version: 66.04
glider: 165
mission: 2
dive: 360
start: 7 26 109 7 7 8
data:
$ID,165
$MISSION,2
$DIVE,360
$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,367
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,-124846.97
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2285
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,070001,2527.887,12541.247,39,1.3,39,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.5
$GPS2,070702,2527.983,12541.315,11,1.3,11,-4.0
$SPEED_LIMITS,0.156,0.300
$TGT_NAME,OFF_5
$TGT_LATLONG,2520.300,12530.500
$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,248.6,23026,-13.3,-8.992
$D_GRID,628
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-1.05,-219.0,0.0,0.0,0,52,0.00,0.00,-38.65,0.000,2,0.000,0.000,153,2280,1881
$GC,56,-1.05,-219.0,3.0,-2.7,6,126,9.18,2.17,-53.58,0.000,4,0.229,0.051,2453,874,3747
$GC,157,-1.05,-219.0,17.2,-20.9,23,163,0.00,2.22,0.00,0.000,6,0.000,0.042,2452,2276,3748
$GC,484,-1.05,-219.0,80.2,-18.4,84,491,0.00,2.22,0.00,0.000,4,0.000,0.055,2452,3689,3748
$GC,538,-1.05,-219.0,90.1,-17.7,94,544,0.00,2.08,0.00,0.000,6,0.000,0.032,2452,2313,3749
$GC,865,-1.05,-219.0,138.8,-14.8,155,870,0.00,2.20,0.00,0.000,4,0.000,0.048,2452,881,3750
$GC,918,-1.05,-219.0,147.3,-16.6,165,924,0.00,2.25,0.00,0.000,6,0.000,0.046,2452,2312,3750
$GC,1245,-1.05,-219.0,200.4,-16.0,226,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2312,3750
$GC,1571,-1.05,-219.0,249.1,-13.0,287,1577,0.00,2.20,0.00,0.000,4,0.000,0.043,2452,888,3750
$GC,1625,-1.05,-219.0,255.9,-12.8,297,1630,0.00,2.20,0.00,0.000,6,0.000,0.042,2452,2307,3751
$GC,1950,-1.05,-219.0,299.3,-13.6,358,1956,0.00,2.22,0.00,0.000,4,0.000,0.046,2452,901,3750
$GC,1972,-1.05,-219.0,302.4,-15.0,361,1975,0.00,2.15,0.00,0.000,6,0.000,0.043,2452,2287,3750
$GC,2294,-1.05,-219.0,346.4,-13.9,392,2297,0.00,2.17,0.00,0.000,4,0.000,0.044,2452,883,3751
$GC,2336,-1.05,-219.0,352.6,-14.3,396,2339,0.00,2.15,0.00,0.000,6,0.000,0.042,2452,2272,3751
$GC,2657,-1.05,-219.0,390.2,-11.3,427,2660,0.00,2.15,0.00,0.000,4,0.000,0.045,2453,890,3750
$GC,2725,-1.05,-219.0,398.6,-12.4,433,2731,0.00,2.12,0.00,0.000,6,0.000,0.041,2452,2242,3750
$GC,3041,-1.05,-219.0,434.5,-11.2,464,3044,0.00,2.12,0.00,0.000,4,0.000,0.044,2452,895,3749
$GC,3083,-1.05,-219.0,439.6,-11.8,468,3087,0.00,2.08,0.00,0.000,6,0.000,0.043,2452,2211,3749
$GC,3405,-1.05,-219.0,477.5,-10.7,499,3408,0.00,2.05,0.00,0.000,4,0.000,0.045,2452,892,3746
$GC,3473,-1.05,-219.0,485.6,-12.0,505,3479,0.00,2.00,0.00,0.000,6,0.000,0.041,2452,2162,3746
$GC,3786,-1.05,-219.0,520.4,-11.0,527,3789,0.00,2.00,0.00,0.000,4,0.000,0.046,2452,897,3744
$GC,3818,-1.05,-219.0,524.2,-12.1,528,3821,0.00,1.92,0.00,0.000,6,0.000,0.042,2452,2144,3744
$GC,4134,-1.05,-219.0,555.9,-9.4,544,4137,0.00,1.95,0.00,0.000,4,0.000,0.048,2452,894,3742
$GC,4213,-1.05,-219.0,564.4,-10.6,547,4219,0.00,1.88,0.00,0.000,6,0.000,0.042,2452,2088,3741
$GC,4524,-1.05,-219.0,597.3,-10.2,563,4528,0.00,2.55,0.00,0.000,4,0.000,0.059,2452,3692,3739
$GC,4550,-1.05,-219.0,599.9,-10.8,564,4558,0.00,2.42,0.00,0.000,6,0.000,0.035,2452,2102,3739
$STATE,4830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4830,begin apogee
$GC,4836,-0.29,0.0,628.9,10.5,578,5014,0.73,0.00,172.57,1.085,6,0.098,0.000,2703,2306,2854
$STATE,5014,end apogee,CONTROL_FINISHED_OK
$STATE,5014,begin climb
$GC,5016,1.05,219.0,643.1,0.0,587,5199,1.15,2.33,173.30,1.068,4,0.048,0.057,3146,3676,1960
