version: 66.04
glider: 165
mission: 2
dive: 350
start: 7 24 109 19 7 25
data:
$ID,165
$MISSION,2
$DIVE,350
$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,225
$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,-124610.92
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2285
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,185407,2531.128,12545.436,29,1.8,29,-4.0
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-63.6
$GPS2,190719,2531.134,12545.616,10,1.8,15,-4.0
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2520.300,12530.500
$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,242.3,32291,-17.3,-12.000
$D_GRID,1225
$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,9,begin dive
$GC,12,-1.29,-219.0,0.0,0.0,0,72,0.00,0.00,-58.42,0.000,2,0.000,0.000,148,2312,1914
$GC,75,-1.29,-219.0,3.1,-3.2,9,139,8.57,2.30,-51.10,0.000,4,0.215,0.055,2382,882,3749
$GC,214,-1.29,-219.0,31.2,-27.9,33,220,0.00,2.20,0.00,0.000,6,0.000,0.043,2372,2267,3750
$GC,540,-1.29,-219.0,114.3,-22.7,94,546,0.00,2.25,0.00,0.000,4,0.000,0.058,2362,3689,3750
$GC,589,-1.29,-219.0,125.5,-21.7,103,595,0.00,2.12,0.00,0.000,6,0.000,0.034,2361,2275,3750
$GC,916,-1.29,-219.0,191.1,-18.4,164,922,0.00,2.28,0.00,0.000,4,0.000,0.059,2356,3692,3751
$GC,1044,-1.29,-219.0,216.6,-20.1,188,1052,0.08,2.15,0.00,0.000,6,0.167,0.035,2380,2282,3751
$GC,1373,-1.29,-219.0,274.5,-18.3,249,1382,0.00,2.12,0.00,0.000,4,0.000,0.044,2380,898,3751
$GC,1392,-1.29,-219.0,278.2,-18.5,252,1399,0.00,2.20,0.00,0.000,6,0.000,0.044,2370,2294,3752
$GC,1713,-1.29,-219.0,333.4,-16.7,294,1716,0.00,2.25,0.00,0.000,4,0.000,0.060,2370,3710,3751
$GC,1739,-1.29,-219.0,338.0,-18.2,296,1746,0.00,2.12,0.00,0.000,6,0.000,0.041,2370,2327,3751
$GC,2055,-1.29,-219.0,391.5,-17.8,327,2058,0.00,2.22,0.00,0.000,4,0.000,0.046,2370,884,3751
$GC,2103,-1.29,-219.0,399.9,-17.4,331,2109,0.00,2.25,0.00,0.000,6,0.000,0.046,2369,2320,3750
$GC,2418,-1.29,-219.0,453.0,-16.1,362,2421,0.00,2.20,0.00,0.000,4,0.000,0.062,2370,3682,3749
$GC,2450,-1.29,-219.0,458.3,-16.5,365,2454,0.00,2.08,0.00,0.000,6,0.000,0.036,2369,2323,3748
$GC,2780,-1.29,-219.0,510.6,-15.2,394,2783,0.00,2.22,0.00,0.000,4,0.000,0.048,2369,886,3747
$GC,2823,-1.29,-219.0,517.5,-16.4,396,2826,0.00,2.28,0.00,0.000,6,0.000,0.048,2370,2328,3747
$GC,3149,-1.29,-219.0,567.2,-14.5,412,3152,0.00,2.20,0.00,0.000,4,0.000,0.064,2370,3696,3743
$GC,3170,-1.29,-219.0,570.0,-13.4,413,3173,0.00,2.12,0.00,0.000,6,0.000,0.035,2370,2310,3743
$GC,3497,-1.29,-219.0,614.7,-13.9,429,3500,0.00,2.25,0.00,0.000,4,0.000,0.063,2369,3694,3741
