version: 66.04
glider: 165
mission: 2
dive: 351
start: 7 24 109 22 47 51
data:
$ID,165
$MISSION,2
$DIVE,351
$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,-124644.48
$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,47
$R_STBD_OVSHOOT,36
$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
$GPS1,224007,2530.688,12544.727,30,1.5,30,-4.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-70.5
$GPS2,224746,2530.750,12544.749,11,2.6,30,-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,241.6,30716,-17.3,-12.000
$D_GRID,983
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.29,-219.0,0.0,0.0,0,61,0.00,0.00,-44.00,0.000,2,0.000,0.000,152,2298,2025
$GC,63,-1.29,-219.0,3.4,-4.5,7,121,8.68,2.28,-44.42,0.000,4,0.222,0.053,2380,874,3750
$GC,169,-1.29,-219.0,25.0,-27.3,25,175,0.00,2.22,0.00,0.000,6,0.000,0.040,2370,2280,3751
$GC,495,-1.29,-219.0,106.4,-22.3,86,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2281,3751
$GC,821,-1.29,-219.0,178.1,-20.1,147,827,0.00,2.25,0.00,0.000,4,0.000,0.060,2369,3673,3754
$GC,890,-1.29,-219.0,192.1,-19.2,160,898,0.00,2.10,0.00,0.000,6,0.000,0.033,2369,2287,3754
$GC,1218,-1.29,-219.0,253.2,-17.7,221,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2282,3755
$GC,1547,-1.29,-219.0,306.8,-16.1,279,1550,0.00,2.15,0.00,0.000,4,0.000,0.045,2369,886,3755
$GC,1562,-1.29,-219.0,309.6,-16.7,280,1570,0.00,2.25,0.00,0.000,6,0.000,0.047,2369,2302,3755
$GC,1878,-1.29,-219.0,364.2,-17.1,311,1882,0.00,2.20,0.00,0.000,4,0.000,0.061,2369,3685,3755
$GC,1936,-1.29,-219.0,374.3,-17.4,316,1944,0.00,2.10,0.00,0.000,6,0.000,0.037,2369,2315,3755
$GC,2253,-1.29,-219.0,423.4,-15.6,347,2256,0.00,2.20,0.00,0.000,4,0.000,0.061,2370,3693,3755
$GC,2268,-1.29,-219.0,425.9,-15.9,348,2275,0.00,2.08,0.00,0.000,6,0.000,0.034,2369,2332,3755
$GC,2584,-1.29,-219.0,477.6,-17.1,379,2587,0.00,2.25,0.00,0.000,4,0.000,0.047,2369,875,3754
$GC,2642,-1.29,-219.0,487.5,-17.0,384,2650,0.00,2.30,0.00,0.000,6,0.000,0.053,2369,2310,3753
$GC,2964,-1.29,-219.0,538.7,-15.6,404,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2311,3751
$GC,3269,-1.29,-219.0,582.5,-13.7,419,3272,0.00,2.25,0.00,0.000,4,0.000,0.048,2369,883,3749
$GC,3300,-1.29,-219.0,586.8,-13.9,420,3304,0.00,2.30,0.00,0.000,6,0.000,0.048,2369,2319,3749
$GC,3616,-1.29,-219.0,634.1,-15.7,436,3620,0.00,2.22,0.00,0.000,4,0.000,0.064,2368,3697,3747
$GC,3718,-1.29,-219.0,650.8,-16.7,440,3725,0.00,2.10,0.00,0.000,6,0.000,0.037,2369,2312,3746
$GC,4028,-1.29,-219.0,699.9,-15.5,456,4032,0.00,2.25,0.00,0.000,4,0.000,0.049,2369,889,3744
$GC,4054,-1.29,-219.0,704.0,-16.2,457,4058,0.00,2.30,0.00,0.000,6,0.000,0.048,2369,2319,3744
$GC,4376,-1.29,-219.0,753.8,-15.5,473,4379,0.00,2.22,0.00,0.000,4,0.000,0.065,2369,3693,3741
$GC,4461,-1.29,-219.0,766.7,-14.9,477,4464,0.00,2.12,0.00,0.000,6,0.000,0.038,2369,2333,3740
$GC,4787,-1.29,-219.0,812.9,-14.9,493,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2327,3736
$GC,5093,-1.29,-219.0,859.4,-15.6,508,5096,0.00,2.25,0.00,0.000,4,0.000,0.067,2368,3694,3733
$GC,5146,-1.29,-219.0,868.1,-16.7,510,5149,0.00,2.10,0.00,0.000,6,0.000,0.037,2368,2341,3733
$GC,5462,-1.29,-219.0,920.9,-17.1,526,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2334,3730
$GC,5767,-1.29,-219.0,972.8,-17.1,541,5770,0.00,2.22,0.00,0.000,4,0.000,0.067,2369,3682,3728
$GC,5825,-1.29,-219.0,982.7,-16.3,543,5831,0.00,2.08,0.00,0.000,6,0.000,0.038,2369,2352,3727
$STATE,5848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5848,begin apogee
$GC,5853,-0.29,0.0,987.0,16.5,545,6037,1.05,0.00,180.65,1.364,6,0.139,0.000,2698,2346,2854
$STATE,6037,end apogee,CONTROL_FINISHED_OK
$STATE,6037,begin climb
$GC,6040,1.29,219.0,1000.6,0.0,554,6236,1.38,2.33,184.43,1.328,4,0.044,0.061,3225,3696,1960
