version: 66.04
glider: 165
mission: 2
dive: 72
start: 6 1 109 1 25 55
data:
$ID,165
$MISSION,2
$DIVE,72
$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,-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,-118254.44
$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,44
$R_STBD_OVSHOOT,32
$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
$GPS1,012052,2525.023,12228.657,12,3.3,31,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-71.1
$GPS2,012550,2525.142,12228.749,11,1.9,11,-3.7
$SPEED_LIMITS,0.208,0.315
$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,131.7,55582,-18.3,-12.000
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.96,-194.7,0.0,0.0,0,65,0.00,0.00,-50.17,0.000,2,0.000,0.000,160,2053,2128
$GC,66,-0.96,-194.7,3.4,-5.1,8,118,8.90,2.33,-39.40,0.000,4,0.234,0.066,2494,3482,3555
$GC,198,-0.11,-194.7,41.1,-39.3,31,204,0.85,2.17,0.00,0.000,6,0.153,0.039,2777,2082,3556
$GC,524,-0.89,-194.7,71.0,-8.6,92,531,0.65,2.17,0.00,0.000,4,0.060,0.056,2523,3472,3559
$GC,573,-0.47,-194.7,76.9,-16.0,101,581,0.40,2.10,0.00,0.000,6,0.140,0.036,2658,2090,3559
$GC,901,-0.70,-194.7,111.2,-6.6,162,907,0.17,2.20,0.00,0.000,4,0.058,0.057,2564,3470,3560
$GC,954,-0.63,-194.7,117.6,-13.4,172,961,0.12,2.05,0.00,0.000,6,0.127,0.036,2610,2118,3561
$GC,1281,-0.63,-194.7,169.5,-16.8,233,1289,0.00,2.17,0.00,0.000,4,0.000,0.058,2602,3473,3562
$GC,1315,-0.63,-194.7,175.0,-16.8,239,1321,0.00,2.03,0.00,0.000,6,0.000,0.035,2602,2137,3562
$GC,1640,-0.63,-194.7,220.5,-15.1,300,1647,0.00,2.15,0.00,0.000,4,0.000,0.059,2602,3472,3562
$GC,1705,-0.79,-194.7,229.6,-13.9,312,1712,0.08,2.03,0.00,0.000,6,0.057,0.036,2545,2140,3562
$GC,2032,-0.67,-194.7,284.9,-10.8,373,2039,0.20,2.25,0.00,0.000,4,0.134,0.051,2607,668,3562
$GC,2102,-0.94,-194.7,291.6,-8.1,386,2109,0.22,2.28,0.00,0.000,6,0.043,0.043,2492,2135,3563
$GC,2419,-0.55,-194.7,352.0,-20.0,422,2424,0.47,2.28,0.00,0.000,4,0.146,0.051,2644,681,3562
$GC,2483,-0.96,-194.7,358.8,-7.2,428,2488,0.32,2.20,0.00,0.000,6,0.036,0.041,2478,2103,3562
$GC,2804,-0.58,-194.7,420.6,-19.4,459,2808,0.50,2.15,0.00,0.000,4,0.150,0.061,2630,3473,3562
$GC,2825,-0.50,-194.7,423.7,-14.1,461,2829,0.00,2.05,0.00,0.000,6,0.000,0.038,2630,2126,3562
$GC,3146,-0.88,-194.7,442.9,-6.2,492,3150,0.25,2.15,0.00,0.000,4,0.049,0.061,2508,3467,3561
$GC,3178,-0.77,-194.7,446.1,-11.8,495,3182,0.15,2.05,0.00,0.000,6,0.134,0.038,2561,2123,3560
$STATE,3186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3186,begin apogee
$GC,3190,-0.20,0.0,447.5,11.9,496,3342,0.57,0.00,147.85,0.930,6,0.122,0.000,2756,2534,2758
$STATE,3342,end apogee,CONTROL_FINISHED_OK
$STATE,3342,begin climb
$GC,3343,0.96,194.7,453.3,0.0,511,3502,1.00,1.95,149.20,0.907,4,0.055,0.061,3131,3683,1964
$GC,3742,0.31,194.7,387.5,21.8,547,3750,0.70,1.80,0.00,0.000,6,0.170,0.039,2929,2530,1960
$GC,4057,0.82,417.8,370.1,2.8,578,4246,0.43,2.38,177.43,0.861,4,0.048,0.050,3118,1120,1054
$GC,4276,0.55,417.8,330.1,23.8,598,4281,0.38,2.28,0.00,0.000,6,0.156,0.047,3002,2498,1051
$GC,4595,0.85,512.3,292.8,8.1,635,4682,0.25,2.30,77.35,0.813,4,0.055,0.051,3123,1126,668
$GC,4755,0.70,512.3,260.5,21.3,663,4763,0.22,2.22,0.00,0.000,6,0.145,0.045,3052,2495,665
$GC,5082,0.80,512.3,207.6,16.9,724,5089,0.00,2.20,0.00,0.000,4,0.000,0.050,3060,1125,662
$GC,5098,0.90,512.3,204.9,17.2,727,5106,0.10,2.17,0.00,0.000,6,0.058,0.042,3118,2499,661
$GC,5425,0.80,512.3,124.0,24.4,788,5432,0.15,1.88,0.00,0.000,4,0.146,0.058,3076,3684,661
$GC,5543,0.95,512.3,106.7,12.6,810,5550,0.08,1.80,0.00,0.000,6,0.062,0.038,3131,2506,660
$GC,5869,0.95,512.3,56.6,15.6,871,5877,0.00,2.15,0.00,0.000,4,0.000,0.048,3142,1126,659
$GC,5903,0.95,512.3,51.2,16.7,877,5909,0.00,2.15,0.00,0.000,6,0.000,0.042,3141,2502,659
$STATE,6201,end climb,SURFACE_DEPTH_REACHED
$STATE,6201,begin surface coast
$FINISH,1.6,1.022312
$STATE,6217,end surface coast,CONTROL_FINISHED_OK
$STATE,6217,begin surface
$SM_CCo,6290,0.00,0.000,0,0,658,515.38
$SM_GC,2.31,7.47,0.00,0.00,0.035,0.000,0.000,161,2073,658,-8.21,0.06,515.38
$IRIDIUM_FIX,2515.12,12226.62,250898,232303
$TT8_MAMPS,0.047554
$HUMID,1582
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,24.30
$XPDR_PINGS,83
$ALTIM_BOTTOM_PING,425.2,47.0
$24V_AH,24.4,17.381
$10V_AH,10.8,13.364
$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,24.650,65.425,551.825,0.000,0.000,30.765,36.955,153.475,24.000,0.000,0.000,13.782,0.000,3551.346,605.283,2087.132,331.117,0.000,1412.174,0.000,1777.893,0.000,26.298,0.000
$DEVICE_MAMPS,233.935,65.962,929.604,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.763,721.888,1213.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53817,936
$CAP_FILE_SIZE,87078,0
$CFSIZE,260165632,252354560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048, 68.6,1
$GPS,010609,031134,2524.589,12229.839,12,99.0,31,-3.7