version: 66.04
glider: 165
mission: 2
dive: 204
start: 6 23 109 0 38 5
data:
$ID,165
$MISSION,2
$DIVE,204
$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,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,475
$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,-120938.91
$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,23
$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,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,2854
$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
$GPS1,002207,2526.895,12359.679,28,1.6,28,-3.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-65.6
$GPS2,003744,2527.070,12400.367,13,1.3,13,-3.8
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2500.000,12415.000
$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,202.7,55826,-16.4,-12.000
$D_GRID,1907
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.01,-243.4,0.0,0.0,0,78,0.00,0.00,-64.68,0.000,2,0.000,0.000,152,2058,2066
$GC,80,-1.01,-243.4,3.1,-3.7,10,144,8.70,0.00,-49.50,0.000,6,0.215,0.000,2486,2057,3847
$GC,464,-0.22,-243.4,126.8,-32.1,80,471,0.80,2.25,0.00,0.000,4,0.162,0.053,2728,3476,3849
$GC,710,-0.97,-243.4,154.3,-11.8,126,717,0.55,2.15,0.00,0.000,6,0.063,0.039,2495,2071,3850
$GC,1037,-0.40,-243.4,224.4,-24.8,187,1045,0.60,2.22,0.00,0.000,4,0.133,0.056,2678,3473,3850
$GC,1071,-0.54,-243.4,229.5,-11.3,193,1076,0.00,2.12,0.00,0.000,6,0.000,0.035,2677,2062,3850
$GC,1396,-1.41,-243.4,257.9,-8.9,254,1403,0.80,2.25,0.00,0.000,4,0.059,0.053,2356,3482,3850
$GC,1504,-0.58,-243.4,285.2,-29.8,274,1510,0.82,2.17,0.00,0.000,6,0.138,0.039,2625,2072,3850
$GC,1829,-0.87,-243.4,315.3,-8.1,318,1833,0.22,2.22,0.00,0.000,4,0.047,0.058,2510,3473,3850
$GC,2005,-0.72,-243.4,340.4,-14.1,334,2012,0.20,2.10,0.00,0.000,6,0.114,0.036,2582,2097,3849
$GC,2321,-0.83,-243.4,369.2,-8.2,365,2325,0.00,2.20,0.00,0.000,4,0.000,0.060,2582,3479,3847
$GC,2422,-1.04,-243.4,377.1,-7.4,374,2429,0.22,2.05,0.00,0.000,6,0.038,0.036,2460,2138,3846
$GC,2738,-0.53,-243.4,440.0,-21.1,405,2742,0.57,2.15,0.00,0.000,4,0.138,0.060,2633,3487,3845
$GC,2812,-1.02,-243.4,446.5,-6.5,412,2817,0.35,2.05,0.00,0.000,6,0.040,0.036,2467,2145,3844
$GC,3133,-0.60,-243.4,505.3,-20.4,442,3137,0.45,2.15,0.00,0.000,4,0.135,0.062,2616,3473,3841
$GC,3186,-1.02,-243.4,510.9,-7.0,444,3195,0.30,1.98,0.00,0.000,6,0.035,0.037,2456,2183,3840
$GC,3496,-0.60,-243.4,568.2,-18.8,460,3498,0.52,0.00,0.00,0.000,6,0.135,0.000,2622,2177,3838
$GC,3802,-1.42,-243.4,592.4,-9.5,475,3806,0.68,2.10,0.00,0.000,4,0.063,0.061,2358,3485,3835
$GC,3838,-0.94,-243.4,597.5,-15.6,477,3842,0.47,2.00,0.00,0.000,6,0.150,0.039,2508,2190,3834
$GC,4166,-0.78,-243.4,646.0,-14.0,493,4168,0.20,0.00,0.00,0.000,6,0.128,0.000,2572,2189,3832
