version: 66.04
glider: 165
mission: 2
dive: 124
start: 6 8 109 16 25 30
data:
$ID,165
$MISSION,2
$DIVE,124
$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,-119355.84
$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,39
$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
$GPS1,161900,2530.810,12302.964,39,1.4,45,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-70.0
$GPS2,162525,2530.900,12303.015,11,1.4,28,-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,166.4,38363,-18.3,-12.000
$D_GRID,792
$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,11,begin dive
$GC,13,-0.96,-194.7,0.0,0.0,0,53,0.00,0.00,-38.60,0.000,2,0.000,0.000,160,2051,1940
$GC,54,-0.96,-194.7,3.1,-3.7,6,117,8.85,0.00,-49.78,0.000,6,0.225,0.000,2509,2051,3554
$GC,437,-0.41,-194.7,116.2,-23.6,76,444,0.55,0.00,0.00,0.000,6,0.146,0.000,2682,2051,3558
$GC,764,-0.73,-194.7,146.4,-6.6,137,770,0.25,0.00,0.00,0.000,6,0.048,0.000,2561,2051,3560
$GC,1089,-0.47,-194.7,201.8,-15.2,198,1096,0.32,2.15,0.00,0.000,4,0.135,0.055,2665,678,3561
$GC,1138,-0.79,-194.7,206.3,-6.8,207,1144,0.20,2.15,0.00,0.000,6,0.038,0.041,2533,2064,3561
$GC,1464,-0.48,-194.7,265.8,-19.7,268,1472,0.40,2.25,0.00,0.000,4,0.134,0.060,2660,3472,3561
$GC,1486,-0.48,-194.7,269.0,-14.3,272,1495,0.00,2.12,0.00,0.000,6,0.000,0.036,2660,2079,3561
$GC,1815,-0.88,-194.7,292.5,-6.2,333,1821,0.32,2.20,0.00,0.000,4,0.042,0.059,2505,3472,3561
$GC,1868,-0.63,-194.7,299.6,-15.9,343,1878,0.30,2.12,0.00,0.000,6,0.130,0.038,2608,2082,3561
$GC,2183,-0.80,-194.7,329.6,-10.6,374,2187,0.15,2.22,0.00,0.000,4,0.063,0.059,2533,3468,3561
$GC,2236,-0.69,-194.7,337.6,-15.8,379,2240,0.15,2.10,0.00,0.000,6,0.127,0.037,2587,2090,3561
$GC,2557,-0.78,-194.7,371.6,-11.2,410,2561,0.00,2.22,0.00,0.000,4,0.000,0.061,2587,3467,3561
$GC,2642,-0.98,-194.7,380.4,-10.2,418,2646,0.20,2.08,0.00,0.000,6,0.041,0.037,2479,2107,3561
$GC,2963,-0.62,-194.7,442.3,-17.8,449,2967,0.45,2.22,0.00,0.000,4,0.142,0.054,2620,663,3560
$GC,3021,-0.96,-194.7,448.7,-7.9,454,3028,0.25,2.25,0.00,0.000,6,0.041,0.044,2486,2102,3559
$GC,3337,-0.65,-194.7,504.3,-17.6,484,3341,0.38,2.17,0.00,0.000,4,0.141,0.064,2602,3476,3557
$GC,3379,-0.96,-194.7,508.8,-8.6,486,3383,0.20,2.08,0.00,0.000,6,0.041,0.039,2491,2126,3557
$GC,3706,-0.72,-194.7,557.2,-15.2,502,3707,0.30,0.00,0.00,0.000,6,0.136,0.000,2585,2121,3555
$GC,4011,-0.94,-194.7,581.1,-8.4,517,4015,0.20,2.17,0.00,0.000,4,0.058,0.065,2492,3479,3553
$GC,4052,-0.79,-194.7,586.7,-14.0,519,4057,0.20,2.10,0.00,0.000,6,0.130,0.040,2561,2121,3552
$GC,4381,-0.90,-194.7,621.3,-10.3,535,4383,0.00,2.20,0.00,0.000,4,0.000,0.067,2561,3484,3550
$GC,4454,-1.09,-194.7,628.7,-9.6,538,4458,0.22,2.10,0.00,0.000,6,0.044,0.041,2452,2128,3549
$GC,4769,-0.72,-194.7,685.3,-17.1,554,4774,0.43,2.30,0.00,0.000,4,0.148,0.055,2583,674,3546
$GC,4828,-0.98,-194.7,693.2,-12.1,556,4836,0.17,2.28,0.00,0.000,6,0.048,0.049,2487,2109,3545
$GC,5139,-0.77,-194.7,745.1,-15.3,572,5142,0.28,2.17,0.00,0.000,4,0.141,0.065,2563,3476,3543
$GC,5191,-0.98,-194.7,749.6,-7.2,574,5196,0.12,2.10,0.00,0.000,6,0.055,0.040,2489,2117,3543
$STATE,5485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5485,begin apogee
$GC,5489,-0.20,0.0,794.6,15.2,589,5649,0.82,0.00,153.82,1.228,6,0.139,0.000,2753,2526,2758
$STATE,5649,end apogee,CONTROL_FINISHED_OK
$STATE,5649,begin climb
$GC,5651,0.96,194.7,800.9,0.0,597,5821,1.00,2.03,158.45,1.190,4,0.047,0.066,3136,3686,1963
