version: 66.04
glider: 165
mission: 2
dive: 126
start: 6 8 109 23 47 11
data:
$ID,165
$MISSION,2
$DIVE,126
$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,-119405.09
$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,54
$R_STBD_OVSHOOT,28
$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
$GPS1,233807,2527.966,12306.523,26,1.6,26,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-67.7
$GPS2,234706,2528.041,12306.562,15,1.2,31,-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,175.3,30405,-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,-194.7,0.0,0.0,0,71,0.00,0.00,-56.60,0.000,2,0.000,0.000,162,2037,2083
$GC,73,-0.96,-194.7,3.2,-4.0,9,130,8.90,2.17,-41.33,0.000,4,0.226,0.062,2507,675,3555
$GC,145,-0.12,-194.7,16.5,-35.0,21,152,0.88,2.20,0.00,0.000,6,0.161,0.041,2768,2069,3555
$GC,471,-0.53,-194.7,51.3,-9.9,82,478,0.32,2.22,0.00,0.000,4,0.041,0.054,2609,3467,3557
$GC,536,-0.26,-194.7,64.8,-24.7,94,542,0.35,2.12,0.00,0.000,6,0.126,0.035,2730,2083,3557
$GC,862,-0.60,-194.7,98.5,-9.7,155,870,0.28,2.20,0.00,0.000,4,0.044,0.048,2593,667,3558
$GC,890,-0.54,-194.7,103.0,-17.6,160,897,0.15,2.20,0.00,0.000,6,0.133,0.045,2643,2080,3558
$GC,1217,-0.60,-194.7,148.0,-9.3,221,1223,0.00,2.20,0.00,0.000,4,0.000,0.057,2642,3468,3559
$GC,1238,-0.70,-194.7,149.9,-9.0,225,1245,0.10,2.10,0.00,0.000,6,0.050,0.034,2563,2082,3559
$GC,1564,-0.37,-194.7,206.5,-19.1,286,1571,0.43,2.22,0.00,0.000,4,0.137,0.058,2698,3471,3560
$GC,1618,-0.92,-194.7,210.8,-4.8,296,1626,0.43,2.10,0.00,0.000,6,0.032,0.039,2481,2087,3560
$GC,1946,-0.37,-194.7,280.7,-22.6,357,1952,0.65,2.17,0.00,0.000,4,0.145,0.049,2693,671,3561
$GC,2021,-0.97,-194.7,288.4,-6.5,371,2029,0.43,2.20,0.00,0.000,6,0.030,0.040,2471,2096,3561
$GC,2345,-0.45,-194.7,357.7,-22.6,408,2349,0.62,2.15,0.00,0.000,4,0.145,0.058,2661,3473,3561
$GC,2430,-1.00,-194.7,364.6,-5.0,416,2434,0.38,2.05,0.00,0.000,6,0.033,0.035,2465,2120,3561
$GC,2752,-0.52,-194.7,425.7,-19.6,447,2755,0.55,2.22,0.00,0.000,4,0.139,0.050,2646,664,3561
$GC,2820,-0.99,-194.7,430.9,-4.8,453,2827,0.35,2.25,0.00,0.000,6,0.035,0.041,2471,2114,3561
$GC,3135,-0.62,-194.7,485.5,-18.1,484,3140,0.47,2.17,0.00,0.000,4,0.141,0.061,2616,3476,3559
$GC,3210,-1.00,-194.7,491.8,-6.4,491,3214,0.28,2.08,0.00,0.000,6,0.038,0.037,2471,2117,3558
$GC,3527,-0.66,-194.7,545.2,-18.1,510,3531,0.43,2.22,0.00,0.000,4,0.138,0.052,2605,672,3557
$GC,3580,-0.99,-194.7,551.0,-8.1,512,3584,0.25,2.28,0.00,0.000,6,0.041,0.045,2478,2120,3556
$GC,3896,-0.71,-194.7,598.8,-14.7,528,3900,0.35,2.17,0.00,0.000,4,0.140,0.064,2586,3472,3553
