version: 66.04
glider: 165
mission: 2
dive: 76
start: 6 1 109 9 16 49
data:
$ID,165
$MISSION,2
$DIVE,76
$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,-118332.62
$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,29
$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
$GPS1,091204,2524.406,12230.305,12,4.6,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.7
$GPS2,091644,2524.519,12230.255,9,1.6,9,-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,134.0,52812,-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,-194.7,0.0,0.0,0,60,0.00,0.00,-46.85,0.000,2,0.000,0.000,162,2073,2119
$GC,62,-0.96,-194.7,3.3,-4.5,7,119,9.00,2.28,-39.80,0.000,4,0.234,0.067,2497,3471,3554
$GC,139,-0.12,-194.7,18.1,-35.4,20,146,0.88,2.20,0.00,0.000,6,0.155,0.037,2772,2059,3555
$GC,466,-0.67,-194.7,46.3,-5.5,81,474,0.45,2.25,0.00,0.000,4,0.038,0.061,2560,3491,3557
$GC,526,-0.20,-194.7,57.5,-23.4,92,533,0.55,2.17,0.00,0.000,6,0.129,0.036,2748,2079,3557
$GC,853,-0.97,-194.7,78.6,-6.8,153,860,0.65,2.20,0.00,0.000,4,0.061,0.054,2493,3485,3559
$GC,886,-0.55,-194.7,83.2,-16.4,159,892,0.43,2.12,0.00,0.000,6,0.141,0.037,2634,2084,3559
$GC,1212,-0.55,-194.7,128.8,-12.3,220,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2080,3560
$GC,1532,-0.68,-194.7,161.9,-12.0,280,1539,0.10,2.22,0.00,0.000,4,0.077,0.058,2576,3478,3562
$GC,1693,-0.60,-194.7,186.7,-16.5,310,1702,0.12,2.10,0.00,0.000,6,0.131,0.036,2623,2094,3562
$GC,2022,-0.76,-194.7,222.7,-8.8,371,2028,0.15,2.17,0.00,0.000,4,0.062,0.051,2545,667,3562
$GC,2053,-0.66,-194.7,226.5,-13.3,377,2059,0.15,2.20,0.00,0.000,6,0.128,0.043,2599,2085,3562
$GC,2379,-0.78,-194.7,260.0,-11.0,438,2387,0.00,2.20,0.00,0.000,4,0.000,0.059,2599,3470,3562
$GC,2444,-1.02,-194.7,266.3,-9.0,450,2453,0.25,2.10,0.00,0.000,6,0.040,0.036,2469,2086,3562
$GC,2773,-0.54,-194.7,333.2,-21.8,497,2777,0.55,2.17,0.00,0.000,4,0.150,0.052,2642,667,3562
$GC,2815,-0.81,-194.7,338.9,-9.6,501,2819,0.20,2.20,0.00,0.000,6,0.041,0.043,2528,2088,3562
$GC,3135,-0.63,-194.7,387.0,-16.2,532,3140,0.28,2.20,0.00,0.000,4,0.138,0.062,2614,3468,3561
$GC,3168,-0.88,-194.7,390.8,-9.6,535,3172,0.15,2.10,0.00,0.000,6,0.033,0.038,2510,2090,3562
$GC,3488,-0.69,-194.7,436.4,-13.7,566,3493,0.28,2.22,0.00,0.000,4,0.141,0.062,2589,3471,3561
$GC,3530,-0.86,-194.7,439.8,-5.7,570,3535,0.10,2.08,0.00,0.000,6,0.054,0.038,2524,2114,3561
$STATE,3799,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3799,begin apogee
$GC,3803,-0.20,0.0,472.1,15.7,596,3954,0.70,0.00,148.18,0.963,6,0.133,0.000,2754,2516,2759
$STATE,3954,end apogee,CONTROL_FINISHED_OK
$STATE,3954,begin climb
$GC,3956,0.96,194.7,477.9,0.0,611,4112,1.00,2.03,149.65,0.937,4,0.058,0.061,3126,3693,1964
$GC,4352,0.30,194.7,412.7,23.0,647,4359,0.68,1.83,0.00,0.000,6,0.168,0.041,2919,2532,1959
$GC,4667,0.70,318.9,385.0,6.9,678,4768,0.35,0.00,98.55,0.894,6,0.048,0.000,3067,2526,1458
$GC,5072,0.44,318.9,311.7,21.2,717,5076,0.35,2.25,0.00,0.000,4,0.150,0.051,2973,1123,1452
$GC,5109,0.59,318.9,305.9,13.2,720,5116,0.08,2.25,0.00,0.000,6,0.064,0.045,3021,2521,1450
$GC,5433,0.59,318.9,252.9,15.0,777,5440,0.00,1.88,0.00,0.000,4,0.000,0.061,3022,3692,1447
$GC,5551,0.53,318.9,235.3,13.5,799,5557,0.10,1.77,0.00,0.000,6,0.142,0.039,2995,2536,1447
$GC,5877,0.78,364.1,203.0,10.1,860,5921,0.20,2.28,35.45,0.792,4,0.060,0.049,3097,1129,1272
$GC,5952,0.59,364.1,190.1,19.6,873,5959,0.25,2.25,0.00,0.000,6,0.153,0.045,3018,2520,1271
$GC,6279,0.67,364.1,149.5,14.6,934,6286,0.00,1.88,0.00,0.000,4,0.000,0.058,3018,3694,1268
$GC,6333,0.79,364.1,140.9,15.1,944,6340,0.10,1.80,0.00,0.000,6,0.059,0.038,3085,2518,1268
$GC,6659,0.79,364.1,87.9,13.1,1005,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2515,1266
$GC,6980,0.89,388.5,48.4,11.0,1065,7006,0.00,1.90,19.77,0.657,4,0.000,0.058,3085,3695,1174
$GC,7101,1.00,388.5,34.6,12.3,1087,7108,0.10,1.77,0.00,0.000,6,0.058,0.036,3151,2529,1173
$STATE,7298,end climb,SURFACE_DEPTH_REACHED
$STATE,7298,begin surface coast
$FINISH,1.6,1.022159
$STATE,7314,end surface coast,CONTROL_FINISHED_OK
$STATE,7314,begin surface
$SM_CCo,7327,36.75,0.623,0,0,984,435.16
$SM_GC,2.41,0.00,0.00,36.75,0.000,0.000,0.623,168,2053,984,-8.29,-0.51,435.16
$IRIDIUM_FIX,2515.12,12231.93,260898,070744
$TT8_MAMPS,0.047554
$HUMID,1584
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,24.60
$XPDR_PINGS,99
$ALTIM_BOTTOM_PING,375.2,121.3
$24V_AH,24.4,17.932
$10V_AH,10.7,13.757
$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,25.700,64.450,451.600,36.750,0.000,28.496,35.245,142.749,27.000,0.000,0.000,10.802,0.000,4277.686,575.034,2443.516,336.979,0.000,1465.954,0.000,2101.745,0.000,18.266,0.000
$DEVICE_MAMPS,233.935,67.496,963.352,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,758.401,879.948,1476.467,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63329,1127
$CAP_FILE_SIZE,99006,0
$CFSIZE,260165632,252108800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,356.2,1
$GPS,010609,112002,2524.118,12231.194,9,1.8,10,-3.7