$GC,6059,0.16,194.7,726.3,26.5,616,6064,0.90,1.85,0.00,0.000,6,0.179,0.041,2879,2530,1958
$GC,6381,0.55,257.8,695.8,9.4,632,6439,0.32,2.00,52.42,1.134,4,0.050,0.064,3016,3693,1708
$GC,6471,0.34,257.8,680.7,18.0,636,6476,0.30,1.90,0.00,0.000,6,0.146,0.040,2932,2511,1705
$GC,6792,0.65,341.8,646.2,8.5,652,6867,0.28,0.00,72.05,1.115,6,0.054,0.000,3047,2508,1364
$GC,7161,0.45,341.8,573.9,20.2,670,7163,0.28,0.00,0.00,0.000,6,0.146,0.000,2967,2508,1358
$GC,7466,0.66,370.0,539.0,10.8,685,7495,0.20,2.28,23.95,1.044,4,0.061,0.054,3061,1132,1249
$GC,7522,0.51,370.0,529.1,20.1,687,7530,0.22,2.28,0.00,0.000,6,0.150,0.048,2991,2512,1247
$GC,7834,0.60,370.0,484.5,14.3,708,7839,0.00,1.90,0.00,0.000,4,0.000,0.062,2991,3685,1245
$GC,7855,0.69,370.0,481.6,14.1,710,7860,0.10,1.85,0.00,0.000,6,0.059,0.041,3053,2506,1244
$GC,8177,0.57,370.0,418.9,19.4,741,8181,0.17,2.20,0.00,0.000,4,0.152,0.052,3012,1123,1243
$GC,8251,0.69,370.0,407.6,13.3,748,8255,0.00,2.22,0.00,0.000,6,0.000,0.048,3012,2511,1242
$GC,8573,0.69,370.0,364.3,12.4,779,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2511,1242
$GC,8883,0.77,370.0,326.3,12.4,809,8887,0.15,2.20,0.00,0.000,4,0.067,0.051,3092,1114,1242
$GC,8919,0.62,370.0,320.2,17.5,812,8928,0.22,2.22,0.00,0.000,6,0.154,0.047,3020,2511,1240
$GC,9241,0.70,370.0,275.0,12.9,860,9249,0.00,1.88,0.00,0.000,4,0.000,0.060,3020,3686,1240
$GC,9285,0.77,370.0,269.3,13.7,868,9293,0.08,1.83,0.00,0.000,6,0.064,0.039,3077,2500,1240
$GC,9613,0.70,370.0,217.0,15.8,929,9619,0.12,2.12,0.00,0.000,4,0.160,0.049,3053,1129,1240
$GC,9655,0.77,370.0,210.6,14.9,937,9661,0.00,2.17,0.00,0.000,6,0.000,0.045,3053,2507,1240
$GC,9981,0.84,382.9,165.5,11.5,998,10001,0.10,2.20,10.52,0.732,4,0.077,0.048,3114,1129,1197
$GC,10043,0.72,382.9,156.2,16.4,1009,10050,0.17,2.15,0.00,0.000,6,0.140,0.044,3056,2492,1197
$GC,10369,0.86,382.9,118.4,14.6,1070,10376,0.12,2.15,0.00,0.000,4,0.067,0.047,3127,1126,1197
$GC,10407,0.77,382.9,111.6,19.6,1077,10414,0.17,2.15,0.00,0.000,6,0.134,0.043,3068,2496,1197
$GC,10735,1.11,500.9,74.8,7.1,1138,10836,0.25,2.28,96.15,0.685,4,0.052,0.046,3200,1130,715
$GC,10878,0.99,500.9,52.2,18.3,1162,10885,0.17,2.20,0.00,0.000,6,0.138,0.041,3144,2493,712
$GC,11204,1.09,500.9,8.3,15.2,1223,11211,0.00,2.17,0.00,0.000,4,0.000,0.044,3153,1123,711
$STATE,11240,end climb,SURFACE_DEPTH_REACHED
$STATE,11240,begin surface coast
$FINISH,2.0,1.021818
$STATE,11246,end surface coast,CONTROL_FINISHED_OK
$STATE,11246,begin surface
$SM_CCo,11320,0.00,0.000,0,0,710,502.62
$SM_GC,2.16,7.62,0.00,0.00,0.037,0.000,0.000,162,2091,710,-8.21,0.57,502.62
$IRIDIUM_FIX,2524.66,12300.33,020998,131358
$TT8_MAMPS,0.049088
$HUMID,1562
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.50
$XPDR_PINGS,109
$24V_AH,24.0,26.968
$10V_AH,10.7,19.553
$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,28.700,98.225,567.375,0.000,0.000,29.550,30.983,213.997,34.000,0.000,0.000,30.761,0.000,7708.119,672.306,2866.019,435.369,0.000,1754.382,0.000,2403.542,0.000,49.571,0.000
$DEVICE_MAMPS,225.498,66.729,1227.967,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,830.828,872.717,1404.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69550,1231
$CAP_FILE_SIZE,132770,0
$CFSIZE,260165632,248233984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212, 87.3,1
$GPS,080609,193507,2529.104,12304.943,39,1.1,39,-3.7