version: 66.04
glider: 165
mission: 2
dive: 176
start: 6 18 109 1 19 33
data:
$ID,165
$MISSION,2
$DIVE,176
$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,-120376.76
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,011306,2532.773,12330.157,38,1.3,43,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-72.7
$GPS2,011928,2532.941,12330.261,14,2.6,33,-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,203.9,38687,-16.8,-10.000
$D_GRID,727
$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,-170.3,0.0,0.0,0,68,0.00,0.00,-54.47,0.000,2,0.000,0.000,154,2053,1926
$GC,70,-0.87,-170.3,3.3,-4.4,8,128,9.00,2.17,-42.28,0.000,4,0.223,0.059,2530,661,3455
$GC,185,-0.10,-170.3,30.7,-33.5,28,192,0.80,2.22,0.00,0.000,6,0.160,0.046,2777,2064,3456
$GC,512,-0.88,-170.3,61.2,-10.2,89,519,0.65,2.20,0.00,0.000,4,0.058,0.052,2522,3476,3459
$GC,653,-0.34,-170.3,87.5,-22.0,115,659,0.50,2.12,0.00,0.000,6,0.134,0.035,2706,2082,3459
$GC,979,-1.06,-170.3,109.4,-7.0,176,986,0.57,2.20,0.00,0.000,4,0.066,0.051,2467,3478,3461
$GC,1130,-0.49,-170.3,137.7,-20.8,204,1136,0.60,2.03,0.00,0.000,6,0.137,0.035,2658,2128,3460
$GC,1457,-0.74,-170.3,165.2,-7.6,265,1464,0.22,0.00,0.00,0.000,6,0.049,0.000,2547,2122,3462
$GC,1783,-0.50,-170.3,208.7,-14.7,326,1790,0.35,2.17,0.00,0.000,4,0.125,0.058,2660,3473,3462
$GC,1843,-0.88,-170.3,213.5,-6.1,337,1850,0.28,2.03,0.00,0.000,6,0.035,0.035,2498,2147,3462
$GC,2170,-0.44,-170.3,268.9,-17.1,398,2177,0.55,2.28,0.00,0.000,4,0.136,0.051,2674,679,3462
$GC,2245,-0.87,-170.3,275.4,-6.8,412,2252,0.32,2.28,0.00,0.000,6,0.035,0.040,2509,2150,3462
$GC,2566,-0.54,-170.3,328.0,-16.3,457,2570,0.43,2.08,0.00,0.000,4,0.131,0.058,2644,3472,3462
$GC,2624,-0.93,-170.3,333.5,-7.8,462,2631,0.30,2.03,0.00,0.000,6,0.035,0.038,2482,2145,3461
$GC,2940,-0.54,-170.3,388.5,-15.8,493,2941,0.50,0.00,0.00,0.000,6,0.135,0.000,2643,2140,3460
$GC,3251,-1.07,-170.3,410.7,-7.1,523,3255,0.40,2.12,0.00,0.000,4,0.042,0.059,2452,3472,3459
$GC,3496,-0.60,-170.3,452.1,-18.4,545,3503,0.50,2.05,0.00,0.000,6,0.140,0.038,2617,2144,3457
$GC,3811,-0.84,-170.3,477.2,-7.3,576,3815,0.20,2.15,0.00,0.000,4,0.054,0.061,2521,3470,3455
$GC,3902,-0.69,-170.3,488.1,-13.0,584,3909,0.20,2.03,0.00,0.000,6,0.121,0.038,2591,2150,3455
$GC,4216,-0.80,-170.3,515.8,-8.3,606,4219,0.00,2.12,0.00,0.000,4,0.000,0.062,2590,3471,3452
$GC,4289,-0.99,-170.3,521.7,-8.1,609,4293,0.22,2.00,0.00,0.000,6,0.044,0.038,2476,2170,3452
$GC,4606,-0.62,-170.3,570.5,-15.7,625,4607,0.45,0.00,0.00,0.000,6,0.138,0.000,2617,2165,3449
$GC,4910,-0.90,-170.3,590.7,-6.4,640,4914,0.25,2.10,0.00,0.000,4,0.052,0.064,2504,3476,3447
$GC,4947,-0.72,-170.3,594.6,-12.3,641,4955,0.22,2.03,0.00,0.000,6,0.127,0.039,2581,2169,3447
$GC,5258,-0.84,-170.3,621.1,-7.8,657,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2165,3445
$GC,5562,-0.96,-170.3,644.3,-7.4,672,5564,0.20,0.00,0.00,0.000,6,0.059,0.000,2492,2164,3443
$GC,5868,-0.69,-170.3,684.8,-13.1,687,5869,0.32,0.00,0.00,0.000,6,0.137,0.000,2593,2164,3441
$GC,6173,-0.88,-170.3,704.6,-7.2,702,6177,0.17,2.15,0.00,0.000,4,0.060,0.067,2511,3471,3439
$GC,6231,-0.75,-170.3,711.0,-11.4,704,6238,0.17,2.03,0.00,0.000,6,0.127,0.041,2571,2171,3438
$STATE,6418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6418,begin apogee
$GC,6422,-0.20,0.0,727.2,8.3,714,6562,0.55,0.00,133.30,1.190,6,0.113,0.000,2758,2519,2758
$STATE,6562,end apogee,CONTROL_FINISHED_OK
$STATE,6562,begin climb
$GC,6564,0.87,170.3,733.6,0.0,721,6707,0.93,2.03,137.73,1.155,4,0.049,0.066,3111,3699,2063
$GC,6841,0.16,170.3,699.2,20.4,734,6845,0.82,1.85,0.00,0.000,6,0.166,0.040,2874,2543,2057
