version: 66.04
glider: 165
mission: 2
dive: 433
start: 8 6 109 0 17 26
data:
$ID,165
$MISSION,2
$DIVE,433
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$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,-126723.55
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2793
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$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,24
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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
$GPS1,001033,2503.842,12536.957,65,1.4,66,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-57.1
$GPS2,001719,2503.744,12536.837,11,2.0,14,-3.8
$SPEED_LIMITS,0.191,0.337
$TGT_NAME,OFF_5
$TGT_LATLONG,2515.300,12530.500
$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,346.2,23889,-15.2,-11.000
$D_GRID,418
$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,13,-1.08,-243.4,0.0,0.0,0,80,0.00,0.00,-64.70,0.000,2,0.000,0.000,139,2303,2169
$GC,83,-1.08,-243.4,3.3,-3.9,10,140,9.05,2.25,-39.12,0.000,4,0.225,0.064,2433,3683,3849
$GC,178,-1.08,-243.4,22.4,-21.1,26,183,0.00,2.15,0.00,0.000,6,0.000,0.032,2433,2248,3850
$GC,504,-1.08,-243.4,72.6,-13.0,87,510,0.00,2.30,0.00,0.000,4,0.000,0.053,2424,3677,3850
$GC,574,-1.08,-243.4,82.6,-14.5,100,580,0.00,2.05,0.00,0.000,6,0.000,0.031,2425,2304,3851
$GC,900,-1.08,-243.4,122.2,-11.8,161,907,0.00,2.12,0.00,0.000,4,0.000,0.041,2425,903,3851
$GC,971,-1.08,-243.4,131.0,-12.4,174,977,0.00,2.12,0.00,0.000,6,0.000,0.041,2424,2290,3851
$GC,1298,-1.08,-243.4,168.0,-10.5,235,1304,0.00,2.15,0.00,0.000,4,0.000,0.042,2424,888,3852
$GC,1368,-1.08,-243.4,176.1,-11.3,248,1373,0.00,2.10,0.00,0.000,6,0.000,0.041,2424,2251,3851
$GC,1694,-1.08,-243.4,211.7,-11.4,309,1700,0.00,2.08,0.00,0.000,4,0.000,0.043,2424,902,3852
$GC,1732,-1.08,-243.4,216.4,-12.0,316,1738,0.00,2.10,0.00,0.000,6,0.000,0.041,2424,2249,3852
$GC,2059,-1.08,-243.4,252.6,-10.1,377,2065,0.00,2.08,0.00,0.000,4,0.000,0.043,2424,905,3852
$GC,2103,-1.08,-243.4,257.0,-10.0,385,2110,0.00,2.05,0.00,0.000,6,0.000,0.041,2424,2238,3852
$GC,2431,-1.08,-243.4,291.9,-11.5,446,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2238,3852
$GC,2754,-1.08,-243.4,325.9,-9.7,484,2757,0.00,2.08,0.00,0.000,4,0.000,0.044,2424,894,3852
$GC,2787,-1.08,-243.4,329.2,-10.4,487,2790,0.00,2.05,0.00,0.000,6,0.000,0.041,2424,2227,3852
$GC,3109,-1.08,-243.4,360.8,-9.9,518,3112,0.00,2.33,0.00,0.000,4,0.000,0.062,2424,3686,3851
$GC,3135,-1.08,-243.4,363.5,-10.3,520,3138,0.00,2.20,0.00,0.000,6,0.000,0.032,2424,2218,3850
$GC,3459,-1.08,-243.4,396.8,-10.9,551,3462,0.00,2.00,0.00,0.000,4,0.000,0.045,2424,907,3849
$GC,3511,-1.08,-243.4,403.0,-12.0,556,3515,0.00,2.03,0.00,0.000,6,0.000,0.043,2424,2184,3849
$STATE,3664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3664,begin apogee
