version: 66.04
glider: 165
mission: 2
dive: 175
start: 6 17 109 21 29 18
data:
$ID,165
$MISSION,2
$DIVE,175
$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,-120340.41
$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,37
$R_STBD_OVSHOOT,31
$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
$GPS1,212307,2533.117,12329.405,37,1.0,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-72.8
$GPS2,212913,2533.264,12329.478,10,1.1,10,-3.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,202.5,39794,-16.8,-10.000
$D_GRID,712
$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,-170.3,0.0,0.0,0,50,0.00,0.00,-35.95,0.000,2,0.000,0.000,161,2056,1874
$GC,52,-0.87,-170.3,3.2,-3.2,5,115,9.07,2.25,-45.10,0.000,4,0.226,0.058,2532,654,3456
$GC,189,-0.22,-170.3,37.8,-29.9,29,196,0.65,2.25,0.00,0.000,6,0.146,0.046,2742,2080,3457
$GC,516,-0.59,-170.3,64.8,-7.1,90,522,0.30,2.20,0.00,0.000,4,0.041,0.053,2589,3470,3459
$GC,564,-0.35,-170.3,71.6,-16.5,99,572,0.32,2.15,0.00,0.000,6,0.124,0.035,2702,2062,3460
$GC,892,-0.61,-170.3,99.1,-5.8,160,898,0.22,2.22,0.00,0.000,4,0.049,0.053,2586,3473,3461
$GC,962,-0.51,-170.3,106.2,-11.8,173,968,0.17,2.10,0.00,0.000,6,0.114,0.039,2652,2084,3461
$GC,1288,-0.69,-170.3,132.1,-7.8,234,1294,0.15,2.15,0.00,0.000,4,0.060,0.048,2569,679,3463
$GC,1315,-0.63,-170.3,135.0,-12.3,239,1323,0.12,2.20,0.00,0.000,6,0.122,0.040,2609,2092,3463
$GC,1643,-0.63,-170.3,167.9,-8.4,300,1649,0.00,2.20,0.00,0.000,4,0.000,0.057,2603,3472,3463
$GC,1739,-0.69,-170.3,176.1,-8.4,318,1745,0.00,2.05,0.00,0.000,6,0.000,0.034,2603,2114,3464
$GC,2065,-0.69,-170.3,206.4,-9.0,379,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2112,3463
$GC,2390,-0.69,-170.3,236.7,-9.5,440,2397,0.00,2.20,0.00,0.000,4,0.000,0.057,2603,3478,3463
$GC,2422,-0.77,-170.3,239.7,-9.3,446,2429,0.00,2.10,0.00,0.000,6,0.000,0.035,2603,2101,3463
$GC,2749,-0.82,-170.3,268.4,-9.5,507,2755,0.15,0.00,0.00,0.000,6,0.061,0.000,2526,2099,3463
$GC,3071,-0.55,-170.3,316.3,-14.9,558,3076,0.35,2.20,0.00,0.000,4,0.129,0.058,2630,3468,3462
$GC,3104,-0.77,-170.3,319.6,-8.7,561,3108,0.15,2.05,0.00,0.000,6,0.057,0.036,2547,2103,3462
$GC,3424,-0.62,-170.3,360.7,-12.2,592,3428,0.22,2.20,0.00,0.000,4,0.127,0.059,2616,3469,3462
$GC,3456,-0.84,-170.3,363.9,-8.8,595,3460,0.15,2.08,0.00,0.000,6,0.042,0.036,2527,2107,3461
$GC,3777,-0.62,-170.3,403.3,-12.7,626,3778,0.30,0.00,0.00,0.000,6,0.127,0.000,2623,2103,3461
$GC,4088,-0.86,-170.3,423.6,-6.6,656,4092,0.20,2.17,0.00,0.000,4,0.054,0.061,2519,3471,3459
