version: 66.04
glider: 165
mission: 2
dive: 112
start: 6 7 109 0 53 38
data:
$ID,165
$MISSION,2
$DIVE,112
$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,-2
$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,-119109.52
$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,41
$R_STBD_OVSHOOT,22
$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,25
$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
$GPS1,004730,2533.368,12251.961,37,1.1,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-73.0
$GPS2,005319,2533.429,12252.009,11,1.1,11,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,343.4,12623,-18.3,-12.000
$D_GRID,889
$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,11,-0.96,-194.7,0.0,0.0,0,51,0.00,0.00,-38.53,0.000,2,0.000,0.000,161,2056,1924
$GC,53,-0.96,-194.7,3.0,-3.5,6,118,8.98,2.35,-49.85,0.000,4,0.229,0.065,2498,3491,3555
$GC,293,-0.35,-194.7,70.0,-28.8,49,300,0.62,2.20,0.00,0.000,6,0.146,0.038,2699,2068,3557
$GC,620,-0.66,-194.7,102.4,-8.4,110,626,0.25,0.00,0.00,0.000,6,0.091,0.000,2573,2064,3560
$GC,945,-0.42,-194.7,158.9,-17.2,171,953,0.32,2.15,0.00,0.000,4,0.134,0.045,2677,673,3561
$GC,995,-0.84,-194.7,164.6,-8.5,180,1002,0.30,2.20,0.00,0.000,6,0.035,0.043,2511,2093,3562
$GC,1322,-0.44,-194.7,235.0,-21.0,241,1328,0.52,2.15,0.00,0.000,4,0.140,0.055,2673,3473,3562
$GC,1354,-0.73,-194.7,239.2,-9.5,247,1362,0.17,2.12,0.00,0.000,6,0.037,0.036,2543,2082,3563
$GC,1681,-0.52,-194.7,290.9,-14.5,308,1688,0.35,2.20,0.00,0.000,4,0.133,0.048,2657,663,3563
$GC,1713,-0.75,-194.7,293.9,-7.4,314,1720,0.17,2.22,0.00,0.000,6,0.039,0.040,2549,2099,3562
$GC,2037,-0.62,-194.7,341.1,-14.6,351,2041,0.22,2.20,0.00,0.000,4,0.131,0.050,2620,677,3563
$GC,2073,-0.88,-194.7,344.9,-9.1,354,2080,0.20,2.20,0.00,0.000,6,0.041,0.041,2506,2091,3562
$GC,2389,-0.59,-194.7,391.6,-16.6,385,2393,0.40,2.20,0.00,0.000,4,0.142,0.051,2632,676,3562
$GC,2447,-0.97,-194.7,397.8,-8.0,390,2454,0.30,2.17,0.00,0.000,6,0.038,0.041,2479,2072,3562
$GC,2763,-0.59,-194.7,455.0,-17.2,421,2767,0.47,2.20,0.00,0.000,4,0.145,0.053,2628,671,3561
$GC,2837,-0.97,-194.7,460.9,-5.7,428,2842,0.30,2.17,0.00,0.000,6,0.038,0.044,2478,2064,3561
$GC,3157,-0.62,-194.7,512.4,-18.5,456,3161,0.45,2.20,0.00,0.000,4,0.144,0.053,2619,670,3558
$GC,3221,-1.01,-194.7,518.5,-6.9,459,3225,0.30,2.15,0.00,0.000,6,0.039,0.044,2470,2043,3558
$GC,3548,-0.68,-194.7,571.6,-16.0,475,3552,0.38,2.28,0.00,0.000,4,0.148,0.064,2589,3476,3555
$GC,3628,-0.99,-194.7,578.5,-6.1,479,3632,0.20,2.17,0.00,0.000,6,0.042,0.041,2480,2073,3554
$GC,3955,-0.69,-194.7,629.2,-16.1,495,3959,0.32,2.28,0.00,0.000,4,0.144,0.065,2576,3480,3552
$GC,4044,-0.96,-194.7,638.1,-7.9,499,4049,0.15,2.20,0.00,0.000,6,0.049,0.041,2493,2063,3551
$GC,4361,-0.73,-194.7,686.7,-15.8,515,4365,0.28,2.20,0.00,0.000,4,0.140,0.058,2581,660,3548
$GC,4423,-0.94,-194.7,694.3,-11.1,518,4428,0.15,2.22,0.00,0.000,6,0.051,0.048,2497,2065,3548
$GC,4745,-0.77,-194.7,743.7,-14.8,534,4746,0.22,0.00,0.00,0.000,6,0.142,0.000,2565,2066,3545
$GC,5050,-0.93,-194.7,771.2,-8.5,549,5051,0.12,0.00,0.00,0.000,6,0.075,0.000,2506,2066,3543
$GC,5355,-0.80,-194.7,815.7,-15.7,564,5356,0.17,0.00,0.00,0.000,6,0.146,0.000,2558,2065,3541
$GC,5660,-0.93,-194.7,848.8,-10.0,579,5662,0.12,0.00,0.00,0.000,6,0.074,0.000,2497,2066,3538
$STATE,5964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5964,begin apogee
$GC,5968,-0.20,0.0,889.8,12.7,594,6127,0.80,0.00,155.23,1.309,6,0.139,0.000,2755,2533,2758
$STATE,6128,end apogee,CONTROL_FINISHED_OK
$STATE,6128,begin climb
$GC,6129,0.96,194.7,894.7,0.0,602,6298,1.02,0.00,161.80,1.266,6,0.044,0.000,3145,2532,1964
$GC,6601,0.30,194.7,807.3,22.0,625,6605,0.80,1.90,0.00,0.000,4,0.177,0.069,2914,3699,1957