$GC,4470,-0.96,-243.4,672.7,-8.2,508,4474,0.17,2.08,0.00,0.000,4,0.058,0.065,2482,3476,3829
$GC,4518,-0.81,-243.4,678.7,-13.6,510,4522,0.20,1.98,0.00,0.000,6,0.122,0.040,2552,2202,3828
$GC,4840,-0.89,-243.4,709.2,-8.9,526,4843,0.00,2.08,0.00,0.000,4,0.000,0.065,2551,3473,3825
$GC,4865,-1.02,-243.4,711.5,-8.7,527,4870,0.12,1.95,0.00,0.000,6,0.048,0.038,2474,2210,3825
$GC,5187,-0.72,-243.4,764.8,-17.3,543,5188,0.35,0.00,0.00,0.000,6,0.135,0.000,2583,2206,3822
$GC,5492,-0.99,-243.4,790.8,-8.0,558,5496,0.22,2.08,0.00,0.000,4,0.052,0.067,2478,3464,3819
$GC,5513,-0.99,-243.4,793.1,-11.3,559,5517,0.00,1.95,0.00,0.000,6,0.000,0.041,2478,2218,3819
$GC,5839,-0.73,-243.4,847.9,-16.8,575,5840,0.32,0.00,0.00,0.000,6,0.135,0.000,2578,2213,3816
$GC,6144,-1.00,-243.4,872.8,-7.6,590,6146,0.22,0.00,0.00,0.000,6,0.054,0.000,2475,2213,3815
$GC,6450,-0.74,-243.4,920.5,-15.5,605,6454,0.35,2.05,0.00,0.000,4,0.137,0.069,2577,3473,3812
$GC,6476,-0.82,-243.4,923.4,-10.6,606,6480,0.00,1.98,0.00,0.000,6,0.000,0.041,2577,2216,3812
$GC,6798,-1.10,-243.4,944.6,-6.4,622,6801,0.28,2.08,0.00,0.000,4,0.051,0.067,2451,3473,3810
$GC,6823,-1.00,-243.4,947.4,-12.1,623,6827,0.12,1.95,0.00,0.000,6,0.142,0.041,2491,2227,3810
$STATE,7137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7137,begin apogee
$GC,7142,-0.22,0.0,991.0,14.0,639,7341,0.77,0.00,194.85,1.377,6,0.131,0.000,2742,2524,2853
$STATE,7342,end apogee,CONTROL_FINISHED_OK
$STATE,7342,begin climb
$GC,7343,1.01,243.4,1002.1,0.0,649,7559,1.10,2.10,206.62,1.333,4,0.042,0.067,3160,3702,1860
$GC,7799,0.19,243.4,921.5,24.6,670,7804,0.98,1.85,0.00,0.000,6,0.179,0.043,2885,2546,1853
$GC,8115,0.60,382.8,896.5,7.4,686,8244,0.35,2.42,120.60,1.275,4,0.048,0.054,3042,1115,1292
$GC,8323,0.45,382.8,861.9,18.2,695,8331,0.22,2.33,0.00,0.000,6,0.139,0.050,2971,2506,1286
$GC,8634,0.54,390.4,823.5,11.7,711,8644,0.00,2.25,6.62,1.008,4,0.000,0.051,2980,1114,1261
$GC,8707,0.64,390.4,814.7,12.3,714,8714,0.10,2.25,0.00,0.000,6,0.058,0.048,3037,2492,1261
$GC,9018,0.46,390.4,761.5,17.3,730,9022,0.25,2.20,0.00,0.000,4,0.140,0.050,2973,1110,1259
$GC,9071,0.59,392.4,754.4,11.9,732,9075,0.08,2.20,0.00,0.000,6,0.061,0.047,3022,2477,1258
$GC,9386,0.47,392.4,702.1,17.1,748,9390,0.17,2.17,0.00,0.000,4,0.139,0.051,2981,1105,1258
$GC,9429,0.57,392.4,696.0,13.1,750,9432,0.00,2.17,0.00,0.000,6,0.000,0.048,2981,2461,1257
$GC,9755,0.63,392.4,655.4,12.2,766,9759,0.12,2.12,0.00,0.000,4,0.069,0.050,3048,1114,1257
$GC,9824,0.49,392.4,644.2,17.3,769,9828,0.20,2.12,0.00,0.000,6,0.142,0.048,2984,2438,1256
$GC,10145,0.56,397.2,605.2,11.8,785,10155,0.00,2.10,6.62,0.966,4,0.000,0.050,2991,1104,1233
