version: 66.04
glider: 165
mission: 2
dive: 169
start: 6 16 109 23 33 6
data:
$ID,165
$MISSION,2
$DIVE,169
$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,-120238.02
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,232607,2535.719,12324.412,34,0.9,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-69.8
$GPS2,233301,2535.838,12324.447,10,1.0,10,-3.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,196.0,48111,-16.8,-10.000
$D_GRID,705
$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,-170.3,0.0,0.0,0,69,0.00,0.00,-54.97,0.000,2,0.000,0.000,153,2059,1911
$GC,71,-0.87,-170.3,3.0,-3.1,8,134,9.05,2.20,-48.15,0.000,4,0.225,0.059,2531,657,3454
$GC,204,-0.24,-170.3,29.3,-27.2,31,210,0.70,2.20,0.00,0.000,6,0.146,0.041,2738,2076,3455
$GC,530,-0.57,-170.3,59.6,-9.7,92,536,0.28,2.22,0.00,0.000,4,0.042,0.054,2600,3475,3457
$GC,605,-0.32,-170.3,72.6,-19.2,106,612,0.28,2.15,0.00,0.000,6,0.121,0.034,2712,2063,3457
$GC,933,-0.65,-170.3,102.4,-7.8,167,939,0.28,2.22,0.00,0.000,4,0.042,0.053,2570,3476,3459
$GC,970,-0.43,-170.3,107.8,-16.2,174,978,0.30,2.10,0.00,0.000,6,0.119,0.039,2676,2089,3459
$GC,1299,-0.69,-170.3,132.1,-5.1,235,1305,0.22,2.17,0.00,0.000,4,0.049,0.054,2560,3474,3460
$GC,1320,-0.69,-170.3,134.1,-9.2,239,1327,0.08,2.10,0.00,0.000,6,0.129,0.035,2589,2087,3460
$GC,1647,-0.53,-170.3,176.3,-12.2,300,1653,0.17,2.20,0.00,0.000,4,0.129,0.053,2648,679,3460
$GC,1690,-0.67,-170.3,180.4,-8.0,308,1696,0.10,2.17,0.00,0.000,6,0.048,0.039,2572,2089,3460
$GC,2016,-0.49,-170.3,223.5,-12.7,369,2022,0.28,2.15,0.00,0.000,4,0.125,0.055,2660,3470,3460
$GC,2085,-0.82,-170.3,228.9,-7.0,382,2093,0.25,2.08,0.00,0.000,6,0.035,0.038,2524,2103,3460
$GC,2413,-0.47,-170.3,278.8,-15.8,443,2419,0.40,2.17,0.00,0.000,4,0.130,0.056,2659,3474,3460
$GC,2445,-0.72,-170.3,281.6,-6.7,449,2451,0.15,2.08,0.00,0.000,6,0.040,0.035,2560,2105,3460
$GC,2765,-0.58,-170.3,320.7,-12.1,494,2769,0.22,2.17,0.00,0.000,4,0.123,0.057,2632,3464,3460
$GC,2808,-0.84,-170.3,324.3,-7.7,498,2812,0.20,2.05,0.00,0.000,6,0.039,0.035,2521,2114,3460
$GC,3129,-0.57,-170.3,368.8,-13.5,529,3133,0.35,2.22,0.00,0.000,4,0.127,0.051,2635,669,3459
$GC,3155,-0.66,-170.3,371.3,-8.7,531,3161,0.00,2.25,0.00,0.000,6,0.000,0.041,2634,2112,3459
$GC,3471,-0.94,-170.3,386.1,-4.6,562,3475,0.28,2.15,0.00,0.000,4,0.045,0.056,2494,3482,3458
$GC,3605,-0.63,-170.3,402.3,-13.6,574,3609,0.38,2.05,0.00,0.000,6,0.128,0.037,2613,2119,3456
$GC,3919,-0.83,-170.3,422.3,-6.7,604,3923,0.17,2.17,0.00,0.000,4,0.055,0.058,2520,3470,3455
$GC,3946,-0.75,-170.3,425.0,-10.5,606,3958,0.15,2.03,0.00,0.000,6,0.124,0.037,2574,2142,3455
