version: 66.04
glider: 165
mission: 2
dive: 390
start: 7 31 109 17 23 33
data:
$ID,165
$MISSION,2
$DIVE,390
$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,367
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,475
$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,-125710.03
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2285
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,63
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.025
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2854
$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
$GPS1,171557,2508.382,12537.643,34,4.1,53,-3.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-70.3
$GPS2,172327,2508.381,12537.720,11,1.7,30,-3.9
$SPEED_LIMITS,0.156,0.300
$TGT_NAME,RET_1
$TGT_LATLONG,2441.200,12552.200
$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,151.7,55926,-13.3,-8.992
$D_GRID,596
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.89,-219.0,0.0,0.0,0,70,0.00,0.00,-56.03,0.000,2,0.000,0.000,152,2331,2030
$GC,73,-0.89,-219.0,3.3,-3.7,9,131,9.27,2.30,-44.75,0.000,4,0.232,0.052,2455,886,3748
$GC,174,-0.89,-219.0,20.0,-19.9,26,180,0.00,2.15,0.00,0.000,6,0.000,0.041,2454,2249,3749
$GC,500,-0.89,-219.0,83.3,-19.0,87,507,0.00,2.28,0.00,0.000,4,0.000,0.053,2452,3698,3749
$GC,614,-0.89,-219.0,103.9,-18.0,108,619,0.00,2.10,0.00,0.000,6,0.000,0.031,2452,2307,3749
$GC,940,-0.89,-219.0,151.2,-14.0,169,946,0.00,2.20,0.00,0.000,4,0.000,0.054,2452,3697,3750
$GC,1042,-0.89,-219.0,166.7,-14.2,188,1048,0.00,2.03,0.00,0.000,6,0.000,0.031,2452,2331,3751
$GC,1369,-0.89,-219.0,215.9,-15.0,249,1374,0.00,2.20,0.00,0.000,4,0.000,0.044,2452,889,3751
$GC,1455,-0.89,-219.0,229.4,-15.5,265,1460,0.00,2.22,0.00,0.000,6,0.000,0.041,2452,2334,3751
$GC,1781,-0.89,-219.0,275.0,-12.4,326,1788,0.00,2.25,0.00,0.000,4,0.000,0.047,2452,886,3751
$GC,1841,-0.89,-219.0,283.0,-13.4,337,1846,0.00,2.12,0.00,0.000,6,0.000,0.040,2452,2271,3751
$GC,2166,-0.89,-219.0,321.3,-12.4,381,2169,0.00,2.15,0.00,0.000,4,0.000,0.043,2452,878,3751
$GC,2230,-0.89,-219.0,329.9,-13.5,387,2233,0.00,2.10,0.00,0.000,6,0.000,0.040,2452,2247,3751
$GC,2550,-0.89,-219.0,366.6,-10.1,418,2554,0.00,2.12,0.00,0.000,4,0.000,0.042,2452,866,3750
$GC,2604,-0.89,-219.0,372.0,-10.0,423,2607,0.00,2.10,0.00,0.000,6,0.000,0.041,2452,2233,3750
$GC,2925,-0.89,-219.0,404.9,-10.5,454,2928,0.00,2.08,0.00,0.000,4,0.000,0.044,2452,889,3748
$GC,2961,-0.89,-219.0,409.1,-11.4,457,2967,0.00,2.08,0.00,0.000,6,0.000,0.041,2452,2217,3747
$GC,3279,-0.89,-219.0,444.7,-10.6,488,3282,0.00,2.08,0.00,0.000,4,0.000,0.045,2452,881,3746
$GC,3342,-0.89,-219.0,452.0,-11.6,494,3346,0.00,2.03,0.00,0.000,6,0.000,0.043,2452,2200,3745
$GC,3665,-0.89,-219.0,483.6,-10.7,525,3669,0.00,2.38,0.00,0.000,4,0.000,0.058,2452,3693,3743
$GC,3692,-0.89,-219.0,486.9,-12.0,527,3695,0.00,2.33,0.00,0.000,6,0.000,0.032,2452,2150,3742
$GC,4014,-0.89,-219.0,524.8,-11.3,548,4018,0.00,1.98,0.00,0.000,4,0.000,0.046,2452,886,3740
$GC,4104,-0.89,-219.0,535.3,-11.2,552,4108,0.00,2.10,0.00,0.000,6,0.000,0.043,2452,2221,3739
$GC,4426,-0.89,-219.0,566.8,-9.4,568,4429,0.00,2.35,0.00,0.000,4,0.000,0.059,2452,3692,3737
$GC,4462,-0.89,-219.0,570.9,-11.4,570,4466,0.00,2.22,0.00,0.000,6,0.000,0.034,2452,2219,3737
$STATE,4705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4705,begin apogee
$GC,4711,-0.23,0.0,597.5,11.2,582,4883,0.62,0.00,170.18,1.072,6,0.104,0.000,2665,2315,2854
$STATE,4884,end apogee,CONTROL_FINISHED_OK
$STATE,4884,begin climb
$GC,4887,0.89,219.0,610.8,0.0,590,5068,1.02,2.40,171.43,1.049,4,0.079,0.050,3041,900,1959
