version: 66.04
glider: 165
mission: 2
dive: 121
start: 6 8 109 6 53 49
data:
$ID,165
$MISSION,2
$DIVE,121
$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,-2
$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,-119292.3
$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,43
$R_STBD_OVSHOOT,35
$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
$GPS1,064707,2532.749,12259.090,30,0.9,30,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.2
$GPS2,065344,2532.827,12259.206,12,1.3,12,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,145.4,45516,-18.3,-12.000
$D_GRID,763
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.96,-194.7,0.0,0.0,0,60,0.00,0.00,-45.12,0.000,2,0.000,0.000,153,2055,2012
$GC,61,-0.96,-194.7,3.1,-3.4,6,119,8.75,2.33,-44.72,0.000,4,0.220,0.065,2492,3477,3554
$GC,177,-0.09,-194.7,31.1,-40.1,26,184,0.90,2.20,0.00,0.000,6,0.147,0.038,2779,2078,3557
$GC,504,-0.59,-194.7,61.3,-6.6,87,512,0.40,2.22,0.00,0.000,4,0.038,0.054,2587,3467,3558
$GC,526,-0.59,-194.7,64.3,-13.6,91,535,0.10,2.15,0.00,0.000,6,0.140,0.035,2623,2062,3559
$GC,854,-0.35,-194.7,134.5,-17.6,152,861,0.25,2.25,0.00,0.000,4,0.140,0.057,2699,3468,3560
$GC,913,-0.73,-194.7,140.2,-6.8,163,921,0.22,2.12,0.00,0.000,6,0.035,0.036,2546,2077,3560
$GC,1241,-0.35,-194.7,206.3,-20.6,224,1248,0.50,2.22,0.00,0.000,4,0.136,0.058,2699,3467,3562
$GC,1294,-0.90,-194.7,211.1,-5.2,234,1302,0.40,2.10,0.00,0.000,6,0.032,0.036,2494,2084,3562
$GC,1623,-0.43,-194.7,283.1,-19.4,295,1630,0.55,2.17,0.00,0.000,4,0.141,0.049,2675,670,3563
$GC,1709,-0.94,-194.7,289.8,-4.5,311,1716,0.35,2.17,0.00,0.000,6,0.032,0.040,2478,2083,3563
$GC,2028,-0.48,-194.7,352.0,-20.1,348,2032,0.55,2.20,0.00,0.000,4,0.145,0.059,2657,3479,3563
$GC,2065,-0.82,-194.7,356.2,-6.9,351,2069,0.22,2.12,0.00,0.000,6,0.035,0.036,2508,2085,3563
$GC,2385,-0.49,-194.7,409.6,-17.0,382,2390,0.47,2.20,0.00,0.000,4,0.133,0.052,2662,678,3563
$GC,2412,-0.64,-194.7,412.5,-10.4,384,2419,0.10,2.20,0.00,0.000,6,0.048,0.042,2582,2092,3563
$GC,2728,-0.73,-194.7,443.9,-10.0,415,2731,0.00,2.20,0.00,0.000,4,0.000,0.060,2576,3471,3562
$GC,2770,-0.89,-194.7,448.1,-9.8,419,2774,0.10,2.10,0.00,0.000,6,0.051,0.037,2508,2096,3562
$GC,3090,-0.65,-194.7,497.4,-15.3,450,3095,0.32,2.22,0.00,0.000,4,0.131,0.052,2611,672,3560
$GC,3154,-1.01,-194.7,502.9,-6.7,455,3159,0.28,2.22,0.00,0.000,6,0.040,0.044,2469,2092,3560
$GC,3481,-0.68,-194.7,558.2,-17.8,471,3485,0.43,2.20,0.00,0.000,4,0.145,0.064,2601,3480,3557
$GC,3507,-0.74,-194.7,561.5,-11.1,472,3511,0.00,2.15,0.00,0.000,6,0.000,0.039,2601,2084,3557
$GC,3828,-1.03,-194.7,580.1,-5.5,488,3832,0.30,2.25,0.00,0.000,4,0.047,0.063,2466,3473,3554
$GC,3881,-0.77,-194.7,586.6,-13.7,490,3886,0.30,2.12,0.00,0.000,6,0.136,0.039,2567,2094,3553
$GC,4198,-0.90,-194.7,613.7,-8.6,506,4201,0.12,2.22,0.00,0.000,4,0.072,0.065,2505,3480,3552
$GC,4228,-0.84,-194.7,617.1,-11.4,507,4233,0.10,2.12,0.00,0.000,6,0.134,0.040,2542,2102,3550
$GC,4546,-0.84,-194.7,650.5,-9.8,523,4549,0.00,2.22,0.00,0.000,4,0.000,0.064,2536,3488,3548
$GC,4581,-0.90,-194.7,654.5,-10.2,524,4588,0.00,2.12,0.00,0.000,6,0.000,0.040,2536,2111,3547
$GC,4892,-0.90,-194.7,691.4,-12.4,540,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2110,3545
$GC,5198,-0.90,-194.7,725.8,-10.7,555,5201,0.00,2.22,0.00,0.000,4,0.000,0.068,2536,3484,3542
$GC,5287,-0.98,-194.7,735.8,-12.2,559,5292,0.00,2.10,0.00,0.000,6,0.000,0.042,2536,2133,3541
$STATE,5526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5526,begin apogee
$GC,5530,-0.20,0.0,765.1,12.5,571,5689,0.65,0.00,153.23,1.205,6,0.126,0.000,2752,2528,2757
$STATE,5689,end apogee,CONTROL_FINISHED_OK
$STATE,5689,begin climb
