version: 66.04
glider: 165
mission: 2
dive: 178
start: 6 18 109 8 44 31
data:
$ID,165
$MISSION,2
$DIVE,178
$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,-120407.52
$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,27
$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
$GPS1,083807,2532.961,12331.192,36,1.3,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-71.0
$GPS2,084426,2533.136,12331.322,14,1.5,14,-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,206.5,38305,-16.8,-10.000
$D_GRID,859
$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,-170.3,0.0,0.0,0,70,0.00,0.00,-56.15,0.000,2,0.000,0.000,156,2082,1866
$GC,72,-0.87,-170.3,3.3,-3.7,9,130,8.93,2.22,-43.35,0.000,4,0.219,0.056,2532,660,3454
$GC,161,-0.03,-170.3,20.9,-30.8,24,168,0.88,2.22,0.00,0.000,6,0.158,0.038,2804,2073,3455
$GC,488,-0.82,-170.3,53.4,-9.4,85,495,0.68,2.17,0.00,0.000,4,0.053,0.054,2538,3476,3457
$GC,558,-0.41,-170.3,63.0,-15.5,98,566,0.40,2.15,0.00,0.000,6,0.123,0.034,2677,2068,3457
$GC,886,-0.59,-170.3,95.1,-7.4,159,892,0.15,2.25,0.00,0.000,4,0.061,0.059,2590,3472,3459
$GC,982,-0.46,-170.3,106.8,-13.0,177,988,0.20,2.08,0.00,0.000,6,0.116,0.034,2664,2103,3459
$GC,1309,-0.69,-170.3,131.8,-7.2,238,1316,0.20,2.17,0.00,0.000,4,0.052,0.055,2560,3483,3461
$GC,1364,-0.56,-170.3,138.7,-13.7,248,1370,0.20,2.08,0.00,0.000,6,0.117,0.036,2633,2117,3460
$GC,1690,-0.68,-170.3,169.8,-8.6,309,1696,0.00,2.17,0.00,0.000,4,0.000,0.056,2633,3472,3461
$GC,1776,-0.93,-170.3,176.0,-7.2,325,1782,0.28,2.03,0.00,0.000,6,0.037,0.041,2490,2137,3461
$GC,2102,-0.44,-170.3,234.6,-18.2,386,2110,0.57,2.25,0.00,0.000,4,0.137,0.054,2674,677,3461
$GC,2141,-0.73,-170.3,238.1,-6.1,393,2147,0.25,2.22,0.00,0.000,6,0.047,0.039,2546,2135,3461
$GC,2467,-0.54,-170.3,276.1,-12.4,454,2474,0.30,0.00,0.00,0.000,6,0.123,0.000,2644,2135,3461
$GC,2794,-0.82,-170.3,299.1,-6.7,515,2800,0.25,2.12,0.00,0.000,4,0.046,0.057,2520,3488,3460
$GC,2873,-0.60,-170.3,309.1,-13.1,524,2881,0.30,2.05,0.00,0.000,6,0.121,0.035,2624,2140,3459
$GC,3190,-0.81,-170.3,333.4,-7.2,555,3193,0.17,2.12,0.00,0.000,4,0.055,0.058,2535,3482,3458
$GC,3232,-0.67,-170.3,338.0,-11.9,559,3236,0.22,2.03,0.00,0.000,6,0.123,0.036,2606,2131,3457
$GC,3552,-0.81,-170.3,364.4,-8.0,590,3556,0.15,2.17,0.00,0.000,4,0.061,0.059,2531,3477,3456
$GC,3600,-0.67,-170.3,369.8,-11.7,594,3609,0.17,2.00,0.00,0.000,6,0.119,0.036,2595,2170,3455
$GC,3916,-0.78,-170.3,396.8,-7.8,625,3920,0.00,2.10,0.00,0.000,4,0.000,0.059,2590,3467,3454
$GC,3942,-0.93,-170.3,398.9,-8.6,627,3948,0.15,2.00,0.00,0.000,6,0.045,0.035,2505,2155,3454
$GC,4257,-0.64,-170.3,441.4,-13.9,658,4262,0.35,2.33,0.00,0.000,4,0.132,0.052,2615,679,3452
$GC,4316,-0.90,-170.3,447.0,-8.3,663,4322,0.20,2.30,0.00,0.000,6,0.041,0.042,2505,2150,3452
