version: 66.04
glider: 165
mission: 2
dive: 115
start: 6 7 109 10 35 38
data:
$ID,165
$MISSION,2
$DIVE,115
$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,-119168.23
$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,41
$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,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
$GPS1,103031,2539.230,12250.688,38,1.2,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-72.2
$GPS2,103532,2539.345,12250.756,11,1.2,11,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,154.9,64116,-18.3,-12.000
$D_GRID,678
$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,-45.62,0.000,2,0.000,0.000,163,2057,2110
$GC,61,-0.96,-194.7,3.5,-4.8,7,112,8.85,0.00,-38.88,0.000,6,0.228,0.000,2505,2057,3555
$GC,431,-0.27,-194.7,119.3,-27.5,75,438,0.73,2.25,0.00,0.000,4,0.153,0.054,2720,3474,3559
$GC,475,-0.70,-194.7,123.5,-4.7,83,481,0.25,2.15,0.00,0.000,6,0.033,0.035,2553,2063,3560
$GC,801,-0.41,-194.7,181.9,-15.7,144,807,0.40,2.25,0.00,0.000,4,0.137,0.055,2674,3472,3562
$GC,860,-0.89,-194.7,186.6,-5.9,155,866,0.32,2.12,0.00,0.000,6,0.035,0.035,2505,2077,3562
$GC,1186,-0.43,-194.7,256.3,-22.5,216,1193,0.55,2.15,0.00,0.000,4,0.142,0.050,2680,668,3563
$GC,1250,-0.94,-194.7,262.7,-5.0,228,1258,0.40,2.15,0.00,0.000,6,0.035,0.040,2484,2063,3564
$GC,1578,-0.54,-194.7,323.9,-18.9,278,1582,0.50,2.22,0.00,0.000,4,0.137,0.061,2644,3480,3564
$GC,1615,-0.84,-194.7,328.3,-8.5,281,1623,0.22,2.17,0.00,0.000,6,0.038,0.037,2518,2062,3564
$GC,1930,-0.65,-194.7,378.0,-14.4,312,1932,0.28,0.00,0.00,0.000,6,0.130,0.000,2606,2058,3563
$GC,2242,-0.91,-194.7,399.7,-6.4,342,2246,0.22,2.25,0.00,0.000,4,0.053,0.062,2497,3476,3563
$GC,2295,-0.68,-194.7,406.6,-15.8,347,2299,0.25,2.17,0.00,0.000,6,0.123,0.041,2595,2064,3563
$GC,2615,-0.91,-194.7,435.3,-9.8,378,2619,0.20,2.28,0.00,0.000,4,0.057,0.063,2500,3470,3562
$GC,2690,-0.73,-194.7,446.4,-17.1,385,2694,0.22,2.15,0.00,0.000,6,0.123,0.040,2578,2077,3561
$GC,3011,-0.87,-194.7,476.4,-8.8,416,3015,0.12,2.25,0.00,0.000,4,0.072,0.064,2516,3466,3559
$GC,3042,-0.87,-194.7,479.7,-11.0,419,3046,0.00,2.12,0.00,0.000,6,0.000,0.040,2516,2083,3558
$GC,3361,-0.74,-194.7,521.9,-12.5,442,3363,0.20,0.00,0.00,0.000,6,0.136,0.000,2578,2080,3556
$GC,3666,-0.92,-194.7,546.6,-6.9,457,3670,0.15,2.22,0.00,0.000,4,0.066,0.066,2506,3470,3554
$GC,3766,-0.81,-194.7,561.3,-16.9,461,3775,0.12,2.12,0.00,0.000,6,0.134,0.041,2552,2100,3552
$GC,4077,-0.86,-194.7,597.1,-10.0,477,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2096,3550
$GC,4382,-0.92,-194.7,627.7,-9.1,492,4386,0.00,2.25,0.00,0.000,4,0.000,0.068,2550,3470,3548
$GC,4419,-1.05,-194.7,630.6,-7.0,493,4427,0.15,2.10,0.00,0.000,6,0.049,0.042,2466,2117,3547
$STATE,4728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4728,begin apogee
$GC,4733,-0.20,0.0,681.5,18.2,509,4892,0.90,0.00,152.48,1.150,6,0.150,0.000,2752,2512,2759
$STATE,4892,end apogee,CONTROL_FINISHED_OK
$STATE,4892,begin climb
$GC,4894,0.96,194.7,690.3,0.0,517,5058,1.00,2.05,156.65,1.114,4,0.046,0.067,3137,3687,1964
