version: 66.04
glider: 165
mission: 2
dive: 80
start: 6 1 109 18 36 11
data:
$ID,165
$MISSION,2
$DIVE,80
$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,-118431.67
$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,26
$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
$GPS1,183049,2523.030,12234.309,9,1.8,15,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-68.8
$GPS2,183606,2523.152,12234.237,15,1.0,31,-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,142.3,45744,-18.3,-12.000
$D_GRID,609
$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,-194.7,0.0,0.0,0,56,0.00,0.00,-42.15,0.000,2,0.000,0.000,162,2058,2003
$GC,57,-0.96,-194.7,3.2,-3.8,6,117,8.95,2.35,-46.40,0.000,4,0.231,0.069,2490,3485,3554
$GC,164,-0.10,-194.7,27.1,-38.0,24,171,0.90,2.20,0.00,0.000,6,0.159,0.039,2780,2079,3556
$GC,491,-1.03,-194.7,54.4,-8.8,85,497,0.75,2.20,0.00,0.000,4,0.040,0.061,2463,3479,3558
$GC,581,-0.31,-194.7,78.6,-28.6,102,588,0.77,2.12,0.00,0.000,6,0.152,0.037,2712,2100,3558
$GC,908,-0.75,-194.7,103.5,-6.6,163,916,0.35,2.20,0.00,0.000,4,0.042,0.058,2546,3476,3560
$GC,974,-0.53,-194.7,113.9,-18.4,175,982,0.28,2.08,0.00,0.000,6,0.129,0.036,2642,2112,3560
$GC,1302,-0.70,-194.7,152.7,-10.8,236,1309,0.15,2.17,0.00,0.000,4,0.062,0.059,2562,3472,3562
$GC,1388,-0.62,-194.7,165.3,-15.6,252,1395,0.15,2.00,0.00,0.000,6,0.125,0.037,2616,2154,3562
$GC,1714,-0.69,-194.7,200.0,-10.1,313,1722,0.00,2.30,0.00,0.000,4,0.000,0.051,2616,679,3562
$GC,1774,-0.86,-194.7,205.5,-8.9,324,1781,0.17,2.30,0.00,0.000,6,0.044,0.042,2520,2160,3562
$GC,2100,-0.51,-194.7,264.8,-20.0,385,2107,0.40,2.30,0.00,0.000,4,0.140,0.051,2648,676,3562
$GC,2159,-0.83,-194.7,271.2,-8.6,396,2166,0.22,2.28,0.00,0.000,6,0.038,0.041,2521,2153,3562
$GC,2486,-0.60,-194.7,328.8,-16.4,443,2490,0.32,2.10,0.00,0.000,4,0.139,0.061,2616,3473,3562
$GC,2533,-0.89,-194.7,333.8,-7.8,447,2541,0.20,2.03,0.00,0.000,6,0.041,0.038,2506,2147,3562
$GC,2848,-0.64,-194.7,387.7,-16.6,478,2853,0.32,2.12,0.00,0.000,4,0.140,0.061,2602,3470,3562
$GC,2934,-0.95,-194.7,395.8,-7.6,486,2939,0.20,2.00,0.00,0.000,6,0.043,0.038,2494,2159,3562
$GC,3255,-0.69,-194.7,445.6,-15.3,517,3259,0.32,2.30,0.00,0.000,4,0.141,0.055,2596,675,3561
$GC,3373,-0.92,-194.7,457.0,-9.6,528,3377,0.20,2.25,0.00,0.000,6,0.055,0.045,2494,2135,3561
$GC,3702,-0.69,-194.7,506.3,-14.2,558,3707,0.32,2.15,0.00,0.000,4,0.142,0.063,2588,3479,3558
$GC,3820,-0.98,-194.7,514.7,-7.1,563,3824,0.20,2.03,0.00,0.000,6,0.044,0.039,2481,2156,3557
$GC,4135,-0.73,-194.7,560.2,-14.1,579,4140,0.32,2.33,0.00,0.000,4,0.145,0.053,2581,677,3555
$GC,4221,-0.95,-194.7,569.6,-9.9,583,4225,0.17,2.30,0.00,0.000,6,0.061,0.047,2494,2159,3555
$STATE,4282,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4282,begin apogee
$GC,4285,-0.20,0.0,577.5,13.3,586,4438,0.80,0.00,150.12,1.051,6,0.140,0.000,2754,2530,2759
