version: 66.04
glider: 165
mission: 2
dive: 30
start: 5 26 109 8 24 0
data:
$ID,165
$MISSION,2
$DIVE,30
$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,-116468.55
$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,32
$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
$GPS1,081807,2447.055,12250.240,39,1.7,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-68.4
$GPS2,082355,2447.144,12250.252,9,1.6,14,-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,246.3,38633,-18.3,-12.000
$D_GRID,1104
$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,-194.7,0.0,0.0,0,64,0.00,0.00,-50.45,0.000,2,0.000,0.000,153,2080,2230
$GC,66,-0.92,-194.7,3.5,-5.2,8,117,9.35,2.28,-34.78,0.000,4,0.243,0.061,2516,663,3556
$GC,282,-0.24,-194.7,74.5,-30.3,47,289,0.73,2.22,0.00,0.000,6,0.170,0.046,2730,2067,3558
$GC,608,-0.66,-194.7,110.7,-7.0,108,615,0.32,2.25,0.00,0.000,4,0.043,0.057,2574,3476,3560
$GC,662,-0.37,-194.7,120.3,-22.6,118,670,0.32,2.17,0.00,0.000,6,0.133,0.037,2686,2063,3560
$GC,990,-0.65,-194.7,147.7,-4.3,179,996,0.22,2.28,0.00,0.000,4,0.053,0.058,2574,3483,3561
$GC,1011,-0.72,-194.7,149.8,-9.9,183,1018,0.00,2.17,0.00,0.000,6,0.000,0.037,2574,2066,3561
$GC,1337,-0.51,-194.7,211.7,-17.7,244,1344,0.25,2.17,0.00,0.000,4,0.139,0.051,2654,672,3562
$GC,1412,-0.82,-194.7,219.8,-8.2,258,1421,0.22,2.17,0.00,0.000,6,0.041,0.041,2533,2070,3562
$GC,1741,-0.50,-194.7,280.2,-18.5,319,1747,0.40,2.22,0.00,0.000,4,0.143,0.058,2658,3486,3562
$GC,1777,-0.85,-194.7,283.9,-6.6,326,1786,0.28,2.15,0.00,0.000,6,0.037,0.037,2510,2079,3562
$GC,2098,-0.53,-194.7,341.7,-17.6,366,2103,0.43,2.20,0.00,0.000,4,0.141,0.053,2647,667,3562
$GC,2157,-0.92,-194.7,347.7,-7.3,371,2164,0.28,2.20,0.00,0.000,6,0.038,0.042,2499,2085,3563
$GC,2472,-0.61,-194.7,408.2,-19.4,402,2477,0.40,2.22,0.00,0.000,4,0.142,0.052,2626,670,3563
$GC,2541,-0.95,-194.7,415.8,-9.4,408,2549,0.28,2.15,0.00,0.000,6,0.038,0.042,2481,2054,3563
$GC,2857,-0.62,-194.7,473.5,-17.1,439,2862,0.43,2.17,0.00,0.000,4,0.144,0.054,2615,676,3563
$GC,2900,-0.91,-194.7,477.9,-8.2,443,2904,0.20,2.17,0.00,0.000,6,0.042,0.044,2501,2070,3562
$GC,3229,-0.71,-194.7,526.0,-15.9,467,3233,0.25,2.22,0.00,0.000,4,0.139,0.062,2576,3476,3561
$GC,3275,-0.90,-194.7,530.7,-8.2,469,3280,0.10,2.17,0.00,0.000,6,0.054,0.040,2512,2060,3560
$GC,3591,-0.75,-194.7,573.7,-13.7,485,3592,0.20,0.00,0.00,0.000,6,0.146,0.000,2571,2057,3559
$GC,3896,-0.88,-194.7,597.1,-6.7,500,3901,0.12,2.30,0.00,0.000,4,0.074,0.065,2510,3476,3556
$GC,3950,-0.83,-194.7,602.4,-10.8,502,3954,0.10,2.17,0.00,0.000,6,0.144,0.041,2546,2073,3555
$GC,4265,-0.83,-194.7,632.4,-10.0,518,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2073,3553
