version: 66.04
glider: 165
mission: 2
dive: 127
start: 6 9 109 3 27 7
data:
$ID,165
$MISSION,2
$DIVE,127
$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,-119420.39
$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,44
$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
$GPS1,031707,2526.798,12307.771,26,1.3,26,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.5
$GPS2,032702,2526.774,12307.785,12,1.2,12,-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,172.5,27314,-18.3,-12.000
$D_GRID,808
$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,-194.7,0.0,0.0,0,65,0.00,0.00,-51.65,0.000,2,0.000,0.000,155,2061,2155
$GC,67,-0.96,-194.7,3.2,-4.3,8,113,8.90,0.00,-35.95,0.000,6,0.225,0.000,2498,2060,3556
$GC,433,-0.30,-194.7,130.9,-29.1,75,440,0.70,2.17,0.00,0.000,4,0.145,0.048,2721,675,3559
$GC,444,0.22,-194.7,133.3,-24.7,77,450,0.45,2.17,0.00,0.000,6,0.110,0.039,2886,2069,3559
$GC,770,-0.72,-194.7,158.0,-10.0,138,777,0.77,2.17,0.00,0.000,4,0.062,0.048,2582,672,3561
$GC,888,-0.66,-194.7,174.6,-16.5,160,895,0.00,2.10,0.00,0.000,6,0.000,0.046,2576,2018,3561
$GC,1214,-0.55,-194.7,222.0,-14.2,221,1220,0.20,0.00,0.00,0.000,6,0.131,0.000,2641,2019,3561
$GC,1540,-0.81,-194.7,253.1,-9.0,282,1546,0.22,2.30,0.00,0.000,4,0.051,0.058,2532,3471,3562
$GC,1636,-0.65,-194.7,268.0,-16.1,300,1643,0.20,2.22,0.00,0.000,6,0.126,0.037,2602,2015,3562
$GC,1961,-0.75,-194.7,306.9,-10.8,355,1964,0.00,2.35,0.00,0.000,4,0.000,0.059,2602,3499,3562
$GC,2067,-0.98,-194.7,316.7,-8.4,365,2071,0.20,2.22,0.00,0.000,6,0.032,0.037,2478,2042,3561
$GC,2388,-0.58,-194.7,376.5,-18.9,396,2393,0.47,2.28,0.00,0.000,4,0.140,0.059,2629,3471,3561
$GC,2489,-1.00,-194.7,384.5,-6.1,405,2493,0.30,2.15,0.00,0.000,6,0.035,0.037,2456,2066,3561
$GC,2810,-0.57,-194.7,446.1,-20.9,436,2814,0.55,2.25,0.00,0.000,4,0.140,0.061,2630,3482,3559
$GC,2895,-1.02,-194.7,453.7,-6.2,444,2899,0.32,2.15,0.00,0.000,6,0.037,0.037,2464,2081,3558
$GC,3225,-0.68,-194.7,510.3,-17.0,473,3229,0.43,2.25,0.00,0.000,4,0.138,0.061,2589,3479,3557
$GC,3321,-0.96,-194.7,517.9,-6.3,477,3325,0.17,2.10,0.00,0.000,6,0.044,0.038,2492,2107,3556
$GC,3638,-0.76,-194.7,563.2,-15.2,493,3642,0.22,2.20,0.00,0.000,4,0.138,0.062,2563,3478,3553
$GC,3668,-0.83,-194.7,567.1,-11.8,494,3675,0.00,2.08,0.00,0.000,6,0.000,0.038,2563,2130,3553
$GC,3979,-0.95,-194.7,599.2,-10.5,510,3983,0.15,2.15,0.00,0.000,4,0.066,0.064,2482,3473,3550
$GC,4112,-0.79,-194.7,620.4,-16.9,516,4116,0.22,2.05,0.00,0.000,6,0.129,0.041,2559,2147,3549
$GC,4434,-0.92,-194.7,654.8,-10.4,532,4438,0.10,2.15,0.00,0.000,4,0.081,0.065,2507,3476,3546
$GC,4470,-0.87,-194.7,659.3,-12.4,534,4474,0.08,2.05,0.00,0.000,6,0.140,0.041,2535,2150,3545
$GC,4797,-0.87,-194.7,698.6,-11.3,550,4800,0.00,2.17,0.00,0.000,4,0.000,0.066,2535,3475,3543
$GC,4844,-0.94,-194.7,703.3,-9.4,552,4849,0.00,2.03,0.00,0.000,6,0.000,0.041,2535,2168,3543
$GC,5165,-0.94,-194.7,734.2,-9.9,568,5169,0.00,2.12,0.00,0.000,4,0.000,0.065,2535,3468,3540
$GC,5186,-0.94,-194.7,736.6,-12.3,569,5190,0.00,2.00,0.00,0.000,6,0.000,0.040,2535,2176,3539
$GC,5513,-0.94,-194.7,763.7,-12.0,585,5517,0.00,2.12,0.00,0.000,4,0.000,0.067,2535,3468,3537
$GC,5544,-1.01,-194.7,767.1,-10.8,586,5549,0.10,2.00,0.00,0.000,6,0.058,0.040,2473,2176,3537
$GC,5860,-0.80,-194.7,795.7,-7.1,602,5864,0.28,2.38,0.00,0.000,4,0.147,0.058,2557,667,3534