$GC,4262,-0.75,-170.3,454.5,-8.1,637,4266,0.00,2.30,0.00,0.000,4,0.000,0.052,2575,679,3453
$GC,4294,-0.80,-170.3,457.3,-8.7,640,4298,0.00,2.28,0.00,0.000,6,0.000,0.044,2574,2133,3453
$GC,4616,-0.80,-170.3,481.3,-8.3,671,4619,0.00,2.12,0.00,0.000,4,0.000,0.061,2574,3476,3450
$GC,4652,-0.90,-170.3,484.4,-7.6,674,4661,0.10,2.05,0.00,0.000,6,0.053,0.038,2510,2140,3449
$GC,4966,-0.66,-170.3,524.5,-13.4,696,4970,0.28,2.15,0.00,0.000,4,0.133,0.061,2601,3473,3447
$GC,5012,-0.89,-170.3,528.6,-7.3,698,5017,0.17,2.05,0.00,0.000,6,0.042,0.037,2507,2138,3447
$GC,5333,-0.64,-170.3,570.6,-14.1,714,5335,0.32,0.00,0.00,0.000,6,0.129,0.000,2609,2133,3445
$GC,5639,-0.88,-170.3,593.5,-7.3,729,5642,0.20,2.15,0.00,0.000,4,0.055,0.063,2516,3473,3443
$GC,5675,-0.76,-170.3,597.4,-10.8,730,5683,0.15,2.05,0.00,0.000,6,0.127,0.039,2569,2149,3442
$GC,5988,-0.83,-170.3,626.7,-9.1,746,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2145,3441
$GC,6291,-0.89,-170.3,653.5,-8.9,761,6292,0.12,0.00,0.00,0.000,6,0.071,0.000,2507,2144,3439
$GC,6596,-0.68,-170.3,693.0,-13.2,776,6600,0.30,2.15,0.00,0.000,4,0.134,0.067,2601,3472,3436
$GC,6639,-0.94,-170.3,696.4,-6.3,778,6643,0.20,2.05,0.00,0.000,6,0.044,0.041,2494,2151,3436
$STATE,6719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6719,begin apogee
$GC,6723,-0.20,0.0,705.7,12.2,782,6862,0.80,0.00,131.90,1.177,6,0.139,0.000,2751,2517,2758
$STATE,6862,end apogee,CONTROL_FINISHED_OK
$STATE,6862,begin climb
$GC,6864,0.87,170.3,710.1,0.0,789,7007,0.93,2.03,136.98,1.144,4,0.046,0.065,3109,3683,2063
$GC,7099,0.20,170.3,680.1,20.8,800,7103,0.75,1.85,0.00,0.000,6,0.166,0.041,2895,2531,2058
$GC,7425,0.49,248.0,654.4,6.9,816,7493,0.22,2.35,63.40,1.114,4,0.053,0.054,3011,1123,1746
$GC,7548,0.37,248.0,638.8,13.3,821,7554,0.25,2.30,0.00,0.000,6,0.142,0.049,2940,2524,1741
$GC,7857,0.49,248.0,607.1,10.2,837,7862,0.12,2.28,0.00,0.000,4,0.067,0.051,3011,1123,1739
$GC,7905,0.37,248.0,601.2,13.3,839,7910,0.20,2.25,0.00,0.000,6,0.137,0.048,2946,2512,1737
$GC,8226,0.49,261.8,570.0,9.5,855,8241,0.00,2.22,11.40,1.010,4,0.000,0.050,2954,1122,1690
$GC,8268,0.64,279.0,565.9,9.3,856,8288,0.17,2.22,15.82,1.029,6,0.048,0.045,3040,2496,1621
$GC,8611,0.42,279.0,509.6,16.2,873,8612,0.30,0.00,0.00,0.000,6,0.141,0.000,2951,2496,1617
$GC,8918,0.54,279.0,473.9,11.2,898,8923,0.12,1.92,0.00,0.000,4,0.068,0.061,3012,3694,1615
$GC,8961,0.37,279.0,467.2,17.6,902,8965,0.22,1.88,0.00,0.000,6,0.134,0.038,2945,2482,1615
$GC,9282,0.61,321.9,435.6,8.3,933,9328,0.20,2.22,36.25,1.012,4,0.057,0.048,3045,1129,1445
