version: 66.04
glider: 165
mission: 2
dive: 24
start: 5 25 109 6 58 13
data:
$ID,165
$MISSION,2
$DIVE,24
$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,-116376.77
$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,27.15
$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,2556
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,27
$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,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
$GPS1,065237,2446.492,12256.719,31,1.0,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.1
$GPS2,065808,2446.530,12256.666,12,1.0,12,-3.5
$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,250.8,48956,-18.3,-12.000
$D_GRID,1477
$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,-194.7,0.0,0.0,0,62,0.00,0.00,-48.05,0.000,2,0.000,0.000,170,2050,2164
$GC,63,-0.92,-194.7,3.4,-4.7,7,115,9.45,2.17,-37.12,0.000,4,0.249,0.061,2521,663,3554
$GC,301,-0.31,-194.7,75.1,-29.2,50,308,0.65,2.22,0.00,0.000,6,0.167,0.043,2714,2071,3556
$GC,627,-0.70,-194.7,104.0,-6.5,111,633,0.32,0.00,0.00,0.000,6,0.044,0.000,2562,2071,3559
$GC,953,-0.33,-194.7,180.2,-23.3,172,960,0.47,2.22,0.00,0.000,4,0.146,0.052,2712,663,3560
$GC,990,-0.67,-194.7,185.4,-10.2,179,997,0.25,2.22,0.00,0.000,6,0.041,0.041,2573,2093,3560
$GC,1316,-0.52,-194.7,237.7,-17.6,240,1324,0.25,2.20,0.00,0.000,4,0.137,0.059,2644,3471,3561
$GC,1376,-0.84,-194.7,244.3,-9.7,251,1382,0.22,2.12,0.00,0.000,6,0.040,0.038,2523,2082,3561
$GC,1700,-0.52,-194.7,307.5,-17.1,308,1705,0.40,2.20,0.00,0.000,4,0.145,0.053,2654,671,3561
$GC,1807,-0.91,-194.7,314.6,-5.0,318,1811,0.30,2.15,0.00,0.000,6,0.039,0.043,2499,2054,3562
$GC,2128,-0.54,-194.7,373.2,-20.4,349,2129,0.45,0.00,0.00,0.000,6,0.148,0.000,2641,2054,3561
$GC,2440,-0.91,-194.7,394.9,-5.7,379,2443,0.28,2.25,0.00,0.000,4,0.048,0.061,2505,3479,3561
$GC,2475,-0.77,-194.7,399.2,-13.8,382,2480,0.17,2.17,0.00,0.000,6,0.139,0.040,2565,2063,3562
$GC,2796,-0.77,-194.7,439.1,-12.3,413,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2059,3561
$GC,3108,-0.77,-194.7,477.1,-11.2,443,3108,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2058,3560
$GC,3427,-0.84,-194.7,511.7,-11.1,469,3430,0.00,2.25,0.00,0.000,4,0.000,0.065,2563,3471,3557
$GC,3468,-0.97,-194.7,516.4,-10.4,471,3473,0.12,2.15,0.00,0.000,6,0.057,0.041,2491,2078,3557
$GC,3796,-0.74,-194.7,570.6,-17.7,487,3799,0.25,2.20,0.00,0.000,4,0.152,0.056,2573,663,3556
$GC,3896,-0.89,-194.7,583.3,-11.2,492,3900,0.08,2.22,0.00,0.000,6,0.064,0.048,2509,2077,3556
$GC,4222,-0.76,-194.7,633.6,-15.1,508,4224,0.22,0.00,0.00,0.000,6,0.146,0.000,2577,2078,3553
$GC,4528,-0.95,-194.7,660.3,-7.9,523,4532,0.17,2.22,0.00,0.000,4,0.066,0.067,2494,3477,3551
$GC,4564,-0.84,-194.7,664.6,-13.3,524,4572,0.15,2.20,0.00,0.000,6,0.146,0.044,2545,2060,3550
