version: 66.04
glider: 165
mission: 2
dive: 443
start: 8 7 109 1 16 59
data:
$ID,165
$MISSION,2
$DIVE,443
$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,-127016.72
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2793
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2285
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,005207,2510.224,12533.274,49,1.4,49,-3.9
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-56.7
$GPS2,011650,2510.931,12533.317,8,1.5,8,-3.9
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2512.600,12534.100
$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,52.2,3358,-27.4,-12.000
$D_GRID,916
$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,14,-1.51,-87.0,0.0,0.0,0,72,0.00,0.00,-56.40,0.000,2,0.000,0.000,134,2306,2295
$GC,75,-1.60,-159.1,3.1,-5.4,9,121,8.30,2.22,-31.70,0.000,4,0.217,0.061,2256,3682,3506
$GC,191,-1.60,-159.1,29.9,-25.3,29,197,0.00,2.10,0.00,0.000,6,0.000,0.033,2256,2284,3506
$GC,517,-1.60,-159.1,99.1,-19.0,90,523,0.00,2.15,0.00,0.000,4,0.000,0.044,2257,883,3506
$GC,678,-1.60,-159.1,130.2,-19.4,120,684,0.12,2.15,0.00,0.000,6,0.191,0.041,2277,2279,3507
$GC,1006,-1.60,-159.1,184.7,-14.9,181,1011,0.00,2.20,0.00,0.000,4,0.000,0.053,2267,3688,3507
$GC,1091,-1.60,-159.1,197.2,-14.9,197,1097,0.00,2.10,0.00,0.000,6,0.000,0.032,2269,2305,3507
$GC,1418,-1.60,-159.1,247.2,-16.7,258,1424,0.00,2.20,0.00,0.000,4,0.000,0.044,2269,887,3508
$GC,1488,-1.60,-159.1,258.7,-16.6,271,1495,0.00,2.17,0.00,0.000,6,0.000,0.041,2260,2296,3507
$GC,1817,-1.60,-159.1,312.2,-15.1,326,1821,0.00,2.20,0.00,0.000,4,0.000,0.048,2260,880,3508
$GC,1854,-1.60,-159.1,318.0,-16.1,329,1860,0.12,2.22,0.00,0.000,6,0.188,0.042,2279,2311,3507
$GC,2170,-1.60,-159.1,363.0,-13.9,360,2173,0.00,2.22,0.00,0.000,4,0.000,0.044,2279,887,3508
$GC,2244,-1.60,-159.1,373.6,-14.3,367,2248,0.00,2.15,0.00,0.000,6,0.000,0.043,2275,2272,3507
$GC,2565,-1.60,-159.1,420.9,-14.2,398,2569,0.00,2.17,0.00,0.000,4,0.000,0.045,2275,882,3505
$GC,2591,-1.60,-159.1,424.7,-15.6,400,2599,0.00,2.17,0.00,0.000,6,0.000,0.049,2275,2244,3505
$GC,2907,-1.60,-159.1,467.2,-12.6,431,2910,0.00,2.12,0.00,0.000,4,0.000,0.044,2275,877,3504
$GC,2983,-1.60,-159.1,476.4,-12.7,438,2986,0.00,2.12,0.00,0.000,6,0.000,0.048,2275,2225,3503
$GC,3312,-1.60,-159.1,519.5,-13.9,463,3315,0.00,2.35,0.00,0.000,4,0.000,0.060,2275,3691,3501
$GC,3349,-1.60,-159.1,525.3,-15.8,465,3353,0.00,2.25,0.00,0.000,6,0.000,0.035,2275,2210,3500
$GC,3671,-1.60,-159.1,568.5,-13.2,481,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2205,3498
