version: 66.04
glider: 165
mission: 2
dive: 77
start: 6 1 109 11 25 22
data:
$ID,165
$MISSION,2
$DIVE,77
$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,-118369.12
$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,23
$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
$GPS1,112002,2524.118,12231.194,9,1.8,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.5
$GPS2,112517,2524.274,12231.271,14,4.1,33,-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,137.7,51098,-18.3,-12.000
$D_GRID,530
$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,-194.7,0.0,0.0,0,57,0.00,0.00,-42.75,0.000,2,0.000,0.000,167,2054,2015
$GC,59,-0.96,-194.7,3.1,-3.3,6,117,9.00,2.35,-44.28,0.000,4,0.236,0.066,2496,3494,3554
$GC,169,-0.09,-194.7,29.8,-40.6,25,176,0.88,2.20,0.00,0.000,6,0.154,0.039,2783,2084,3556
$GC,496,-1.05,-194.7,61.4,-10.4,86,502,0.80,2.20,0.00,0.000,4,0.055,0.059,2468,3488,3558
$GC,565,-0.36,-194.7,76.9,-30.7,99,572,0.70,2.15,0.00,0.000,6,0.153,0.036,2694,2084,3558
$GC,892,-0.68,-194.7,111.3,-7.4,160,898,0.25,2.22,0.00,0.000,4,0.048,0.057,2572,3475,3560
$GC,934,-0.51,-194.7,117.7,-17.6,168,941,0.22,2.10,0.00,0.000,6,0.127,0.041,2653,2099,3560
$GC,1261,-0.79,-194.7,155.1,-8.5,229,1269,0.22,2.20,0.00,0.000,4,0.050,0.058,2541,3481,3562
$GC,1305,-0.58,-194.7,161.3,-16.3,237,1314,0.25,2.08,0.00,0.000,6,0.130,0.035,2628,2105,3562
$GC,1634,-0.67,-194.7,200.1,-10.8,298,1640,0.00,2.17,0.00,0.000,4,0.000,0.058,2628,3485,3562
$GC,1682,-0.88,-194.7,205.6,-10.4,307,1688,0.22,2.05,0.00,0.000,6,0.041,0.035,2508,2134,3562
$GC,2007,-0.57,-194.7,274.4,-17.4,368,2013,0.40,0.00,0.00,0.000,6,0.137,0.000,2636,2130,3562
$GC,2333,-0.93,-194.7,296.1,-6.3,429,2341,0.30,2.15,0.00,0.000,4,0.047,0.061,2494,3495,3563
$GC,2387,-0.68,-194.7,303.7,-16.0,437,2392,0.30,2.05,0.00,0.000,6,0.133,0.037,2596,2147,3562
$GC,2708,-0.83,-194.7,337.0,-10.3,468,2712,0.15,2.15,0.00,0.000,4,0.064,0.061,2523,3483,3562
$GC,2755,-0.74,-194.7,343.3,-14.7,472,2763,0.15,2.03,0.00,0.000,6,0.129,0.038,2576,2154,3562
$GC,3072,-0.82,-194.7,379.1,-11.8,503,3075,0.00,2.30,0.00,0.000,4,0.000,0.053,2577,682,3562
$GC,3157,-0.95,-194.7,388.8,-11.1,511,3161,0.15,2.30,0.00,0.000,6,0.050,0.045,2494,2156,3561
$GC,3477,-0.69,-194.7,443.1,-14.9,542,3479,0.32,0.00,0.00,0.000,6,0.142,0.000,2595,2159,3559
$GC,3789,-0.91,-194.7,470.0,-8.7,572,3790,0.20,0.00,0.00,0.000,6,0.058,0.000,2503,2159,3558
$STATE,4065,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4065,begin apogee
$GC,4068,-0.20,0.0,514.7,16.4,595,4219,0.77,0.00,148.75,1.002,6,0.137,0.000,2755,2527,2758
$STATE,4220,end apogee,CONTROL_FINISHED_OK
$STATE,4220,begin climb