$GC,3671,-0.26,0.0,418.4,9.6,571,3860,0.80,0.00,185.55,0.892,6,0.087,0.000,2711,2307,2853
$STATE,3860,end apogee,CONTROL_FINISHED_OK
$STATE,3860,begin climb
$GC,3863,1.08,243.4,433.6,0.0,590,4055,1.10,2.28,185.12,0.878,4,0.037,0.054,3162,3680,1860
$GC,4105,1.08,243.4,421.3,13.7,613,4109,0.12,2.10,0.00,0.000,6,0.193,0.035,3143,2312,1857
$GC,4426,1.08,243.4,382.9,12.0,644,4429,0.00,2.22,0.00,0.000,4,0.000,0.045,3154,864,1854
$GC,4437,1.08,243.4,381.8,11.4,645,4441,0.00,2.25,0.00,0.000,6,0.000,0.040,3153,2323,1853
$GC,4755,1.08,243.4,345.9,12.3,675,4758,0.00,2.22,0.00,0.000,4,0.000,0.046,3163,904,1852
$GC,4829,1.08,243.4,336.9,11.7,682,4832,0.00,2.15,0.00,0.000,6,0.000,0.040,3163,2295,1851
$GC,5152,1.08,243.4,300.1,11.5,713,5155,0.00,2.15,0.00,0.000,4,0.000,0.051,3163,3683,1849
$GC,5307,1.08,243.4,281.1,11.6,741,5313,0.12,2.08,0.00,0.000,6,0.191,0.034,3143,2305,1849
$GC,5633,1.09,253.6,247.4,10.7,802,5646,0.00,2.25,7.55,0.670,4,0.000,0.050,3143,3683,1818
$GC,5800,1.09,253.6,228.0,12.0,833,5806,0.00,2.05,0.00,0.000,6,0.000,0.033,3152,2319,1819
$GC,6127,1.20,345.5,198.3,8.2,894,6208,0.00,2.22,75.28,0.765,4,0.000,0.048,3152,3690,1444
$GC,6234,1.20,345.5,186.6,11.9,912,6241,0.00,2.08,0.00,0.000,6,0.000,0.032,3162,2354,1443
$GC,6562,1.26,391.7,149.2,9.6,973,6605,0.10,0.00,37.60,0.715,6,0.076,0.000,3213,2349,1256
$GC,6925,1.26,391.7,99.9,16.3,1040,6932,0.00,2.25,0.00,0.000,4,0.000,0.042,3223,910,1252
$GC,7072,1.47,565.0,84.7,5.7,1067,7223,0.12,2.30,143.05,0.658,6,0.072,0.041,3281,2381,546
$GC,7543,1.47,565.0,4.8,19.2,1151,7549,0.00,2.05,0.00,0.000,4,0.000,0.054,3281,3694,530
$GC,7554,1.47,565.0,3.1,17.3,1153,7560,0.00,2.03,0.00,0.000,6,0.000,0.031,3292,2346,529
$STATE,7562,end climb,SURFACE_DEPTH_REACHED
$STATE,7562,begin surface coast
$FINISH,1.5,1.008992
$STATE,7579,end surface coast,CONTROL_FINISHED_OK
$STATE,7579,begin surface
$SM_CCo,7656,0.00,0.000,0,0,528,570.81
$SM_GC,2.11,8.10,0.00,0.00,0.044,0.000,0.000,152,2344,528,-8.15,1.67,570.81
$IRIDIUM_FIX,2453.69,12534.20,301098,212152
$TT8_MAMPS,0.049088
$HUMID,1736
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,25.80
$XPDR_PINGS,609
$24V_AH,24.0,96.114
$10V_AH,10.6,65.633
$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,19.525,73.075,634.150,0.000,0.000,22.229,37.852,209.734,154.500,0.000,0.000,16.578,0.000,4394.045,661.986,2444.679,538.877,0.000,1610.428,0.000,2089.977,0.000,15.926,0.000
$DEVICE_MAMPS,224.731,67.496,892.021,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,769.597,876.735,1362.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66337,1158
$CAP_FILE_SIZE,94709,0
$CFSIZE,260165632,219295744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,176.6,1
$GPS,060809,022535,2503.590,12536.714,7,1.7,11,-3.8