version: 66.04
glider: 165
mission: 2
dive: 182
start: 6 19 109 1 7 31
data:
$ID,165
$MISSION,2
$DIVE,182
$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,-120469.13
$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,33
$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
$GPS1,005401,2532.246,12334.115,39,1.3,39,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-71.2
$GPS2,010726,2532.532,12334.479,11,1.5,11,-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,213.7,35546,-16.4,-12.000
$D_GRID,1113
$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,-243.4,0.0,0.0,0,72,0.00,0.00,-56.97,0.000,2,0.000,0.000,162,2056,1855
$GC,74,-0.94,-243.4,3.1,-4.0,9,145,9.00,2.30,-55.03,0.000,4,0.225,0.065,2499,3470,3755
$GC,293,-0.39,-243.4,55.7,-27.3,48,300,0.55,2.15,0.00,0.000,6,0.127,0.037,2684,2079,3757
$GC,620,-0.70,-243.4,87.5,-8.0,109,626,0.25,2.22,0.00,0.000,4,0.045,0.053,2558,3470,3758
$GC,695,-0.49,-243.4,98.5,-15.9,123,702,0.28,2.12,0.00,0.000,6,0.119,0.034,2656,2073,3758
$GC,1022,-0.72,-243.4,128.1,-8.7,184,1028,0.20,2.22,0.00,0.000,4,0.050,0.059,2551,3482,3758
$GC,1118,-0.59,-243.4,141.6,-15.6,202,1125,0.20,2.08,0.00,0.000,6,0.114,0.034,2624,2106,3758
$GC,1446,-0.77,-243.4,176.8,-8.8,263,1452,0.15,2.17,0.00,0.000,4,0.058,0.054,2542,3467,3758
$GC,1472,-0.77,-243.4,180.0,-13.1,268,1479,0.05,2.05,0.00,0.000,6,0.131,0.035,2564,2115,3758
$GC,1799,-0.70,-243.4,220.5,-11.7,329,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2110,3758
$GC,2123,-0.65,-243.4,261.6,-12.0,390,2131,0.15,2.17,0.00,0.000,4,0.127,0.058,2603,3470,3757
$GC,2179,-0.91,-243.4,267.0,-8.6,400,2185,0.17,2.05,0.00,0.000,6,0.041,0.036,2504,2128,3757
$GC,2501,-0.58,-243.4,322.1,-17.4,449,2505,0.40,2.22,0.00,0.000,4,0.129,0.051,2634,684,3755
$GC,2532,-0.77,-243.4,326.0,-10.3,451,2539,0.12,2.22,0.00,0.000,6,0.042,0.040,2542,2113,3755
$GC,2848,-0.68,-243.4,366.0,-12.7,482,2852,0.20,2.17,0.00,0.000,4,0.123,0.058,2603,3502,3753
$GC,2938,-0.97,-243.4,373.8,-8.1,490,2947,0.22,2.08,0.00,0.000,6,0.038,0.035,2480,2139,3753
$GC,3254,-0.57,-243.4,431.1,-19.7,521,3258,0.47,2.25,0.00,0.000,4,0.133,0.051,2632,681,3751
$GC,3297,-0.97,-243.4,436.0,-8.1,525,3301,0.32,2.22,0.00,0.000,6,0.044,0.041,2478,2131,3751
$GC,3612,-0.60,-243.4,489.2,-17.3,555,3616,0.45,2.12,0.00,0.000,4,0.132,0.059,2616,3475,3748
$GC,3670,-0.99,-243.4,494.3,-6.3,560,3678,0.28,2.05,0.00,0.000,6,0.035,0.036,2468,2134,3748
$GC,3983,-0.58,-243.4,550.8,-18.6,578,3987,0.47,2.28,0.00,0.000,4,0.136,0.052,2624,679,3746
