version: 66.04
glider: 165
mission: 2
dive: 86
start: 6 2 109 11 50 42
data:
$ID,165
$MISSION,2
$DIVE,86
$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,-118565.16
$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,36
$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,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
$GPS1,114434,2521.702,12240.991,7,99.0,26,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-70.5
$GPS2,115037,2521.946,12241.057,8,1.5,14,-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,162.1,34889,-18.3,-12.000
$D_GRID,748
$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,-194.7,0.0,0.0,0,64,0.00,0.00,-50.50,0.000,2,0.000,0.000,159,2068,2075
$GC,66,-0.96,-194.7,3.2,-4.5,8,123,9.05,2.30,-41.20,0.000,4,0.233,0.067,2496,3473,3555
$GC,148,-0.13,-194.7,19.6,-34.6,22,156,0.85,2.20,0.00,0.000,6,0.146,0.039,2768,2076,3556
$GC,476,-0.59,-194.7,50.4,-6.8,83,482,0.38,0.00,0.00,0.000,6,0.041,0.000,2591,2073,3558
$GC,802,-0.39,-194.7,120.5,-14.9,144,809,0.32,2.25,0.00,0.000,4,0.134,0.057,2687,3478,3560
$GC,850,-0.78,-194.7,125.0,-7.2,153,857,0.28,2.17,0.00,0.000,6,0.038,0.038,2544,2062,3560
$GC,1176,-0.47,-194.7,195.9,-18.3,214,1184,0.38,0.00,0.00,0.000,6,0.138,0.000,2664,2058,3562
$GC,1504,-0.85,-194.7,217.9,-5.9,275,1510,0.32,2.25,0.00,0.000,4,0.045,0.060,2514,3482,3563
$GC,1648,-0.52,-194.7,242.4,-19.4,302,1655,0.35,2.12,0.00,0.000,6,0.133,0.038,2650,2091,3563
$GC,1976,-0.88,-194.7,264.2,-6.3,363,1981,0.28,2.20,0.00,0.000,4,0.048,0.059,2514,3477,3563
$GC,2007,-0.72,-194.7,268.0,-14.6,369,2013,0.20,2.08,0.00,0.000,6,0.131,0.038,2584,2114,3564
$GC,2330,-0.72,-194.7,307.3,-11.7,424,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2110,3563
$GC,2641,-0.79,-194.7,343.6,-10.0,454,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2110,3563
$GC,2952,-0.90,-194.7,371.8,-10.7,484,2953,0.17,0.00,0.00,0.000,6,0.062,0.000,2503,2109,3561
$GC,3262,-0.65,-194.7,424.1,-17.4,514,3266,0.35,2.20,0.00,0.000,4,0.141,0.064,2603,3472,3559
$GC,3396,-0.97,-194.7,436.3,-7.8,526,3403,0.22,2.10,0.00,0.000,6,0.045,0.040,2489,2103,3558
$GC,3711,-0.72,-194.7,486.3,-16.4,557,3712,0.32,0.00,0.00,0.000,6,0.142,0.000,2590,2100,3556
$GC,4030,-0.93,-194.7,514.0,-8.6,580,4034,0.17,2.20,0.00,0.000,4,0.064,0.064,2503,3473,3554
$GC,4092,-0.81,-194.7,522.6,-14.2,583,4097,0.12,2.10,0.00,0.000,6,0.138,0.041,2548,2112,3553
$GC,4413,-0.81,-194.7,562.5,-12.2,599,4414,0.00,0.00,0.00,0.000,6,0.000,0.000,2548,2109,3551
$GC,4719,-0.81,-194.7,600.1,-12.3,614,4723,0.00,2.28,0.00,0.000,4,0.000,0.058,2548,663,3548
$GC,4771,-0.88,-194.7,606.7,-12.6,616,4776,0.00,2.28,0.00,0.000,6,0.000,0.048,2549,2100,3548
$GC,5087,-0.93,-194.7,641.5,-10.1,632,5091,0.00,2.22,0.00,0.000,4,0.000,0.067,2549,3471,3546
$GC,5124,-1.03,-194.7,645.3,-10.7,633,5132,0.12,2.10,0.00,0.000,6,0.056,0.041,2478,2114,3545
$GC,5435,-0.77,-194.7,695.0,-16.2,649,5439,0.30,2.28,0.00,0.000,4,0.146,0.058,2570,661,3543
$GC,5499,-0.95,-194.7,702.2,-10.7,652,5503,0.10,2.30,0.00,0.000,6,0.061,0.049,2499,2109,3543
$STATE,5823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5823,begin apogee
$GC,5827,-0.20,0.0,748.9,16.0,668,5989,0.77,0.00,152.57,1.200,6,0.138,0.000,2748,2525,2759