$GC,4184,-0.70,-170.3,434.7,-12.9,665,4187,0.17,2.10,0.00,0.000,6,0.123,0.038,2592,2105,3458
$GC,4504,-0.81,-170.3,462.3,-8.9,696,4508,0.00,2.22,0.00,0.000,4,0.000,0.061,2590,3473,3457
$GC,4568,-0.97,-170.3,467.9,-8.9,702,4572,0.17,2.08,0.00,0.000,6,0.044,0.038,2492,2125,3456
$GC,4887,-0.64,-170.3,516.1,-14.6,728,4891,0.38,2.20,0.00,0.000,4,0.134,0.061,2603,3476,3453
$GC,4935,-0.89,-170.3,520.1,-6.4,730,4939,0.15,2.05,0.00,0.000,6,0.044,0.038,2515,2145,3453
$GC,5257,-0.67,-170.3,558.4,-11.8,746,5258,0.28,0.00,0.00,0.000,6,0.130,0.000,2601,2140,3451
$GC,5561,-0.86,-170.3,578.6,-6.2,761,5565,0.17,2.17,0.00,0.000,4,0.058,0.064,2517,3472,3449
$GC,5609,-0.72,-170.3,583.4,-11.2,763,5613,0.17,2.05,0.00,0.000,6,0.123,0.039,2579,2149,3448
$GC,5930,-0.82,-170.3,609.5,-7.7,779,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,2579,2145,3447
$GC,6235,-0.93,-170.3,631.5,-7.3,794,6239,0.17,2.17,0.00,0.000,4,0.061,0.064,2497,3495,3444
$GC,6278,-0.72,-170.3,636.1,-12.2,796,6281,0.25,2.10,0.00,0.000,6,0.128,0.041,2594,2145,3444
$GC,6605,-0.91,-170.3,659.9,-6.5,812,6606,0.20,0.00,0.00,0.000,6,0.058,0.000,2504,2140,3443
$GC,6909,-0.67,-170.3,699.1,-13.8,827,6910,0.32,0.00,0.00,0.000,6,0.136,0.000,2605,2140,3440
$STATE,7090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7090,begin apogee
$GC,7094,-0.20,0.0,713.2,7.1,836,7234,0.45,0.00,133.52,1.184,6,0.105,0.000,2758,2523,2757
$STATE,7235,end apogee,CONTROL_FINISHED_OK
$STATE,7235,begin climb
$GC,7236,0.87,170.3,720.3,0.0,843,7380,0.90,2.00,137.75,1.150,4,0.046,0.066,3110,3693,2063
$GC,7513,0.16,170.3,687.6,20.3,856,7517,0.77,1.85,0.00,0.000,6,0.163,0.041,2876,2536,2057
$GC,7840,0.57,294.4,667.5,5.1,872,7949,0.35,2.42,102.53,1.123,4,0.047,0.052,3033,1122,1557
$GC,8030,0.41,294.4,639.6,15.8,881,8034,0.25,2.30,0.00,0.000,6,0.140,0.049,2956,2507,1552
$GC,8356,0.52,294.4,604.2,10.9,897,8360,0.00,2.25,0.00,0.000,4,0.000,0.051,2964,1124,1550
$GC,8404,0.65,294.4,598.8,11.6,899,8408,0.15,2.22,0.00,0.000,6,0.049,0.047,3040,2502,1548
$GC,8725,0.44,294.4,544.5,17.0,915,8727,0.28,0.00,0.00,0.000,6,0.139,0.000,2957,2503,1547
$GC,9030,0.57,294.4,511.9,10.5,930,9032,0.15,0.00,0.00,0.000,6,0.064,0.000,3027,2503,1547
$GC,9340,0.41,294.4,464.0,15.8,955,9341,0.25,0.00,0.00,0.000,6,0.139,0.000,2953,2503,1546
$GC,9651,0.61,312.6,432.2,9.3,985,9672,0.17,2.25,14.65,0.976,4,0.059,0.051,3043,1120,1483
$GC,9708,0.49,312.6,424.4,14.0,990,9715,0.20,2.25,0.00,0.000,6,0.136,0.045,2978,2513,1482