$GC,10192,0.64,397.2,599.4,12.1,787,10196,0.08,2.12,0.00,0.000,6,0.062,0.045,3039,2427,1233
$GC,10508,0.49,397.2,544.1,17.5,803,10510,0.20,0.00,0.00,0.000,6,0.143,0.000,2981,2427,1233
$GC,10813,0.64,430.1,508.3,10.9,818,10848,0.15,2.15,30.42,1.069,4,0.064,0.051,3059,1108,1099
$GC,10897,0.56,430.1,495.6,15.9,823,10901,0.20,2.15,0.00,0.000,6,0.140,0.047,3002,2442,1096
$GC,11218,0.66,444.5,459.4,11.5,854,11235,0.00,2.15,13.32,0.987,4,0.000,0.050,3010,1109,1040
$GC,11282,0.80,453.1,451.9,11.7,859,11295,0.15,2.10,9.25,0.922,6,0.049,0.044,3092,2405,1005
$GC,11604,0.55,453.1,389.5,20.6,890,11606,0.32,0.00,0.00,0.000,6,0.144,0.000,2996,2405,1004
$GC,11916,0.78,474.2,353.7,11.3,920,11940,0.17,2.10,19.17,0.933,4,0.058,0.050,3095,1121,920
$GC,12005,0.65,474.2,337.1,20.1,928,12012,0.20,2.08,0.00,0.000,6,0.138,0.044,3031,2404,917
$GC,12322,0.77,474.2,292.4,13.4,964,12328,0.10,0.00,0.00,0.000,6,0.074,0.000,3085,2404,917
$GC,12648,0.66,474.2,234.7,17.7,1025,12654,0.17,2.03,0.00,0.000,4,0.142,0.048,3043,1112,917
$GC,12680,0.74,474.2,229.8,14.8,1031,12687,0.00,2.05,0.00,0.000,6,0.000,0.043,3043,2424,916
$GC,13008,1.02,569.2,191.7,8.9,1092,13102,0.28,2.20,85.30,0.795,4,0.048,0.047,3180,1108,527
$GC,13272,0.83,569.2,134.6,22.6,1139,13280,0.28,2.05,0.00,0.000,6,0.134,0.042,3092,2380,515
$GC,13600,1.07,569.2,93.9,12.4,1200,13606,0.20,2.03,0.00,0.000,4,0.050,0.046,3199,1109,513
$GC,13627,1.01,569.2,89.6,17.6,1205,13633,0.15,2.03,0.00,0.000,6,0.137,0.041,3149,2390,513
$GC,13954,1.09,569.2,40.1,13.8,1266,13960,0.00,2.05,0.00,0.000,4,0.000,0.054,3149,3680,512
$GC,13975,1.16,569.2,36.9,14.3,1270,13981,0.08,2.03,0.00,0.000,6,0.054,0.035,3211,2363,512
$STATE,14155,end climb,SURFACE_DEPTH_REACHED
$STATE,14155,begin surface coast
$FINISH,1.7,1.012560
$STATE,14171,end surface coast,CONTROL_FINISHED_OK
$STATE,14171,begin surface
$SM_CCo,14246,0.00,0.000,0,0,510,574.74
$SM_GC,2.41,7.72,0.00,0.00,0.035,0.000,0.000,162,2048,510,-8.20,-0.65,574.74
$IRIDIUM_FIX,2519.89,12359.28,170998,000007
$TT8_MAMPS,0.048321
$HUMID,1607
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.30
$XPDR_PINGS,150
$24V_AH,23.5,44.713
$10V_AH,10.7,30.583
$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,33.650,114.900,692.800,0.000,0.000,114.892,142.374,373.065,45.500,0.000,0.000,14.794,0.000,10388.934,775.506,3121.316,885.935,0.000,1992.720,0.000,2621.880,0.000,53.998,0.000
$DEVICE_MAMPS,214.760,69.030,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,883.362,872.524,1354.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75842,1307
$CAP_FILE_SIZE,157649,0
$CFSIZE,260165632,240967680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.445, 74.9,1
$GPS,230609,043630,2525.971,12402.241,35,1.1,40,-3.8