version: 66.04
glider: 165
mission: 2
dive: 21
start: 5 24 109 18 56 54
data:
$ID,165
$MISSION,2
$DIVE,21
$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,-116337.24
$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,32
$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
$GPS1,184454,2446.927,12259.583,35,1.1,35,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-72.3
$GPS2,185649,2447.081,12259.473,8,1.6,13,-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,242.6,53784,-18.3,-12.000
$D_GRID,1548
$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,-44.85,0.000,2,0.000,0.000,164,2084,2107
$GC,60,-0.92,-194.7,3.1,-4.3,7,117,9.65,2.28,-40.28,0.000,4,0.253,0.064,2537,667,3554
$GC,302,-0.92,-194.7,69.4,-29.8,51,309,0.00,2.22,0.00,0.000,6,0.000,0.044,2528,2070,3556
$GC,629,-0.92,-194.7,163.9,-26.7,112,635,0.00,2.22,0.00,0.000,4,0.000,0.050,2530,663,3557
$GC,778,-0.92,-194.7,198.3,-19.5,140,785,0.00,2.20,0.00,0.000,6,0.000,0.043,2520,2070,3559
$GC,1104,-0.92,-194.7,265.7,-19.5,201,1112,0.00,2.25,0.00,0.000,4,0.000,0.058,2510,3481,3559
$GC,1127,-0.92,-194.7,270.2,-20.7,205,1134,0.08,2.15,0.00,0.000,6,0.160,0.038,2535,2077,3560
$GC,1453,-0.92,-194.7,328.4,-16.5,251,1458,0.00,2.20,0.00,0.000,4,0.000,0.052,2536,670,3559
$GC,1496,-0.92,-194.7,334.9,-14.8,255,1500,0.00,2.20,0.00,0.000,6,0.000,0.045,2533,2079,3559
$GC,1816,-0.92,-194.7,383.4,-16.4,286,1821,0.00,2.22,0.00,0.000,4,0.000,0.061,2532,3472,3559
$GC,1837,-0.92,-194.7,386.9,-16.5,288,1842,0.00,2.15,0.00,0.000,6,0.000,0.039,2532,2068,3559
$GC,2159,-0.92,-194.7,439.3,-15.2,319,2163,0.00,2.20,0.00,0.000,4,0.000,0.054,2532,666,3559
$GC,2302,-0.92,-194.7,462.8,-16.8,332,2310,0.00,2.20,0.00,0.000,6,0.000,0.045,2532,2071,3558
$GC,2628,-0.92,-194.7,512.8,-14.8,360,2631,0.00,2.20,0.00,0.000,4,0.000,0.054,2532,676,3556
$GC,2664,-0.92,-194.7,518.7,-15.6,361,2672,0.00,2.20,0.00,0.000,6,0.000,0.047,2532,2080,3556
$GC,2974,-0.92,-194.7,561.7,-13.5,377,2979,0.00,2.25,0.00,0.000,4,0.000,0.064,2532,3480,3554
$GC,3048,-0.92,-194.7,571.6,-12.1,380,3053,0.00,2.17,0.00,0.000,6,0.000,0.040,2532,2064,3552
$GC,3364,-0.92,-194.7,608.5,-11.0,396,3369,0.00,2.20,0.00,0.000,4,0.000,0.056,2532,666,3551
$GC,3407,-0.92,-194.7,613.1,-10.8,398,3411,0.00,2.20,0.00,0.000,6,0.000,0.048,2532,2070,3551
$GC,3733,-0.92,-194.7,649.3,-11.3,414,3737,0.00,2.22,0.00,0.000,4,0.000,0.056,2532,666,3548
$GC,3786,-0.92,-194.7,655.9,-12.3,416,3791,0.00,2.20,0.00,0.000,6,0.000,0.048,2532,2067,3548
$GC,4102,-0.92,-194.7,693.9,-12.4,432,4106,0.00,2.28,0.00,0.000,4,0.000,0.066,2532,3476,3545
$GC,4149,-0.92,-194.7,699.6,-11.2,434,4155,0.00,2.17,0.00,0.000,6,0.000,0.043,2532,2070,3544
$GC,4470,-0.92,-194.7,740.1,-12.9,450,4475,0.00,2.28,0.00,0.000,4,0.000,0.067,2532,3467,3542
$GC,4497,-0.92,-194.7,743.5,-13.1,451,4501,0.00,2.15,0.00,0.000,6,0.000,0.043,2532,2077,3541
$GC,4818,-0.92,-194.7,781.4,-10.8,467,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2073,3538
$GC,5123,-0.92,-194.7,812.9,-10.2,482,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2073,3537
$GC,5429,-0.92,-194.7,843.5,-9.5,497,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2073,3534
$GC,5734,-0.92,-194.7,870.8,-9.0,512,5738,0.00,2.25,0.00,0.000,4,0.000,0.062,2532,669,3533
$GC,5776,-0.92,-194.7,874.6,-8.6,514,5780,0.00,2.22,0.00,0.000,6,0.000,0.052,2532,2069,3532
$GC,6102,-0.92,-194.7,903.3,-9.0,530,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2068,3530