$GC,4631,-0.64,-170.3,490.3,-13.6,694,4636,0.35,2.12,0.00,0.000,4,0.133,0.061,2615,3470,3449
$GC,4658,-0.76,-170.3,492.7,-9.0,696,4665,0.08,2.03,0.00,0.000,6,0.054,0.036,2554,2148,3449
$GC,4982,-0.76,-170.3,526.5,-9.9,716,4985,0.00,2.12,0.00,0.000,4,0.000,0.061,2550,3472,3447
$GC,5001,-0.76,-170.3,528.7,-10.6,717,5006,0.00,2.03,0.00,0.000,6,0.000,0.037,2550,2154,3447
$GC,5328,-0.76,-170.3,564.4,-10.9,733,5332,0.00,2.12,0.00,0.000,4,0.000,0.062,2550,3475,3445
$GC,5359,-0.76,-170.3,567.7,-10.4,734,5364,0.00,2.03,0.00,0.000,6,0.000,0.038,2550,2162,3444
$GC,5675,-0.71,-170.3,603.5,-11.4,750,5679,0.15,2.12,0.00,0.000,4,0.131,0.062,2590,3464,3442
$GC,5707,-0.88,-170.3,606.7,-8.9,751,5711,0.12,2.00,0.00,0.000,6,0.049,0.038,2517,2169,3442
$GC,6023,-0.69,-170.3,646.1,-12.5,767,6027,0.25,2.33,0.00,0.000,4,0.130,0.054,2595,683,3440
$GC,6059,-0.86,-170.3,649.4,-8.0,768,6067,0.12,2.35,0.00,0.000,6,0.048,0.045,2522,2163,3440
$GC,6372,-0.73,-170.3,685.2,-11.9,784,6375,0.17,2.10,0.00,0.000,4,0.133,0.062,2576,3472,3437
$GC,6402,-0.85,-170.3,688.3,-8.8,785,6409,0.00,2.00,0.00,0.000,6,0.000,0.038,2576,2174,3437
$GC,6713,-0.97,-170.3,713.0,-7.8,801,6714,0.20,0.00,0.00,0.000,6,0.057,0.000,2483,2171,3436
$GC,7018,-0.69,-170.3,756.3,-14.4,816,7020,0.38,0.00,0.00,0.000,6,0.138,0.000,2599,2169,3434
$STATE,7098,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7098,begin apogee
$GC,7102,-0.20,0.0,762.6,7.6,820,7241,0.45,0.00,133.43,1.211,6,0.105,0.000,2755,2522,2758
$STATE,7241,end apogee,CONTROL_FINISHED_OK
$STATE,7241,begin climb
$GC,7243,0.87,170.3,766.1,0.0,827,7393,0.93,2.40,138.55,1.176,4,0.051,0.054,3115,1140,2062
$GC,7462,0.27,170.3,740.4,19.0,837,7466,0.70,2.33,0.00,0.000,6,0.171,0.048,2911,2530,2057
$GC,7784,0.46,241.3,715.2,7.2,853,7849,0.17,2.40,58.45,1.146,4,0.061,0.051,3007,1130,1773
$GC,7913,0.32,241.3,699.4,13.3,859,7917,0.30,2.28,0.00,0.000,6,0.143,0.048,2921,2519,1768
$GC,8233,0.49,242.1,668.8,10.0,875,8237,0.15,2.20,0.00,0.000,4,0.063,0.050,3007,1135,1765
$GC,8296,0.35,242.1,659.9,14.7,878,8300,0.20,2.22,0.00,0.000,6,0.137,0.048,2942,2508,1764
$GC,8623,0.47,256.8,626.0,9.4,894,8644,0.00,2.25,12.68,1.059,4,0.000,0.049,2950,1136,1711
$GC,8674,0.60,256.8,621.0,10.3,896,8679,0.12,2.20,0.00,0.000,6,0.050,0.046,3020,2495,1709
$GC,8990,0.39,256.8,575.3,15.1,912,8994,0.25,2.15,0.00,0.000,4,0.143,0.048,2956,1130,1708
$GC,9033,0.50,256.8,570.3,10.7,914,9037,0.00,2.20,0.00,0.000,6,0.000,0.045,2956,2500,1706
$GC,9359,0.56,256.8,537.4,10.1,930,9360,0.12,0.00,0.00,0.000,6,0.069,0.000,3018,2500,1706
$GC,9666,0.39,256.8,491.8,14.8,947,9667,0.25,0.00,0.00,0.000,6,0.140,0.000,2945,2500,1705
$GC,9977,0.54,272.0,461.5,9.4,977,9998,0.15,2.20,13.20,0.990,4,0.064,0.049,3027,1139,1649
$GC,10045,0.41,272.0,452.2,14.8,983,10053,0.22,2.17,0.00,0.000,6,0.137,0.046,2955,2492,1648