$GC,3538,-1.29,-219.0,620.9,-14.5,431,3542,0.00,2.10,0.00,0.000,6,0.000,0.036,2370,2328,3740
$GC,3860,-1.29,-219.0,667.3,-14.7,447,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2322,3738
$GC,4165,-1.29,-219.0,712.7,-14.8,462,4168,0.00,2.28,0.00,0.000,4,0.000,0.050,2369,878,3736
$GC,4180,-1.29,-219.0,714.9,-14.2,462,4187,0.00,2.35,0.00,0.000,6,0.000,0.054,2369,2322,3735
$GC,4492,-1.29,-219.0,760.9,-15.2,478,4495,0.00,2.22,0.00,0.000,4,0.000,0.067,2369,3692,3732
$GC,4544,-1.29,-219.0,769.5,-16.5,480,4548,0.00,2.10,0.00,0.000,6,0.000,0.038,2369,2336,3731
$GC,4860,-1.29,-219.0,819.2,-15.7,496,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2330,3729
$GC,5166,-1.29,-219.0,866.1,-15.0,511,5169,0.00,2.25,0.00,0.000,4,0.000,0.070,2369,3692,3726
$GC,5191,-1.29,-219.0,870.1,-15.9,512,5195,0.00,2.10,0.00,0.000,6,0.000,0.038,2369,2341,3725
$GC,5507,-1.29,-219.0,916.9,-14.6,528,5511,0.00,2.22,0.00,0.000,4,0.000,0.068,2370,3686,3723
$GC,5603,-1.29,-219.0,930.6,-14.0,532,5607,0.00,2.08,0.00,0.000,6,0.000,0.039,2369,2349,3721
$GC,5919,-1.29,-219.0,976.4,-14.5,548,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2344,3720
$STATE,6019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6019,begin apogee
$GC,6024,-0.29,0.0,991.0,14.4,553,6205,1.05,0.00,178.52,1.371,6,0.137,0.000,2701,2343,2854
$STATE,6206,end apogee,CONTROL_FINISHED_OK
$STATE,6206,begin climb
$GC,6209,1.29,219.0,1001.1,0.0,562,6404,1.40,2.45,183.95,1.334,4,0.048,0.053,3239,900,1959
$GC,6435,1.29,219.0,978.6,23.3,572,6439,0.00,2.33,0.00,0.000,6,0.000,0.048,3239,2296,1955
$GC,6752,1.29,219.0,909.8,21.3,588,6755,0.00,2.25,0.00,0.000,4,0.000,0.051,3249,901,1950
$GC,6799,1.29,219.0,899.5,21.9,590,6803,0.10,2.25,0.00,0.000,6,0.214,0.048,3221,2289,1950
$GC,7120,1.29,219.0,836.8,19.2,606,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2289,1948
$GC,7426,1.29,219.0,776.4,19.9,621,7429,0.00,2.22,0.00,0.000,4,0.000,0.050,3230,893,1947
$GC,7457,1.29,219.0,769.8,21.4,622,7460,0.00,2.22,0.00,0.000,6,0.000,0.047,3230,2274,1946
$GC,7772,1.29,219.0,704.2,20.9,638,7776,0.00,2.22,0.00,0.000,4,0.000,0.051,3240,902,1945
$GC,7962,1.29,219.0,666.0,20.2,646,7968,0.00,2.15,0.00,0.000,6,0.000,0.046,3240,2264,1944
$GC,8271,1.29,219.0,604.9,20.1,662,8275,0.00,2.17,0.00,0.000,4,0.000,0.050,3250,896,1943
$GC,8303,1.29,219.0,599.1,18.6,663,8307,0.15,2.15,0.00,0.000,6,0.216,0.046,3215,2255,1943
$GC,8619,1.29,219.0,546.2,16.4,679,8623,0.00,2.33,0.00,0.000,4,0.000,0.060,3215,3698,1942
$GC,8677,1.29,219.0,536.0,17.5,681,8683,0.00,2.22,0.00,0.000,6,0.000,0.040,3224,2285,1941
$GC,8990,1.29,219.0,486.1,15.5,701,8993,0.00,2.20,0.00,0.000,4,0.000,0.049,3236,883,1941
