version: 66.04
glider: 165
mission: 2
dive: 209
start: 6 23 109 21 31 48
data:
$ID,165
$MISSION,2
$DIVE,209
$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,-5
$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,-121057.93
$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,61
$R_STBD_OVSHOOT,28
$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
$GPS1,212207,2520.950,12407.962,25,1.4,25,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-61.5
$GPS2,213141,2521.008,12408.160,13,1.9,21,-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,212.4,40565,-16.4,-12.000
$D_GRID,2031
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.01,-243.4,0.0,0.0,0,80,0.00,0.00,-66.60,0.000,2,0.000,0.000,145,2099,2084
$GC,82,-1.01,-243.4,3.4,-4.7,10,142,9.05,2.17,-45.75,0.000,4,0.226,0.058,2486,744,3850
$GC,151,-0.08,-243.4,16.1,-31.8,21,158,0.98,2.20,0.00,0.000,6,0.164,0.045,2785,2135,3851
$GC,478,-0.82,-243.4,57.4,-11.2,82,485,0.65,2.20,0.00,0.000,4,0.074,0.051,2542,3541,3852
$GC,624,-0.46,-243.4,86.4,-22.6,109,632,0.38,2.05,0.00,0.000,6,0.124,0.037,2663,2175,3851
$GC,952,-0.66,-243.4,123.7,-9.7,170,958,0.15,2.17,0.00,0.000,4,0.058,0.054,2577,3554,3852
$GC,1000,-0.57,-243.4,129.9,-14.3,179,1006,0.15,2.10,0.00,0.000,6,0.111,0.034,2633,2171,3852
$GC,1327,-0.71,-243.4,162.4,-9.1,240,1333,0.12,2.17,0.00,0.000,4,0.064,0.055,2561,3533,3853
$GC,1441,-0.63,-243.4,179.3,-16.1,261,1448,0.17,2.00,0.00,0.000,6,0.119,0.035,2616,2221,3853
$GC,1768,-0.74,-243.4,219.1,-11.1,322,1773,0.10,0.00,0.00,0.000,6,0.072,0.000,2556,2216,3853
$GC,2093,-0.58,-243.4,271.4,-16.0,383,2099,0.25,2.10,0.00,0.000,4,0.123,0.058,2631,3546,3853
$GC,2131,-0.86,-243.4,275.6,-9.3,390,2137,0.20,2.00,0.00,0.000,6,0.037,0.034,2496,2230,3853
$GC,2456,-0.44,-243.4,342.8,-21.4,433,2460,0.52,2.10,0.00,0.000,4,0.132,0.057,2661,3546,3852
$GC,2513,-1.00,-243.4,348.2,-5.6,438,2521,0.40,2.00,0.00,0.000,6,0.048,0.034,2481,2221,3852
$GC,2829,-0.59,-243.4,404.4,-19.6,469,2833,0.45,2.10,0.00,0.000,4,0.133,0.059,2617,3546,3851
$GC,2883,-0.96,-243.4,410.1,-7.0,474,2886,0.22,1.98,0.00,0.000,6,0.035,0.035,2469,2246,3851
$GC,3203,-0.52,-243.4,478.7,-21.7,505,3207,0.57,2.08,0.00,0.000,4,0.133,0.061,2647,3549,3849
$GC,3251,-1.08,-243.4,483.5,-6.5,509,3258,0.43,1.98,0.00,0.000,6,0.044,0.035,2457,2241,3849
$GC,3574,-0.64,-243.4,545.6,-19.4,530,3578,0.47,2.08,0.00,0.000,4,0.133,0.060,2603,3537,3846
$GC,3631,-1.02,-243.4,551.3,-6.2,533,3635,0.28,1.92,0.00,0.000,6,0.035,0.036,2455,2270,3846
$GC,3959,-0.58,-243.4,611.4,-19.9,549,3963,0.52,2.05,0.00,0.000,4,0.137,0.061,2618,3539,3844
$GC,4006,-1.01,-243.4,616.4,-6.4,551,4010,0.30,1.92,0.00,0.000,6,0.038,0.035,2465,2278,3843