$GC,4221,0.96,194.7,520.4,0.0,602,4380,1.02,2.33,150.73,0.970,4,0.048,0.053,3154,1136,1963
$GC,4421,0.41,194.7,498.1,21.6,612,4426,0.68,2.30,0.00,0.000,6,0.174,0.049,2959,2517,1959
$GC,4743,0.52,235.8,464.2,10.3,643,4777,0.00,0.00,33.12,0.935,6,0.000,0.000,2959,2517,1797
$GC,5083,0.70,283.2,427.5,10.0,676,5126,0.25,0.00,38.83,0.927,6,0.057,0.000,3063,2517,1602
$GC,5435,0.45,283.2,365.6,18.2,710,5439,0.32,2.20,0.00,0.000,4,0.151,0.051,2976,1141,1597
$GC,5482,0.66,310.7,359.3,10.9,714,5513,0.12,2.22,22.90,0.889,6,0.054,0.047,3045,2529,1490
$GC,5821,0.54,310.7,302.2,15.7,747,5825,0.20,1.85,0.00,0.000,4,0.147,0.062,2987,3684,1486
$GC,6029,0.60,310.7,273.6,13.7,784,6036,0.00,1.75,0.00,0.000,6,0.000,0.039,2994,2553,1485
$GC,6356,0.82,360.0,235.1,10.0,845,6400,0.25,2.33,39.67,0.825,4,0.056,0.050,3115,1131,1290
$GC,6495,0.57,360.0,208.2,21.5,870,6503,0.35,2.25,0.00,0.000,6,0.153,0.045,3006,2527,1286
$GC,6823,0.77,370.9,170.0,11.6,931,6836,0.17,2.28,9.23,0.712,4,0.062,0.048,3097,1126,1246
$GC,6862,0.64,370.9,163.1,20.1,938,6870,0.20,2.22,0.00,0.000,6,0.148,0.046,3032,2514,1246
$GC,7190,0.79,373.4,115.2,11.9,999,7197,0.12,1.90,3.47,0.447,4,0.070,0.058,3094,3693,1235
$GC,7228,0.68,373.4,108.6,19.5,1006,7236,0.17,1.80,0.00,0.000,6,0.140,0.038,3043,2525,1235
$GC,7556,0.93,399.6,69.7,10.9,1067,7583,0.20,2.25,23.02,0.680,4,0.053,0.047,3148,1122,1128
$GC,7690,0.85,399.6,47.8,18.9,1091,7696,0.15,2.17,0.00,0.000,6,0.135,0.044,3097,2494,1125
$GC,8016,1.07,425.7,9.5,10.9,1152,8043,0.17,1.92,21.80,0.622,4,0.059,0.055,3183,3684,1022
$STATE,8062,end climb,SURFACE_DEPTH_REACHED
$STATE,8062,begin surface coast
$FINISH,1.6,1.010438
$STATE,8078,end surface coast,CONTROL_FINISHED_OK
$STATE,8078,begin surface
$SM_CCo,8093,7.05,0.532,0,0,985,435.16
$SM_GC,3.43,0.00,0.00,7.05,0.000,0.000,0.532,160,2058,985,-8.31,-0.37,435.16
$IRIDIUM_FIX,2512.73,12230.65,260898,090913
$TT8_MAMPS,0.047554
$HUMID,1604
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,24.80
$XPDR_PINGS,108
$ALTIM_BOTTOM_PING,400.5,136.8
$24V_AH,24.3,18.076
$10V_AH,10.7,13.863
$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,27.400,69.625,491.525,7.050,0.000,30.610,31.540,149.920,29.500,0.000,0.000,35.881,0.000,4925.766,590.232,2544.447,338.994,0.000,1501.409,0.000,2153.542,0.000,19.038,0.000
$DEVICE_MAMPS,236.236,65.962,1002.469,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,784.307,891.407,1492.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66320,1163
$CAP_FILE_SIZE,106116,0
$CFSIZE,260165632,252039168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128, 80.3,1
$GPS,010609,134106,2523.397,12232.890,24,1.4,25,-3.7