version: 66.04
glider: 165
mission: 2
dive: 300
start: 7 14 109 20 2 3
data:
$ID,165
$MISSION,2
$DIVE,300
$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,413
$T_MISSION,495
$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,175
$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,475
$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,-123373.31
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2810
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.034000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2854
$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
$GPS1,194507,2541.452,12358.088,38,1.1,39,-3.9
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.2
$GPS2,200156,2541.827,12359.132,11,1.6,11,-3.9
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,211.5,106026,-13.7,-7.990
$D_GRID,527
$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,-0.86,-170.3,0.0,0.0,0,55,0.00,0.00,-41.55,0.000,2,0.000,0.000,153,2120,1966
$GC,58,-0.86,-170.3,3.1,-3.0,6,121,9.30,2.17,-46.67,0.000,4,0.227,0.058,2530,750,3550
$GC,179,-0.40,-170.3,22.0,-21.4,27,186,0.45,2.17,0.00,0.000,6,0.133,0.041,2670,2138,3550
$GC,506,-0.50,-170.3,60.5,-12.2,88,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2138,3551
$GC,833,-0.75,-170.3,90.9,-7.0,149,839,0.28,2.15,0.00,0.000,4,0.044,0.043,2521,738,3552
$GC,935,-0.47,-170.3,104.6,-15.1,168,942,0.43,2.10,0.00,0.000,6,0.121,0.039,2660,2116,3552
$GC,1263,-0.80,-170.3,130.9,-5.4,229,1269,0.25,2.22,0.00,0.000,4,0.097,0.051,2527,3546,3553
$GC,1382,-0.59,-170.3,141.5,-10.1,251,1388,0.22,2.15,0.00,0.000,6,0.111,0.034,2621,2130,3553
$GC,1708,-0.78,-170.3,167.4,-8.2,312,1716,0.17,2.22,0.00,0.000,4,0.051,0.054,2514,3546,3553
$GC,1806,-0.57,-170.3,178.4,-11.9,330,1813,0.30,2.05,0.00,0.000,6,0.112,0.034,2621,2178,3553
$GC,2133,-0.80,-170.3,207.0,-9.8,391,2139,0.20,2.15,0.00,0.000,4,0.049,0.056,2505,3539,3553
$GC,2293,-0.54,-170.3,227.2,-12.3,421,2299,0.40,1.98,0.00,0.000,6,0.115,0.034,2638,2216,3553
$GC,2619,-0.89,-170.3,252.4,-7.4,482,2625,0.30,2.12,0.00,0.000,4,0.048,0.062,2503,3534,3551
$GC,2678,-0.72,-170.3,258.2,-10.4,493,2684,0.22,1.92,0.00,0.000,6,0.121,0.034,2574,2238,3551
$GC,3004,-0.88,-170.3,292.0,-11.1,554,3011,0.15,2.33,0.00,0.000,4,0.054,0.048,2481,753,3550
$GC,3026,-0.88,-170.3,295.1,-13.2,558,3032,0.12,2.33,0.00,0.000,6,0.132,0.049,2523,2226,3549
$STATE,3302,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3302,begin apogee
$GC,3307,-0.24,0.0,325.9,5.9,588,3437,0.57,0.00,127.35,0.846,6,0.110,0.000,2725,2448,2853
$STATE,3437,end apogee,CONTROL_FINISHED_OK
$STATE,3438,begin climb
$GC,3440,0.86,170.3,334.1,0.0,601,3576,0.95,2.05,126.75,0.828,4,0.056,0.058,3089,3683,2158
$GC,3817,0.34,170.3,303.2,10.2,635,3823,0.57,1.85,0.00,0.000,6,0.152,0.036,2925,2447,2154
$GC,4142,0.57,291.6,283.9,4.2,692,4240,0.20,2.28,92.90,0.811,4,0.048,0.045,3037,1064,1664
$GC,4363,0.43,291.6,262.2,11.7,731,4369,0.28,2.10,0.00,0.000,6,0.126,0.041,2953,2413,1658
$GC,4690,0.68,315.5,235.5,7.2,792,4715,0.22,2.00,19.58,0.762,4,0.043,0.053,3081,3683,1566
$GC,4822,0.39,315.5,220.3,12.7,816,4828,0.50,2.05,0.00,0.000,6,0.134,0.041,2936,2339,1564
$GC,5150,0.88,330.2,198.7,7.5,877,5170,0.43,2.15,12.90,0.723,4,0.120,0.054,3089,3687,1506
$GC,5212,0.58,330.2,193.1,10.0,888,5218,0.30,1.98,0.00,0.000,6,0.132,0.038,2999,2400,1505
$GC,5539,0.87,458.4,175.1,3.9,949,5647,0.25,2.20,102.53,0.755,4,0.042,0.046,3134,1060,985
$GC,5681,0.64,458.4,160.9,13.3,972,5687,0.38,2.00,0.00,0.000,6,0.133,0.043,3020,2316,982
$GC,6008,1.23,458.4,130.7,9.8,1033,6014,0.45,2.12,0.00,0.000,4,0.046,0.052,3226,3681,979
$GC,6094,0.77,458.4,113.7,21.9,1049,6101,0.50,1.95,0.00,0.000,6,0.143,0.043,3062,2416,979
$GC,6421,1.32,576.9,93.2,4.2,1110,6528,0.43,2.12,101.00,0.685,4,0.044,0.051,3257,3693,497
$GC,6613,1.01,576.9,61.3,19.9,1143,6620,0.38,2.03,0.00,0.000,6,0.139,0.035,3133,2384,485
$GC,6940,1.60,576.9,27.5,9.9,1204,6947,0.47,2.05,0.00,0.000,4,0.041,0.042,3358,1043,478
$GC,7015,1.05,576.9,12.2,23.1,1218,7023,0.65,2.17,0.00,0.000,6,0.166,0.038,3151,2445,477
$STATE,7079,end climb,SURFACE_DEPTH_REACHED
$STATE,7079,begin surface coast
$FINISH,1.6,1.019402
$STATE,7107,end surface coast,CONTROL_FINISHED_OK
$STATE,7109,begin surface
$SM_CCo,7184,0.00,0.000,0,0,476,583.32
$SM_GC,2.32,7.50,0.00,0.00,0.031,0.000,0.000,156,2138,476,-8.18,0.08,583.32
$IRIDIUM_FIX,2529.44,12456.98,081098,202007
$TT8_MAMPS,0.047554
$HUMID,1656
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,25.80
$XPDR_PINGS,500
$ALTIM_BOTTOM_PING,325.9,14.8
$24V_AH,24.4,66.698
$10V_AH,10.7,46.665
$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,27.825,64.025,583.000,0.000,0.000,116.161,151.833,418.097,126.750,0.000,0.000,13.675,0.000,3982.016,612.128,2640.836,935.889,0.000,1596.229,0.000,2277.532,0.000,15.225,0.000
$DEVICE_MAMPS,227.032,62.127,846.001,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,823.815,1008.996,1692.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69515,1235
$CAP_FILE_SIZE,109076,0
$CFSIZE,260165632,230739968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1.227, 78.7,1
$GPS,140709,220257,2542.485,12403.711,30,99.0,50,-3.9