version: 66.04
glider: 165
mission: 2
dive: 391
start: 7 31 109 20 50 45
data:
$ID,165
$MISSION,2
$DIVE,391
$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,-125743.42
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2793
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$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,40
$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
$GPS1,204330,2508.516,12537.732,37,1.4,37,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.9
$GPS2,205040,2508.481,12537.747,11,99.0,30,-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,162.9,56074,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.95,-219.0,0.0,0.0,0,66,0.00,0.00,-51.25,0.000,2,0.000,0.000,154,2276,1948
$GC,69,-0.95,-219.0,3.1,-3.7,8,134,9.40,2.15,-48.97,0.000,4,0.233,0.053,2479,884,3747
$GC,214,-0.95,-219.0,25.9,-18.8,33,221,0.00,2.20,0.00,0.000,6,0.000,0.041,2478,2287,3747
$GC,541,-0.95,-219.0,82.7,-15.8,94,547,0.00,2.20,0.00,0.000,4,0.000,0.054,2478,3688,3747
$GC,637,-0.95,-219.0,98.3,-16.1,112,643,0.00,2.03,0.00,0.000,6,0.000,0.031,2478,2343,3747
$GC,964,-0.95,-219.0,145.1,-14.2,173,971,0.00,2.12,0.00,0.000,4,0.000,0.054,2478,3686,3748
$GC,1014,-0.95,-219.0,152.5,-14.8,182,1020,0.00,2.03,0.00,0.000,6,0.000,0.031,2478,2312,3748
$GC,1340,-0.95,-219.0,192.4,-11.4,243,1347,0.00,2.20,0.00,0.000,4,0.000,0.043,2478,889,3748
$GC,1448,-0.95,-219.0,205.7,-12.2,263,1454,0.00,2.17,0.00,0.000,6,0.000,0.040,2478,2307,3748
$GC,1774,-0.95,-219.0,245.3,-11.1,324,1780,0.00,2.20,0.00,0.000,4,0.000,0.048,2478,889,3748
$GC,1823,-0.95,-219.0,251.1,-12.0,333,1829,0.00,2.15,0.00,0.000,6,0.000,0.041,2478,2285,3748
$GC,2150,-0.95,-219.0,288.6,-12.0,394,2156,0.00,2.20,0.00,0.000,4,0.000,0.047,2478,890,3748
$GC,2171,-0.95,-219.0,291.2,-11.9,398,2177,0.00,2.12,0.00,0.000,6,0.000,0.042,2478,2245,3748
$GC,2495,-0.95,-219.0,324.6,-10.6,437,2502,0.00,2.28,0.00,0.000,4,0.000,0.056,2478,3691,3748
$GC,2528,-0.95,-219.0,328.5,-11.8,440,2532,0.00,2.15,0.00,0.000,6,0.000,0.032,2478,2266,3748
$GC,2850,-0.95,-219.0,362.5,-9.5,471,2853,0.00,2.10,0.00,0.000,4,0.000,0.045,2478,892,3747
$GC,2929,-0.95,-219.0,371.1,-11.3,478,2936,0.00,2.15,0.00,0.000,6,0.000,0.049,2478,2249,3746
$GC,3245,-0.95,-219.0,403.8,-10.8,509,3248,0.00,2.10,0.00,0.000,4,0.000,0.045,2478,895,3745
$GC,3272,-0.95,-219.0,406.8,-11.9,511,3277,0.00,2.15,0.00,0.000,6,0.000,0.044,2478,2269,3744
$GC,3587,-0.95,-219.0,439.8,-9.3,542,3590,0.00,2.12,0.00,0.000,4,0.000,0.045,2478,901,3743
$GC,3613,-0.95,-219.0,442.2,-10.2,544,3619,0.00,2.15,0.00,0.000,6,0.000,0.045,2478,2250,3742
$GC,3929,-0.95,-219.0,471.1,-9.9,575,3932,0.00,2.10,0.00,0.000,4,0.000,0.045,2478,897,3740
$GC,3987,-0.95,-219.0,477.2,-10.7,580,3994,0.00,2.12,0.00,0.000,6,0.000,0.044,2478,2230,3740
$GC,4314,-0.95,-219.0,510.8,-10.2,607,4318,0.00,2.33,0.00,0.000,4,0.000,0.060,2478,3689,3738
$GC,4345,-0.95,-219.0,514.3,-10.6,608,4349,0.00,2.20,0.00,0.000,6,0.000,0.034,2478,2243,3737
$GC,4662,-0.95,-219.0,546.6,-10.5,624,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2238,3735
$GC,4966,-0.95,-219.0,576.9,-9.5,639,4970,0.00,2.10,0.00,0.000,4,0.000,0.048,2478,889,3733
$GC,4982,-0.95,-219.0,578.5,-9.6,639,4988,0.00,2.15,0.00,0.000,6,0.000,0.045,2478,2237,3733
$STATE,5188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5188,begin apogee
$GC,5195,-0.26,0.0,597.4,8.8,650,5371,0.68,0.00,169.43,1.070,6,0.097,0.000,2713,2310,2854
$STATE,5371,end apogee,CONTROL_FINISHED_OK
$STATE,5371,begin climb
$GC,5374,0.95,219.0,611.2,0.0,659,5555,1.02,2.35,171.10,1.051,4,0.053,0.051,3116,918,1960