$GC,10024,0.62,331.9,392.4,9.2,1021,10047,0.12,2.30,17.60,0.955,4,0.071,0.049,3045,1113,1404
$GC,10099,0.53,331.9,382.7,13.3,1028,10103,0.15,2.25,0.00,0.000,6,0.135,0.046,2996,2503,1402
$GC,10420,0.60,331.9,346.5,11.9,1059,10424,0.00,2.22,0.00,0.000,4,0.000,0.048,3004,1114,1401
$GC,10485,0.69,331.9,338.9,11.7,1065,10488,0.10,2.20,0.00,0.000,6,0.077,0.046,3055,2508,1401
$GC,10802,0.54,331.9,288.7,16.1,1102,10808,0.20,0.00,0.00,0.000,6,0.139,0.000,2995,2509,1401
$GC,11128,0.70,355.7,253.8,9.1,1163,11154,0.15,2.28,20.62,0.858,4,0.063,0.048,3077,1116,1307
$GC,11201,0.55,355.7,243.4,15.3,1176,11208,0.25,2.20,0.00,0.000,6,0.140,0.044,2996,2489,1305
$GC,11529,0.78,385.4,211.7,8.8,1237,11560,0.17,2.17,25.23,0.822,4,0.058,0.047,3096,1119,1188
$GC,11575,0.63,385.4,205.0,16.3,1245,11581,0.22,2.20,0.00,0.000,6,0.142,0.044,3013,2486,1186
$GC,11901,0.83,402.0,172.5,9.3,1306,11922,0.20,2.15,15.25,0.765,4,0.052,0.046,3125,1124,1119
$GC,11959,0.60,402.0,163.0,18.3,1316,11965,0.32,2.15,0.00,0.000,6,0.142,0.043,3021,2468,1118
$GC,12285,0.83,402.0,127.0,11.2,1377,12292,0.17,2.12,0.00,0.000,4,0.053,0.045,3124,1125,1117
$GC,12381,0.68,402.0,109.7,18.7,1395,12389,0.25,2.10,0.00,0.000,6,0.133,0.042,3041,2452,1116
$GC,12709,1.03,476.1,76.6,7.1,1456,12778,0.30,2.03,60.00,0.705,4,0.042,0.055,3184,3683,817
$GC,12857,0.86,476.1,50.7,17.8,1482,12863,0.28,1.92,0.00,0.000,6,0.135,0.037,3093,2454,814
$GC,13184,1.28,530.6,21.5,7.9,1543,13235,0.38,0.00,48.45,0.644,6,0.039,0.000,3259,2447,595
$STATE,13280,end climb,SURFACE_DEPTH_REACHED
$STATE,13280,begin surface coast
$FINISH,1.8,1.009919
$STATE,13292,end surface coast,CONTROL_FINISHED_OK
$STATE,13292,begin surface
$SM_CCo,13366,0.00,0.000,0,0,582,534.02
$SM_GC,2.66,8.02,0.00,0.00,0.035,0.000,0.000,154,2057,582,-8.23,-0.40,534.02
$IRIDIUM_FIX,2524.66,12331.47,110998,171736
$TT8_MAMPS,0.047554
$HUMID,1606
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.00
$XPDR_PINGS,211
$24V_AH,24.0,37.468
$10V_AH,10.7,26.674
$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,30.225,105.050,575.600,0.000,0.000,26.100,41.090,191.978,58.250,0.000,0.000,12.103,0.000,9075.712,662.187,3487.296,479.699,0.000,1944.104,0.000,2963.137,0.000,38.690,0.000
$DEVICE_MAMPS,226.265,65.962,1184.248,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.477,1143.271,1857.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88299,1562
$CAP_FILE_SIZE,156104,0
$CFSIZE,260165632,243535872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.270, 51.0,1
$GPS,180609,011306,2532.773,12330.157,38,1.3,43,-3.8