version: 66.04
glider: 165
mission: 2
dive: 66
start: 5 31 109 14 2 43
data:
$ID,165
$MISSION,2
$DIVE,66
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,435
$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,-117207.53
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$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
$GPS1,135652,2523.696,12228.086,6,3.4,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-72.8
$GPS2,140237,2523.837,12228.132,39,1.0,39,-3.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,136.0,55417,-15.7,-10.000
$D_GRID,464
$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,-0.85,-194.7,0.0,0.0,0,59,0.00,0.00,-46.25,0.000,2,0.000,0.000,160,2056,2129
$GC,61,-0.85,-194.7,3.4,-4.1,7,113,9.07,2.33,-39.08,0.000,4,0.232,0.067,2530,3477,3555
$GC,160,0.07,-194.7,27.0,-40.1,24,167,0.95,2.17,0.00,0.000,6,0.145,0.037,2836,2076,3557
$GC,487,-0.64,-194.7,57.9,-8.3,85,494,0.60,2.20,0.00,0.000,4,0.050,0.054,2589,3479,3559
$GC,535,-0.52,-194.7,63.2,-11.1,94,544,0.15,2.15,0.00,0.000,6,0.120,0.035,2646,2063,3559
$GC,863,-0.43,-194.7,109.0,-14.8,155,870,0.12,2.25,0.00,0.000,4,0.138,0.058,2684,3468,3560
$GC,901,-0.64,-194.7,113.4,-10.4,162,909,0.17,2.12,0.00,0.000,6,0.052,0.035,2576,2078,3561
$GC,1229,-0.29,-194.7,165.1,-17.0,223,1236,0.45,2.22,0.00,0.000,4,0.132,0.054,2713,3482,3561
$GC,1283,-0.78,-194.7,169.8,-6.2,233,1290,0.35,2.15,0.00,0.000,6,0.041,0.035,2548,2064,3562
$GC,1609,-0.39,-194.7,227.7,-16.0,294,1617,0.45,2.15,0.00,0.000,4,0.130,0.051,2696,677,3562
$GC,1675,-0.86,-194.7,232.1,-4.1,306,1684,0.38,2.10,0.00,0.000,6,0.038,0.039,2507,2045,3562
$GC,2003,-0.49,-194.7,288.5,-16.6,367,2010,0.47,2.25,0.00,0.000,4,0.137,0.063,2658,3472,3562
$GC,2078,-0.86,-194.7,295.0,-5.6,381,2084,0.28,2.12,0.00,0.000,6,0.037,0.038,2508,2079,3562
$GC,2399,-0.43,-194.7,360.3,-18.5,415,2404,0.52,2.20,0.00,0.000,4,0.138,0.062,2673,3468,3562
$GC,2463,-0.95,-194.7,364.8,-4.3,421,2467,0.35,2.10,0.00,0.000,6,0.043,0.038,2493,2090,3562
$GC,2784,-0.54,-194.7,421.4,-15.2,452,2788,0.47,2.22,0.00,0.000,4,0.133,0.054,2649,669,3562
$GC,2874,-0.88,-194.7,427.6,-5.9,460,2882,0.25,2.17,0.00,0.000,6,0.041,0.042,2516,2072,3561
$STATE,3074,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3074,begin apogee
$GC,3078,-0.20,0.0,454.1,14.6,480,3230,0.73,0.00,148.18,0.926,6,0.131,0.000,2754,2521,2759
$STATE,3231,end apogee,CONTROL_FINISHED_OK
$STATE,3231,begin climb
$GC,3232,0.85,194.7,458.9,0.0,495,3388,0.90,2.00,149.23,0.902,4,0.049,0.061,3105,3690,1964
$GC,3462,0.21,194.7,430.7,22.4,516,3467,0.73,1.83,0.00,0.000,6,0.160,0.039,2893,2537,1961
$GC,3783,0.56,284.7,406.2,6.9,547,3861,0.30,2.30,71.57,0.877,4,0.045,0.050,3038,1125,1597
$GC,3971,0.38,284.7,379.8,15.2,564,3979,0.28,2.22,0.00,0.000,6,0.139,0.047,2950,2496,1590
$GC,4288,0.67,387.1,354.6,6.5,595,4377,0.25,2.33,82.43,0.862,4,0.052,0.051,3069,1123,1179
$GC,4398,0.44,387.1,338.0,17.1,605,4402,0.35,2.22,0.00,0.000,6,0.142,0.045,2967,2495,1177
$GC,4713,0.71,433.8,305.4,8.4,635,4758,0.22,1.92,38.53,0.825,4,0.051,0.057,3075,3687,989
$GC,4772,0.45,433.8,294.2,21.4,642,4781,0.38,1.90,0.00,0.000,6,0.137,0.038,2965,2487,989
$GC,5100,0.88,482.8,256.8,8.3,703,5149,0.38,2.22,40.78,0.798,4,0.042,0.051,3141,1105,789
$GC,5180,0.48,482.8,238.0,28.5,717,5187,0.50,2.22,0.00,0.000,6,0.152,0.045,2976,2474,787
$GC,5506,0.84,482.8,205.6,10.1,778,5514,0.30,2.12,0.00,0.000,4,0.045,0.047,3119,1129,783
$GC,5609,0.56,482.8,182.9,24.1,797,5617,0.35,2.08,0.00,0.000,6,0.145,0.043,3005,2447,783
$GC,5937,0.85,512.6,142.4,9.0,858,5970,0.22,2.12,24.20,0.719,4,0.051,0.048,3126,1129,668
$GC,5995,0.61,512.6,131.1,22.4,868,6002,0.32,2.08,0.00,0.000,6,0.140,0.044,3021,2430,667
$GC,6322,1.02,582.5,91.8,7.6,929,6398,0.32,2.15,50.62,0.608,4,0.042,0.049,3181,1125,481
$GC,6457,0.76,582.5,61.1,24.5,952,6463,0.32,2.05,0.00,0.000,6,0.137,0.044,3061,2410,472
$GC,6782,1.28,660.6,29.3,7.3,1013,6789,0.45,0.00,0.00,0.000,6,0.037,0.000,3265,2409,465
$STATE,6887,end climb,SURFACE_DEPTH_REACHED
$STATE,6887,begin surface coast
$FINISH,1.6,1.012742
$STATE,6898,end surface coast,CONTROL_FINISHED_OK
$STATE,6898,begin surface
$SM_CCo,6971,0.00,0.000,0,0,463,563.21
$SM_GC,2.42,7.80,0.00,0.00,0.031,0.000,0.000,148,2052,463,-8.23,-0.54,563.21
$IRIDIUM_FIX,2512.73,12228.64,250898,111122
$TT8_MAMPS,0.046787
$HUMID,1565
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.20
$XPDR_PINGS,95
$ALTIM_BOTTOM_PING,400.2,77.9
$24V_AH,24.4,16.603
$10V_AH,10.8,12.790
$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,30.150,69.975,605.525,0.000,0.000,29.235,29.843,173.699,26.250,0.000,0.000,41.061,0.000,3967.514,665.281,2309.502,355.116,0.000,1551.007,0.000,1948.286,0.000,18.882,0.000
$DEVICE_MAMPS,232.401,67.496,925.769,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,692.994,792.391,1332.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60102,1035
$CAP_FILE_SIZE,98115,0
$CFSIZE,260165632,252674048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,147.812,144.0,1
$GPS,310509,140237,2523.837,12228.132,39,1.0,39,-3.7