version: 66.04
glider: 165
mission: 2
dive: 170
start: 6 17 109 3 18 49
data:
$ID,165
$MISSION,2
$DIVE,170
$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,-120251.49
$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,54
$R_STBD_OVSHOOT,32
$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
$GPS1,031236,2534.767,12325.783,34,0.9,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-70.8
$GPS2,031844,2534.900,12325.861,11,1.0,11,-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,197.3,45379,-16.8,-10.000
$D_GRID,662
$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,-45.78,0.000,2,0.000,0.000,157,2048,2089
$GC,62,-0.87,-170.3,3.5,-4.3,7,114,9.02,2.15,-37.20,0.000,4,0.225,0.058,2531,672,3455
$GC,166,-0.08,-170.3,27.6,-33.9,25,174,0.82,2.22,0.00,0.000,6,0.153,0.046,2789,2073,3456
$GC,493,-0.83,-170.3,61.8,-11.2,86,500,0.65,2.20,0.00,0.000,4,0.065,0.052,2540,3488,3458
$GC,640,-0.33,-170.3,88.2,-21.9,113,646,0.52,2.08,0.00,0.000,6,0.127,0.035,2712,2108,3458
$GC,966,-0.66,-170.3,114.4,-5.6,174,972,0.28,2.20,0.00,0.000,4,0.043,0.048,2572,675,3460
$GC,1008,-0.43,-170.3,119.5,-13.7,182,1015,0.32,2.22,0.00,0.000,6,0.123,0.040,2676,2106,3460
$GC,1336,-0.69,-170.3,145.4,-7.6,243,1342,0.22,2.12,0.00,0.000,4,0.047,0.054,2557,3473,3461
$GC,1384,-0.50,-170.3,151.8,-15.4,252,1392,0.28,2.10,0.00,0.000,6,0.117,0.034,2655,2085,3461
$GC,1712,-0.69,-170.3,181.5,-8.5,313,1718,0.17,2.22,0.00,0.000,4,0.055,0.055,2561,3473,3461
$GC,1738,-0.69,-170.3,184.6,-11.9,318,1745,0.08,2.08,0.00,0.000,6,0.128,0.035,2589,2103,3461
$GC,2065,-0.60,-170.3,225.9,-12.2,379,2070,0.12,0.00,0.00,0.000,6,0.137,0.000,2629,2100,3461
$GC,2390,-0.74,-170.3,252.3,-6.8,440,2398,0.15,2.17,0.00,0.000,4,0.058,0.056,2547,3466,3461
$GC,2515,-0.60,-170.3,267.2,-11.7,463,2521,0.25,2.03,0.00,0.000,6,0.123,0.035,2627,2112,3461
$GC,2841,-0.78,-170.3,294.3,-8.4,524,2847,0.17,0.00,0.00,0.000,6,0.054,0.000,2536,2109,3461
$GC,3159,-0.56,-170.3,339.0,-14.3,559,3163,0.32,2.17,0.00,0.000,4,0.125,0.060,2642,3479,3461
$GC,3243,-0.93,-170.3,345.5,-6.8,566,3250,0.30,2.08,0.00,0.000,6,0.035,0.041,2481,2125,3461
$GC,3559,-0.52,-170.3,396.4,-15.6,597,3563,0.52,2.25,0.00,0.000,4,0.133,0.052,2652,670,3460
$GC,3590,-0.77,-170.3,399.1,-6.5,600,3595,0.17,2.25,0.00,0.000,6,0.039,0.041,2539,2115,3460
$GC,3912,-0.63,-170.3,433.2,-11.7,631,3915,0.25,2.15,0.00,0.000,4,0.125,0.059,2616,3480,3457
$GC,3964,-0.93,-170.3,437.0,-6.5,636,3968,0.22,2.08,0.00,0.000,6,0.039,0.036,2494,2123,3457
$GC,4285,-0.61,-170.3,483.0,-16.2,667,4287,0.40,0.00,0.00,0.000,6,0.131,0.000,2622,2118,3454
$GC,4606,-0.90,-170.3,505.4,-6.0,694,4610,0.22,2.17,0.00,0.000,4,0.051,0.060,2507,3475,3452
$GC,4679,-0.71,-170.3,514.1,-12.9,697,4686,0.22,2.08,0.00,0.000,6,0.123,0.039,2586,2127,3451
$GC,4990,-0.82,-170.3,536.8,-5.2,713,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2124,3449
$GC,5295,-0.94,-170.3,556.6,-7.4,728,5296,0.20,0.00,0.00,0.000,6,0.055,0.000,2491,2122,3447
$GC,5600,-0.62,-170.3,597.5,-13.7,743,5604,0.40,2.20,0.00,0.000,4,0.134,0.064,2617,3471,3444
$GC,5638,-0.92,-170.3,600.3,-5.6,744,5646,0.20,2.08,0.00,0.000,6,0.042,0.039,2494,2129,3444
$GC,5948,-0.64,-170.3,642.6,-14.5,760,5950,0.38,0.00,0.00,0.000,6,0.133,0.000,2612,2124,3443
$STATE,6251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6251,begin apogee
$GC,6255,-0.20,0.0,662.3,5.5,775,6394,0.40,0.00,131.90,1.141,6,0.100,0.000,2753,2525,2758
$STATE,6394,end apogee,CONTROL_FINISHED_OK
$STATE,6394,begin climb
