version: 66.04
glider: 165
mission: 2
dive: 160
start: 6 15 109 12 37 13
data:
$ID,165
$MISSION,2
$DIVE,160
$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,-120026.51
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,123007,2527.605,12321.689,33,1.2,33,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.7
$GPS2,123707,2527.681,12321.763,9,1.4,14,-3.8
$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,296.7,28131,-16.8,-10.000
$D_GRID,975
$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,-170.3,0.0,0.0,0,64,0.00,0.00,-50.05,0.000,2,0.000,0.000,158,2051,2069
$GC,66,-0.87,-170.3,3.3,-4.3,8,118,8.98,2.15,-36.95,0.000,4,0.221,0.058,2532,671,3454
$GC,341,-0.23,-170.3,79.1,-25.9,58,349,0.65,2.20,0.00,0.000,6,0.146,0.041,2744,2070,3455
$GC,669,-1.07,-170.3,107.6,-10.2,119,676,0.73,2.20,0.00,0.000,4,0.092,0.050,2479,3479,3458
$GC,792,-0.41,-170.3,135.3,-26.6,142,799,0.62,2.10,0.00,0.000,6,0.143,0.035,2683,2100,3458
$GC,1119,-0.63,-170.3,162.1,-7.5,203,1127,0.20,2.20,0.00,0.000,4,0.051,0.054,2575,3473,3459
$GC,1163,-0.45,-170.3,167.8,-14.5,211,1171,0.25,2.08,0.00,0.000,6,0.120,0.034,2665,2103,3459
$GC,1491,-0.69,-170.3,198.5,-8.6,272,1498,0.20,2.20,0.00,0.000,4,0.052,0.055,2560,3479,3459
$GC,1545,-0.54,-170.3,205.3,-12.9,282,1552,0.22,2.05,0.00,0.000,6,0.118,0.038,2640,2129,3459
$GC,1872,-0.73,-170.3,231.9,-8.1,343,1878,0.15,0.00,0.00,0.000,6,0.059,0.000,2559,2125,3459
$GC,2198,-0.54,-170.3,277.1,-13.8,404,2205,0.28,2.25,0.00,0.000,4,0.127,0.051,2649,681,3459
$GC,2226,-0.63,-170.3,280.1,-10.3,409,2232,0.00,2.28,0.00,0.000,6,0.000,0.041,2648,2145,3459
$GC,2555,-0.91,-170.3,303.9,-6.9,466,2559,0.32,2.08,0.00,0.000,4,0.042,0.058,2490,3474,3459
$GC,2651,-0.51,-170.3,317.7,-17.2,475,2655,0.47,2.00,0.00,0.000,6,0.132,0.036,2661,2153,3459
$GC,2971,-1.08,-170.3,337.4,-6.8,506,2976,0.50,2.12,0.00,0.000,4,0.044,0.056,2444,3479,3458
$GC,3030,-0.53,-170.3,346.1,-18.9,511,3038,0.60,2.00,0.00,0.000,6,0.143,0.037,2642,2167,3457
$GC,3345,-0.84,-170.3,366.2,-4.9,542,3350,0.25,2.33,0.00,0.000,4,0.046,0.050,2518,679,3456
$GC,3371,-0.73,-170.3,369.0,-11.4,544,3379,0.17,2.33,0.00,0.000,6,0.127,0.043,2578,2165,3455
$GC,3688,-0.73,-170.3,399.7,-9.8,575,3691,0.00,2.10,0.00,0.000,4,0.000,0.060,2576,3477,3454
$GC,3778,-0.78,-170.3,407.6,-8.4,583,3785,0.00,2.00,0.00,0.000,6,0.000,0.036,2576,2172,3454
$GC,4094,-0.78,-170.3,438.1,-9.4,614,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2171,3452
$GC,4404,-0.78,-170.3,468.4,-9.6,644,4408,0.00,2.10,0.00,0.000,4,0.000,0.061,2576,3483,3450
$GC,4458,-0.86,-170.3,473.3,-9.3,649,4461,0.10,1.98,0.00,0.000,6,0.076,0.038,2521,2174,3449
$GC,4776,-0.64,-170.3,513.6,-12.6,675,4777,0.28,0.00,0.00,0.000,6,0.131,0.000,2608,2170,3448
$GC,5081,-0.85,-170.3,533.4,-6.4,690,5085,0.17,2.12,0.00,0.000,4,0.056,0.063,2521,3479,3446
$GC,5107,-0.79,-170.3,535.8,-10.3,691,5112,0.10,2.00,0.00,0.000,6,0.130,0.038,2559,2179,3445
$GC,5428,-0.79,-170.3,569.4,-10.7,707,5432,0.00,2.38,0.00,0.000,4,0.000,0.054,2559,680,3443
$GC,5492,-0.79,-170.3,576.1,-10.4,710,5497,0.00,2.35,0.00,0.000,6,0.000,0.046,2559,2162,3443
$GC,5819,-0.79,-170.3,607.8,-9.3,726,5823,0.00,2.12,0.00,0.000,4,0.000,0.064,2559,3471,3441
