version: 66.04
glider: 165
mission: 2
dive: 116
start: 6 7 109 13 28 52
data:
$ID,165
$MISSION,2
$DIVE,116
$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,-2
$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,-119202.14
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,132250,2538.923,12251.635,8,1.7,8,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-71.1
$GPS2,132846,2539.012,12251.732,11,4.7,30,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,162.2,62471,-18.3,-12.000
$D_GRID,737
$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,-42.90,0.000,2,0.000,0.000,158,2080,2032
$GC,58,-0.96,-194.7,3.3,-4.6,7,115,8.88,2.20,-42.17,0.000,4,0.226,0.058,2508,663,3554
$GC,135,-0.11,-194.7,17.7,-35.3,20,142,0.88,2.22,0.00,0.000,6,0.169,0.039,2774,2072,3555
$GC,462,-0.68,-194.7,48.8,-3.1,81,470,0.45,2.22,0.00,0.000,4,0.037,0.054,2560,3503,3558
$GC,512,-0.31,-194.7,57.0,-21.6,90,518,0.40,2.20,0.00,0.000,6,0.127,0.040,2713,2076,3558
$GC,838,-0.63,-194.7,84.9,-11.1,151,845,0.28,2.22,0.00,0.000,4,0.045,0.055,2575,3472,3560
$GC,897,-0.48,-194.7,94.6,-17.8,162,904,0.22,2.08,0.00,0.000,6,0.127,0.035,2656,2103,3560
$GC,1224,-0.62,-194.7,131.7,-9.7,223,1230,0.10,2.17,0.00,0.000,4,0.077,0.055,2589,3471,3562
$GC,1325,-0.62,-194.7,142.2,-10.4,242,1332,0.08,2.03,0.00,0.000,6,0.129,0.036,2619,2134,3562
$GC,1652,-0.71,-194.7,174.1,-9.6,303,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2131,3563
$GC,1977,-0.81,-194.7,208.5,-10.6,364,1984,0.17,2.25,0.00,0.000,4,0.058,0.051,2532,681,3564
$GC,2009,-0.61,-194.7,213.6,-17.7,370,2016,0.28,2.25,0.00,0.000,6,0.127,0.043,2616,2127,3564
$GC,2336,-0.74,-194.7,253.9,-12.1,431,2342,0.00,2.12,0.00,0.000,4,0.000,0.060,2616,3479,3564
$GC,2357,-0.91,-194.7,256.3,-11.8,435,2363,0.20,2.05,0.00,0.000,6,0.040,0.036,2503,2130,3564
$GC,2685,-0.58,-194.7,314.7,-17.7,489,2689,0.40,2.15,0.00,0.000,4,0.136,0.062,2630,3485,3563
$GC,2732,-0.90,-194.7,320.3,-8.8,493,2741,0.22,2.03,0.00,0.000,6,0.038,0.037,2507,2156,3563
$GC,3048,-0.61,-194.7,374.0,-18.7,524,3053,0.35,2.30,0.00,0.000,4,0.133,0.054,2619,685,3564
$GC,3198,-0.92,-194.7,388.6,-8.7,538,3202,0.28,2.22,0.00,0.000,6,0.046,0.045,2488,2132,3563
$GC,3519,-0.63,-194.7,444.9,-16.5,569,3523,0.40,2.10,0.00,0.000,4,0.138,0.060,2604,3488,3561
$GC,3583,-0.97,-194.7,450.6,-7.3,575,3587,0.28,2.08,0.00,0.000,6,0.048,0.038,2475,2111,3561
$GC,3902,-0.63,-194.7,507.2,-17.1,604,3907,0.45,2.25,0.00,0.000,4,0.140,0.054,2617,677,3559
$GC,3961,-0.99,-194.7,512.5,-6.8,606,3968,0.28,2.25,0.00,0.000,6,0.041,0.044,2479,2114,3559
$GC,4271,-0.70,-194.7,558.8,-15.0,622,4273,0.35,0.00,0.00,0.000,6,0.144,0.000,2586,2113,3556
$GC,4577,-0.91,-194.7,585.5,-7.6,637,4580,0.17,2.17,0.00,0.000,4,0.060,0.064,2503,3489,3554
$GC,4613,-0.85,-194.7,589.8,-11.8,638,4620,0.10,2.10,0.00,0.000,6,0.140,0.040,2540,2125,3553
$GC,4924,-0.85,-194.7,624.7,-8.7,654,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2121,3551
$STATE,5065,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5065,begin apogee
$GC,5068,-0.20,0.0,638.6,10.2,661,5228,0.65,0.00,152.10,1.101,6,0.124,0.000,2754,2525,2758
$STATE,5228,end apogee,CONTROL_FINISHED_OK
$STATE,5228,begin climb