$GC,4570,-0.83,-194.7,664.7,-11.8,533,4575,0.00,2.22,0.00,0.000,4,0.000,0.059,2546,676,3551
$GC,4645,-0.90,-194.7,673.5,-12.0,536,4649,0.00,2.20,0.00,0.000,6,0.000,0.050,2546,2067,3550
$GC,4961,-0.95,-194.7,712.9,-12.3,552,4965,0.00,2.28,0.00,0.000,4,0.000,0.067,2546,3473,3546
$GC,5024,-1.06,-194.7,720.3,-11.0,555,5029,0.15,2.17,0.00,0.000,6,0.052,0.043,2465,2077,3546
$GC,5353,-0.78,-194.7,778.1,-18.5,571,5356,0.30,2.22,0.00,0.000,4,0.156,0.058,2561,658,3544
$GC,5436,-0.91,-194.7,788.9,-11.2,575,5441,0.08,2.25,0.00,0.000,6,0.067,0.048,2514,2083,3544
$GC,5758,-0.86,-194.7,832.7,-13.7,591,5761,0.00,2.25,0.00,0.000,4,0.000,0.068,2510,3489,3541
$GC,5826,-0.86,-194.7,842.1,-13.0,594,5831,0.08,2.17,0.00,0.000,6,0.149,0.043,2537,2088,3541
$GC,6150,-0.92,-194.7,875.5,-9.2,610,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2086,3539
$GC,6453,-0.98,-194.7,901.9,-8.9,625,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2085,3537
$GC,6758,-1.03,-194.7,931.8,-10.4,640,6760,0.15,0.00,0.00,0.000,6,0.074,0.000,2471,2084,3536
$GC,7065,-0.82,-194.7,975.7,-14.2,655,7066,0.28,0.00,0.00,0.000,6,0.156,0.000,2553,2083,3534
$STATE,7265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7265,begin apogee
$GC,7269,-0.18,0.0,991.2,6.8,665,7429,0.62,0.00,156.68,1.362,6,0.123,0.000,2761,2558,2759
$STATE,7430,end apogee,CONTROL_FINISHED_OK
$STATE,7430,begin climb
$GC,7431,0.92,194.7,994.1,0.0,673,7603,0.95,2.47,163.93,1.317,4,0.044,0.058,3137,1160,1964
$GC,7688,0.35,194.7,951.5,25.0,685,7693,0.70,2.38,0.00,0.000,6,0.181,0.054,2939,2556,1958
$GC,8009,0.41,204.0,909.3,11.6,701,8023,0.00,2.35,8.27,1.099,4,0.000,0.055,2949,1156,1926
$GC,8045,0.51,227.4,905.2,11.0,702,8074,0.08,2.30,21.98,1.224,6,0.070,0.052,2991,2545,1830
$GC,8378,0.40,227.4,855.9,14.9,719,8382,0.15,2.25,0.00,0.000,4,0.165,0.055,2962,1151,1825
$GC,8430,0.47,227.4,849.0,12.4,721,8435,0.00,2.28,0.00,0.000,6,0.000,0.051,2962,2538,1824
$GC,8746,0.47,227.4,804.4,14.7,737,8750,0.00,1.88,0.00,0.000,4,0.000,0.067,2962,3683,1823
$GC,8804,0.39,227.4,795.0,16.2,739,8811,0.00,1.83,0.00,0.000,6,0.000,0.044,2970,2534,1823
$GC,9115,0.39,227.4,748.1,14.0,755,9119,0.00,2.22,0.00,0.000,4,0.000,0.054,2980,1150,1822
$GC,9184,0.39,227.4,738.9,12.7,758,9189,0.10,2.22,0.00,0.000,6,0.151,0.051,2947,2525,1821
$GC,9505,0.59,312.7,706.8,8.5,774,9584,0.17,2.38,72.22,1.179,4,0.074,0.056,3028,1150,1483
$GC,9605,0.51,312.7,693.2,14.7,778,9613,0.12,2.30,0.00,0.000,6,0.143,0.050,2988,2511,1480
$GC,9915,0.51,312.7,651.9,13.6,794,9920,0.00,1.95,0.00,0.000,4,0.000,0.065,2988,3693,1477
$GC,9947,0.51,312.7,646.7,16.5,795,9952,0.00,1.90,0.00,0.000,6,0.000,0.043,2995,2508,1477
$GC,10263,0.51,312.7,597.7,15.3,811,10267,0.00,2.20,0.00,0.000,4,0.000,0.054,3005,1144,1475
