version: 66.04
glider: 165
mission: 2
dive: 73
start: 6 1 109 3 16 25
data:
$ID,165
$MISSION,2
$DIVE,73
$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,-118269.94
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,031134,2524.589,12229.839,12,99.0,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.8
$GPS2,031620,2524.635,12229.929,12,1.1,12,-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,128.6,53395,-18.3,-12.000
$D_GRID,497
$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,-0.96,-194.7,0.0,0.0,0,73,0.00,0.00,-59.25,0.000,2,0.000,0.000,160,2073,2091
$GC,74,-0.96,-194.7,3.2,-4.0,9,132,8.88,2.22,-43.05,0.000,4,0.233,0.066,2498,3479,3554
$GC,157,-0.09,-194.7,18.3,-36.5,23,165,0.88,2.20,0.00,0.000,6,0.158,0.039,2785,2063,3554
$GC,485,-0.99,-194.7,54.9,-8.1,84,492,0.75,2.22,0.00,0.000,4,0.061,0.054,2493,3483,3557
$GC,544,-0.35,-194.7,65.9,-26.0,95,551,0.62,2.12,0.00,0.000,6,0.146,0.041,2699,2091,3557
$GC,871,-0.58,-194.7,97.6,-7.4,156,877,0.20,0.00,0.00,0.000,6,0.054,0.000,2600,2087,3558
$GC,1196,-0.58,-194.7,155.7,-16.0,217,1203,0.12,0.00,0.00,0.000,6,0.140,0.000,2638,2087,3560
$GC,1523,-0.79,-194.7,188.2,-3.7,278,1529,0.20,2.20,0.00,0.000,4,0.054,0.059,2537,3468,3561
$GC,1678,-0.52,-194.7,209.8,-15.4,307,1684,0.30,2.08,0.00,0.000,6,0.130,0.037,2643,2105,3561
$GC,2003,-0.77,-194.7,234.7,-8.6,368,2011,0.20,2.22,0.00,0.000,4,0.054,0.051,2543,672,3561
$GC,2036,-0.63,-194.7,239.1,-16.1,374,2043,0.22,2.22,0.00,0.000,6,0.130,0.043,2612,2103,3561
$GC,2363,-0.81,-194.7,273.7,-9.5,435,2369,0.15,2.20,0.00,0.000,4,0.061,0.050,2535,675,3562
$GC,2389,-0.76,-194.7,277.0,-13.7,440,2396,0.10,2.20,0.00,0.000,6,0.135,0.044,2570,2093,3561
$GC,2716,-0.76,-194.7,323.4,-15.1,487,2720,0.00,2.22,0.00,0.000,4,0.000,0.051,2570,677,3561
$GC,2763,-0.84,-194.7,330.7,-13.7,491,2770,0.00,2.22,0.00,0.000,6,0.000,0.044,2569,2103,3561
$GC,3082,-0.79,-194.7,376.3,-12.9,522,3085,0.00,2.22,0.00,0.000,4,0.000,0.051,2569,670,3561
$GC,3139,-0.74,-194.7,384.2,-13.7,527,3146,0.00,2.20,0.00,0.000,6,0.000,0.044,2569,2079,3561
$GC,3455,-0.74,-194.7,419.7,-10.2,558,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2079,3559
$GC,3766,-0.79,-194.7,452.1,-10.6,588,3769,0.00,2.22,0.00,0.000,4,0.000,0.064,2569,3467,3558
$GC,3850,-0.97,-194.7,459.9,-8.6,596,3855,0.15,2.12,0.00,0.000,6,0.048,0.039,2481,2082,3557
$STATE,3911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3911,begin apogee
$GC,3915,-0.20,0.0,468.5,14.8,602,4066,0.85,0.00,147.60,0.949,6,0.144,0.000,2755,2534,2759
$STATE,4066,end apogee,CONTROL_FINISHED_OK