$GC,6267,1.29,219.0,981.7,22.4,564,6271,0.00,2.25,0.00,0.000,6,0.000,0.038,3235,2296,1957
$GC,6583,1.29,219.0,917.7,19.4,580,6586,0.00,2.25,0.00,0.000,4,0.000,0.051,3246,882,1952
$GC,6614,1.29,219.0,911.2,21.0,581,6619,0.10,2.28,0.00,0.000,6,0.216,0.045,3219,2295,1951
$GC,6931,1.29,219.0,849.6,19.1,597,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2295,1949
$GC,7235,1.29,219.0,788.3,20.3,612,7239,0.00,2.25,0.00,0.000,4,0.000,0.049,3229,881,1947
$GC,7321,1.29,219.0,771.0,19.6,616,7324,0.00,2.28,0.00,0.000,6,0.000,0.044,3229,2322,1946
$GC,7647,1.29,219.0,706.9,19.6,632,7650,0.00,2.20,0.00,0.000,4,0.000,0.058,3229,3696,1945
$GC,7679,1.29,219.0,700.3,20.5,633,7682,0.00,2.17,0.00,0.000,6,0.000,0.039,3239,2309,1945
$GC,7995,1.29,219.0,639.8,20.3,649,7998,0.00,2.22,0.00,0.000,4,0.000,0.048,3250,891,1944
$GC,8139,1.29,219.0,610.6,20.3,655,8145,0.15,2.25,0.00,0.000,6,0.218,0.045,3216,2316,1943
$GC,8449,1.29,219.0,558.4,16.6,671,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2316,1943
$GC,8754,1.29,219.0,512.0,14.7,686,8757,0.00,2.28,0.00,0.000,4,0.000,0.047,3225,880,1942
$GC,8888,1.29,219.0,490.1,16.9,694,8895,0.00,2.22,0.00,0.000,6,0.000,0.044,3225,2273,1941
$GC,9205,1.29,219.0,437.2,16.4,725,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2273,1941
$GC,9514,1.29,219.0,392.2,13.8,755,9517,0.00,2.20,0.00,0.000,4,0.000,0.048,3235,884,1941
$GC,9572,1.29,219.0,383.8,14.4,760,9578,0.00,2.22,0.00,0.000,6,0.000,0.041,3235,2288,1940
$GC,9890,1.29,219.0,342.0,12.4,791,9893,0.00,2.22,0.00,0.000,4,0.000,0.054,3236,3686,1940
$GC,9958,1.29,219.0,332.2,13.9,797,9965,0.10,2.15,0.00,0.000,6,0.216,0.036,3218,2299,1940
$GC,10276,1.29,219.0,291.7,12.4,834,10284,0.00,2.22,0.00,0.000,4,0.000,0.046,3228,890,1941
$GC,10380,1.29,219.0,278.5,13.2,853,10385,0.00,2.15,0.00,0.000,6,0.000,0.041,3228,2270,1940
$GC,10705,1.30,233.5,238.3,11.5,914,10719,0.00,2.22,10.77,0.781,4,0.000,0.044,3238,900,1900
$GC,10804,1.30,233.5,226.0,12.8,932,10810,0.00,2.17,0.00,0.000,6,0.000,0.042,3238,2264,1899
$GC,11132,1.30,233.5,193.0,12.2,993,11138,0.00,2.30,0.00,0.000,4,0.000,0.057,3238,3692,1899
$GC,11378,1.35,274.7,163.2,10.5,1039,11421,0.00,2.20,35.38,0.771,6,0.000,0.037,3248,2275,1732
$GC,11743,1.39,301.4,122.2,11.0,1106,11770,0.00,2.22,22.65,0.719,4,0.000,0.044,3259,894,1625
$GC,11940,1.39,301.4,97.5,13.3,1142,11948,0.00,2.20,0.00,0.000,6,0.000,0.038,3259,2285,1620
$GC,12269,1.55,435.2,60.4,7.1,1203,12382,0.12,2.30,107.38,0.669,4,0.077,0.043,3322,897,1077
$GC,12472,1.55,435.2,30.6,17.6,1238,12480,0.00,2.22,0.00,0.000,6,0.000,0.038,3322,2297,1073
$STATE,12621,end climb,SURFACE_DEPTH_REACHED
$STATE,12622,begin surface coast
$FINISH,1.8,1.021382
$STATE,12638,end surface coast,CONTROL_FINISHED_OK
$STATE,12638,begin surface
$SM_CCo,12654,30.33,0.607,0,0,916,475.15
$SM_GC,2.71,0.00,0.00,30.33,0.000,0.000,0.607,155,2302,916,-8.26,0.48,475.15
$IRIDIUM_FIX,2519.89,12547.25,181098,191921
$TT8_MAMPS,0.048321
$HUMID,1659
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,26.10
$XPDR_PINGS,370
$24V_AH,23.3,80.445
$10V_AH,10.6,54.376
$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,19.625,110.800,541.250,30.325,0.000,30.587,33.773,245.025,100.500,0.000,0.000,32.928,0.000,8917.396,662.820,2933.274,605.928,0.000,1775.998,0.000,2473.394,0.000,54.013,0.000
$DEVICE_MAMPS,221.663,67.496,1364.493,606.697,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,853.588,882.622,1393.483,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72687,1269
$CAP_FILE_SIZE,126366,0
$CFSIZE,260165632,225714176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057, 73.8,1
$GPS,250709,022007,2530.246,12543.858,28,1.2,28,-4.0