version: 66.04
glider: 165
mission: 2
dive: 500
start: 8 18 109 15 58 5
data:
$ID,165
$MISSION,2
$DIVE,500
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-130132.09
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,41
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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,3
$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
$GPS1,154952,2450.125,12215.623,150,99.0,169,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-73.4
$GPS2,155800,2449.934,12215.672,87,1.1,92,-3.5
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$TGT_RADIUS,5000.000
$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,347.5,20933,-16.0,-11.000
$D_GRID,623
$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,14,-0.91,-219.0,0.0,0.0,0,53,0.00,0.00,-38.22,0.000,2,0.000,0.000,159,2278,1773
$GC,57,-0.91,-219.0,3.2,-2.1,6,142,9.43,2.35,-67.65,0.000,4,0.232,0.066,2471,3694,3748
$GC,255,-0.69,-219.0,35.7,-21.1,40,262,0.28,2.17,0.00,0.000,6,0.129,0.035,2555,2268,3750
$GC,583,-0.69,-219.0,80.2,-12.6,101,588,0.00,2.15,0.00,0.000,4,0.000,0.048,2555,888,3752
$GC,621,-0.74,-219.0,85.1,-12.3,108,628,0.00,2.20,0.00,0.000,6,0.000,0.039,2550,2302,3752
$GC,949,-0.77,-219.0,119.2,-10.2,169,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2302,3752
$GC,1275,-0.82,-219.0,153.7,-12.2,230,1282,0.10,2.25,0.00,0.000,4,0.071,0.043,2473,884,3753
$GC,1369,-0.68,-219.0,170.5,-19.0,247,1375,0.25,2.25,0.00,0.000,6,0.123,0.043,2562,2283,3753
$GC,1698,-0.79,-219.0,200.3,-7.1,308,1705,0.10,0.00,0.00,0.000,6,0.072,0.000,2492,2284,3752
$GC,2026,-0.68,-219.0,243.6,-12.9,369,2031,0.17,2.22,0.00,0.000,4,0.134,0.044,2552,881,3752
$GC,2091,-0.84,-219.0,249.4,-7.5,381,2097,0.12,2.20,0.00,0.000,6,0.063,0.041,2477,2280,3752
$GC,2419,-0.69,-219.0,294.7,-15.4,442,2424,0.22,0.00,0.00,0.000,6,0.138,0.000,2550,2281,3752
$GC,2741,-0.81,-219.0,326.1,-9.9,477,2745,0.00,2.28,0.00,0.000,4,0.000,0.060,2550,3685,3750
$GC,2774,-1.00,-219.0,329.3,-9.5,479,2780,0.25,2.15,0.00,0.000,6,0.044,0.035,2429,2267,3750
$GC,3089,-0.73,-219.0,389.4,-19.4,510,3093,0.35,2.15,0.00,0.000,4,0.143,0.044,2540,900,3749
$GC,3121,-0.73,-219.0,393.6,-11.2,512,3129,0.00,2.22,0.00,0.000,6,0.000,0.044,2537,2296,3749
$GC,3437,-0.84,-219.0,418.8,-8.1,543,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2296,3748
$GC,3751,-0.95,-219.0,443.9,-7.9,573,3755,0.17,2.22,0.00,0.000,4,0.053,0.046,2439,900,3746
$GC,3794,-0.81,-219.0,449.9,-14.8,577,3799,0.28,2.22,0.00,0.000,6,0.137,0.046,2520,2292,3746
$GC,4115,-0.87,-219.0,482.2,-9.5,608,4118,0.00,2.22,0.00,0.000,4,0.000,0.047,2520,895,3744
$GC,4157,-0.97,-219.0,486.2,-9.5,612,4161,0.15,2.20,0.00,0.000,6,0.059,0.044,2447,2278,3744
$GC,4473,-0.81,-219.0,530.8,-14.0,632,4476,0.20,2.30,0.00,0.000,4,0.143,0.060,2507,3682,3743
$GC,4499,-0.81,-219.0,534.4,-11.3,633,4502,0.00,2.15,0.00,0.000,6,0.000,0.037,2507,2288,3743
$GC,4816,-0.86,-219.0,564.9,-9.9,649,4816,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2281,3741
$GC,5120,-0.91,-219.0,597.0,-10.5,664,5123,0.00,2.22,0.00,0.000,4,0.000,0.050,2507,887,3740
$GC,5184,-0.99,-219.0,603.8,-10.5,667,5188,0.15,2.25,0.00,0.000,6,0.061,0.048,2434,2287,3740
$STATE,5320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5320,begin apogee
$GC,5327,-0.20,0.0,626.1,17.4,674,5507,0.90,0.00,177.65,1.100,6,0.133,0.000,2714,2288,2854
