version: 66.04
glider: 165
mission: 2
dive: 161
start: 6 15 109 17 41 42
data:
$ID,165
$MISSION,2
$DIVE,161
$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,-120055.16
$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,48
$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
$GPS1,173437,2530.095,12320.560,36,1.2,36,-3.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.5
$GPS2,174136,2530.169,12320.617,10,1.0,26,-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,303.0,23155,-16.8,-10.000
$D_GRID,676
$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,-170.3,0.0,0.0,0,57,0.00,0.00,-43.72,0.000,2,0.000,0.000,170,2033,2050
$GC,59,-0.87,-170.3,3.4,-3.2,6,112,9.02,2.20,-39.72,0.000,4,0.225,0.058,2528,661,3457
$GC,319,-0.09,-170.3,73.7,-31.3,53,326,0.80,2.25,0.00,0.000,6,0.153,0.044,2781,2079,3459
$GC,646,-0.95,-170.3,104.8,-9.4,114,653,0.73,2.22,0.00,0.000,4,0.058,0.054,2498,3493,3460
$GC,814,-0.39,-170.3,141.4,-24.4,145,820,0.60,2.12,0.00,0.000,6,0.131,0.035,2692,2082,3461
$GC,1140,-0.69,-170.3,165.1,-5.2,206,1146,0.25,0.00,0.00,0.000,6,0.045,0.000,2564,2078,3462
$GC,1465,-0.47,-170.3,216.6,-16.0,267,1472,0.32,2.22,0.00,0.000,4,0.124,0.058,2670,3488,3463
$GC,1498,-0.69,-170.3,220.1,-10.0,273,1504,0.20,2.12,0.00,0.000,6,0.047,0.035,2553,2088,3463
$GC,1824,-0.47,-170.3,264.1,-13.1,334,1830,0.35,0.00,0.00,0.000,6,0.125,0.000,2667,2084,3463
$GC,2150,-0.82,-170.3,283.5,-5.8,395,2156,0.30,2.22,0.00,0.000,4,0.042,0.058,2520,3490,3464
$GC,2283,-0.57,-170.3,302.8,-16.7,418,2290,0.30,2.12,0.00,0.000,6,0.123,0.037,2637,2100,3463
$GC,2599,-0.81,-170.3,330.4,-7.5,449,2600,0.22,0.00,0.00,0.000,6,0.049,0.000,2527,2096,3463
$GC,2910,-0.57,-170.3,372.4,-12.8,479,2914,0.30,2.20,0.00,0.000,4,0.129,0.061,2628,3471,3462
$GC,2951,-0.87,-170.3,375.8,-6.0,482,2958,0.20,2.10,0.00,0.000,6,0.040,0.036,2518,2101,3461
$GC,3267,-0.61,-170.3,420.6,-15.4,513,3271,0.32,2.20,0.00,0.000,4,0.128,0.061,2617,3478,3461
$GC,3293,-0.68,-170.3,423.5,-11.0,515,3299,0.00,2.10,0.00,0.000,6,0.000,0.037,2616,2106,3460
$GC,3609,-0.90,-170.3,446.6,-6.2,546,3613,0.25,2.20,0.00,0.000,4,0.049,0.061,2495,3470,3458
$GC,3651,-0.62,-170.3,451.6,-13.1,550,3655,0.35,2.08,0.00,0.000,6,0.127,0.038,2614,2117,3457
$GC,3973,-0.86,-170.3,475.0,-7.0,581,3977,0.20,2.20,0.00,0.000,4,0.051,0.062,2516,3484,3456
$GC,4009,-0.71,-170.3,479.1,-12.5,584,4017,0.20,2.10,0.00,0.000,6,0.124,0.038,2586,2119,3455
$GC,4325,-0.81,-170.3,505.0,-7.8,612,4328,0.00,2.20,0.00,0.000,4,0.000,0.064,2586,3488,3453
$GC,4371,-1.01,-170.3,508.5,-6.9,614,4376,0.22,2.10,0.00,0.000,6,0.040,0.038,2468,2126,3452
$GC,4693,-0.61,-170.3,561.5,-17.4,630,4697,0.45,2.28,0.00,0.000,4,0.143,0.053,2613,673,3450
$GC,4745,-0.89,-170.3,567.3,-8.1,632,4754,0.20,2.30,0.00,0.000,6,0.042,0.045,2503,2131,3450
$GC,5056,-0.64,-170.3,607.5,-13.2,648,5060,0.35,2.15,0.00,0.000,4,0.133,0.063,2603,3479,3447
$GC,5098,-0.93,-170.3,610.6,-5.3,650,5103,0.20,2.10,0.00,0.000,6,0.043,0.038,2494,2120,3447
$GC,5429,-0.66,-170.3,652.1,-14.0,666,5433,0.32,2.28,0.00,0.000,4,0.135,0.053,2602,669,3445
$GC,5491,-0.93,-170.3,658.0,-6.4,669,5496,0.20,2.30,0.00,0.000,6,0.043,0.046,2494,2121,3445
$STATE,5648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5648,begin apogee
$GC,5652,-0.20,0.0,677.1,13.4,677,5791,0.80,0.00,133.15,1.140,6,0.140,0.000,2750,2535,2759
$STATE,5792,end apogee,CONTROL_FINISHED_OK
$STATE,5792,begin climb
$GC,5793,0.87,170.3,684.6,0.0,684,5939,0.93,2.38,137.40,1.116,4,0.044,0.052,3122,1129,2062
$GC,5965,0.26,170.3,673.3,17.7,692,5970,0.77,2.33,0.00,0.000,6,0.174,0.050,2907,2524,2059
