version: 66.04
glider: 165
mission: 2
dive: 5
start: 5 22 109 9 49 13
data:
$ID,165
$MISSION,2
$DIVE,5
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,519.11206
$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,-115942.42
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2908
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,29
$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,1946
$C_ROLL_CLIMB,1946
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2642
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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
$GPS1,094301,2439.313,12258.538,38,1.3,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-68.6
$GPS2,094907,2439.448,12258.578,8,1.9,14,-3.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,233.7,51666,-18.2,-10.000
$D_GRID,989
$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,-0.81,-146.0,0.0,0.0,0,85,0.00,0.00,-71.53,0.000,2,0.000,0.000,163,1959,2289
$GC,87,-0.81,-146.0,3.3,-5.4,11,131,10.25,2.28,-26.67,0.000,4,0.258,0.070,2644,535,3239
$GC,189,-0.81,-146.0,18.9,-22.3,29,197,0.00,2.22,0.00,0.000,6,0.000,0.043,2643,1948,3240
$GC,516,-0.81,-146.0,84.5,-18.4,90,517,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1948,3242
$GC,837,-0.81,-146.0,133.4,-14.1,150,844,0.00,2.22,0.00,0.000,4,0.000,0.054,2643,543,3243
$GC,907,-0.81,-146.0,143.1,-14.5,163,914,0.00,2.17,0.00,0.000,6,0.000,0.041,2643,1948,3243
$GC,1233,-0.81,-146.0,183.3,-10.4,224,1240,0.00,2.22,0.00,0.000,4,0.000,0.058,2643,3347,3243
$GC,1308,-0.81,-146.0,191.1,-9.8,238,1315,0.00,2.15,0.00,0.000,6,0.000,0.040,2643,1945,3244
$GC,1634,-0.81,-146.0,218.1,-8.7,299,1640,0.00,2.25,0.00,0.000,4,0.000,0.058,2643,3352,3243
$GC,1681,-0.81,-146.0,222.4,-9.1,308,1688,0.00,2.15,0.00,0.000,6,0.000,0.039,2643,1946,3244
$GC,2008,-0.81,-146.0,254.4,-8.7,369,2015,0.00,2.25,0.00,0.000,4,0.000,0.059,2643,3350,3243
$GC,2094,-0.81,-146.0,261.7,-9.3,385,2102,0.00,2.15,0.00,0.000,6,0.000,0.040,2643,1945,3243
$GC,2421,-0.81,-146.0,291.1,-7.8,446,2428,0.00,2.20,0.00,0.000,4,0.000,0.057,2642,542,3243
$GC,2458,-0.81,-146.0,294.5,-9.0,453,2466,0.00,2.17,0.00,0.000,6,0.000,0.043,2643,1948,3243
$GC,2776,-0.81,-146.0,319.4,-7.9,490,2781,0.00,2.22,0.00,0.000,4,0.000,0.060,2643,3352,3243
$GC,2845,-0.81,-146.0,324.1,-7.4,496,2853,0.00,2.15,0.00,0.000,6,0.000,0.040,2643,1947,3243
$GC,3162,-0.81,-146.0,349.9,-8.5,527,3167,0.00,2.22,0.00,0.000,4,0.000,0.061,2643,3358,3243
$GC,3214,-0.81,-146.0,354.2,-7.6,532,3219,0.00,2.17,0.00,0.000,6,0.000,0.041,2643,1943,3242
$GC,3535,-0.81,-146.0,377.6,-6.5,563,3539,0.00,2.25,0.00,0.000,4,0.000,0.060,2643,3347,3241
$GC,3578,-0.81,-146.0,380.3,-6.6,567,3582,0.00,2.15,0.00,0.000,6,0.000,0.041,2643,1945,3241
$GC,3899,-0.81,-146.0,405.5,-8.1,598,3903,0.00,2.25,0.00,0.000,4,0.000,0.061,2643,3347,3239
$GC,3999,-0.81,-146.0,412.3,-6.8,607,4006,0.00,2.15,0.00,0.000,6,0.000,0.041,2643,1948,3238
$GC,4315,-0.81,-146.0,434.9,-8.1,638,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,1947,3237
$GC,4626,-0.81,-146.0,460.3,-7.6,668,4630,0.00,2.25,0.00,0.000,4,0.000,0.062,2643,3346,3236
$GC,4710,-0.81,-146.0,466.7,-7.9,676,4715,0.00,2.15,0.00,0.000,6,0.000,0.043,2643,1949,3235
