version: 66.04
glider: 165
mission: 2
dive: 172
start: 6 17 109 10 13 13
data:
$ID,165
$MISSION,2
$DIVE,172
$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,-120282.64
$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,51
$R_STBD_OVSHOOT,30
$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
$GPS1,100701,2533.636,12327.522,35,1.4,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-67.3
$GPS2,101308,2533.746,12327.567,12,1.3,12,-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,199.1,42085,-16.8,-10.000
$D_GRID,712
$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,-170.3,0.0,0.0,0,49,0.00,0.00,-35.70,0.000,2,0.000,0.000,158,2055,1862
$GC,52,-0.87,-170.3,3.1,-3.4,5,120,9.07,2.20,-50.15,0.000,4,0.227,0.065,2527,676,3456
$GC,195,-0.04,-170.3,35.3,-35.4,29,201,0.88,2.20,0.00,0.000,6,0.157,0.041,2801,2069,3457
$GC,521,-0.81,-170.3,71.5,-10.8,90,528,0.65,2.20,0.00,0.000,4,0.066,0.051,2548,3491,3460
$GC,624,-0.42,-170.3,89.1,-18.4,109,630,0.38,2.12,0.00,0.000,6,0.125,0.034,2676,2086,3460
$GC,950,-0.62,-170.3,119.1,-8.5,170,956,0.17,2.22,0.00,0.000,4,0.056,0.054,2577,3482,3462
$GC,1020,-0.49,-170.3,128.0,-13.4,183,1027,0.20,2.08,0.00,0.000,6,0.114,0.034,2652,2109,3463
$GC,1348,-0.68,-170.3,153.2,-7.8,244,1354,0.15,2.17,0.00,0.000,4,0.058,0.055,2566,3491,3464
$GC,1374,-0.61,-170.3,156.2,-12.0,249,1381,0.15,2.08,0.00,0.000,6,0.118,0.038,2621,2125,3464
$GC,1701,-0.68,-170.3,190.6,-9.8,310,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2123,3465
$GC,2026,-0.76,-170.3,220.2,-8.8,371,2033,0.12,2.15,0.00,0.000,4,0.065,0.057,2549,3485,3465
$GC,2053,-0.65,-170.3,223.4,-12.2,376,2060,0.15,2.05,0.00,0.000,6,0.121,0.035,2603,2134,3465
$GC,2380,-0.65,-170.3,257.8,-10.6,437,2386,0.00,2.28,0.00,0.000,4,0.000,0.050,2603,681,3464
$GC,2401,-0.65,-170.3,260.1,-11.3,441,2407,0.00,2.28,0.00,0.000,6,0.000,0.041,2603,2144,3464
$GC,2726,-0.73,-170.3,293.0,-9.4,502,2733,0.00,2.12,0.00,0.000,4,0.000,0.058,2603,3479,3465
$GC,2780,-0.89,-170.3,297.9,-9.2,512,2787,0.15,2.05,0.00,0.000,6,0.043,0.035,2514,2130,3464
$GC,3103,-0.56,-170.3,351.2,-17.4,545,3104,0.38,0.00,0.00,0.000,6,0.130,0.000,2634,2125,3465
$GC,3414,-0.84,-170.3,374.3,-6.3,575,3418,0.20,2.15,0.00,0.000,4,0.052,0.058,2530,3475,3463
$GC,3450,-0.70,-170.3,377.8,-11.1,578,3454,0.17,2.03,0.00,0.000,6,0.121,0.037,2591,2149,3462
$GC,3771,-0.79,-170.3,403.6,-7.7,609,3775,0.00,2.15,0.00,0.000,4,0.000,0.060,2590,3473,3462
$GC,3818,-0.95,-170.3,407.1,-6.7,613,3825,0.17,2.03,0.00,0.000,6,0.043,0.036,2492,2150,3460
