version: 66.04
glider: 165
mission: 2
dive: 174
start: 6 17 109 17 44 27
data:
$ID,165
$MISSION,2
$DIVE,174
$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,-120327.69
$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,30
$R_STBD_OVSHOOT,54
$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
$GPS1,173655,2532.966,12329.071,39,1.1,39,-3.8
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-68.9
$GPS2,174420,2533.202,12329.160,10,1.3,10,-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,201.7,39930,-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,-170.3,0.0,0.0,0,66,0.00,0.00,-52.92,0.000,2,0.000,0.000,151,2111,2067
$GC,68,-0.87,-170.3,3.2,-4.3,8,125,9.02,2.35,-39.38,0.000,4,0.222,0.059,2533,657,3455
$GC,183,-0.11,-170.3,28.5,-32.1,28,190,0.77,2.20,0.00,0.000,6,0.153,0.045,2776,2047,3457
$GC,510,-0.96,-170.3,57.2,-7.3,89,517,0.73,2.25,0.00,0.000,4,0.068,0.051,2502,3488,3459
$GC,650,-0.37,-170.3,89.5,-23.8,115,658,0.55,2.15,0.00,0.000,6,0.137,0.035,2695,2077,3459
$GC,978,-0.87,-170.3,116.7,-6.1,176,985,0.38,2.15,0.00,0.000,4,0.038,0.045,2504,674,3461
$GC,1150,-0.40,-170.3,146.8,-17.3,208,1156,0.52,2.35,0.00,0.000,6,0.134,0.041,2687,2182,3461
$GC,1477,-0.98,-170.3,167.4,-6.6,269,1483,0.47,2.05,0.00,0.000,4,0.043,0.058,2478,3507,3462
$GC,1612,-0.51,-170.3,189.7,-19.8,294,1618,0.47,1.95,0.00,0.000,6,0.131,0.035,2650,2221,3462
$GC,1939,-0.75,-170.3,214.7,-7.0,355,1945,0.17,0.00,0.00,0.000,6,0.054,0.000,2550,2216,3462
$GC,2265,-0.50,-170.3,259.4,-14.1,416,2271,0.32,2.38,0.00,0.000,4,0.126,0.050,2656,679,3462
$GC,2318,-0.84,-170.3,264.3,-7.3,426,2325,0.25,2.40,0.00,0.000,6,0.035,0.040,2518,2230,3462
$GC,2647,-0.51,-170.3,314.0,-15.0,479,2651,0.43,1.95,0.00,0.000,4,0.133,0.056,2647,3489,3461
$GC,2679,-0.76,-170.3,316.8,-7.0,482,2683,0.15,1.92,0.00,0.000,6,0.039,0.039,2548,2221,3461
$GC,3000,-0.63,-170.3,355.2,-11.1,513,3004,0.22,2.00,0.00,0.000,4,0.122,0.058,2620,3469,3460
$GC,3021,-0.71,-170.3,357.1,-8.9,515,3024,0.00,1.88,0.00,0.000,6,0.000,0.035,2620,2225,3459
$GC,3342,-0.93,-170.3,380.3,-7.6,546,3345,0.25,2.00,0.00,0.000,4,0.048,0.058,2493,3482,3458
$GC,3362,-0.88,-170.3,382.4,-10.2,548,3366,0.10,1.90,0.00,0.000,6,0.139,0.035,2529,2225,3458
$GC,3683,-0.68,-170.3,423.3,-12.8,579,3685,0.22,0.00,0.00,0.000,6,0.133,0.000,2600,2221,3456
$GC,3995,-0.83,-170.3,449.2,-7.5,609,3996,0.15,0.00,0.00,0.000,6,0.060,0.000,2525,2220,3454
$GC,4304,-0.64,-170.3,485.9,-13.0,639,4305,0.28,0.00,0.00,0.000,6,0.128,0.000,2612,2220,3452
$GC,4624,-0.87,-170.3,509.3,-7.6,664,4628,0.17,2.03,0.00,0.000,4,0.056,0.064,2520,3475,3450
$GC,4676,-0.73,-170.3,515.6,-12.9,666,4680,0.17,1.90,0.00,0.000,6,0.123,0.039,2581,2242,3448
$GC,4993,-0.82,-170.3,545.8,-9.0,682,4996,0.00,2.45,0.00,0.000,4,0.000,0.054,2581,679,3447
$GC,5034,-0.94,-170.3,549.8,-8.9,684,5039,0.15,2.45,0.00,0.000,6,0.045,0.045,2495,2230,3446
$GC,5363,-0.65,-170.3,596.7,-14.1,700,5364,0.35,0.00,0.00,0.000,6,0.137,0.000,2603,2230,3443
$GC,5666,-0.88,-170.3,618.5,-6.3,715,5670,0.20,2.45,0.00,0.000,4,0.055,0.053,2507,673,3441
$GC,5692,-0.76,-170.3,621.0,-11.2,716,5696,0.17,2.47,0.00,0.000,6,0.132,0.048,2566,2226,3441
$GC,6015,-0.81,-170.3,649.3,-9.1,732,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2226,3439
$GC,6318,-0.88,-170.3,678.7,-9.7,747,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2226,3437
$GC,6624,-0.95,-170.3,706.7,-9.3,762,6625,0.15,0.00,0.00,0.000,6,0.063,0.000,2493,2227,3436
$STATE,6683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6683,begin apogee
$GC,6687,-0.20,0.0,714.8,12.5,765,6829,0.82,0.00,131.90,1.182,6,0.137,0.000,2756,2527,2759
$STATE,6829,end apogee,CONTROL_FINISHED_OK
