version: 66.04
glider: 165
mission: 2
dive: 120
start: 6 8 109 3 25 31
data:
$ID,165
$MISSION,2
$DIVE,120
$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,-119277.86
$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,48
$R_STBD_OVSHOOT,55
$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
$GPS1,031907,2534.417,12256.901,41,0.9,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-69.6
$GPS2,032526,2534.507,12256.951,9,1.2,9,-3.7
$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,142.5,50408,-18.3,-12.000
$D_GRID,865
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.96,-194.7,0.0,0.0,0,67,0.00,0.00,-52.85,0.000,2,0.000,0.000,155,2111,2048
$GC,69,-0.96,-194.7,3.1,-3.1,8,126,8.95,0.00,-42.28,0.000,6,0.229,0.000,2507,2111,3553
$GC,446,-0.26,-194.7,122.1,-27.7,77,453,0.73,2.25,0.00,0.000,4,0.153,0.055,2733,665,3556
$GC,494,-0.78,-194.7,127.7,-5.5,86,501,0.40,2.15,0.00,0.000,6,0.041,0.039,2549,2046,3557
$GC,821,-0.44,-194.7,189.4,-20.8,147,828,0.40,2.28,0.00,0.000,4,0.135,0.060,2672,3469,3558
$GC,897,-0.90,-194.7,198.1,-8.4,161,903,0.35,2.12,0.00,0.000,6,0.033,0.036,2490,2082,3559
$GC,1224,-0.43,-194.7,276.1,-23.8,222,1230,0.55,2.20,0.00,0.000,4,0.141,0.051,2672,663,3559
$GC,1283,-0.91,-194.7,283.3,-8.5,233,1289,0.38,2.15,0.00,0.000,6,0.041,0.041,2491,2066,3560
$GC,1602,-0.54,-194.7,341.8,-18.0,273,1606,0.47,2.22,0.00,0.000,4,0.140,0.059,2632,3484,3560
$GC,1654,-0.94,-194.7,346.6,-6.0,278,1659,0.28,2.17,0.00,0.000,6,0.038,0.037,2485,2069,3560
$GC,1976,-0.56,-194.7,405.0,-19.4,309,1980,0.47,2.17,0.00,0.000,4,0.137,0.052,2636,658,3560
$GC,2002,-0.62,-194.7,408.9,-13.1,311,2010,0.00,2.20,0.00,0.000,6,0.000,0.044,2637,2064,3560
$GC,2317,-1.02,-194.7,430.8,-7.0,342,2321,0.38,2.22,0.00,0.000,4,0.042,0.061,2464,3476,3558
$GC,2457,-0.70,-194.7,455.4,-20.1,355,2460,0.43,2.12,0.00,0.000,6,0.139,0.039,2598,2079,3556
$GC,2777,-0.94,-194.7,489.7,-9.0,386,2781,0.22,2.25,0.00,0.000,4,0.054,0.063,2493,3472,3554
$GC,2809,-0.81,-194.7,493.8,-13.2,389,2813,0.17,2.15,0.00,0.000,6,0.127,0.039,2555,2074,3554
$GC,3125,-0.81,-194.7,532.7,-12.6,407,3129,0.00,2.28,0.00,0.000,4,0.000,0.064,2550,3472,3551
$GC,3204,-0.91,-194.7,542.8,-12.1,410,3211,0.00,2.12,0.00,0.000,6,0.000,0.040,2550,2099,3551
$GC,3515,-0.91,-194.7,580.6,-11.6,426,3519,0.00,2.28,0.00,0.000,4,0.000,0.056,2550,666,3548
$GC,3557,-0.96,-194.7,585.6,-11.4,428,3562,0.10,2.28,0.00,0.000,6,0.058,0.048,2488,2100,3547
$GC,3884,-0.75,-194.7,636.8,-16.4,444,3888,0.30,2.25,0.00,0.000,4,0.141,0.055,2580,667,3545
$GC,3937,-0.97,-194.7,643.4,-10.6,446,3941,0.17,2.28,0.00,0.000,6,0.049,0.048,2489,2103,3545
$GC,4253,-0.78,-194.7,695.5,-16.5,462,4257,0.25,2.20,0.00,0.000,4,0.143,0.067,2563,3479,3541
$GC,4354,-0.99,-194.7,706.8,-10.4,466,4360,0.15,2.12,0.00,0.000,6,0.051,0.041,2481,2111,3541
$GC,4664,-0.77,-194.7,754.9,-15.4,482,4665,0.30,0.00,0.00,0.000,6,0.144,0.000,2572,2107,3538
$GC,4969,-0.96,-194.7,781.6,-8.2,497,4973,0.17,2.25,0.00,0.000,4,0.064,0.069,2493,3479,3537
$GC,5022,-0.86,-194.7,788.0,-13.0,499,5027,0.12,2.12,0.00,0.000,6,0.139,0.043,2535,2121,3535
$GC,5338,-0.86,-194.7,823.6,-11.1,515,5342,0.00,2.22,0.00,0.000,4,0.000,0.070,2535,3467,3534
$GC,5381,-0.95,-194.7,827.8,-10.0,517,5384,0.00,2.10,0.00,0.000,6,0.000,0.043,2536,2124,3534
$GC,5706,-0.95,-194.7,861.1,-10.4,533,5711,0.00,2.33,0.00,0.000,4,0.000,0.059,2535,673,3531
$GC,5738,-0.95,-194.7,864.3,-10.0,534,5742,0.00,2.33,0.00,0.000,6,0.000,0.052,2535,2125,3532
$STATE,5748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5748,begin apogee
$GC,5752,-0.20,0.0,865.4,9.7,535,5911,0.65,0.00,153.90,1.287,6,0.123,0.000,2753,2520,2758
$STATE,5911,end apogee,CONTROL_FINISHED_OK
