version: 66.04
glider: 165
mission: 2
dive: 205
start: 6 23 109 4 43 39
data:
$ID,165
$MISSION,2
$DIVE,205
$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,-3
$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,475
$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,-120951.72
$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,23
$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,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2854
$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
$GPS1,043630,2525.971,12402.241,35,1.1,40,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-69.1
$GPS2,044332,2526.099,12402.569,10,1.8,10,-3.8
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2500.000,12415.000
$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,205.5,52647,-16.4,-12.000
$D_GRID,1920
$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,-1.01,-243.4,0.0,0.0,0,71,0.00,0.00,-57.35,0.000,2,0.000,0.000,160,2047,1909
$GC,73,-1.01,-243.4,3.0,-2.5,9,144,9.05,2.42,-54.00,0.000,4,0.229,0.065,2480,3539,3849
$GC,219,-0.35,-243.4,39.6,-32.6,34,226,0.62,2.17,0.00,0.000,6,0.132,0.035,2700,2130,3851
$GC,547,-0.59,-243.4,80.1,-10.2,95,553,0.20,2.25,0.00,0.000,4,0.051,0.058,2594,3550,3851
$GC,665,-0.49,-243.4,98.0,-15.8,117,671,0.15,2.12,0.00,0.000,6,0.113,0.037,2662,2152,3851
$GC,991,-0.69,-243.4,130.7,-8.7,178,999,0.17,2.20,0.00,0.000,4,0.054,0.054,2569,3549,3853
$GC,1089,-0.59,-243.4,144.4,-14.6,196,1096,0.15,2.05,0.00,0.000,6,0.115,0.033,2624,2195,3854
$GC,1416,-0.67,-243.4,181.2,-11.9,257,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2190,3854
$GC,1741,-0.81,-243.4,214.3,-10.2,318,1749,0.17,2.17,0.00,0.000,4,0.054,0.059,2534,3541,3854
$GC,1780,-0.65,-243.4,219.9,-16.3,325,1786,0.22,2.00,0.00,0.000,6,0.119,0.034,2606,2201,3855
$GC,2107,-0.75,-243.4,254.0,-10.7,386,2114,0.00,2.15,0.00,0.000,4,0.000,0.060,2606,3545,3854
$GC,2199,-0.99,-243.4,262.6,-9.3,403,2205,0.28,1.98,0.00,0.000,6,0.044,0.035,2474,2223,3854
$GC,2520,-0.45,-243.4,333.0,-22.4,450,2524,0.62,2.10,0.00,0.000,4,0.140,0.060,2670,3539,3854
$GC,2583,-1.13,-243.4,337.9,-4.9,456,2588,0.55,1.95,0.00,0.000,6,0.056,0.034,2445,2246,3854
$GC,2905,-0.54,-243.4,405.3,-23.9,487,2909,0.62,2.08,0.00,0.000,4,0.140,0.061,2643,3548,3854
$GC,2941,-0.87,-243.4,409.9,-7.5,490,2950,0.25,1.95,0.00,0.000,6,0.041,0.035,2510,2266,3854
$GC,3257,-0.61,-243.4,463.2,-17.9,521,3261,0.35,2.03,0.00,0.000,4,0.123,0.061,2617,3539,3852
$GC,3300,-0.97,-243.4,468.3,-9.1,525,3304,0.30,1.90,0.00,0.000,6,0.044,0.035,2468,2266,3852
$GC,3618,-0.55,-243.4,532.9,-22.1,549,3622,0.52,2.05,0.00,0.000,4,0.131,0.061,2631,3548,3849
$GC,3665,-1.05,-243.4,538.3,-7.3,551,3670,0.35,1.92,0.00,0.000,6,0.039,0.035,2463,2285,3849