$GC,4322,-0.65,-243.4,670.7,-18.3,567,4326,0.45,2.05,0.00,0.000,4,0.131,0.064,2603,3548,3840
$GC,4370,-1.05,-243.4,675.3,-6.0,569,4374,0.30,1.92,0.00,0.000,6,0.035,0.037,2448,2293,3840
$GC,4691,-0.64,-243.4,733.4,-18.2,585,4693,0.52,0.00,0.00,0.000,6,0.137,0.000,2613,2288,3837
$GC,4996,-1.48,-243.4,757.4,-9.1,600,5000,0.73,2.03,0.00,0.000,4,0.072,0.063,2340,3541,3834
$GC,5017,-1.68,-243.4,759.8,-12.0,601,5021,0.17,1.90,0.00,0.000,6,0.074,0.039,2269,2291,3833
$GC,5344,-0.62,-243.4,863.2,-32.9,617,5347,1.20,0.00,0.00,0.000,6,0.183,0.000,2612,2284,3830
$GC,5648,-1.46,-243.4,888.2,-8.7,632,5652,0.73,2.42,0.00,0.000,4,0.071,0.054,2344,751,3828
$GC,5664,-1.88,-243.4,889.8,-9.8,632,5672,0.30,2.47,0.00,0.000,6,0.050,0.050,2198,2291,3826
$STATE,5952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5952,begin apogee
$GC,5956,-0.22,0.0,992.6,36.7,647,6157,1.95,0.00,196.82,1.351,6,0.193,0.000,2744,2446,2854
$STATE,6157,end apogee,CONTROL_FINISHED_OK
$STATE,6157,begin climb
$GC,6159,1.01,243.4,1005.0,0.0,657,6374,1.10,2.40,203.82,1.317,4,0.048,0.055,3166,1074,1859
$GC,6577,0.28,243.4,931.9,23.6,676,6581,0.85,2.25,0.00,0.000,6,0.179,0.049,2909,2446,1852
$GC,6887,0.56,357.2,902.6,8.2,691,6993,0.25,2.38,97.45,1.259,4,0.051,0.051,3034,1065,1396
$GC,7028,0.41,357.2,880.1,17.0,697,7037,0.25,2.28,0.00,0.000,6,0.137,0.046,2956,2433,1392
$GC,7339,0.54,382.5,844.2,11.2,713,7366,0.12,2.28,22.20,1.194,4,0.068,0.053,3025,1056,1293
$GC,7420,0.46,382.5,831.7,16.1,716,7426,0.12,2.25,0.00,0.000,6,0.123,0.047,2973,2427,1290
$GC,7730,0.54,386.2,793.3,11.9,732,7739,0.00,2.20,3.90,0.756,4,0.000,0.050,2981,1073,1279
$GC,7761,0.62,386.2,789.5,12.1,733,7766,0.08,2.17,0.00,0.000,6,0.061,0.044,3031,2422,1279
$GC,8077,0.46,386.2,736.0,18.0,749,8081,0.22,2.15,0.00,0.000,4,0.140,0.050,2975,1063,1278
$GC,8151,0.60,386.2,725.7,13.6,752,8156,0.08,2.12,0.00,0.000,6,0.059,0.044,3026,2392,1276
$GC,8468,0.46,386.2,670.5,17.2,768,8471,0.20,2.10,0.00,0.000,4,0.140,0.050,2976,1063,1276
$GC,8489,0.46,386.2,667.4,15.1,769,8492,0.00,2.10,0.00,0.000,6,0.000,0.044,2976,2381,1274
$GC,8815,0.56,397.0,627.8,11.6,785,8826,0.00,0.00,10.43,1.057,6,0.000,0.000,2976,2381,1235
$GC,9120,0.67,397.0,591.8,12.1,800,9124,0.17,2.10,0.00,0.000,4,0.061,0.050,3064,1051,1234
$GC,9157,0.51,397.0,585.5,18.7,801,9165,0.22,2.12,0.00,0.000,6,0.140,0.045,2990,2378,1233
$GC,9468,0.59,397.0,544.0,12.2,817,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2378,1233
$GC,9773,0.69,405.4,507.9,11.7,832,9787,0.15,2.12,8.80,0.963,4,0.066,0.050,3066,1065,1201
$GC,9798,0.60,405.4,504.2,15.9,833,9802,0.15,2.08,0.00,0.000,6,0.143,0.044,3017,2364,1200
$GC,10114,0.60,405.4,458.4,14.8,862,10118,0.00,2.08,0.00,0.000,4,0.000,0.049,3024,1067,1199
