version: 66.04
glider: 165
mission: 2
dive: 441
start: 8 6 109 19 6 29
data:
$ID,165
$MISSION,2
$DIVE,441
$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,581.11566
$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,-126986.4
$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,48
$R_STBD_OVSHOOT,51
$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
$GPS1,183908,2506.512,12533.501,38,2.0,46,-3.9
$_CALLS,5
$_XMS_NAKs,52
$_XMS_TOUTs,2
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-61.6
$GPS2,190622,2507.440,12533.029,15,99.0,34,-3.9
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2512.600,12534.100
$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,45.1,9723,-16.4,-12.000
$D_GRID,473
$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,-243.4,0.0,0.0,0,80,0.00,0.00,-65.05,0.000,2,0.000,0.000,120,2310,2439
$GC,83,-1.14,-243.4,3.1,-3.0,10,134,9.15,2.20,-32.55,0.000,4,0.229,0.067,2409,3664,3849
$GC,183,-1.14,-243.4,19.3,-11.4,27,188,0.00,2.05,0.00,0.000,6,0.000,0.032,2409,2278,3850
$GC,510,-1.14,-243.4,71.5,-17.8,88,515,0.00,2.12,0.00,0.000,4,0.000,0.043,2409,883,3850
$GC,649,-1.14,-243.4,93.2,-14.2,114,655,0.00,2.08,0.00,0.000,6,0.000,0.038,2401,2247,3850
$GC,975,-1.14,-243.4,129.4,-10.4,175,981,0.00,2.10,0.00,0.000,4,0.000,0.043,2401,883,3850
$GC,1029,-1.14,-243.4,135.6,-12.0,185,1036,0.00,2.08,0.00,0.000,6,0.000,0.041,2398,2241,3850
$GC,1357,-1.14,-243.4,177.5,-12.3,246,1363,0.00,2.08,0.00,0.000,4,0.000,0.043,2398,892,3850
$GC,1384,-1.14,-243.4,180.9,-12.6,251,1390,0.00,2.05,0.00,0.000,6,0.000,0.041,2399,2207,3850
$GC,1711,-1.14,-243.4,219.9,-11.8,312,1716,0.00,2.03,0.00,0.000,4,0.000,0.043,2399,892,3850
$GC,1749,-1.14,-243.4,224.5,-12.6,319,1754,0.00,2.00,0.00,0.000,6,0.000,0.041,2399,2201,3850
$GC,2075,-1.14,-243.4,261.0,-11.4,380,2081,0.00,2.38,0.00,0.000,4,0.000,0.055,2399,3683,3850
$GC,2113,-1.14,-243.4,265.6,-12.4,387,2119,0.00,2.25,0.00,0.000,6,0.000,0.032,2398,2174,3850
$GC,2444,-1.14,-243.4,305.1,-12.2,445,2447,0.00,1.95,0.00,0.000,4,0.000,0.045,2398,894,3849
$GC,2465,-1.14,-243.4,307.8,-12.0,447,2468,0.00,2.00,0.00,0.000,6,0.000,0.042,2398,2190,3849
$GC,2788,-1.14,-243.4,341.7,-9.8,478,2792,0.00,2.38,0.00,0.000,4,0.000,0.062,2398,3684,3847
$GC,2820,-1.14,-243.4,345.0,-10.3,480,2826,0.00,2.25,0.00,0.000,6,0.000,0.037,2398,2185,3846
$GC,3135,-1.14,-243.4,379.1,-11.3,511,3138,0.00,1.98,0.00,0.000,4,0.000,0.044,2399,893,3845
$GC,3200,-1.14,-243.4,386.9,-12.1,517,3203,0.00,2.00,0.00,0.000,6,0.000,0.042,2398,2183,3844
$GC,3523,-1.14,-243.4,423.6,-10.9,548,3526,0.00,2.38,0.00,0.000,4,0.000,0.057,2398,3683,3842
$GC,3566,-1.14,-243.4,428.6,-11.1,551,3571,0.00,2.28,0.00,0.000,6,0.000,0.034,2398,2176,3841
$GC,3883,-1.14,-243.4,459.3,-9.2,582,3886,0.00,1.98,0.00,0.000,4,0.000,0.045,2398,889,3840
$GC,3909,-1.14,-243.4,462.1,-10.3,584,3915,0.00,2.05,0.00,0.000,6,0.000,0.049,2398,2180,3839
$STATE,4025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4025,begin apogee
