version: 66.04
glider: 165
mission: 2
dive: 81
start: 6 1 109 21 8 40
data:
$ID,165
$MISSION,2
$DIVE,81
$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,-118468.01
$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,51
$R_STBD_OVSHOOT,27
$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
$GPS1,210307,2523.352,12234.354,25,1.7,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-68.9
$GPS2,210834,2523.574,12234.319,13,99.0,32,-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,143.9,46016,-18.3,-12.000
$D_GRID,597
$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,-194.7,0.0,0.0,0,72,0.00,0.00,-58.88,0.000,2,0.000,0.000,167,2057,2176
$GC,74,-0.96,-194.7,3.5,-5.3,9,125,9.00,2.28,-36.05,0.000,4,0.235,0.067,2496,3482,3553
$GC,215,-0.02,-194.7,46.6,-40.8,34,222,0.95,2.17,0.00,0.000,6,0.163,0.039,2802,2084,3556
$GC,541,-0.82,-194.7,81.4,-9.1,95,548,0.65,2.22,0.00,0.000,4,0.047,0.059,2535,3493,3558
$GC,643,-0.41,-194.7,98.6,-24.7,114,650,0.43,2.17,0.00,0.000,6,0.131,0.036,2680,2078,3558
$GC,970,-0.74,-194.7,124.8,-7.4,175,977,0.28,2.25,0.00,0.000,4,0.047,0.060,2548,3476,3561
$GC,1003,-0.56,-194.7,129.1,-15.7,181,1009,0.22,2.15,0.00,0.000,6,0.131,0.036,2642,2073,3560
$GC,1329,-0.79,-194.7,161.2,-7.2,242,1335,0.22,0.00,0.00,0.000,6,0.051,0.000,2533,2071,3561
$GC,1654,-0.52,-194.7,218.2,-19.0,303,1661,0.38,2.17,0.00,0.000,4,0.137,0.051,2653,676,3562
$GC,1719,-0.94,-194.7,225.1,-8.1,315,1725,0.35,2.15,0.00,0.000,6,0.041,0.041,2485,2088,3562
$GC,2044,-0.54,-194.7,294.0,-21.4,376,2052,0.50,2.20,0.00,0.000,4,0.145,0.063,2644,3463,3562
$GC,2153,-1.01,-194.7,303.1,-6.4,392,2157,0.32,2.08,0.00,0.000,6,0.035,0.038,2459,2106,3562
$GC,2473,-0.57,-194.7,366.6,-20.9,423,2478,0.55,2.22,0.00,0.000,4,0.148,0.057,2632,676,3562
$GC,2559,-0.93,-194.7,376.8,-9.9,431,2563,0.28,2.17,0.00,0.000,6,0.039,0.043,2477,2070,3562
$GC,2879,-0.61,-194.7,434.8,-18.9,462,2884,0.45,2.25,0.00,0.000,4,0.144,0.064,2616,3471,3561
$GC,2991,-1.04,-194.7,444.6,-7.0,472,3000,0.32,2.12,0.00,0.000,6,0.037,0.039,2452,2088,3560
$GC,3307,-0.67,-194.7,504.1,-18.5,502,3311,0.47,2.20,0.00,0.000,4,0.147,0.055,2600,667,3558
$GC,3365,-0.98,-194.7,510.4,-7.9,504,3374,0.22,2.22,0.00,0.000,6,0.044,0.045,2484,2088,3558
$GC,3675,-0.74,-194.7,556.2,-15.2,520,3680,0.30,2.22,0.00,0.000,4,0.140,0.066,2576,3470,3555
$GC,3701,-0.81,-194.7,559.1,-10.4,521,3706,0.00,2.12,0.00,0.000,6,0.000,0.040,2576,2091,3555
$STATE,4001,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4001,begin apogee
$GC,4004,-0.20,0.0,581.0,7.4,536,4157,0.52,0.00,150.35,1.062,6,0.112,0.000,2757,2521,2759
$STATE,4157,end apogee,CONTROL_FINISHED_OK
$STATE,4157,begin climb