$GC,5089,0.89,219.0,605.9,9.4,599,5092,0.00,2.25,0.00,0.000,6,0.000,0.040,3041,2291,1957
$GC,5406,0.95,272.8,580.0,7.5,615,5455,0.00,2.30,44.22,1.026,4,0.000,0.054,3041,3677,1740
$GC,5606,0.95,272.8,560.8,10.7,624,5610,0.00,2.10,0.00,0.000,6,0.000,0.035,3052,2327,1736
$GC,5923,0.95,272.8,528.3,10.8,640,5926,0.00,2.25,0.00,0.000,4,0.000,0.048,3062,891,1734
$GC,6034,0.95,272.8,516.2,10.3,645,6038,0.00,2.15,0.00,0.000,6,0.000,0.040,3062,2256,1731
$GC,6349,0.98,295.1,487.1,8.4,667,6371,0.00,2.35,18.70,0.976,4,0.000,0.054,3062,3689,1650
$GC,6506,0.98,295.1,472.1,10.3,681,6511,0.00,2.15,0.00,0.000,6,0.000,0.035,3072,2289,1647
$GC,6823,0.98,295.1,439.9,10.2,712,6826,0.00,2.15,0.00,0.000,4,0.000,0.047,3083,906,1645
$GC,6962,0.98,295.1,426.7,9.2,725,6965,0.00,2.17,0.00,0.000,6,0.000,0.038,3083,2315,1644
$GC,7285,0.98,295.1,394.4,9.4,756,7288,0.00,2.22,0.00,0.000,4,0.000,0.046,3093,897,1643
$GC,7317,0.98,295.1,391.1,9.7,759,7320,0.12,2.10,0.00,0.000,6,0.156,0.038,3061,2257,1642
$GC,7637,0.99,298.7,364.7,8.9,790,7640,0.00,2.12,0.00,0.000,4,0.000,0.046,3070,900,1642
$GC,7728,1.02,326.5,356.7,8.2,798,7760,0.00,2.12,26.85,0.927,6,0.000,0.042,3070,2246,1521
$GC,8077,1.03,331.5,325.5,8.9,832,8088,0.00,0.00,5.20,0.683,6,0.000,0.000,3070,2246,1502
$GC,8400,1.03,331.5,297.4,9.3,865,8405,0.00,2.28,0.00,0.000,4,0.000,0.052,3070,3686,1501
$GC,8534,1.03,331.5,283.2,10.3,890,8541,0.00,2.28,0.00,0.000,6,0.000,0.037,3081,2201,1501
$GC,8862,1.11,402.1,257.0,7.0,951,8927,0.00,2.45,59.75,0.856,4,0.000,0.050,3081,3696,1213
$GC,9146,1.11,402.1,233.2,9.8,1003,9152,0.00,2.25,0.00,0.000,6,0.000,0.033,3090,2222,1211
$GC,9472,1.12,403.4,203.7,9.0,1064,9478,0.00,2.35,0.00,0.000,4,0.000,0.051,3090,3698,1209
$GC,9702,1.14,424.4,184.2,8.4,1107,9729,0.00,2.33,19.25,0.759,6,0.000,0.033,3100,2180,1123
$GC,10050,1.14,424.4,153.0,9.3,1171,10056,0.00,2.03,0.00,0.000,4,0.000,0.051,3109,878,1121
$GC,10296,1.15,430.0,130.9,8.8,1217,10310,0.00,2.00,6.18,0.585,6,0.000,0.036,3109,2166,1098
$GC,10631,1.15,432.4,101.1,8.9,1279,10637,0.00,2.40,0.00,0.000,4,0.000,0.050,3110,3692,1099
$GC,10877,1.23,499.8,82.8,7.1,1325,10942,0.00,2.28,57.25,0.680,6,0.000,0.038,3118,2187,815
$GC,11266,1.28,535.9,50.9,8.0,1395,11305,0.10,2.05,31.05,0.631,4,0.079,0.049,3172,902,665
$GC,11444,1.28,535.9,35.7,9.3,1427,11450,0.00,2.05,0.00,0.000,6,0.000,0.035,3172,2228,662
$GC,11770,1.28,535.9,7.0,9.5,1488,11776,0.00,2.10,0.00,0.000,4,0.000,0.048,3175,903,661
$GC,11797,1.28,535.9,4.4,9.5,1493,11805,0.00,2.10,0.00,0.000,6,0.000,0.033,3175,2270,661
$STATE,11818,end climb,SURFACE_DEPTH_REACHED
$STATE,11819,begin surface coast
$FINISH,1.3,0.999059
$STATE,11862,end surface coast,CONTROL_FINISHED_OK
$STATE,11862,begin surface
$SM_CCo,11938,0.00,0.000,0,0,660,538.19
$SM_GC,2.29,7.62,0.00,0.00,0.033,0.000,0.000,156,2278,660,-7.99,-0.20,538.19
$IRIDIUM_FIX,2500.82,12536.96,251098,141444
$TT8_MAMPS,0.047554
$HUMID,1661
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,26.40
$XPDR_PINGS,703
$24V_AH,23.7,88.470
$10V_AH,10.6,59.961
$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,18.775,113.850,610.050,0.000,0.000,27.756,33.323,229.967,179.750,0.000,0.000,31.850,0.000,7652.079,677.945,3388.604,640.664,0.000,1945.838,0.000,2905.897,0.000,27.566,0.000
$DEVICE_MAMPS,231.634,73.632,1072.266,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1008.656,1111.783,1824.208,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85316,1505
$CAP_FILE_SIZE,132285,0
$CFSIZE,260165632,222367744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,359.1,1
$GPS,310709,204330,2508.516,12537.732,37,1.4,37,-3.9