version: 66.04
glider: 165
mission: 2
dive: 79
start: 6 1 109 16 21 19
data:
$ID,165
$MISSION,2
$DIVE,79
$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,-118397.94
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,161301,2522.925,12234.150,38,1.5,39,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-68.0
$GPS2,162113,2523.093,12234.125,11,1.6,11,-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,138.1,45855,-18.3,-12.000
$D_GRID,597
$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,-194.7,0.0,0.0,0,58,0.00,0.00,-45.00,0.000,2,0.000,0.000,165,2058,2058
$GC,60,-0.96,-194.7,3.0,-3.2,7,118,9.02,0.00,-41.62,0.000,6,0.235,0.000,2502,2057,3553
$GC,438,-0.35,-194.7,121.8,-25.4,76,444,0.62,2.28,0.00,0.000,4,0.149,0.058,2689,3500,3556
$GC,475,-0.57,-194.7,127.0,-10.2,83,484,0.12,2.20,0.00,0.000,6,0.046,0.037,2603,2077,3558
$GC,803,-0.47,-194.7,172.2,-15.2,144,810,0.20,2.25,0.00,0.000,4,0.133,0.059,2660,3473,3559
$GC,878,-0.87,-194.7,179.0,-6.9,158,885,0.28,2.17,0.00,0.000,6,0.037,0.039,2519,2062,3559
$GC,1205,-0.51,-194.7,238.6,-17.7,219,1212,0.43,2.15,0.00,0.000,4,0.142,0.052,2654,661,3560
$GC,1340,-0.90,-194.7,250.8,-8.0,244,1346,0.30,2.17,0.00,0.000,6,0.038,0.041,2498,2064,3559
$GC,1664,-0.53,-194.7,312.5,-18.5,299,1668,0.47,2.20,0.00,0.000,4,0.141,0.059,2644,3471,3559
$GC,1782,-1.00,-194.7,321.5,-6.3,310,1786,0.35,2.12,0.00,0.000,6,0.036,0.038,2465,2082,3559
$GC,2102,-0.57,-194.7,383.7,-19.9,341,2106,0.52,2.22,0.00,0.000,4,0.143,0.062,2630,3482,3559
$GC,2252,-1.02,-194.7,396.1,-7.5,355,2256,0.38,2.12,0.00,0.000,6,0.042,0.039,2459,2096,3559
$GC,2572,-0.60,-194.7,461.7,-19.7,386,2576,0.52,2.22,0.00,0.000,4,0.146,0.055,2625,676,3558
$GC,2701,-0.97,-194.7,474.5,-8.2,398,2705,0.30,2.15,0.00,0.000,6,0.048,0.044,2482,2071,3556
$GC,3028,-0.70,-194.7,528.6,-16.7,422,3033,0.35,2.28,0.00,0.000,4,0.143,0.064,2589,3473,3555
$GC,3173,-0.98,-194.7,540.0,-7.7,428,3179,0.20,2.12,0.00,0.000,6,0.044,0.040,2481,2090,3554
$STATE,3461,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3461,begin apogee
$GC,3465,-0.20,0.0,583.9,16.0,443,3617,0.82,0.00,149.57,1.048,6,0.140,0.000,2750,2521,2759
$STATE,3617,end apogee,CONTROL_FINISHED_OK
$STATE,3617,begin climb
$GC,3618,0.96,194.7,590.3,0.0,450,3777,1.00,2.38,152.27,1.019,4,0.045,0.054,3150,1120,1964
$GC,3963,0.41,194.7,537.1,22.1,466,3968,0.65,2.30,0.00,0.000,6,0.174,0.051,2957,2516,1958
$GC,4279,0.52,230.7,502.7,10.5,482,4310,0.00,0.00,28.95,0.970,6,0.000,0.000,2957,2517,1818
$GC,4609,0.72,298.4,468.2,9.2,512,4667,0.28,0.00,55.47,0.969,6,0.055,0.000,3071,2517,1541
$GC,4975,0.44,298.4,401.5,20.0,547,4979,0.38,2.25,0.00,0.000,4,0.157,0.051,2972,1123,1535
$GC,5065,0.72,341.8,390.9,10.2,555,5106,0.17,2.25,35.85,0.922,6,0.049,0.047,3061,2516,1364
$GC,5414,0.53,341.8,325.0,19.6,589,5418,0.25,1.90,0.00,0.000,4,0.148,0.062,2987,3693,1359
$GC,5547,0.63,341.8,305.7,13.0,601,5553,0.00,1.83,0.00,0.000,6,0.000,0.039,2994,2516,1359
$GC,5871,0.74,341.8,265.2,13.2,658,5872,0.17,0.00,0.00,0.000,6,0.065,0.000,3073,2510,1357
$GC,6191,0.62,341.8,205.1,18.0,718,6199,0.20,2.17,0.00,0.000,4,0.156,0.049,3025,1129,1356
$GC,6368,0.75,341.8,179.9,13.4,751,6377,0.08,2.22,0.00,0.000,6,0.065,0.045,3077,2536,1354
$GC,6696,0.62,341.8,123.0,16.2,812,6703,0.20,1.83,0.00,0.000,4,0.147,0.059,3018,3693,1354
$GC,6793,0.78,341.8,110.6,12.6,830,6800,0.10,1.67,0.00,0.000,6,0.061,0.037,3084,2573,1354
$GC,7119,0.81,363.9,66.4,11.1,891,7140,0.00,1.83,17.45,0.677,4,0.000,0.058,3084,3696,1274
$GC,7176,0.81,363.9,60.0,12.6,901,7183,0.00,1.65,0.00,0.000,6,0.000,0.037,3092,2604,1274
$GC,7503,0.92,363.9,21.8,12.3,962,7509,0.00,2.28,0.00,0.000,4,0.000,0.046,3102,1140,1273
$GC,7599,1.05,363.9,10.5,12.4,980,7606,0.12,2.25,0.00,0.000,6,0.051,0.043,3182,2577,1272
$STATE,7651,end climb,SURFACE_DEPTH_REACHED
$STATE,7651,begin surface coast
$FINISH,1.7,1.022105
$STATE,7667,end surface coast,CONTROL_FINISHED_OK
$STATE,7667,begin surface
$SM_CCo,7680,55.85,0.624,0,0,984,435.16
$SM_GC,2.40,0.00,0.00,55.85,0.000,0.000,0.624,162,2059,984,-8.30,-0.34,435.16
$IRIDIUM_FIX,2512.73,12233.94,260898,161612
$TT8_MAMPS,0.048321
$HUMID,1566
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,24.80
$XPDR_PINGS,76
$ALTIM_BOTTOM_PING,475.4,132.3
$24V_AH,24.2,18.378
$10V_AH,10.7,14.068
$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,26.150,60.975,439.575,55.850,0.000,50.173,66.175,224.633,22.250,0.000,0.000,13.132,0.000,4864.139,578.735,2298.062,470.361,0.000,1422.330,0.000,1961.482,0.000,23.999,0.000
$DEVICE_MAMPS,234.702,63.661,1048.489,624.338,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.865,736.225,1218.299,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57027,993
$CAP_FILE_SIZE,98823,0
$CFSIZE,260165632,251928576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.211,328.7,1
$GPS,010609,183049,2523.030,12234.309,9,1.8,15,-3.7