version: 66.04
glider: 165
mission: 2
dive: 20
start: 5 24 109 15 25 8
data:
$ID,165
$MISSION,2
$DIVE,20
$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,-116320.98
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2836
$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,2463
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,28
$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,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,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
$GPS1,152001,2447.120,12300.058,40,0.9,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-72.3
$GPS2,152502,2447.156,12300.038,10,1.3,10,-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,233.4,54745,-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,-194.7,0.0,0.0,0,58,0.00,0.00,-45.05,0.000,2,0.000,0.000,161,2063,2117
$GC,60,-0.92,-194.7,3.2,-4.3,7,117,9.73,2.33,-39.60,0.000,4,0.254,0.067,2521,3482,3555
$GC,319,-0.92,-194.7,85.5,-31.4,54,326,0.00,2.20,0.00,0.000,6,0.000,0.038,2522,2074,3557
$GC,645,-0.92,-194.7,188.0,-26.9,115,652,0.00,2.22,0.00,0.000,4,0.000,0.052,2522,662,3559
$GC,725,-0.92,-194.7,208.9,-24.3,130,732,0.00,2.22,0.00,0.000,6,0.000,0.045,2520,2072,3560
$GC,1051,-0.92,-194.7,279.6,-20.1,191,1058,0.00,2.22,0.00,0.000,4,0.000,0.051,2520,664,3561
$GC,1159,-0.92,-194.7,300.9,-20.1,211,1162,0.00,2.20,0.00,0.000,6,0.000,0.045,2519,2091,3560
$GC,1478,-0.92,-194.7,364.5,-19.8,242,1483,0.00,2.25,0.00,0.000,4,0.000,0.052,2519,667,3560
$GC,1553,-0.92,-194.7,378.5,-18.3,249,1557,0.00,2.20,0.00,0.000,6,0.000,0.045,2519,2076,3560
$GC,1873,-0.92,-194.7,435.0,-16.8,280,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2077,3560
$GC,2185,-0.92,-194.7,485.8,-16.0,310,2188,0.00,2.22,0.00,0.000,4,0.000,0.054,2519,668,3560
$GC,2259,-0.92,-194.7,498.1,-16.0,317,2263,0.00,2.20,0.00,0.000,6,0.000,0.047,2519,2071,3560
$GC,2584,-0.92,-194.7,548.2,-15.3,334,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2071,3559
$GC,2890,-0.92,-194.7,588.1,-12.5,349,2894,0.00,2.25,0.00,0.000,4,0.000,0.065,2519,3471,3557
$GC,2943,-0.92,-194.7,594.4,-11.0,351,2948,0.00,2.15,0.00,0.000,6,0.000,0.041,2519,2075,3556
$GC,3259,-0.92,-194.7,633.7,-12.5,367,3263,0.00,2.22,0.00,0.000,4,0.000,0.057,2519,663,3554
$GC,3301,-0.92,-194.7,639.0,-12.2,369,3306,0.00,2.22,0.00,0.000,6,0.000,0.049,2519,2081,3554
$GC,3629,-0.92,-194.7,675.9,-11.0,385,3632,0.00,2.22,0.00,0.000,4,0.000,0.057,2518,659,3551
$GC,3671,-0.92,-194.7,680.8,-11.2,387,3674,0.00,2.22,0.00,0.000,6,0.000,0.049,2519,2070,3551
$GC,3997,-0.92,-194.7,717.3,-11.2,403,4001,0.00,2.28,0.00,0.000,4,0.000,0.067,2518,3478,3548
$GC,4017,-0.92,-194.7,719.6,-11.2,404,4022,0.00,2.17,0.00,0.000,6,0.000,0.043,2518,2073,3548
$GC,4343,-0.92,-194.7,758.1,-12.3,420,4344,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2070,3546
$GC,4649,-0.92,-194.7,797.0,-13.1,435,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2069,3543
$GC,4954,-0.92,-194.7,836.6,-12.9,450,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2069,3541
$GC,5261,-0.92,-194.7,875.1,-11.9,465,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2069,3539
$GC,5564,-0.92,-194.7,909.8,-11.1,480,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2069,3537
$GC,5870,-0.92,-194.7,943.0,-10.4,495,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2069,3535