$GC,5121,0.23,194.7,660.7,26.0,527,5128,0.85,1.88,0.00,0.000,6,0.179,0.043,2901,2533,1961
$GC,5431,0.62,308.2,633.5,7.3,543,5531,0.32,2.38,94.45,1.081,4,0.050,0.054,3052,1119,1501
$GC,5564,0.44,308.2,610.7,18.6,549,5568,0.32,2.33,0.00,0.000,6,0.153,0.048,2961,2531,1498
$GC,5884,0.59,308.2,566.0,12.0,565,5888,0.15,2.30,0.00,0.000,4,0.066,0.052,3036,1115,1494
$GC,5964,0.50,308.2,552.2,19.3,568,5971,0.15,2.25,0.00,0.000,6,0.144,0.048,2986,2507,1492
$GC,6274,0.50,308.2,505.6,14.7,584,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2507,1492
$GC,6583,0.50,308.2,460.0,14.9,612,6588,0.00,2.22,0.00,0.000,4,0.000,0.051,2995,1122,1490
$GC,6626,0.58,308.2,454.0,13.5,616,6630,0.00,2.20,0.00,0.000,6,0.000,0.048,2995,2498,1490
$GC,6948,0.58,308.2,407.9,14.2,647,6951,0.00,1.90,0.00,0.000,4,0.000,0.064,2996,3678,1489
$GC,7005,0.51,308.2,399.1,15.4,652,7013,0.00,1.85,0.00,0.000,6,0.000,0.041,3004,2480,1490
$GC,7322,0.51,308.2,354.7,12.7,683,7325,0.00,2.12,0.00,0.000,4,0.000,0.051,3015,1115,1488
$GC,7352,0.51,308.2,350.3,14.0,686,7357,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2487,1487
$GC,7675,0.51,308.2,304.5,15.7,717,7678,0.00,2.12,0.00,0.000,4,0.000,0.046,3024,1116,1487
$GC,7764,0.51,308.2,290.9,14.5,731,7771,0.10,2.12,0.00,0.000,6,0.137,0.047,2989,2461,1485
$GC,8090,0.67,308.2,248.8,12.4,792,8097,0.12,2.12,0.00,0.000,4,0.075,0.050,3055,1122,1485
$GC,8139,0.60,308.2,241.6,16.3,801,8146,0.10,2.08,0.00,0.000,6,0.147,0.045,3020,2445,1485
$GC,8466,0.60,308.2,198.0,12.4,862,8467,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2445,1485
$GC,8787,0.69,311.6,158.5,11.9,922,8793,0.00,2.08,0.00,0.000,4,0.000,0.049,3029,1129,1485
$GC,8835,0.80,319.6,152.9,11.7,931,8848,0.10,2.05,8.18,0.714,6,0.058,0.044,3091,2436,1454
$GC,9168,0.71,319.6,102.7,13.0,993,9175,0.15,1.95,0.00,0.000,4,0.150,0.058,3049,3674,1454
$GC,9414,0.85,373.7,74.5,9.8,1039,9466,0.08,1.80,44.75,0.706,6,0.065,0.037,3104,2480,1233
$GC,9787,1.05,432.5,32.3,9.6,1107,9837,0.15,0.00,47.85,0.652,6,0.065,0.000,3177,2479,995
$STATE,9974,end climb,SURFACE_DEPTH_REACHED
$STATE,9974,begin surface coast
$FINISH,1.7,1.021806
$STATE,9990,end surface coast,CONTROL_FINISHED_OK
$STATE,9990,begin surface
$SM_CCo,10003,0.75,0.081,0,0,985,435.16
$SM_GC,2.93,0.00,0.00,0.75,0.000,0.000,0.081,158,2079,985,-8.32,0.20,435.16
$IRIDIUM_FIX,2527.05,12247.70,010998,070743
$TT8_MAMPS,0.049088
$HUMID,1597
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.00
$XPDR_PINGS,82
$ALTIM_BOTTOM_PING,652.6,143.2
$24V_AH,24.1,25.329
$10V_AH,10.7,18.514
$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,26.425,82.675,504.350,0.750,0.000,25.041,32.639,156.720,25.500,0.000,0.000,13.053,0.000,6757.688,588.006,2584.934,358.187,0.000,1553.022,0.000,2184.303,0.000,35.608,0.000
$DEVICE_MAMPS,227.799,68.263,1149.733,80.535,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,773.692,817.128,1328.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66406,1144
$CAP_FILE_SIZE,115311,0
$CFSIZE,260165632,248934400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,  0.9,1
$GPS,070609,132250,2538.923,12251.635,8,1.7,8,-3.8