$GC,4013,-0.74,-243.4,554.9,-9.6,579,4021,0.10,2.28,0.00,0.000,6,0.047,0.043,2548,2130,3745
$GC,4324,-0.74,-243.4,589.3,-11.2,595,4328,0.12,2.12,0.00,0.000,4,0.130,0.061,2585,3472,3743
$GC,4377,-1.01,-243.4,594.0,-8.7,597,4381,0.22,2.05,0.00,0.000,6,0.041,0.037,2468,2134,3742
$GC,4695,-0.63,-243.4,651.0,-19.0,613,4699,0.43,2.28,0.00,0.000,4,0.133,0.052,2609,680,3740
$GC,4747,-1.02,-243.4,657.3,-8.3,615,4754,0.25,2.28,0.00,0.000,6,0.038,0.044,2465,2123,3740
$GC,5058,-0.65,-243.4,713.2,-18.5,631,5062,0.45,2.17,0.00,0.000,4,0.133,0.061,2602,3481,3737
$GC,5143,-1.07,-243.4,720.7,-7.0,635,5146,0.30,2.08,0.00,0.000,6,0.038,0.038,2452,2135,3736
$GC,5464,-0.65,-243.4,780.6,-19.5,651,5468,0.47,2.28,0.00,0.000,4,0.139,0.054,2606,690,3733
$GC,5484,-0.51,-243.4,783.9,-15.8,652,5488,0.12,2.30,0.00,0.000,6,0.104,0.047,2657,2135,3733
$GC,5806,-1.34,-243.4,813.9,-10.7,668,5811,0.70,2.15,0.00,0.000,4,0.067,0.060,2386,3482,3732
$GC,5907,-0.76,-243.4,833.0,-24.3,673,5911,0.60,2.03,0.00,0.000,6,0.152,0.041,2569,2161,3729
$GC,6229,-0.96,-243.4,861.3,-6.9,689,6232,0.17,2.15,0.00,0.000,4,0.061,0.063,2482,3484,3727
$GC,6254,-0.91,-243.4,863.8,-11.0,690,6258,0.10,2.05,0.00,0.000,6,0.133,0.039,2518,2164,3727
$GC,6572,-0.84,-243.4,898.8,-11.6,706,6573,0.10,0.00,0.00,0.000,6,0.148,0.000,2548,2158,3725
$STATE,6588,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6588,begin apogee
$GC,6592,-0.20,0.0,901.0,11.4,707,6792,0.60,0.00,192.80,1.309,6,0.110,0.000,2752,2527,2759
$STATE,6793,end apogee,CONTROL_FINISHED_OK
$STATE,6793,begin climb
$GC,6795,0.94,243.4,910.3,0.0,717,7007,1.00,2.03,202.73,1.268,4,0.038,0.065,3145,3698,1765
$GC,7198,0.18,243.4,834.4,25.9,736,7202,0.93,1.85,0.00,0.000,6,0.173,0.041,2881,2542,1760
$GC,7524,0.65,396.6,808.7,6.9,752,7661,0.40,2.40,131.55,1.213,4,0.044,0.053,3063,1123,1141
$GC,7753,0.46,396.6,765.6,19.4,763,7757,0.30,2.30,0.00,0.000,6,0.140,0.048,2969,2505,1135
$GC,8079,0.64,418.1,727.9,11.3,779,8102,0.17,2.33,18.67,1.131,4,0.058,0.052,3055,1122,1054
$GC,8143,0.49,418.1,717.0,18.2,782,8148,0.22,2.25,0.00,0.000,6,0.137,0.047,2983,2492,1052
$GC,8469,0.62,418.1,674.6,12.7,798,8473,0.10,2.22,0.00,0.000,4,0.076,0.051,3041,1117,1049
$GC,8501,0.56,418.1,669.7,16.8,799,8505,0.10,2.20,0.00,0.000,6,0.138,0.047,3006,2478,1049
$GC,8816,0.56,418.1,624.2,14.3,815,8821,0.00,2.20,0.00,0.000,4,0.000,0.051,3015,1114,1049
$GC,8875,0.56,418.1,615.8,14.3,817,8881,0.00,2.15,0.00,0.000,6,0.000,0.046,3015,2457,1047
$GC,9186,0.56,418.1,568.5,15.0,833,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2457,1047