$GC,5907,-1.04,-194.7,798.0,-3.2,604,5912,0.17,2.35,0.00,0.000,6,0.052,0.048,2469,2147,3534
$STATE,5983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5983,begin apogee
$GC,5987,-0.20,0.0,808.6,15.8,608,6147,0.88,0.00,153.02,1.249,6,0.143,0.000,2749,2526,2759
$STATE,6147,end apogee,CONTROL_FINISHED_OK
$STATE,6147,begin climb
$GC,6149,0.96,194.7,822.3,0.0,616,6320,1.00,2.05,160.00,1.216,4,0.041,0.065,3135,3687,1964
$GC,6500,0.24,194.7,761.5,28.4,632,6504,0.82,1.85,0.00,0.000,6,0.171,0.041,2899,2531,1958
$GC,6816,0.73,389.2,742.5,4.0,648,6988,0.43,2.45,165.30,1.167,4,0.048,0.054,3084,1115,1172
$GC,7098,0.56,389.2,696.1,17.2,661,7103,0.25,2.33,0.00,0.000,6,0.153,0.051,3006,2510,1166
$GC,7420,0.61,389.2,654.3,14.2,677,7424,0.00,2.28,0.00,0.000,4,0.000,0.053,3015,1117,1163
$GC,7537,0.68,389.2,636.9,15.0,682,7541,0.00,2.22,0.00,0.000,6,0.000,0.048,3015,2493,1162
$GC,7852,0.68,389.2,580.6,19.1,698,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2493,1161
$GC,8158,0.73,389.2,530.9,16.4,713,8162,0.12,2.20,0.00,0.000,4,0.074,0.053,3085,1125,1161
$GC,8324,0.58,389.2,499.0,19.5,720,8331,0.22,2.20,0.00,0.000,6,0.150,0.051,3012,2493,1160
$GC,8639,0.65,389.2,448.0,17.7,751,8643,0.00,2.20,0.00,0.000,4,0.000,0.050,3022,1116,1159
$GC,8718,0.75,389.2,434.1,17.8,758,8726,0.08,2.12,0.00,0.000,6,0.064,0.048,3073,2449,1158
$GC,9035,0.61,389.2,368.7,18.8,789,9038,0.20,2.10,0.00,0.000,4,0.151,0.051,3023,1109,1158
$GC,9077,0.70,389.2,362.0,14.0,793,9080,0.00,2.10,0.00,0.000,6,0.000,0.046,3024,2440,1156
$GC,9398,0.80,389.2,312.1,14.7,824,9399,0.15,0.00,0.00,0.000,6,0.065,0.000,3097,2441,1157
$GC,9716,0.63,389.2,245.9,21.1,878,9722,0.25,0.00,0.00,0.000,6,0.144,0.000,3023,2441,1157
$GC,10042,0.84,413.1,204.4,11.0,939,10067,0.20,2.08,18.83,0.811,4,0.058,0.049,3127,1114,1074
$GC,10194,0.69,413.1,176.5,18.5,967,10201,0.25,2.10,0.00,0.000,6,0.142,0.046,3045,2433,1072
$GC,10521,0.89,429.1,137.9,11.3,1028,10542,0.17,2.08,14.82,0.734,4,0.055,0.048,3140,1118,1009
$GC,10573,0.79,429.1,129.7,17.2,1037,10581,0.20,2.10,0.00,0.000,6,0.133,0.044,3074,2445,1008
$GC,10901,1.04,457.4,87.1,10.8,1098,10933,0.22,2.15,24.38,0.701,4,0.051,0.047,3188,1113,893
$GC,11098,0.92,457.4,51.8,18.3,1134,11104,0.20,2.08,0.00,0.000,6,0.134,0.042,3121,2425,891
$GC,11424,1.12,457.4,10.1,12.6,1195,11431,0.15,2.05,0.00,0.000,4,0.061,0.044,3207,1112,889
$STATE,11465,end climb,SURFACE_DEPTH_REACHED
$STATE,11466,begin surface coast
$FINISH,1.7,1.021800
$STATE,11471,end surface coast,CONTROL_FINISHED_OK
$STATE,11471,begin surface
$SM_CCo,11546,0.00,0.000,0,0,889,458.71
$SM_GC,2.28,7.68,0.00,0.00,0.033,0.000,0.000,159,2104,889,-8.22,0.90,458.71
$IRIDIUM_FIX,2517.50,12304.33,030998,030340
$TT8_MAMPS,0.049088
$HUMID,1571
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.40
$XPDR_PINGS,117
$24V_AH,23.9,27.573
$10V_AH,10.7,19.918
$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,28.700,103.625,536.350,0.000,0.000,55.296,70.874,303.092,35.750,0.000,0.000,14.665,0.000,7973.559,627.962,2912.017,602.740,0.000,1730.231,0.000,2466.363,0.000,45.312,0.000
$DEVICE_MAMPS,225.498,66.729,1249.443,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,814.189,845.002,1345.721,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69495,1204
$CAP_FILE_SIZE,137032,0
$CFSIZE,260165632,247980032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.328, 77.4,1
$GPS,090609,064031,2525.348,12309.766,40,1.0,40,-3.7