$GC,9375,0.49,321.9,423.2,14.9,941,9381,0.20,2.22,0.00,0.000,6,0.137,0.044,2981,2494,1442
$GC,9690,0.59,321.9,388.5,10.2,972,9691,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2494,1439
$GC,10001,0.70,321.9,354.7,10.4,1002,10005,0.17,2.15,0.00,0.000,4,0.061,0.048,3068,1127,1440
$GC,10027,0.59,321.9,351.2,14.6,1004,10034,0.17,2.17,0.00,0.000,6,0.144,0.045,3010,2491,1438
$GC,10343,0.59,321.9,314.6,11.0,1035,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2490,1438
$GC,10659,0.59,321.9,277.6,12.6,1082,10667,0.00,2.17,0.00,0.000,4,0.000,0.048,3020,1126,1438
$GC,10713,0.65,321.9,270.7,12.3,1092,10720,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,2486,1437
$GC,11040,0.65,321.9,230.4,10.9,1153,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2486,1436
$GC,11365,0.71,324.3,195.1,9.9,1214,11372,0.00,2.15,0.00,0.000,4,0.000,0.047,3029,1127,1436
$GC,11419,0.78,324.3,189.5,10.6,1224,11426,0.08,2.15,0.00,0.000,6,0.059,0.044,3085,2490,1437
$GC,11746,0.60,324.3,144.5,13.3,1285,11752,0.25,2.15,0.00,0.000,4,0.140,0.046,3019,1123,1437
$GC,11827,0.77,332.2,136.6,9.7,1300,11839,0.10,2.12,8.57,0.699,6,0.052,0.043,3093,2473,1403
$GC,12161,0.70,332.2,90.9,12.2,1362,12167,0.17,0.00,0.00,0.000,6,0.131,0.000,3041,2473,1403
$GC,12488,1.01,400.1,64.1,7.3,1423,12551,0.28,2.20,54.85,0.696,4,0.046,0.044,3183,1120,1126
$GC,12662,0.81,400.1,35.9,17.4,1454,12670,0.30,2.12,0.00,0.000,6,0.133,0.041,3085,2457,1122
$GC,12990,1.18,481.5,7.9,6.8,1515,13029,0.30,0.00,36.78,0.629,2,0.043,0.000,3224,2457,942
$STATE,13029,end climb,SURFACE_DEPTH_REACHED
$STATE,13029,begin surface coast
$FINISH,1.5,1.021146
$STATE,13042,end surface coast,CONTROL_FINISHED_OK
$STATE,13042,begin surface
$SM_CCo,13117,0.00,0.000,0,0,938,446.69
$SM_GC,2.23,7.80,0.00,0.00,0.028,0.000,0.000,158,2050,938,-8.20,-0.59,446.69
$IRIDIUM_FIX,2527.05,12324.17,100998,191945
$TT8_MAMPS,0.048321
$HUMID,1546
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.80
$XPDR_PINGS,196
$24V_AH,24.1,36.410
$10V_AH,10.7,25.863
$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,30.250,117.225,495.950,0.000,0.000,31.053,35.426,234.320,54.250,0.000,0.000,12.183,0.000,8917.684,648.759,3405.076,530.735,0.000,1903.069,0.000,2887.281,0.000,37.769,0.000
$DEVICE_MAMPS,224.731,66.729,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.511,1112.893,1813.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85212,1524
$CAP_FILE_SIZE,157339,0
$CFSIZE,260165632,244051968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271, 67.0,1
$GPS,170609,031236,2534.767,12325.783,34,0.9,34,-3.8