$GC,6408,-0.92,-194.7,931.2,-9.3,545,6412,0.00,2.30,0.00,0.000,4,0.000,0.072,2532,3474,3528
$GC,6466,-0.92,-194.7,936.6,-8.9,547,6473,0.00,2.20,0.00,0.000,6,0.000,0.046,2533,2062,3528
$GC,6777,-0.92,-194.7,966.9,-10.0,563,6781,0.00,2.33,0.00,0.000,4,0.000,0.071,2532,3472,3526
$GC,6824,-0.92,-194.7,972.0,-10.5,565,6829,0.00,2.17,0.00,0.000,6,0.000,0.045,2532,2078,3525
$STATE,7001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7001,begin apogee
$GC,7005,-0.19,0.0,990.6,10.5,574,7168,0.73,0.00,154.90,1.358,6,0.129,0.000,2774,2466,2758
$STATE,7168,end apogee,CONTROL_FINISHED_OK
$STATE,7168,begin climb
$GC,7169,0.92,194.7,998.0,0.0,582,7340,0.98,2.53,163.15,1.318,4,0.048,0.059,3153,1053,1964
$GC,7504,0.92,194.7,945.2,22.9,597,7512,0.00,2.38,0.00,0.000,6,0.000,0.055,3153,2465,1956
$GC,7815,0.92,194.7,869.8,24.8,613,7819,0.00,2.03,0.00,0.000,4,0.000,0.070,3153,3683,1955
$GC,8060,0.92,194.7,802.8,27.0,624,8065,0.12,1.95,0.00,0.000,6,0.216,0.048,3134,2462,1953
$GC,8376,0.92,194.7,732.2,21.3,640,8380,0.00,2.03,0.00,0.000,4,0.000,0.068,3134,3684,1952
$GC,8621,0.92,194.7,674.8,23.8,651,8626,0.00,1.95,0.00,0.000,6,0.000,0.047,3142,2453,1951
$GC,8937,0.92,194.7,600.7,22.5,667,8942,0.00,2.03,0.00,0.000,4,0.000,0.067,3142,3684,1951
$GC,9182,0.92,194.7,543.9,22.1,678,9187,0.00,1.92,0.00,0.000,6,0.000,0.046,3152,2455,1950
$GC,9500,0.92,194.7,480.3,19.7,698,9504,0.00,2.22,0.00,0.000,4,0.000,0.056,3162,1065,1950
$GC,9746,0.92,194.7,429.0,22.1,721,9750,0.08,2.25,0.00,0.000,6,0.199,0.052,3140,2473,1948
$GC,10066,0.92,194.7,367.5,19.2,752,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2473,1948
$GC,10377,0.92,194.7,308.4,20.6,782,10381,0.00,1.95,0.00,0.000,4,0.000,0.066,3139,3684,1948
$GC,10622,0.92,194.7,256.1,20.0,824,10630,0.00,1.90,0.00,0.000,6,0.000,0.044,3147,2461,1948
$GC,10949,0.92,194.7,202.8,16.8,885,10956,0.00,1.98,0.00,0.000,4,0.000,0.062,3147,3687,1948
$GC,11195,0.92,194.7,158.1,15.4,931,11202,0.00,1.88,0.00,0.000,6,0.000,0.042,3157,2462,1948
$GC,11522,0.92,194.7,115.3,12.3,992,11529,0.00,1.95,0.00,0.000,4,0.000,0.060,3156,3681,1949
$GC,11720,0.96,225.0,91.6,10.7,1029,11747,0.00,1.85,22.92,0.690,6,0.000,0.041,3166,2457,1840
$GC,12066,1.02,276.2,59.3,9.9,1093,12111,0.00,1.98,40.45,0.657,4,0.000,0.058,3166,3687,1631
$GC,12335,1.02,276.2,24.4,14.9,1142,12341,0.00,1.88,0.00,0.000,6,0.000,0.039,3175,2478,1629
$STATE,12504,end climb,SURFACE_DEPTH_REACHED
$STATE,12505,begin surface coast
$FINISH,1.5,0.999158
$STATE,12526,end surface coast,CONTROL_FINISHED_OK
$STATE,12526,begin surface
$SM_CCo,12539,122.47,0.601,0,0,984,435.16
$SM_GC,2.45,0.00,0.00,122.47,0.000,0.000,0.601,168,2072,984,-8.33,0.06,435.16
$IRIDIUM_FIX,2437.06,12239.55,180898,181804
$TT8_MAMPS,0.048321
$HUMID,1523
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.40
$XPDR_PINGS,64
$24V_AH,23.6,8.407
$10V_AH,10.7,7.404
$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,19.375,104.400,381.425,122.475,0.000,72.552,127.987,289.874,24.000,0.000,0.000,15.634,0.000,9150.945,655.395,2908.627,645.344,0.000,1728.573,0.000,2471.522,0.000,54.001,0.000
$DEVICE_MAMPS,253.110,72.098,1357.590,600.561,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,798.142,822.371,1380.718,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66562,1178
$CAP_FILE_SIZE,124372,0
$CFSIZE,260165632,256147456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170, 17.1,1
$GPS,240509,222906,2447.188,12259.024,40,0.9,51,-3.6