$GC,4134,-0.59,-170.3,453.0,-15.1,644,4135,0.43,0.00,0.00,0.000,6,0.134,0.000,2627,2144,3459
$GC,4446,-0.90,-170.3,474.8,-6.8,674,4450,0.22,2.12,0.00,0.000,4,0.050,0.060,2508,3473,3458
$GC,4551,-0.69,-170.3,487.9,-13.3,684,4555,0.22,2.00,0.00,0.000,6,0.127,0.038,2586,2171,3457
$GC,4870,-0.80,-170.3,516.6,-8.6,706,4874,0.00,2.10,0.00,0.000,4,0.000,0.062,2586,3485,3455
$GC,4901,-0.95,-170.3,519.4,-9.2,707,4905,0.17,2.03,0.00,0.000,6,0.043,0.038,2491,2170,3454
$GC,5217,-0.63,-170.3,569.0,-15.9,723,5221,0.40,2.33,0.00,0.000,4,0.137,0.054,2617,680,3452
$GC,5270,-0.93,-170.3,573.7,-7.1,725,5274,0.22,2.33,0.00,0.000,6,0.042,0.044,2495,2157,3452
$GC,5585,-0.66,-170.3,615.6,-13.5,741,5587,0.35,0.00,0.00,0.000,6,0.137,0.000,2603,2157,3450
$GC,5891,-0.89,-170.3,637.1,-6.8,756,5895,0.20,2.10,0.00,0.000,4,0.055,0.062,2508,3478,3448
$GC,5959,-0.74,-170.3,645.3,-13.4,759,5964,0.20,2.03,0.00,0.000,6,0.125,0.039,2577,2170,3447
$GC,6282,-0.86,-170.3,671.8,-8.1,775,6283,0.12,0.00,0.00,0.000,6,0.073,0.000,2517,2165,3445
$GC,6586,-0.70,-170.3,708.4,-12.3,790,6590,0.25,2.12,0.00,0.000,4,0.132,0.064,2590,3483,3443
$GC,6607,-0.70,-170.3,710.4,-9.8,791,6611,0.00,2.03,0.00,0.000,6,0.000,0.039,2590,2177,3443
$STATE,6626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6626,begin apogee
$GC,6631,-0.20,0.0,712.1,7.9,792,6770,0.47,0.00,133.40,1.181,6,0.108,0.000,2753,2532,2759
$STATE,6771,end apogee,CONTROL_FINISHED_OK
$STATE,6771,begin climb
$GC,6772,0.87,170.3,717.7,0.0,799,6915,0.93,1.98,137.35,1.148,4,0.048,0.064,3108,3696,2063
$GC,7157,0.18,170.3,660.0,22.0,816,7160,0.75,1.83,0.00,0.000,6,0.166,0.040,2881,2540,2056
$GC,7478,0.53,254.2,635.6,6.7,832,7552,0.30,2.40,68.53,1.111,4,0.049,0.052,3024,1124,1721
$GC,7574,0.35,254.2,622.5,15.2,836,7581,0.28,2.33,0.00,0.000,6,0.140,0.048,2938,2513,1718
$GC,7885,0.52,280.4,591.6,9.0,852,7912,0.15,2.28,22.50,1.062,4,0.061,0.050,3021,1117,1614
$GC,7948,0.41,280.4,583.3,14.0,855,7952,0.20,2.30,0.00,0.000,6,0.136,0.048,2957,2512,1610
$GC,8269,0.52,285.3,550.5,9.8,871,8278,0.00,2.25,4.62,0.763,4,0.000,0.049,2966,1127,1595
$GC,8322,0.68,313.4,545.4,8.9,873,8354,0.17,2.20,25.48,1.051,6,0.048,0.046,3052,2493,1480
$GC,8659,0.45,313.4,489.6,17.4,892,8663,0.30,2.20,0.00,0.000,4,0.138,0.048,2971,1112,1476
$GC,8675,0.31,313.4,487.2,15.7,893,8679,0.17,2.20,0.00,0.000,6,0.133,0.045,2918,2496,1475
$GC,8995,0.72,377.5,462.5,7.5,924,9055,0.35,2.30,53.95,1.025,4,0.046,0.050,3078,1129,1218
$GC,9098,0.53,377.5,444.3,20.0,933,9104,0.28,2.20,0.00,0.000,6,0.142,0.045,2991,2469,1216