$GC,6632,0.34,228.7,803.1,10.6,626,6667,0.00,1.85,29.17,1.183,6,0.000,0.040,2922,2523,1826
$GC,6970,0.61,308.6,774.8,8.7,643,7041,0.25,0.00,69.38,1.199,6,0.056,0.000,3027,2520,1500
$GC,7334,0.42,308.6,713.8,17.9,661,7338,0.25,2.22,0.00,0.000,4,0.148,0.052,2965,1129,1495
$GC,7370,0.53,308.6,708.5,13.3,662,7377,0.00,2.28,0.00,0.000,6,0.000,0.048,2965,2523,1493
$GC,7681,0.64,308.6,666.0,14.2,678,7685,0.17,2.25,0.00,0.000,4,0.066,0.051,3049,1129,1492
$GC,7739,0.47,308.6,655.1,20.1,680,7746,0.22,2.25,0.00,0.000,6,0.154,0.050,2977,2518,1491
$GC,8050,0.52,308.6,614.2,12.5,696,8054,0.00,1.90,0.00,0.000,4,0.000,0.067,2977,3684,1491
$GC,8178,0.52,308.6,596.3,14.7,702,8182,0.00,1.80,0.00,0.000,6,0.000,0.043,2984,2525,1491
$GC,8504,0.52,308.6,551.3,13.8,718,8508,0.00,1.90,0.00,0.000,4,0.000,0.065,2984,3687,1489
$GC,8568,0.52,308.6,541.5,15.5,721,8572,0.00,1.77,0.00,0.000,6,0.000,0.041,2992,2538,1489
$GC,8884,0.52,308.6,495.9,13.7,737,8888,0.00,2.25,0.00,0.000,4,0.000,0.053,3003,1129,1490
$GC,8959,0.52,313.2,486.5,11.8,744,8963,0.00,2.25,0.00,0.000,6,0.000,0.049,3002,2537,1488
$GC,9281,0.47,313.2,440.5,15.0,775,9284,0.12,2.22,0.00,0.000,4,0.150,0.051,2978,1115,1487
$GC,9306,0.53,313.2,436.7,14.0,777,9312,0.00,2.28,0.00,0.000,6,0.000,0.048,2978,2536,1488
$GC,9622,0.63,313.2,397.2,12.4,808,9626,0.12,2.22,0.00,0.000,4,0.075,0.051,3045,1118,1487
$GC,9685,0.51,313.2,387.6,16.1,814,9690,0.17,2.25,0.00,0.000,6,0.146,0.048,2988,2521,1486
$GC,10006,0.59,313.2,346.3,13.5,845,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2521,1487
$GC,10318,0.76,345.9,308.8,10.6,875,10353,0.17,2.33,30.27,0.920,4,0.065,0.053,3080,1115,1348
$GC,10389,0.59,345.9,297.2,17.2,883,10396,0.17,2.30,0.00,0.000,6,0.155,0.048,3015,2531,1346
$GC,10716,0.65,345.9,255.8,13.5,944,10717,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2531,1344
$GC,11037,0.77,345.9,215.2,12.7,1004,11044,0.15,2.25,0.00,0.000,4,0.065,0.049,3093,1118,1345
$GC,11075,0.62,345.9,209.6,16.9,1011,11083,0.20,2.25,0.00,0.000,6,0.146,0.046,3028,2527,1342
$GC,11402,0.71,345.9,170.8,12.9,1072,11409,0.00,2.22,0.00,0.000,4,0.000,0.049,3037,1129,1342
$GC,11435,0.81,345.9,166.1,14.4,1078,11441,0.08,2.22,0.00,0.000,6,0.061,0.045,3092,2530,1342
$GC,11761,0.69,345.9,114.3,14.6,1139,11769,0.17,2.22,0.00,0.000,4,0.150,0.048,3052,1119,1343
$GC,11784,0.69,345.9,111.3,13.0,1143,11792,0.00,2.25,0.00,0.000,6,0.000,0.044,3052,2540,1342
$GC,12112,1.01,445.6,81.3,7.9,1204,12200,0.25,2.35,80.07,0.709,4,0.051,0.048,3174,1127,940
$GC,12289,0.93,445.6,54.6,13.0,1235,12297,0.17,2.25,0.00,0.000,6,0.136,0.043,3118,2517,937
$GC,12617,1.12,471.4,15.8,10.9,1296,12644,0.17,2.28,21.27,0.627,4,0.058,0.046,3213,1120,836
$STATE,12695,end climb,SURFACE_DEPTH_REACHED
$STATE,12695,begin surface coast
$FINISH,1.7,1.009871
$STATE,12701,end surface coast,CONTROL_FINISHED_OK
$STATE,12701,begin surface
$SM_CCo,12776,0.00,0.000,0,0,831,472.69
$SM_GC,2.43,7.88,0.00,0.00,0.038,0.000,0.000,160,2091,831,-8.23,0.54,472.69
$IRIDIUM_FIX,2522.28,12253.72,310898,202051
$TT8_MAMPS,0.048321
$HUMID,1545
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.40
$XPDR_PINGS,110
$24V_AH,23.7,24.817
$10V_AH,10.7,18.193
$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,29.850,109.300,547.200,0.000,0.000,22.184,40.278,186.689,34.500,0.000,0.000,13.039,0.000,9004.385,679.486,2998.281,430.307,0.000,1792.570,0.000,2527.548,0.000,48.336,0.000
$DEVICE_MAMPS,228.566,69.030,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,887.157,925.184,1473.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75938,1311
$CAP_FILE_SIZE,141386,0
$CFSIZE,260165632,249126912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104, 84.6,1
$GPS,070609,042731,2535.558,12252.123,39,1.2,39,-3.7