$GC,3987,-0.64,-243.4,599.9,-18.7,567,3988,0.47,0.00,0.00,0.000,6,0.136,0.000,2613,2280,3847
$GC,4292,-1.43,-243.4,622.5,-8.0,582,4296,0.70,2.00,0.00,0.000,4,0.063,0.061,2347,3540,3845
$GC,4339,-0.72,-243.4,630.3,-21.8,584,4344,0.73,1.92,0.00,0.000,6,0.153,0.038,2585,2285,3843
$GC,4662,-0.98,-243.4,657.4,-7.3,600,4666,0.20,2.40,0.00,0.000,4,0.054,0.051,2479,754,3841
$GC,4682,-0.98,-243.4,659.8,-11.5,601,4686,0.00,2.42,0.00,0.000,6,0.000,0.048,2479,2301,3841
$GC,5009,-0.67,-243.4,716.3,-18.1,617,5012,0.40,1.98,0.00,0.000,4,0.134,0.064,2603,3541,3837
$GC,5056,-1.08,-243.4,721.4,-7.8,619,5061,0.32,1.92,0.00,0.000,6,0.038,0.037,2444,2286,3836
$GC,5378,-0.63,-243.4,786.8,-21.1,635,5380,0.55,0.00,0.00,0.000,6,0.139,0.000,2616,2281,3833
$GC,5682,-1.48,-243.4,812.1,-9.0,650,5687,0.77,2.42,0.00,0.000,4,0.082,0.054,2339,746,3832
$GC,5730,-0.80,-243.4,819.8,-21.5,652,5734,0.70,2.45,0.00,0.000,6,0.163,0.051,2554,2264,3830
$GC,6046,-0.93,-243.4,848.9,-8.2,668,6050,0.10,2.05,0.00,0.000,4,0.077,0.064,2495,3545,3827
$GC,6093,-0.87,-243.4,854.2,-11.8,670,6097,0.10,1.95,0.00,0.000,6,0.130,0.039,2532,2281,3827
$GC,6415,-0.87,-243.4,890.3,-11.5,686,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2280,3824
$GC,6720,-0.87,-243.4,926.5,-11.7,701,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2280,3823
$GC,7025,-0.87,-243.4,962.2,-11.6,716,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2279,3821
$STATE,7267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7267,begin apogee
$GC,7271,-0.22,0.0,990.5,11.8,728,7471,0.65,0.00,197.07,1.374,6,0.116,0.000,2749,2453,2854
$STATE,7472,end apogee,CONTROL_FINISHED_OK
$STATE,7472,begin climb
$GC,7473,1.01,243.4,1004.1,0.0,738,7689,1.08,2.22,205.77,1.334,4,0.043,0.067,3157,3692,1860
$GC,7923,0.19,243.4,929.9,24.7,759,7928,0.93,1.95,0.00,0.000,6,0.179,0.042,2886,2475,1854
$GC,8250,0.62,401.4,906.2,6.8,775,8393,0.35,2.42,136.85,1.276,4,0.048,0.054,3043,1047,1216
$GC,8522,0.49,401.4,861.2,18.6,787,8526,0.22,2.28,0.00,0.000,6,0.143,0.050,2979,2441,1209
$GC,8848,0.57,401.4,819.8,12.3,803,8851,0.00,2.30,0.00,0.000,4,0.000,0.052,2987,1037,1207
$GC,8917,0.66,401.4,811.3,12.8,806,8921,0.10,2.22,0.00,0.000,6,0.058,0.047,3045,2416,1206
$GC,9238,0.45,401.4,753.5,18.5,822,9242,0.28,2.22,0.00,0.000,4,0.140,0.051,2972,1038,1206
$GC,9264,0.45,401.4,749.6,14.2,823,9268,0.00,2.20,0.00,0.000,6,0.000,0.045,2972,2411,1204
$GC,9585,0.58,412.7,712.3,11.6,839,9599,0.00,2.22,9.20,1.076,4,0.000,0.052,2981,1046,1171
$GC,9659,0.75,440.9,703.9,11.1,842,9693,0.17,2.17,26.80,1.165,6,0.048,0.045,3071,2398,1055
$GC,9996,0.50,440.9,636.2,20.6,859,10000,0.28,2.08,0.00,0.000,4,0.146,0.061,2985,3681,1052
$GC,10016,0.39,440.9,632.0,19.3,860,10021,0.12,2.03,0.00,0.000,6,0.129,0.040,2950,2397,1052