$GC,10150,0.60,405.4,453.1,14.5,865,10158,0.00,2.08,0.00,0.000,6,0.000,0.043,3024,2370,1198
$GC,10468,0.60,405.4,406.5,14.7,896,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2370,1198
$GC,10777,0.60,405.4,361.5,13.4,926,10781,0.00,2.08,0.00,0.000,4,0.000,0.049,3032,1069,1198
$GC,10835,0.60,405.4,353.6,12.8,931,10841,0.00,2.08,0.00,0.000,6,0.000,0.043,3032,2380,1198
$GC,11152,0.60,405.4,310.8,13.5,962,11155,0.00,2.08,0.00,0.000,4,0.000,0.048,3040,1056,1198
$GC,11183,0.60,405.4,306.6,13.9,965,11187,0.00,2.05,0.00,0.000,6,0.000,0.042,3040,2356,1198
$GC,11508,0.60,405.4,262.6,13.9,1021,11515,0.00,2.10,0.00,0.000,4,0.000,0.058,3040,3687,1198
$GC,11529,0.60,405.4,259.5,13.8,1025,11537,0.10,2.03,0.00,0.000,6,0.136,0.037,3014,2375,1198
$GC,11856,0.74,409.7,226.2,11.9,1086,11869,0.12,2.08,5.32,0.652,4,0.066,0.048,3091,1060,1183
$GC,11955,0.62,409.7,210.5,15.5,1104,11961,0.25,2.03,0.00,0.000,6,0.138,0.041,3016,2348,1183
$GC,12281,0.96,517.7,178.2,8.4,1165,12377,0.28,2.08,89.47,0.772,4,0.045,0.046,3157,1064,742
$GC,12440,0.81,517.7,148.6,20.5,1192,12446,0.22,2.08,0.00,0.000,6,0.130,0.041,3084,2352,738
$GC,12766,0.95,517.7,101.9,12.2,1253,12774,0.12,2.05,0.00,0.000,4,0.064,0.045,3157,1063,738
$GC,12822,0.83,517.7,93.1,18.2,1263,12828,0.20,2.03,0.00,0.000,6,0.123,0.040,3090,2345,737
$GC,13148,1.13,569.1,62.8,10.3,1324,13200,0.25,2.10,46.60,0.667,4,0.045,0.045,3217,1063,529
$GC,13270,0.99,569.1,39.2,18.9,1345,13277,0.22,1.98,0.00,0.000,6,0.123,0.038,3132,2315,520
$GC,13597,1.21,569.1,3.2,12.6,1406,13603,0.20,0.00,0.00,0.000,6,0.050,0.000,3228,2315,518
$STATE,13605,end climb,SURFACE_DEPTH_REACHED
$STATE,13605,begin surface coast
$FINISH,1.5,1.015482
$STATE,13627,end surface coast,CONTROL_FINISHED_OK
$STATE,13627,begin surface
$SM_CCo,13702,0.00,0.000,0,0,516,573.51
$SM_GC,2.50,7.82,0.00,0.00,0.035,0.000,0.000,154,2107,516,-8.21,-0.82,573.51
$IRIDIUM_FIX,2510.35,12407.19,170998,212148
$TT8_MAMPS,0.048321
$HUMID,1574
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.90
$XPDR_PINGS,211
$24V_AH,23.7,46.035
$10V_AH,10.7,31.235
$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,36.500,122.750,684.825,0.000,0.000,59.729,68.917,258.873,60.750,0.000,0.000,23.070,0.000,9544.115,801.927,3262.720,642.275,0.000,2045.724,0.000,2748.021,0.000,53.983,0.000
$DEVICE_MAMPS,226.265,70.564,1351.454,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,950.160,1020.067,1619.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79127,1412
$CAP_FILE_SIZE,157227,0
$CFSIZE,260165632,240537600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.322, 72.1,1
$GPS,240609,012107,2519.729,12408.874,38,1.7,38,-3.8