$GC,10360,0.56,286.9,420.3,9.4,1014,10384,0.12,2.22,13.93,0.964,4,0.069,0.048,3023,1130,1588
$GC,10495,0.48,286.9,401.3,15.1,1026,10502,0.15,2.15,0.00,0.000,6,0.130,0.045,2973,2470,1584
$GC,10811,0.57,286.9,367.7,10.0,1057,10814,0.00,1.95,0.00,0.000,4,0.000,0.060,2973,3681,1584
$GC,10879,0.57,286.9,359.9,11.4,1063,10887,0.00,1.88,0.00,0.000,6,0.000,0.038,2980,2467,1584
$GC,11196,0.67,286.9,326.2,10.9,1094,11199,0.15,2.08,0.00,0.000,4,0.063,0.048,3061,1125,1584
$GC,11232,0.48,286.9,321.3,15.4,1097,11239,0.25,2.15,0.00,0.000,6,0.143,0.044,2980,2478,1582
$GC,11552,0.59,286.9,287.6,10.2,1139,11559,0.00,2.12,0.00,0.000,4,0.000,0.048,2988,1135,1582
$GC,11600,0.71,289.0,282.7,9.9,1148,11607,0.12,2.10,0.00,0.000,6,0.051,0.044,3061,2464,1582
$GC,11928,0.49,289.0,234.8,14.0,1209,11933,0.28,0.00,0.00,0.000,6,0.141,0.000,2978,2464,1582
$GC,12253,0.71,338.9,205.0,8.0,1270,12303,0.20,2.17,42.72,0.831,4,0.054,0.047,3079,1133,1376
$GC,12399,0.57,338.9,184.0,15.2,1296,12405,0.20,2.12,0.00,0.000,6,0.138,0.044,3004,2452,1373
$GC,12725,0.79,366.0,154.0,8.9,1357,12752,0.20,2.05,22.83,0.772,4,0.054,0.058,3105,3694,1265
$GC,12827,0.50,366.0,138.0,16.8,1375,12834,0.40,1.92,0.00,0.000,6,0.135,0.037,2985,2457,1264
$GC,13155,0.90,382.9,111.0,9.3,1436,13174,0.32,2.15,14.85,0.719,4,0.041,0.046,3146,1124,1197
$GC,13243,0.70,382.9,95.7,18.7,1452,13249,0.30,2.10,0.00,0.000,6,0.137,0.043,3049,2442,1194
$GC,13569,0.96,434.0,61.9,8.0,1513,13616,0.22,2.15,41.67,0.695,4,0.048,0.045,3162,1130,989
$GC,13775,0.91,434.0,32.6,12.7,1550,13782,0.15,2.08,0.00,0.000,6,0.122,0.041,3111,2438,985
$GC,14102,1.25,515.5,3.6,6.8,1611,14117,0.30,0.00,13.60,0.609,2,0.044,0.000,3244,2439,923
$STATE,14118,end climb,SURFACE_DEPTH_REACHED
$STATE,14118,begin surface coast
$FINISH,1.7,0.998067
$STATE,14158,end surface coast,CONTROL_FINISHED_OK
$STATE,14158,begin surface
$SM_CCo,14233,0.00,0.000,0,0,920,451.11
$SM_GC,2.83,7.93,0.00,0.00,0.038,0.000,0.000,156,2063,920,-8.22,-0.23,451.11
$IRIDIUM_FIX,2524.66,12331.47,120998,050546
$TT8_MAMPS,0.048321
$HUMID,1607
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.20
$XPDR_PINGS,218
$ALTIM_BOTTOM_PING,675.5,111.5
$24V_AH,24.0,38.010
$10V_AH,10.7,27.085
$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,32.150,134.175,505.900,0.000,0.000,28.024,32.250,205.128,59.750,0.000,0.000,16.967,0.000,9744.957,680.404,3640.296,518.918,0.000,2019.703,0.000,3091.354,0.000,37.179,0.000
$DEVICE_MAMPS,219.362,62.127,1211.093,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1095.647,1186.139,1919.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91495,1621
$CAP_FILE_SIZE,169245,0
$CFSIZE,260165632,243261440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.307, 54.6,1
$GPS,180609,124237,2532.821,12332.010,34,1.2,34,-3.8