$STATE,5911,begin climb
$GC,5912,0.96,194.7,869.9,0.0,543,6083,1.00,2.05,160.77,1.242,4,0.042,0.069,3142,3696,1964
$GC,6124,0.22,194.7,840.2,27.9,553,6129,0.90,1.92,0.00,0.000,6,0.181,0.043,2898,2531,1962
$GC,6450,0.58,297.6,808.5,7.7,569,6544,0.30,2.42,87.18,1.215,4,0.052,0.053,3033,1114,1543
$GC,6572,0.47,297.6,789.5,17.2,574,6578,0.22,2.35,0.00,0.000,6,0.147,0.052,2971,2516,1540
$GC,6881,0.54,297.6,746.1,13.3,590,6885,0.00,1.92,0.00,0.000,4,0.000,0.065,2971,3686,1537
$GC,6918,0.54,297.6,740.9,14.1,591,6927,0.00,1.85,0.00,0.000,6,0.000,0.042,2979,2509,1537
$GC,7229,0.54,297.6,696.4,14.1,607,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2504,1535
$GC,7534,0.54,297.6,655.0,13.6,622,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2504,1534
$GC,7840,0.59,297.6,614.1,13.3,637,7843,0.00,2.22,0.00,0.000,4,0.000,0.054,2988,1121,1534
$GC,7908,0.68,297.6,605.1,13.3,640,7913,0.10,2.25,0.00,0.000,6,0.062,0.050,3045,2517,1532
$GC,8229,0.47,297.6,545.4,17.6,656,8234,0.25,2.22,0.00,0.000,4,0.150,0.052,2981,1129,1532
$GC,8245,0.36,297.6,542.8,16.6,656,8252,0.12,2.22,0.00,0.000,6,0.140,0.048,2938,2516,1531
$GC,8555,0.70,360.8,513.1,9.4,672,8610,0.30,0.00,52.90,1.063,6,0.054,0.000,3063,2516,1287
$GC,8906,0.51,360.8,442.8,19.6,702,8907,0.28,0.00,0.00,0.000,6,0.148,0.000,2983,2516,1281
$GC,9217,0.67,361.6,405.7,12.0,732,9221,0.15,2.22,0.00,0.000,4,0.067,0.052,3059,1115,1280
$GC,9313,0.60,361.6,389.9,17.2,741,9317,0.12,2.22,0.00,0.000,6,0.150,0.049,3018,2496,1278
$GC,9633,0.60,361.6,342.3,13.4,772,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2496,1278
$GC,9944,0.69,361.6,300.6,12.9,802,9948,0.00,2.20,0.00,0.000,4,0.000,0.051,3027,1124,1278
$GC,9991,0.81,362.9,294.4,11.9,810,9998,0.12,2.17,0.00,0.000,6,0.054,0.047,3097,2492,1277
$GC,10318,0.64,362.9,232.4,17.8,871,10325,0.25,0.00,0.00,0.000,6,0.148,0.000,3023,2492,1277
$GC,10644,0.81,383.8,190.7,11.1,932,10671,0.17,2.17,18.80,0.789,4,0.061,0.048,3115,1114,1193
$GC,10680,0.69,383.8,185.4,16.4,938,10687,0.20,2.20,0.00,0.000,6,0.142,0.045,3049,2490,1192
$GC,11007,0.93,439.1,147.8,9.7,999,11059,0.17,2.28,46.58,0.753,4,0.058,0.048,3147,1117,967
$GC,11123,0.83,439.1,129.8,16.1,1019,11130,0.17,2.20,0.00,0.000,6,0.136,0.044,3091,2481,964
$GC,11450,1.01,439.1,88.0,13.3,1080,11457,0.15,2.17,0.00,0.000,4,0.061,0.047,3172,1113,963
$GC,11471,1.01,439.1,84.6,16.3,1084,11478,0.00,2.17,0.00,0.000,6,0.000,0.042,3172,2487,963
$GC,11798,0.92,439.1,27.9,17.4,1145,11804,0.20,1.88,0.00,0.000,4,0.146,0.054,3112,3678,963
$GC,11857,1.09,455.5,20.2,11.3,1156,11876,0.10,1.88,13.75,0.609,6,0.053,0.037,3182,2435,901
$STATE,11959,end climb,SURFACE_DEPTH_REACHED
$STATE,11959,begin surface coast
$FINISH,1.7,1.021571
$STATE,11975,end surface coast,CONTROL_FINISHED_OK
$STATE,11975,begin surface
$SM_CCo,12048,0.00,0.000,0,0,898,456.50
$SM_GC,2.44,7.72,0.00,0.00,0.038,0.000,0.000,154,2056,898,-8.22,-0.42,456.50
$IRIDIUM_FIX,2524.66,12300.33,010998,232302
$TT8_MAMPS,0.048321
$HUMID,1551
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.50
$XPDR_PINGS,102
$24V_AH,23.8,26.247
$10V_AH,10.7,19.106
$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,29.425,110.275,533.875,0.000,0.000,30.510,34.590,220.339,32.250,0.000,0.000,11.008,0.000,8552.270,647.651,2750.933,451.769,0.000,1702.119,0.000,2311.377,0.000,45.696,0.000
$DEVICE_MAMPS,228.566,69.797,1287.026,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.972,819.634,1295.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69378,1178
$CAP_FILE_SIZE,135463,0
$CFSIZE,260165632,248532992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 93.6,1
$GPS,080609,064707,2532.749,12259.090,30,0.9,30,-3.7