version: 66.04
glider: 165
mission: 2
dive: 171
start: 6 17 109 6 44 19
data:
$ID,165
$MISSION,2
$DIVE,171
$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,-120267.23
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,063806,2534.269,12326.634,31,1.3,31,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-68.7
$GPS2,064414,2534.384,12326.733,13,1.5,13,-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,198.3,43808,-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,-170.3,0.0,0.0,0,66,0.00,0.00,-52.50,0.000,2,0.000,0.000,156,2059,1954
$GC,68,-0.87,-170.3,3.1,-2.8,8,126,9.07,2.20,-43.42,0.000,4,0.228,0.059,2531,657,3454
$GC,196,-0.17,-170.3,31.3,-31.7,30,202,0.77,2.20,0.00,0.000,6,0.154,0.040,2758,2076,3456
$GC,522,-0.54,-170.3,57.3,-6.0,91,530,0.30,2.22,0.00,0.000,4,0.042,0.056,2607,3479,3458
$GC,619,-0.33,-170.3,71.8,-15.5,109,626,0.28,2.15,0.00,0.000,6,0.120,0.034,2704,2073,3458
$GC,946,-0.58,-170.3,99.7,-5.7,170,953,0.20,2.25,0.00,0.000,4,0.052,0.058,2600,3476,3460
$GC,995,-0.45,-170.3,105.1,-12.7,179,1002,0.17,2.08,0.00,0.000,6,0.116,0.034,2666,2103,3460
$GC,1322,-0.62,-170.3,134.1,-10.6,240,1329,0.12,2.20,0.00,0.000,4,0.067,0.058,2592,3477,3461
$GC,1397,-0.55,-170.3,144.9,-14.8,254,1404,0.12,2.08,0.00,0.000,6,0.116,0.035,2641,2106,3461
$GC,1724,-0.67,-170.3,174.8,-7.8,315,1731,0.12,0.00,0.00,0.000,6,0.065,0.000,2568,2103,3462
$GC,2050,-0.48,-170.3,216.4,-13.3,376,2056,0.30,0.00,0.00,0.000,6,0.126,0.000,2666,2102,3462
$GC,2376,-0.80,-170.3,238.2,-5.5,437,2382,0.28,2.17,0.00,0.000,4,0.045,0.058,2533,3483,3462
$GC,2456,-0.55,-170.3,248.4,-14.2,452,2463,0.30,2.05,0.00,0.000,6,0.123,0.036,2638,2133,3462
$GC,2783,-0.77,-170.3,271.4,-6.7,513,2788,0.17,0.00,0.00,0.000,6,0.055,0.000,2548,2128,3462
$GC,3110,-0.57,-170.3,311.7,-12.7,566,3111,0.28,0.00,0.00,0.000,6,0.128,0.000,2636,2128,3461
$GC,3422,-0.81,-170.3,333.2,-6.9,596,3425,0.17,2.15,0.00,0.000,4,0.054,0.060,2536,3475,3459
$GC,3511,-0.66,-170.3,344.9,-14.0,604,3516,0.17,2.05,0.00,0.000,6,0.120,0.038,2599,2137,3459
$GC,3833,-0.76,-170.3,375.1,-9.0,635,3836,0.00,2.25,0.00,0.000,4,0.000,0.053,2599,684,3458
$GC,3864,-0.90,-170.3,377.9,-9.3,638,3868,0.15,2.25,0.00,0.000,6,0.044,0.043,2511,2122,3458
$GC,4185,-0.62,-170.3,421.6,-13.7,669,4189,0.35,2.12,0.00,0.000,4,0.133,0.060,2616,3471,3456
$GC,4222,-0.85,-170.3,425.0,-7.5,672,4229,0.15,2.05,0.00,0.000,6,0.042,0.036,2526,2128,3455
$GC,4537,-0.64,-170.3,463.6,-12.4,703,4541,0.28,2.15,0.00,0.000,4,0.130,0.058,2604,3479,3453
$GC,4574,-0.83,-170.3,466.7,-7.6,706,4581,0.12,2.08,0.00,0.000,6,0.048,0.037,2528,2125,3453
$GC,4890,-0.66,-170.3,503.5,-12.6,736,4894,0.25,2.15,0.00,0.000,4,0.127,0.061,2604,3471,3450
$GC,4937,-0.90,-170.3,507.4,-7.0,738,4941,0.17,2.03,0.00,0.000,6,0.044,0.037,2508,2148,3450
$GC,5260,-0.65,-170.3,550.8,-13.5,754,5264,0.30,2.30,0.00,0.000,4,0.133,0.052,2608,678,3448
$GC,5296,-0.83,-170.3,554.5,-7.8,756,5301,0.12,2.28,0.00,0.000,6,0.048,0.044,2533,2126,3449
$GC,5623,-0.70,-170.3,588.6,-11.1,772,5627,0.20,2.15,0.00,0.000,4,0.130,0.061,2590,3482,3446
$GC,5687,-0.91,-170.3,593.6,-6.7,775,5691,0.17,2.05,0.00,0.000,6,0.058,0.038,2507,2128,3445
$GC,6014,-0.67,-170.3,634.8,-12.8,791,6018,0.28,2.25,0.00,0.000,4,0.135,0.051,2598,685,3443
$GC,6051,-0.84,-170.3,638.3,-8.5,793,6054,0.08,2.25,0.00,0.000,6,0.058,0.045,2529,2110,3443
$STATE,6294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6294,begin apogee
$GC,6298,-0.20,0.0,662.7,10.4,805,6439,0.70,0.00,131.95,1.135,6,0.128,0.000,2754,2526,2758
$STATE,6439,end apogee,CONTROL_FINISHED_OK
$STATE,6439,begin climb
