version: 66.04
glider: 165
mission: 2
dive: 78
start: 6 1 109 13 46 25
data:
$ID,165
$MISSION,2
$DIVE,78
$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,-118384.18
$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,37
$R_STBD_OVSHOOT,32
$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
$GPS1,134106,2523.397,12232.890,24,1.4,25,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.4
$GPS2,134620,2523.519,12232.927,12,1.4,12,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,137.4,47993,-18.3,-12.000
$D_GRID,558
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.96,-194.7,0.0,0.0,0,57,0.00,0.00,-43.08,0.000,2,0.000,0.000,160,2058,2030
$GC,59,-0.96,-194.7,3.1,-4.1,7,116,9.05,2.28,-43.12,0.000,4,0.235,0.067,2497,3482,3554
$GC,163,-0.15,-194.7,27.9,-37.4,25,171,0.82,2.20,0.00,0.000,6,0.153,0.040,2759,2069,3555
$GC,491,-0.65,-194.7,60.7,-9.1,86,498,0.40,2.25,0.00,0.000,4,0.040,0.058,2570,3496,3558
$GC,555,-0.32,-194.7,73.1,-22.9,98,562,0.40,2.15,0.00,0.000,6,0.129,0.036,2708,2088,3558
$GC,882,-0.65,-194.7,101.3,-8.6,159,888,0.28,2.22,0.00,0.000,4,0.047,0.061,2574,3471,3560
$GC,919,-0.52,-194.7,106.8,-17.0,166,926,0.20,2.08,0.00,0.000,6,0.123,0.037,2647,2106,3560
$GC,1246,-0.65,-194.7,145.9,-9.8,227,1253,0.12,2.17,0.00,0.000,4,0.070,0.058,2576,3467,3562
$GC,1300,-0.56,-194.7,152.8,-13.1,237,1307,0.15,2.08,0.00,0.000,6,0.121,0.038,2632,2111,3562
$GC,1627,-0.63,-194.7,190.3,-13.8,298,1634,0.00,2.20,0.00,0.000,4,0.000,0.064,2632,3473,3562
$GC,1707,-0.90,-194.7,198.8,-9.1,313,1715,0.25,2.05,0.00,0.000,6,0.040,0.038,2502,2130,3562
$GC,2034,-0.50,-194.7,268.9,-18.4,374,2041,0.47,2.25,0.00,0.000,4,0.143,0.052,2654,680,3562
$GC,2158,-0.88,-194.7,278.6,-6.1,397,2166,0.32,2.17,0.00,0.000,6,0.044,0.041,2499,2109,3562
$GC,2479,-0.56,-194.7,335.1,-15.9,439,2483,0.43,2.12,0.00,0.000,4,0.140,0.060,2630,3471,3562
$GC,2564,-0.97,-194.7,341.2,-5.7,447,2568,0.30,2.05,0.00,0.000,6,0.039,0.038,2479,2128,3562
$GC,2885,-0.57,-194.7,400.4,-20.3,478,2887,0.50,0.00,0.00,0.000,6,0.146,0.000,2636,2122,3562
$GC,3195,-0.97,-194.7,422.8,-6.2,508,3199,0.35,2.15,0.00,0.000,4,0.044,0.061,2477,3483,3561
$GC,3221,-0.87,-194.7,426.0,-13.3,510,3229,0.17,2.10,0.00,0.000,6,0.140,0.039,2536,2108,3560
$GC,3537,-0.82,-194.7,468.9,-12.8,541,3541,0.00,2.25,0.00,0.000,4,0.000,0.054,2536,677,3559
$GC,3558,-0.75,-194.7,471.8,-14.3,543,3562,0.10,2.25,0.00,0.000,6,0.134,0.046,2571,2108,3559
$GC,3878,-0.87,-194.7,502.9,-9.6,573,3882,0.00,2.20,0.00,0.000,4,0.000,0.063,2571,3476,3557
$GC,3979,-1.07,-194.7,511.9,-8.3,577,3988,0.22,2.08,0.00,0.000,6,0.044,0.039,2459,2127,3555
$STATE,4247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4247,begin apogee
$GC,4251,-0.20,0.0,560.3,17.0,591,4403,0.93,0.00,149.68,1.036,6,0.153,0.000,2749,2531,2759
$STATE,4404,end apogee,CONTROL_FINISHED_OK
$STATE,4404,begin climb