$GC,4875,-0.90,-194.7,699.7,-11.9,540,4880,0.00,2.30,0.00,0.000,4,0.000,0.068,2546,3468,3549
$GC,4933,-1.04,-194.7,707.0,-11.6,542,4941,0.15,2.17,0.00,0.000,6,0.054,0.043,2465,2071,3548
$GC,5243,-0.78,-194.7,761.6,-17.6,558,5248,0.32,2.22,0.00,0.000,4,0.156,0.061,2564,667,3546
$GC,5296,-0.98,-194.7,768.7,-11.6,560,5301,0.12,2.22,0.00,0.000,6,0.058,0.050,2493,2071,3546
$GC,5612,-0.86,-194.7,816.9,-14.9,576,5616,0.17,2.30,0.00,0.000,4,0.153,0.067,2534,3483,3543
$GC,5649,-0.96,-194.7,821.6,-11.7,577,5657,0.00,2.20,0.00,0.000,6,0.000,0.044,2534,2067,3542
$GC,5960,-1.03,-194.7,855.8,-10.7,593,5961,0.12,0.00,0.00,0.000,6,0.079,0.000,2477,2065,3541
$GC,6265,-0.85,-194.7,900.8,-14.9,608,6269,0.22,2.28,0.00,0.000,4,0.159,0.069,2534,3477,3539
$GC,6307,-0.96,-194.7,906.1,-11.2,610,6311,0.00,2.20,0.00,0.000,6,0.000,0.045,2534,2069,3538
$GC,6633,-1.03,-194.7,942.5,-11.1,626,6638,0.15,2.30,0.00,0.000,4,0.073,0.071,2466,3471,3537
$GC,6659,-0.90,-194.7,946.0,-14.7,627,6664,0.17,2.20,0.00,0.000,6,0.150,0.045,2524,2063,3536
$GC,6981,-0.90,-194.7,985.0,-12.3,643,6985,0.00,2.33,0.00,0.000,4,0.000,0.071,2520,3473,3535
$GC,7018,-0.97,-194.7,989.6,-12.9,644,7025,0.00,2.17,0.00,0.000,6,0.000,0.045,2520,2082,3534
$STATE,7042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7042,begin apogee
$GC,7046,-0.18,0.0,992.7,12.2,646,7206,0.73,0.00,156.02,1.365,6,0.134,0.000,2760,2557,2758
$STATE,7207,end apogee,CONTROL_FINISHED_OK
$STATE,7207,begin climb
$GC,7208,0.92,194.7,1002.0,0.0,654,7379,0.95,2.50,163.38,1.324,4,0.047,0.058,3132,1153,1964
$GC,7463,0.36,194.7,970.7,18.8,666,7468,0.65,2.38,0.00,0.000,6,0.179,0.055,2945,2549,1958
$GC,7789,0.43,254.8,938.6,9.5,682,7846,0.00,2.40,51.20,1.289,4,0.000,0.058,2955,1163,1719
$GC,7883,0.61,291.9,928.9,10.5,686,7921,0.15,2.35,33.55,1.250,6,0.060,0.054,3022,2545,1568
$GC,8236,0.42,291.9,867.0,18.8,704,8240,0.25,1.90,0.00,0.000,4,0.158,0.071,2951,3691,1561
$GC,8278,0.48,291.9,860.3,14.8,706,8282,0.00,1.83,0.00,0.000,6,0.000,0.045,2959,2544,1561
$GC,8604,0.57,291.9,816.3,13.8,722,8609,0.12,2.25,0.00,0.000,4,0.085,0.057,3019,1150,1559
$GC,8679,0.51,291.9,804.2,16.7,725,8683,0.10,2.25,0.00,0.000,6,0.153,0.054,2987,2532,1558
$GC,8995,0.51,291.9,753.9,16.3,741,8999,0.00,1.90,0.00,0.000,4,0.000,0.070,2987,3693,1557
$GC,9037,0.44,291.9,746.7,17.0,743,9041,0.10,1.80,0.00,0.000,6,0.158,0.045,2962,2546,1558
$GC,9364,0.53,291.9,704.2,12.3,759,9368,0.00,2.22,0.00,0.000,4,0.000,0.057,2971,1155,1557
$GC,9443,0.69,305.5,694.6,11.4,762,9459,0.15,2.22,11.20,1.099,6,0.064,0.052,3043,2532,1513
$GC,9776,0.47,305.5,633.7,18.5,779,9778,0.25,0.00,0.00,0.000,6,0.161,0.000,2972,2532,1512
$GC,10080,0.56,305.5,591.2,13.9,794,10085,0.00,2.22,0.00,0.000,4,0.000,0.056,2981,1153,1511
