version: 66.04
glider: 165
mission: 2
dive: 15
start: 5 23 109 21 38 11
data:
$ID,165
$MISSION,2
$DIVE,15
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-116230.7
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2853
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,2071
$C_ROLL_CLIMB,2343
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,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
$GPS1,213154,2447.120,12302.106,25,1.6,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-72.5
$GPS2,213806,2447.138,12302.133,13,1.5,29,-3.6
$SPEED_LIMITS,0.208,0.315
$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,266.3,58213,-18.3,-12.000
$D_GRID,1550
$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,-0.92,-194.7,0.0,0.0,0,69,0.00,0.00,-55.50,0.000,2,0.000,0.000,166,1998,2020
$GC,71,-0.92,-194.7,3.2,-3.8,8,129,9.93,2.15,-43.47,0.000,4,0.259,0.064,2551,677,3554
$GC,159,-0.92,-194.7,19.5,-33.0,23,166,0.00,2.25,0.00,0.000,6,0.000,0.047,2544,2076,3556
$GC,486,-0.92,-194.7,139.3,-30.3,84,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2076,3557
$GC,806,-0.92,-194.7,214.6,-21.0,144,813,0.00,2.20,0.00,0.000,4,0.000,0.051,2544,686,3559
$GC,940,-0.92,-194.7,239.7,-18.4,169,947,0.00,2.17,0.00,0.000,6,0.000,0.042,2534,2074,3559
$GC,1271,-0.92,-194.7,302.0,-17.4,230,1275,0.00,2.25,0.00,0.000,4,0.000,0.060,2530,3480,3560
$GC,1292,-0.92,-194.7,305.4,-16.7,232,1297,0.00,2.15,0.00,0.000,6,0.000,0.038,2530,2084,3560
$GC,1613,-0.92,-194.7,359.1,-18.0,263,1617,0.00,2.22,0.00,0.000,4,0.000,0.053,2530,669,3560
$GC,1699,-0.92,-194.7,373.7,-16.6,271,1703,0.10,2.20,0.00,0.000,6,0.149,0.044,2554,2073,3560
$GC,2019,-0.92,-194.7,419.3,-13.3,302,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2074,3560
$GC,2330,-0.92,-194.7,456.1,-11.1,332,2334,0.00,2.22,0.00,0.000,4,0.000,0.055,2555,674,3559
$GC,2366,-0.92,-194.7,460.8,-12.4,335,2373,0.00,2.20,0.00,0.000,6,0.000,0.046,2550,2077,3560
$GC,2683,-0.92,-194.7,500.5,-12.5,366,2687,0.00,2.20,0.00,0.000,4,0.000,0.055,2550,667,3558
$GC,2730,-0.92,-194.7,506.7,-12.5,368,2734,0.00,2.20,0.00,0.000,6,0.000,0.046,2549,2070,3558
$GC,3051,-0.92,-194.7,543.1,-10.9,384,3055,0.00,2.22,0.00,0.000,4,0.000,0.055,2550,667,3555
$GC,3093,-0.92,-194.7,547.9,-11.5,386,3098,0.00,2.20,0.00,0.000,6,0.000,0.047,2549,2072,3555
$GC,3420,-0.92,-194.7,581.5,-10.6,402,3424,0.00,2.25,0.00,0.000,4,0.000,0.065,2548,3473,3553
$GC,3441,-0.92,-194.7,583.7,-10.6,403,3445,0.00,2.15,0.00,0.000,6,0.000,0.041,2548,2077,3553
$GC,3767,-0.92,-194.7,619.7,-10.6,419,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2073,3551
$GC,4073,-0.92,-194.7,650.8,-10.1,434,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2073,3548
$GC,4378,-0.92,-194.7,680.1,-9.8,449,4382,0.00,2.28,0.00,0.000,4,0.000,0.069,2547,3468,3547
$GC,4404,-0.92,-194.7,682.7,-10.3,450,4408,0.00,2.17,0.00,0.000,6,0.000,0.044,2547,2063,3546
$GC,4725,-0.92,-194.7,714.4,-10.1,466,4729,0.00,2.20,0.00,0.000,4,0.000,0.061,2547,676,3543
$GC,4794,-0.92,-194.7,721.9,-11.1,469,4798,0.00,2.20,0.00,0.000,6,0.000,0.051,2547,2067,3543
$GC,5116,-0.92,-194.7,751.6,-9.2,485,5119,0.00,2.28,0.00,0.000,4,0.000,0.071,2547,3489,3541
$GC,5189,-0.92,-194.7,758.2,-8.3,488,5194,0.00,2.20,0.00,0.000,6,0.000,0.045,2548,2076,3540
$GC,5505,-0.92,-194.7,787.1,-9.5,504,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2074,3538
$GC,5811,-0.92,-194.7,816.2,-9.7,519,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2073,3536
$GC,6116,-0.92,-194.7,845.6,-9.6,534,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2073,3534
$GC,6421,-0.92,-194.7,873.5,-9.1,549,6425,0.00,2.30,0.00,0.000,4,0.000,0.073,2547,3472,3533
