version: 66.04
glider: 165
mission: 2
dive: 25
start: 5 25 109 10 53 25
data:
$ID,165
$MISSION,2
$DIVE,25
$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,-116390.26
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,104736,2447.108,12255.161,30,1.2,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-67.8
$GPS2,105320,2447.240,12255.109,10,1.3,10,-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,230.5,46634,-18.3,-12.000
$D_GRID,1396
$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,-48.90,0.000,2,0.000,0.000,160,2096,2198
$GC,64,-0.92,-194.7,3.2,-4.1,7,115,9.30,2.33,-36.55,0.000,4,0.242,0.060,2521,654,3555
$GC,344,-0.14,-194.7,95.8,-37.6,58,352,0.80,2.22,0.00,0.000,6,0.164,0.043,2761,2066,3557
$GC,672,-1.02,-194.7,123.2,-8.3,119,679,0.73,2.22,0.00,0.000,4,0.062,0.056,2482,3489,3559
$GC,753,-0.40,-194.7,139.2,-28.2,134,759,0.62,2.17,0.00,0.000,6,0.150,0.040,2685,2083,3559
$GC,1079,-0.76,-194.7,170.5,-8.1,195,1085,0.30,0.00,0.00,0.000,6,0.045,0.000,2545,2079,3561
$GC,1404,-0.42,-194.7,237.5,-20.1,256,1413,0.43,2.20,0.00,0.000,4,0.143,0.051,2680,673,3561
$GC,1459,-0.86,-194.7,243.5,-7.8,266,1467,0.32,2.22,0.00,0.000,6,0.035,0.041,2508,2110,3562
$GC,1789,-0.46,-194.7,318.0,-22.9,321,1793,0.50,2.25,0.00,0.000,4,0.151,0.052,2665,660,3562
$GC,1843,-0.86,-194.7,325.2,-9.4,326,1847,0.28,2.22,0.00,0.000,6,0.035,0.041,2498,2094,3562
$GC,2163,-0.52,-194.7,385.0,-19.1,357,2168,0.47,2.22,0.00,0.000,4,0.145,0.052,2650,678,3562
$GC,2232,-0.96,-194.7,392.0,-7.8,363,2239,0.32,2.15,0.00,0.000,6,0.036,0.041,2481,2069,3562
$GC,2548,-0.57,-194.7,451.0,-20.1,394,2552,0.47,2.17,0.00,0.000,4,0.155,0.053,2628,663,3562
$GC,2612,-0.93,-194.7,457.6,-7.1,400,2616,0.25,2.15,0.00,0.000,6,0.040,0.042,2493,2048,3562
$GC,2942,-0.64,-194.7,509.7,-15.7,429,2943,0.38,0.00,0.00,0.000,6,0.150,0.000,2609,2048,3561
$GC,3247,-0.94,-194.7,528.6,-6.1,444,3251,0.25,2.28,0.00,0.000,4,0.052,0.063,2492,3471,3559
$GC,3289,-0.77,-194.7,533.8,-13.4,446,3294,0.20,2.15,0.00,0.000,6,0.140,0.040,2561,2067,3559
$GC,3616,-0.87,-194.7,567.3,-9.4,462,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2063,3557
$GC,3921,-0.96,-194.7,594.8,-8.4,477,3925,0.15,2.17,0.00,0.000,4,0.073,0.057,2493,679,3555
$GC,3957,-0.78,-194.7,599.3,-12.8,478,3965,0.20,2.17,0.00,0.000,6,0.146,0.048,2560,2055,3554
$GC,4270,-0.87,-194.7,625.3,-8.2,494,4273,0.00,2.28,0.00,0.000,4,0.000,0.066,2560,3486,3551
$GC,4332,-1.04,-194.7,631.0,-9.0,497,4337,0.17,2.20,0.00,0.000,6,0.051,0.042,2468,2063,3551
$GC,4654,-0.78,-194.7,686.3,-16.6,513,4658,0.32,2.17,0.00,0.000,4,0.154,0.057,2567,668,3549
$GC,4695,-0.96,-194.7,691.5,-10.6,515,4700,0.12,2.20,0.00,0.000,6,0.058,0.048,2494,2065,3549
$GC,5018,-0.82,-194.7,733.0,-12.9,531,5021,0.20,2.25,0.00,0.000,4,0.153,0.067,2548,3471,3546
