version: 66.04
glider: 165
mission: 2
dive: 181
start: 6 18 109 20 58 55
data:
$ID,165
$MISSION,2
$DIVE,181
$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,275
$T_MISSION,330
$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,250
$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,-120454.82
$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,52
$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
$GPS1,204925,2532.651,12333.481,40,0.9,40,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-73.0
$GPS2,205850,2532.918,12333.715,11,1.0,11,-3.8
$SPEED_LIMITS,0.208,0.348
$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,212.1,36584,-16.4,-12.000
$D_GRID,953
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.94,-243.4,0.0,0.0,0,59,0.00,0.00,-44.60,0.000,2,0.000,0.000,157,2039,1949
$GC,61,-0.94,-243.4,3.4,-4.2,7,124,8.90,2.17,-46.53,0.000,4,0.222,0.058,2510,675,3754
$GC,299,-0.38,-243.4,65.8,-25.3,50,306,0.55,2.20,0.00,0.000,6,0.136,0.042,2687,2065,3757
$GC,626,-0.69,-243.4,95.1,-6.9,111,632,0.25,2.22,0.00,0.000,4,0.045,0.054,2560,3468,3759
$GC,749,-0.52,-243.4,112.3,-14.8,134,756,0.25,2.12,0.00,0.000,6,0.116,0.038,2650,2080,3759
$GC,1076,-0.77,-243.4,137.9,-8.2,195,1082,0.22,2.22,0.00,0.000,4,0.048,0.054,2535,3469,3760
$GC,1156,-0.58,-243.4,149.5,-15.7,210,1163,0.25,2.10,0.00,0.000,6,0.116,0.037,2625,2087,3760
$GC,1485,-0.77,-243.4,180.3,-8.6,271,1490,0.15,2.22,0.00,0.000,4,0.058,0.055,2537,3486,3760
$GC,1538,-0.65,-243.4,187.2,-13.9,281,1545,0.20,2.10,0.00,0.000,6,0.117,0.035,2608,2105,3760
$GC,1865,-0.79,-243.4,217.6,-8.7,342,1872,0.15,2.20,0.00,0.000,4,0.059,0.061,2529,3471,3760
$GC,1908,-0.67,-243.4,223.0,-13.8,350,1915,0.20,2.05,0.00,0.000,6,0.114,0.038,2600,2127,3760
$GC,2236,-0.81,-243.4,255.1,-9.2,411,2242,0.12,2.15,0.00,0.000,4,0.064,0.057,2532,3475,3759
$GC,2289,-0.71,-243.4,261.4,-12.8,421,2296,0.15,2.03,0.00,0.000,6,0.115,0.035,2586,2147,3759
$GC,2616,-0.80,-243.4,294.7,-9.8,482,2622,0.00,2.15,0.00,0.000,4,0.000,0.059,2586,3473,3758
$GC,2654,-0.98,-243.4,298.3,-9.5,489,2661,0.20,2.00,0.00,0.000,6,0.040,0.035,2477,2158,3757
$GC,2971,-0.53,-243.4,359.9,-19.8,521,2973,0.52,0.00,0.00,0.000,6,0.137,0.000,2644,2153,3756
$GC,3283,-1.36,-243.4,384.6,-9.0,551,3287,0.68,2.10,0.00,0.000,4,0.063,0.058,2376,3472,3755
$GC,3400,-0.60,-243.4,410.2,-28.0,561,3406,0.80,1.95,0.00,0.000,6,0.158,0.038,2620,2184,3754
$GC,3715,-1.30,-243.4,435.1,-7.5,592,3719,0.57,2.33,0.00,0.000,4,0.057,0.051,2395,681,3752
$GC,3741,-1.05,-243.4,438.4,-14.0,594,3748,0.28,2.35,0.00,0.000,6,0.155,0.044,2474,2172,3752
$GC,4057,-0.64,-243.4,495.4,-19.0,625,4058,0.43,0.00,0.00,0.000,6,0.137,0.000,2608,2174,3750