$GC,4032,-0.26,0.0,473.1,9.7,596,4221,0.90,0.00,185.27,0.943,6,0.096,0.000,2714,2303,2854
$STATE,4221,end apogee,CONTROL_FINISHED_OK
$STATE,4221,begin climb
$GC,4224,1.14,243.4,487.9,0.0,615,4422,1.15,2.28,186.68,0.930,4,0.041,0.056,3174,3687,1861
$GC,4544,1.14,243.4,463.6,14.3,644,4551,0.00,2.15,0.00,0.000,6,0.000,0.037,3184,2308,1856
$GC,4863,1.14,243.4,421.1,13.3,675,4866,0.00,2.20,0.00,0.000,4,0.000,0.051,3185,3695,1853
$GC,4926,1.14,243.4,411.7,14.6,681,4930,0.15,2.10,0.00,0.000,6,0.193,0.035,3158,2303,1853
$GC,5248,1.19,284.4,372.0,10.6,712,5285,0.00,2.22,33.45,0.874,4,0.000,0.045,3168,900,1693
$GC,5334,1.19,284.4,361.5,12.2,719,5339,0.00,2.20,0.00,0.000,6,0.000,0.040,3168,2298,1689
$GC,5651,1.19,284.4,324.3,12.2,750,5654,0.00,2.20,0.00,0.000,4,0.000,0.045,3178,891,1687
$GC,5683,1.19,284.4,320.0,12.8,753,5687,0.00,2.15,0.00,0.000,6,0.000,0.039,3178,2278,1686
$GC,6004,1.19,284.4,279.2,12.4,799,6010,0.00,2.22,0.00,0.000,4,0.000,0.051,3178,3695,1685
$GC,6063,1.19,284.4,271.8,13.2,810,6069,0.00,2.15,0.00,0.000,6,0.000,0.035,3188,2283,1684
$GC,6390,1.19,284.4,231.6,12.2,871,6395,0.00,2.22,0.00,0.000,4,0.000,0.050,3188,3689,1683
$GC,6518,1.19,284.4,215.5,12.8,895,6524,0.00,2.12,0.00,0.000,6,0.000,0.034,3198,2281,1683
$GC,6845,1.25,336.6,177.7,10.3,956,6895,0.00,2.30,42.22,0.767,4,0.000,0.054,3198,3680,1481
$GC,7034,1.25,336.6,154.6,12.2,990,7040,0.00,2.10,0.00,0.000,6,0.000,0.034,3208,2314,1479
$GC,7361,1.25,336.6,119.2,12.4,1051,7367,0.00,2.22,0.00,0.000,4,0.000,0.050,3219,904,1478
$GC,7448,1.27,351.2,109.1,11.5,1067,7467,0.00,2.15,12.75,0.667,6,0.000,0.039,3219,2297,1422
$GC,7788,1.32,391.9,73.4,10.7,1130,7826,0.00,2.28,33.90,0.669,4,0.000,0.043,3229,893,1255
$GC,7847,1.38,436.0,67.3,10.5,1140,7887,0.00,2.10,36.72,0.650,6,0.000,0.036,3229,2250,1075
$GC,8209,1.38,436.0,27.7,13.1,1206,8215,0.00,2.28,0.00,0.000,4,0.000,0.048,3229,3684,1072
$GC,8252,1.38,436.0,21.7,13.5,1214,8258,0.00,2.22,0.00,0.000,6,0.000,0.035,3240,2221,1073
$STATE,8410,end climb,SURFACE_DEPTH_REACHED
$STATE,8410,begin surface coast
$FINISH,2.2,1.021554
$STATE,8426,end surface coast,CONTROL_FINISHED_OK
$STATE,8426,begin surface
$SM_CCo,8444,106.85,0.588,0,0,484,581.12
$SM_GC,2.04,0.00,0.00,106.85,0.000,0.000,0.588,158,2296,484,-8.23,0.31,581.12
$IRIDIUM_FIX,2456.07,12535.58,311098,191918
$TT8_MAMPS,0.048321
$HUMID,1742
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,26.00
$XPDR_PINGS,750
$24V_AH,23.9,97.608
$10V_AH,10.6,66.518
$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,20.200,90.775,531.000,106.850,0.000,137.186,182.727,891.761,190.250,0.000,0.000,37.387,0.000,5231.706,701.977,2689.945,1544.122,0.000,1715.589,0.000,2284.386,0.000,21.306,0.000
$DEVICE_MAMPS,229.333,68.263,943.410,587.522,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,833.206,948.526,1448.762,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69472,1247
$CAP_FILE_SIZE,121989,0
$CFSIZE,260165632,218787840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155,301.3,1
$GPS,060809,213006,2508.605,12532.946,40,1.3,41,-3.9