$GC,4158,0.96,194.7,585.1,0.0,543,4315,0.98,0.00,153.15,1.025,6,0.042,0.000,3142,2521,1965
$GC,4613,0.35,194.7,500.2,22.2,566,4618,0.70,1.90,0.00,0.000,4,0.171,0.065,2938,3687,1958
$GC,4769,0.46,241.2,483.0,10.1,579,4811,0.00,1.77,37.45,0.969,6,0.000,0.041,2946,2542,1775
$GC,5127,0.73,317.9,448.5,8.8,614,5196,0.30,2.33,62.75,0.963,4,0.054,0.052,3081,1130,1463
$GC,5254,0.53,317.9,427.1,18.4,625,5260,0.28,2.33,0.00,0.000,6,0.156,0.049,2987,2532,1458
$GC,5569,0.61,317.9,387.4,12.1,656,5573,0.00,1.88,0.00,0.000,4,0.000,0.064,2987,3687,1456
$GC,5697,0.68,317.9,368.9,14.5,668,5701,0.08,1.77,0.00,0.000,6,0.064,0.040,3040,2550,1454
$GC,6018,0.54,317.9,310.4,17.5,699,6022,0.17,2.22,0.00,0.000,4,0.153,0.051,3000,1129,1453
$GC,6039,0.54,317.9,307.0,16.3,701,6043,0.00,2.33,0.00,0.000,6,0.000,0.048,3000,2583,1452
$GC,6364,0.61,317.9,263.0,14.6,757,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2583,1451
$GC,6688,0.73,326.3,223.0,11.7,818,6701,0.15,2.30,6.53,0.720,4,0.072,0.050,3079,1129,1427
$GC,6737,0.59,326.3,215.8,16.3,827,6744,0.20,2.30,0.00,0.000,6,0.154,0.047,3015,2567,1426
$GC,7063,0.64,326.3,170.8,14.6,888,7071,0.00,1.77,0.00,0.000,4,0.000,0.060,3015,3687,1426
$GC,7144,0.64,326.3,158.5,14.7,903,7151,0.00,1.73,0.00,0.000,6,0.000,0.038,3022,2555,1426
$GC,7471,0.76,343.7,120.2,11.3,964,7492,0.12,2.22,15.48,0.732,4,0.071,0.048,3096,1124,1356
$GC,7523,0.62,343.7,112.3,16.4,973,7529,0.22,2.28,0.00,0.000,6,0.145,0.045,3008,2552,1355
$GC,7849,1.02,438.6,85.6,8.1,1034,7931,0.38,1.90,76.62,0.705,4,0.045,0.058,3173,3688,969
$GC,8170,0.82,438.6,19.5,20.5,1092,8179,0.28,1.73,0.00,0.000,6,0.139,0.037,3090,2567,965
$STATE,8304,end climb,SURFACE_DEPTH_REACHED
$STATE,8304,begin surface coast
$FINISH,1.8,1.022357
$STATE,8331,end surface coast,CONTROL_FINISHED_OK
$STATE,8331,begin surface
$SM_CCo,8404,0.00,0.000,0,0,962,440.56
$SM_GC,2.42,7.47,0.00,0.00,0.036,0.000,0.000,163,2058,962,-8.22,-0.37,440.56
$IRIDIUM_FIX,2515.12,12235.23,260898,181859
$TT8_MAMPS,0.047554
$HUMID,1615
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,24.20
$XPDR_PINGS,95
$ALTIM_BOTTOM_PING,528.0,77.2
$24V_AH,24.2,18.685
$10V_AH,10.7,14.282
$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,27.750,73.650,502.325,0.000,0.000,29.156,31.106,159.117,27.500,0.000,0.000,35.714,0.000,5229.946,606.372,2522.820,353.714,0.000,1520.668,0.000,2136.462,0.000,27.157,0.000
$DEVICE_MAMPS,235.469,66.729,1061.528,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,757.325,859.524,1423.101,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63243,1122
$CAP_FILE_SIZE,106302,0
$CFSIZE,260165632,251789312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,351.6,1
$GPS,010609,232937,2523.097,12235.183,35,1.1,36,-3.7