$GC,6441,0.87,170.3,666.6,0.0,812,6582,0.95,2.03,135.57,1.104,4,0.041,0.062,3124,3693,2063
$GC,6629,0.13,170.3,648.7,21.1,821,6633,0.90,1.85,0.00,0.000,6,0.168,0.039,2868,2546,2060
$GC,6951,0.56,285.0,628.1,5.5,837,7050,0.35,2.40,93.07,1.085,4,0.046,0.051,3028,1127,1596
$GC,7136,0.42,285.0,601.0,16.2,845,7143,0.22,2.28,0.00,0.000,6,0.137,0.048,2957,2506,1590
$GC,7446,0.53,285.0,566.5,10.3,861,7450,0.00,2.25,0.00,0.000,4,0.000,0.049,2964,1118,1588
$GC,7489,0.65,285.0,562.1,10.6,863,7493,0.15,2.22,0.00,0.000,6,0.048,0.047,3042,2498,1586
$GC,7815,0.42,285.0,511.3,15.5,879,7817,0.30,0.00,0.00,0.000,6,0.138,0.000,2952,2498,1586
$GC,8124,0.59,302.5,481.7,9.3,903,8145,0.17,0.00,14.40,0.987,6,0.058,0.000,3032,2498,1524
$GC,8453,0.42,302.5,431.8,15.0,935,8457,0.25,1.90,0.00,0.000,4,0.137,0.062,2957,3681,1522
$GC,8490,0.52,302.5,427.2,10.9,938,8498,0.00,1.85,0.00,0.000,6,0.000,0.039,2965,2489,1522
$GC,8807,0.66,302.5,395.3,10.8,969,8811,0.17,2.12,0.00,0.000,4,0.059,0.048,3062,1127,1521
$GC,8876,0.47,302.5,384.1,17.3,975,8880,0.28,2.17,0.00,0.000,6,0.144,0.047,2974,2490,1519
$GC,9196,0.60,302.5,347.1,10.6,1006,9200,0.12,2.15,0.00,0.000,4,0.070,0.048,3043,1129,1519
$GC,9244,0.50,302.5,340.6,14.3,1010,9251,0.17,2.12,0.00,0.000,6,0.130,0.044,2984,2473,1518
$GC,9560,0.59,302.5,308.4,10.5,1041,9563,0.00,1.92,0.00,0.000,4,0.000,0.061,2984,3678,1518
$GC,9596,0.59,302.5,304.5,11.6,1044,9603,0.00,1.85,0.00,0.000,6,0.000,0.038,2991,2471,1518
$GC,9921,0.67,302.5,268.3,12.0,1101,9927,0.12,2.10,0.00,0.000,4,0.068,0.048,3065,1127,1518
$GC,9996,0.51,302.5,257.2,15.7,1115,10003,0.22,2.10,0.00,0.000,6,0.139,0.044,2990,2461,1517
$GC,10323,0.71,352.6,226.4,8.0,1176,10372,0.17,2.17,40.85,0.841,4,0.060,0.048,3082,1128,1320
$GC,10399,0.56,352.6,216.5,14.5,1189,10404,0.28,2.12,0.00,0.000,6,0.141,0.044,3000,2470,1318
$GC,10725,0.80,403.7,186.2,8.0,1250,10772,0.22,2.22,42.40,0.795,4,0.051,0.046,3119,1127,1112
$GC,10792,0.56,403.7,175.8,17.5,1261,10799,0.38,2.15,0.00,0.000,6,0.141,0.043,3000,2449,1111
$GC,11119,0.85,403.7,145.9,10.0,1322,11125,0.25,0.00,0.00,0.000,6,0.045,0.000,3125,2449,1109
$GC,11445,0.70,403.7,87.5,16.6,1383,11452,0.28,2.10,0.00,0.000,4,0.130,0.045,3050,1117,1107
$GC,11505,1.00,428.2,80.7,9.0,1394,11532,0.20,2.12,20.52,0.699,6,0.038,0.041,3160,2468,1012
$GC,11853,0.90,428.2,29.9,14.0,1458,11859,0.17,1.90,0.00,0.000,4,0.139,0.053,3103,3688,1009
$GC,11906,1.04,428.2,23.3,11.3,1468,11913,0.08,1.88,0.00,0.000,6,0.058,0.035,3164,2451,1010
$STATE,12065,end climb,SURFACE_DEPTH_REACHED
$STATE,12065,begin surface coast
$FINISH,1.7,1.011139
$STATE,12087,end surface coast,CONTROL_FINISHED_OK
$STATE,12087,begin surface
$SM_CCo,12101,5.00,0.486,0,0,984,435.16
$SM_GC,3.47,0.00,0.00,5.00,0.000,0.000,0.486,159,2056,984,-8.31,-0.45,435.16
$IRIDIUM_FIX,2524.66,12326.17,110998,030315
$TT8_MAMPS,0.048321
$HUMID,1626
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.20
$XPDR_PINGS,214
$24V_AH,24.2,36.753
$10V_AH,10.7,26.127
$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,30.200,107.400,478.775,5.000,0.000,30.443,31.373,198.320,58.250,0.000,0.000,15.112,0.000,8003.231,631.247,3333.525,481.726,0.000,1844.576,0.000,2837.175,0.000,32.467,0.000
$DEVICE_MAMPS,227.799,62.127,1135.160,486.278,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.183,1094.971,1789.816,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85137,1502
$CAP_FILE_SIZE,149588,0
$CFSIZE,260165632,243892224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257, 56.4,1
$GPS,170609,100701,2533.636,12327.522,35,1.4,35,-3.8