version: 66.04
glider: 165
mission: 2
dive: 157
start: 6 14 109 21 41 33
data:
$ID,165
$MISSION,2
$DIVE,157
$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,330
$T_MISSION,396
$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,175
$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,-119978.3
$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,49
$R_STBD_OVSHOOT,24
$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
$GPS1,213436,2518.981,12322.386,22,1.4,22,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-70.8
$GPS2,214128,2519.014,12322.432,12,99.0,31,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$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,328.1,43448,-16.8,-10.000
$D_GRID,1481
$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,-0.87,-170.3,0.0,0.0,0,77,0.00,0.00,-63.30,0.000,2,0.000,0.000,172,2078,1994
$GC,79,-0.87,-170.3,3.3,-3.6,9,136,8.93,2.25,-42.72,0.000,4,0.225,0.062,2521,3496,3454
$GC,355,-0.31,-170.3,77.3,-23.2,59,362,0.55,2.20,0.00,0.000,6,0.127,0.035,2719,2063,3456
$GC,682,-0.63,-170.3,104.3,-6.3,120,689,0.28,2.25,0.00,0.000,4,0.091,0.051,2582,3474,3458
$GC,757,-0.37,-170.3,114.8,-16.2,134,763,0.30,2.10,0.00,0.000,6,0.125,0.035,2700,2084,3459
$GC,1084,-0.67,-170.3,140.4,-7.2,195,1091,0.28,2.20,0.00,0.000,4,0.053,0.051,2566,3492,3459
$GC,1144,-0.43,-170.3,148.7,-14.9,206,1150,0.30,2.08,0.00,0.000,6,0.122,0.033,2672,2109,3459
$GC,1471,-0.61,-170.3,175.9,-9.0,267,1478,0.15,2.17,0.00,0.000,4,0.061,0.058,2586,3473,3459
$GC,1552,-0.48,-170.3,185.9,-12.7,282,1558,0.20,2.05,0.00,0.000,6,0.117,0.034,2660,2112,3459
$GC,1878,-0.70,-170.3,211.5,-8.2,343,1885,0.17,2.15,0.00,0.000,4,0.055,0.053,2564,3487,3460
$GC,1911,-0.57,-170.3,215.3,-12.9,349,1917,0.15,2.08,0.00,0.000,6,0.120,0.034,2631,2105,3460
$GC,2237,-0.70,-170.3,245.4,-9.4,410,2244,0.10,2.20,0.00,0.000,4,0.074,0.054,2569,3488,3460
$GC,2285,-0.62,-170.3,250.8,-10.9,419,2293,0.12,2.05,0.00,0.000,6,0.119,0.034,2615,2129,3460
$GC,2612,-0.71,-170.3,281.3,-10.3,480,2619,0.00,2.17,0.00,0.000,4,0.000,0.057,2615,3485,3460
$GC,2687,-0.90,-170.3,288.2,-8.5,494,2694,0.20,2.03,0.00,0.000,6,0.037,0.034,2505,2149,3460
$GC,3005,-0.51,-170.3,339.5,-16.3,532,3010,0.45,2.25,0.00,0.000,4,0.133,0.048,2651,700,3460
$GC,3038,-0.69,-170.3,343.0,-8.9,535,3042,0.15,2.22,0.00,0.000,6,0.056,0.041,2565,2155,3460
$GC,3358,-0.60,-170.3,377.8,-10.8,566,3362,0.20,2.10,0.00,0.000,4,0.129,0.059,2628,3472,3460