$GC,5691,0.96,194.7,773.9,0.0,579,5856,1.00,2.00,158.02,1.170,4,0.048,0.067,3133,3687,1964
$GC,5897,0.26,194.7,752.0,23.1,588,5905,0.80,1.88,0.00,0.000,6,0.175,0.041,2911,2536,1961
$GC,6208,0.54,270.4,721.2,8.9,604,6273,0.22,0.00,63.75,1.142,6,0.058,0.000,3008,2529,1655
$GC,6573,0.44,270.4,666.0,16.8,622,6575,0.17,0.00,0.00,0.000,6,0.146,0.000,2960,2529,1649
$GC,6878,0.54,270.4,625.9,13.7,637,6882,0.00,2.28,0.00,0.000,4,0.000,0.053,2970,1124,1647
$GC,6899,0.66,270.4,622.9,13.6,638,6903,0.12,2.25,0.00,0.000,6,0.059,0.049,3035,2514,1645
$GC,7225,0.46,270.4,558.9,18.6,654,7230,0.22,1.90,0.00,0.000,4,0.149,0.065,2970,3690,1645
$GC,7262,0.46,270.4,553.0,15.3,655,7270,0.00,1.83,0.00,0.000,6,0.000,0.041,2978,2522,1645
$GC,7573,0.46,270.4,513.5,12.1,671,7577,0.00,2.22,0.00,0.000,4,0.000,0.051,2987,1127,1644
$GC,7626,0.54,272.2,507.2,11.9,673,7630,0.00,2.22,0.00,0.000,6,0.000,0.048,2987,2517,1642
$GC,7947,0.54,272.2,466.2,12.4,701,7950,0.00,1.88,0.00,0.000,4,0.000,0.064,2987,3699,1641
$GC,7982,0.54,272.2,461.1,14.2,704,7990,0.00,1.85,0.00,0.000,6,0.000,0.041,2996,2504,1641
$GC,8299,0.54,272.2,417.0,13.7,735,8302,0.00,1.92,0.00,0.000,4,0.000,0.063,2996,3689,1641
$GC,8319,0.54,272.2,414.0,14.6,737,8324,0.00,1.77,0.00,0.000,6,0.000,0.041,3004,2529,1641
$GC,8641,0.54,272.2,370.4,12.4,768,8644,0.00,2.20,0.00,0.000,4,0.000,0.051,3015,1132,1641
$GC,8682,0.54,272.2,364.8,13.4,772,8687,0.00,2.22,0.00,0.000,6,0.000,0.047,3015,2532,1639
$GC,9004,0.54,272.2,321.9,13.8,803,9008,0.00,2.20,0.00,0.000,4,0.000,0.050,3025,1129,1639
$GC,9067,0.54,272.2,312.4,14.4,809,9072,0.08,2.20,0.00,0.000,6,0.143,0.046,2998,2514,1639
$GC,9391,0.62,272.2,271.0,12.1,861,9397,0.00,2.20,0.00,0.000,4,0.000,0.048,3007,1128,1639
$GC,9465,0.76,294.5,262.7,11.1,875,9490,0.12,2.17,18.45,0.848,6,0.056,0.046,3078,2504,1558
$GC,9811,0.61,294.5,213.6,14.0,939,9817,0.22,0.00,0.00,0.000,6,0.150,0.000,3013,2504,1556
$GC,10137,0.78,316.1,179.8,11.1,1000,10163,0.17,1.88,19.12,0.767,4,0.061,0.058,3097,3686,1469
$GC,10381,0.64,316.1,140.2,14.7,1045,10388,0.22,1.83,0.00,0.000,6,0.138,0.038,3031,2500,1468
$GC,10708,1.03,419.9,114.9,7.7,1106,10798,0.30,2.28,84.03,0.707,4,0.045,0.046,3181,1128,1046
$GC,10830,0.87,419.9,96.0,20.0,1126,10836,0.28,2.22,0.00,0.000,6,0.143,0.042,3101,2516,1042
$GC,11157,1.12,470.6,58.3,9.9,1187,11203,0.17,2.28,41.22,0.644,4,0.057,0.044,3203,1129,839
$GC,11223,0.96,470.6,47.7,19.0,1198,11230,0.22,2.20,0.00,0.000,6,0.137,0.041,3132,2501,837
$GC,11550,1.10,482.3,6.1,11.5,1259,11565,0.12,2.22,10.75,0.556,4,0.067,0.044,3208,1117,790
$STATE,11573,end climb,SURFACE_DEPTH_REACHED
$STATE,11573,begin surface coast
$FINISH,1.5,1.009852
$STATE,11589,end surface coast,CONTROL_FINISHED_OK
$STATE,11589,begin surface
$SM_CCo,11664,0.00,0.000,0,0,788,483.49
$SM_GC,2.29,7.78,0.00,0.00,0.036,0.000,0.000,161,2078,788,-8.21,0.20,483.49
$IRIDIUM_FIX,2527.05,12255.02,020998,030335
$TT8_MAMPS,0.048321
$HUMID,1547
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,26.20
$XPDR_PINGS,134
$ALTIM_BOTTOM_PING,750.1,84.0
$24V_AH,24.0,26.428
$10V_AH,10.7,19.221
$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,28.625,115.475,548.575,0.000,0.000,24.037,32.338,247.209,39.500,0.000,0.000,13.811,0.000,8036.692,673.787,2856.206,472.660,0.000,1745.158,0.000,2408.847,0.000,42.075,0.000
$DEVICE_MAMPS,220.129,68.263,1204.957,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,852.718,911.583,1466.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72797,1266
$CAP_FILE_SIZE,136129,0
$CFSIZE,260165632,248451072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157, 44.3,1
$GPS,080609,100907,2532.039,12301.226,36,1.1,36,-3.7