version: 66.04
glider: 165
mission: 2
dive: 114
start: 6 7 109 7 50 19
data:
$ID,165
$MISSION,2
$DIVE,114
$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,-119154.55
$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,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,57
$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
$GPS1,074422,2537.296,12251.687,12,2.3,31,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-71.6
$GPS2,075013,2537.366,12251.818,11,1.9,28,-3.8
$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,313.3,5745,-18.3,-12.000
$D_GRID,623
$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,-194.7,0.0,0.0,0,69,0.00,0.00,-55.45,0.000,2,0.000,0.000,163,2035,2152
$GC,71,-0.96,-194.7,3.4,-5.2,8,122,8.82,2.10,-36.88,0.000,4,0.228,0.059,2504,679,3554
$GC,308,-0.15,-194.7,78.1,-34.2,51,315,0.85,2.17,0.00,0.000,6,0.160,0.040,2761,2067,3555
$GC,634,-1.01,-194.7,110.9,-9.6,112,641,0.70,2.20,0.00,0.000,4,0.048,0.053,2475,3486,3558
$GC,849,-0.49,-194.7,169.6,-23.4,152,856,0.52,2.08,0.00,0.000,6,0.140,0.035,2650,2112,3559
$GC,1176,-0.69,-194.7,202.8,-8.6,213,1182,0.15,0.00,0.00,0.000,6,0.061,0.000,2569,2108,3560
$GC,1501,-0.53,-194.7,252.6,-15.3,274,1508,0.25,2.22,0.00,0.000,4,0.131,0.051,2650,681,3560
$GC,1561,-0.91,-194.7,258.8,-8.3,285,1569,0.28,2.20,0.00,0.000,6,0.035,0.041,2500,2102,3561
$GC,1890,-0.50,-194.7,320.8,-19.6,337,1892,0.47,0.00,0.00,0.000,6,0.141,0.000,2652,2102,3561
$GC,2202,-0.88,-194.7,347.6,-7.0,367,2205,0.28,2.15,0.00,0.000,4,0.046,0.060,2510,3471,3561
$GC,2249,-0.69,-194.7,353.8,-15.0,371,2253,0.22,2.10,0.00,0.000,6,0.128,0.038,2588,2093,3561
$GC,2569,-0.82,-194.7,382.6,-6.7,402,2573,0.00,2.22,0.00,0.000,4,0.000,0.052,2589,669,3560
$GC,2623,-1.03,-194.7,386.4,-7.2,407,2627,0.25,2.22,0.00,0.000,6,0.041,0.044,2464,2095,3560
$GC,2943,-0.60,-194.7,447.5,-19.9,438,2945,0.50,0.00,0.00,0.000,6,0.146,0.000,2621,2095,3559
$GC,3254,-0.95,-194.7,469.5,-7.0,468,3258,0.30,2.17,0.00,0.000,4,0.046,0.064,2481,3473,3557
$GC,3307,-0.71,-194.7,476.4,-15.5,473,3311,0.30,2.10,0.00,0.000,6,0.131,0.041,2582,2103,3557
$GC,3638,-0.89,-194.7,504.9,-8.0,502,3641,0.15,2.20,0.00,0.000,4,0.064,0.064,2507,3482,3554
$GC,3668,-0.81,-194.7,508.3,-12.0,503,3673,0.12,2.10,0.00,0.000,6,0.131,0.039,2552,2113,3553
$GC,3984,-0.81,-194.7,541.5,-10.2,519,3988,0.00,2.28,0.00,0.000,4,0.000,0.054,2552,669,3551
$GC,4010,-0.86,-194.7,544.4,-11.4,520,4015,0.00,2.25,0.00,0.000,6,0.000,0.048,2550,2097,3551
$GC,4332,-0.91,-194.7,576.9,-9.8,536,4336,0.00,2.22,0.00,0.000,4,0.000,0.066,2550,3473,3548
$GC,4396,-1.04,-194.7,582.6,-8.5,539,4400,0.15,2.10,0.00,0.000,6,0.048,0.041,2466,2108,3547
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4664,-0.20,0.0,625.4,17.1,552,4817,0.90,0.00,150.93,1.096,6,0.146,0.000,2753,2522,2759
$STATE,4818,end apogee,CONTROL_FINISHED_OK
$STATE,4818,begin climb
$GC,4819,0.96,194.7,632.5,0.0,559,4983,1.00,2.42,154.48,1.071,4,0.047,0.054,3146,1127,1964
