version: 66.04
glider: 165
mission: 2
dive: 180
start: 6 18 109 16 46 42
data:
$ID,165
$MISSION,2
$DIVE,180
$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,330
$T_MISSION,396
$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,175
$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,-120441.28
$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,57
$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,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
$GPS1,164007,2532.601,12332.811,34,1.3,34,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-73.0
$GPS2,164637,2532.831,12332.975,10,2.0,15,-3.8
$SPEED_LIMITS,0.173,0.279
$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,210.2,36807,-16.8,-10.000
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.87,-170.3,0.0,0.0,0,58,0.00,0.00,-44.53,0.000,2,0.000,0.000,158,2057,1882
$GC,60,-0.87,-170.3,3.3,-3.1,7,118,8.98,2.15,-43.45,0.000,4,0.222,0.058,2536,681,3454
$GC,251,-0.23,-170.3,49.2,-26.5,41,258,0.65,2.20,0.00,0.000,6,0.149,0.045,2735,2071,3457
$GC,578,-1.02,-170.3,75.7,-7.9,102,585,0.68,2.20,0.00,0.000,4,0.074,0.051,2485,3493,3459
$GC,686,-0.47,-170.3,95.5,-21.0,122,693,0.52,2.12,0.00,0.000,6,0.133,0.035,2659,2099,3459
$GC,1013,-0.65,-170.3,126.0,-7.2,183,1019,0.15,2.17,0.00,0.000,4,0.059,0.054,2573,3481,3461
$GC,1061,-0.52,-170.3,131.2,-11.6,192,1069,0.20,2.08,0.00,0.000,6,0.115,0.034,2646,2109,3461
$GC,1390,-0.70,-170.3,157.4,-7.0,253,1396,0.15,2.17,0.00,0.000,4,0.059,0.056,2562,3487,3461
$GC,1454,-0.57,-170.3,164.2,-10.8,265,1460,0.17,2.05,0.00,0.000,6,0.115,0.041,2627,2141,3462
$GC,1780,-0.69,-170.3,193.0,-9.1,326,1786,0.00,2.15,0.00,0.000,4,0.000,0.057,2627,3476,3461
$GC,1813,-0.89,-170.3,195.7,-9.1,332,1820,0.22,2.03,0.00,0.000,6,0.037,0.035,2484,2148,3461
$GC,2141,-0.39,-170.3,255.4,-18.8,393,2147,0.62,2.12,0.00,0.000,4,0.152,0.057,2687,3481,3461
$GC,2184,-0.85,-170.3,259.4,-5.7,401,2190,0.30,2.00,0.00,0.000,6,0.035,0.035,2511,2169,3461
$GC,2508,-0.51,-170.3,308.7,-15.0,457,2512,0.45,2.30,0.00,0.000,4,0.129,0.049,2657,684,3461
$GC,2539,-0.74,-170.3,311.8,-7.9,459,2546,0.17,2.28,0.00,0.000,6,0.038,0.040,2549,2147,3461
$GC,2855,-0.59,-170.3,348.2,-11.8,490,2859,0.25,2.12,0.00,0.000,4,0.124,0.058,2629,3479,3460
$GC,2881,-0.76,-170.3,350.3,-7.7,492,2890,0.12,2.03,0.00,0.000,6,0.042,0.035,2545,2150,3459
$GC,3197,-0.62,-170.3,386.5,-11.3,523,3198,0.22,0.00,0.00,0.000,6,0.124,0.000,2617,2145,3458
$GC,3509,-0.83,-170.3,411.3,-7.6,553,3512,0.17,2.12,0.00,0.000,4,0.056,0.058,2521,3478,3457
$GC,3545,-0.67,-170.3,415.6,-12.8,556,3549,0.22,2.03,0.00,0.000,6,0.120,0.037,2600,2154,3456
$GC,3866,-0.81,-170.3,442.8,-7.6,587,3870,0.12,2.12,0.00,0.000,4,0.065,0.061,2533,3489,3455
$GC,3930,-0.73,-170.3,449.4,-10.6,593,3934,0.12,2.03,0.00,0.000,6,0.120,0.038,2579,2165,3453
$GC,4251,-0.78,-170.3,478.0,-8.6,624,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2163,3452
