version: 66.04
glider: 165
mission: 2
dive: 74
start: 6 1 109 5 29 51
data:
$ID,165
$MISSION,2
$DIVE,74
$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,-118305.16
$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,47
$R_STBD_OVSHOOT,34
$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
$GPS1,052428,2524.278,12230.253,10,2.2,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-70.8
$GPS2,052946,2524.280,12230.257,12,2.2,31,-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,128.8,52600,-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,11,begin dive
$GC,12,-0.96,-194.7,0.0,0.0,0,66,0.00,0.00,-52.30,0.000,2,0.000,0.000,153,2039,2123
$GC,68,-0.96,-194.7,3.4,-4.7,8,125,8.95,2.33,-40.70,0.000,4,0.234,0.067,2493,3471,3555
$GC,151,-0.06,-194.7,20.4,-38.3,22,159,0.93,2.17,0.00,0.000,6,0.149,0.043,2789,2086,3557
$GC,478,-1.04,-194.7,53.0,-11.1,83,485,0.82,2.17,0.00,0.000,4,0.064,0.055,2473,3472,3559
$GC,521,-0.48,-194.7,60.5,-21.6,91,529,0.55,2.12,0.00,0.000,6,0.150,0.036,2652,2081,3559
$GC,848,-0.59,-194.7,118.9,-14.5,152,855,0.00,2.20,0.00,0.000,4,0.000,0.050,2653,669,3560
$GC,885,-0.78,-194.7,123.8,-12.3,159,892,0.17,2.22,0.00,0.000,6,0.044,0.041,2551,2100,3561
$GC,1212,-0.49,-194.7,179.8,-15.8,220,1219,0.35,2.17,0.00,0.000,4,0.140,0.058,2660,3475,3562
$GC,1347,-0.91,-194.7,189.1,-5.3,245,1354,0.28,2.05,0.00,0.000,6,0.037,0.036,2495,2127,3562
$GC,1674,-0.50,-194.7,259.7,-19.6,306,1680,0.50,0.00,0.00,0.000,6,0.144,0.000,2654,2123,3562
$GC,2001,-1.03,-194.7,282.1,-5.5,367,2006,0.43,0.00,0.00,0.000,6,0.045,0.000,2466,2122,3563
$GC,2318,-0.56,-194.7,345.7,-20.3,408,2323,0.55,2.25,0.00,0.000,4,0.147,0.051,2640,678,3563
$GC,2415,-0.94,-194.7,353.7,-6.6,417,2419,0.32,2.22,0.00,0.000,6,0.043,0.044,2483,2130,3563
$GC,2730,-0.54,-194.7,409.3,-20.0,447,2735,0.50,2.28,0.00,0.000,4,0.149,0.051,2640,668,3563
$GC,2825,-0.99,-194.7,417.9,-6.6,455,2832,0.32,2.25,0.00,0.000,6,0.038,0.043,2479,2114,3563
$STATE,3140,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3140,begin apogee
$GC,3143,-0.20,0.0,470.8,15.3,486,3294,0.85,0.00,148.15,0.952,6,0.145,0.000,2752,2535,2759
$STATE,3295,end apogee,CONTROL_FINISHED_OK
$STATE,3295,begin climb
$GC,3296,0.96,194.7,477.5,0.0,501,3453,1.00,1.98,149.20,0.929,4,0.051,0.061,3133,3686,1963
$GC,3694,0.31,194.7,406.7,22.5,537,3700,0.70,1.80,0.00,0.000,6,0.171,0.039,2929,2532,1959
$GC,4009,0.60,253.2,374.8,9.6,568,4061,0.22,0.00,46.22,0.881,6,0.057,0.000,3028,2525,1725
$GC,4370,0.48,253.2,316.2,15.0,603,4374,0.20,2.25,0.00,0.000,4,0.146,0.049,2979,1126,1719
$GC,4509,0.69,300.5,300.8,10.0,616,4551,0.12,2.20,37.88,0.845,6,0.056,0.045,3061,2510,1532
$GC,4871,0.52,300.5,236.1,18.7,682,4878,0.25,2.20,0.00,0.000,4,0.146,0.049,2996,1129,1526
$GC,5059,0.74,311.2,211.0,11.6,717,5074,0.12,2.15,8.77,0.723,6,0.055,0.044,3068,2488,1489
$GC,5393,0.58,311.2,161.9,15.5,779,5400,0.20,1.88,0.00,0.000,4,0.150,0.058,3009,3674,1487
$GC,5538,0.58,311.2,143.3,14.3,806,5545,0.00,1.83,0.00,0.000,6,0.000,0.038,3017,2471,1487
$GC,5865,0.85,367.4,107.3,9.7,867,5917,0.20,2.20,45.05,0.715,4,0.057,0.048,3122,1112,1260
$GC,5937,0.68,367.4,96.0,18.4,879,5944,0.25,2.20,0.00,0.000,6,0.142,0.045,3042,2477,1257
$GC,6264,1.10,484.7,61.5,7.2,940,6366,0.35,2.25,92.60,0.661,4,0.045,0.048,3207,1118,782
$GC,6445,0.91,484.7,26.4,20.2,971,6451,0.30,2.17,0.00,0.000,6,0.146,0.041,3113,2473,779
$STATE,6614,end climb,SURFACE_DEPTH_REACHED
$STATE,6615,begin surface coast
$FINISH,1.6,1.022143
$STATE,6636,end surface coast,CONTROL_FINISHED_OK
$STATE,6636,begin surface
$SM_CCo,6709,0.00,0.000,0,0,776,486.43
$SM_GC,2.27,7.57,0.00,0.00,0.041,0.000,0.000,167,2061,776,-8.20,-0.28,486.43
$IRIDIUM_FIX,2515.12,12228.64,260898,030347
$TT8_MAMPS,0.049088
$HUMID,1578
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,24.60
$XPDR_PINGS,81
$ALTIM_BOTTOM_PING,350.1,144.7
$24V_AH,24.4,17.662
$10V_AH,10.8,13.564
$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,27.025,52.875,527.875,0.000,0.000,24.192,32.169,159.380,22.250,0.000,0.000,34.603,0.000,3859.862,574.504,2243.928,331.092,0.000,1414.890,0.000,1910.052,0.000,15.754,0.000
$DEVICE_MAMPS,233.935,67.496,951.847,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.875,787.347,1323.700,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56870,1007
$CAP_FILE_SIZE,88428,0
$CFSIZE,260165632,252239872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.315,309.1,1
$GPS,010609,072236,2524.359,12230.152,38,1.0,39,-3.7