$GC,5032,-0.81,-146.0,487.2,-6.2,707,5036,0.00,2.22,0.00,0.000,4,0.000,0.062,2643,3350,3234
$GC,5122,-0.81,-146.0,492.6,-6.3,715,5129,0.00,2.17,0.00,0.000,6,0.000,0.042,2643,1943,3233
$GC,5435,-0.81,-146.0,510.8,-5.8,737,5439,0.00,2.25,0.00,0.000,4,0.000,0.062,2643,3341,3233
$GC,5493,-0.81,-146.0,514.1,-6.0,739,5500,0.00,2.15,0.00,0.000,6,0.000,0.043,2643,1946,3232
$GC,5803,-0.81,-146.0,533.9,-6.6,755,5808,0.00,2.25,0.00,0.000,4,0.000,0.062,2643,3346,3231
$GC,5840,-0.81,-146.0,536.5,-7.2,756,5848,0.00,2.15,0.00,0.000,6,0.000,0.044,2643,1952,3230
$GC,6150,-0.81,-146.0,556.8,-6.2,772,6155,0.00,2.25,0.00,0.000,4,0.000,0.061,2643,3349,3229
$GC,6273,-0.81,-146.0,563.9,-5.3,777,6281,0.00,2.17,0.00,0.000,6,0.000,0.044,2643,1944,3228
$GC,6584,-0.81,-146.0,581.9,-5.3,793,6588,0.00,2.25,0.00,0.000,4,0.000,0.063,2643,3341,3227
$GC,6663,-0.81,-146.0,585.3,-4.9,796,6671,0.00,2.15,0.00,0.000,6,0.000,0.044,2643,1949,3226
$GC,6973,-0.81,-146.0,598.3,-4.5,812,6978,0.00,2.28,0.00,0.000,4,0.000,0.064,2642,3354,3225
$GC,7032,-0.81,-146.0,600.9,-4.7,814,7039,0.00,2.17,0.00,0.000,6,0.000,0.044,2643,1946,3225
$GC,7342,-0.81,-146.0,622.3,-5.7,830,7347,0.00,2.28,0.00,0.000,4,0.000,0.064,2643,3352,3224
$GC,7368,-0.81,-146.0,623.5,-6.3,831,7373,0.00,2.17,0.00,0.000,6,0.000,0.044,2643,1947,3223
$GC,7690,-0.81,-146.0,642.4,-5.7,847,7694,0.00,2.28,0.00,0.000,4,0.000,0.064,2643,3350,3223
$GC,7791,-0.81,-146.0,647.7,-5.6,851,7798,0.00,2.17,0.00,0.000,6,0.000,0.045,2643,1951,3222
$GC,8102,-0.81,-146.0,664.1,-5.3,867,8106,0.00,2.28,0.00,0.000,4,0.000,0.064,2643,3355,3221
$GC,8187,-0.81,-146.0,668.7,-5.7,871,8191,0.00,2.20,0.00,0.000,6,0.000,0.046,2643,1941,3221
$GC,8513,-0.81,-146.0,683.8,-5.1,887,8517,0.00,2.28,0.00,0.000,4,0.000,0.065,2643,3342,3220
$GC,8592,-0.81,-146.0,687.7,-5.2,890,8600,0.00,2.17,0.00,0.000,6,0.000,0.045,2643,1943,3219
$GC,8903,-0.81,-146.0,702.3,-4.5,906,8907,0.00,2.28,0.00,0.000,4,0.000,0.065,2643,3342,3218
$GC,9010,-0.81,-146.0,707.5,-4.3,911,9014,0.00,2.17,0.00,0.000,6,0.000,0.047,2643,1945,3217
$GC,9337,-0.81,-146.0,725.2,-5.7,927,9340,0.00,2.25,0.00,0.000,4,0.000,0.066,2643,3348,3215
$GC,9448,-0.81,-146.0,731.6,-6.2,932,9452,0.00,2.20,0.00,0.000,6,0.000,0.047,2643,1940,3215
$GC,9769,-0.81,-146.0,745.5,-4.0,948,9773,0.00,2.30,0.00,0.000,4,0.000,0.067,2643,3350,3214
$GC,9854,-0.81,-146.0,749.2,-4.6,952,9858,0.00,2.20,0.00,0.000,6,0.000,0.047,2643,1943,3214
$GC,10180,-0.81,-146.0,765.1,-5.2,968,10185,0.00,2.30,0.00,0.000,4,0.000,0.067,2643,3353,3212
$GC,10271,-0.81,-146.0,769.9,-5.2,972,10275,0.00,2.20,0.00,0.000,6,0.000,0.048,2642,1946,3212
$GC,10592,-0.81,-146.0,789.3,-6.0,988,10596,0.00,2.25,0.00,0.000,4,0.000,0.067,2643,548,3211
$GC,10677,-0.81,-146.0,794.8,-6.1,992,10682,0.00,2.20,0.00,0.000,6,0.000,0.051,2643,1942,3211
$GC,11003,-0.81,-146.0,813.8,-5.8,1008,11008,0.00,2.28,0.00,0.000,4,0.000,0.067,2643,544,3210
$GC,11025,-0.81,-146.0,815.0,-5.6,1009,11029,0.00,2.22,0.00,0.000,6,0.000,0.051,2643,1951,3210
$GC,11351,-0.81,-146.0,832.2,-5.1,1025,11355,0.00,2.28,0.00,0.000,4,0.000,0.067,2643,548,3210
$GC,11366,-0.81,-146.0,833.0,-5.1,1025,11374,0.00,2.20,0.00,0.000,6,0.000,0.051,2643,1944,3210