$GC,4561,-0.84,-170.3,503.5,-7.9,652,4564,0.00,2.12,0.00,0.000,4,0.000,0.063,2577,3486,3450
$GC,4613,-0.97,-170.3,507.7,-8.0,654,4617,0.15,2.05,0.00,0.000,6,0.046,0.038,2491,2158,3449
$GC,4930,-0.64,-170.3,553.3,-14.6,670,4934,0.38,2.30,0.00,0.000,4,0.136,0.054,2609,685,3447
$GC,4971,-0.86,-170.3,557.5,-7.6,672,4975,0.15,2.33,0.00,0.000,6,0.044,0.044,2523,2157,3447
$GC,5293,-0.69,-170.3,595.4,-12.0,688,5296,0.22,2.10,0.00,0.000,4,0.134,0.062,2589,3473,3446
$GC,5324,-0.82,-170.3,598.3,-7.8,689,5328,0.08,2.00,0.00,0.000,6,0.055,0.038,2533,2171,3445
$GC,5640,-0.71,-170.3,629.7,-10.2,705,5644,0.17,2.33,0.00,0.000,4,0.130,0.053,2587,681,3443
$GC,5671,-0.82,-170.3,632.3,-7.4,706,5675,0.00,2.33,0.00,0.000,6,0.000,0.045,2587,2154,3443
$GC,5987,-0.98,-170.3,652.2,-6.3,722,5991,0.22,2.12,0.00,0.000,4,0.051,0.063,2482,3470,3441
$GC,6040,-0.71,-170.3,658.1,-12.6,724,6044,0.30,2.03,0.00,0.000,6,0.130,0.038,2583,2155,3440
$GC,6356,-0.85,-170.3,681.5,-7.4,740,6357,0.12,0.00,0.00,0.000,6,0.070,0.000,2521,2152,3438
$GC,6661,-0.71,-170.3,717.8,-11.9,755,6665,0.22,2.33,0.00,0.000,4,0.129,0.055,2591,679,3437
$GC,6687,-0.80,-170.3,720.2,-9.6,756,6691,0.00,2.35,0.00,0.000,6,0.000,0.046,2590,2156,3437
$GC,7009,-0.98,-170.3,741.8,-6.3,772,7013,0.25,2.12,0.00,0.000,4,0.052,0.063,2477,3487,3434
$GC,7061,-0.72,-170.3,747.6,-12.7,774,7066,0.30,2.05,0.00,0.000,6,0.132,0.039,2578,2164,3434
$GC,7378,-0.85,-170.3,772.8,-7.7,790,7380,0.10,0.00,0.00,0.000,6,0.079,0.000,2528,2159,3433
$STATE,7538,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7538,begin apogee
$GC,7543,-0.20,0.0,790.9,11.8,798,7685,0.70,0.00,133.25,1.245,6,0.125,0.000,2755,2531,2759
$STATE,7685,end apogee,CONTROL_FINISHED_OK
$STATE,7685,begin climb
$GC,7687,0.87,170.3,797.4,0.0,805,7834,0.93,2.00,139.48,1.212,4,0.041,0.065,3121,3696,2062
$GC,7903,0.13,170.3,773.3,21.9,815,7907,0.90,1.88,0.00,0.000,6,0.166,0.041,2865,2544,2058
$GC,8224,0.58,296.9,754.2,5.0,831,8335,0.38,2.40,105.70,1.184,4,0.047,0.053,3032,1120,1547
$GC,8431,0.42,296.9,724.0,16.5,841,8435,0.28,2.28,0.00,0.000,6,0.145,0.049,2955,2505,1540
$GC,8756,0.53,296.9,686.9,11.1,857,8761,0.10,2.25,0.00,0.000,4,0.077,0.051,3011,1119,1538
$GC,8804,0.45,296.9,680.1,15.3,859,8809,0.12,2.22,0.00,0.000,6,0.133,0.048,2970,2492,1537
$GC,9125,0.45,296.9,640.3,12.5,875,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2492,1536
$GC,9431,0.51,296.9,602.8,12.3,890,9434,0.00,2.22,0.00,0.000,4,0.000,0.049,2978,1110,1536
$GC,9446,0.57,296.9,600.9,12.2,890,9452,0.00,2.20,0.00,0.000,6,0.000,0.046,2978,2489,1534
$GC,9756,0.57,296.9,564.0,11.7,906,9760,0.00,2.20,0.00,0.000,4,0.000,0.048,2988,1116,1534
$GC,9810,0.61,296.9,557.2,12.6,908,9814,0.00,2.17,0.00,0.000,6,0.000,0.047,2988,2473,1534
$GC,10125,0.61,296.9,516.0,13.3,924,10126,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2473,1534
$GC,10433,0.61,296.9,474.2,14.2,948,10437,0.00,1.95,0.00,0.000,4,0.000,0.061,2988,3680,1533