$GC,3986,-1.02,-194.7,605.9,-5.9,532,3990,0.22,2.08,0.00,0.000,6,0.041,0.038,2467,2123,3552
$GC,4307,-0.69,-194.7,656.5,-17.3,548,4308,0.40,0.00,0.00,0.000,6,0.140,0.000,2592,2120,3548
$GC,4612,-0.97,-194.7,681.4,-8.7,563,4616,0.25,2.20,0.00,0.000,4,0.054,0.066,2479,3471,3545
$GC,4633,-0.97,-194.7,683.9,-12.4,564,4638,0.00,2.08,0.00,0.000,6,0.000,0.041,2479,2128,3544
$GC,4960,-0.71,-194.7,736.9,-15.7,580,4964,0.35,2.28,0.00,0.000,4,0.142,0.056,2588,673,3541
$GC,4997,-0.92,-194.7,740.9,-8.3,582,5001,0.15,2.30,0.00,0.000,6,0.050,0.048,2507,2123,3541
$GC,5325,-0.83,-194.7,776.2,-11.2,598,5329,0.15,2.17,0.00,0.000,4,0.143,0.067,2550,3476,3538
$GC,5414,-0.99,-194.7,783.1,-7.3,602,5419,0.10,2.08,0.00,0.000,6,0.055,0.041,2483,2139,3537
$GC,5731,-0.75,-194.7,826.2,-15.9,618,5735,0.30,2.17,0.00,0.000,4,0.143,0.067,2573,3474,3536
$GC,5762,-0.91,-194.7,830.1,-10.3,619,5770,0.12,2.05,0.00,0.000,6,0.052,0.041,2501,2154,3535
$STATE,6030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6030,begin apogee
$GC,6034,-0.20,0.0,867.3,14.9,633,6194,0.77,0.00,153.90,1.286,6,0.135,0.000,2751,2518,2758
$STATE,6194,end apogee,CONTROL_FINISHED_OK
$STATE,6195,begin climb
$GC,6196,0.96,194.7,874.3,0.0,641,6362,1.02,2.08,160.05,1.248,4,0.041,0.067,3145,3687,1964
$GC,6388,0.21,194.7,851.4,25.8,650,6393,0.93,1.90,0.00,0.000,6,0.178,0.042,2892,2536,1962
$GC,6709,0.60,318.3,824.6,6.9,666,6820,0.32,2.40,105.32,1.216,4,0.051,0.054,3037,1113,1459
$GC,6845,0.44,318.3,801.6,20.5,672,6854,0.22,2.38,0.00,0.000,6,0.144,0.050,2968,2513,1457
$GC,7156,0.53,318.3,756.7,13.7,688,7160,0.00,1.92,0.00,0.000,4,0.000,0.065,2968,3684,1452
$GC,7187,0.59,318.3,752.0,14.7,689,7192,0.00,1.83,0.00,0.000,6,0.000,0.041,2975,2522,1452
$GC,7503,0.66,318.3,707.5,14.0,705,7507,0.15,2.25,0.00,0.000,4,0.068,0.053,3050,1120,1450
$GC,7583,0.49,318.3,692.1,20.8,708,7592,0.20,2.25,0.00,0.000,6,0.151,0.049,2985,2513,1449
$GC,7894,0.49,318.3,644.6,14.0,724,7898,0.00,2.25,0.00,0.000,4,0.000,0.052,2993,1117,1449
$GC,7935,0.49,318.3,638.6,14.4,726,7940,0.00,2.22,0.00,0.000,6,0.000,0.048,2994,2504,1448
$GC,8262,0.49,318.3,587.5,16.2,742,8266,0.00,2.22,0.00,0.000,4,0.000,0.052,3003,1124,1448
$GC,8288,0.49,318.3,583.4,15.5,743,8293,0.00,2.17,0.00,0.000,6,0.000,0.048,3003,2487,1447
$GC,8609,0.44,318.3,534.4,15.2,759,8614,0.15,1.92,0.00,0.000,4,0.146,0.064,2961,3682,1447
$GC,8684,0.58,318.3,524.4,12.3,762,8688,0.08,1.85,0.00,0.000,6,0.064,0.042,3016,2488,1446
$GC,9003,0.51,318.3,473.5,17.5,785,9007,0.12,2.12,0.00,0.000,4,0.150,0.051,2991,1117,1446
$GC,9088,0.63,318.3,460.6,13.7,793,9091,0.00,2.17,0.00,0.000,6,0.000,0.049,2991,2482,1445