$GC,6175,-0.92,-194.7,973.3,-10.0,510,6179,0.00,2.33,0.00,0.000,4,0.000,0.074,2519,3477,3533
$GC,6206,-0.92,-194.7,976.3,-9.7,511,6211,0.00,2.20,0.00,0.000,6,0.000,0.048,2519,2076,3532
$STATE,6358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6358,begin apogee
$GC,6362,-0.19,0.0,990.8,9.5,519,6522,0.77,0.00,156.12,1.351,6,0.133,0.000,2775,2477,2759
$STATE,6523,end apogee,CONTROL_FINISHED_OK
$STATE,6523,begin climb
$GC,6524,0.92,194.7,995.4,0.0,527,6696,0.98,2.55,163.70,1.307,4,0.050,0.061,3149,1051,1964
$GC,6843,0.92,194.7,940.7,23.4,542,6848,0.00,2.38,0.00,0.000,6,0.000,0.056,3149,2463,1957
$GC,7170,0.92,194.7,859.9,24.7,558,7174,0.00,2.03,0.00,0.000,4,0.000,0.071,3149,3683,1954
$GC,7399,0.92,194.7,800.7,27.8,568,7408,0.00,1.98,0.00,0.000,6,0.000,0.048,3158,2450,1953
$GC,7709,0.92,194.7,721.3,24.9,584,7714,0.00,2.05,0.00,0.000,4,0.000,0.068,3158,3687,1951
$GC,7939,0.92,194.7,659.1,27.2,594,7947,0.15,1.95,0.00,0.000,6,0.215,0.048,3133,2460,1951
$GC,8249,0.92,194.7,593.9,20.9,610,8254,0.00,2.03,0.00,0.000,4,0.000,0.069,3133,3686,1950
$GC,8495,0.92,194.7,538.6,21.5,621,8500,0.00,1.92,0.00,0.000,6,0.000,0.046,3141,2452,1949
$GC,8813,0.92,194.7,472.3,22.2,643,8817,0.00,2.03,0.00,0.000,4,0.000,0.067,3141,3693,1949
$GC,9058,0.92,194.7,420.8,21.0,666,9063,0.00,1.92,0.00,0.000,6,0.000,0.045,3150,2462,1949
$GC,9380,0.92,194.7,356.6,20.8,697,9384,0.00,2.20,0.00,0.000,4,0.000,0.056,3160,1062,1948
$GC,9582,0.92,194.7,315.0,19.1,716,9587,0.00,2.25,0.00,0.000,6,0.000,0.051,3161,2471,1947
$GC,9905,0.92,194.7,260.2,18.9,768,9914,0.00,1.92,0.00,0.000,4,0.000,0.064,3160,3677,1947
$GC,10152,0.92,194.7,217.3,17.6,814,10160,0.12,1.90,0.00,0.000,6,0.205,0.042,3137,2439,1947
$GC,10479,0.93,206.2,171.5,11.5,875,10494,0.00,2.12,7.88,0.693,4,0.000,0.051,3146,1072,1918
$GC,10573,0.93,206.2,159.4,14.5,892,10580,0.00,2.20,0.00,0.000,6,0.000,0.048,3146,2465,1917
$GC,10900,0.93,206.2,115.0,12.7,953,10907,0.00,2.20,0.00,0.000,4,0.000,0.051,3156,1075,1917
$GC,10916,0.93,206.2,113.0,12.5,956,10924,0.00,2.17,0.00,0.000,6,0.000,0.046,3156,2461,1917
$GC,11243,1.05,302.4,77.4,8.0,1017,11326,0.00,2.00,75.40,0.670,4,0.000,0.060,3155,3672,1525
$GC,11410,1.05,302.4,55.1,16.9,1046,11417,0.00,1.88,0.00,0.000,6,0.000,0.038,3164,2472,1523
$GC,11736,1.05,302.4,8.9,12.4,1107,11743,0.00,2.22,0.00,0.000,4,0.000,0.050,3175,1065,1521
$STATE,11789,end climb,SURFACE_DEPTH_REACHED
$STATE,11789,begin surface coast
$FINISH,1.6,1.008785
$STATE,11815,end surface coast,CONTROL_FINISHED_OK
$STATE,11815,begin surface
$SM_CCo,11829,101.22,0.594,0,0,983,435.16
$SM_GC,2.12,0.00,0.00,101.22,0.000,0.000,0.594,164,2084,983,-8.35,0.34,435.16
$IRIDIUM_FIX,2437.06,12301.93,180898,121246
$TT8_MAMPS,0.048321
$HUMID,1516
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.40
$XPDR_PINGS,48
$24V_AH,23.6,8.225
$10V_AH,10.7,7.288
$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,19.475,90.725,403.100,101.225,0.000,31.055,33.354,155.457,20.000,0.000,0.000,12.693,0.000,8502.353,628.386,2737.832,347.504,0.000,1643.278,0.000,2328.392,0.000,53.974,0.000
$DEVICE_MAMPS,253.877,73.632,1350.687,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,758.913,782.548,1313.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66275,1122
$CAP_FILE_SIZE,113553,0
$CFSIZE,260165632,256221184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161, 35.9,1
$GPS,240509,184454,2446.927,12259.583,35,1.1,35,-3.6