version: 66.04
glider: 165
mission: 2
dive: 122
start: 6 8 109 10 15 19
data:
$ID,165
$MISSION,2
$DIVE,122
$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,-119307.61
$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,46
$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
$GPS1,100907,2532.039,12301.226,36,1.1,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-67.3
$GPS2,101514,2532.102,12301.350,12,1.2,12,-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,165.4,41925,-18.3,-12.000
$D_GRID,748
$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,-194.7,0.0,0.0,0,70,0.00,0.00,-55.80,0.000,2,0.000,0.000,160,2078,2188
$GC,71,-0.96,-194.7,3.4,-5.1,8,122,8.77,0.00,-35.80,0.000,6,0.222,0.000,2503,2079,3551
$GC,441,-0.13,-194.7,131.3,-32.7,76,448,0.88,0.00,0.00,0.000,6,0.163,0.000,2768,2079,3554
$GC,768,-1.12,-194.7,159.9,-10.8,137,774,0.80,0.00,0.00,0.000,6,0.048,0.000,2447,2079,3555
$GC,1093,-0.41,-194.7,249.4,-26.1,198,1103,0.75,2.22,0.00,0.000,4,0.153,0.058,2671,3471,3556
$GC,1204,-0.94,-194.7,257.4,-5.2,218,1211,0.35,2.12,0.00,0.000,6,0.031,0.038,2470,2078,3557
$GC,1528,-0.44,-194.7,327.1,-22.7,268,1532,0.62,2.17,0.00,0.000,4,0.142,0.050,2676,663,3557
$GC,1575,-0.96,-194.7,332.4,-6.8,272,1579,0.40,2.20,0.00,0.000,6,0.037,0.040,2482,2088,3557
$GC,1896,-0.57,-194.7,391.0,-17.3,303,1900,0.47,2.20,0.00,0.000,4,0.140,0.061,2630,3470,3557
$GC,1970,-0.99,-194.7,396.9,-5.4,310,1974,0.30,2.10,0.00,0.000,6,0.036,0.036,2468,2090,3557
$GC,2291,-0.59,-194.7,454.0,-18.8,341,2295,0.50,2.20,0.00,0.000,4,0.140,0.051,2627,677,3556
$GC,2317,-0.74,-194.7,457.0,-9.8,343,2324,0.10,2.20,0.00,0.000,6,0.046,0.043,2551,2089,3556
$GC,2633,-0.74,-194.7,489.4,-11.8,374,2637,0.10,2.20,0.00,0.000,4,0.144,0.062,2576,3467,3554
$GC,2691,-0.98,-194.7,495.2,-8.5,379,2698,0.17,2.10,0.00,0.000,6,0.046,0.037,2478,2092,3553
$GC,3013,-0.69,-194.7,549.7,-16.9,397,3021,0.32,2.20,0.00,0.000,4,0.140,0.052,2587,676,3550
$GC,3148,-0.96,-194.7,564.6,-10.4,403,3152,0.17,2.17,0.00,0.000,6,0.046,0.046,2492,2064,3549
$GC,3469,-0.74,-194.7,615.5,-17.0,419,3473,0.28,2.22,0.00,0.000,4,0.140,0.065,2575,3473,3545
$GC,3570,-1.02,-194.7,627.7,-11.1,423,3577,0.20,2.15,0.00,0.000,6,0.044,0.039,2469,2077,3545
$GC,3881,-0.72,-194.7,679.1,-19.1,439,3884,0.38,2.25,0.00,0.000,4,0.143,0.064,2576,3476,3542
$GC,3928,-0.97,-194.7,685.2,-10.5,441,3932,0.15,2.17,0.00,0.000,6,0.048,0.041,2490,2075,3541
$GC,4250,-0.78,-194.7,732.0,-15.3,457,4254,0.25,2.28,0.00,0.000,4,0.139,0.066,2563,3478,3538
$GC,4280,-0.91,-194.7,735.5,-9.9,458,4289,0.08,2.17,0.00,0.000,6,0.061,0.041,2509,2079,3537
$STATE,4386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4386,begin apogee
$GC,4390,-0.20,0.0,748.8,13.0,464,4549,0.75,0.00,152.15,1.181,6,0.133,0.000,2754,2523,2758
$STATE,4549,end apogee,CONTROL_FINISHED_OK
$STATE,4549,begin climb
$GC,4550,0.96,194.7,756.9,0.0,472,4719,0.98,2.05,157.23,1.148,4,0.038,0.066,3145,3689,1964
$GC,4835,0.23,194.7,712.8,26.4,485,4839,0.88,1.88,0.00,0.000,6,0.177,0.041,2898,2525,1959
$GC,5151,0.56,258.6,684.0,9.4,501,5208,0.28,2.35,53.12,1.110,4,0.051,0.053,3034,1109,1703
