version: 66.04
glider: 165
mission: 2
dive: 179
start: 6 18 109 12 49 0
data:
$ID,165
$MISSION,2
$DIVE,179
$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,-120423.23
$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,49
$R_STBD_OVSHOOT,31
$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
$GPS1,124237,2532.821,12332.010,34,1.2,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-75.2
$GPS2,124855,2533.000,12332.115,13,1.3,13,-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,208.2,37586,-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,-170.3,0.0,0.0,0,51,0.00,0.00,-36.75,0.000,2,0.000,0.000,155,2063,1846
$GC,53,-0.87,-170.3,3.2,-3.2,6,111,8.95,2.25,-44.25,0.000,4,0.219,0.059,2534,664,3457
$GC,196,-0.10,-170.3,36.0,-32.7,31,202,0.85,2.20,0.00,0.000,6,0.153,0.047,2782,2087,3459
$GC,522,-0.98,-170.3,67.1,-8.1,92,529,0.75,2.17,0.00,0.000,4,0.054,0.051,2488,3485,3462
$GC,544,-1.24,-170.3,69.5,-10.7,96,551,0.15,2.15,0.00,0.000,6,0.054,0.034,2414,2079,3462
$GC,870,-0.39,-170.3,158.6,-26.6,157,877,0.90,0.00,0.00,0.000,6,0.157,0.000,2694,2074,3464
$GC,1197,-1.14,-170.3,182.4,-6.8,218,1204,0.65,2.20,0.00,0.000,4,0.054,0.054,2437,3471,3465
$GC,1267,-0.58,-170.3,192.7,-17.1,231,1275,0.57,2.10,0.00,0.000,6,0.134,0.035,2628,2087,3465
$GC,1595,-0.73,-170.3,216.3,-7.5,292,1601,0.12,2.22,0.00,0.000,4,0.064,0.062,2553,3468,3465
$GC,1637,-0.61,-170.3,220.7,-11.2,300,1645,0.17,2.08,0.00,0.000,6,0.114,0.035,2616,2102,3465
$GC,1965,-0.74,-170.3,250.3,-10.2,361,1971,0.12,2.17,0.00,0.000,4,0.066,0.056,2547,3472,3465
$GC,2002,-0.64,-170.3,255.0,-13.3,368,2009,0.17,2.08,0.00,0.000,6,0.116,0.035,2609,2105,3464
$GC,2329,-0.76,-170.3,288.2,-9.0,429,2335,0.10,2.17,0.00,0.000,4,0.074,0.058,2550,3481,3464
$GC,2350,-0.76,-170.3,290.7,-11.1,433,2356,0.00,2.08,0.00,0.000,6,0.000,0.035,2550,2116,3464
$GC,2673,-0.62,-170.3,331.2,-12.3,471,2674,0.22,0.00,0.00,0.000,6,0.125,0.000,2622,2114,3463
$GC,2985,-0.83,-170.3,354.3,-7.1,501,2988,0.17,2.17,0.00,0.000,4,0.056,0.059,2529,3475,3462
$GC,3053,-0.68,-170.3,362.3,-12.6,507,3057,0.17,2.08,0.00,0.000,6,0.120,0.038,2592,2121,3462
$GC,3374,-0.76,-170.3,392.0,-9.2,538,3377,0.00,2.20,0.00,0.000,4,0.000,0.061,2590,3473,3460
$GC,3432,-0.91,-170.3,397.3,-9.2,543,3440,0.15,2.05,0.00,0.000,6,0.044,0.037,2504,2136,3459
$GC,3747,-0.62,-170.3,443.0,-14.2,574,3752,0.35,2.17,0.00,0.000,4,0.130,0.062,2615,3472,3458
$GC,3785,-0.87,-170.3,446.5,-7.8,577,3791,0.17,2.05,0.00,0.000,6,0.041,0.037,2519,2135,3457
$GC,4100,-0.66,-170.3,486.9,-12.6,608,4104,0.28,2.30,0.00,0.000,4,0.127,0.054,2607,679,3456
$GC,4132,-0.79,-170.3,490.1,-8.9,611,4136,0.08,2.28,0.00,0.000,6,0.032,0.043,2534,2129,3456