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4440,0.96,194.7,582.8,0.0,593,4600,1.00,2.00,152.43,1.019,4,0.057,0.064,3128,3683,1964
$GC,4841,0.30,194.7,513.2,24.6,612,4846,0.70,1.80,0.00,0.000,6,0.170,0.042,2925,2545,1959
$GC,5161,0.56,250.4,481.7,9.7,637,5210,0.20,2.33,44.33,0.974,4,0.059,0.051,3025,1109,1738
$GC,5253,0.50,250.4,468.1,15.9,645,5256,0.15,2.30,0.00,0.000,6,0.153,0.048,2984,2520,1734
$GC,5573,0.50,250.4,424.3,13.2,676,5577,0.00,1.88,0.00,0.000,4,0.000,0.061,2984,3683,1731
$GC,5636,0.50,250.4,414.1,15.3,682,5641,0.00,1.85,0.00,0.000,6,0.000,0.041,2992,2505,1730
$GC,5958,0.50,250.4,369.2,12.7,713,5961,0.00,2.15,0.00,0.000,4,0.000,0.050,3002,1126,1727
$GC,6090,0.50,250.4,353.0,12.2,725,6097,0.00,2.20,0.00,0.000,6,0.000,0.047,3002,2508,1726
$GC,6406,0.50,250.4,310.5,13.0,756,6410,0.00,1.88,0.00,0.000,4,0.000,0.062,3002,3681,1725
$GC,6534,0.39,250.4,292.5,13.9,773,6541,0.17,1.80,0.00,0.000,6,0.136,0.040,2950,2509,1725
$GC,6860,0.72,331.0,265.8,8.7,834,6929,0.28,2.30,64.00,0.859,4,0.054,0.051,3077,1126,1408
$GC,6971,0.57,331.0,248.1,18.1,853,6977,0.22,2.22,0.00,0.000,6,0.152,0.048,3007,2487,1404
$GC,7296,0.67,331.0,202.5,12.2,914,7303,0.00,2.17,0.00,0.000,4,0.000,0.048,3016,1129,1402
$GC,7313,0.76,331.0,200.6,12.4,917,7319,0.10,2.12,0.00,0.000,6,0.058,0.044,3078,2467,1401
$GC,7639,0.61,331.0,139.6,15.9,978,7646,0.20,1.92,0.00,0.000,4,0.152,0.058,3021,3681,1401
$GC,7779,0.68,331.0,122.2,13.7,1004,7785,0.00,1.85,0.00,0.000,6,0.000,0.039,3029,2477,1401
$GC,8105,0.93,391.5,88.6,9.5,1065,8157,0.25,2.20,47.90,0.713,4,0.052,0.048,3149,1126,1161
$GC,8182,0.77,391.5,75.9,16.5,1078,8189,0.25,2.20,0.00,0.000,6,0.141,0.044,3069,2493,1158
$GC,8509,1.14,491.9,38.8,7.9,1139,8593,0.32,2.00,79.70,0.656,4,0.048,0.056,3208,3690,752
$STATE,8687,end climb,SURFACE_DEPTH_REACHED
$STATE,8687,begin surface coast
$FINISH,1.6,1.022283
$STATE,8698,end surface coast,CONTROL_FINISHED_OK
$STATE,8698,begin surface
$SM_CCo,8773,0.00,0.000,0,0,747,493.54
$SM_GC,2.52,7.93,0.00,0.00,0.039,0.000,0.000,167,2056,747,-8.21,-0.42,493.54
$IRIDIUM_FIX,2515.12,12237.24,260898,161659
$TT8_MAMPS,0.047554
$HUMID,1587
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.40
$XPDR_PINGS,111
$ALTIM_BOTTOM_PING,475.6,126.7
$24V_AH,24.2,18.534
$10V_AH,10.7,14.177
$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,28.275,90.450,538.475,0.000,0.000,29.955,31.800,154.536,31.000,0.000,0.000,33.107,0.000,5385.487,619.705,2717.198,352.090,0.000,1628.413,0.000,2306.301,0.000,24.003,0.000
$DEVICE_MAMPS,230.867,69.030,1050.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,789.798,889.596,1475.786,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66325,1172
$CAP_FILE_SIZE,113948,0
$CFSIZE,260165632,251846656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274,323.3,1
$GPS,010609,210307,2523.352,12234.354,25,1.7,26,-3.7