$GC,4362,-0.94,-243.4,519.2,-7.3,642,4367,0.25,2.10,0.00,0.000,4,0.048,0.062,2488,3471,3748
$GC,4411,-0.74,-243.4,525.4,-14.7,644,4415,0.30,1.95,0.00,0.000,6,0.125,0.038,2584,2181,3747
$GC,4733,-0.92,-243.4,553.6,-8.3,660,4734,0.17,0.00,0.00,0.000,6,0.058,0.000,2500,2176,3746
$GC,5037,-0.67,-243.4,601.0,-16.1,675,5041,0.32,2.35,0.00,0.000,4,0.130,0.055,2602,679,3743
$GC,5084,-0.97,-243.4,605.7,-7.3,677,5089,0.22,2.38,0.00,0.000,6,0.039,0.044,2481,2184,3743
$GC,5400,-0.66,-243.4,654.3,-15.7,693,5404,0.40,2.08,0.00,0.000,4,0.137,0.062,2602,3468,3740
$GC,5443,-1.02,-243.4,658.2,-6.3,695,5446,0.28,1.95,0.00,0.000,6,0.038,0.038,2462,2201,3740
$GC,5769,-0.61,-243.4,715.1,-18.7,711,5771,0.50,0.00,0.00,0.000,6,0.140,0.000,2618,2195,3738
$GC,6074,-1.36,-243.4,738.1,-7.9,726,6078,0.65,2.08,0.00,0.000,4,0.062,0.064,2370,3480,3736
$GC,6159,-0.72,-243.4,753.9,-23.7,730,6163,0.65,1.98,0.00,0.000,6,0.154,0.041,2583,2215,3734
$GC,6487,-0.97,-243.4,779.8,-6.7,746,6488,0.22,0.00,0.00,0.000,6,0.054,0.000,2481,2214,3733
$GC,6793,-0.68,-243.4,825.1,-15.4,761,6797,0.35,2.45,0.00,0.000,4,0.133,0.056,2596,677,3731
$GC,6829,-0.93,-243.4,829.1,-8.0,763,6833,0.22,2.38,0.00,0.000,6,0.051,0.048,2490,2188,3731
$STATE,7133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7133,begin apogee
$GC,7138,-0.20,0.0,873.0,14.6,778,7336,0.82,0.00,193.15,1.294,6,0.135,0.000,2752,2519,2758
$STATE,7337,end apogee,CONTROL_FINISHED_OK
$STATE,7337,begin climb
$GC,7338,0.94,243.4,884.0,0.0,788,7550,1.00,2.40,202.38,1.253,4,0.039,0.054,3153,1131,1765
$GC,7757,0.27,243.4,807.9,24.9,807,7764,0.82,2.30,0.00,0.000,6,0.174,0.051,2911,2521,1758
$GC,8068,0.56,345.7,778.0,8.6,823,8161,0.25,2.38,87.60,1.196,4,0.052,0.052,3033,1140,1348
$GC,8215,0.43,345.7,753.7,17.3,830,8220,0.22,2.30,0.00,0.000,6,0.136,0.047,2962,2517,1344
$GC,8542,0.54,345.7,712.5,12.2,846,8546,0.00,2.25,0.00,0.000,4,0.000,0.050,2971,1130,1342
$GC,8573,0.66,346.8,708.5,12.0,847,8578,0.12,2.22,0.00,0.000,6,0.052,0.046,3039,2505,1341
$GC,8889,0.44,346.8,650.9,18.3,863,8893,0.25,1.90,0.00,0.000,4,0.140,0.061,2964,3686,1339
$GC,8926,0.50,346.8,645.4,13.9,864,8933,0.00,1.80,0.00,0.000,6,0.000,0.039,2972,2525,1339
$GC,9237,0.60,355.6,609.5,11.7,880,9251,0.12,2.28,8.15,1.000,4,0.070,0.050,3041,1126,1309
$GC,9326,0.45,355.6,595.2,16.4,884,9330,0.22,2.22,0.00,0.000,6,0.137,0.047,2968,2507,1308
$GC,9648,0.61,374.4,557.0,11.4,900,9670,0.15,2.28,17.77,1.071,4,0.064,0.049,3044,1129,1231
$GC,9707,0.49,374.4,547.9,16.8,902,9714,0.17,2.22,0.00,0.000,6,0.135,0.046,2986,2498,1230
$GC,10017,0.59,374.4,507.8,12.4,918,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2498,1229
$GC,10326,0.69,374.4,469.6,12.5,944,10330,0.17,2.20,0.00,0.000,4,0.062,0.049,3072,1127,1228