$GC,6280,0.48,234.9,646.9,7.5,708,6338,0.20,2.33,52.70,1.088,4,0.055,0.051,3014,1123,1801
$GC,6373,0.33,234.9,634.4,15.1,711,6381,0.25,2.35,0.00,0.000,6,0.139,0.048,2934,2532,1797
$GC,6685,0.44,234.9,602.1,10.7,727,6688,0.00,2.25,0.00,0.000,4,0.000,0.051,2943,1126,1794
$GC,6801,0.57,234.9,589.7,10.1,732,6806,0.12,2.22,0.00,0.000,6,0.048,0.047,3015,2504,1792
$GC,7118,0.38,234.9,542.7,15.5,748,7121,0.25,2.20,0.00,0.000,4,0.142,0.050,2951,1116,1791
$GC,7154,0.48,234.9,538.3,11.4,749,7160,0.00,2.22,0.00,0.000,6,0.000,0.048,2951,2504,1790
$GC,7464,0.61,277.8,509.1,8.3,765,7509,0.20,2.28,35.08,1.040,4,0.058,0.051,3049,1131,1624
$GC,7630,0.41,277.8,485.0,15.1,776,7637,0.30,2.20,0.00,0.000,6,0.144,0.046,2954,2488,1620
$GC,7947,0.55,278.8,453.7,10.0,807,7950,0.12,2.15,0.00,0.000,4,0.068,0.050,3023,1129,1619
$GC,7993,0.46,278.8,447.8,13.6,811,8000,0.15,2.12,0.00,0.000,6,0.133,0.046,2973,2459,1618
$GC,8309,0.54,278.8,410.3,12.0,842,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2458,1618
$GC,8620,0.66,302.0,378.0,9.1,872,8646,0.17,2.17,20.12,0.948,4,0.061,0.051,3059,1127,1527
$GC,8683,0.46,302.0,369.7,14.6,878,8687,0.28,2.15,0.00,0.000,6,0.143,0.046,2971,2462,1525
$GC,9004,0.62,302.0,340.0,11.0,909,9008,0.15,2.12,0.00,0.000,4,0.064,0.048,3050,1129,1524
$GC,9062,0.50,302.0,331.5,15.7,914,9071,0.20,2.12,0.00,0.000,6,0.136,0.045,2983,2461,1523
$GC,9379,0.64,325.0,300.9,9.1,945,9404,0.12,2.20,20.15,0.884,4,0.070,0.049,3054,1118,1433
$GC,9430,0.54,325.0,294.2,14.4,953,9436,0.20,2.12,0.00,0.000,6,0.140,0.045,2995,2464,1431
$GC,9755,0.66,325.0,255.6,11.1,1014,9763,0.12,1.95,0.00,0.000,4,0.067,0.060,3057,3680,1429
$GC,9805,0.47,325.0,248.2,16.6,1023,9811,0.28,1.88,0.00,0.000,6,0.133,0.040,2976,2469,1430
$GC,10131,0.78,394.0,220.1,7.3,1084,10193,0.28,2.22,57.22,0.824,4,0.048,0.048,3111,1124,1151
$GC,10347,0.59,394.0,184.1,17.6,1123,10354,0.30,2.12,0.00,0.000,6,0.141,0.044,3015,2447,1146
$GC,10674,0.85,394.0,149.5,12.4,1184,10680,0.22,2.10,0.00,0.000,4,0.047,0.047,3135,1127,1145
$GC,10717,0.65,394.0,142.6,18.1,1192,10723,0.30,2.08,0.00,0.000,6,0.137,0.044,3035,2438,1145
$GC,11044,0.94,427.3,113.1,8.7,1253,11077,0.20,2.15,27.23,0.721,4,0.048,0.046,3155,1117,1016
$GC,11209,0.83,427.3,89.2,16.7,1283,11216,0.20,2.05,0.00,0.000,6,0.125,0.042,3088,2407,1012
$GC,11536,1.02,427.3,49.7,12.2,1344,11542,0.17,2.03,0.00,0.000,4,0.054,0.055,3176,3686,1012
$GC,11579,0.85,427.3,42.4,18.2,1352,11585,0.28,1.92,0.00,0.000,6,0.134,0.035,3094,2426,1012
$GC,11906,1.16,492.7,12.0,7.4,1413,11964,0.28,2.03,51.95,0.626,4,0.044,0.043,3234,1118,750
$STATE,11966,end climb,SURFACE_DEPTH_REACHED
$STATE,11966,begin surface coast
$FINISH,1.5,1.021247
$STATE,11982,end surface coast,CONTROL_FINISHED_OK
$STATE,11982,begin surface
$SM_CCo,12058,0.00,0.000,0,0,745,494.03
$SM_GC,2.42,7.93,0.00,0.00,0.035,0.000,0.000,169,2084,745,-8.21,0.37,494.03
$IRIDIUM_FIX,2519.89,12318.24,090998,121204
$TT8_MAMPS,0.047554
$HUMID,1528
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.80
$XPDR_PINGS,163
$ALTIM_BOTTOM_PING,652.1,58.8
$24V_AH,24.1,35.024
$10V_AH,10.7,24.765
$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,32.650,117.025,535.000,0.000,0.000,24.549,35.220,229.645,46.000,0.000,0.000,28.016,0.000,8057.996,666.343,3216.135,502.791,0.000,1845.719,0.000,2712.073,0.000,39.604,0.000
$DEVICE_MAMPS,224.731,63.661,1139.762,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,961.582,1019.607,1664.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82162,1426
$CAP_FILE_SIZE,148007,0
$CFSIZE,260165632,244756480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247, 71.1,1
$GPS,150609,210336,2531.904,12320.959,37,1.0,37,-3.8