$STATE,5990,end apogee,CONTROL_FINISHED_OK
$STATE,5990,begin climb
$GC,5991,0.96,194.7,759.1,0.0,676,6154,1.05,2.05,157.35,1.164,4,0.048,0.067,3144,3686,1964
$GC,6228,0.22,194.7,730.5,23.4,687,6233,0.90,1.90,0.00,0.000,6,0.180,0.041,2896,2526,1961
$GC,6545,0.70,375.2,714.1,4.5,703,6700,0.40,0.00,152.68,1.132,6,0.049,0.000,3060,2520,1228
$GC,6992,0.47,375.2,615.6,24.5,725,6994,0.30,0.00,0.00,0.000,6,0.148,0.000,2972,2521,1221
$GC,7298,0.65,375.2,573.8,14.1,740,7302,0.17,2.25,0.00,0.000,4,0.063,0.054,3057,1125,1218
$GC,7372,0.56,375.2,559.5,19.9,743,7377,0.15,2.25,0.00,0.000,6,0.150,0.049,3007,2515,1217
$GC,7688,0.56,375.2,502.0,17.8,759,7692,0.00,2.25,0.00,0.000,4,0.000,0.052,3017,1120,1217
$GC,7709,0.56,375.2,498.4,17.4,760,7713,0.00,2.22,0.00,0.000,6,0.000,0.047,3017,2511,1217
$GC,8031,0.56,375.2,441.1,17.0,791,8034,0.00,1.88,0.00,0.000,4,0.000,0.063,3017,3699,1216
$GC,8072,0.56,375.2,433.9,16.8,795,8076,0.00,1.85,0.00,0.000,6,0.000,0.041,3025,2506,1216
$GC,8393,0.50,375.2,379.4,18.0,826,8395,0.15,0.00,0.00,0.000,6,0.159,0.000,2983,2500,1216
$GC,8704,0.65,375.2,337.8,13.1,856,8708,0.15,2.15,0.00,0.000,4,0.070,0.052,3060,1126,1214
$GC,8858,0.65,375.2,310.4,17.6,870,8865,0.08,2.22,0.00,0.000,6,0.154,0.047,3034,2524,1213
$GC,9182,0.65,375.2,254.5,17.3,925,9188,0.00,1.85,0.00,0.000,4,0.000,0.062,3034,3687,1213
$GC,9235,0.59,375.2,245.4,17.8,935,9243,0.08,1.80,0.00,0.000,6,0.156,0.040,3015,2520,1213
$GC,9562,0.73,375.2,200.1,13.2,996,9569,0.12,2.20,0.00,0.000,4,0.076,0.050,3086,1119,1213
$GC,9611,0.64,375.2,192.5,16.6,1005,9618,0.17,2.20,0.00,0.000,6,0.150,0.045,3029,2512,1213
$GC,9937,0.75,375.2,151.1,12.5,1066,9944,0.00,2.20,0.00,0.000,4,0.000,0.049,3038,1121,1213
$GC,9980,0.89,375.2,145.9,12.1,1074,9987,0.15,2.17,0.00,0.000,6,0.051,0.044,3116,2500,1213
$GC,10307,0.80,375.2,88.6,14.3,1135,10315,0.15,1.85,0.00,0.000,4,0.146,0.058,3074,3681,1213
$GC,10432,0.87,375.2,73.4,12.2,1158,10438,0.00,1.80,0.00,0.000,6,0.000,0.038,3081,2493,1213
$GC,10757,1.05,399.7,37.2,11.0,1219,10784,0.20,2.15,18.98,0.651,4,0.058,0.048,3185,1128,1128
$STATE,10957,end climb,SURFACE_DEPTH_REACHED
$STATE,10958,begin surface coast
$FINISH,1.6,1.010095
$STATE,10974,end surface coast,CONTROL_FINISHED_OK
$STATE,10974,begin surface
$SM_CCo,10988,27.50,0.625,0,0,984,435.16
$SM_GC,2.56,0.00,0.00,27.50,0.000,0.000,0.625,163,2084,984,-8.30,0.37,435.16
$IRIDIUM_FIX,2510.35,12244.54,270898,080849
$TT8_MAMPS,0.048321
$HUMID,1568
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,24.90
$XPDR_PINGS,99
$24V_AH,24.0,19.516
$10V_AH,10.7,14.860
$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,27.025,81.025,481.575,27.500,0.000,30.384,35.397,201.585,30.250,0.000,0.000,16.120,0.000,7481.711,645.191,2809.839,419.048,0.000,1661.321,0.000,2382.234,0.000,37.429,0.000
$DEVICE_MAMPS,233.168,67.496,1199.588,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,852.299,890.014,1442.091,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72769,1259
$CAP_FILE_SIZE,123295,0
$CFSIZE,260165632,251400192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202, 75.7,1
$GPS,020609,145507,2520.493,12242.953,29,0.9,29,-3.7