version: 66.04
glider: 165
mission: 2
dive: 113
start: 6 7 109 4 33 20
data:
$ID,165
$MISSION,2
$DIVE,113
$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,-119123.23
$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,40
$R_STBD_OVSHOOT,35
$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
$GPS1,042731,2535.558,12252.123,39,1.2,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-72.9
$GPS2,043314,2535.629,12252.239,10,1.4,10,-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,320.6,8916,-18.3,-12.000
$D_GRID,858
$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,-194.7,0.0,0.0,0,59,0.00,0.00,-46.15,0.000,2,0.000,0.000,160,2095,1965
$GC,61,-0.96,-194.7,3.0,-3.6,7,124,8.82,2.25,-47.47,0.000,4,0.222,0.058,2506,658,3555
$GC,320,-0.27,-194.7,78.6,-31.1,54,327,0.70,2.22,0.00,0.000,6,0.147,0.041,2722,2070,3557
$GC,647,-0.69,-194.7,113.6,-7.5,115,654,0.32,2.22,0.00,0.000,4,0.041,0.055,2561,3473,3560
$GC,684,-0.42,-194.7,119.4,-18.2,122,691,0.35,2.15,0.00,0.000,6,0.130,0.038,2681,2063,3559
$GC,1011,-0.72,-194.7,153.7,-9.8,183,1017,0.25,0.00,0.00,0.000,6,0.048,0.000,2560,2059,3561
$GC,1336,-0.45,-194.7,208.8,-20.5,244,1343,0.35,2.15,0.00,0.000,4,0.132,0.056,2673,679,3562
$GC,1380,-0.77,-194.7,215.2,-11.8,252,1387,0.22,2.15,0.00,0.000,6,0.051,0.040,2544,2066,3562
$GC,1706,-0.52,-194.7,273.7,-19.2,313,1714,0.32,2.20,0.00,0.000,4,0.134,0.058,2644,3472,3562
$GC,1734,-0.63,-194.7,277.7,-13.6,318,1741,0.00,2.15,0.00,0.000,6,0.000,0.036,2644,2063,3562
$GC,2063,-0.97,-194.7,306.0,-8.8,374,2065,0.35,0.00,0.00,0.000,6,0.043,0.000,2481,2060,3562
$GC,2373,-0.46,-194.7,378.7,-23.2,404,2378,0.60,2.17,0.00,0.000,4,0.150,0.051,2670,667,3562
$GC,2406,-0.67,-194.7,383.1,-10.2,407,2410,0.15,2.15,0.00,0.000,6,0.043,0.042,2569,2054,3562
$GC,2726,-0.67,-194.7,413.0,-9.1,438,2730,0.12,2.25,0.00,0.000,4,0.133,0.061,2602,3469,3562
$GC,2774,-0.92,-194.7,417.6,-9.6,442,2781,0.17,2.17,0.00,0.000,6,0.044,0.037,2504,2050,3561
$GC,3090,-0.64,-194.7,471.1,-16.2,473,3094,0.35,2.28,0.00,0.000,4,0.137,0.063,2614,3480,3559
$GC,3158,-1.03,-194.7,476.4,-5.7,479,3165,0.30,2.17,0.00,0.000,6,0.038,0.038,2458,2069,3559
$GC,3472,-0.58,-194.7,533.8,-20.5,502,3476,0.52,2.17,0.00,0.000,4,0.146,0.053,2628,662,3557
$GC,3514,-0.95,-194.7,538.3,-7.1,504,3518,0.28,2.20,0.00,0.000,6,0.038,0.044,2483,2068,3557
$GC,3836,-0.66,-194.7,590.7,-16.4,520,3840,0.40,2.22,0.00,0.000,4,0.139,0.063,2602,3479,3554
$GC,3899,-1.04,-194.7,596.5,-7.2,523,3903,0.28,2.17,0.00,0.000,6,0.039,0.039,2462,2067,3553
$GC,4220,-0.68,-194.7,654.4,-18.5,539,4224,0.45,2.28,0.00,0.000,4,0.147,0.067,2601,3484,3551
$GC,4263,-1.02,-194.7,658.8,-7.6,541,4267,0.25,2.17,0.00,0.000,6,0.042,0.041,2457,2078,3550
$GC,4589,-0.64,-194.7,714.9,-18.3,557,4593,0.50,2.20,0.00,0.000,4,0.147,0.057,2613,660,3547
$GC,4614,-0.72,-194.7,718.3,-12.0,558,4619,0.00,2.22,0.00,0.000,6,0.000,0.047,2613,2068,3547
$GC,4936,-1.11,-194.7,738.6,-6.0,574,4940,0.40,2.25,0.00,0.000,4,0.046,0.065,2442,3488,3544
$GC,5037,-0.74,-194.7,754.6,-19.2,578,5044,0.40,2.20,0.00,0.000,6,0.146,0.041,2573,2074,3542
$GC,5348,-0.94,-194.7,782.3,-8.0,594,5352,0.17,2.20,0.00,0.000,4,0.064,0.057,2493,665,3541
$GC,5373,-0.88,-194.7,785.7,-14.3,595,5378,0.10,2.25,0.00,0.000,6,0.142,0.049,2528,2085,3540
$STATE,5551,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5551,begin apogee
$GC,5555,-0.20,0.0,805.6,10.8,604,5714,0.68,0.00,153.82,1.239,6,0.127,0.000,2751,2529,2758
