version: 66.04
glider: 165
mission: 2
dive: 165
start: 6 16 109 8 2 49
data:
$ID,165
$MISSION,2
$DIVE,165
$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,-2
$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,-120129.24
$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,45
$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
$GPS1,075636,2535.252,12323.005,12,0.8,29,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.0
$GPS2,080244,2535.295,12323.055,10,1.0,10,-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,266.1,18362,-16.8,-10.000
$D_GRID,706
$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,-170.3,0.0,0.0,0,60,0.00,0.00,-46.22,0.000,2,0.000,0.000,164,2076,2094
$GC,62,-0.87,-170.3,3.4,-4.2,7,114,9.10,2.25,-37.28,0.000,4,0.229,0.057,2535,666,3455
$GC,268,-0.18,-170.3,55.1,-29.7,44,275,0.70,2.20,0.00,0.000,6,0.146,0.041,2751,2067,3457
$GC,595,-0.71,-170.3,81.0,-8.3,105,601,0.43,2.20,0.00,0.000,4,0.047,0.051,2569,3488,3459
$GC,729,-0.38,-170.3,103.4,-17.7,130,736,0.32,2.15,0.00,0.000,6,0.126,0.036,2697,2082,3460
$GC,1057,-0.65,-170.3,129.2,-7.3,191,1063,0.25,2.20,0.00,0.000,4,0.047,0.054,2569,3484,3461
$GC,1110,-0.39,-170.3,136.0,-14.8,201,1117,0.35,2.10,0.00,0.000,6,0.126,0.036,2690,2094,3461
$GC,1437,-0.70,-170.3,157.8,-7.0,262,1445,0.25,2.20,0.00,0.000,4,0.045,0.061,2563,3471,3462
$GC,1470,-0.52,-170.3,161.8,-13.6,268,1477,0.22,2.05,0.00,0.000,6,0.122,0.036,2644,2116,3462
$GC,1797,-0.65,-170.3,192.5,-7.2,329,1803,0.00,2.17,0.00,0.000,4,0.000,0.055,2644,3472,3462
$GC,1840,-0.86,-170.3,195.2,-6.3,337,1846,0.20,2.03,0.00,0.000,6,0.039,0.035,2517,2133,3462
$GC,2166,-0.47,-170.3,243.0,-14.2,398,2173,0.45,2.15,0.00,0.000,4,0.132,0.058,2660,3472,3462
$GC,2177,-0.18,-170.3,244.4,-12.6,400,2184,0.25,2.03,0.00,0.000,6,0.097,0.034,2755,2130,3462
$GC,2505,-1.00,-170.3,269.7,-9.0,461,2511,0.65,0.00,0.00,0.000,6,0.061,0.000,2492,2125,3462
$GC,2827,-0.57,-170.3,325.2,-17.9,509,2830,0.43,2.15,0.00,0.000,4,0.139,0.058,2630,3483,3462
$GC,2900,-0.86,-170.3,332.3,-7.0,516,2904,0.20,2.05,0.00,0.000,6,0.038,0.035,2517,2135,3462
$GC,3222,-0.57,-170.3,376.3,-13.4,547,3226,0.32,2.15,0.00,0.000,4,0.129,0.058,2619,3482,3462
$GC,3253,-0.72,-170.3,379.2,-7.3,549,3259,0.00,2.05,0.00,0.000,6,0.000,0.035,2619,2139,3462
$GC,3569,-0.94,-170.3,396.6,-5.2,580,3573,0.25,2.12,0.00,0.000,4,0.048,0.059,2492,3472,3460
$GC,3600,-0.68,-170.3,399.9,-12.2,582,3611,0.30,2.03,0.00,0.000,6,0.127,0.036,2594,2145,3459
$GC,3916,-0.79,-170.3,425.6,-8.6,613,3920,0.00,2.12,0.00,0.000,4,0.000,0.061,2590,3480,3458
$GC,3958,-0.94,-170.3,429.3,-8.5,617,3962,0.17,2.03,0.00,0.000,6,0.043,0.037,2491,2155,3458