$GC,4460,-0.66,-170.3,528.8,-12.6,632,4464,0.20,2.15,0.00,0.000,4,0.124,0.061,2603,3476,3453
$GC,4544,-0.89,-170.3,535.8,-7.6,636,4549,0.15,2.05,0.00,0.000,6,0.044,0.038,2516,2141,3452
$GC,4868,-0.69,-170.3,576.1,-12.5,652,4869,0.25,0.00,0.00,0.000,6,0.129,0.000,2594,2137,3451
$GC,5171,-0.86,-170.3,598.6,-6.8,667,5173,0.15,0.00,0.00,0.000,6,0.061,0.000,2522,2136,3449
$GC,5476,-0.70,-170.3,633.5,-12.2,682,5480,0.22,2.15,0.00,0.000,4,0.130,0.065,2590,3467,3447
$GC,5502,-0.80,-170.3,635.9,-8.6,683,5506,0.00,2.03,0.00,0.000,6,0.000,0.039,2590,2162,3446
$GC,5824,-0.98,-170.3,658.6,-6.8,699,5827,0.25,2.12,0.00,0.000,4,0.052,0.064,2478,3473,3445
$GC,5860,-0.69,-170.3,663.0,-13.5,700,5867,0.32,2.03,0.00,0.000,6,0.130,0.040,2587,2168,3443
$GC,6171,-0.86,-170.3,684.5,-6.3,716,6172,0.15,0.00,0.00,0.000,6,0.063,0.000,2516,2165,3442
$GC,6476,-0.70,-170.3,716.5,-10.5,731,6480,0.25,2.35,0.00,0.000,4,0.130,0.056,2594,678,3441
$GC,6502,-0.79,-170.3,718.7,-8.3,732,6506,0.00,2.35,0.00,0.000,6,0.000,0.047,2593,2155,3441
$GC,6824,-1.00,-170.3,738.5,-6.7,748,6828,0.22,2.12,0.00,0.000,4,0.053,0.062,2482,3478,3439
$GC,6876,-0.76,-170.3,744.4,-12.0,750,6883,0.25,2.03,0.00,0.000,6,0.129,0.040,2566,2168,3438
$STATE,6941,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6941,begin apogee
$GC,6945,-0.20,0.0,750.4,9.2,754,7084,0.57,0.00,133.75,1.208,6,0.113,0.000,2758,2523,2758
$STATE,7084,end apogee,CONTROL_FINISHED_OK
$STATE,7084,begin climb
$GC,7086,0.87,170.3,752.4,0.0,761,7233,0.93,2.42,138.43,1.171,4,0.036,0.053,3130,1133,2063
$GC,7322,0.21,170.3,723.6,19.7,772,7327,0.82,2.33,0.00,0.000,6,0.178,0.050,2893,2525,2057
$GC,7644,0.48,230.5,697.6,7.6,788,7699,0.22,2.35,49.20,1.137,4,0.054,0.051,3008,1136,1818
$GC,7748,0.33,230.5,684.1,14.1,793,7752,0.28,2.28,0.00,0.000,6,0.145,0.048,2929,2523,1815
$GC,8074,0.50,265.4,654.0,8.6,809,8109,0.15,2.33,29.85,1.112,4,0.064,0.051,3011,1132,1675
$GC,8168,0.39,265.4,641.4,13.8,813,8173,0.20,2.28,0.00,0.000,6,0.135,0.047,2948,2510,1670
$GC,8485,0.51,265.4,608.2,10.2,829,8488,0.10,2.17,0.00,0.000,4,0.076,0.049,3006,1129,1669
$GC,8510,0.51,265.4,605.2,12.2,830,8514,0.00,2.20,0.00,0.000,6,0.000,0.046,3006,2494,1668
$GC,8832,0.39,265.4,562.9,13.1,846,8833,0.20,0.00,0.00,0.000,6,0.141,0.000,2949,2494,1668
$GC,9137,0.57,303.6,535.7,8.5,861,9173,0.17,2.22,32.00,1.071,4,0.058,0.050,3037,1129,1520
$GC,9210,0.45,303.6,526.0,15.4,863,9218,0.22,2.20,0.00,0.000,6,0.135,0.046,2965,2476,1517
$GC,9522,0.56,303.6,495.0,10.6,881,9525,0.00,1.95,0.00,0.000,4,0.000,0.063,2965,3692,1514
$GC,9547,0.63,303.6,491.8,11.3,883,9555,0.10,1.90,0.00,0.000,6,0.057,0.040,3029,2470,1514
$GC,9863,0.49,303.6,443.9,15.1,914,9867,0.17,2.15,0.00,0.000,4,0.141,0.050,2986,1126,1513
