version: 66.04
glider: 165
mission: 2
dive: 173
start: 6 17 109 13 53 43
data:
$ID,165
$MISSION,2
$DIVE,173
$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,-120314.73
$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,36
$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
$GPS1,134407,2532.921,12328.550,24,1.8,24,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.0
$GPS2,135336,2533.189,12328.651,13,1.2,29,-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,200.7,40304,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.87,-170.3,0.0,0.0,0,57,0.00,0.00,-44.42,0.000,2,0.000,0.000,154,2066,1931
$GC,59,-0.87,-170.3,3.0,-3.5,7,119,9.05,2.25,-45.15,0.000,4,0.225,0.058,2526,660,3456
$GC,221,-0.04,-170.3,41.3,-32.9,35,229,0.93,2.20,0.00,0.000,6,0.151,0.041,2800,2079,3457
$GC,549,-0.91,-170.3,72.6,-10.3,96,556,0.73,2.20,0.00,0.000,4,0.058,0.053,2519,3472,3459
$GC,721,-0.36,-170.3,108.5,-23.6,128,728,0.52,2.15,0.00,0.000,6,0.128,0.035,2697,2065,3459
$GC,1048,-0.98,-170.3,137.3,-7.8,189,1054,0.50,2.22,0.00,0.000,4,0.041,0.054,2477,3480,3461
$GC,1240,-0.49,-170.3,173.0,-18.5,225,1247,0.50,2.05,0.00,0.000,6,0.136,0.035,2658,2131,3461
$GC,1567,-0.74,-170.3,198.0,-6.2,286,1574,0.22,0.00,0.00,0.000,6,0.048,0.000,2545,2125,3462
$GC,1894,-0.45,-170.3,245.8,-16.0,347,1900,0.40,0.00,0.00,0.000,6,0.127,0.000,2673,2124,3462
$GC,2219,-0.81,-170.3,266.5,-4.9,408,2226,0.30,2.15,0.00,0.000,4,0.042,0.057,2524,3470,3462
$GC,2273,-0.57,-170.3,272.4,-11.8,418,2281,0.30,2.03,0.00,0.000,6,0.121,0.037,2629,2144,3463
$GC,2602,-0.76,-170.3,297.7,-7.5,479,2607,0.15,2.10,0.00,0.000,4,0.058,0.059,2546,3470,3461
$GC,2730,-0.64,-170.3,311.1,-10.8,494,2733,0.20,1.98,0.00,0.000,6,0.124,0.036,2609,2151,3460
$GC,3050,-0.76,-170.3,336.9,-8.0,525,3052,0.10,0.00,0.00,0.000,6,0.075,0.000,2549,2148,3459
$GC,3362,-0.62,-170.3,372.7,-11.4,555,3363,0.22,0.00,0.00,0.000,6,0.128,0.000,2620,2146,3458
$GC,3672,-0.84,-170.3,398.4,-7.8,585,3676,0.20,2.12,0.00,0.000,4,0.053,0.060,2512,3476,3456
$GC,3756,-0.63,-170.3,409.4,-13.8,592,3763,0.28,2.03,0.00,0.000,6,0.123,0.038,2608,2155,3455
$GC,4072,-0.82,-170.3,436.8,-8.1,623,4076,0.15,2.10,0.00,0.000,4,0.060,0.061,2532,3470,3454
$GC,4109,-0.70,-170.3,441.0,-12.3,626,4117,0.15,2.03,0.00,0.000,6,0.120,0.039,2586,2153,3453
$GC,4425,-0.80,-170.3,469.0,-7.1,657,4428,0.00,2.15,0.00,0.000,4,0.000,0.061,2586,3473,3451
$GC,4462,-0.96,-170.3,471.6,-6.6,660,4469,0.17,2.00,0.00,0.000,6,0.042,0.038,2488,2170,3450
$GC,4776,-0.63,-170.3,516.0,-14.7,686,4780,0.40,2.08,0.00,0.000,4,0.137,0.061,2605,3472,3449