$GC,10343,0.81,527.8,601.5,9.1,876,10432,0.35,2.30,78.53,1.094,4,0.047,0.053,3108,1041,701
$GC,10545,0.62,527.8,556.1,23.3,885,10549,0.28,2.17,0.00,0.000,6,0.147,0.045,3023,2363,697
$GC,10862,0.73,527.8,508.1,15.3,901,10865,0.00,2.15,0.00,0.000,4,0.000,0.051,3031,1041,695
$GC,10914,0.86,527.8,500.0,15.4,903,10918,0.15,2.10,0.00,0.000,6,0.049,0.043,3110,2346,695
$GC,11235,0.60,527.8,425.3,22.9,934,11239,0.32,2.10,0.00,0.000,4,0.150,0.051,3023,1042,694
$GC,11267,0.60,527.8,419.4,16.9,937,11270,0.00,2.08,0.00,0.000,6,0.000,0.044,3023,2341,694
$GC,11589,0.78,527.8,379.1,12.4,968,11592,0.15,2.08,0.00,0.000,4,0.064,0.050,3106,1030,694
$GC,11614,0.78,527.8,374.7,17.3,970,11621,0.10,2.10,0.00,0.000,6,0.143,0.043,3073,2342,694
$GC,11930,0.78,527.8,320.7,15.4,1001,11933,0.00,2.08,0.00,0.000,4,0.000,0.051,3081,1048,693
$GC,11967,0.78,527.8,315.2,13.8,1004,11973,0.00,2.05,0.00,0.000,6,0.000,0.043,3081,2338,694
$GC,12289,0.78,527.8,266.0,14.6,1056,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2338,694
$GC,12610,0.78,527.8,211.9,17.7,1116,12617,0.00,2.08,0.00,0.000,4,0.000,0.048,3090,1036,694
$GC,12702,0.78,527.8,196.8,16.0,1133,12708,0.00,2.03,0.00,0.000,6,0.000,0.041,3090,2323,694
$GC,13028,0.85,528.8,154.3,12.0,1194,13035,0.00,2.03,0.00,0.000,4,0.000,0.048,3099,1042,694
$GC,13125,0.91,528.8,139.5,16.4,1212,13131,0.00,1.98,0.00,0.000,6,0.000,0.041,3099,2309,693
$GC,13451,1.10,571.1,89.2,10.6,1273,13496,0.20,0.00,40.47,0.702,6,0.053,0.000,3195,2310,522
$GC,13817,0.98,571.1,25.7,18.3,1340,13823,0.17,2.17,0.00,0.000,4,0.143,0.052,3139,3689,509
$GC,13871,1.15,588.4,18.1,11.4,1350,13885,0.08,2.17,8.38,0.568,6,0.057,0.035,3202,2280,483
$STATE,13963,end climb,SURFACE_DEPTH_REACHED
$STATE,13963,begin surface coast
$FINISH,1.8,1.015794
$STATE,13980,end surface coast,CONTROL_FINISHED_OK
$STATE,13980,begin surface
$SM_CCo,14054,0.00,0.000,0,0,476,583.32
$SM_GC,2.53,7.70,0.00,0.00,0.031,0.000,0.000,155,2104,476,-8.22,-0.88,583.32
$IRIDIUM_FIX,2517.50,12401.26,170998,000022
$TT8_MAMPS,0.049088
$HUMID,1599
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.40
$XPDR_PINGS,203
$24V_AH,23.5,44.985
$10V_AH,10.7,30.711
$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,33.325,119.525,703.075,0.000,0.000,24.402,31.797,259.615,58.750,0.000,0.000,12.180,0.000,9848.328,783.920,3263.022,556.768,0.000,2046.476,0.000,2758.980,0.000,55.486,0.000
$DEVICE_MAMPS,229.333,92.040,1373.697,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,925.411,973.013,1527.703,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79215,1370
$CAP_FILE_SIZE,155139,0
$CFSIZE,260165632,240885760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.437, 72.7,1
$GPS,230609,083837,2525.003,12404.502,25,1.5,25,-3.8