$STATE,6829,begin climb
$GC,6831,0.87,170.3,720.3,0.0,772,6976,0.90,2.00,137.77,1.146,4,0.042,0.066,3115,3696,2062
$GC,7044,0.15,170.3,696.0,23.1,782,7049,0.85,1.88,0.00,0.000,6,0.166,0.040,2872,2531,2059
$GC,7366,0.53,254.1,672.2,6.7,798,7439,0.32,2.35,68.62,1.118,4,0.048,0.052,3021,1116,1722
$GC,7493,0.37,254.1,654.8,15.2,804,7497,0.28,2.30,0.00,0.000,6,0.143,0.049,2943,2515,1718
$GC,7808,0.50,273.8,623.7,9.2,820,7830,0.12,2.33,16.90,1.056,4,0.068,0.051,3016,1116,1641
$GC,7866,0.40,273.8,616.3,13.6,822,7873,0.20,2.28,0.00,0.000,6,0.137,0.048,2951,2509,1639
$GC,8177,0.52,273.8,584.3,10.0,838,8181,0.10,2.22,0.00,0.000,4,0.076,0.050,3010,1126,1637
$GC,8256,0.44,273.8,573.9,12.9,841,8263,0.12,2.20,0.00,0.000,6,0.133,0.047,2968,2493,1635
$GC,8566,0.51,273.8,535.9,12.2,857,8567,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2493,1635
$GC,8872,0.57,273.8,501.5,11.3,872,8873,0.12,0.00,0.00,0.000,6,0.070,0.000,3024,2493,1635
$GC,9183,0.40,273.8,453.8,15.7,901,9184,0.25,0.00,0.00,0.000,6,0.142,0.000,2950,2493,1634
$GC,9494,0.56,273.8,421.8,10.1,931,9498,0.15,2.15,0.00,0.000,4,0.062,0.048,3031,1123,1633
$GC,9546,0.44,273.8,414.6,14.6,935,9554,0.20,2.17,0.00,0.000,6,0.137,0.047,2966,2490,1631
$GC,9861,0.55,280.0,381.6,9.8,966,9867,0.00,0.00,5.00,0.754,6,0.000,0.000,2966,2491,1616
$GC,10172,0.69,294.3,352.2,9.4,996,10194,0.22,2.20,13.52,0.917,4,0.057,0.048,3072,1125,1559
$GC,10285,0.48,294.3,334.8,16.6,1006,10291,0.28,2.15,0.00,0.000,6,0.143,0.045,2974,2470,1557
$GC,10600,0.64,315.7,303.4,9.2,1037,10623,0.15,2.22,19.42,0.894,4,0.063,0.048,3053,1109,1471
$GC,10638,0.52,315.7,298.5,13.2,1041,10644,0.22,2.17,0.00,0.000,6,0.140,0.044,2987,2464,1469
$GC,10964,0.67,315.7,261.7,11.6,1102,10970,0.15,0.00,0.00,0.000,6,0.064,0.000,3056,2464,1467
$GC,11290,0.52,315.7,213.2,15.3,1163,11297,0.22,2.10,0.00,0.000,4,0.136,0.046,2997,1115,1468
$GC,11344,0.70,315.7,207.2,10.1,1173,11350,0.10,2.12,0.00,0.000,6,0.054,0.044,3066,2458,1466
$GC,11670,0.55,315.7,159.1,14.2,1234,11677,0.22,2.10,0.00,0.000,4,0.134,0.046,3005,1124,1466
$GC,11735,0.77,355.4,152.5,8.4,1246,11775,0.12,2.08,32.90,0.783,6,0.049,0.043,3090,2445,1309
$GC,12095,0.68,355.4,101.1,13.0,1312,12101,0.17,1.98,0.00,0.000,4,0.135,0.056,3038,3683,1307
$GC,12180,0.85,385.7,93.0,8.8,1328,12212,0.10,1.92,25.35,0.722,6,0.054,0.036,3109,2419,1186
$GC,12533,0.85,385.7,50.2,11.0,1393,12539,0.00,2.03,0.00,0.000,4,0.000,0.044,3119,1110,1183
$GC,12602,0.85,385.7,42.7,10.6,1406,12608,0.00,2.05,0.00,0.000,6,0.000,0.041,3118,2413,1182
$GC,12928,1.01,421.7,9.0,8.6,1467,12962,0.00,2.08,29.50,0.637,4,0.000,0.054,3119,3691,1038
$STATE,12997,end climb,SURFACE_DEPTH_REACHED
$STATE,12997,begin surface coast
$FINISH,1.6,1.011227
$STATE,13036,end surface coast,CONTROL_FINISHED_OK
$STATE,13036,begin surface
$SM_CCo,13052,10.62,0.580,0,0,984,435.16
$SM_GC,3.87,0.00,0.00,10.62,0.000,0.000,0.580,162,2056,984,-8.31,-0.42,435.16
$IRIDIUM_FIX,2527.05,12329.48,110998,131352
$TT8_MAMPS,0.048321
$HUMID,1612
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.50
$XPDR_PINGS,203
$24V_AH,24.1,37.282
$10V_AH,10.7,26.534
$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,30.800,99.775,480.900,10.625,0.000,28.775,34.408,272.028,56.250,0.000,0.000,12.338,0.000,9025.049,622.626,3267.346,567.330,0.000,1808.459,0.000,2776.002,0.000,38.715,0.000
$DEVICE_MAMPS,222.430,65.962,1181.947,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.725,1078.121,1741.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85287,1486
$CAP_FILE_SIZE,150658,0
$CFSIZE,260165632,243634176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.275, 33.4,1
$GPS,170609,212307,2533.117,12329.405,37,1.0,37,-3.8