$GC,3438,-0.90,-170.3,383.1,-5.6,573,3444,0.22,2.00,0.00,0.000,6,0.038,0.035,2507,2153,3459
$GC,3753,-0.57,-170.3,427.9,-14.9,604,3758,0.40,2.28,0.00,0.000,4,0.131,0.051,2636,697,3458
$GC,3801,-0.87,-170.3,432.0,-6.5,608,3808,0.22,2.25,0.00,0.000,6,0.038,0.043,2511,2135,3457
$GC,4118,-0.60,-170.3,476.3,-14.2,639,4121,0.32,2.15,0.00,0.000,4,0.136,0.061,2616,3492,3455
$GC,4149,-0.77,-170.3,479.2,-6.7,641,4155,0.10,2.08,0.00,0.000,6,0.048,0.036,2546,2135,3455
$GC,4463,-0.64,-170.3,515.9,-12.7,666,4464,0.22,0.00,0.00,0.000,6,0.125,0.000,2617,2129,3453
$GC,4767,-0.87,-170.3,541.6,-8.5,681,4771,0.22,2.17,0.00,0.000,4,0.052,0.063,2510,3473,3450
$GC,4825,-0.67,-170.3,549.3,-14.4,683,4833,0.25,2.05,0.00,0.000,6,0.125,0.038,2596,2145,3450
$GC,5136,-0.81,-170.3,573.0,-6.5,699,5140,0.12,2.15,0.00,0.000,4,0.066,0.063,2533,3487,3448
$GC,5199,-0.71,-170.3,579.4,-10.8,702,5204,0.15,2.05,0.00,0.000,6,0.122,0.038,2587,2156,3447
$GC,5528,-0.83,-170.3,609.1,-8.5,718,5529,0.10,0.00,0.00,0.000,6,0.076,0.000,2533,2154,3445
$GC,5832,-0.70,-170.3,643.2,-11.1,733,5835,0.20,2.30,0.00,0.000,4,0.133,0.055,2595,687,3443
$GC,5889,-0.90,-170.3,648.4,-8.3,735,5898,0.15,2.30,0.00,0.000,6,0.046,0.047,2511,2135,3442
$GC,6200,-0.70,-170.3,688.5,-13.5,751,6204,0.25,2.15,0.00,0.000,4,0.137,0.065,2587,3479,3441
$GC,6285,-0.92,-170.3,695.9,-7.7,755,6289,0.15,2.05,0.00,0.000,6,0.045,0.039,2504,2152,3440
$GC,6612,-0.68,-170.3,739.1,-13.3,771,6616,0.28,2.30,0.00,0.000,4,0.137,0.053,2594,684,3439
$GC,6637,-0.68,-170.3,741.9,-10.7,772,6642,0.00,2.30,0.00,0.000,6,0.000,0.048,2592,2134,3439
$GC,6954,-0.88,-170.3,765.1,-7.3,788,6958,0.17,2.17,0.00,0.000,4,0.058,0.064,2507,3474,3437
$GC,7060,-0.74,-170.3,777.9,-13.0,793,7064,0.20,2.03,0.00,0.000,6,0.124,0.040,2576,2166,3435
$GC,7388,-0.88,-170.3,803.8,-7.4,809,7391,0.12,2.15,0.00,0.000,4,0.072,0.065,2516,3488,3434
$GC,7450,-0.79,-170.3,809.7,-9.1,812,7454,0.12,2.03,0.00,0.000,6,0.128,0.040,2560,2181,3433
$GC,7773,-0.85,-170.3,836.2,-9.4,828,7776,0.00,2.12,0.00,0.000,4,0.000,0.067,2561,3484,3432
$GC,7835,-0.97,-170.3,842.2,-9.5,831,7839,0.12,2.00,0.00,0.000,6,0.051,0.041,2489,2198,3431
$GC,8163,-0.72,-170.3,887.2,-13.8,847,8167,0.28,2.10,0.00,0.000,4,0.139,0.066,2576,3479,3430
$GC,8199,-0.88,-170.3,891.0,-9.1,849,8203,0.08,2.00,0.00,0.000,6,0.058,0.041,2522,2198,3430
$GC,8526,-0.78,-170.3,927.8,-11.5,865,8530,0.15,2.10,0.00,0.000,4,0.137,0.067,2564,3478,3428
$GC,8589,-0.92,-170.3,933.7,-9.3,868,8594,0.08,1.98,0.00,0.000,6,0.059,0.041,2510,2211,3428