$GC,4807,-0.79,-170.3,519.3,-9.1,687,4811,0.08,2.00,0.00,0.000,6,0.055,0.038,2547,2171,3449
$GC,5123,-0.72,-170.3,554.5,-11.7,703,5127,0.15,2.33,0.00,0.000,4,0.130,0.054,2592,679,3447
$GC,5154,-0.84,-170.3,557.7,-9.8,704,5159,0.10,2.33,0.00,0.000,6,0.050,0.044,2527,2158,3447
$GC,5470,-0.70,-170.3,596.6,-11.6,720,5471,0.22,0.00,0.00,0.000,6,0.128,0.000,2597,2158,3443
$GC,5776,-0.90,-170.3,617.6,-7.1,735,5779,0.20,2.10,0.00,0.000,4,0.054,0.064,2496,3473,3441
$GC,5834,-0.67,-170.3,625.1,-14.3,737,5840,0.32,1.98,0.00,0.000,6,0.133,0.039,2598,2172,3440
$GC,6144,-0.89,-170.3,648.4,-6.1,753,6146,0.17,0.00,0.00,0.000,6,0.058,0.000,2515,2167,3439
$GC,6449,-0.71,-170.3,682.8,-10.9,768,6453,0.25,2.12,0.00,0.000,4,0.131,0.064,2590,3467,3438
$GC,6508,-0.95,-170.3,686.7,-5.6,770,6516,0.17,2.00,0.00,0.000,6,0.045,0.039,2494,2176,3437
$STATE,6735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6735,begin apogee
$GC,6739,-0.20,0.0,714.0,12.9,782,6878,0.80,0.00,132.05,1.184,6,0.137,0.000,2751,2529,2759
$STATE,6878,end apogee,CONTROL_FINISHED_OK
$STATE,6878,begin climb
$GC,6880,0.87,170.3,718.7,0.0,789,7023,0.93,2.00,137.60,1.147,4,0.045,0.065,3110,3698,2063
$GC,7147,0.18,170.3,683.6,20.5,801,7151,0.77,1.85,0.00,0.000,6,0.166,0.041,2886,2544,2058
$GC,7464,0.50,256.5,660.3,6.6,817,7541,0.22,2.42,70.40,1.120,4,0.054,0.051,3008,1112,1711
$GC,7580,0.40,256.5,646.2,13.7,822,7584,0.20,2.33,0.00,0.000,6,0.143,0.048,2953,2523,1708
$GC,7889,0.51,285.6,616.6,8.9,837,7919,0.00,2.35,24.62,1.078,4,0.000,0.051,2962,1117,1593
$GC,7963,0.66,288.4,609.6,9.9,840,7967,0.15,2.30,0.00,0.000,6,0.048,0.047,3038,2513,1589
$GC,8279,0.45,288.4,558.8,16.5,856,8283,0.25,2.22,0.00,0.000,4,0.137,0.050,2973,1115,1588
$GC,8337,0.53,288.4,551.8,11.3,858,8345,0.00,2.22,0.00,0.000,6,0.000,0.046,2973,2496,1587
$GC,8648,0.53,288.4,516.2,12.0,874,8651,0.00,2.22,0.00,0.000,4,0.000,0.050,2983,1111,1586
$GC,8684,0.59,288.4,511.7,12.4,875,8690,0.00,2.17,0.00,0.000,6,0.000,0.045,2983,2471,1586
$GC,8998,0.59,288.4,474.1,11.6,901,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2471,1586
$GC,9308,0.59,288.4,439.9,10.3,931,9313,0.00,2.17,0.00,0.000,4,0.000,0.048,2992,1108,1585
$GC,9329,0.59,288.4,437.9,10.1,933,9333,0.00,2.17,0.00,0.000,6,0.000,0.046,2993,2471,1584
$GC,9651,0.59,288.4,400.0,12.5,964,9654,0.00,1.92,0.00,0.000,4,0.000,0.061,2993,3695,1584
$GC,9693,0.53,288.4,394.1,14.6,968,9697,0.00,1.92,0.00,0.000,6,0.000,0.038,3001,2442,1584
$GC,10015,0.53,288.4,350.7,13.2,999,10018,0.00,2.08,0.00,0.000,4,0.000,0.048,3011,1105,1584