$GC,5073,0.37,194.7,601.0,22.6,571,5078,0.65,2.33,0.00,0.000,6,0.176,0.051,2943,2521,1958
$GC,5399,0.51,237.9,567.3,10.2,587,5442,0.12,1.98,35.53,1.028,4,0.071,0.066,2998,3693,1787
$GC,5457,0.37,237.9,559.5,14.9,589,5463,0.20,1.88,0.00,0.000,6,0.145,0.040,2944,2526,1786
$GC,5767,0.52,237.9,520.8,12.9,605,5771,0.12,2.25,0.00,0.000,4,0.072,0.051,3015,1116,1781
$GC,5836,0.45,237.9,510.0,16.6,608,5840,0.15,2.28,0.00,0.000,6,0.142,0.048,2966,2519,1780
$GC,6152,0.51,237.9,467.8,13.3,635,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2519,1778
$GC,6463,0.60,265.4,432.4,10.9,665,6489,0.15,1.92,22.30,0.975,4,0.067,0.064,3030,3687,1676
$GC,6510,0.37,265.4,424.8,17.8,669,6518,0.30,1.88,0.00,0.000,6,0.142,0.041,2943,2504,1675
$GC,6826,0.63,294.5,391.2,10.8,700,6861,0.22,2.25,24.95,0.953,4,0.056,0.051,3051,1126,1556
$GC,6907,0.49,294.5,378.1,18.5,707,6915,0.22,2.25,0.00,0.000,6,0.145,0.047,2979,2508,1554
$GC,7223,0.62,294.5,338.7,12.1,738,7228,0.12,1.90,0.00,0.000,4,0.072,0.063,3035,3684,1552
$GC,7244,0.62,294.5,335.5,15.6,740,7249,0.00,1.88,0.00,0.000,6,0.000,0.040,3044,2480,1552
$GC,7562,0.49,294.5,285.1,17.6,778,7571,0.22,2.12,0.00,0.000,4,0.150,0.051,2986,1129,1551
$GC,7628,0.73,323.3,276.9,10.8,790,7661,0.15,2.17,24.33,0.877,6,0.051,0.045,3068,2495,1438
$GC,7982,0.59,323.3,216.1,19.1,855,7987,0.20,1.88,0.00,0.000,4,0.149,0.061,3010,3687,1435
$GC,8029,0.64,323.3,207.8,16.4,864,8035,0.00,1.88,0.00,0.000,6,0.000,0.039,3019,2472,1435
$GC,8355,0.78,341.3,166.6,11.3,925,8376,0.15,2.17,15.60,0.765,4,0.064,0.049,3102,1120,1366
$GC,8439,0.67,341.3,153.1,17.1,940,8446,0.20,2.12,0.00,0.000,6,0.142,0.044,3037,2462,1364
$GC,8765,0.94,407.8,116.7,9.3,1001,8823,0.22,0.00,54.40,0.736,6,0.053,0.000,3137,2462,1095
$GC,9143,0.89,407.8,58.9,15.6,1070,9151,0.12,2.12,0.00,0.000,4,0.143,0.047,3112,1120,1091
$GC,9262,1.10,423.8,44.9,11.3,1092,9282,0.12,2.10,13.50,0.638,6,0.050,0.042,3189,2456,1031
$STATE,9514,end climb,SURFACE_DEPTH_REACHED
$STATE,9514,begin surface coast
$FINISH,1.7,1.021689
$STATE,9531,end surface coast,CONTROL_FINISHED_OK
$STATE,9531,begin surface
$SM_CCo,9544,10.23,0.582,0,0,984,435.16
$SM_GC,3.71,0.00,0.00,10.23,0.000,0.000,0.582,162,2061,984,-8.30,-0.28,435.16
$IRIDIUM_FIX,2524.66,12251.72,010998,040455
$TT8_MAMPS,0.049088
$HUMID,1587
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.20
$XPDR_PINGS,113
$24V_AH,24.1,25.167
$10V_AH,10.7,18.411
$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,27.625,82.200,496.000,10.225,0.000,28.687,34.608,180.216,32.750,0.000,0.000,30.685,0.000,6309.482,601.679,2585.606,389.238,0.000,1559.906,0.000,2176.102,0.000,30.815,0.000
$DEVICE_MAMPS,227.799,65.962,1096.043,582.153,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.448,825.803,1353.265,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66316,1142
$CAP_FILE_SIZE,115967,0
$CFSIZE,260165632,249008128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,355.4,1
$GPS,070609,103031,2539.230,12250.688,38,1.2,38,-3.8