$GC,5229,0.96,194.7,647.1,0.0,669,5391,0.98,1.98,154.68,1.074,4,0.044,0.064,3139,3692,1964
$GC,5529,0.25,194.7,606.7,22.8,683,5534,0.82,1.85,0.00,0.000,6,0.181,0.041,2906,2531,1960
$GC,5850,0.67,320.1,584.5,6.8,699,5960,0.35,2.38,103.53,1.041,4,0.048,0.052,3064,1126,1453
$GC,5982,0.45,320.1,563.5,18.2,705,5986,0.28,2.33,0.00,0.000,6,0.153,0.048,2971,2515,1449
$GC,6304,0.58,320.1,524.9,14.5,721,6307,0.10,2.22,0.00,0.000,4,0.080,0.051,3027,1118,1445
$GC,6350,0.58,320.1,518.0,14.9,723,6355,0.00,2.25,0.00,0.000,6,0.000,0.048,3027,2509,1444
$GC,6666,0.47,320.1,466.4,16.7,748,6669,0.17,2.20,0.00,0.000,4,0.144,0.051,2985,1111,1442
$GC,6691,0.47,320.1,462.6,13.8,750,6698,0.00,2.22,0.00,0.000,6,0.000,0.046,2985,2505,1442
$GC,7008,0.55,320.1,422.1,12.8,781,7011,0.00,1.90,0.00,0.000,4,0.000,0.062,2985,3690,1440
$GC,7054,0.55,320.1,415.6,14.4,785,7061,0.00,1.85,0.00,0.000,6,0.000,0.039,2994,2491,1441
$GC,7371,0.63,320.1,375.5,13.1,816,7374,0.00,2.15,0.00,0.000,4,0.000,0.050,3004,1128,1440
$GC,7460,0.73,320.1,364.1,12.9,824,7469,0.10,2.17,0.00,0.000,6,0.061,0.046,3063,2496,1438
$GC,7777,0.53,320.1,311.7,17.0,855,7780,0.25,1.90,0.00,0.000,4,0.150,0.061,2989,3689,1438
$GC,7899,0.62,320.1,295.3,13.5,869,7905,0.00,1.80,0.00,0.000,6,0.000,0.040,2996,2516,1438
$GC,8224,0.79,346.1,259.0,10.9,930,8250,0.20,2.20,20.33,0.843,4,0.058,0.050,3100,1115,1347
$GC,8341,0.60,346.1,237.7,18.7,951,8347,0.30,2.17,0.00,0.000,6,0.155,0.046,3012,2496,1344
$GC,8666,0.76,359.8,197.6,11.4,1012,8687,0.15,2.20,12.32,0.767,4,0.065,0.049,3093,1129,1291
$GC,8777,0.65,359.8,178.8,17.1,1032,8784,0.20,2.15,0.00,0.000,6,0.142,0.044,3028,2483,1290
$GC,9104,0.81,362.7,134.6,11.9,1093,9112,0.15,2.20,3.80,0.498,4,0.061,0.048,3116,1113,1279
$GC,9170,0.67,362.7,124.4,16.6,1105,9177,0.22,2.12,0.00,0.000,6,0.140,0.044,3041,2462,1279
$GC,9496,0.95,429.6,91.6,9.2,1166,9560,0.22,2.00,55.50,0.709,4,0.049,0.059,3145,3675,1005
$GC,9692,0.86,429.6,59.8,17.4,1201,9699,0.17,1.88,0.00,0.000,6,0.132,0.037,3095,2470,1003
$GC,10019,1.17,480.2,27.4,9.9,1262,10065,0.28,2.17,40.88,0.639,4,0.046,0.044,3230,1118,800
$STATE,10149,end climb,SURFACE_DEPTH_REACHED
$STATE,10149,begin surface coast
$FINISH,1.8,1.012030
$STATE,10159,end surface coast,CONTROL_FINISHED_OK
$STATE,10159,begin surface
$SM_CCo,10234,0.00,0.000,0,0,794,482.01
$SM_GC,2.45,7.90,0.00,0.00,0.036,0.000,0.000,153,2092,794,-8.23,0.59,482.01
$IRIDIUM_FIX,2527.05,12249.71,010998,101045
$TT8_MAMPS,0.047554
$HUMID,1562
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.00
$XPDR_PINGS,132
$ALTIM_BOTTOM_PING,527.5,134.3
$24V_AH,24.1,25.498
$10V_AH,10.7,18.633
$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,28.700,98.175,543.125,0.000,0.000,29.583,47.913,171.603,36.750,0.000,0.000,33.281,0.000,6593.043,638.867,2933.674,406.605,0.000,1723.603,0.000,2482.655,0.000,27.316,0.000
$DEVICE_MAMPS,226.265,64.428,1100.645,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,867.615,979.096,1604.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72522,1287
$CAP_FILE_SIZE,127390,0
$CFSIZE,260165632,248852480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 67.1,1
$GPS,070609,162024,2537.809,12252.913,23,1.2,40,-3.8