$GC,5263,0.42,258.6,666.4,16.8,506,5267,0.28,2.33,0.00,0.000,6,0.150,0.049,2957,2526,1698
$GC,5583,0.51,258.6,626.0,12.4,522,5587,0.00,1.90,0.00,0.000,4,0.000,0.064,2956,3693,1696
$GC,5652,0.51,258.6,617.3,13.0,525,5656,0.00,1.85,0.00,0.000,6,0.000,0.039,2964,2506,1694
$GC,5974,0.57,271.9,579.0,11.4,541,5989,0.12,1.92,10.93,1.000,4,0.072,0.064,3021,3690,1649
$GC,6053,0.37,271.9,566.4,17.0,544,6057,0.28,1.80,0.00,0.000,6,0.143,0.041,2941,2540,1648
$GC,6379,0.65,333.0,535.8,9.5,560,6436,0.25,2.33,52.70,1.053,4,0.056,0.051,3057,1129,1400
$GC,6564,0.51,333.0,500.9,19.4,568,6568,0.22,2.30,0.00,0.000,6,0.153,0.048,2987,2530,1395
$GC,6884,0.59,333.0,454.2,12.9,598,6889,0.00,1.88,0.00,0.000,4,0.000,0.062,2987,3684,1393
$GC,6927,0.59,333.0,448.4,14.1,602,6932,0.00,1.80,0.00,0.000,6,0.000,0.041,2994,2529,1393
$GC,7249,0.66,333.0,405.8,13.3,633,7253,0.12,2.20,0.00,0.000,4,0.076,0.051,3061,1123,1392
$GC,7349,0.54,333.0,387.8,17.9,642,7354,0.20,2.22,0.00,0.000,6,0.150,0.048,2996,2513,1390
$GC,7671,0.62,333.0,341.3,14.3,673,7674,0.00,1.90,0.00,0.000,4,0.000,0.062,2996,3694,1389
$GC,7707,0.67,333.0,335.8,14.9,676,7714,0.00,1.83,0.00,0.000,6,0.000,0.039,3003,2511,1389
$GC,8024,0.78,339.3,292.6,11.7,712,8033,0.17,2.22,4.70,0.678,4,0.061,0.050,3095,1123,1375
$GC,8107,0.59,339.3,278.5,17.9,727,8113,0.22,2.22,0.00,0.000,6,0.153,0.047,3012,2515,1375
$GC,8432,0.69,339.3,235.3,14.0,788,8439,0.00,2.20,0.00,0.000,4,0.000,0.048,3022,1127,1375
$GC,8496,0.84,339.3,226.3,13.9,800,8504,0.15,2.15,0.00,0.000,6,0.049,0.045,3105,2490,1375
$GC,8823,0.63,339.3,165.5,19.2,861,8830,0.28,2.15,0.00,0.000,4,0.148,0.048,3032,1126,1375
$GC,8866,0.82,359.6,160.0,11.2,869,8892,0.10,2.12,18.50,0.769,6,0.053,0.044,3101,2477,1291
$GC,9213,0.73,359.6,105.8,16.0,933,9219,0.17,1.90,0.00,0.000,4,0.141,0.059,3051,3677,1290
$GC,9363,0.94,397.5,87.8,10.4,961,9402,0.12,1.83,31.73,0.706,6,0.051,0.038,3129,2473,1137
$GC,9721,0.94,397.5,42.5,14.2,1027,9728,0.00,1.95,0.00,0.000,4,0.000,0.056,3129,3690,1134
$GC,9764,0.94,397.5,36.0,16.3,1035,9771,0.00,1.85,0.00,0.000,6,0.000,0.036,3138,2479,1135
$STATE,10003,end climb,SURFACE_DEPTH_REACHED
$STATE,10003,begin surface coast
$FINISH,1.7,1.009883
$STATE,10025,end surface coast,CONTROL_FINISHED_OK
$STATE,10025,begin surface
$SM_CCo,10038,29.02,0.617,0,0,983,435.16
$SM_GC,2.52,0.00,0.00,29.02,0.000,0.000,0.617,157,2053,983,-8.32,-0.51,435.16
$IRIDIUM_FIX,2522.28,12259.03,020998,060625
$TT8_MAMPS,0.048321
$HUMID,1573
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.50
$XPDR_PINGS,105
$24V_AH,24.0,26.601
$10V_AH,10.7,19.323
$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,29.150,93.850,481.050,29.025,0.000,23.475,32.358,216.554,32.000,0.000,0.000,14.677,0.000,6763.635,621.297,2602.740,425.003,0.000,1609.810,0.000,2194.536,0.000,41.283,0.000
$DEVICE_MAMPS,221.663,65.962,1181.180,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,732.326,770.652,1240.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63203,1084
$CAP_FILE_SIZE,122027,0
$CFSIZE,260165632,248397824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.258,357.2,1
$GPS,080609,130337,2531.879,12301.734,6,1.7,11,-3.7