$GC,10284,0.51,312.7,594.8,13.3,812,10288,0.00,2.22,0.00,0.000,6,0.000,0.052,3006,2512,1474
$GC,10610,0.45,312.7,545.6,13.5,828,10615,0.15,1.90,0.00,0.000,4,0.155,0.066,2965,3682,1473
$GC,10733,0.57,312.7,529.9,14.4,833,10739,0.00,1.83,0.00,0.000,6,0.000,0.044,2971,2522,1473
$GC,11043,0.81,391.0,499.1,8.8,849,11114,0.30,2.35,65.82,1.039,4,0.064,0.055,3102,1150,1163
$GC,11187,0.60,391.0,471.1,21.0,862,11192,0.28,2.28,0.00,0.000,6,0.161,0.050,3019,2515,1159
$GC,11508,0.60,391.0,418.0,17.9,893,11512,0.00,1.92,0.00,0.000,4,0.000,0.064,3019,3687,1157
$GC,11555,0.60,391.0,409.9,16.7,897,11562,0.00,1.85,0.00,0.000,6,0.000,0.042,3026,2525,1157
$GC,11872,0.60,391.0,359.7,14.3,928,11876,0.00,2.20,0.00,0.000,4,0.000,0.054,3036,1156,1156
$GC,11930,0.69,391.0,352.2,13.2,933,11936,0.00,2.20,0.00,0.000,6,0.000,0.048,3036,2523,1154
$GC,12246,0.69,391.0,305.2,15.5,964,12250,0.00,2.22,0.00,0.000,4,0.000,0.053,3045,1145,1154
$GC,12320,0.76,391.0,293.7,15.2,974,12328,0.00,2.20,0.00,0.000,6,0.000,0.048,3045,2517,1154
$GC,12647,0.76,391.0,242.0,15.3,1035,12654,0.00,2.17,0.00,0.000,4,0.000,0.052,3055,1154,1154
$GC,12673,0.76,391.0,238.0,16.3,1040,12681,0.00,2.17,0.00,0.000,6,0.000,0.047,3055,2518,1154
$GC,13000,0.76,391.0,182.3,18.0,1101,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2518,1154
$GC,13321,0.86,391.0,116.0,22.0,1161,13327,0.12,2.17,0.00,0.000,4,0.074,0.051,3123,1144,1154
$GC,13364,0.77,391.0,105.4,25.2,1169,13371,0.15,2.15,0.00,0.000,6,0.140,0.045,3072,2510,1154
$GC,13691,1.25,668.0,75.1,0.6,1230,13837,0.40,1.98,137.77,0.676,4,0.050,0.058,3234,3679,479
$GC,13895,1.03,668.0,37.4,22.9,1264,13902,0.28,1.92,0.00,0.000,6,0.140,0.039,3157,2483,470
$STATE,14124,end climb,SURFACE_DEPTH_REACHED
$STATE,14124,begin surface coast
$FINISH,1.7,1.021795
$STATE,14140,end surface coast,CONTROL_FINISHED_OK
$STATE,14140,begin surface
$SM_CCo,14213,0.00,0.000,0,0,463,563.45
$SM_GC,2.27,7.70,0.00,0.00,0.037,0.000,0.000,170,2052,463,-8.21,-0.54,563.45
$IRIDIUM_FIX,2437.06,12251.38,200898,040400
$TT8_MAMPS,0.049088
$HUMID,1537
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,25.00
$XPDR_PINGS,67
$24V_AH,23.6,10.192
$10V_AH,10.7,8.534
$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,28.175,131.975,626.675,0.000,0.000,25.226,34.223,190.800,24.750,0.000,0.000,16.558,0.000,10279.811,743.567,3101.354,409.991,0.000,1943.682,0.000,2604.082,0.000,53.975,0.000
$DEVICE_MAMPS,243.139,68.263,1362.192,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,885.058,904.438,1406.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75773,1310
$CAP_FILE_SIZE,151854,0
$CFSIZE,260165632,255365120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.235, 36.8,1
$GPS,260509,122137,2447.557,12249.057,26,1.5,26,-3.5