version: 66.04
glider: 165
mission: 2
dive: 109
start: 6 6 109 13 15 54
data:
$ID,165
$MISSION,2
$DIVE,109
$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,-119067.66
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,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,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
$GPS1,130937,2524.643,12253.646,34,1.3,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-73.3
$GPS2,131549,2524.792,12253.652,12,1.3,29,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$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,340.6,28818,-18.3,-12.000
$D_GRID,890
$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,-0.96,-194.7,0.0,0.0,0,58,0.00,0.00,-44.80,0.000,2,0.000,0.000,161,2058,2024
$GC,60,-0.96,-194.7,3.3,-4.2,7,117,8.90,2.28,-41.50,0.000,4,0.229,0.065,2492,3483,3555
$GC,351,-0.24,-194.7,90.2,-31.1,60,358,0.73,2.20,0.00,0.000,6,0.137,0.038,2732,2071,3557
$GC,678,-1.10,-194.7,112.9,-10.3,121,685,0.73,0.00,0.00,0.000,6,0.066,0.000,2456,2066,3559
$GC,1004,-0.41,-194.7,203.3,-26.7,182,1011,0.73,2.22,0.00,0.000,4,0.150,0.053,2674,3473,3560
$GC,1031,-0.35,-194.7,207.4,-14.0,187,1039,0.08,2.15,0.00,0.000,6,0.107,0.035,2707,2062,3561
$GC,1358,-1.28,-194.7,230.9,-10.5,248,1366,0.80,2.25,0.00,0.000,4,0.055,0.058,2390,3504,3562
$GC,1412,-0.59,-194.7,240.6,-22.9,258,1420,0.73,2.17,0.00,0.000,6,0.146,0.036,2627,2075,3562
$GC,1740,-0.82,-194.7,269.8,-7.9,319,1746,0.20,2.20,0.00,0.000,4,0.053,0.055,2523,3477,3561
$GC,1766,-0.77,-194.7,273.2,-13.8,324,1773,0.12,2.12,0.00,0.000,6,0.127,0.036,2568,2083,3561
$GC,2093,-0.69,-194.7,319.3,-13.8,373,2097,0.00,2.20,0.00,0.000,4,0.000,0.050,2568,669,3562
$GC,2146,-0.69,-194.7,326.7,-13.8,378,2151,0.08,2.20,0.00,0.000,6,0.136,0.042,2592,2085,3562
$GC,2468,-0.76,-194.7,360.5,-10.7,409,2471,0.00,2.22,0.00,0.000,4,0.000,0.061,2589,3479,3561
$GC,2504,-0.92,-194.7,364.6,-10.5,412,2512,0.15,2.12,0.00,0.000,6,0.046,0.037,2504,2086,3560
$GC,2821,-0.64,-194.7,426.5,-17.8,443,2825,0.30,2.17,0.00,0.000,4,0.140,0.051,2605,679,3559
$GC,2900,-0.95,-194.7,434.0,-6.7,450,2904,0.20,2.17,0.00,0.000,6,0.044,0.043,2494,2071,3559
$GC,3221,-0.68,-194.7,480.8,-14.8,481,3225,0.32,2.22,0.00,0.000,4,0.139,0.064,2588,3479,3557
$GC,3413,-0.97,-194.7,495.7,-8.0,499,3417,0.20,2.12,0.00,0.000,6,0.043,0.040,2479,2099,3556
$GC,3741,-0.65,-194.7,550.7,-17.6,517,3745,0.38,2.22,0.00,0.000,4,0.141,0.054,2602,669,3553
$GC,3804,-0.94,-194.7,556.6,-6.8,520,3808,0.20,2.22,0.00,0.000,6,0.046,0.047,2497,2083,3552
$GC,4126,-0.74,-194.7,602.4,-15.1,536,4129,0.28,2.22,0.00,0.000,4,0.140,0.055,2585,673,3550
$GC,4189,-1.01,-194.7,608.5,-7.0,539,4193,0.22,2.22,0.00,0.000,6,0.047,0.048,2472,2083,3550
$GC,4515,-0.72,-194.7,657.2,-14.8,555,4519,0.38,2.22,0.00,0.000,4,0.146,0.067,2587,3476,3547
$GC,4579,-1.04,-194.7,661.7,-5.4,558,4583,0.25,2.15,0.00,0.000,6,0.044,0.041,2464,2085,3545
$GC,4906,-0.73,-194.7,714.7,-18.0,574,4907,0.38,0.00,0.00,0.000,6,0.147,0.000,2578,2081,3543
$GC,5211,-0.96,-194.7,742.3,-8.1,589,5215,0.20,2.28,0.00,0.000,4,0.061,0.068,2487,3473,3541
$GC,5263,-0.81,-194.7,748.9,-14.0,591,5268,0.17,2.15,0.00,0.000,6,0.135,0.043,2548,2091,3539
$GC,5580,-0.89,-194.7,783.1,-10.4,607,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2089,3538
$GC,5885,-0.98,-194.7,811.1,-8.6,622,5888,0.12,2.25,0.00,0.000,4,0.077,0.070,2491,3479,3537
$GC,5921,-0.87,-194.7,815.1,-11.1,623,5928,0.12,2.17,0.00,0.000,6,0.140,0.044,2534,2083,3536
$GC,6231,-0.87,-194.7,841.3,-8.3,639,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2082,3535
$GC,6537,-0.91,-194.7,871.0,-10.0,654,6541,0.00,2.28,0.00,0.000,4,0.000,0.061,2534,667,3532
