version: 66.04
glider: 165
mission: 2
dive: 4
start: 5 22 109 6 23 43
data:
$ID,165
$MISSION,2
$DIVE,4
$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,150
$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,519.11206
$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,-115925.56
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2908
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,29
$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,1946
$C_ROLL_CLIMB,1946
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2642
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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
$GPS1,061700,2437.313,12258.477,38,1.2,38,-3.5
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,2
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.6
$GPS2,062337,2437.401,12258.548,9,1.2,9,-3.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,255.7,52100,-18.2,-10.000
$D_GRID,652
$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,-0.81,-146.0,0.0,0.0,0,79,0.00,0.00,-65.15,0.000,2,0.000,0.000,172,1942,2107
$GC,80,-0.81,-146.0,3.0,-3.7,10,132,10.30,2.20,-35.22,0.000,4,0.261,0.067,2642,541,3237
$GC,216,-0.81,-146.0,21.5,-20.0,34,222,0.00,2.20,0.00,0.000,6,0.000,0.042,2632,1943,3239
$GC,542,-0.81,-146.0,84.5,-16.7,95,549,0.00,2.22,0.00,0.000,4,0.000,0.054,2632,545,3240
$GC,595,-0.81,-146.0,94.2,-17.0,105,602,0.00,2.20,0.00,0.000,6,0.000,0.048,2630,1951,3240
$GC,921,-0.81,-146.0,138.4,-11.8,166,928,0.00,2.22,0.00,0.000,4,0.000,0.058,2630,3349,3241
$GC,980,-0.81,-146.0,144.9,-11.0,177,987,0.00,2.15,0.00,0.000,6,0.000,0.039,2630,1947,3241
$GC,1306,-0.81,-146.0,182.2,-6.9,238,1313,0.00,2.25,0.00,0.000,4,0.000,0.058,2630,3352,3241
$GC,1339,-0.81,-146.0,185.2,-9.3,244,1347,0.00,2.15,0.00,0.000,6,0.000,0.043,2630,1950,3242
$GC,1666,-0.81,-146.0,220.8,-12.6,305,1672,0.00,2.22,0.00,0.000,4,0.000,0.059,2629,3344,3242
$GC,1724,-0.81,-146.0,226.7,-9.3,316,1732,0.00,2.15,0.00,0.000,6,0.000,0.040,2629,1941,3242
$GC,2052,-0.81,-146.0,261.7,-10.0,377,2058,0.00,2.20,0.00,0.000,4,0.000,0.056,2629,538,3241
$GC,2104,-0.81,-146.0,266.9,-10.3,387,2111,0.00,2.17,0.00,0.000,6,0.000,0.043,2630,1946,3242
$GC,2430,-0.81,-146.0,295.2,-7.7,448,2438,0.00,2.22,0.00,0.000,4,0.000,0.061,2630,3350,3242
$GC,2581,-0.81,-146.0,307.4,-8.9,468,2585,0.00,2.15,0.00,0.000,6,0.000,0.041,2629,1944,3242
$GC,2902,-0.81,-146.0,334.7,-8.9,499,2906,0.00,2.25,0.00,0.000,4,0.000,0.061,2630,3350,3241
$GC,3013,-0.81,-146.0,344.5,-8.5,509,3020,0.00,2.15,0.00,0.000,6,0.000,0.041,2630,1946,3241
$GC,3330,-0.81,-146.0,369.9,-6.6,540,3333,0.00,2.25,0.00,0.000,4,0.000,0.061,2630,3350,3241
$GC,3372,-0.81,-146.0,372.6,-6.2,544,3376,0.00,2.15,0.00,0.000,6,0.000,0.041,2630,1945,3240
$GC,3693,-0.81,-146.0,397.9,-9.1,575,3697,0.00,2.22,0.00,0.000,4,0.000,0.062,2630,3355,3239
$GC,3799,-0.81,-146.0,408.4,-9.4,585,3803,0.00,2.15,0.00,0.000,6,0.000,0.041,2630,1952,3238
$GC,4120,-0.81,-146.0,433.1,-6.5,616,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1949,3237
$GC,4431,-0.81,-146.0,451.8,-7.6,646,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,1949,3235
$GC,4741,-0.81,-146.0,475.0,-8.0,676,4746,0.00,2.25,0.00,0.000,4,0.000,0.065,2630,3346,3234
$GC,4874,-0.81,-146.0,486.4,-8.7,688,4882,0.00,2.15,0.00,0.000,6,0.000,0.043,2629,1951,3233
$GC,5187,-0.81,-146.0,511.6,-7.8,712,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,1949,3232
$GC,5492,-0.81,-146.0,532.3,-5.6,727,5496,0.00,2.28,0.00,0.000,4,0.000,0.066,2630,3355,3231
$GC,5625,-0.81,-146.0,540.2,-5.9,733,5630,0.00,2.17,0.00,0.000,6,0.000,0.044,2630,1945,3230