$GC,6479,-0.92,-194.7,878.4,-8.3,551,6486,0.00,2.20,0.00,0.000,6,0.000,0.048,2548,2069,3532
$GC,6790,-0.92,-194.7,905.3,-8.9,567,6794,0.00,2.33,0.00,0.000,4,0.000,0.071,2547,3477,3530
$GC,6842,-0.92,-194.7,910.0,-8.7,569,6847,0.00,2.20,0.00,0.000,6,0.000,0.047,2548,2076,3530
$GC,7159,-0.92,-194.7,938.4,-9.3,585,7163,0.00,2.30,0.00,0.000,4,0.000,0.072,2547,3493,3529
$GC,7190,-0.92,-194.7,941.4,-9.8,586,7195,0.00,2.22,0.00,0.000,6,0.000,0.047,2547,2072,3528
$GC,7506,-0.92,-194.7,971.9,-9.9,602,7510,0.00,2.33,0.00,0.000,4,0.000,0.072,2547,3479,3527
$GC,7548,-0.92,-194.7,975.9,-9.6,604,7552,0.00,2.20,0.00,0.000,6,0.000,0.048,2548,2075,3526
$STATE,7690,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7690,begin apogee
$GC,7694,-0.19,0.0,990.1,10.0,611,7854,0.73,0.00,156.12,1.358,6,0.121,0.000,2792,2355,2759
$STATE,7854,end apogee,CONTROL_FINISHED_OK
$STATE,7854,begin climb
$GC,7856,0.92,194.7,998.9,0.0,619,8029,0.98,2.47,164.65,1.319,4,0.051,0.062,3166,944,1964
$GC,8199,0.92,194.7,943.7,23.8,635,8203,0.00,2.35,0.00,0.000,6,0.000,0.056,3166,2339,1957
$GC,8525,0.92,194.7,862.7,25.2,651,8529,0.00,2.25,0.00,0.000,4,0.000,0.071,3166,3682,1955
$GC,8770,0.92,194.7,792.0,28.7,662,8775,0.00,2.15,0.00,0.000,6,0.000,0.050,3175,2351,1954
$GC,9086,0.92,194.7,710.2,25.2,678,9090,0.00,2.22,0.00,0.000,4,0.000,0.069,3175,3683,1953
$GC,9332,0.92,194.7,645.7,26.6,689,9336,0.10,2.15,0.00,0.000,6,0.209,0.049,3158,2333,1952
$GC,9647,0.92,194.7,574.4,21.9,705,9652,0.00,2.25,0.00,0.000,4,0.000,0.061,3167,940,1951
$GC,9850,0.92,194.7,530.7,20.9,714,9855,0.00,2.28,0.00,0.000,6,0.000,0.054,3167,2345,1950
$GC,10168,0.92,194.7,460.9,24.2,738,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2345,1949
$GC,10479,0.92,194.7,391.8,21.8,768,10484,0.00,2.20,0.00,0.000,4,0.000,0.068,3167,3693,1949
$GC,10661,0.92,194.7,351.7,20.8,785,10665,0.00,2.12,0.00,0.000,6,0.000,0.048,3177,2346,1949
$GC,10977,0.92,194.7,292.7,18.1,819,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2341,1949
$GC,11298,0.92,194.7,234.5,18.0,879,11305,0.00,2.20,0.00,0.000,4,0.000,0.064,3177,3695,1949
$GC,11518,0.92,194.7,192.2,17.2,920,11525,0.10,2.12,0.00,0.000,6,0.200,0.045,3157,2336,1949
$GC,11844,0.92,196.5,145.3,11.9,981,11845,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2331,1950
$GC,12165,1.05,302.0,114.9,7.6,1041,12254,0.10,2.28,82.00,0.696,4,0.093,0.061,3195,3696,1526
$GC,12493,1.05,302.0,61.7,16.7,1100,12500,0.00,2.15,0.00,0.000,6,0.000,0.041,3206,2336,1523
$GC,12820,1.05,302.0,13.5,12.4,1161,12826,0.00,2.20,0.00,0.000,4,0.000,0.058,3206,3691,1522
$STATE,12883,end climb,SURFACE_DEPTH_REACHED
$STATE,12883,begin surface coast
$FINISH,1.6,1.015101
$STATE,12899,end surface coast,CONTROL_FINISHED_OK
$STATE,12899,begin surface
$SM_CCo,12914,98.97,0.589,0,0,984,435.16
$SM_GC,2.32,0.00,0.00,98.97,0.000,0.000,0.589,160,2059,984,-8.41,-0.34,435.16
$IRIDIUM_FIX,2439.44,12303.22,170898,161656
$TT8_MAMPS,0.048321
$HUMID,1513
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.30
$XPDR_PINGS,54
$24V_AH,23.5,7.381
$10V_AH,10.7,6.742
$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,19.875,103.075,402.775,98.975,0.000,29.864,35.576,194.767,21.500,0.000,0.000,31.061,0.000,9425.494,632.596,2900.637,400.397,0.000,1700.785,0.000,2446.819,0.000,54.738,0.000
$DEVICE_MAMPS,259.246,72.865,1357.590,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,797.241,802.124,1346.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66422,1176
$CAP_FILE_SIZE,124193,0
$CFSIZE,260165632,256552960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.163, 37.2,1
$GPS,240509,011600,2447.506,12301.410,36,1.1,36,-3.6