$GC,6579,-0.91,-194.7,875.5,-11.0,656,6583,0.00,2.25,0.00,0.000,6,0.000,0.051,2534,2079,3532
$STATE,6721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6721,begin apogee
$GC,6725,-0.20,0.0,890.9,10.9,663,6887,0.68,0.00,154.98,1.315,6,0.128,0.000,2757,2533,2758
$STATE,6887,end apogee,CONTROL_FINISHED_OK
$STATE,6887,begin climb
$GC,6889,0.96,194.7,897.9,0.0,671,7059,1.00,2.50,162.43,1.276,4,0.042,0.056,3153,1129,1964
$GC,7084,0.32,194.7,876.8,21.9,680,7089,0.80,2.40,0.00,0.000,6,0.183,0.052,2930,2519,1961
$GC,7406,0.57,319.6,850.0,6.8,696,7516,0.20,0.00,108.25,1.243,6,0.060,0.000,3013,2519,1455
$GC,7827,0.46,319.6,782.6,18.2,717,7828,0.15,0.00,0.00,0.000,6,0.150,0.000,2973,2519,1449
$GC,8131,0.55,319.6,740.0,13.5,732,8135,0.00,2.28,0.00,0.000,4,0.000,0.054,2982,1129,1447
$GC,8157,0.64,319.6,736.4,13.3,733,8162,0.10,2.28,0.00,0.000,6,0.064,0.050,3036,2531,1446
$GC,8479,0.42,319.6,665.0,24.2,749,8483,0.28,1.88,0.00,0.000,4,0.153,0.065,2956,3691,1446
$GC,8526,0.50,319.6,655.1,20.1,751,8531,0.00,1.83,0.00,0.000,6,0.000,0.042,2964,2523,1446
$GC,8848,0.83,483.2,619.6,5.2,767,8995,0.32,2.38,141.35,1.123,4,0.058,0.054,3106,1126,788
$GC,9069,0.54,483.2,567.7,29.0,777,9074,0.35,2.35,0.00,0.000,6,0.160,0.049,3000,2529,784
$GC,9386,0.65,483.2,513.1,16.2,793,9389,0.00,2.30,0.00,0.000,4,0.000,0.054,3010,1111,780
$GC,9470,0.78,483.2,501.6,13.7,797,9475,0.12,2.30,0.00,0.000,6,0.057,0.047,3077,2525,780
$GC,9792,0.58,483.2,427.6,26.9,827,9793,0.25,0.00,0.00,0.000,6,0.153,0.000,3005,2525,779
$GC,10103,0.75,483.2,375.6,13.9,857,10106,0.15,2.25,0.00,0.000,4,0.069,0.054,3083,1113,778
$GC,10209,0.68,483.2,357.0,17.7,867,10213,0.12,2.22,0.00,0.000,6,0.148,0.048,3042,2499,778
$GC,10529,0.76,483.2,302.7,17.5,898,10534,0.00,2.22,0.00,0.000,4,0.000,0.053,3051,1120,777
$GC,10610,0.86,483.2,289.0,16.3,911,10616,0.10,2.17,0.00,0.000,6,0.059,0.047,3110,2486,777
$GC,10936,0.72,483.2,216.2,20.6,972,10943,0.20,2.17,0.00,0.000,4,0.148,0.052,3061,1126,776
$GC,10989,0.81,483.2,207.1,15.0,982,10997,0.00,2.12,0.00,0.000,6,0.000,0.045,3061,2470,777
$GC,11317,0.97,483.2,155.4,15.4,1043,11324,0.20,2.15,0.00,0.000,4,0.059,0.050,3158,1117,777
$GC,11360,0.83,483.2,146.8,23.1,1051,11367,0.20,2.12,0.00,0.000,6,0.137,0.045,3091,2466,777
$GC,11687,1.02,498.8,98.3,11.4,1112,11707,0.17,2.12,12.15,0.703,4,0.061,0.050,3180,1115,724
$GC,11813,0.92,498.8,75.4,17.9,1135,11819,0.17,2.08,0.00,0.000,6,0.137,0.044,3121,2429,724
$GC,12139,1.15,501.4,35.4,11.9,1196,12145,0.20,0.00,0.00,0.000,6,0.054,0.000,3214,2429,723
$STATE,12318,end climb,SURFACE_DEPTH_REACHED
$STATE,12319,begin surface coast
$FINISH,1.7,0.997700
$STATE,12335,end surface coast,CONTROL_FINISHED_OK
$STATE,12335,begin surface
$SM_CCo,12408,0.00,0.000,0,0,723,499.68
$SM_GC,2.54,7.70,0.00,0.00,0.035,0.000,0.000,155,2052,723,-8.22,-0.54,499.68
$IRIDIUM_FIX,2510.35,12255.14,310898,090933
$TT8_MAMPS,0.048321
$HUMID,1584
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.00
$XPDR_PINGS,97
$ALTIM_BOTTOM_PING,826.5,106.6
$24V_AH,23.7,24.236
$10V_AH,10.7,17.824
$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,30.425,107.150,579.150,0.000,0.000,26.162,31.642,196.307,31.000,0.000,0.000,31.576,0.000,8736.927,683.701,2899.031,433.283,0.000,1773.155,0.000,2433.692,0.000,47.087,0.000
$DEVICE_MAMPS,229.333,69.797,1315.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,836.009,848.702,1335.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69412,1233
$CAP_FILE_SIZE,137801,0
$CFSIZE,260165632,249389056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104, 88.2,1
$GPS,060609,164337,2527.088,12253.920,37,1.7,37,-3.7