$GC,5947,-0.81,-146.0,565.1,-7.4,749,5951,0.00,2.28,0.00,0.000,4,0.000,0.066,2630,3350,3228
$GC,6042,-0.81,-146.0,571.4,-6.8,753,6046,0.00,2.17,0.00,0.000,6,0.000,0.044,2630,1945,3227
$GC,6358,-0.81,-146.0,590.4,-5.7,769,6362,0.00,2.28,0.00,0.000,4,0.000,0.066,2630,3347,3226
$GC,6422,-0.81,-146.0,593.6,-4.8,772,6426,0.00,2.17,0.00,0.000,6,0.000,0.045,2630,1944,3225
$GC,6748,-0.81,-146.0,610.9,-6.2,788,6752,0.00,2.28,0.00,0.000,4,0.000,0.064,2630,3355,3224
$GC,6844,-0.81,-146.0,616.0,-5.3,792,6848,0.00,2.17,0.00,0.000,6,0.000,0.045,2630,1949,3224
$GC,7159,-0.81,-146.0,636.5,-7.6,808,7164,0.00,2.28,0.00,0.000,4,0.000,0.066,2630,3351,3223
$GC,7218,-0.81,-146.0,640.9,-7.5,810,7225,0.00,2.17,0.00,0.000,6,0.000,0.045,2630,1948,3222
$STATE,7364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7364,begin apogee
$GC,7367,-0.17,0.0,653.4,8.8,818,7481,0.65,0.00,112.03,1.088,6,0.110,0.000,2853,1946,2642
$STATE,7482,end apogee,CONTROL_FINISHED_OK
$STATE,7482,begin climb
$GC,7483,0.81,146.0,658.0,0.0,823,7607,0.85,2.40,117.72,1.054,4,0.052,0.065,3186,548,2046
$GC,7617,0.81,146.0,648.8,17.8,830,7621,0.00,2.33,0.00,0.000,6,0.000,0.048,3186,1936,2043
$GC,7938,0.81,146.0,581.1,22.4,846,7942,0.00,2.33,0.00,0.000,4,0.000,0.062,3186,3356,2038
$GC,8183,0.81,146.0,525.6,21.8,857,8188,0.00,2.22,0.00,0.000,6,0.000,0.048,3196,1962,2036
$GC,8502,0.81,146.0,461.8,20.3,882,8507,0.00,2.33,0.00,0.000,4,0.000,0.064,3206,531,2035
$GC,8748,0.81,146.0,410.6,18.5,905,8753,0.10,2.25,0.00,0.000,6,0.197,0.048,3178,1953,2033
$GC,9068,0.81,146.0,356.2,18.5,936,9073,0.00,2.25,0.00,0.000,4,0.000,0.062,3178,3353,2032
$GC,9314,0.81,146.0,312.2,15.7,959,9319,0.00,2.22,0.00,0.000,6,0.000,0.048,3186,1938,2032
$GC,9637,0.81,146.0,261.9,14.9,1012,9646,0.00,2.28,0.00,0.000,4,0.000,0.060,3186,3349,2031
$GC,9884,0.81,146.0,220.9,14.4,1058,9892,0.00,2.20,0.00,0.000,6,0.000,0.047,3196,1943,2031
$GC,10211,0.81,146.0,174.9,12.8,1119,10218,0.00,2.28,0.00,0.000,4,0.000,0.058,3196,3363,2031
$GC,10457,0.81,146.0,139.4,14.4,1165,10464,0.12,2.20,0.00,0.000,6,0.195,0.045,3171,1950,2031
$GC,10784,0.81,146.0,104.2,10.3,1226,10791,0.00,2.25,0.00,0.000,4,0.000,0.057,3171,3361,2032
$GC,11030,0.94,250.4,85.8,5.2,1272,11114,0.00,2.20,77.55,0.662,6,0.000,0.044,3180,1937,1620
$GC,11433,0.94,250.4,38.1,10.9,1345,11440,0.00,2.22,0.00,0.000,4,0.000,0.058,3191,550,1615
$GC,11668,0.94,250.4,9.4,13.2,1389,11675,0.00,2.20,0.00,0.000,6,0.000,0.042,3191,1954,1614
$STATE,11710,end climb,SURFACE_DEPTH_REACHED
$STATE,11710,begin surface coast
$FINISH,1.5,1.001322
$STATE,11726,end surface coast,CONTROL_FINISHED_OK
$STATE,11726,begin surface
$SM_CCo,11739,161.95,0.568,0,0,524,519.30
$SM_GC,2.01,0.00,0.00,161.95,0.000,0.000,0.568,163,1958,524,-8.58,0.34,519.30
$IRIDIUM_FIX,2427.58,12257.36,160898,020221
$TT8_MAMPS,0.049088
$HUMID,1528
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.60
$XPDR_PINGS,131
$24V_AH,24.0,5.712
$10V_AH,10.8,5.435
$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,19.775,106.700,307.300,161.950,0.000,29.321,31.554,249.031,37.500,0.000,0.000,11.278,0.000,7917.554,656.121,3242.371,460.373,0.000,1820.414,0.000,2788.421,0.000,32.490,0.000
$DEVICE_MAMPS,260.780,67.496,1088.373,568.347,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,944.800,1014.171,1700.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79004,1400
$CAP_FILE_SIZE,129171,0
$CFSIZE,260165632,257314816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.361, 21.9,1
$GPS,220509,094301,2439.313,12258.538,38,1.3,38,-3.5