$GC,9943,0.61,303.6,434.4,10.9,921,9949,0.00,2.12,0.00,0.000,6,0.000,0.046,2986,2454,1512
$GC,10260,0.68,303.6,399.8,11.7,952,10263,0.15,1.98,0.00,0.000,4,0.065,0.061,3055,3694,1512
$GC,10285,0.50,303.6,395.7,16.5,954,10292,0.25,1.92,0.00,0.000,6,0.144,0.040,2983,2450,1512
$GC,10601,0.60,303.6,359.5,10.4,985,10605,0.00,2.10,0.00,0.000,4,0.000,0.048,2991,1124,1512
$GC,10643,0.72,303.6,354.8,10.5,989,10647,0.12,2.10,0.00,0.000,6,0.053,0.046,3063,2445,1511
$GC,10964,0.49,303.6,304.7,15.3,1020,10968,0.28,1.98,0.00,0.000,4,0.140,0.060,2980,3683,1511
$GC,11001,0.55,303.6,300.1,11.6,1023,11009,0.00,1.92,0.00,0.000,6,0.000,0.038,2987,2428,1511
$GC,11329,0.68,308.6,269.6,9.8,1084,11335,0.15,0.00,4.22,0.630,6,0.060,0.000,3065,2424,1500
$GC,11656,0.49,308.6,219.2,14.2,1145,11662,0.28,2.03,0.00,0.000,4,0.140,0.058,2978,3697,1500
$GC,11709,0.60,315.2,213.3,9.7,1155,11723,0.00,1.95,7.72,0.753,6,0.000,0.038,2984,2422,1471
$GC,12044,0.84,342.5,184.3,8.9,1217,12076,0.25,2.08,23.58,0.806,4,0.047,0.058,3115,3684,1361
$GC,12086,0.51,342.5,177.8,17.3,1224,12092,0.43,1.95,0.00,0.000,6,0.141,0.038,2987,2435,1361
$GC,12413,0.83,398.9,146.5,7.8,1285,12465,0.28,2.10,46.55,0.771,4,0.047,0.046,3124,1118,1131
$GC,12480,0.62,398.9,136.0,17.1,1296,12487,0.30,2.15,0.00,0.000,6,0.135,0.043,3028,2443,1129
$GC,12807,0.89,419.2,102.1,9.2,1357,12828,0.22,2.05,17.00,0.709,4,0.048,0.055,3136,3693,1049
$GC,12854,0.66,419.2,95.2,16.5,1365,12860,0.32,1.95,0.00,0.000,6,0.133,0.036,3038,2441,1049
$GC,13180,1.06,485.6,66.8,7.4,1426,13239,0.32,2.15,53.83,0.691,4,0.042,0.045,3195,1127,778
$GC,13382,0.91,485.6,31.4,17.2,1462,13389,0.25,2.08,0.00,0.000,6,0.130,0.041,3113,2426,774
$STATE,13702,end climb,SURFACE_DEPTH_REACHED
$STATE,13702,begin surface coast
$FINISH,1.8,1.020793
$STATE,13740,end surface coast,CONTROL_FINISHED_OK
$STATE,13740,begin surface
$SM_CCo,13814,0.00,0.000,0,0,772,487.41
$SM_GC,2.51,7.50,0.00,0.00,0.035,0.000,0.000,158,2057,772,-8.22,-0.40,487.41
$IRIDIUM_FIX,2519.89,12335.45,120998,080845
$TT8_MAMPS,0.048321
$HUMID,1591
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.10
$XPDR_PINGS,166
$ALTIM_BOTTOM_PING,725.7,48.3
$24V_AH,23.9,38.189
$10V_AH,10.7,27.222
$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,32.800,129.075,536.125,0.000,0.000,25.499,32.427,203.914,47.250,0.000,0.000,15.083,0.000,9550.628,661.433,3439.922,508.768,0.000,1936.538,0.000,2914.353,0.000,40.312,0.000
$DEVICE_MAMPS,219.362,65.195,1208.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.196,1087.638,1748.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88466,1529
$CAP_FILE_SIZE,163981,0
$CFSIZE,260165632,243179520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.303, 50.9,1
$GPS,180609,164007,2532.601,12332.811,34,1.3,34,-3.8