$GC,7168,0.53,254.7,675.8,6.7,750,7244,0.32,2.40,69.20,1.124,4,0.048,0.052,3023,1126,1719
$GC,7314,0.35,254.7,654.4,16.0,757,7318,0.25,2.30,0.00,0.000,6,0.140,0.049,2935,2511,1713
$GC,7640,0.51,265.2,621.6,9.6,773,7655,0.15,2.30,8.95,0.977,4,0.062,0.051,3019,1111,1676
$GC,7725,0.37,265.2,609.2,15.9,777,7729,0.25,2.28,0.00,0.000,6,0.139,0.047,2939,2511,1675
$GC,8052,0.52,265.2,574.6,10.1,793,8056,0.15,2.22,0.00,0.000,4,0.064,0.050,3011,1109,1674
$GC,8104,0.43,265.2,567.6,14.8,795,8111,0.15,2.22,0.00,0.000,6,0.136,0.046,2962,2493,1672
$GC,8415,0.50,270.5,534.8,9.8,811,8421,0.00,0.00,5.38,0.839,6,0.000,0.000,2962,2493,1656
$GC,8720,0.61,281.2,505.6,9.6,826,8735,0.15,1.92,10.93,0.986,4,0.064,0.062,3027,3695,1610
$GC,8772,0.37,281.2,498.2,16.5,827,8779,0.30,1.92,0.00,0.000,6,0.137,0.038,2939,2462,1610
$GC,9088,0.65,335.9,473.0,7.8,858,9141,0.25,0.00,47.03,1.030,6,0.053,0.000,3047,2456,1388
$GC,9450,0.47,335.9,416.3,16.5,893,9454,0.25,2.12,0.00,0.000,4,0.142,0.049,2981,1110,1384
$GC,9471,0.47,335.9,413.4,13.6,895,9475,0.00,2.20,0.00,0.000,6,0.000,0.045,2982,2474,1382
$GC,9793,0.60,335.9,375.9,11.9,926,9796,0.00,2.15,0.00,0.000,4,0.000,0.048,2990,1110,1382
$GC,9834,0.77,335.9,370.9,12.5,930,9838,0.17,2.17,0.00,0.000,6,0.048,0.044,3083,2471,1381
$GC,10155,0.50,335.9,311.4,18.1,961,10159,0.32,1.95,0.00,0.000,4,0.146,0.061,2986,3689,1381
$GC,10203,0.60,335.9,305.1,11.9,965,10210,0.00,1.88,0.00,0.000,6,0.000,0.038,2992,2467,1381
$GC,10528,0.73,335.9,271.4,10.2,1021,10535,0.17,2.10,0.00,0.000,4,0.056,0.047,3092,1112,1381
$GC,10587,0.51,335.9,262.4,16.1,1032,10594,0.32,2.15,0.00,0.000,6,0.148,0.044,2988,2468,1379
$GC,10914,0.70,346.4,228.4,9.6,1093,10928,0.17,2.20,8.90,0.779,4,0.057,0.047,3086,1104,1345
$GC,10954,0.54,346.4,222.6,16.8,1100,10961,0.28,2.15,0.00,0.000,6,0.139,0.043,2996,2462,1344
$GC,11281,0.72,346.4,187.9,10.4,1161,11288,0.15,1.95,0.00,0.000,4,0.061,0.058,3076,3690,1344
$GC,11330,0.49,346.4,180.2,17.6,1170,11337,0.30,1.90,0.00,0.000,6,0.132,0.037,2984,2446,1344
$GC,11657,0.82,400.2,151.1,7.9,1231,11708,0.28,2.12,45.08,0.773,4,0.047,0.046,3122,1107,1125
$GC,11825,0.65,400.2,121.1,17.3,1261,11833,0.28,2.15,0.00,0.000,6,0.134,0.043,3033,2450,1121
$GC,12153,1.03,474.7,92.9,7.1,1322,12222,0.32,2.20,60.12,0.715,4,0.041,0.046,3194,1113,822
$GC,12339,0.79,474.7,57.8,18.6,1355,12346,0.35,2.12,0.00,0.000,6,0.135,0.042,3081,2441,818
$GC,12666,1.25,524.7,27.4,8.0,1416,12718,0.38,2.03,43.95,0.650,4,0.038,0.054,3254,3685,615
$GC,12739,0.91,524.7,14.9,22.6,1428,12745,0.45,1.98,0.00,0.000,6,0.143,0.035,3106,2425,611
$STATE,12877,end climb,SURFACE_DEPTH_REACHED
$STATE,12877,begin surface coast
$FINISH,1.7,1.001816
$STATE,12924,end surface coast,CONTROL_FINISHED_OK
$STATE,12924,begin surface
$SM_CCo,12998,0.00,0.000,0,0,604,528.38
$SM_GC,2.56,7.53,0.00,0.00,0.035,0.000,0.000,160,2039,604,-8.20,-0.90,528.38
$IRIDIUM_FIX,2522.28,12331.47,110998,212145
$TT8_MAMPS,0.048321
$HUMID,1605
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.20
$XPDR_PINGS,191
$ALTIM_BOTTOM_PING,725.4,32.6
$24V_AH,24.0,37.653
$10V_AH,10.7,26.808
$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,34.400,106.725,570.550,0.000,0.000,31.105,30.356,189.910,53.500,0.000,0.000,35.712,0.000,8842.122,690.595,3346.183,472.507,0.000,1927.844,0.000,2827.207,0.000,40.277,0.000
$DEVICE_MAMPS,223.197,66.729,1189.617,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,987.619,1074.605,1736.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82008,1463
$CAP_FILE_SIZE,151625,0
$CFSIZE,260165632,243458048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309, 45.5,1
$GPS,180609,045707,2532.933,12330.804,37,1.0,37,-3.8