version: 66.04
glider: 165
mission: 2
dive: 39
start: 5 27 109 21 50 33
data:
$ID,165
$MISSION,2
$DIVE,39
$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,-116654.81
$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,25.5
$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,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,29
$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
$GPS1,214025,2450.939,12245.842,39,1.3,39,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-72.3
$GPS2,215028,2451.015,12245.952,13,2.9,32,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_2
$TGT_LATLONG,2454.000,12238.000
$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,255.4,14457,-18.3,-12.000
$D_GRID,882
$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,-0.96,-194.7,0.0,0.0,0,60,0.00,0.00,-46.47,0.000,2,0.000,0.000,161,2064,2135
$GC,62,-0.96,-194.7,3.1,-3.3,7,119,9.25,2.28,-41.08,0.000,4,0.244,0.070,2498,3477,3554
$GC,262,-0.29,-194.7,58.3,-32.1,43,269,0.68,2.20,0.00,0.000,6,0.139,0.040,2720,2074,3556
$GC,588,-0.67,-194.7,87.6,-6.2,104,595,0.32,2.25,0.00,0.000,4,0.044,0.058,2563,3471,3558
$GC,621,-0.45,-194.7,92.0,-15.4,110,629,0.30,2.17,0.00,0.000,6,0.138,0.042,2665,2060,3558
$GC,949,-0.59,-194.7,129.5,-11.1,171,955,0.10,2.28,0.00,0.000,4,0.080,0.058,2602,3477,3559
$GC,997,-0.59,-194.7,136.1,-14.1,180,1003,0.00,2.12,0.00,0.000,6,0.000,0.038,2603,2090,3559
$GC,1323,-0.49,-194.7,191.4,-14.5,241,1330,0.17,2.20,0.00,0.000,4,0.137,0.051,2658,679,3560
$GC,1361,-0.70,-194.7,195.6,-9.4,248,1368,0.15,2.20,0.00,0.000,6,0.044,0.043,2568,2092,3560
$GC,1687,-0.55,-194.7,245.9,-16.0,309,1694,0.22,2.22,0.00,0.000,4,0.140,0.051,2638,677,3560
$GC,1756,-0.82,-194.7,253.7,-9.6,322,1764,0.17,2.20,0.00,0.000,6,0.043,0.042,2538,2092,3561
$GC,2087,-0.58,-194.7,315.2,-19.9,377,2091,0.30,2.20,0.00,0.000,4,0.139,0.052,2632,670,3560
$GC,2130,-0.77,-194.7,321.3,-11.8,381,2134,0.12,2.17,0.00,0.000,6,0.048,0.044,2542,2070,3560
$GC,2450,-0.62,-194.7,366.7,-15.7,412,2454,0.25,2.22,0.00,0.000,4,0.134,0.061,2616,3472,3560
$GC,2519,-0.94,-194.7,372.2,-5.9,418,2528,0.22,2.12,0.00,0.000,6,0.041,0.038,2494,2082,3560
$GC,2835,-0.64,-194.7,418.7,-15.5,449,2839,0.38,2.20,0.00,0.000,4,0.145,0.053,2611,672,3560
$GC,2871,-0.81,-194.7,422.6,-8.5,452,2880,0.10,2.20,0.00,0.000,6,0.053,0.045,2543,2085,3560
$GC,3187,-0.76,-194.7,458.1,-12.0,483,3192,0.10,2.22,0.00,0.000,4,0.148,0.054,2570,674,3558
$GC,3224,-0.85,-194.7,462.1,-10.4,486,3233,0.00,2.17,0.00,0.000,6,0.000,0.045,2569,2069,3558
$GC,3549,-0.95,-194.7,505.8,-14.2,516,3554,0.17,2.25,0.00,0.000,4,0.062,0.064,2482,3476,3556
$GC,3575,-0.82,-194.7,510.3,-18.6,517,3580,0.20,2.17,0.00,0.000,6,0.138,0.041,2550,2066,3555
$GC,3897,-0.86,-194.7,544.5,-8.0,533,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2063,3554
$GC,4202,-0.86,-194.7,563.9,-6.6,548,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2062,3551
$GC,4507,-0.92,-194.7,589.6,-8.7,563,4508,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2061,3550
$GC,4812,-0.98,-194.7,615.3,-7.9,578,4814,0.12,0.00,0.00,0.000,6,0.077,0.000,2492,2061,3546
$GC,5118,-0.79,-194.7,652.6,-13.6,593,5119,0.22,0.00,0.00,0.000,6,0.150,0.000,2560,2061,3544
$GC,5423,-0.91,-194.7,682.1,-9.8,608,5424,0.10,0.00,0.00,0.000,6,0.084,0.000,2512,2061,3542
$GC,5728,-0.83,-194.7,719.9,-12.8,623,5732,0.12,2.30,0.00,0.000,4,0.153,0.072,2547,3468,3539
$GC,5771,-0.96,-194.7,724.7,-10.2,625,5779,0.08,2.17,0.00,0.000,6,0.067,0.046,2498,2080,3539
$GC,6099,-0.83,-194.7,770.4,-14.2,641,6103,0.17,2.22,0.00,0.000,4,0.150,0.062,2550,660,3537
$GC,6142,-0.95,-194.7,775.4,-10.6,643,6146,0.10,2.20,0.00,0.000,6,0.086,0.053,2503,2065,3537
$GC,6462,-0.85,-194.7,817.7,-13.2,659,6463,0.15,0.00,0.00,0.000,6,0.155,0.000,2546,2065,3536