$GC,5064,-0.97,-194.7,737.9,-8.8,533,5069,0.08,2.17,0.00,0.000,6,0.067,0.043,2497,2067,3546
$GC,5381,-0.85,-194.7,777.6,-12.9,549,5382,0.17,0.00,0.00,0.000,6,0.155,0.000,2548,2063,3543
$GC,5685,-0.95,-194.7,806.3,-9.3,564,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2063,3542
$GC,5991,-1.06,-194.7,835.5,-9.3,579,5995,0.20,2.28,0.00,0.000,4,0.067,0.070,2455,3473,3539
$GC,6043,-0.83,-194.7,842.9,-14.9,581,6048,0.28,2.22,0.00,0.000,6,0.149,0.046,2546,2052,3539
$GC,6360,-0.93,-194.7,873.5,-9.3,597,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,2052,3537
$GC,6665,-1.03,-194.7,900.1,-8.5,612,6669,0.17,2.30,0.00,0.000,4,0.071,0.071,2468,3472,3535
$GC,6690,-0.92,-194.7,902.8,-12.5,613,6695,0.15,2.20,0.00,0.000,6,0.151,0.046,2518,2063,3534
$GC,7006,-0.92,-194.7,934.8,-9.7,629,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2059,3533
$GC,7311,-0.92,-194.7,965.0,-10.3,644,7315,0.00,2.33,0.00,0.000,4,0.000,0.071,2509,3473,3532
$GC,7343,-0.92,-194.7,968.5,-10.5,645,7347,0.00,2.20,0.00,0.000,6,0.000,0.046,2508,2068,3532
$STATE,7555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7555,begin apogee
$GC,7559,-0.18,0.0,991.2,10.8,656,7719,0.77,0.00,156.25,1.370,6,0.141,0.000,2760,2555,2759
$STATE,7720,end apogee,CONTROL_FINISHED_OK
$STATE,7720,begin climb
$GC,7721,0.92,194.7,997.8,0.0,664,7894,0.95,2.45,164.32,1.322,4,0.047,0.058,3130,1151,1962
$GC,7951,0.36,194.7,969.0,22.2,674,7959,0.68,2.40,0.00,0.000,6,0.186,0.054,2942,2553,1958
$GC,8261,0.36,194.7,931.5,12.1,690,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2553,1955
$GC,8567,0.42,204.6,895.5,11.6,705,8581,0.00,2.35,8.20,1.115,4,0.000,0.058,2951,1149,1924
$GC,8635,0.50,220.9,887.7,11.3,708,8655,0.00,2.30,15.98,1.206,6,0.000,0.054,2952,2543,1858
$GC,8955,0.50,220.9,847.5,12.9,724,8959,0.00,2.28,0.00,0.000,4,0.000,0.057,2961,1155,1854
$GC,8998,0.56,220.9,841.9,12.9,726,9002,0.08,2.25,0.00,0.000,6,0.074,0.053,3005,2530,1853
$GC,9324,0.39,220.9,788.5,16.4,742,9325,0.22,0.00,0.00,0.000,6,0.160,0.000,2942,2530,1853
$GC,9630,0.47,228.3,751.1,11.7,757,9640,0.00,2.22,6.97,1.040,4,0.000,0.057,2952,1150,1827
$GC,9682,0.61,251.8,745.3,11.0,759,9712,0.15,2.25,21.95,1.180,6,0.061,0.053,3023,2531,1731
$GC,10013,0.41,251.8,690.8,16.2,776,10017,0.25,1.90,0.00,0.000,4,0.160,0.070,2951,3685,1727
$GC,10065,0.41,251.8,683.8,12.2,778,10070,0.00,1.85,0.00,0.000,6,0.000,0.045,2959,2526,1727
$GC,10381,0.52,279.3,651.7,10.9,794,10411,0.00,2.30,24.12,1.138,4,0.000,0.057,2968,1153,1619
$GC,10487,0.67,282.4,639.8,11.9,799,10491,0.15,2.28,0.00,0.000,6,0.061,0.052,3039,2526,1615
$GC,10813,0.45,282.4,578.5,18.5,815,10818,0.28,1.90,0.00,0.000,4,0.161,0.069,2961,3685,1615
$GC,10942,0.53,282.4,559.5,13.5,821,10945,0.00,1.83,0.00,0.000,6,0.000,0.045,2968,2528,1614
$GC,11268,0.61,282.4,516.6,13.0,837,11272,0.15,2.20,0.00,0.000,4,0.076,0.055,3038,1153,1613