$GC,10045,0.53,288.4,346.5,13.6,1002,10050,0.00,2.12,0.00,0.000,6,0.000,0.044,3011,2449,1582
$GC,10368,0.53,288.4,307.4,11.5,1033,10371,0.00,1.95,0.00,0.000,4,0.000,0.059,3011,3689,1582
$GC,10442,0.45,288.4,297.8,13.1,1041,10448,0.15,1.92,0.00,0.000,6,0.123,0.038,2969,2437,1582
$GC,10768,0.73,352.2,272.6,7.5,1102,10826,0.22,2.12,53.75,0.884,4,0.051,0.058,3073,3695,1322
$GC,10840,0.53,352.2,262.6,15.8,1114,10849,0.28,1.98,0.00,0.000,6,0.137,0.037,2994,2442,1322
$GC,11169,0.70,370.3,231.4,9.3,1175,11193,0.15,2.15,15.80,0.811,4,0.061,0.048,3077,1113,1248
$GC,11229,0.62,370.3,222.8,15.5,1186,11237,0.17,2.17,0.00,0.000,6,0.133,0.044,3019,2465,1247
$GC,11558,0.75,370.3,186.6,10.9,1247,11564,0.12,2.15,0.00,0.000,4,0.067,0.046,3094,1110,1246
$GC,11606,0.61,370.3,179.6,16.5,1256,11612,0.22,2.15,0.00,0.000,6,0.138,0.042,3021,2467,1245
$GC,11933,0.79,380.5,146.3,9.6,1317,11947,0.15,2.00,9.65,0.711,4,0.060,0.056,3105,3703,1206
$GC,11984,0.65,380.5,137.9,18.6,1326,11992,0.25,1.95,0.00,0.000,6,0.124,0.037,3029,2440,1206
$GC,12312,0.91,390.7,104.9,9.6,1387,12331,0.22,2.05,10.00,0.679,4,0.048,0.054,3137,3696,1165
$GC,12373,0.73,390.7,94.7,15.2,1398,12380,0.22,1.90,0.00,0.000,6,0.128,0.036,3055,2461,1165
$GC,12700,1.03,427.8,69.3,8.5,1459,12738,0.25,2.12,30.95,0.693,4,0.047,0.044,3182,1104,1014
$GC,12774,0.85,427.8,57.9,16.7,1472,12781,0.28,2.22,0.00,0.000,6,0.135,0.040,3094,2504,1012
$GC,13102,1.18,491.8,28.0,7.5,1533,13160,0.25,2.22,51.58,0.647,4,0.045,0.043,3234,1109,752
$STATE,13242,end climb,SURFACE_DEPTH_REACHED
$STATE,13242,begin surface coast
$FINISH,1.6,1.020222
$STATE,13259,end surface coast,CONTROL_FINISHED_OK
$STATE,13259,begin surface
$SM_CCo,13334,0.00,0.000,0,0,748,493.30
$SM_GC,2.36,7.82,0.00,0.00,0.029,0.000,0.000,151,2111,748,-8.23,1.13,493.30
$IRIDIUM_FIX,2524.66,12326.17,110998,131348
$TT8_MAMPS,0.047554
$HUMID,1562
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.80
$XPDR_PINGS,200
$ALTIM_BOTTOM_PING,700.9,67.3
$24V_AH,24.1,37.112
$10V_AH,10.7,26.401
$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,31.250,118.400,536.400,0.000,0.000,53.165,69.767,255.184,55.500,0.000,0.000,31.450,0.000,9101.489,666.004,3497.659,612.690,0.000,1952.006,0.000,2957.253,0.000,39.908,0.000
$DEVICE_MAMPS,225.498,65.195,1184.248,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.715,1120.253,1820.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88426,1561
$CAP_FILE_SIZE,158740,0
$CFSIZE,260165632,243707904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259, 41.4,1
$GPS,170609,173655,2532.966,12329.071,39,1.1,39,-3.8