$GC,6768,-0.94,-194.7,850.9,-10.9,674,6771,0.00,2.28,0.00,0.000,4,0.000,0.071,2546,3478,3534
$GC,6847,-1.11,-194.7,859.5,-10.3,677,6854,0.20,2.20,0.00,0.000,6,0.051,0.046,2451,2077,3533
$STATE,6993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6993,begin apogee
$GC,6997,-0.20,0.0,883.8,17.3,685,7157,0.95,0.00,154.05,1.302,6,0.155,0.000,2749,2518,2758
$STATE,7157,end apogee,CONTROL_FINISHED_OK
$STATE,7157,begin climb
$GC,7158,0.96,194.7,891.9,0.0,693,7330,1.02,2.08,161.00,1.267,4,0.046,0.070,3142,3684,1964
$GC,7548,0.21,194.7,820.1,25.6,711,7553,0.85,1.88,0.00,0.000,6,0.179,0.047,2893,2526,1958
$GC,7870,0.61,311.8,794.5,7.2,727,7976,0.35,2.40,99.55,1.206,4,0.054,0.058,3045,1117,1485
$GC,8054,0.48,311.8,761.0,20.7,735,8061,0.22,2.33,0.00,0.000,6,0.148,0.053,2975,2500,1480
$GC,8365,0.55,311.8,709.5,16.6,751,8369,0.00,1.98,0.00,0.000,4,0.000,0.070,2975,3691,1478
$GC,8396,0.55,311.8,704.1,17.2,752,8401,0.00,1.92,0.00,0.000,6,0.000,0.045,2983,2487,1478
$GC,8712,0.55,311.8,646.9,18.0,768,8716,0.00,2.20,0.00,0.000,4,0.000,0.057,2993,1126,1476
$GC,8749,0.62,311.8,640.1,18.1,769,8756,0.00,2.22,0.00,0.000,6,0.000,0.051,2993,2499,1475
$GC,9059,0.62,311.8,581.4,19.0,785,9064,0.00,2.22,0.00,0.000,4,0.000,0.057,3002,1129,1475
$GC,9112,0.67,311.8,571.3,19.1,787,9117,0.00,2.20,0.00,0.000,6,0.000,0.052,3002,2493,1474
$GC,9428,0.61,311.8,508.7,20.6,803,9432,0.00,1.95,0.00,0.000,4,0.000,0.068,3002,3693,1474
$GC,9486,0.55,311.8,495.4,22.1,806,9495,0.00,1.88,0.00,0.000,6,0.000,0.045,3011,2494,1474
$GC,9803,0.55,311.8,441.8,14.3,837,9806,0.00,2.17,0.00,0.000,4,0.000,0.057,3022,1114,1473
$GC,9866,0.55,311.8,432.7,13.7,843,9870,0.00,2.22,0.00,0.000,6,0.000,0.052,3022,2499,1472
$GC,10188,0.50,311.8,377.9,15.6,874,10191,0.15,1.88,0.00,0.000,4,0.148,0.067,2979,3685,1472
$GC,10213,0.50,311.8,373.9,15.4,876,10220,0.00,1.88,0.00,0.000,6,0.000,0.044,2985,2477,1472
$GC,10530,0.69,360.3,340.5,10.0,907,10575,0.15,2.25,38.62,0.941,4,0.072,0.056,3060,1125,1290
$GC,10585,0.58,360.3,331.8,17.9,912,10589,0.15,2.22,0.00,0.000,6,0.152,0.049,3013,2483,1287
$GC,10904,0.66,360.3,284.0,14.6,953,10910,0.00,2.20,0.00,0.000,4,0.000,0.054,3022,1126,1285
$GC,10957,0.79,360.3,276.1,15.2,963,10964,0.10,2.15,0.00,0.000,6,0.062,0.048,3080,2464,1283
$GC,11283,0.65,360.3,204.9,19.0,1024,11284,0.17,0.00,0.00,0.000,6,0.156,0.000,3031,2465,1283
$GC,11604,0.79,375.1,166.7,11.4,1084,11624,0.12,0.00,12.55,0.761,6,0.074,0.000,3091,2465,1228
$GC,11943,0.73,375.1,104.5,18.2,1147,11949,0.12,0.00,0.00,0.000,6,0.154,0.000,3058,2465,1229
$GC,12269,0.95,394.3,65.2,11.2,1208,12289,0.17,0.00,17.23,0.679,6,0.061,0.000,3137,2465,1150
$GC,12609,0.90,394.3,14.7,15.9,1271,12616,0.00,1.92,0.00,0.000,4,0.000,0.058,3136,3681,1148
$STATE,12682,end climb,SURFACE_DEPTH_REACHED
$STATE,12682,begin surface coast
$FINISH,1.6,1.019453
$STATE,12704,end surface coast,CONTROL_FINISHED_OK
$STATE,12704,begin surface
$SM_CCo,12719,32.08,0.630,0,0,985,435.16
$SM_GC,2.80,0.00,0.00,32.08,0.000,0.000,0.630,168,2070,985,-8.29,-0.03,435.16
$IRIDIUM_FIX,2441.81,12247.40,210898,212147
$TT8_MAMPS,0.048321
$HUMID,1545
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.10
$XPDR_PINGS,86
$24V_AH,23.7,12.001
$10V_AH,10.7,9.649
$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,26.625,104.875,483.000,32.075,0.000,58.165,67.787,298.737,28.500,0.000,0.000,35.396,0.000,9093.591,655.926,3003.353,578.450,0.000,1764.032,0.000,2512.990,0.000,48.233,0.000
$DEVICE_MAMPS,243.906,72.098,1302.366,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,872.463,921.625,1463.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72689,1289
$CAP_FILE_SIZE,141445,0
$CFSIZE,260165632,254615552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.315, 33.1,1
$GPS,280509,012401,2452.096,12244.984,37,1.3,37,-3.6