$GC,10352,0.58,374.4,465.6,15.6,946,10361,0.20,2.17,0.00,0.000,6,0.147,0.046,3008,2490,1227
$GC,10668,0.58,374.4,422.8,12.4,977,10672,0.00,1.92,0.00,0.000,4,0.000,0.062,3007,3684,1227
$GC,10704,0.58,374.4,417.8,13.5,980,10712,0.00,1.85,0.00,0.000,6,0.000,0.039,3015,2486,1227
$GC,11022,0.58,374.4,379.0,12.2,1011,11025,0.00,2.12,0.00,0.000,4,0.000,0.048,3025,1122,1227
$GC,11073,0.58,374.4,372.2,13.0,1016,11078,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2490,1226
$GC,11396,0.58,374.4,328.5,13.4,1047,11399,0.00,1.88,0.00,0.000,4,0.000,0.061,3025,3681,1226
$GC,11448,0.51,374.4,320.8,15.4,1052,11452,0.12,1.83,0.00,0.000,6,0.126,0.038,2987,2495,1226
$GC,11768,0.73,414.2,287.5,10.7,1093,11807,0.20,2.25,34.10,0.901,4,0.054,0.048,3092,1117,1069
$GC,11887,0.57,414.2,265.8,19.3,1114,11894,0.30,2.17,0.00,0.000,6,0.142,0.045,3004,2481,1065
$GC,12215,0.78,435.6,227.2,11.3,1175,12240,0.20,2.22,18.92,0.831,4,0.054,0.048,3115,1129,982
$GC,12254,0.55,435.6,220.3,18.5,1182,12263,0.35,2.15,0.00,0.000,6,0.140,0.044,3002,2465,980
$GC,12583,0.89,507.6,186.4,9.6,1243,12652,0.28,2.22,60.80,0.803,4,0.045,0.047,3142,1130,686
$GC,12717,0.70,507.6,159.2,23.0,1266,12724,0.32,2.10,0.00,0.000,6,0.137,0.043,3046,2447,684
$GC,13044,1.03,581.4,120.6,9.6,1327,13135,0.28,2.05,58.40,0.653,4,0.045,0.056,3172,3684,479
$GC,13204,0.77,581.4,86.3,21.9,1355,13211,0.35,1.90,0.00,0.000,6,0.137,0.036,3069,2476,470
$GC,13531,1.24,689.8,54.6,8.4,1416,13537,0.40,2.10,0.00,0.000,4,0.040,0.044,3256,1127,461
$GC,13643,0.89,689.8,28.8,28.3,1437,13650,0.45,2.10,0.00,0.000,6,0.138,0.042,3109,2451,460
$STATE,13925,end climb,SURFACE_DEPTH_REACHED
$STATE,13925,begin surface coast
$FINISH,1.8,1.020413
$STATE,13975,end surface coast,CONTROL_FINISHED_OK
$STATE,13975,begin surface
$SM_CCo,14048,0.00,0.000,0,0,457,564.68
$SM_GC,2.54,7.47,0.00,0.00,0.035,0.000,0.000,162,2056,457,-8.20,-0.42,564.68
$IRIDIUM_FIX,2522.28,12334.78,120998,212107
$TT8_MAMPS,0.048321
$HUMID,1601
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,24.60
$XPDR_PINGS,173
$ALTIM_BOTTOM_PING,825.1,70.3
$24V_AH,23.7,38.615
$10V_AH,10.7,27.500
$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,34.700,125.475,681.275,0.000,0.000,58.826,63.616,263.071,50.000,0.000,0.000,12.905,0.000,9722.250,795.157,3423.856,641.042,0.000,2101.126,0.000,2905.817,0.000,46.989,0.000
$DEVICE_MAMPS,222.430,63.661,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1013.133,1068.535,1707.525,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85296,1499
$CAP_FILE_SIZE,163745,0
$CFSIZE,260165632,243007488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.286, 59.4,1
$GPS,190609,005401,2532.246,12334.115,39,1.3,39,-3.8