$GC,3976,-1.60,-159.1,608.2,-12.2,496,3979,0.00,2.42,0.00,0.000,4,0.000,0.063,2275,3692,3495
$GC,4013,-1.60,-159.1,613.3,-14.7,498,4016,0.00,2.22,0.00,0.000,6,0.000,0.041,2275,2239,3495
$GC,4339,-1.60,-159.1,659.8,-14.4,514,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2236,3492
$GC,4645,-1.60,-159.1,702.9,-13.8,529,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2235,3490
$GC,4950,-1.60,-159.1,744.0,-13.5,544,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2235,3487
$GC,5255,-1.60,-159.1,793.3,-17.4,559,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2235,3484
$GC,5560,-1.60,-159.1,840.5,-15.2,574,5564,0.00,2.40,0.00,0.000,4,0.000,0.065,2275,3694,3482
$GC,5731,-1.60,-159.1,867.6,-15.8,582,5734,0.00,2.28,0.00,0.000,6,0.000,0.038,2275,2222,3479
$GC,6053,-1.60,-159.1,914.5,-14.4,598,6056,0.00,2.42,0.00,0.000,4,0.000,0.065,2275,3686,3477
$STATE,6060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6060,begin apogee
$GC,6068,-0.26,0.0,916.1,14.3,598,6201,1.42,0.00,129.98,1.283,6,0.158,0.000,2704,2282,2854
$STATE,6201,end apogee,CONTROL_FINISHED_OK
$STATE,6201,begin climb
$GC,6204,1.60,159.1,924.4,0.0,605,6346,1.62,2.33,133.43,1.260,4,0.044,0.051,3341,909,2204
$GC,6590,1.60,159.1,888.2,16.5,623,6594,0.15,2.22,0.00,0.000,6,0.229,0.046,3308,2313,2198
$GC,6912,1.60,159.1,838.9,15.8,639,6915,0.00,2.25,0.00,0.000,4,0.000,0.047,3318,896,2196
$GC,6991,1.60,159.1,825.9,16.2,642,6998,0.00,2.28,0.00,0.000,6,0.000,0.051,3318,2306,2194
$GC,7302,1.60,159.1,778.7,14.1,658,7306,0.00,2.20,0.00,0.000,4,0.000,0.058,3318,3682,2193
$GC,7430,1.60,159.1,760.9,13.6,664,7433,0.00,2.10,0.00,0.000,6,0.000,0.038,3328,2314,2192
$GC,7756,1.60,159.1,717.2,12.7,680,7760,0.00,2.22,0.00,0.000,4,0.000,0.048,3339,891,2191
$GC,7895,1.60,159.1,698.6,12.9,686,7899,0.12,2.25,0.00,0.000,6,0.235,0.044,3313,2319,2190
$GC,8206,1.60,159.1,657.2,13.5,701,8210,0.00,2.25,0.00,0.000,4,0.000,0.047,3322,894,2188
$GC,8232,1.60,159.1,653.4,14.7,702,8236,0.00,2.25,0.00,0.000,6,0.000,0.044,3323,2320,2188
$GC,8549,1.60,159.1,611.3,12.9,718,8552,0.00,2.25,0.00,0.000,4,0.000,0.047,3332,902,2187
$GC,8697,1.60,159.1,592.4,12.4,725,8701,0.00,2.22,0.00,0.000,6,0.000,0.043,3333,2314,2186
$GC,9025,1.60,159.1,550.9,13.1,741,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,2314,2185
$GC,9329,1.60,159.1,512.6,12.3,756,9332,0.00,2.25,0.00,0.000,4,0.000,0.045,3343,890,2185
$GC,9398,1.61,168.7,504.5,11.1,759,9408,0.12,2.22,5.93,0.831,6,0.235,0.043,3317,2307,2166
$GC,9718,1.64,190.2,472.7,10.0,787,9740,0.00,0.00,20.15,0.991,6,0.000,0.000,3317,2307,2078
$GC,10052,1.64,190.2,435.2,12.5,819,10055,0.00,2.25,0.00,0.000,4,0.000,0.046,3326,889,2074
