version: 66.04
glider: 165
mission: 2
dive: 306
start: 7 15 109 20 57 9
data:
$ID,165
$MISSION,2
$DIVE,306
$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,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,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,-123510.46
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.034000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$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
$GPS1,204707,2547.004,12428.210,28,1.3,28,-4.0
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,3
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-72.0
$GPS2,205704,2547.216,12428.685,9,3.9,28,-4.0
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_5
$TGT_LATLONG,2520.600,12517.300
$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,170.2,95137,-18.3,-12.000
$D_GRID,603
$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,13,-1.11,-194.7,0.0,0.0,0,58,0.00,0.00,-43.65,0.000,2,0.000,0.000,153,2117,1945
$GC,61,-1.11,-194.7,3.2,-3.8,7,121,9.05,2.25,-46.22,0.000,4,0.225,0.054,2443,717,3650
$GC,163,-0.62,-194.7,22.5,-25.6,24,170,0.52,2.25,0.00,0.000,6,0.147,0.042,2611,2135,3652
$GC,490,-0.62,-194.7,71.6,-12.2,85,496,0.00,2.25,0.00,0.000,4,0.000,0.052,2602,3543,3652
$GC,554,-0.62,-194.7,79.6,-12.3,97,560,0.00,2.17,0.00,0.000,6,0.000,0.033,2602,2109,3652
$GC,881,-0.89,-194.7,114.9,-9.6,158,887,0.22,2.12,0.00,0.000,4,0.044,0.043,2473,732,3653
$GC,956,-0.68,-194.7,125.9,-15.9,172,963,0.32,2.28,0.00,0.000,6,0.119,0.044,2592,2179,3653
$GC,1284,-1.00,-194.7,157.2,-9.4,233,1290,0.25,2.15,0.00,0.000,4,0.043,0.052,2451,3551,3654
$GC,1300,-1.17,-194.7,159.1,-10.7,236,1306,0.00,2.10,0.00,0.000,6,0.000,0.034,2451,2174,3654
$GC,1627,-0.91,-194.7,209.1,-15.8,297,1633,0.20,2.17,0.00,0.000,4,0.142,0.052,2507,3545,3655
$GC,1745,-0.86,-194.7,224.2,-12.8,319,1751,0.00,2.05,0.00,0.000,6,0.000,0.034,2507,2177,3654
$GC,2071,-0.80,-194.7,263.9,-12.5,380,2078,0.15,2.22,0.00,0.000,4,0.130,0.061,2548,3542,3655
$GC,2142,-0.89,-194.7,271.8,-11.2,393,2147,0.00,2.00,0.00,0.000,6,0.000,0.034,2548,2201,3654
$GC,2467,-0.98,-194.7,305.7,-10.9,449,2470,0.15,2.15,0.00,0.000,4,0.057,0.057,2464,3539,3654
$GC,2514,-0.85,-194.7,312.6,-14.7,453,2518,0.22,1.98,0.00,0.000,6,0.130,0.035,2534,2221,3654
$GC,2835,-0.90,-194.7,346.3,-8.8,484,2839,0.00,2.30,0.00,0.000,4,0.000,0.048,2534,733,3653
$GC,2861,-0.97,-194.7,348.7,-8.7,486,2865,0.10,2.33,0.00,0.000,6,0.073,0.042,2474,2228,3652
$GC,3183,-0.86,-194.7,385.6,-11.3,517,3187,0.17,2.10,0.00,0.000,4,0.136,0.059,2532,3543,3651
$GC,3318,-0.98,-194.7,398.4,-9.5,529,3321,0.12,1.92,0.00,0.000,6,0.061,0.035,2459,2256,3649
$GC,3638,-0.85,-194.7,435.3,-11.1,560,3641,0.25,2.08,0.00,0.000,4,0.133,0.061,2536,3542,3648
$GC,3713,-1.00,-194.7,442.0,-8.9,567,3716,0.15,1.92,0.00,0.000,6,0.057,0.036,2454,2265,3647
$GC,4033,-0.86,-194.7,483.9,-14.0,598,4037,0.25,2.08,0.00,0.000,4,0.133,0.062,2532,3546,3645
$GC,4119,-0.98,-194.7,492.6,-10.0,606,4122,0.12,1.90,0.00,0.000,6,0.061,0.038,2460,2289,3644
$GC,4447,-0.86,-194.7,535.8,-13.4,625,4449,0.25,0.00,0.00,0.000,6,0.133,0.000,2538,2284,3642
$GC,4751,-1.14,-194.7,563.0,-8.4,640,4755,0.22,2.05,0.00,0.000,4,0.049,0.064,2423,3541,3638
$GC,4964,-0.93,-194.7,592.9,-15.3,650,4968,0.25,1.83,0.00,0.000,6,0.139,0.039,2505,2356,3636
$STATE,5059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5059,begin apogee
$GC,5065,-0.24,0.0,603.9,10.8,655,5222,0.68,0.00,152.65,1.082,6,0.116,0.000,2731,2447,2853