$GC,11677,-0.81,-146.0,848.5,-5.1,1041,11681,0.00,2.28,0.00,0.000,4,0.000,0.067,2643,545,3209
$GC,11714,-0.81,-146.0,850.4,-5.6,1042,11721,0.00,2.22,0.00,0.000,6,0.000,0.051,2643,1950,3208
$STATE,11901,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11901,begin apogee
$GC,11904,-0.17,0.0,859.4,4.8,1052,12027,0.60,0.00,113.95,1.279,6,0.101,0.000,2852,1950,2641
$STATE,12027,end apogee,CONTROL_FINISHED_OK
$STATE,12027,begin climb
$GC,12029,0.81,146.0,863.6,0.0,1058,12158,0.88,2.50,122.82,1.239,4,0.059,0.069,3174,3353,2045
$GC,12286,0.81,146.0,819.8,23.4,1070,12291,0.00,2.33,0.00,0.000,6,0.000,0.053,3183,1962,2037
$GC,12607,0.81,146.0,748.2,22.5,1086,12612,0.00,2.33,0.00,0.000,4,0.000,0.067,3184,3347,2035
$GC,12853,0.81,146.0,691.4,24.9,1097,12858,0.00,2.28,0.00,0.000,6,0.000,0.053,3194,1943,2034
$GC,13169,0.81,146.0,624.5,20.7,1113,13173,0.00,2.33,0.00,0.000,4,0.000,0.070,3204,535,2032
$GC,13414,0.81,146.0,574.2,20.1,1124,13419,0.10,2.28,0.00,0.000,6,0.203,0.052,3176,1951,2031
$GC,13730,0.81,146.0,519.4,16.3,1140,13734,0.00,2.30,0.00,0.000,4,0.000,0.066,3176,3356,2031
$GC,13975,0.81,146.0,473.8,19.9,1158,13980,0.00,2.25,0.00,0.000,6,0.000,0.051,3185,1943,2030
$GC,14297,0.81,146.0,412.0,20.8,1189,14301,0.00,2.30,0.00,0.000,4,0.000,0.064,3185,3351,2030
$GC,14542,0.81,146.0,359.9,19.8,1212,14547,0.00,2.25,0.00,0.000,6,0.000,0.051,3196,1943,2030
$GC,14863,0.81,146.0,304.9,16.2,1243,14867,0.00,2.30,0.00,0.000,4,0.000,0.061,3195,3363,2030
$GC,15108,0.81,146.0,262.5,18.3,1286,15116,0.10,2.25,0.00,0.000,6,0.197,0.049,3176,1941,2030
$GC,15436,0.81,146.0,216.3,16.7,1347,15442,0.00,2.28,0.00,0.000,4,0.000,0.060,3176,3355,2030
$GC,15681,0.81,146.0,179.0,11.1,1393,15689,0.00,2.22,0.00,0.000,6,0.000,0.047,3185,1940,2031
$GC,16008,0.84,172.9,146.1,8.8,1454,16035,0.00,2.28,20.35,0.728,4,0.000,0.057,3185,3362,1934
$GC,16274,0.84,172.9,112.5,14.4,1503,16281,0.00,2.22,0.00,0.000,6,0.000,0.044,3195,1942,1933
$GC,16600,0.84,172.9,77.6,10.9,1564,16607,0.00,2.25,0.00,0.000,4,0.000,0.054,3195,3353,1933
$GC,16846,0.96,272.4,51.5,5.4,1610,16929,0.00,2.20,76.50,0.629,6,0.000,0.042,3206,1931,1529
$STATE,17225,end climb,SURFACE_DEPTH_REACHED
$STATE,17226,begin surface coast
$FINISH,1.5,1.010400
$STATE,17247,end surface coast,CONTROL_FINISHED_OK
$STATE,17247,begin surface
$SM_CCo,17260,157.75,0.568,1,0,524,519.30
$SM_GC,2.15,0.00,0.00,157.75,0.000,0.000,0.568,164,1927,524,-8.58,-0.54,519.30
$IRIDIUM_FIX,2427.58,12257.36,160898,060620
$TT8_MAMPS,0.047554
$HUMID,1520
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,25.70
$XPDR_PINGS,125
$24V_AH,23.7,5.861
$10V_AH,10.7,5.590
$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,19.850,169.675,333.625,157.750,0.000,30.795,37.108,207.479,38.000,0.000,0.000,16.225,0.000,12433.034,757.149,4126.228,452.786,0.000,2267.550,0.000,3526.353,0.000,45.728,0.000
$DEVICE_MAMPS,257.712,69.797,1279.356,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.714,1153.588,1935.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94674,1683
$CAP_FILE_SIZE,174099,0
$CFSIZE,260165632,257179648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.288, 19.8,1
$GPS,220509,144036,2441.357,12258.972,35,1.8,40,-3.5