$GC,4405,0.96,194.7,567.5,0.0,598,4565,1.00,2.40,151.85,1.004,4,0.050,0.053,3142,1130,1964
$GC,4692,0.43,194.7,526.9,22.2,611,4700,0.60,2.28,0.00,0.000,6,0.170,0.049,2964,2516,1958
$GC,5004,0.48,234.1,492.3,10.4,630,5040,0.00,1.95,31.73,0.961,4,0.000,0.064,2965,3686,1804
$GC,5067,0.48,234.1,484.9,12.3,636,5071,0.00,1.85,0.00,0.000,6,0.000,0.038,2972,2525,1801
$GC,5389,0.53,234.1,445.9,12.6,667,5392,0.00,1.88,0.00,0.000,4,0.000,0.061,2972,3696,1797
$GC,5409,0.53,234.1,443.1,13.2,669,5413,0.00,1.83,0.00,0.000,6,0.000,0.038,2980,2516,1797
$GC,5730,0.54,241.0,402.9,11.7,700,5742,0.00,2.20,5.75,0.760,4,0.000,0.051,2990,1117,1776
$GC,5794,0.64,265.0,395.7,11.0,706,5820,0.08,2.25,21.23,0.917,6,0.066,0.047,3039,2520,1677
$GC,6136,0.42,265.0,335.2,17.8,739,6140,0.28,1.88,0.00,0.000,4,0.150,0.062,2959,3689,1672
$GC,6317,0.57,279.4,313.8,11.4,756,6333,0.08,1.75,12.27,0.846,6,0.062,0.039,3014,2545,1620
$GC,6652,0.57,279.4,271.1,13.0,809,6659,0.00,1.85,0.00,0.000,4,0.000,0.061,3014,3693,1616
$GC,6706,0.48,279.4,263.7,14.1,819,6712,0.12,1.70,0.00,0.000,6,0.135,0.039,2979,2579,1616
$GC,7031,0.72,337.0,232.7,9.6,880,7087,0.20,2.38,46.97,0.827,4,0.059,0.049,3078,1132,1384
$GC,7242,0.59,337.0,198.1,17.3,918,7248,0.20,2.28,0.00,0.000,6,0.150,0.044,3014,2548,1379
$GC,7568,0.70,337.0,154.1,13.9,979,7574,0.00,2.25,0.00,0.000,4,0.000,0.046,3024,1129,1379
$GC,7589,0.81,337.0,151.0,15.4,983,7596,0.12,2.28,0.00,0.000,6,0.051,0.044,3097,2559,1377
$GC,7916,0.68,337.0,93.8,15.1,1044,7922,0.20,1.77,0.00,0.000,4,0.146,0.058,3038,3690,1378
$GC,8098,0.78,337.0,70.0,13.0,1078,8104,0.00,1.67,0.00,0.000,6,0.000,0.037,3046,2577,1378
$GC,8424,1.15,438.6,43.2,7.8,1139,8513,0.38,2.35,79.80,0.661,4,0.045,0.047,3222,1129,969
$GC,8575,0.92,438.6,13.8,21.2,1165,8584,0.32,2.28,0.00,0.000,6,0.144,0.042,3119,2543,965
$STATE,8645,end climb,SURFACE_DEPTH_REACHED
$STATE,8645,begin surface coast
$FINISH,1.5,1.021995
$STATE,8667,end surface coast,CONTROL_FINISHED_OK
$STATE,8667,begin surface
$SM_CCo,8740,0.00,0.000,0,0,963,440.56
$SM_GC,2.33,7.62,0.00,0.00,0.039,0.000,0.000,166,2058,963,-8.20,-0.37,440.56
$IRIDIUM_FIX,2515.12,12233.94,260898,111115
$TT8_MAMPS,0.048321
$HUMID,1575
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,24.60
$XPDR_PINGS,115
$ALTIM_BOTTOM_PING,526.6,61.4
$24V_AH,24.3,18.223
$10V_AH,10.7,13.973
$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,26.675,85.775,499.275,0.000,0.000,31.110,32.433,165.157,33.000,0.000,0.000,14.432,0.000,5417.867,599.654,2649.173,368.649,0.000,1578.328,0.000,2257.899,0.000,33.010,0.000
$DEVICE_MAMPS,235.469,66.729,1036.217,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.421,900.856,1498.369,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66371,1182
$CAP_FILE_SIZE,112705,0
$CFSIZE,260165632,251965440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 36.3,1
$GPS,010609,161301,2522.925,12234.150,38,1.5,39,-3.7