$GC,10145,0.71,305.5,582.4,13.8,797,10149,0.15,2.20,0.00,0.000,6,0.064,0.051,3052,2517,1510
$GC,10471,0.47,305.5,514.6,20.7,813,10475,0.28,2.20,0.00,0.000,4,0.158,0.056,2981,1148,1510
$GC,10561,0.63,318.3,502.9,11.5,817,10580,0.08,2.20,12.30,1.006,6,0.071,0.052,3026,2514,1461
$GC,10887,0.53,318.3,448.9,17.2,847,10891,0.12,1.90,0.00,0.000,4,0.162,0.067,2992,3689,1458
$GC,10918,0.53,318.3,443.4,17.0,850,10922,0.00,1.88,0.00,0.000,6,0.000,0.044,3000,2486,1458
$GC,11240,0.63,355.0,397.7,10.5,881,11277,0.00,2.20,31.88,0.966,4,0.000,0.056,3010,1148,1310
$GC,11309,0.79,380.6,390.0,10.9,887,11339,0.15,2.22,22.85,0.923,6,0.058,0.050,3084,2498,1206
$GC,11646,0.58,380.6,316.0,25.2,920,11650,0.28,2.20,0.00,0.000,4,0.155,0.054,3014,1150,1202
$GC,11699,0.73,380.6,306.8,14.5,925,11703,0.08,2.17,0.00,0.000,6,0.071,0.049,3062,2490,1201
$GC,12024,0.63,380.6,248.1,19.2,982,12031,0.15,1.92,0.00,0.000,4,0.157,0.064,3020,3684,1200
$GC,12062,0.63,380.6,241.5,16.8,989,12069,0.00,1.88,0.00,0.000,6,0.000,0.042,3028,2480,1201
$GC,12389,0.75,395.6,197.9,11.4,1050,12408,0.00,2.10,13.18,0.765,4,0.000,0.053,3037,1148,1145
$GC,12465,0.94,395.6,188.0,13.4,1064,12472,0.20,2.15,0.00,0.000,6,0.051,0.048,3130,2489,1143
$GC,12792,0.74,395.6,115.9,22.0,1125,12800,0.25,1.92,0.00,0.000,4,0.150,0.061,3057,3696,1143
$GC,12922,0.85,395.6,95.7,13.4,1149,12929,0.00,1.90,0.00,0.000,6,0.000,0.041,3065,2465,1143
$GC,13249,1.10,422.0,61.8,10.9,1210,13276,0.30,2.12,22.35,0.664,4,0.054,0.051,3203,1142,1037
$GC,13307,0.90,422.0,51.1,20.6,1220,13314,0.28,2.12,0.00,0.000,6,0.150,0.044,3114,2478,1035
$GC,13634,0.99,422.0,7.3,14.0,1281,13642,0.00,2.12,0.00,0.000,4,0.000,0.050,3123,1139,1035
$STATE,13666,end climb,SURFACE_DEPTH_REACHED
$STATE,13666,begin surface coast
$FINISH,1.6,1.021735
$STATE,13687,end surface coast,CONTROL_FINISHED_OK
$STATE,13687,begin surface
$SM_CCo,13701,11.30,0.581,0,0,984,435.16
$SM_GC,3.40,0.00,0.00,11.30,0.000,0.000,0.581,162,2096,984,-8.31,0.71,435.16
$IRIDIUM_FIX,2439.44,12303.22,190898,030334
$TT8_MAMPS,0.048321
$HUMID,1530
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.40
$XPDR_PINGS,53
$24V_AH,23.6,8.997
$10V_AH,10.7,7.774
$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,29.000,130.050,517.900,11.300,0.000,24.092,37.403,178.958,21.250,0.000,0.000,14.730,0.000,9855.268,660.847,3104.286,401.451,0.000,1827.617,0.000,2608.838,0.000,53.991,0.000
$DEVICE_MAMPS,249.275,70.564,1365.260,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,874.291,886.345,1486.726,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75950,1291
$CAP_FILE_SIZE,153120,0
$CFSIZE,260165632,255873024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222, 30.9,1
$GPS,250509,104736,2447.108,12255.161,30,1.2,30,-3.5