version: 66.04
glider: 165
mission: 2
dive: 60
start: 5 31 109 2 1 12
data:
$ID,165
$MISSION,2
$DIVE,60
$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,330
$T_MISSION,396
$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,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,435
$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,-117070.11
$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,25.5
$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,51
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$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
$GPS1,015551,2522.414,12228.873,4,3.8,24,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.5
$GPS2,020107,2522.479,12228.947,40,1.4,40,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,307.0,8086,-15.7,-10.000
$D_GRID,501
$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,12,-0.85,-194.7,0.0,0.0,0,76,0.00,0.00,-62.78,0.000,2,0.000,0.000,169,2058,2131
$GC,78,-0.85,-194.7,3.3,-4.0,10,135,8.95,2.30,-39.20,0.000,4,0.232,0.071,2528,3467,3555
$GC,225,-0.12,-194.7,42.3,-32.5,36,233,0.73,2.15,0.00,0.000,6,0.150,0.038,2777,2081,3557
$GC,552,-1.04,-194.7,70.9,-10.4,97,559,0.75,2.22,0.00,0.000,4,0.035,0.057,2449,3468,3559
$GC,601,-0.14,-194.7,81.0,-28.6,106,609,0.98,2.15,0.00,0.000,6,0.157,0.036,2759,2063,3559
$GC,929,-0.94,-194.7,106.9,-10.8,167,936,0.65,2.25,0.00,0.000,4,0.057,0.055,2501,3475,3560
$GC,962,-0.69,-194.7,111.4,-14.1,173,968,0.22,2.12,0.00,0.000,6,0.126,0.039,2594,2082,3560
$GC,1288,-0.48,-194.7,166.8,-16.4,234,1295,0.22,2.20,0.00,0.000,4,0.129,0.051,2669,663,3562
$GC,1417,-0.78,-194.7,179.5,-6.6,258,1424,0.22,2.12,0.00,0.000,6,0.039,0.041,2546,2041,3563
$GC,1744,-0.40,-194.7,236.1,-16.5,319,1750,0.40,2.12,0.00,0.000,4,0.131,0.050,2683,672,3563
$GC,1791,-0.80,-194.7,239.6,-4.3,328,1800,0.30,2.08,0.00,0.000,6,0.054,0.040,2527,2023,3564
$GC,2120,-0.42,-194.7,295.5,-17.4,389,2126,0.47,2.28,0.00,0.000,4,0.130,0.060,2674,3478,3564
$GC,2216,-1.04,-194.7,301.3,-4.5,405,2220,0.45,2.20,0.00,0.000,6,0.058,0.038,2471,2033,3564
$GC,2536,-0.49,-194.7,363.3,-21.9,436,2541,0.57,2.30,0.00,0.000,4,0.140,0.062,2656,3465,3564
$GC,2595,-0.95,-194.7,370.0,-7.9,441,2602,0.32,2.17,0.00,0.000,6,0.038,0.038,2492,2049,3564
$GC,2910,-0.52,-194.7,428.8,-18.2,472,2915,0.47,2.15,0.00,0.000,4,0.129,0.054,2649,675,3564
$GC,2948,-0.84,-194.7,432.6,-7.8,475,2954,0.22,2.12,0.00,0.000,6,0.041,0.043,2522,2043,3564
$STATE,3221,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3221,begin apogee
$GC,3224,-0.20,0.0,468.7,13.9,502,3377,0.70,0.00,149.52,0.946,6,0.127,0.000,2755,2528,2759
$STATE,3377,end apogee,CONTROL_FINISHED_OK
$STATE,3377,begin climb
$GC,3379,0.85,194.7,474.4,0.0,517,3535,0.90,1.95,150.70,0.929,4,0.044,0.061,3110,3695,1963
$GC,3581,0.14,194.7,453.0,22.5,535,3588,0.82,1.88,0.00,0.000,6,0.164,0.038,2872,2526,1959
$GC,3897,0.67,361.8,433.8,4.2,566,4040,0.43,2.40,133.57,0.904,4,0.041,0.051,3070,1111,1283
$GC,4120,0.39,361.8,394.3,21.3,586,4127,0.40,2.33,0.00,0.000,6,0.149,0.047,2946,2523,1277
$GC,4436,0.73,424.5,362.9,7.8,617,4490,0.30,0.00,51.62,0.866,6,0.047,0.000,3082,2523,1027
$GC,4801,0.41,424.5,275.4,22.5,661,4806,0.43,0.00,0.00,0.000,6,0.143,0.000,2953,2523,1021
$GC,5126,1.00,592.8,252.4,4.2,722,5252,0.50,2.38,116.78,0.801,4,0.040,0.054,3179,1127,478
$GC,5405,0.56,592.8,167.7,32.7,772,5414,0.55,2.25,0.00,0.000,6,0.154,0.044,3008,2517,461
$GC,5733,1.14,690.1,134.1,6.6,833,5740,0.47,2.22,0.00,0.000,4,0.039,0.049,3223,1117,458
$GC,5910,0.73,690.1,81.4,31.4,866,5916,0.50,2.20,0.00,0.000,6,0.146,0.044,3061,2511,456
$GC,6236,1.20,733.4,42.9,8.5,927,6243,0.38,2.20,0.00,0.000,4,0.040,0.048,3241,1113,454
$GC,6269,0.92,733.4,36.9,22.0,933,6275,0.38,2.15,0.00,0.000,6,0.143,0.044,3118,2490,454
$STATE,6508,end climb,SURFACE_DEPTH_REACHED
$STATE,6508,begin surface coast
$FINISH,1.6,1.022532
$STATE,6529,end surface coast,CONTROL_FINISHED_OK
$STATE,6530,begin surface
$SM_CCo,6602,0.00,0.000,0,0,453,565.66
$SM_GC,2.30,7.45,0.00,0.00,0.037,0.000,0.000,164,2040,453,-8.21,-0.88,565.66
$IRIDIUM_FIX,2510.35,12230.65,250898,000004
$TT8_MAMPS,0.048321
$HUMID,1570
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,24.30
$XPDR_PINGS,62
$ALTIM_BOTTOM_PING,401.1,92.2
$24V_AH,24.3,15.777
$10V_AH,10.8,12.194
$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,30.150,58.350,602.200,0.000,0.000,28.213,30.809,150.354,18.000,0.000,0.000,41.939,0.000,3763.868,649.056,2169.832,320.379,0.000,1474.537,0.000,1832.051,0.000,19.634,0.000
$DEVICE_MAMPS,232.401,70.564,945.711,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.175,760.523,1278.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56843,982
$CAP_FILE_SIZE,88285,0
$CFSIZE,260165632,253030400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,  0.5,1
$GPS,310509,035158,2523.950,12228.039,6,4.8,26,-3.7