version: 66.04
glider: 165
mission: 2
dive: 437
start: 8 6 109 9 49 25
data:
$ID,165
$MISSION,2
$DIVE,437
$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,-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,-126840.95
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,093625,2503.730,12535.040,65,1.7,66,-3.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-57.2
$GPS2,094920,2503.878,12534.596,45,2.0,45,-3.8
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2508.700,12539.400
$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,55.7,12027,-16.4,-12.000
$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,-1.14,-243.4,0.0,0.0,0,58,0.00,0.00,-43.67,0.000,2,0.000,0.000,158,2283,1886
$GC,62,-1.14,-243.4,3.3,-6.0,7,120,9.20,2.17,-41.90,0.000,4,0.233,0.055,2419,883,3848
$GC,184,-1.14,-243.4,35.7,-22.2,28,190,0.00,2.15,0.00,0.000,6,0.000,0.038,2410,2290,3848
$GC,510,-1.14,-243.4,91.7,-13.6,89,516,0.00,2.17,0.00,0.000,4,0.000,0.051,2401,3689,3849
$GC,553,-1.14,-243.4,98.7,-17.3,97,559,0.00,2.10,0.00,0.000,6,0.000,0.031,2401,2287,3849
$GC,879,-1.14,-243.4,149.7,-12.8,158,885,0.00,2.15,0.00,0.000,4,0.000,0.041,2401,888,3849
$GC,965,-1.14,-243.4,161.8,-13.6,174,971,0.00,2.12,0.00,0.000,6,0.000,0.038,2398,2279,3849
$GC,1292,-1.14,-243.4,203.0,-11.9,235,1299,0.00,2.12,0.00,0.000,4,0.000,0.042,2398,896,3850
$GC,1326,-1.14,-243.4,206.8,-11.6,241,1331,0.00,2.10,0.00,0.000,6,0.000,0.041,2398,2263,3850
$GC,1652,-1.14,-243.4,242.6,-10.9,302,1657,0.00,2.10,0.00,0.000,4,0.000,0.043,2398,896,3851
$GC,1712,-1.14,-243.4,249.5,-11.4,313,1718,0.00,2.08,0.00,0.000,6,0.000,0.041,2398,2245,3851
$GC,2039,-1.14,-243.4,287.0,-11.2,374,2045,0.00,2.28,0.00,0.000,4,0.000,0.055,2398,3691,3850
$GC,2098,-1.14,-243.4,294.1,-12.0,385,2104,0.00,2.15,0.00,0.000,6,0.000,0.031,2397,2241,3850
$GC,2421,-1.14,-243.4,333.2,-11.1,421,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2238,3850
$GC,2733,-1.14,-243.4,365.9,-10.6,451,2736,0.00,2.28,0.00,0.000,4,0.000,0.057,2397,3682,3849
$GC,2770,-1.14,-243.4,370.1,-10.8,454,2773,0.00,2.12,0.00,0.000,6,0.000,0.031,2398,2255,3849
$GC,3091,-1.14,-243.4,403.8,-8.9,485,3094,0.00,2.10,0.00,0.000,4,0.000,0.044,2398,884,3847
$GC,3112,-1.14,-243.4,405.9,-9.8,487,3115,0.00,2.12,0.00,0.000,6,0.000,0.041,2398,2257,3847
$STATE,3233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3233,begin apogee
$GC,3240,-0.26,0.0,418.4,9.0,499,3428,0.93,0.00,184.23,0.888,6,0.109,0.000,2712,2310,2853
$STATE,3428,end apogee,CONTROL_FINISHED_OK
$STATE,3428,begin climb
$GC,3431,1.14,243.4,434.1,0.0,518,3625,1.15,2.33,184.45,0.875,4,0.041,0.047,3186,911,1860
$GC,3726,1.14,243.4,418.2,13.6,544,3733,0.00,2.22,0.00,0.000,6,0.000,0.046,3186,2310,1855
$GC,4045,1.14,243.4,376.0,13.6,575,4048,0.00,2.20,0.00,0.000,4,0.000,0.044,3196,898,1853
$GC,4097,1.14,243.4,369.0,12.5,580,4101,0.15,2.17,0.00,0.000,6,0.183,0.041,3159,2307,1852
$GC,4418,1.14,243.4,329.6,12.0,611,4421,0.00,2.15,0.00,0.000,4,0.000,0.051,3159,3683,1851
$GC,4440,1.14,243.4,326.9,13.0,613,4443,0.00,2.10,0.00,0.000,6,0.000,0.034,3169,2288,1851
$GC,4758,1.23,318.7,290.2,9.5,652,4826,0.00,2.30,59.95,0.813,4,0.000,0.051,3169,3675,1553
$GC,4870,1.23,318.7,277.8,13.4,671,4875,0.00,2.12,0.00,0.000,6,0.000,0.033,3179,2284,1552
$GC,5196,1.23,318.7,236.2,12.6,732,5202,0.00,2.22,0.00,0.000,4,0.000,0.055,3179,3686,1549
$GC,5261,1.23,318.7,226.8,13.9,744,5268,0.00,2.12,0.00,0.000,6,0.000,0.038,3189,2306,1549
$GC,5589,1.23,318.7,183.3,12.2,805,5595,0.00,2.15,0.00,0.000,4,0.000,0.042,3199,899,1547
$GC,5616,1.27,352.3,180.0,10.9,810,5648,0.00,2.25,27.83,0.737,6,0.000,0.040,3199,2335,1417
$GC,5969,1.27,352.3,140.1,13.1,875,5975,0.00,2.12,0.00,0.000,4,0.000,0.051,3199,3693,1414
$GC,5990,1.27,352.3,137.3,12.5,879,5996,0.00,2.08,0.00,0.000,6,0.000,0.035,3209,2339,1414
$GC,6317,1.30,376.1,100.2,11.2,940,6342,0.00,2.25,20.20,0.666,4,0.000,0.046,3220,891,1319
$GC,6417,1.45,494.1,89.6,8.1,958,6518,0.10,2.25,94.40,0.663,6,0.078,0.036,3272,2360,838
$GC,6839,1.45,494.1,34.6,16.6,1034,6846,0.00,2.08,0.00,0.000,4,0.000,0.057,3272,3687,835
$GC,6926,1.55,578.4,22.9,9.2,1050,7002,0.00,2.03,71.80,0.591,6,0.000,0.035,3282,2323,493
$STATE,7068,end climb,SURFACE_DEPTH_REACHED
$STATE,7068,begin surface coast
$FINISH,1.2,1.008208
$STATE,7084,end surface coast,CONTROL_FINISHED_OK
$STATE,7085,begin surface
$SM_CCo,7162,0.00,0.000,0,0,480,582.34
$SM_GC,1.82,8.00,0.00,0.00,0.036,0.000,0.000,162,2322,480,-8.15,1.05,582.34
$IRIDIUM_FIX,2456.07,12619.83,311098,090920
$TT8_MAMPS,0.047554
$HUMID,1705
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,26.40
$XPDR_PINGS,595
$24V_AH,24.0,96.841
$10V_AH,10.6,66.071
$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,19.525,73.525,642.850,0.000,0.000,48.304,85.759,404.816,151.000,0.000,0.000,47.233,0.000,4131.438,644.983,2315.746,821.220,0.000,1548.675,0.000,1960.218,0.000,20.043,0.000
$DEVICE_MAMPS,233.168,115.050,888.186,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,715.107,823.584,1276.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60141,1078
$CAP_FILE_SIZE,95272,0
$CFSIZE,260165632,219058176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241,296.9,1
$GPS,060809,114957,2504.725,12534.345,27,99.0,47,-3.8