version: 66.04
glider: 165
mission: 2
dive: 128
start: 6 9 109 6 53 12
data:
$ID,165
$MISSION,2
$DIVE,128
$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,330
$T_MISSION,396
$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,175
$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,-119436.93
$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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,064031,2525.348,12309.766,40,1.0,40,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-66.7
$GPS2,065307,2525.445,12309.735,9,1.4,14,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_4
$TGT_LATLONG,2506.900,12323.900
$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,194.0,41760,-16.8,-10.000
$D_GRID,774
$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,-0.87,-170.3,0.0,0.0,0,67,0.00,0.00,-52.80,0.000,2,0.000,0.000,156,2104,2228
$GC,68,-0.87,-170.3,3.4,-5.1,8,113,9.10,0.00,-32.05,0.000,6,0.229,0.000,2531,2104,3455
$GC,433,-0.22,-170.3,109.0,-25.0,75,440,0.68,2.25,0.00,0.000,4,0.145,0.054,2748,658,3458
$GC,497,-0.75,-170.3,115.5,-6.3,87,504,0.40,2.20,0.00,0.000,6,0.032,0.044,2545,2066,3459
$GC,824,-0.31,-170.3,183.2,-21.2,148,830,0.52,2.20,0.00,0.000,4,0.135,0.060,2705,3468,3460
$GC,974,-0.89,-170.3,194.4,-6.4,176,981,0.38,2.08,0.00,0.000,6,0.047,0.035,2516,2093,3461
$GC,1301,-0.40,-170.3,253.6,-19.3,237,1307,0.50,2.20,0.00,0.000,4,0.137,0.050,2683,672,3461
$GC,1387,-0.84,-170.3,260.9,-5.3,253,1393,0.35,2.17,0.00,0.000,6,0.038,0.041,2512,2095,3461
$GC,1710,-0.44,-170.3,314.8,-16.8,306,1714,0.50,2.17,0.00,0.000,4,0.130,0.058,2673,3485,3461
$GC,1795,-0.91,-170.3,320.9,-6.1,314,1799,0.35,2.08,0.00,0.000,6,0.033,0.035,2487,2115,3461
$GC,2116,-0.44,-170.3,383.7,-19.9,345,2120,0.57,2.17,0.00,0.000,4,0.134,0.061,2674,3468,3461
$GC,2180,-0.97,-170.3,389.2,-5.8,351,2184,0.40,2.05,0.00,0.000,6,0.036,0.036,2476,2122,3460
$GC,2500,-0.52,-170.3,447.7,-18.0,382,2504,0.52,2.25,0.00,0.000,4,0.133,0.051,2646,679,3460
$GC,2543,-0.88,-170.3,452.1,-6.7,386,2547,0.25,2.25,0.00,0.000,6,0.038,0.042,2508,2129,3460
$GC,2864,-0.58,-170.3,497.4,-14.2,417,2868,0.38,2.12,0.00,0.000,4,0.130,0.061,2630,3479,3457
$GC,2890,-0.70,-170.3,500.3,-10.1,419,2897,0.08,2.08,0.00,0.000,6,0.054,0.037,2565,2120,3457
$GC,3200,-0.70,-170.3,530.4,-9.4,435,3204,0.00,2.20,0.00,0.000,4,0.000,0.061,2563,3477,3454
$GC,3258,-0.70,-170.3,536.1,-9.8,437,3265,0.00,2.05,0.00,0.000,6,0.000,0.038,2563,2138,3453
$GC,3569,-0.70,-170.3,567.9,-9.6,453,3573,0.10,2.15,0.00,0.000,4,0.144,0.061,2590,3469,3451