$STATE,5714,end apogee,CONTROL_FINISHED_OK
$STATE,5714,begin climb
$GC,5716,0.96,194.7,810.7,0.0,612,5885,1.00,2.05,158.10,1.200,4,0.043,0.067,3143,3689,1964
$GC,5947,0.19,194.7,778.6,25.5,623,5952,0.93,1.90,0.00,0.000,6,0.183,0.043,2890,2528,1961
$GC,6274,0.60,315.8,753.1,7.0,639,6384,0.35,2.40,102.62,1.164,4,0.049,0.054,3045,1123,1470
$GC,6426,0.45,315.8,727.2,19.3,646,6432,0.25,2.33,0.00,0.000,6,0.147,0.050,2969,2510,1466
$GC,6748,0.55,315.8,685.5,12.7,662,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2510,1462
$GC,7053,0.65,315.8,646.1,12.7,677,7054,0.17,0.00,0.00,0.000,6,0.066,0.000,3042,2509,1462
$GC,7358,0.42,315.8,587.0,19.3,692,7359,0.30,0.00,0.00,0.000,6,0.151,0.000,2954,2510,1460
$GC,7664,0.66,356.3,553.1,10.3,707,7707,0.22,2.35,33.83,1.079,4,0.057,0.054,3061,1111,1304
$GC,7737,0.48,356.3,540.1,20.9,710,7742,0.25,2.30,0.00,0.000,6,0.152,0.048,2982,2507,1303
$GC,8054,0.59,356.3,492.2,14.0,728,8058,0.00,2.25,0.00,0.000,4,0.000,0.051,2990,1115,1300
$GC,8086,0.72,356.3,488.1,12.3,731,8090,0.12,2.25,0.00,0.000,6,0.058,0.048,3059,2504,1299
$GC,8406,0.51,356.3,423.8,20.1,762,8410,0.25,1.90,0.00,0.000,4,0.153,0.063,2987,3685,1299
$GC,8470,0.60,356.3,414.1,13.2,768,8474,0.00,1.85,0.00,0.000,6,0.000,0.041,2994,2500,1298
$GC,8792,0.73,356.3,369.7,13.4,799,8795,0.17,2.15,0.00,0.000,4,0.061,0.052,3086,1123,1297
$GC,8817,0.65,356.3,365.5,17.1,801,8824,0.15,2.22,0.00,0.000,6,0.156,0.047,3036,2516,1297
$GC,9132,0.65,356.3,312.6,17.5,832,9137,0.00,2.22,0.00,0.000,4,0.000,0.051,3045,1124,1297
$GC,9218,0.65,356.3,298.8,15.8,840,9225,0.00,2.20,0.00,0.000,6,0.000,0.047,3045,2510,1295
$GC,9545,0.65,356.3,246.1,15.0,901,9551,0.00,2.22,0.00,0.000,4,0.000,0.050,3055,1114,1296
$GC,9597,0.65,356.3,238.2,14.7,911,9604,0.00,2.20,0.00,0.000,6,0.000,0.047,3055,2498,1295
$GC,9923,0.65,356.3,192.5,13.2,972,9930,0.00,2.20,0.00,0.000,4,0.000,0.050,3064,1114,1295
$GC,9971,0.65,356.3,186.2,12.6,981,9978,0.10,2.15,0.00,0.000,6,0.137,0.045,3029,2485,1295
$GC,10298,1.00,464.1,148.5,7.5,1042,10394,0.30,2.00,86.85,0.765,4,0.049,0.058,3160,3680,864
$GC,10421,0.83,464.1,127.9,22.2,1062,10428,0.25,1.95,0.00,0.000,6,0.136,0.039,3090,2460,864
$GC,10748,1.07,486.3,88.6,11.1,1123,10774,0.20,2.12,18.88,0.680,4,0.055,0.048,3193,1110,774
$GC,10987,1.01,486.3,48.6,16.9,1167,10994,0.15,2.08,0.00,0.000,6,0.139,0.041,3144,2424,772
$STATE,11312,end climb,SURFACE_DEPTH_REACHED
$STATE,11312,begin surface coast
$FINISH,1.6,1.020636
$STATE,11339,end surface coast,CONTROL_FINISHED_OK
$STATE,11339,begin surface
$SM_CCo,11412,0.00,0.000,0,0,771,487.66
$SM_GC,2.30,7.53,0.00,0.00,0.034,0.000,0.000,163,2035,771,-8.20,-1.02,487.66
$IRIDIUM_FIX,2524.66,12251.72,010998,000059
$TT8_MAMPS,0.048321
$HUMID,1528
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.70
$XPDR_PINGS,121
$ALTIM_BOTTOM_PING,775.7,53.7
$24V_AH,23.9,25.009
$10V_AH,10.7,18.306
$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,30.525,105.850,554.100,0.000,0.000,29.715,40.080,181.584,36.500,0.000,0.000,13.083,0.000,7826.056,656.371,2831.837,418.207,0.000,1733.664,0.000,2396.105,0.000,43.647,0.000
$DEVICE_MAMPS,222.430,66.729,1238.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,831.972,890.635,1428.834,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69662,1233
$CAP_FILE_SIZE,131976,0
$CFSIZE,260165632,249061376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109, 79.8,1
$GPS,070609,074422,2537.296,12251.687,12,2.3,31,-3.8