$GC,9413,0.65,377.5,408.0,10.5,964,9418,0.12,2.17,0.00,0.000,4,0.070,0.048,3060,1115,1214
$GC,9440,0.65,377.5,404.7,13.5,966,9447,0.08,2.15,0.00,0.000,6,0.143,0.045,3034,2458,1213
$GC,9755,0.65,377.5,355.9,15.3,997,9756,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2458,1213
$GC,10066,0.65,377.5,311.3,14.3,1027,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2458,1211
$GC,10384,0.65,377.5,266.6,14.5,1079,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2458,1211
$GC,10710,0.65,377.5,223.6,13.5,1140,10716,0.00,2.12,0.00,0.000,4,0.000,0.048,3043,1125,1211
$GC,10753,0.65,377.5,218.1,13.3,1148,10759,0.00,2.08,0.00,0.000,6,0.000,0.043,3043,2445,1209
$GC,11079,0.65,377.5,174.0,13.1,1209,11086,0.00,2.10,0.00,0.000,4,0.000,0.046,3051,1118,1209
$GC,11101,0.65,377.5,171.2,13.4,1213,11107,0.00,2.08,0.00,0.000,6,0.000,0.043,3052,2438,1209
$GC,11427,0.75,377.5,128.8,11.4,1274,11433,0.00,1.98,0.00,0.000,4,0.000,0.057,3052,3681,1209
$GC,11459,0.75,377.5,124.5,14.0,1280,11465,0.00,1.92,0.00,0.000,6,0.000,0.037,3061,2419,1209
$GC,11785,0.98,416.1,85.3,8.5,1341,11823,0.20,2.03,31.02,0.719,4,0.051,0.045,3168,1113,1062
$GC,11920,0.82,416.1,68.1,13.9,1365,11926,0.28,2.08,0.00,0.000,6,0.132,0.042,3084,2442,1059
$GC,12246,1.11,473.3,37.9,7.7,1426,12298,0.25,1.98,46.28,0.664,4,0.047,0.053,3204,3691,828
$GC,12367,0.86,473.3,17.2,19.0,1447,12374,0.32,1.92,0.00,0.000,6,0.137,0.035,3099,2442,826
$STATE,12505,end climb,SURFACE_DEPTH_REACHED
$STATE,12506,begin surface coast
$FINISH,1.7,1.008612
$STATE,12537,end surface coast,CONTROL_FINISHED_OK
$STATE,12537,begin surface
$SM_CCo,12611,0.00,0.000,0,0,824,474.90
$SM_GC,2.48,7.50,0.00,0.00,0.034,0.000,0.000,157,2067,824,-8.22,-0.11,474.90
$IRIDIUM_FIX,2522.28,12326.17,110998,060643
$TT8_MAMPS,0.048321
$HUMID,1592
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.70
$XPDR_PINGS,194
$ALTIM_BOTTOM_PING,700.9,86.4
$24V_AH,24.1,36.930
$10V_AH,10.7,26.260
$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,28.900,111.950,523.125,0.000,0.000,23.689,32.875,201.584,54.000,0.000,0.000,14.775,0.000,8500.153,655.529,3318.677,475.598,0.000,1872.581,0.000,2816.833,0.000,40.093,0.000
$DEVICE_MAMPS,227.032,65.195,1181.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.186,1080.566,1756.556,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82027,1479
$CAP_FILE_SIZE,149577,0
$CFSIZE,260165632,243806208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288, 56.6,1
$GPS,170609,134407,2532.921,12328.550,24,1.8,24,-3.8