$STATE,5223,end apogee,CONTROL_FINISHED_OK
$STATE,5223,begin climb
$GC,5225,1.11,194.7,614.7,0.0,663,5387,1.17,2.10,154.38,1.065,4,0.044,0.061,3184,3692,2059
$GC,5461,0.50,194.7,597.6,19.4,674,5466,0.77,1.95,0.00,0.000,6,0.175,0.040,2974,2463,2054
$GC,5777,0.59,267.8,569.1,9.0,690,5842,0.00,2.38,59.45,1.039,4,0.000,0.050,2984,1051,1761
$GC,5895,0.70,304.5,557.7,10.5,695,5931,0.15,2.25,31.80,1.011,6,0.061,0.044,3052,2447,1611
$GC,6255,0.60,304.5,508.1,14.4,713,6259,0.17,2.25,0.00,0.000,4,0.144,0.048,3011,1039,1605
$GC,6319,0.65,304.5,500.2,12.1,716,6322,0.00,2.20,0.00,0.000,6,0.000,0.044,3011,2430,1604
$GC,6636,0.67,325.7,463.1,11.1,746,6656,0.00,0.00,18.10,0.975,6,0.000,0.000,3010,2430,1526
$GC,6967,0.78,360.6,427.4,10.6,778,7002,0.15,2.08,30.80,0.981,4,0.063,0.061,3084,3691,1383
$GC,7029,0.60,360.6,418.0,16.8,784,7033,0.25,2.03,0.00,0.000,6,0.141,0.038,3005,2414,1382
$GC,7351,0.74,380.6,381.5,11.2,815,7375,0.12,2.22,17.90,0.935,4,0.066,0.048,3076,1050,1301
$GC,7432,0.74,380.6,369.7,14.2,822,7439,0.00,2.15,0.00,0.000,6,0.000,0.041,3076,2389,1299
$GC,7751,0.70,380.6,327.0,13.4,853,7754,0.15,2.12,0.00,0.000,4,0.150,0.046,3044,1049,1297
$GC,7787,0.77,382.0,322.3,11.9,856,7791,0.00,2.05,0.00,0.000,6,0.000,0.041,3044,2340,1296
$GC,8107,0.88,420.6,287.6,10.4,897,8147,0.15,2.10,34.40,0.896,4,0.061,0.049,3126,1041,1138
$GC,8195,0.75,420.6,274.4,16.1,913,8201,0.28,2.08,0.00,0.000,6,0.144,0.041,3047,2347,1136
$GC,8521,0.85,420.6,236.4,12.2,974,8527,0.10,0.00,0.00,0.000,6,0.073,0.000,3101,2348,1134
$GC,8847,0.85,420.6,194.8,12.5,1035,8853,0.00,2.08,0.00,0.000,4,0.000,0.048,3111,1049,1133
$GC,8900,0.85,420.6,187.6,13.0,1045,8906,0.00,2.03,0.00,0.000,6,0.000,0.041,3111,2329,1132
$GC,9227,0.85,420.6,143.4,12.9,1106,9232,0.00,2.17,0.00,0.000,4,0.000,0.055,3111,3690,1132
$GC,9259,0.77,420.6,139.3,12.9,1112,9267,0.15,2.17,0.00,0.000,6,0.133,0.036,3054,2284,1132
$GC,9587,1.12,457.3,112.7,10.5,1173,9625,0.28,2.25,30.75,0.742,4,0.044,0.053,3195,3690,989
$GC,9657,0.93,457.3,101.5,17.6,1185,9663,0.32,2.28,0.00,0.000,6,0.144,0.037,3110,2220,988
$GC,9984,1.15,520.0,66.6,9.4,1246,10041,0.17,2.40,51.60,0.691,4,0.054,0.051,3207,3696,733
$GC,10084,1.05,520.0,52.3,16.9,1263,10090,0.20,2.30,0.00,0.000,6,0.139,0.041,3153,2244,731
$GC,10411,1.26,567.8,18.4,10.0,1324,10492,0.17,2.38,51.88,0.564,4,0.053,0.051,3240,3686,534
$STATE,10521,end climb,SURFACE_DEPTH_REACHED
$STATE,10521,begin surface coast
$FINISH,1.8,1.020401
$STATE,10537,end surface coast,CONTROL_FINISHED_OK
$STATE,10537,begin surface
$SM_CCo,10615,0.00,0.000,0,0,525,571.30
$SM_GC,2.43,7.93,0.00,0.00,0.035,0.000,0.000,163,2121,525,-8.19,-0.40,571.30
$IRIDIUM_FIX,2536.61,12421.88,091098,151553
$TT8_MAMPS,0.048321
$HUMID,1623
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.80
$XPDR_PINGS,307
$24V_AH,23.9,67.884
$10V_AH,10.6,47.613
$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,26.375,103.250,633.700,0.000,0.000,26.089,37.312,364.347,81.000,0.000,0.000,31.069,0.000,6686.375,698.970,3076.026,707.625,0.000,1855.574,0.000,2604.296,0.000,31.234,0.000
$DEVICE_MAMPS,225.498,80.535,1082.237,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,904.905,997.508,1642.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75795,1346
$CAP_FILE_SIZE,138241,0
$CFSIZE,260165632,230125568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.757, 71.1,1
$GPS,150709,235502,2547.434,12433.284,36,1.8,37,-4.0