$GC,8910,-0.77,-170.3,970.8,-11.8,884,8914,0.20,2.10,0.00,0.000,4,0.134,0.068,2563,3479,3426
$GC,8974,-0.93,-170.3,976.6,-7.7,887,8978,0.10,1.98,0.00,0.000,6,0.055,0.042,2501,2218,3426
$STATE,9095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9095,begin apogee
$GC,9099,-0.20,0.0,991.4,12.5,893,9242,0.77,0.00,136.05,1.385,6,0.134,0.000,2750,2535,2759
$STATE,9242,end apogee,CONTROL_FINISHED_OK
$STATE,9242,begin climb
$GC,9244,0.87,170.3,996.7,0.0,900,9395,0.93,2.00,144.55,1.347,4,0.040,0.067,3116,3683,2062
$GC,9490,0.11,170.3,965.2,21.3,912,9494,0.90,1.83,0.00,0.000,6,0.173,0.042,2863,2557,2057
$GC,9817,0.50,270.0,942.9,6.1,928,9909,0.32,2.42,85.03,1.310,4,0.048,0.054,3013,1126,1656
$GC,9989,0.34,270.0,917.2,16.3,936,9994,0.25,2.33,0.00,0.000,6,0.143,0.051,2935,2510,1650
$GC,10311,0.45,270.0,880.8,11.0,952,10315,0.00,2.25,0.00,0.000,4,0.000,0.053,2944,1122,1648
$GC,10342,0.58,270.0,877.5,10.3,953,10347,0.12,2.25,0.00,0.000,6,0.051,0.048,3014,2505,1646
$GC,10658,0.37,270.0,825.4,16.6,969,10663,0.25,2.22,0.00,0.000,4,0.144,0.051,2950,1129,1646
$GC,10690,0.43,270.0,821.1,12.5,970,10694,0.00,2.22,0.00,0.000,6,0.000,0.048,2950,2507,1645
$GC,11005,0.48,270.0,783.4,12.6,986,11009,0.00,2.22,0.00,0.000,4,0.000,0.051,2959,1129,1645
$GC,11064,0.55,270.0,776.3,13.7,988,11071,0.08,2.17,0.00,0.000,6,0.060,0.048,3008,2489,1644
$GC,11374,0.37,270.0,726.1,16.5,1004,11378,0.22,2.20,0.00,0.000,4,0.143,0.051,2951,1118,1644
$GC,11422,0.48,270.0,720.0,11.9,1006,11426,0.00,2.17,0.00,0.000,6,0.000,0.048,2952,2474,1643
$GC,11743,0.55,270.0,684.0,11.0,1022,11744,0.12,0.00,0.00,0.000,6,0.070,0.000,3011,2474,1643
$GC,12048,0.36,270.0,637.0,16.1,1037,12052,0.25,1.95,0.00,0.000,4,0.140,0.064,2935,3677,1643
$GC,12069,0.36,270.0,633.8,15.1,1038,12073,0.00,1.90,0.00,0.000,6,0.000,0.041,2943,2453,1642
$GC,12396,0.48,274.8,601.0,9.8,1054,12400,0.00,2.10,0.00,0.000,4,0.000,0.052,2951,1126,1642
$GC,12497,0.62,274.8,589.4,10.3,1058,12503,0.15,2.10,0.00,0.000,6,0.051,0.048,3029,2444,1639
$GC,12807,0.40,274.8,540.6,15.7,1074,12811,0.28,1.98,0.00,0.000,4,0.141,0.062,2947,3677,1639
$GC,12860,0.46,274.8,533.9,11.6,1076,12864,0.00,1.90,0.00,0.000,6,0.000,0.040,2955,2445,1639
$GC,13176,0.56,274.8,498.9,10.8,1092,13180,0.12,2.10,0.00,0.000,4,0.068,0.051,3026,1113,1639
$GC,13256,0.42,274.8,487.6,15.0,1099,13263,0.20,2.12,0.00,0.000,6,0.140,0.048,2960,2445,1639
$GC,13571,0.52,274.8,453.6,11.4,1130,13575,0.00,2.10,0.00,0.000,4,0.000,0.050,2967,1126,1639
