version: 66.04
glider: 165
mission: 2
dive: 41
start: 5 28 109 3 40 13
data:
$ID,165
$MISSION,2
$DIVE,41
$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,-116701.87
$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,46
$R_STBD_OVSHOOT,31
$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
$GPS1,033446,2453.798,12244.994,9,99.0,29,-3.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-68.3
$GPS2,034007,2453.848,12245.005,31,1.0,31,-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,230.0,11771,-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,-194.7,0.0,0.0,0,66,0.00,0.00,-52.80,0.000,2,0.000,0.000,162,2049,2171
$GC,68,-0.96,-194.7,3.1,-4.6,8,124,9.02,2.35,-39.08,0.000,4,0.239,0.068,2494,3488,3555
$GC,364,-0.26,-194.7,100.6,-30.9,62,371,0.73,2.20,0.00,0.000,6,0.161,0.040,2724,2076,3557
$GC,690,-0.88,-194.7,127.4,-6.8,123,697,0.50,2.25,0.00,0.000,4,0.053,0.057,2520,3469,3560
$GC,722,-0.71,-194.7,131.6,-14.2,129,731,0.20,2.15,0.00,0.000,6,0.141,0.042,2587,2064,3560
$GC,1050,-0.45,-194.7,197.7,-17.3,190,1057,0.28,2.15,0.00,0.000,4,0.142,0.052,2675,679,3560
$GC,1114,-0.81,-194.7,203.9,-5.9,202,1121,0.28,2.17,0.00,0.000,6,0.038,0.041,2533,2085,3561
$GC,1441,-0.49,-194.7,263.0,-17.8,263,1447,0.40,0.00,0.00,0.000,6,0.139,0.000,2662,2085,3561
$GC,1766,-0.91,-194.7,287.5,-6.0,324,1773,0.35,2.17,0.00,0.000,4,0.044,0.060,2501,3464,3561
$GC,1836,-0.60,-194.7,297.5,-17.6,337,1843,0.35,2.10,0.00,0.000,6,0.138,0.038,2620,2084,3561
$GC,2153,-0.83,-194.7,322.6,-7.4,369,2157,0.20,2.20,0.00,0.000,4,0.055,0.055,2522,678,3561
$GC,2184,-0.64,-194.7,326.7,-14.4,372,2189,0.25,2.17,0.00,0.000,6,0.133,0.045,2606,2071,3561
$GC,2506,-0.84,-194.7,357.8,-9.0,403,2510,0.17,2.22,0.00,0.000,4,0.059,0.061,2520,3476,3561
$GC,2558,-0.71,-194.7,365.0,-15.1,408,2563,0.17,2.12,0.00,0.000,6,0.132,0.038,2582,2083,3561
$GC,2880,-0.77,-194.7,402.6,-11.0,439,2884,0.00,2.20,0.00,0.000,4,0.000,0.054,2582,678,3560
$GC,2954,-0.87,-194.7,410.6,-10.6,446,2958,0.08,2.20,0.00,0.000,6,0.063,0.044,2526,2094,3560
$GC,3275,-0.76,-194.7,452.1,-13.5,477,3276,0.15,0.00,0.00,0.000,6,0.143,0.000,2569,2095,3558
$GC,3586,-0.86,-194.7,481.9,-9.6,507,3589,0.00,2.22,0.00,0.000,4,0.000,0.056,2570,667,3557
$GC,3660,-0.96,-194.7,489.7,-11.2,514,3664,0.12,2.20,0.00,0.000,6,0.054,0.046,2492,2077,3556
$STATE,3751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3751,begin apogee
$GC,3754,-0.20,0.0,503.9,16.6,522,3905,0.80,0.00,148.38,0.979,6,0.146,0.000,2750,2530,2759
$STATE,3905,end apogee,CONTROL_FINISHED_OK
$STATE,3906,begin climb
$GC,3907,0.96,194.7,510.5,0.0,529,4065,1.02,2.40,150.40,0.962,4,0.054,0.052,3145,1132,1964
$GC,4167,0.41,194.7,477.6,20.5,546,4172,0.65,2.28,0.00,0.000,6,0.172,0.048,2953,2515,1959
$GC,4488,0.56,245.5,446.8,9.9,577,4534,0.15,2.28,40.38,0.919,4,0.067,0.052,3030,1125,1756
$GC,4698,0.56,245.5,414.7,15.0,596,4706,0.00,2.25,0.00,0.000,6,0.000,0.048,3030,2511,1750
$GC,5015,0.44,245.5,368.3,13.7,627,5019,0.22,2.17,0.00,0.000,4,0.145,0.051,2973,1129,1749
$GC,5062,0.69,298.9,363.0,9.8,631,5113,0.15,2.17,42.55,0.884,6,0.055,0.046,3051,2492,1540
$GC,5421,0.53,298.9,305.0,16.8,666,5426,0.20,1.92,0.00,0.000,4,0.150,0.061,2993,3685,1535
$GC,5447,0.53,298.9,301.1,14.7,668,5455,0.00,1.88,0.00,0.000,6,0.000,0.039,3001,2486,1535
$GC,5774,0.63,298.9,261.3,12.8,728,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2480,1532
$GC,6094,0.76,298.9,220.9,12.8,788,6095,0.17,0.00,0.00,0.000,6,0.064,0.000,3083,2480,1532
$GC,6414,0.60,298.9,166.2,15.2,848,6421,0.25,1.92,0.00,0.000,4,0.150,0.059,3009,3688,1531
$GC,6458,0.70,318.5,160.9,11.2,856,6478,0.00,1.80,15.62,0.733,6,0.000,0.039,3017,2500,1460
$GC,6798,0.99,404.0,127.9,8.5,919,6874,0.32,2.22,68.30,0.716,4,0.049,0.049,3168,1121,1110
$GC,6959,0.75,404.0,93.4,22.6,947,6966,0.32,2.20,0.00,0.000,6,0.148,0.043,3066,2492,1105
$GC,7285,1.03,433.6,51.6,10.8,1008,7318,0.22,2.20,24.00,0.647,4,0.053,0.048,3180,1129,989
$GC,7354,0.89,433.6,40.9,18.5,1020,7361,0.22,2.15,0.00,0.000,6,0.142,0.043,3108,2483,987
$STATE,7625,end climb,SURFACE_DEPTH_REACHED
$STATE,7625,begin surface coast
$FINISH,1.5,1.011725
$STATE,7647,end surface coast,CONTROL_FINISHED_OK
$STATE,7647,begin surface
$SM_CCo,7720,0.00,0.000,0,0,984,435.16
$SM_GC,2.27,7.47,0.00,0.00,0.038,0.000,0.000,167,2053,984,-8.21,-0.48,435.16
$IRIDIUM_FIX,2441.81,12247.40,220898,010119
$TT8_MAMPS,0.047554
$HUMID,1526
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.10
$XPDR_PINGS,45
$24V_AH,24.2,12.284
$10V_AH,10.8,9.843
$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,25.450,66.325,489.625,0.000,0.000,29.894,30.442,161.432,14.500,0.000,0.000,33.378,0.000,4721.787,567.013,2396.597,341.452,0.000,1450.466,0.000,2026.384,0.000,22.536,0.000
$DEVICE_MAMPS,238.537,68.263,979.459,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,722.428,783.180,1308.129,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59942,1075
$CAP_FILE_SIZE,100115,0
$CFSIZE,260165632,254533632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.507, 27.0,1
$GPS,280509,054920,2455.025,12245.034,9,1.4,10,-3.6