$STATE,5508,end apogee,CONTROL_FINISHED_OK
$STATE,5508,begin climb
$GC,5511,0.91,219.0,640.9,0.0,683,5704,0.95,2.42,179.90,1.078,4,0.049,0.061,3079,3683,1959
$GC,5944,0.49,219.0,590.4,20.5,703,5948,0.52,2.17,0.00,0.000,6,0.176,0.039,2944,2300,1956
$GC,6261,0.52,266.6,558.6,9.4,719,6307,0.00,2.38,40.92,1.026,4,0.000,0.058,2943,3690,1766
$GC,6407,0.48,266.6,542.2,13.1,725,6412,0.00,2.17,0.00,0.000,6,0.000,0.038,2953,2310,1763
$GC,6718,0.50,281.1,507.5,10.5,741,6738,0.00,2.30,13.15,0.944,4,0.000,0.058,2953,3680,1707
$GC,6797,0.46,281.1,497.9,13.2,745,6803,0.12,2.12,0.00,0.000,6,0.154,0.038,2929,2326,1706
$GC,7113,0.55,297.0,463.9,10.5,776,7135,0.00,2.30,14.88,0.948,4,0.000,0.058,2929,3685,1643
$GC,7199,0.60,297.0,454.0,11.6,784,7203,0.10,2.12,0.00,0.000,6,0.076,0.038,2992,2327,1642
$GC,7520,0.52,297.0,409.4,14.0,815,7524,0.15,2.22,0.00,0.000,4,0.150,0.056,2951,3686,1641
$GC,7590,0.52,297.0,400.3,12.5,821,7593,0.00,2.10,0.00,0.000,6,0.000,0.038,2959,2340,1640
$GC,7914,0.52,297.0,364.6,11.3,852,7917,0.00,2.20,0.00,0.000,4,0.000,0.058,2959,3686,1640
$GC,7999,0.52,297.0,353.5,12.9,860,8002,0.00,2.10,0.00,0.000,6,0.000,0.038,2968,2334,1639
$GC,8323,0.59,350.5,319.7,9.2,891,8376,0.00,2.28,47.15,0.913,4,0.000,0.056,2968,3695,1424
$GC,8459,0.67,391.4,306.4,9.6,903,8500,0.00,2.12,36.33,0.884,6,0.000,0.037,2978,2340,1257
$GC,8823,0.73,391.4,263.8,12.5,965,8828,0.12,2.20,0.00,0.000,4,0.063,0.054,3043,3686,1253
$GC,8899,0.58,391.4,250.8,18.7,979,8905,0.30,2.08,0.00,0.000,6,0.148,0.038,2968,2354,1253
$GC,9226,0.79,476.7,218.5,8.1,1040,9305,0.20,2.47,72.82,0.833,4,0.051,0.050,3081,885,909
$GC,9321,0.64,476.7,202.1,19.3,1056,9329,0.32,2.40,0.00,0.000,6,0.139,0.044,2987,2362,907
$GC,9650,0.77,476.7,165.0,13.0,1117,9656,0.12,2.17,0.00,0.000,4,0.061,0.056,3054,3682,904
$GC,9683,0.73,476.7,159.2,19.5,1123,9689,0.17,2.08,0.00,0.000,6,0.145,0.039,3012,2355,904
$GC,10010,0.80,476.7,112.5,13.0,1184,10017,0.00,2.33,0.00,0.000,4,0.000,0.048,3022,885,903
$GC,10109,0.97,521.9,101.8,9.5,1202,10155,0.20,2.33,38.12,0.742,6,0.051,0.039,3132,2345,726
$GC,10476,0.85,521.9,25.5,20.8,1269,10482,0.22,2.17,0.00,0.000,4,0.130,0.059,3057,3692,722
$GC,10591,1.10,558.0,10.9,9.8,1290,10652,0.20,2.05,39.78,0.594,6,0.048,0.035,3164,2347,577
$STATE,10656,end climb,SURFACE_DEPTH_REACHED
$STATE,10656,begin surface coast
$FINISH,2.1,1.007611
$STATE,10680,end surface coast,CONTROL_FINISHED_OK
$STATE,10680,begin surface
$SM_CCo,10759,0.00,0.000,0,0,567,561.00
$SM_GC,2.91,7.82,0.00,0.00,0.036,0.000,0.000,162,2278,567,-8.08,-0.20,561.00
$IRIDIUM_FIX,2441.81,12213.16,121198,121243
$TT8_MAMPS,0.049088
$HUMID,1850
$INTERNAL_PRESSURE,8.7308
$TCM_TEMP,22.20
$XPDR_PINGS,602
$24V_AH,23.2,111.253
$10V_AH,10.3,74.063
$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,24.675,97.775,660.700,0.000,0.000,24.657,32.517,199.714,155.000,0.000,0.000,94.071,0.000,6848.704,733.005,3014.016,620.209,0.000,1876.173,0.000,2490.618,0.000,33.135,0.000
$DEVICE_MAMPS,231.634,78.234,1099.878,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,883.221,950.505,1350.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72670,1305
$CAP_FILE_SIZE,129406,0
$CFSIZE,260165632,213893120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.322,170.4,1
$GPS,180809,185936,2449.582,12215.117,109,1.4,109,-3.5