$GC,9069,1.29,219.0,473.6,15.7,708,9075,0.00,2.25,0.00,0.000,6,0.000,0.044,3235,2292,1940
$GC,9387,1.29,219.0,425.1,15.3,739,9390,0.00,2.25,0.00,0.000,4,0.000,0.057,3236,3696,1940
$GC,9434,1.29,219.0,417.7,15.8,743,9440,0.10,2.20,0.00,0.000,6,0.216,0.038,3218,2285,1940
$GC,9750,1.29,219.0,374.9,13.9,774,9753,0.00,2.20,0.00,0.000,4,0.000,0.048,3227,897,1940
$GC,9814,1.29,219.0,365.3,15.9,780,9817,0.00,2.20,0.00,0.000,6,0.000,0.044,3227,2296,1940
$GC,10137,1.29,219.0,318.4,13.5,811,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2296,1940
$GC,10451,1.29,219.0,277.9,12.3,857,10456,0.00,2.20,0.00,0.000,4,0.000,0.047,3237,896,1940
$GC,10607,1.32,245.0,260.0,11.0,886,10632,0.00,2.17,19.67,0.851,6,0.000,0.044,3237,2276,1854
$GC,10952,1.35,270.4,218.7,11.1,950,10983,0.00,2.33,22.42,0.818,4,0.000,0.060,3237,3686,1751
$GC,11015,1.35,270.4,210.7,14.1,961,11021,0.00,2.20,0.00,0.000,6,0.000,0.036,3248,2267,1749
$GC,11342,1.35,270.4,164.0,14.1,1022,11349,0.00,2.12,0.00,0.000,4,0.000,0.045,3260,899,1748
$GC,11364,1.35,270.4,160.9,12.9,1026,11371,0.00,2.25,0.00,0.000,6,0.000,0.043,3259,2311,1748
$GC,11692,1.42,326.6,125.9,9.9,1087,11743,0.00,2.28,46.60,0.746,4,0.000,0.052,3259,3686,1521
$GC,11780,1.42,326.6,114.9,15.1,1102,11787,0.00,2.12,0.00,0.000,6,0.000,0.035,3269,2339,1520
$GC,12108,1.48,373.8,72.0,10.3,1163,12151,0.00,2.25,38.60,0.687,4,0.000,0.051,3269,3690,1330
$GC,12266,1.51,405.0,51.5,10.9,1191,12297,0.00,2.12,26.15,0.653,6,0.000,0.034,3279,2305,1202
$STATE,12615,end climb,SURFACE_DEPTH_REACHED
$STATE,12618,begin surface coast
$FINISH,1.7,1.021405
$STATE,12637,end surface coast,CONTROL_FINISHED_OK
$STATE,12637,begin surface
$SM_CCo,12653,55.72,0.619,0,0,916,475.15
$SM_GC,2.64,0.00,0.00,55.72,0.000,0.000,0.619,156,2298,916,-8.26,0.31,475.15
$IRIDIUM_FIX,2522.28,12547.25,181098,191930
$TT8_MAMPS,0.048321
$HUMID,1655
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,26.30
$XPDR_PINGS,363
$24V_AH,23.4,80.238
$10V_AH,10.6,54.259
$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,19.400,123.850,515.925,55.725,0.000,57.547,79.143,434.762,98.750,0.000,0.000,17.369,0.000,8991.150,688.241,2890.522,898.950,0.000,1796.670,0.000,2441.143,0.000,54.031,0.000
$DEVICE_MAMPS,216.294,69.797,1371.396,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,847.718,878.463,1384.250,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72670,1260
$CAP_FILE_SIZE,134470,0
$CFSIZE,260165632,225783808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067, 85.9,1
$GPS,240709,224007,2530.688,12544.727,30,1.5,30,-4.0