version: 66.04
glider: 165
mission: 2
dive: 123
start: 6 8 109 13 9 33
data:
$ID,165
$MISSION,2
$DIVE,123
$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,-119324.45
$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,50
$R_STBD_OVSHOOT,30
$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
$GPS1,130337,2531.879,12301.734,6,1.7,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-68.9
$GPS2,130928,2531.929,12301.785,12,1.7,14,-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,171.4,41169,-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,-194.7,0.0,0.0,0,55,0.00,0.00,-41.58,0.000,2,0.000,0.000,157,2054,2005
$GC,57,-0.96,-194.7,3.1,-3.6,6,115,9.15,2.33,-44.38,0.000,4,0.236,0.064,2497,3476,3554
$GC,130,-0.10,-194.7,15.3,-32.3,18,137,0.88,2.17,0.00,0.000,6,0.153,0.036,2772,2077,3556
$GC,457,-0.57,-194.7,45.1,-5.7,79,463,0.38,2.25,0.00,0.000,4,0.040,0.057,2593,3477,3558
$GC,489,-0.34,-194.7,49.8,-18.4,85,496,0.32,2.17,0.00,0.000,6,0.130,0.038,2705,2068,3557
$GC,815,-0.43,-194.7,91.2,-11.6,146,822,0.00,2.25,0.00,0.000,4,0.000,0.055,2700,3469,3559
$GC,885,-0.77,-194.7,97.2,-7.8,159,891,0.28,2.10,0.00,0.000,6,0.036,0.037,2541,2086,3560
$GC,1211,-0.35,-194.7,173.6,-21.8,220,1219,0.52,2.17,0.00,0.000,4,0.142,0.050,2708,666,3561
$GC,1255,-0.80,-194.7,178.4,-6.2,228,1264,0.35,2.22,0.00,0.000,6,0.038,0.040,2533,2107,3562
$GC,1584,-0.50,-194.7,235.4,-17.1,289,1590,0.38,2.22,0.00,0.000,4,0.133,0.050,2655,669,3563
$GC,1610,-0.57,-194.7,238.5,-12.0,294,1617,0.00,2.20,0.00,0.000,6,0.000,0.044,2654,2087,3564
$GC,1937,-0.93,-194.7,263.4,-7.6,355,1943,0.35,2.17,0.00,0.000,4,0.041,0.058,2487,3482,3564
$GC,2016,-0.55,-194.7,278.1,-20.4,370,2023,0.43,2.08,0.00,0.000,6,0.131,0.037,2633,2115,3563
$GC,2349,-0.86,-194.7,300.9,-5.8,431,2352,0.22,2.15,0.00,0.000,4,0.051,0.058,2516,3471,3563
$GC,2384,-0.69,-194.7,304.9,-12.6,434,2392,0.20,2.05,0.00,0.000,6,0.126,0.037,2588,2124,3563
$GC,2701,-0.78,-194.7,336.8,-9.9,465,2704,0.00,2.15,0.00,0.000,4,0.000,0.061,2588,3473,3563
$GC,2732,-0.92,-194.7,340.0,-9.9,468,2736,0.15,2.05,0.00,0.000,6,0.044,0.037,2499,2129,3564
$GC,3053,-0.60,-194.7,392.1,-15.5,499,3057,0.40,2.12,0.00,0.000,4,0.136,0.060,2617,3469,3562
$GC,3138,-0.99,-194.7,397.2,-4.2,507,3142,0.28,2.03,0.00,0.000,6,0.038,0.038,2473,2147,3561
$GC,3458,-0.59,-194.7,452.9,-21.3,538,3463,0.50,2.30,0.00,0.000,4,0.140,0.053,2633,678,3560
$GC,3517,-1.03,-194.7,458.2,-6.0,543,3524,0.35,2.28,0.00,0.000,6,0.036,0.044,2463,2136,3558
$GC,3831,-0.64,-194.7,516.6,-19.5,570,3836,0.47,2.12,0.00,0.000,4,0.150,0.061,2602,3465,3557
$GC,3853,-0.54,-194.7,519.8,-15.9,571,3857,0.10,2.05,0.00,0.000,6,0.115,0.038,2644,2130,3556
$GC,4179,-1.33,-194.7,541.9,-7.7,587,4183,0.65,2.15,0.00,0.000,4,0.059,0.059,2385,3479,3554
$GC,4381,-0.75,-194.7,588.3,-25.4,596,4388,0.57,2.03,0.00,0.000,6,0.157,0.041,2569,2168,3551
$GC,4692,-0.88,-194.7,621.8,-10.4,612,4696,0.00,2.10,0.00,0.000,4,0.000,0.064,2563,3463,3550
$GC,4745,-1.10,-194.7,627.1,-9.0,614,4749,0.22,1.98,0.00,0.000,6,0.044,0.039,2452,2183,3549
$GC,5061,-0.73,-194.7,686.0,-19.1,630,5063,0.43,0.00,0.00,0.000,6,0.150,0.000,2582,2177,3546
$GC,5366,-0.96,-194.7,712.2,-7.6,645,5370,0.20,2.38,0.00,0.000,4,0.061,0.057,2491,679,3544
$GC,5387,-0.96,-194.7,714.6,-12.0,646,5391,0.00,2.35,0.00,0.000,6,0.000,0.048,2482,2162,3544
$STATE,5569,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5569,begin apogee
$GC,5573,-0.20,0.0,743.8,17.2,655,5732,0.85,0.00,153.18,1.187,6,0.141,0.000,2755,2513,2758
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5733,begin climb