$GC,13608,0.63,274.8,449.3,11.4,1133,13615,0.12,2.08,0.00,0.000,6,0.054,0.047,3036,2433,1639
$GC,13924,0.43,274.8,400.2,14.0,1164,13928,0.28,2.08,0.00,0.000,4,0.140,0.051,2962,1126,1639
$GC,14004,0.68,348.4,393.3,7.1,1171,14072,0.17,2.05,63.67,0.976,6,0.047,0.046,3051,2420,1338
$GC,14381,0.52,348.4,333.2,17.3,1207,14385,0.22,2.03,0.00,0.000,4,0.136,0.061,2984,3686,1332
$GC,14402,0.52,348.4,330.0,15.5,1209,14406,0.00,2.00,0.00,0.000,6,0.000,0.040,2991,2415,1332
$GC,14720,0.67,348.4,292.3,10.8,1246,14727,0.12,2.05,0.00,0.000,4,0.065,0.050,3067,1118,1332
$GC,14790,0.55,348.4,282.0,15.1,1259,14797,0.20,2.05,0.00,0.000,6,0.138,0.045,3000,2405,1330
$GC,15116,0.68,348.4,246.2,12.1,1320,15122,0.12,0.00,0.00,0.000,6,0.067,0.000,3060,2405,1329
$GC,15442,0.57,348.4,196.8,14.8,1381,15448,0.20,2.03,0.00,0.000,4,0.137,0.048,3008,1124,1329
$GC,15522,0.80,367.7,188.5,9.2,1396,15542,0.15,2.00,15.93,0.780,6,0.045,0.044,3101,2396,1259
$GC,15863,0.63,367.7,134.2,14.6,1459,15870,0.22,2.00,0.00,0.000,4,0.138,0.046,3037,1117,1257
$GC,15917,0.86,397.2,128.3,8.8,1469,15950,0.12,1.98,25.40,0.740,6,0.043,0.042,3120,2362,1138
$GC,16271,0.75,397.2,72.7,17.0,1534,16277,0.17,0.00,0.00,0.000,6,0.134,0.000,3063,2363,1135
$GC,16596,1.10,479.1,42.6,6.8,1595,16668,0.30,2.00,65.43,0.660,4,0.044,0.045,3208,1111,805
$GC,16694,0.85,479.1,26.4,17.0,1611,16701,0.35,2.03,0.00,0.000,6,0.136,0.041,3096,2361,804
$STATE,16950,end climb,SURFACE_DEPTH_REACHED
$STATE,16950,begin surface coast
$FINISH,1.6,1.021748
$STATE,16988,end surface coast,CONTROL_FINISHED_OK
$STATE,16988,begin surface
$SM_CCo,17062,0.00,0.000,0,0,801,480.30
$SM_GC,2.40,7.50,0.00,0.00,0.035,0.000,0.000,159,2051,801,-8.23,-0.57,480.30
$IRIDIUM_FIX,2505.59,12324.89,080998,171728
$TT8_MAMPS,0.047554
$HUMID,1554
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.60
$XPDR_PINGS,185
$24V_AH,23.6,34.257
$10V_AH,10.7,24.174
$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,32.775,165.800,536.050,0.000,0.000,30.229,39.084,214.752,54.250,0.000,0.000,33.934,0.000,12245.452,719.534,3941.454,537.904,0.000,2191.112,0.000,3310.781,0.000,53.962,0.000
$DEVICE_MAMPS,224.731,68.263,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1127.057,1160.549,1821.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94631,1666
$CAP_FILE_SIZE,193353,0
$CFSIZE,260165632,245096448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140, 55.0,1
$GPS,150609,022655,2522.131,12322.216,41,1.3,41,-3.7