$GC,5268,1.05,219.0,623.9,17.6,598,5274,0.00,2.12,0.00,0.000,6,0.000,0.036,3156,2312,1957
$GC,5578,1.05,219.0,572.7,16.1,614,5582,0.00,2.25,0.00,0.000,4,0.000,0.048,3167,893,1953
$GC,5647,1.05,219.0,562.0,15.0,617,5650,0.00,2.20,0.00,0.000,6,0.000,0.042,3167,2277,1952
$GC,5969,1.05,219.0,514.3,13.6,633,5972,0.00,2.25,0.00,0.000,4,0.000,0.054,3167,3699,1950
$GC,6048,1.05,219.0,502.6,13.4,636,6055,0.12,2.12,0.00,0.000,6,0.190,0.038,3141,2332,1950
$GC,6363,1.05,219.0,466.3,10.6,666,6367,0.00,2.25,0.00,0.000,4,0.000,0.045,3151,883,1948
$GC,6438,1.05,219.0,457.4,12.6,673,6442,0.00,2.25,0.00,0.000,6,0.000,0.041,3151,2332,1947
$GC,6761,1.05,219.0,417.6,12.4,704,6764,0.00,2.12,0.00,0.000,4,0.000,0.053,3151,3683,1946
$GC,6803,1.05,219.0,411.9,13.7,708,6806,0.00,2.10,0.00,0.000,6,0.000,0.036,3161,2303,1946
$GC,7125,1.05,219.0,371.6,11.7,739,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2302,1945
$GC,7435,1.05,219.0,335.4,12.7,769,7438,0.00,2.20,0.00,0.000,4,0.000,0.051,3161,3693,1944
$GC,7461,1.05,219.0,332.1,12.5,771,7467,0.08,2.15,0.00,0.000,6,0.177,0.035,3140,2296,1944
$GC,7778,1.05,219.0,296.2,10.3,805,7785,0.00,2.17,0.00,0.000,4,0.000,0.044,3149,887,1944
$GC,7837,1.05,219.0,290.1,9.5,816,7843,0.00,2.22,0.00,0.000,6,0.000,0.041,3149,2297,1942
$GC,8164,1.05,219.0,257.2,9.6,877,8171,0.00,2.20,0.00,0.000,4,0.000,0.044,3159,887,1943
$GC,8298,1.05,219.0,245.1,9.8,902,8304,0.00,2.20,0.00,0.000,6,0.000,0.041,3159,2288,1943
$GC,8624,1.13,280.8,220.2,7.3,963,8678,0.00,2.25,48.85,0.811,4,0.000,0.049,3159,3689,1707
$GC,8776,1.13,280.8,205.1,12.5,990,8782,0.00,2.20,0.00,0.000,6,0.000,0.035,3170,2276,1705
$GC,9103,1.13,280.8,168.5,12.2,1051,9108,0.00,2.12,0.00,0.000,4,0.000,0.044,3179,900,1704
$GC,9177,1.13,280.8,159.6,12.6,1065,9185,0.00,2.10,0.00,0.000,6,0.000,0.037,3180,2247,1702
$GC,9506,1.13,280.8,121.2,12.3,1126,9511,0.00,2.10,0.00,0.000,4,0.000,0.043,3189,903,1702
$GC,9596,1.13,280.8,111.2,10.0,1143,9603,0.00,2.05,0.00,0.000,6,0.000,0.037,3189,2224,1702
$GC,9923,1.13,280.8,82.2,10.6,1204,9929,0.00,2.30,0.00,0.000,4,0.000,0.049,3189,3695,1702
$GC,10057,1.13,280.8,67.2,10.6,1229,10065,0.10,2.25,0.00,0.000,6,0.180,0.032,3170,2222,1702
$GC,10385,1.29,413.6,46.6,5.3,1290,10498,0.12,2.12,105.85,0.649,4,0.071,0.045,3238,906,1166
$GC,10604,1.29,413.6,24.8,11.7,1328,10610,0.00,2.00,0.00,0.000,6,0.000,0.034,3238,2187,1163
$STATE,10776,end climb,SURFACE_DEPTH_REACHED
$STATE,10776,begin surface coast
$FINISH,1.5,1.020014
$STATE,10795,end surface coast,CONTROL_FINISHED_OK
$STATE,10795,begin surface
$SM_CCo,10811,48.10,0.596,0,0,916,475.15
$SM_GC,2.23,0.00,0.00,48.10,0.000,0.000,0.596,155,2325,916,-8.26,1.13,475.15
$IRIDIUM_FIX,2517.50,12540.58,201098,020259
$TT8_MAMPS,0.049855
$HUMID,1600
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,26.60
$XPDR_PINGS,542
$24V_AH,23.7,82.234
$10V_AH,10.6,55.455
$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,19.300,108.625,500.575,48.100,0.000,30.293,31.823,215.926,140.000,0.000,0.000,13.576,0.000,6996.024,653.746,3021.571,579.526,0.000,1776.841,0.000,2586.295,0.000,33.166,0.000
$DEVICE_MAMPS,229.333,65.962,1084.538,595.959,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,914.271,999.931,1641.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79033,1364
$CAP_FILE_SIZE,121771,0
$CFSIZE,260165632,225042432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149, 82.3,1
$GPS,260709,100907,2527.572,12541.179,36,1.9,36,-4.0