$GC,9490,0.56,418.1,522.8,14.7,848,9495,0.00,2.15,0.00,0.000,4,0.000,0.050,3024,1116,1047
$GC,9533,0.56,418.1,516.7,14.5,850,9537,0.00,2.15,0.00,0.000,6,0.000,0.046,3024,2465,1046
$GC,9853,0.56,418.1,468.7,14.0,875,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2465,1046
$GC,10163,0.56,418.1,424.6,13.7,905,10167,0.00,2.15,0.00,0.000,4,0.000,0.049,3033,1124,1046
$GC,10184,0.56,418.1,421.8,13.6,907,10188,0.10,2.12,0.00,0.000,6,0.129,0.045,2997,2465,1046
$GC,10505,0.75,460.8,386.8,10.6,938,10545,0.17,2.17,36.28,0.978,4,0.061,0.049,3088,1112,881
$GC,10615,0.62,460.8,368.4,17.8,947,10620,0.25,2.15,0.00,0.000,6,0.142,0.045,3016,2455,878
$GC,10929,0.79,474.0,330.2,11.6,978,10946,0.17,2.15,12.60,0.887,4,0.059,0.050,3112,1107,825
$GC,10977,0.56,474.0,321.8,20.7,982,10981,0.32,2.15,0.00,0.000,6,0.141,0.044,3007,2438,824
$GC,11297,0.84,517.7,287.2,10.6,1023,11346,0.22,2.22,39.97,0.886,4,0.050,0.049,3127,1110,644
$GC,11388,0.62,517.7,267.5,23.9,1039,11394,0.30,2.15,0.00,0.000,6,0.140,0.044,3022,2424,640
$GC,11713,0.89,517.7,225.5,12.1,1100,11720,0.22,0.00,0.00,0.000,6,0.048,0.000,3131,2424,637
$GC,12040,0.69,517.7,150.6,21.5,1161,12047,0.30,2.03,0.00,0.000,4,0.135,0.058,3039,3688,637
$GC,12073,0.78,517.7,145.1,14.6,1167,12079,0.00,2.00,0.00,0.000,6,0.000,0.037,3046,2397,636
$GC,12399,1.23,640.2,114.3,7.9,1228,12468,0.45,0.00,44.03,0.673,6,0.040,0.000,3241,2392,484
$GC,12789,0.98,640.2,11.6,19.6,1299,12795,0.32,2.08,0.00,0.000,4,0.144,0.054,3138,3696,468
$STATE,12851,end climb,SURFACE_DEPTH_REACHED
$STATE,12851,begin surface coast
$FINISH,1.9,1.019109
$STATE,12878,end surface coast,CONTROL_FINISHED_OK
$STATE,12878,begin surface
$SM_CCo,12954,0.00,0.000,0,0,466,562.47
$SM_GC,2.77,7.62,0.00,0.00,0.035,0.000,0.000,153,2075,466,-8.22,0.11,562.47
$IRIDIUM_FIX,2519.89,12333.46,130998,010113
$TT8_MAMPS,0.047554
$HUMID,1661
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,23.70
$XPDR_PINGS,176
$ALTIM_BOTTOM_PING,876.0,48.3
$24V_AH,23.7,38.876
$10V_AH,10.6,27.626
$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,32.400,122.175,678.625,0.000,0.000,78.339,117.191,367.671,51.250,0.000,0.000,13.681,0.000,9029.276,788.205,3112.851,798.889,0.000,2000.473,0.000,2630.457,0.000,51.618,0.000
$DEVICE_MAMPS,225.498,65.195,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,889.603,926.903,1469.898,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75793,1316
$CAP_FILE_SIZE,154386,0
$CFSIZE,260165632,242933760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.292, 63.6,1
$GPS,190609,044424,2531.754,12334.940,23,1.3,40,-3.8