$GC,5926,-0.84,-170.3,617.9,-9.8,731,5929,0.00,1.98,0.00,0.000,6,0.000,0.039,2559,2192,3440
$GC,6251,-0.84,-170.3,649.9,-8.9,747,6257,0.00,2.40,0.00,0.000,4,0.000,0.054,2559,679,3438
$GC,6342,-0.84,-170.3,658.8,-10.0,751,6346,0.00,2.35,0.00,0.000,6,0.000,0.046,2560,2161,3438
$GC,6663,-0.84,-170.3,687.5,-8.5,767,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2161,3436
$GC,6968,-0.84,-170.3,714.4,-9.2,782,6972,0.00,2.15,0.00,0.000,4,0.000,0.067,2559,3476,3434
$GC,7022,-0.95,-170.3,719.0,-8.7,784,7026,0.10,2.03,0.00,0.000,6,0.054,0.041,2495,2171,3434
$GC,7337,-0.73,-170.3,762.0,-13.4,800,7338,0.28,0.00,0.00,0.000,6,0.137,0.000,2580,2167,3432
$GC,7643,-0.87,-170.3,786.0,-7.3,815,7647,0.12,2.15,0.00,0.000,4,0.067,0.067,2516,3473,3430
$GC,7754,-0.79,-170.3,798.0,-11.1,820,7759,0.12,2.00,0.00,0.000,6,0.129,0.041,2561,2190,3429
$GC,8077,-0.85,-170.3,823.4,-7.5,836,8080,0.00,2.10,0.00,0.000,4,0.000,0.068,2561,3473,3428
$GC,8161,-0.98,-170.3,829.5,-7.3,840,8165,0.12,2.00,0.00,0.000,6,0.052,0.041,2489,2193,3428
$GC,8487,-0.74,-170.3,869.4,-12.4,856,8491,0.30,2.10,0.00,0.000,4,0.137,0.067,2576,3480,3426
$GC,8524,-0.91,-170.3,872.7,-7.0,857,8530,0.10,2.00,0.00,0.000,6,0.054,0.041,2513,2198,3425
$GC,8835,-0.79,-170.3,906.3,-11.3,873,8836,0.17,0.00,0.00,0.000,6,0.137,0.000,2566,2193,3424
$GC,9140,-0.89,-170.3,929.8,-7.7,888,9143,0.00,2.12,0.00,0.000,4,0.000,0.069,2563,3471,3423
$GC,9182,-1.04,-170.3,933.1,-7.6,890,9186,0.20,2.00,0.00,0.000,6,0.048,0.041,2466,2195,3423
$STATE,9486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9486,begin apogee
$GC,9490,-0.20,0.0,977.1,14.8,905,9633,0.90,0.00,135.45,1.378,6,0.146,0.000,2749,2519,2759
$STATE,9633,end apogee,CONTROL_FINISHED_OK
$STATE,9633,begin climb
$GC,9635,0.87,170.3,982.6,0.0,912,9786,0.95,2.05,144.48,1.339,4,0.041,0.068,3119,3693,2063
$GC,9876,0.13,170.3,949.9,24.2,923,9883,0.90,1.88,0.00,0.000,6,0.172,0.042,2867,2547,2057
$GC,10186,0.49,263.1,926.3,6.3,939,10273,0.30,2.42,79.38,1.302,4,0.049,0.054,3009,1114,1685
$GC,10410,0.34,263.1,892.8,16.5,949,10415,0.25,2.33,0.00,0.000,6,0.145,0.051,2931,2511,1678
$GC,10726,0.45,263.1,854.5,12.6,965,10730,0.10,2.28,0.00,0.000,4,0.077,0.051,2990,1114,1676
$GC,10816,0.40,263.1,840.9,15.5,969,10821,0.12,2.25,0.00,0.000,6,0.140,0.048,2950,2502,1675
$GC,11138,0.45,263.1,801.2,11.8,985,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2502,1674
$GC,11443,0.50,263.1,766.2,11.1,1000,11447,0.00,2.25,0.00,0.000,4,0.000,0.053,2959,1115,1674
$GC,11496,0.57,263.1,760.4,11.0,1002,11500,0.10,2.22,0.00,0.000,6,0.054,0.049,3016,2496,1672
$GC,11812,0.34,263.1,708.8,16.9,1018,11816,0.28,2.20,0.00,0.000,4,0.146,0.051,2944,1108,1672
$GC,11837,0.34,263.1,704.9,14.5,1019,11842,0.00,2.20,0.00,0.000,6,0.000,0.048,2944,2480,1672
$GC,12159,0.44,263.1,666.3,11.6,1035,12163,0.00,2.20,0.00,0.000,4,0.000,0.051,2954,1114,1672
$GC,12265,0.56,263.1,653.9,11.7,1040,12270,0.10,2.15,0.00,0.000,6,0.055,0.049,3013,2454,1671
$GC,12592,0.37,263.1,600.2,17.2,1056,12596,0.25,2.15,0.00,0.000,4,0.143,0.051,2948,1114,1671
$GC,12645,0.52,263.1,593.5,10.9,1058,12649,0.08,2.12,0.00,0.000,6,0.060,0.048,2998,2445,1670
$GC,12960,0.42,263.1,547.5,14.7,1074,12965,0.15,2.12,0.00,0.000,4,0.145,0.051,2965,1117,1671