$GC,10460,0.61,296.9,470.5,15.3,950,10467,0.00,1.90,0.00,0.000,6,0.000,0.041,2997,2455,1533
$GC,10777,0.61,296.9,426.5,13.6,981,10780,0.00,2.10,0.00,0.000,4,0.000,0.050,3006,1108,1533
$GC,10797,0.61,296.9,423.7,13.3,983,10801,0.00,2.17,0.00,0.000,6,0.000,0.047,3007,2474,1532
$GC,11119,0.61,296.9,382.6,12.7,1014,11122,0.00,2.15,0.00,0.000,4,0.000,0.048,3016,1109,1532
$GC,11138,0.61,296.9,380.0,11.9,1016,11143,0.00,2.15,0.00,0.000,6,0.000,0.045,3016,2462,1531
$GC,11462,0.55,296.9,336.8,13.2,1047,11464,0.00,1.95,0.00,0.000,4,0.000,0.061,3016,3693,1532
$GC,11503,0.44,296.9,330.8,14.1,1051,11507,0.17,1.90,0.00,0.000,6,0.128,0.038,2966,2455,1532
$GC,11824,0.67,331.3,301.1,8.6,1082,11855,0.20,2.17,27.12,0.908,4,0.054,0.049,3066,1114,1407
$GC,11881,0.51,331.3,292.8,15.5,1091,11888,0.28,2.15,0.00,0.000,6,0.141,0.046,2985,2467,1405
$GC,12207,0.66,331.3,257.7,10.6,1152,12215,0.15,1.95,0.00,0.000,4,0.062,0.059,3055,3680,1404
$GC,12252,0.45,331.3,251.2,15.9,1160,12260,0.30,1.90,0.00,0.000,6,0.132,0.040,2966,2456,1404
$GC,12580,0.80,390.8,223.8,7.7,1221,12635,0.30,2.22,49.90,0.841,4,0.047,0.048,3110,1109,1163
$GC,12694,0.62,390.8,205.0,18.2,1241,12700,0.32,2.17,0.00,0.000,6,0.143,0.044,3015,2470,1161
$GC,13020,0.81,390.8,167.4,10.3,1302,13027,0.17,2.15,0.00,0.000,4,0.056,0.046,3116,1104,1158
$GC,13041,0.81,390.8,164.6,12.6,1306,13048,0.10,2.15,0.00,0.000,6,0.137,0.042,3083,2453,1158
$GC,13368,0.75,390.8,114.7,13.9,1367,13374,0.00,1.98,0.00,0.000,4,0.000,0.057,3083,3684,1158
$GC,13524,0.65,390.8,91.7,15.1,1396,13532,0.17,1.88,0.00,0.000,6,0.123,0.038,3030,2461,1158
$GC,13852,0.99,433.5,64.0,8.3,1457,13891,0.30,2.17,34.53,0.700,4,0.044,0.045,3175,1111,990
$GC,14051,0.81,433.5,30.8,14.8,1493,14057,0.25,2.15,0.00,0.000,6,0.133,0.041,3078,2468,987
$GC,14377,1.36,554.3,6.0,5.2,1554,14410,0.45,0.00,31.00,0.637,2,0.037,0.000,3281,2468,834
$STATE,14411,end climb,SURFACE_DEPTH_REACHED
$STATE,14411,begin surface coast
$FINISH,1.7,0.997278
$STATE,14429,end surface coast,CONTROL_FINISHED_OK
$STATE,14429,begin surface
$SM_CCo,14504,0.00,0.000,0,0,829,473.43
$SM_GC,2.47,8.10,0.00,0.00,0.038,0.000,0.000,158,2038,829,-8.22,-0.93,473.43
$IRIDIUM_FIX,2527.05,12327.48,120998,121216
$TT8_MAMPS,0.048321
$HUMID,1606
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.90
$XPDR_PINGS,183
$ALTIM_BOTTOM_PING,750.8,65.0
$24V_AH,23.9,38.372
$10V_AH,10.7,27.362
$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,31.875,137.450,520.975,0.000,0.000,25.505,43.591,206.297,51.750,0.000,0.000,17.414,0.000,10157.422,652.564,3530.969,523.299,0.000,1954.973,0.000,2985.360,0.000,42.010,0.000
$DEVICE_MAMPS,221.663,65.195,1244.841,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.444,1133.202,1820.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88299,1563
$CAP_FILE_SIZE,166605,0
$CFSIZE,260165632,243089408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.286, 44.4,1
$GPS,180609,204925,2532.651,12333.481,40,0.9,40,-3.8