$STATE,4066,begin climb
$GC,4067,0.96,194.7,475.4,0.0,617,4224,1.00,2.38,149.68,0.927,4,0.047,0.051,3153,1130,1963
$GC,4373,0.42,194.7,433.5,18.9,645,4381,0.65,2.28,0.00,0.000,6,0.173,0.048,2960,2521,1957
$GC,4689,0.60,259.5,400.7,9.3,676,4746,0.15,2.30,50.78,0.891,4,0.066,0.049,3035,1114,1700
$GC,4771,0.51,259.5,389.8,15.2,683,4778,0.15,2.30,0.00,0.000,6,0.143,0.047,2987,2513,1696
$GC,5087,0.58,262.3,350.9,11.9,714,5091,0.00,2.22,0.00,0.000,4,0.000,0.048,2996,1120,1693
$GC,5172,0.64,262.3,340.5,12.3,722,5176,0.00,2.22,0.00,0.000,6,0.000,0.045,2996,2512,1692
$GC,5489,0.64,262.3,298.2,13.1,753,5494,0.00,2.17,0.00,0.000,4,0.000,0.048,3006,1122,1691
$GC,5552,0.69,262.3,290.2,12.5,765,5558,0.08,2.17,0.00,0.000,6,0.068,0.046,3054,2496,1689
$GC,5878,0.54,262.3,235.2,14.3,826,5886,0.20,2.15,0.00,0.000,4,0.150,0.048,3004,1127,1689
$GC,5949,0.72,316.6,227.6,9.8,839,5999,0.10,2.15,44.67,0.806,6,0.061,0.046,3065,2492,1467
$GC,6319,0.59,316.6,173.6,14.9,907,6325,0.20,1.90,0.00,0.000,4,0.148,0.059,3006,3681,1463
$GC,6464,0.68,316.6,153.9,13.7,934,6471,0.00,1.80,0.00,0.000,6,0.000,0.038,3014,2506,1462
$GC,6791,0.95,393.4,112.1,8.8,995,6860,0.30,1.95,60.72,0.714,4,0.051,0.059,3144,3673,1154
$GC,6949,0.67,393.4,83.9,19.3,1023,6956,0.35,1.80,0.00,0.000,6,0.142,0.037,3040,2519,1152
$GC,7276,1.08,464.9,53.6,9.0,1084,7340,0.35,2.22,56.50,0.657,4,0.046,0.046,3202,1122,862
$GC,7472,0.91,464.9,12.4,19.7,1119,7479,0.28,2.20,0.00,0.000,6,0.142,0.041,3115,2505,858
$STATE,7541,end climb,SURFACE_DEPTH_REACHED
$STATE,7541,begin surface coast
$FINISH,1.6,1.010119
$STATE,7562,end surface coast,CONTROL_FINISHED_OK
$STATE,7563,begin surface
$SM_CCo,7636,0.00,0.000,0,0,856,466.81
$SM_GC,2.33,7.55,0.00,0.00,0.037,0.000,0.000,153,2038,856,-8.23,-0.90,466.81
$IRIDIUM_FIX,2512.73,12228.64,260898,010103
$TT8_MAMPS,0.046787
$HUMID,1590
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,24.40
$XPDR_PINGS,97
$ALTIM_BOTTOM_PING,400.1,92.6
$24V_AH,24.4,17.520
$10V_AH,10.8,13.468
$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,24.975,70.800,509.950,0.000,0.000,31.568,34.344,141.557,27.000,0.000,0.000,14.865,0.000,4512.393,591.757,2474.411,329.407,0.000,1517.350,0.000,2114.989,0.000,21.884,0.000
$DEVICE_MAMPS,233.168,65.962,948.779,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,762.134,864.792,1454.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63318,1136
$CAP_FILE_SIZE,101008,0
$CFSIZE,260165632,252276736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,311.4,1
$GPS,010609,052428,2524.278,12230.253,10,2.2,29,-3.7