$GC,10142,1.64,191.9,424.0,11.8,827,10149,0.00,2.20,0.00,0.000,6,0.000,0.043,3327,2288,2073
$GC,10459,1.66,209.0,388.4,10.4,858,10482,0.00,2.30,16.98,0.917,4,0.000,0.054,3327,3681,2000
$GC,10536,1.66,209.0,379.0,12.8,865,10539,0.00,2.17,0.00,0.000,6,0.000,0.037,3337,2274,1998
$GC,10853,1.66,209.0,339.5,13.0,895,10856,0.00,2.15,0.00,0.000,4,0.000,0.047,3348,888,1997
$GC,10997,1.66,209.0,322.2,12.1,908,11004,0.00,2.20,0.00,0.000,6,0.000,0.044,3348,2278,1996
$GC,11317,1.69,232.5,288.4,9.8,949,11342,0.00,2.33,21.02,0.845,4,0.000,0.054,3348,3691,1905
$GC,11461,1.69,232.5,270.7,13.7,975,11468,0.00,2.17,0.00,0.000,6,0.000,0.036,3359,2278,1903
$GC,11788,1.69,235.1,231.5,11.8,1036,11794,0.00,2.17,0.00,0.000,4,0.000,0.050,3369,891,1902
$GC,12002,1.71,249.6,206.5,10.7,1076,12026,0.00,2.22,15.85,0.759,6,0.000,0.043,3369,2279,1834
$GC,12348,1.72,257.7,165.8,11.3,1140,12360,0.00,2.30,7.90,0.653,4,0.000,0.051,3369,3693,1802
$GC,12440,1.72,257.7,153.2,12.8,1157,12446,0.12,2.15,0.00,0.000,6,0.241,0.035,3353,2285,1802
$GC,12767,1.74,274.4,116.0,10.5,1218,12787,0.00,2.22,15.60,0.682,4,0.000,0.044,3362,897,1735
$GC,12918,1.74,274.4,98.9,12.3,1245,12924,0.00,2.17,0.00,0.000,6,0.000,0.041,3361,2289,1732
$GC,13245,1.74,274.4,65.4,13.6,1306,13251,0.00,2.22,0.00,0.000,4,0.000,0.050,3361,3686,1732
$GC,13352,1.85,361.1,55.5,4.0,1326,13429,0.00,2.10,71.62,0.661,6,0.000,0.033,3370,2286,1380
$GC,13752,1.85,361.1,8.2,15.9,1398,13758,0.00,2.25,0.00,0.000,4,0.000,0.051,3370,3695,1376
$STATE,13787,end climb,SURFACE_DEPTH_REACHED
$STATE,13787,begin surface coast
$FINISH,1.6,1.021697
$STATE,13809,end surface coast,CONTROL_FINISHED_OK
$STATE,13809,begin surface
$SM_CCo,13829,84.25,0.611,0,0,916,475.15
$SM_GC,2.40,0.00,0.00,84.25,0.000,0.000,0.611,154,2296,916,-8.24,0.31,475.15
$IRIDIUM_FIX,2500.82,12531.71,011198,010131
$TT8_MAMPS,0.048321
$HUMID,1720
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,25.70
$XPDR_PINGS,768
$ALTIM_BOTTOM_PING,902.8,77.0
$24V_AH,22.5,98.040
$10V_AH,10.5,66.773
$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,20.425,124.325,438.450,84.250,0.000,115.856,161.451,848.423,199.500,0.000,0.000,13.285,0.000,9973.516,623.510,3246.983,1531.677,0.000,1849.611,0.000,2752.266,0.000,52.032,0.000
$DEVICE_MAMPS,240.838,65.195,1283.191,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,950.264,987.159,1350.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82278,1409
$CAP_FILE_SIZE,153005,0
$CFSIZE,260165632,218595328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,133.1,1
$GPS,070809,050955,2510.781,12534.798,37,1.6,37,-3.9