$GC,5734,0.96,194.7,752.4,0.0,663,5899,1.02,2.03,157.32,1.147,4,0.054,0.065,3135,3698,1963
$GC,5913,0.32,194.7,730.9,19.6,670,5920,0.75,1.90,0.00,0.000,6,0.176,0.040,2930,2540,1962
$GC,6224,0.53,265.7,700.4,9.1,686,6289,0.17,2.38,59.50,1.118,4,0.063,0.052,3018,1110,1673
$GC,6331,0.45,265.7,684.5,18.4,691,6335,0.15,2.35,0.00,0.000,6,0.140,0.051,2971,2512,1669
$GC,6657,0.51,265.7,637.1,14.2,707,6661,0.00,1.92,0.00,0.000,4,0.000,0.062,2971,3692,1666
$GC,6736,0.51,265.7,625.5,15.8,710,6744,0.00,1.83,0.00,0.000,6,0.000,0.040,2978,2522,1665
$GC,7047,0.51,265.7,583.1,13.2,726,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2518,1664
$GC,7352,0.51,265.7,544.2,12.7,741,7356,0.00,2.22,0.00,0.000,4,0.000,0.051,2988,1125,1662
$GC,7389,0.56,265.7,539.4,12.6,742,7396,0.00,2.25,0.00,0.000,6,0.000,0.048,2988,2530,1661
$GC,7699,0.56,265.7,498.3,13.1,758,7704,0.00,1.85,0.00,0.000,4,0.000,0.063,2988,3681,1661
$GC,7736,0.48,265.7,492.9,14.8,761,7743,0.00,1.80,0.00,0.000,6,0.000,0.040,2996,2517,1660
$GC,8053,0.48,265.7,449.3,13.2,792,8056,0.00,1.90,0.00,0.000,4,0.000,0.063,2996,3685,1660
$GC,8094,0.41,265.7,443.4,14.2,796,8099,0.15,1.75,0.00,0.000,6,0.137,0.041,2955,2550,1660
$GC,8416,0.68,339.5,413.2,8.9,827,8484,0.22,2.35,59.85,0.986,4,0.058,0.051,3060,1132,1375
$GC,8562,0.56,339.5,388.0,18.8,840,8570,0.17,2.28,0.00,0.000,6,0.149,0.046,3005,2519,1370
$GC,8879,0.56,339.5,340.8,15.3,871,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2519,1368
$GC,9191,0.65,339.5,293.6,14.0,905,9196,0.00,1.85,0.00,0.000,4,0.000,0.062,3005,3691,1368
$GC,9233,0.72,339.5,287.8,14.3,913,9239,0.08,1.80,0.00,0.000,6,0.065,0.041,3059,2525,1367
$GC,9558,0.63,339.5,239.8,12.9,974,9565,0.15,2.20,0.00,0.000,4,0.153,0.050,3027,1130,1367
$GC,9629,0.77,378.5,232.1,10.4,987,9667,0.08,2.20,31.92,0.841,6,0.063,0.045,3092,2515,1216
$GC,9987,0.65,378.5,170.6,16.5,1053,9993,0.17,2.17,0.00,0.000,4,0.148,0.047,3045,1127,1212
$GC,10008,0.65,378.5,167.0,15.9,1057,10015,0.00,2.17,0.00,0.000,6,0.000,0.044,3045,2495,1212
$GC,10335,0.84,424.2,127.8,10.1,1118,10380,0.12,2.22,38.30,0.746,4,0.067,0.048,3119,1130,1027
$GC,10566,0.84,424.2,92.9,13.9,1160,10573,0.08,2.15,0.00,0.000,6,0.136,0.042,3094,2484,1023
$GC,10892,1.01,424.2,53.2,12.3,1221,10899,0.15,2.15,0.00,0.000,4,0.064,0.045,3175,1122,1023
$GC,10919,0.96,424.2,49.4,14.7,1226,10926,0.12,2.15,0.00,0.000,6,0.144,0.042,3133,2489,1023
$GC,11246,1.01,424.2,4.4,12.9,1287,11254,0.00,1.85,0.00,0.000,4,0.000,0.053,3133,3671,1023
$STATE,11256,end climb,SURFACE_DEPTH_REACHED
$STATE,11256,begin surface coast
$FINISH,1.8,1.011354
$STATE,11278,end surface coast,CONTROL_FINISHED_OK
$STATE,11278,begin surface
$SM_CCo,11294,8.02,0.561,0,0,984,435.16
$SM_GC,3.49,0.00,0.00,8.02,0.000,0.000,0.561,162,2051,984,-8.31,-0.57,435.16
$IRIDIUM_FIX,2522.28,12302.33,020998,101027
$TT8_MAMPS,0.048321
$HUMID,1581
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.20
$XPDR_PINGS,136
$ALTIM_BOTTOM_PING,678.0,89.0
$24V_AH,24.0,26.775
$10V_AH,10.7,19.439
$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,29.725,115.425,500.075,8.025,0.000,23.482,38.566,198.036,39.500,0.000,0.000,16.222,0.000,7604.595,651.494,2953.497,426.082,0.000,1750.065,0.000,2488.334,0.000,40.093,0.000
$DEVICE_MAMPS,236.236,65.195,1186.549,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,872.919,927.864,1501.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72700,1293
$CAP_FILE_SIZE,137585,0
$CFSIZE,260165632,248303616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161, 47.4,1
$GPS,080609,161900,2530.810,12302.964,39,1.4,45,-3.7