$GC,9409,0.70,318.3,414.4,14.3,824,9412,0.15,2.15,0.00,0.000,4,0.068,0.051,3067,1114,1445
$GC,9461,0.51,318.3,404.5,19.4,829,9466,0.25,2.17,0.00,0.000,6,0.152,0.048,2986,2477,1444
$GC,9782,0.64,318.3,361.2,12.5,860,9783,0.12,0.00,0.00,0.000,6,0.074,0.000,3044,2477,1444
$GC,10093,0.55,318.3,309.7,16.0,890,10095,0.17,0.00,0.00,0.000,6,0.143,0.000,2992,2477,1444
$GC,10410,0.74,343.4,272.5,11.0,942,10436,0.17,2.17,19.50,0.872,4,0.061,0.051,3082,1114,1357
$GC,10456,0.59,343.4,265.2,17.9,950,10463,0.22,2.17,0.00,0.000,6,0.146,0.046,3010,2470,1356
$GC,10783,0.75,365.1,222.8,11.1,1011,10809,0.15,2.15,19.33,0.817,4,0.065,0.048,3092,1124,1269
$GC,10823,0.62,365.1,217.1,15.6,1018,10831,0.20,2.17,0.00,0.000,6,0.144,0.044,3027,2475,1267
$GC,11150,0.78,365.1,178.7,12.9,1079,11157,0.12,2.15,0.00,0.000,4,0.067,0.048,3103,1124,1267
$GC,11236,0.67,365.1,163.8,17.7,1095,11243,0.20,2.10,0.00,0.000,6,0.140,0.044,3037,2452,1266
$GC,11563,0.97,462.0,125.5,8.0,1156,11648,0.25,2.08,79.32,0.740,4,0.049,0.057,3149,3687,874
$GC,11663,0.81,462.0,110.0,17.1,1172,11671,0.22,1.95,0.00,0.000,6,0.133,0.038,3084,2469,872
$GC,11991,1.06,462.0,69.2,12.8,1233,11997,0.20,2.12,0.00,0.000,4,0.053,0.048,3189,1124,869
$GC,12065,0.97,462.0,57.0,16.9,1247,12072,0.17,2.10,0.00,0.000,6,0.137,0.041,3131,2457,869
$GC,12392,1.07,462.0,13.3,14.0,1308,12400,0.00,2.10,0.00,0.000,4,0.000,0.045,3140,1125,869
$GC,12436,1.19,462.0,7.5,12.7,1316,12444,0.12,2.05,0.00,0.000,6,0.044,0.041,3216,2438,869
$STATE,12463,end climb,SURFACE_DEPTH_REACHED
$STATE,12463,begin surface coast
$FINISH,1.7,1.021839
$STATE,12479,end surface coast,CONTROL_FINISHED_OK
$STATE,12479,begin surface
$SM_CCo,12552,0.00,0.000,0,0,868,464.11
$SM_GC,2.46,7.70,0.00,0.00,0.033,0.000,0.000,162,2061,868,-8.21,-0.25,464.11
$IRIDIUM_FIX,2522.28,12250.42,020998,191931
$TT8_MAMPS,0.047554
$HUMID,1568
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.50
$XPDR_PINGS,164
$24V_AH,23.9,27.370
$10V_AH,10.7,19.805
$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,33.050,129.925,537.425,0.000,0.000,56.489,63.135,235.831,47.750,0.000,0.000,33.780,0.000,8751.125,691.084,3089.162,532.198,0.000,1844.876,0.000,2580.467,0.000,45.708,0.000
$DEVICE_MAMPS,226.265,67.496,1286.259,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,893.737,961.656,1534.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75763,1324
$CAP_FILE_SIZE,150929,0
$CFSIZE,260165632,248041472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193, 50.4,1
$GPS,090609,031707,2526.798,12307.771,26,1.3,26,-3.7