,3541
$GC,5165,-0.92,-194.7,806.3,-11.6,480,5170,0.00,2.20,0.00,0.000,6,0.000,0.046,2532,2076,3541
$GC,5481,-0.92,-194.7,841.6,-11.8,496,5485,0.00,2.25,0.00,0.000,4,0.000,0.061,2532,667,3539
$GC,5512,-0.92,-194.7,845.5,-12.6,497,5517,0.00,2.22,0.00,0.000,6,0.000,0.052,2532,2070,3539
$GC,5829,-0.92,-194.7,882.9,-11.9,513,5833,0.00,2.30,0.00,0.000,4,0.000,0.073,2532,3479,3537
$GC,5897,-0.92,-194.7,890.4,-11.0,516,5902,0.00,2.20,0.00,0.000,6,0.000,0.047,2532,2070,3536
$GC,6218,-0.92,-194.7,923.2,-10.0,532,6223,0.00,2.33,0.00,0.000,4,0.000,0.071,2532,3476,3534
$GC,6255,-0.92,-194.7,926.8,-9.9,533,6262,0.00,2.20,0.00,0.000,6,0.000,0.047,2532,2071,3534
$GC,6566,-0.92,-194.7,956.4,-9.7,549,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2068,3532
$GC,6871,-0.92,-194.7,986.4,-9.9,564,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2067,3531
$STATE,6910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6910,begin apogee
$GC,6913,-0.19,0.0,990.4,9.8,566,7074,0.77,0.00,156.55,1.350,6,0.125,0.000,2792,2346,2759
$STATE,7074,end apogee,CONTROL_FINISHED_OK
$STATE,7074,begin climb
$GC,7076,0.92,194.7,996.6,0.0,574,7249,0.98,2.38,164.88,1.309,4,0.050,0.071,3155,3687,1964
$GC,7487,0.92,194.7,914.8,27.6,593,7492,0.00,2.20,0.00,0.000,6,0.000,0.048,3165,2339,1956
$GC,7809,0.92,194.7,837.2,23.9,609,7813,0.00,2.28,0.00,0.000,4,0.000,0.070,3165,3687,1954
$GC,8054,0.92,194.7,771.7,27.0,620,8059,0.00,2.15,0.00,0.000,6,0.000,0.048,3175,2351,1954
$GC,8370,0.92,194.7,692.3,24.6,636,8374,0.00,2.30,0.00,0.000,4,0.000,0.060,3186,932,1952
$GC,8599,0.92,194.7,638.1,24.2,646,8607,0.10,2.28,0.00,0.000,6,0.199,0.054,3157,2340,1951
$GC,8909,0.92,194.7,571.1,20.8,662,8914,0.00,2.20,0.00,0.000,4,0.000,0.068,3157,3684,1950
$GC,9112,0.92,194.7,523.9,24.8,671,9117,0.00,2.15,0.00,0.000,6,0.000,0.048,3166,2332,1949
$GC,9432,0.92,194.7,456.5,19.0,697,9436,0.00,2.22,0.00,0.000,4,0.000,0.067,3166,3683,1949
$GC,9677,0.92,194.7,405.4,22.6,720,9682,0.00,2.10,0.00,0.000,6,0.000,0.047,3176,2348,1949
$GC,9999,0.92,194.7,340.6,21.2,751,10002,0.00,2.17,0.00,0.000,4,0.000,0.064,3176,3684,1949
$GC,10243,0.92,194.7,287.2,20.6,780,10251,0.10,2.10,0.00,0.000,6,0.204,0.045,3157,2343,1948
$GC,10571,0.92,194.7,227.8,19.9,841,10577,0.00,2.17,0.00,0.000,4,0.000,0.062,3157,3684,1949
$GC,10816,0.92,194.7,180.0,16.2,887,10824,0.00,2.10,0.00,0.000,6,0.000,0.044,3166,2335,1949
$GC,11144,0.92,194.7,136.5,13.4,948,11151,0.00,2.17,0.00,0.000,4,0.000,0.061,3166,3686,1949
$GC,11390,0.93,203.3,104.8,11.6,994,11404,0.00,2.08,6.30,0.605,6,0.000,0.041,3176,2329,1929
$GC,11724,1.09,332.9,76.5,6.6,1056,11831,0.00,2.25,101.00,0.656,4,0.000,0.051,3186,945,1399
$GC,12022,1.09,332.9,33.7,16.6,1109,12029,0.00,2.25,0.00,0.000,6,0.000,0.045,3186,2342,1393
$STATE,12224,end climb,SURFACE_DEPTH_REACHED
$STATE,12224,begin surface coast
$FINISH,1.6,1.021725
$STATE,12240,end surface coast,CONTROL_FINISHED_OK
$STATE,12240,begin surface
$SM_CCo,12253,80.90,0.566,2,0,984,435.16
$SM_GC,2.40,0.00,0.00,80.90,0.000,0.000,0.566,169,2063,984,-8.38,-0.23,435.16
$IRIDIUM_FIX,2437.06,12303.22,170898,212120
$TT8_MAMPS,0.048321
$HUMID,1513
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.40
$XPDR_PINGS,51
$24V_AH,23.6,7.550
$10V_AH,10.7,6.853
$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,19.525,107.350,428.725,80.900,0.000,27.752,36.235,188.954,20.750,0.000,0.000,16.875,0.000,8733.575,657.141,2884.006,394.500,0.000,1740.569,0.000,2458.035,0.000,53.968,0.000
$DEVICE_MAMPS,253.110,72.865,1349.920,566.046,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,777.576,802.481,1346.348,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66354,1150
$CAP_FILE_SIZE,121136,0
$CFSIZE,260165632,256487424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.141, 65.3,1
$GPS,240509,044831,2446.967,12301.815,39,0.9,39,-3.6