$GC,4278,-0.60,-170.3,477.6,-16.0,648,4283,0.43,2.12,0.00,0.000,4,0.133,0.061,2618,3468,3455
$GC,4326,-0.90,-170.3,482.4,-7.8,652,4333,0.20,1.98,0.00,0.000,6,0.041,0.037,2510,2180,3455
$GC,4640,-0.63,-170.3,530.2,-16.3,674,4644,0.30,2.35,0.00,0.000,4,0.132,0.053,2611,678,3452
$GC,4702,-0.93,-170.3,537.6,-9.5,677,4707,0.22,2.33,0.00,0.000,6,0.041,0.044,2493,2156,3451
$GC,5024,-0.63,-170.3,591.1,-15.8,693,5028,0.38,2.10,0.00,0.000,4,0.137,0.062,2602,3480,3450
$GC,5071,-0.90,-170.3,595.8,-7.7,695,5075,0.17,2.03,0.00,0.000,6,0.042,0.038,2505,2165,3449
$GC,5393,-0.67,-170.3,633.6,-10.6,711,5395,0.30,0.00,0.00,0.000,6,0.131,0.000,2600,2161,3446
$GC,5697,-0.89,-170.3,645.1,-2.8,726,5702,0.20,2.15,0.00,0.000,4,0.054,0.065,2506,3473,3445
$GC,5734,-0.73,-170.3,647.5,-7.3,727,5742,0.20,2.03,0.00,0.000,6,0.127,0.040,2576,2168,3444
$GC,6046,-0.83,-170.3,658.9,-3.5,743,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,2165,3442
$GC,6350,-0.93,-170.3,670.0,-3.7,758,6354,0.17,2.12,0.00,0.000,4,0.061,0.065,2493,3462,3440
$GC,6371,-0.83,-170.3,671.3,-5.9,759,6375,0.15,2.00,0.00,0.000,6,0.137,0.041,2545,2169,3440
$GC,6698,-0.78,-170.3,693.4,-7.4,775,6702,0.00,2.12,0.00,0.000,4,0.000,0.064,2536,3480,3438
$GC,6734,-0.78,-170.3,696.8,-8.7,776,6741,0.08,2.00,0.00,0.000,6,0.133,0.040,2564,2189,3438
$STATE,6860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6860,begin apogee
$GC,6864,-0.20,0.0,707.1,8.1,783,7004,0.57,0.00,132.82,1.177,6,0.116,0.000,2756,2521,2758
$STATE,7004,end apogee,CONTROL_FINISHED_OK
$STATE,7004,begin climb
$GC,7006,0.87,170.3,713.0,0.0,790,7149,0.90,1.98,137.82,1.143,4,0.045,0.066,3107,3687,2064
$GC,7192,0.17,170.3,697.9,22.2,798,7196,0.77,1.85,0.00,0.000,6,0.170,0.041,2880,2548,2060
$GC,7518,0.47,222.9,669.0,7.9,814,7567,0.25,2.38,43.67,1.112,4,0.053,0.052,3002,1110,1848
$GC,7614,0.37,222.9,656.4,14.4,818,7620,0.17,2.35,0.00,0.000,6,0.142,0.049,2947,2517,1844
$GC,7924,0.42,222.9,617.2,11.8,834,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2517,1841
$GC,8229,0.48,222.9,582.5,11.7,849,8233,0.00,2.25,0.00,0.000,4,0.000,0.051,2956,1124,1840
$GC,8330,0.55,222.9,570.6,11.8,853,8337,0.08,2.25,0.00,0.000,6,0.061,0.048,3005,2516,1837
$GC,8641,0.38,222.9,523.4,15.3,869,8645,0.22,2.25,0.00,0.000,4,0.144,0.049,2949,1110,1837
$GC,8710,0.50,223.5,516.1,10.0,872,8714,0.00,2.22,0.00,0.000,6,0.000,0.047,2949,2499,1836
$GC,9023,0.59,253.5,488.3,8.8,893,9057,0.17,2.28,24.58,1.035,4,0.061,0.051,3038,1114,1722
$GC,9147,0.39,253.5,470.8,15.7,904,9153,0.25,2.22,0.00,0.000,6,0.145,0.048,2948,2484,1719
$GC,9463,0.53,275.3,439.4,9.1,935,9487,0.12,1.95,19.10,0.989,4,0.068,0.061,3007,3690,1635
$GC,9614,0.37,275.3,418.4,14.1,949,9618,0.22,1.88,0.00,0.000,6,0.137,0.040,2943,2494,1633
