version: 66.04
glider: 165
mission: 2
dive: 40
start: 5 28 109 1 29 43
data:
$ID,165
$MISSION,2
$DIVE,40
$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,-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,-116667.87
$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,31
$R_STBD_OVSHOOT,29
$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,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
$GPS1,012401,2452.096,12244.984,37,1.3,37,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-72.2
$GPS2,012938,2452.124,12245.024,10,1.3,10,-3.6
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_2
$TGT_LATLONG,2454.000,12238.000
$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,245.0,12301,-18.3,-12.000
$D_GRID,503
$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,-0.96,-194.7,0.0,0.0,0,60,0.00,0.00,-46.85,0.000,2,0.000,0.000,167,2070,2133
$GC,62,-0.96,-194.7,3.2,-4.0,7,119,9.18,2.30,-40.58,0.000,4,0.241,0.068,2493,3479,3555
$GC,347,-0.16,-194.7,97.4,-37.5,59,354,0.82,2.20,0.00,0.000,6,0.150,0.039,2758,2063,3557
$GC,674,-1.11,-194.7,128.7,-12.3,120,681,0.80,2.25,0.00,0.000,4,0.076,0.056,2457,3488,3559
$GC,734,-0.45,-194.7,140.6,-28.6,131,740,0.62,2.17,0.00,0.000,6,0.140,0.044,2664,2081,3559
$GC,1060,-0.62,-194.7,172.8,-7.3,192,1066,0.12,0.00,0.00,0.000,6,0.069,0.000,2597,2077,3561
$GC,1385,-0.62,-194.7,222.4,-12.6,253,1392,0.00,2.22,0.00,0.000,4,0.000,0.051,2597,662,3561
$GC,1401,-0.57,-194.7,224.7,-14.4,256,1409,0.10,2.22,0.00,0.000,6,0.132,0.042,2628,2089,3561
$GC,1730,-0.76,-194.7,256.6,-8.7,317,1735,0.15,0.00,0.00,0.000,6,0.063,0.000,2551,2090,3562
$GC,2057,-0.60,-194.7,313.7,-17.6,372,2062,0.25,2.20,0.00,0.000,4,0.136,0.062,2630,3470,3562
$GC,2083,-0.74,-194.7,317.2,-13.1,374,2092,0.10,2.10,0.00,0.000,6,0.051,0.038,2560,2095,3562
$GC,2400,-0.68,-194.7,360.6,-12.3,405,2401,0.12,0.00,0.00,0.000,6,0.141,0.000,2597,2091,3562
$GC,2711,-0.84,-194.7,386.2,-8.0,435,2712,0.15,0.00,0.00,0.000,6,0.064,0.000,2523,2091,3562
$GC,3020,-0.70,-194.7,432.6,-15.4,465,3022,0.22,0.00,0.00,0.000,6,0.137,0.000,2592,2090,3562
$GC,3332,-0.90,-194.7,460.6,-8.0,495,3335,0.17,2.20,0.00,0.000,4,0.061,0.065,2507,3477,3561
$GC,3352,-0.90,-194.7,462.7,-10.5,497,3356,0.00,2.08,0.00,0.000,6,0.000,0.041,2508,2125,3560
$STATE,3630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3630,begin apogee
$GC,3634,-0.20,0.0,504.6,15.3,523,3785,0.75,0.00,149.23,0.983,6,0.131,0.000,2757,2529,2759
$STATE,3786,end apogee,CONTROL_FINISHED_OK
$STATE,3786,begin climb
$GC,3787,0.96,194.7,512.1,0.0,530,3946,1.00,2.00,150.80,0.963,4,0.052,0.064,3133,3683,1964
$GC,4091,0.30,194.7,464.3,25.3,551,4095,0.73,1.83,0.00,0.000,6,0.167,0.043,2925,2537,1960
$GC,4411,0.60,255.7,432.5,9.5,582,4468,0.25,2.35,48.53,0.915,4,0.051,0.052,3044,1126,1714
$GC,4514,0.50,255.7,417.0,16.8,591,4521,0.20,2.28,0.00,0.000,6,0.144,0.048,2981,2510,1710
$GC,4830,0.58,255.7,376.3,12.2,622,4834,0.00,2.25,0.00,0.000,4,0.000,0.051,2990,1117,1707
$GC,4862,0.69,255.7,372.5,12.2,625,4866,0.10,2.22,0.00,0.000,6,0.060,0.048,3052,2497,1706
$GC,5182,0.50,255.7,319.6,17.3,656,5187,0.25,1.90,0.00,0.000,4,0.147,0.063,2977,3681,1705
$GC,5215,0.50,255.7,315.1,13.9,659,5219,0.00,1.85,0.00,0.000,6,0.000,0.041,2984,2485,1704
$GC,5537,0.74,356.8,283.3,7.8,707,5622,0.20,2.28,79.80,0.840,4,0.063,0.052,3082,1129,1303
$GC,5685,0.64,356.8,259.3,17.6,733,5692,0.15,2.25,0.00,0.000,6,0.146,0.047,3033,2499,1299
$GC,6012,0.70,356.8,211.1,13.6,794,6018,0.00,2.22,0.00,0.000,4,0.000,0.050,3043,1121,1296
$GC,6103,0.82,356.8,199.5,13.6,811,6110,0.08,2.17,0.00,0.000,6,0.063,0.045,3093,2487,1295
$GC,6429,0.70,356.8,137.7,17.0,872,6435,0.17,0.00,0.00,0.000,6,0.150,0.000,3044,2488,1294
$GC,6755,0.97,446.9,100.9,8.3,933,6831,0.25,1.95,70.50,0.697,4,0.054,0.058,3151,3691,936
$GC,6895,0.80,446.9,74.7,20.6,957,6902,0.25,1.92,0.00,0.000,6,0.135,0.039,3079,2470,935
$GC,7222,1.09,460.3,33.9,11.4,1018,7236,0.25,0.00,11.55,0.600,6,0.051,0.000,3194,2463,881
$STATE,7373,end climb,SURFACE_DEPTH_REACHED
$STATE,7373,begin surface coast
$FINISH,1.5,1.000757
$STATE,7383,end surface coast,CONTROL_FINISHED_OK
$STATE,7383,begin surface
$SM_CCo,7456,0.00,0.000,0,0,877,461.41
$SM_GC,2.29,7.75,0.00,0.00,0.039,0.000,0.000,164,2049,877,-8.22,-0.59,461.41
$IRIDIUM_FIX,2441.81,12244.11,210898,212104
$TT8_MAMPS,0.047554
$HUMID,1535
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.10
$XPDR_PINGS,55
$24V_AH,24.2,12.146
$10V_AH,10.8,9.745
$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,25.200,52.725,510.400,0.000,0.000,27.549,31.432,189.623,17.000,0.000,0.000,12.422,0.000,4560.430,563.515,2274.229,371.951,0.000,1411.431,0.000,1945.974,0.000,22.562,0.000
$DEVICE_MAMPS,240.838,68.263,983.294,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,703.729,772.177,1291.282,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59980,1048
$CAP_FILE_SIZE,94145,0
$CFSIZE,260165632,254603264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.603, 26.0,1
$GPS,280509,033446,2453.798,12244.994,9,99.0,29,-3.6