$GC,6396,0.87,170.3,667.0,0.0,782,6539,0.93,2.05,136.55,1.111,4,0.048,0.065,3108,3698,2062
$GC,6560,0.20,170.3,653.5,21.2,790,6565,0.82,1.85,0.00,0.000,6,0.167,0.040,2882,2541,2060
$GC,6881,0.53,245.3,628.0,7.0,806,6947,0.30,2.38,61.10,1.085,4,0.048,0.053,3024,1112,1758
$GC,6968,0.35,245.3,616.1,15.6,810,6973,0.28,2.35,0.00,0.000,6,0.138,0.048,2938,2512,1754
$GC,7291,0.54,285.0,586.9,8.4,826,7332,0.15,2.33,33.00,1.060,4,0.061,0.051,3022,1124,1596
$GC,7384,0.43,285.0,574.6,14.0,830,7388,0.17,2.28,0.00,0.000,6,0.133,0.048,2965,2506,1592
$GC,7700,0.55,313.0,544.5,8.9,846,7730,0.00,2.30,24.20,1.038,4,0.000,0.050,2973,1118,1481
$GC,7757,0.70,333.0,539.0,9.2,848,7786,0.17,2.25,18.30,1.002,6,0.047,0.045,3060,2492,1400
$GC,8090,0.47,333.0,477.0,20.3,870,8094,0.28,1.92,0.00,0.000,4,0.139,0.060,2974,3696,1396
$GC,8143,0.56,333.0,468.6,14.4,875,8147,0.00,1.88,0.00,0.000,6,0.000,0.039,2980,2493,1396
$GC,8464,0.67,333.0,426.1,12.8,906,8468,0.15,2.15,0.00,0.000,4,0.064,0.050,3061,1116,1394
$GC,8560,0.50,333.0,409.4,18.1,915,8564,0.22,2.20,0.00,0.000,6,0.142,0.047,2987,2492,1393
$GC,8880,0.60,333.0,369.0,12.1,946,8884,0.00,2.17,0.00,0.000,4,0.000,0.048,2995,1129,1392
$GC,8912,0.72,333.0,365.3,11.7,949,8916,0.15,2.17,0.00,0.000,6,0.065,0.044,3068,2514,1391
$GC,9233,0.51,333.0,315.1,15.1,980,9237,0.28,2.20,0.00,0.000,4,0.142,0.048,2994,1111,1392
$GC,9248,0.39,333.0,313.0,15.1,981,9256,0.12,2.20,0.00,0.000,6,0.122,0.044,2950,2496,1391
$GC,9568,0.83,414.2,290.3,6.8,1024,9643,0.38,2.28,66.47,0.896,4,0.044,0.048,3126,1130,1068
$GC,9727,0.56,414.2,258.5,22.0,1052,9734,0.40,2.20,0.00,0.000,6,0.146,0.044,3001,2487,1064
$GC,10054,0.82,414.2,219.9,10.3,1113,10061,0.22,2.15,0.00,0.000,4,0.050,0.047,3121,1121,1063
$GC,10113,0.61,414.2,209.5,19.5,1124,10120,0.30,2.12,0.00,0.000,6,0.143,0.044,3024,2456,1062
$GC,10441,0.78,414.2,169.6,11.5,1185,10448,0.15,2.10,0.00,0.000,4,0.060,0.047,3115,1129,1061
$GC,10522,0.60,414.2,155.8,18.1,1200,10529,0.30,2.08,0.00,0.000,6,0.137,0.043,3017,2446,1061
$GC,10849,0.96,457.8,125.5,8.3,1261,10889,0.30,2.17,35.38,0.748,4,0.041,0.046,3168,1113,891
$GC,10915,0.69,457.8,113.0,21.8,1272,10922,0.38,2.10,0.00,0.000,6,0.133,0.043,3046,2424,890
$GC,11242,1.04,468.1,79.2,9.6,1333,11256,0.30,2.05,9.45,0.644,4,0.042,0.044,3196,1115,849
$GC,11288,0.79,468.1,71.6,20.1,1341,11295,0.35,2.08,0.00,0.000,6,0.137,0.041,3082,2426,847
$GC,11616,1.14,513.8,40.1,8.2,1402,11659,0.28,0.00,39.12,0.662,6,0.043,0.000,3216,2426,661
$STATE,11817,end climb,SURFACE_DEPTH_REACHED
$STATE,11817,begin surface coast
$FINISH,1.6,1.021422
$STATE,11833,end surface coast,CONTROL_FINISHED_OK
$STATE,11833,begin surface
$SM_CCo,11907,0.00,0.000,0,0,654,516.60
$SM_GC,2.43,7.75,0.00,0.00,0.031,0.000,0.000,157,2060,654,-8.21,-0.31,516.60
$IRIDIUM_FIX,2524.66,12326.17,100998,232351
$TT8_MAMPS,0.048321
$HUMID,1590
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.40
$XPDR_PINGS,207
$24V_AH,24.1,36.590
$10V_AH,10.7,25.993
$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,32.425,104.550,555.475,0.000,0.000,26.313,34.856,199.493,56.500,0.000,0.000,12.837,0.000,7916.324,676.290,3179.812,473.759,0.000,1843.602,0.000,2702.070,0.000,32.471,0.000
$DEVICE_MAMPS,224.731,65.195,1140.529,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,972.543,1068.070,1741.462,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82087,1442
$CAP_FILE_SIZE,144566,0
$CFSIZE,260165632,243978240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.272, 58.6,1
$GPS,170609,063806,2534.269,12326.634,31,1.3,31,-3.8