$GC,9935,0.60,301.5,389.7,9.0,980,9962,0.20,2.20,22.80,0.963,4,0.057,0.050,3043,1120,1528
$GC,10031,0.47,301.5,375.8,15.0,988,10037,0.20,2.22,0.00,0.000,6,0.138,0.047,2965,2492,1525
$GC,10346,0.68,332.0,344.6,8.8,1019,10381,0.20,2.28,26.17,0.933,4,0.057,0.049,3063,1123,1404
$GC,10422,0.55,332.0,334.0,14.7,1026,10427,0.20,2.20,0.00,0.000,6,0.140,0.047,2999,2473,1402
$GC,10743,0.66,332.0,299.3,10.6,1057,10749,0.00,1.95,0.00,0.000,4,0.000,0.061,2998,3680,1400
$GC,10764,0.74,332.0,296.9,11.6,1061,10771,0.10,1.88,0.00,0.000,6,0.058,0.039,3064,2472,1400
$GC,11090,0.57,332.0,251.0,16.3,1122,11096,0.20,0.00,0.00,0.000,6,0.148,0.000,3006,2469,1400
$GC,11416,0.69,336.2,216.5,9.8,1183,11425,0.10,2.17,4.28,0.593,4,0.074,0.048,3070,1110,1387
$GC,11493,0.69,336.2,206.4,14.3,1197,11499,0.00,2.15,0.00,0.000,6,0.000,0.045,3070,2468,1387
$GC,11819,0.61,336.2,161.1,13.2,1258,11826,0.20,2.12,0.00,0.000,4,0.138,0.047,3018,1123,1387
$GC,11841,0.68,336.2,158.7,11.0,1262,11847,0.00,2.12,0.00,0.000,6,0.000,0.044,3018,2471,1387
$GC,12167,0.91,352.5,123.8,9.4,1323,12188,0.25,2.12,15.27,0.727,4,0.047,0.045,3145,1112,1319
$GC,12219,0.70,352.5,116.2,15.6,1332,12225,0.28,2.17,0.00,0.000,6,0.136,0.044,3039,2484,1317
$GC,12546,1.00,426.4,89.4,7.1,1393,12616,0.25,2.00,59.55,0.710,4,0.047,0.055,3162,3694,1020
$GC,12631,0.78,426.4,77.0,17.5,1407,12638,0.28,1.90,0.00,0.000,6,0.132,0.035,3071,2487,1019
$GC,12959,1.10,471.5,47.1,8.2,1468,13003,0.25,2.15,36.90,0.657,4,0.048,0.043,3205,1124,835
$GC,13130,0.95,471.5,17.9,18.9,1499,13138,0.22,2.17,0.00,0.000,6,0.133,0.041,3131,2492,832
$STATE,13258,end climb,SURFACE_DEPTH_REACHED
$STATE,13260,begin surface coast
$FINISH,1.6,1.020371
$STATE,13291,end surface coast,CONTROL_FINISHED_OK
$STATE,13291,begin surface
$SM_CCo,13364,0.00,0.000,0,0,830,473.18
$SM_GC,2.50,7.60,0.00,0.00,0.038,0.000,0.000,167,2048,830,-8.20,-0.62,473.18
$IRIDIUM_FIX,2522.28,12322.86,100998,040442
$TT8_MAMPS,0.047554
$HUMID,1572
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.70
$XPDR_PINGS,206
$ALTIM_BOTTOM_PING,650.7,126.9
$24V_AH,24.1,35.694
$10V_AH,10.7,25.310
$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,31.925,128.675,522.975,0.000,0.000,31.295,31.823,198.775,56.500,0.000,0.000,12.345,0.000,9070.914,671.122,3469.608,491.677,0.000,1953.428,0.000,2942.483,0.000,35.593,0.000
$DEVICE_MAMPS,229.333,65.962,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.359,1122.609,1819.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85353,1529
$CAP_FILE_SIZE,162940,0
$CFSIZE,260165632,244404224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.350, 84.1,1
$GPS,160609,114630,2535.522,12323.640,38,1.3,38,-3.8