$GC,3665,-0.90,-170.3,575.2,-6.8,457,3669,0.12,2.03,0.00,0.000,6,0.049,0.038,2513,2146,3450
$GC,3981,-0.70,-170.3,611.6,-11.5,473,3982,0.25,0.00,0.00,0.000,6,0.130,0.000,2591,2141,3448
$GC,4286,-0.85,-170.3,632.3,-7.0,488,4290,0.12,2.15,0.00,0.000,4,0.071,0.065,2531,3467,3445
$GC,4387,-0.79,-170.3,642.7,-10.6,492,4394,0.08,2.03,0.00,0.000,6,0.136,0.040,2559,2154,3445
$GC,4698,-0.79,-170.3,673.2,-9.9,508,4701,0.00,2.15,0.00,0.000,4,0.000,0.067,2559,3469,3442
$GC,4809,-0.87,-170.3,683.2,-8.6,513,4813,0.00,2.00,0.00,0.000,6,0.000,0.041,2559,2176,3441
$GC,5131,-0.87,-170.3,712.5,-9.4,529,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2172,3439
$GC,5435,-0.87,-170.3,737.7,-8.0,544,5439,0.00,2.40,0.00,0.000,4,0.000,0.058,2560,672,3436
$GC,5472,-0.87,-170.3,741.4,-9.2,545,5479,0.00,2.38,0.00,0.000,6,0.000,0.051,2560,2158,3436
$GC,5783,-0.87,-170.3,764.6,-6.5,561,5787,0.00,2.12,0.00,0.000,4,0.000,0.067,2560,3465,3434
$GC,5809,-0.92,-170.3,766.2,-6.5,562,5813,0.08,2.00,0.00,0.000,6,0.062,0.041,2507,2173,3433
$STATE,5884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5884,begin apogee
$GC,5888,-0.20,0.0,774.3,11.0,566,6027,0.75,0.00,132.80,1.220,6,0.133,0.000,2752,2525,2759
$STATE,6028,end apogee,CONTROL_FINISHED_OK
$STATE,6028,begin climb
$GC,6029,0.87,170.3,779.4,0.0,573,6174,0.93,2.00,138.80,1.186,4,0.047,0.067,3109,3692,2063
$GC,6275,0.17,170.3,751.5,22.0,583,6281,0.80,1.88,0.00,0.000,6,0.170,0.042,2872,2532,2058
$GC,6585,0.62,334.2,735.2,3.5,599,6732,0.40,2.42,137.32,1.157,4,0.047,0.054,3051,1124,1395
$GC,6871,0.42,334.2,689.7,19.1,612,6875,0.28,2.30,0.00,0.000,6,0.143,0.050,2963,2514,1389
$GC,7187,0.54,334.2,653.8,11.1,628,7191,0.00,2.28,0.00,0.000,4,0.000,0.052,2972,1120,1388
$GC,7208,0.65,334.2,651.7,10.4,629,7212,0.12,2.25,0.00,0.000,6,0.054,0.048,3040,2512,1386
$GC,7534,0.44,334.2,591.4,19.2,645,7535,0.28,0.00,0.00,0.000,6,0.145,0.000,2959,2512,1386
$GC,7839,0.59,334.2,551.9,12.7,660,7844,0.15,2.22,0.00,0.000,4,0.065,0.051,3037,1125,1385
$GC,7870,0.51,334.2,546.7,17.7,661,7875,0.15,2.22,0.00,0.000,6,0.139,0.048,2988,2512,1383
$GC,8186,0.51,334.2,499.6,14.2,677,8191,0.00,2.22,0.00,0.000,4,0.000,0.050,2997,1123,1383
$GC,8218,0.56,334.2,495.1,14.4,680,8222,0.00,2.20,0.00,0.000,6,0.000,0.048,2996,2502,1382
$GC,8540,0.56,334.2,446.2,14.1,711,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2502,1382
$GC,8850,0.56,334.2,410.6,11.2,741,8854,0.00,2.20,0.00,0.000,4,0.000,0.051,3007,1105,1380
$GC,8945,0.62,334.2,399.4,12.3,750,8950,0.00,2.17,0.00,0.000,6,0.000,0.047,3007,2478,1380