$GC,11396,0.52,282.4,495.6,16.5,844,11400,0.15,2.20,0.00,0.000,6,0.149,0.052,2990,2511,1612
$GC,11716,0.52,282.4,452.7,12.5,875,11720,0.00,1.90,0.00,0.000,4,0.000,0.067,2989,3685,1612
$GC,11806,0.52,282.4,439.8,14.1,883,11813,0.00,1.83,0.00,0.000,6,0.000,0.044,2996,2523,1612
$GC,12123,0.52,282.4,400.4,12.3,914,12126,0.00,2.15,0.00,0.000,4,0.000,0.054,3007,1151,1612
$GC,12229,0.59,284.2,386.9,11.9,924,12242,0.00,2.20,4.60,0.719,6,0.000,0.050,3007,2524,1599
$GC,12549,0.59,284.2,346.7,12.4,955,12553,0.00,2.20,0.00,0.000,4,0.000,0.053,3017,1151,1599
$GC,12629,0.67,304.5,337.3,11.2,962,12651,0.00,2.15,18.62,0.897,6,0.000,0.048,3016,2498,1516
$GC,12964,0.67,304.5,287.7,14.7,1001,12970,0.00,1.92,0.00,0.000,4,0.000,0.064,3016,3688,1514
$GC,13006,0.67,304.5,280.4,17.4,1009,13012,0.00,1.90,0.00,0.000,6,0.000,0.042,3025,2470,1515
$GC,13331,0.72,340.6,234.9,10.5,1070,13368,0.00,2.12,30.70,0.816,4,0.000,0.054,3035,1144,1368
$GC,13431,0.83,345.9,223.0,11.8,1088,13440,0.10,2.15,5.57,0.637,6,0.058,0.048,3092,2469,1347
$GC,13761,0.72,345.9,164.4,17.6,1149,13767,0.15,1.98,0.00,0.000,4,0.155,0.062,3051,3696,1347
$GC,13878,0.72,345.9,146.8,14.2,1171,13885,0.00,1.92,0.00,0.000,6,0.000,0.040,3060,2456,1347
$GC,14204,0.81,345.9,108.0,12.8,1232,14212,0.00,2.05,0.00,0.000,4,0.000,0.051,3069,1151,1347
$GC,14221,0.93,356.6,105.9,11.6,1235,14236,0.10,2.10,10.10,0.656,6,0.060,0.044,3126,2481,1304
$GC,14557,0.87,356.6,54.0,12.5,1297,14562,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,2482,1304
$GC,14881,0.87,356.6,8.7,13.7,1358,14888,0.00,1.92,0.00,0.000,4,0.000,0.058,3126,3698,1304
$GC,14898,0.87,356.6,6.2,15.5,1361,14905,0.10,1.90,0.00,0.000,6,0.134,0.038,3100,2447,1304
$STATE,14928,end climb,SURFACE_DEPTH_REACHED
$STATE,14929,begin surface coast
$FINISH,1.5,1.021866
$STATE,14961,end surface coast,CONTROL_FINISHED_OK
$STATE,14961,begin surface
$SM_CCo,14974,60.38,0.609,0,0,984,435.16
$SM_GC,2.30,0.00,0.00,60.38,0.000,0.000,0.609,164,2053,984,-8.30,-0.51,435.16
$IRIDIUM_FIX,2437.06,12253.38,190898,070757
$TT8_MAMPS,0.049088
$HUMID,1525
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.60
$XPDR_PINGS,72
$24V_AH,23.6,9.187
$10V_AH,10.7,7.902
$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,29.575,130.875,467.400,60.375,0.000,28.169,46.402,180.288,26.000,0.000,0.000,12.861,0.000,10979.173,681.661,3266.407,428.721,0.000,1892.183,0.000,2751.685,0.000,53.978,0.000
$DEVICE_MAMPS,242.372,71.331,1369.862,608.998,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,930.742,951.021,1594.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79004,1373
$CAP_FILE_SIZE,159626,0
$CFSIZE,260165632,255782912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.294, 18.0,1
$GPS,250509,150455,2448.010,12253.893,36,1.5,36,-3.5