$GC,12992,0.47,263.1,543.3,13.6,1075,12996,0.00,2.10,0.00,0.000,6,0.000,0.047,2965,2433,1671
$GC,13308,0.51,263.1,508.6,10.2,1091,13312,0.00,2.12,0.00,0.000,4,0.000,0.051,2973,1109,1670
$GC,13436,0.58,263.1,495.2,10.5,1099,13440,0.00,2.08,0.00,0.000,6,0.000,0.048,2974,2413,1670
$GC,13758,0.58,263.1,456.4,11.3,1130,13761,0.00,2.05,0.00,0.000,4,0.000,0.051,2982,1112,1670
$GC,13820,0.63,263.1,449.1,10.3,1136,13825,0.08,2.05,0.00,0.000,6,0.063,0.047,3031,2401,1670
$GC,14142,0.44,263.1,404.6,13.8,1167,14145,0.25,2.08,0.00,0.000,4,0.140,0.061,2956,3687,1670
$GC,14205,0.49,263.1,397.4,10.9,1173,14209,0.00,2.00,0.00,0.000,6,0.000,0.040,2965,2395,1670
$GC,14527,0.59,263.1,365.9,10.9,1204,14530,0.12,2.00,0.00,0.000,4,0.067,0.049,3036,1108,1670
$GC,14595,0.46,263.1,356.2,14.7,1210,14602,0.20,2.08,0.00,0.000,6,0.140,0.046,2971,2414,1670
$GC,14911,0.64,329.7,327.8,7.4,1241,14970,0.15,2.15,53.67,0.930,4,0.064,0.051,3049,1121,1413
$GC,15035,0.53,329.7,313.1,12.9,1252,15041,0.17,2.08,0.00,0.000,6,0.135,0.045,2992,2393,1410
$GC,15357,0.66,334.7,279.1,9.8,1301,15369,0.12,2.10,4.85,0.662,4,0.069,0.060,3050,3677,1393
$GC,15384,0.56,334.7,275.2,14.5,1306,15391,0.17,2.03,0.00,0.000,6,0.138,0.038,3002,2389,1393
$GC,15711,0.68,334.7,236.2,10.9,1367,15718,0.10,2.00,0.00,0.000,4,0.076,0.049,3061,1105,1393
$GC,15813,0.59,334.7,222.3,15.4,1386,15820,0.15,2.05,0.00,0.000,6,0.134,0.044,3011,2390,1392
$GC,16140,0.79,360.8,192.7,9.0,1447,16167,0.17,2.15,22.83,0.795,4,0.058,0.058,3096,3696,1287
$GC,16204,0.61,360.8,183.3,16.5,1458,16210,0.28,2.03,0.00,0.000,6,0.140,0.038,3017,2403,1287
$GC,16530,0.84,390.1,148.6,8.8,1519,16563,0.20,2.05,25.48,0.752,4,0.052,0.048,3127,1106,1166
$GC,16654,0.70,390.1,130.6,17.3,1541,16660,0.25,2.08,0.00,0.000,6,0.131,0.044,3045,2399,1164
$GC,16980,0.96,440.2,97.5,8.0,1602,17027,0.22,2.12,41.10,0.706,4,0.047,0.045,3161,1106,963
$GC,17047,0.77,440.2,86.0,22.4,1613,17054,0.28,2.08,0.00,0.000,6,0.128,0.042,3071,2398,961
$GC,17374,1.04,442.4,52.3,9.9,1674,17380,0.22,0.00,0.00,0.000,6,0.047,0.000,3181,2398,960
$STATE,17692,end climb,SURFACE_DEPTH_REACHED
$STATE,17692,begin surface coast
$FINISH,1.7,1.009094
$STATE,17714,end surface coast,CONTROL_FINISHED_OK
$STATE,17715,begin surface
$SM_CCo,17789,0.00,0.000,0,0,957,442.03
$SM_GC,2.39,7.65,0.00,0.00,0.035,0.000,0.000,171,2033,957,-8.20,-1.07,442.03
$IRIDIUM_FIX,2515.12,12325.53,090998,070732
$TT8_MAMPS,0.048321
$HUMID,1550
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.60
$XPDR_PINGS,162
$ALTIM_BOTTOM_PING,901.8,99.6
$24V_AH,23.6,34.851
$10V_AH,10.7,24.636
$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,32.050,158.475,507.225,0.000,0.000,30.293,41.446,228.282,48.250,0.000,0.000,16.501,0.000,12846.834,672.055,4086.480,568.032,0.000,2191.703,0.000,3467.066,0.000,55.030,0.000
$DEVICE_MAMPS,220.896,69.030,1378.299,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1178.056,1187.821,1862.978,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97877,1738
$CAP_FILE_SIZE,193915,0
$CFSIZE,260165632,244797440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160, 49.7,1
$GPS,150609,173437,2530.095,12320.560,36,1.2,36,-3.8