$GC,9268,0.62,334.2,356.1,13.8,781,9271,0.00,1.90,0.00,0.000,4,0.000,0.063,3007,3683,1380
$GC,9324,0.62,334.2,348.0,14.0,786,9333,0.00,1.88,0.00,0.000,6,0.000,0.040,3016,2470,1381
$GC,9641,0.62,334.2,308.2,12.5,817,9644,0.00,2.10,0.00,0.000,4,0.000,0.050,3025,1109,1381
$GC,9716,0.68,334.2,298.4,12.7,825,9721,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,2490,1379
$GC,10041,0.68,334.2,255.6,13.8,886,10049,0.00,2.17,0.00,0.000,4,0.000,0.048,3034,1117,1379
$GC,10079,0.68,334.2,250.3,12.3,893,10086,0.00,2.12,0.00,0.000,6,0.000,0.045,3035,2468,1379
$GC,10405,0.68,334.2,208.4,12.5,954,10413,0.00,2.12,0.00,0.000,4,0.000,0.048,3043,1120,1379
$GC,10508,0.68,334.2,196.0,11.4,973,10515,0.00,2.05,0.00,0.000,6,0.000,0.044,3043,2427,1379
$GC,10834,0.68,334.2,159.2,11.9,1034,10842,0.00,2.08,0.00,0.000,4,0.000,0.047,3052,1106,1379
$GC,10889,0.77,334.2,153.1,12.0,1044,10895,0.00,2.08,0.00,0.000,6,0.000,0.043,3052,2435,1379
$GC,11215,0.83,334.2,118.1,10.3,1105,11222,0.10,1.95,0.00,0.000,4,0.075,0.057,3109,3677,1379
$GC,11339,0.68,334.2,102.0,13.0,1128,11345,0.22,1.85,0.00,0.000,6,0.128,0.037,3040,2452,1379
$GC,11665,1.00,397.4,78.2,7.5,1189,11723,0.28,2.12,49.47,0.679,4,0.048,0.046,3178,1117,1137
$GC,11877,0.81,397.4,44.9,14.5,1227,11884,0.30,2.12,0.00,0.000,6,0.131,0.041,3079,2462,1135
$GC,12204,1.06,409.4,15.3,9.5,1288,12224,0.22,1.95,10.48,0.572,4,0.051,0.052,3187,3690,1089
$GC,12255,0.78,409.4,8.3,13.8,1297,12262,0.38,1.92,0.00,0.000,6,0.133,0.035,3073,2427,1089
$STATE,12329,end climb,SURFACE_DEPTH_REACHED
$STATE,12329,begin surface coast
$FINISH,1.4,1.000052
$STATE,12393,end surface coast,CONTROL_FINISHED_OK
$STATE,12393,begin surface
$SM_CCo,12407,20.23,0.592,0,0,984,435.16
$SM_GC,2.00,0.00,0.00,20.23,0.000,0.000,0.592,154,2064,984,-8.33,-0.20,435.16
$IRIDIUM_FIX,2515.12,12311.63,030998,060619
$TT8_MAMPS,0.049088
$HUMID,1541
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.30
$XPDR_PINGS,120
$24V_AH,24.0,27.756
$10V_AH,10.7,20.042
$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,28.400,116.025,468.875,20.225,0.000,92.310,101.571,333.949,35.750,0.000,0.000,15.911,0.000,8729.532,625.331,3086.499,721.278,0.000,1777.013,0.000,2614.671,0.000,39.089,0.000
$DEVICE_MAMPS,229.333,67.496,1219.530,592.124,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,893.622,952.441,1524.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75884,1323
$CAP_FILE_SIZE,145188,0
$CFSIZE,260165632,247885824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.300, 68.7,1
$GPS,090609,102127,2524.526,12311.211,28,2.1,47,-3.7