$GC,5662,0.95,219.0,597.8,9.7,672,5665,0.00,2.17,0.00,0.000,6,0.000,0.043,3116,2302,1954
$GC,5977,0.95,219.0,563.2,11.0,688,5981,0.00,2.20,0.00,0.000,4,0.000,0.057,3116,3684,1952
$GC,6014,0.95,219.0,558.8,12.6,689,6020,0.00,2.15,0.00,0.000,6,0.000,0.037,3126,2294,1952
$GC,6326,0.95,219.0,525.8,9.7,705,6329,0.00,2.22,0.00,0.000,4,0.000,0.055,3127,3685,1950
$GC,6347,0.95,219.0,523.4,10.7,706,6351,0.08,2.15,0.00,0.000,6,0.181,0.037,3103,2297,1950
$GC,6664,0.95,219.0,492.8,10.5,724,6667,0.00,2.20,0.00,0.000,4,0.000,0.048,3113,907,1948
$GC,6755,0.95,219.0,483.7,10.4,732,6761,0.00,2.15,0.00,0.000,6,0.000,0.044,3112,2285,1947
$GC,7072,0.95,219.0,452.4,9.6,763,7075,0.00,2.22,0.00,0.000,4,0.000,0.055,3112,3690,1945
$GC,7173,0.95,219.0,441.2,10.4,772,7179,0.00,2.15,0.00,0.000,6,0.000,0.038,3122,2308,1945
$GC,7490,0.95,219.0,411.5,9.4,803,7493,0.00,2.20,0.00,0.000,4,0.000,0.047,3133,891,1945
$GC,7580,0.95,219.0,402.8,9.9,811,7588,0.10,2.22,0.00,0.000,6,0.161,0.040,3102,2309,1943
$GC,7896,1.03,278.3,376.9,7.4,842,7951,0.00,2.25,47.40,0.943,4,0.000,0.055,3101,3668,1718
$GC,7988,1.03,278.3,368.8,10.2,850,7994,0.00,2.12,0.00,0.000,6,0.000,0.036,3110,2321,1717
$GC,8307,1.03,278.3,335.8,10.6,881,8310,0.00,2.22,0.00,0.000,4,0.000,0.046,3121,894,1714
$GC,8354,1.03,278.3,330.7,9.9,885,8359,0.00,2.20,0.00,0.000,6,0.000,0.039,3121,2291,1712
$GC,8672,1.03,278.3,300.3,9.9,916,8675,0.00,2.20,0.00,0.000,4,0.000,0.053,3121,3688,1712
$GC,8794,1.03,278.3,286.9,9.9,938,8800,0.00,2.15,0.00,0.000,6,0.000,0.038,3131,2305,1712
$GC,9121,1.03,278.3,255.2,9.4,999,9127,0.00,2.20,0.00,0.000,4,0.000,0.052,3131,3692,1712
$GC,9132,1.03,278.3,254.0,9.6,1001,9138,0.00,2.08,0.00,0.000,6,0.000,0.035,3142,2319,1712
$GC,9458,1.03,282.7,225.9,8.9,1062,9465,0.00,2.25,4.05,0.538,4,0.000,0.051,3141,3690,1700
$GC,9497,1.03,282.7,222.3,9.2,1069,9503,0.00,2.05,0.00,0.000,6,0.000,0.035,3151,2337,1700
$GC,9824,1.04,293.3,191.0,8.7,1130,9838,0.00,2.30,10.57,0.732,4,0.000,0.044,3162,900,1658
$GC,9913,1.08,322.4,183.2,8.2,1146,9944,0.00,2.22,25.52,0.775,6,0.000,0.043,3162,2314,1538
$GC,10266,1.08,322.4,149.5,9.9,1211,10272,0.00,2.15,0.00,0.000,4,0.000,0.056,3161,3678,1538
$GC,10429,1.08,322.4,132.8,9.2,1241,10435,0.12,2.03,0.00,0.000,6,0.173,0.035,3141,2344,1538
$GC,10756,1.16,386.3,107.9,7.2,1302,10812,0.00,0.00,52.47,0.714,6,0.000,0.000,3141,2339,1278
$GC,11132,1.16,386.3,76.9,9.0,1371,11139,0.00,2.12,0.00,0.000,4,0.000,0.056,3141,3679,1276
$GC,11316,1.27,474.5,62.3,6.6,1405,11392,0.10,2.08,71.00,0.662,6,0.051,0.035,3224,2324,918
$GC,11713,1.27,474.5,23.7,10.8,1477,11718,0.00,2.15,0.00,0.000,4,0.000,0.054,3224,3692,915
$GC,11787,1.27,474.5,15.0,11.6,1491,11795,0.10,2.17,0.00,0.000,6,0.143,0.038,3201,2273,915
$STATE,11910,end climb,SURFACE_DEPTH_REACHED
$STATE,11910,begin surface coast
$FINISH,1.4,1.008880
$STATE,11938,end surface coast,CONTROL_FINISHED_OK
$STATE,11938,begin surface
$SM_CCo,12014,0.00,0.000,0,0,911,476.62
$SM_GC,2.30,7.78,0.00,0.00,0.038,0.000,0.000,164,2268,911,-8.14,-0.48,476.62
$IRIDIUM_FIX,2458.45,12540.29,251098,171707
$TT8_MAMPS,0.048321
$HUMID,1676
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,26.70
$XPDR_PINGS,713
$24V_AH,23.7,88.653
$10V_AH,10.6,60.100
$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,19.375,121.425,551.550,0.000,0.000,28.237,31.521,209.229,182.250,0.000,0.000,32.769,0.000,7771.897,669.559,3357.395,614.132,0.000,1915.903,0.000,2860.248,0.000,29.428,0.000
$DEVICE_MAMPS,233.168,88.972,1069.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.659,1114.496,1833.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88537,1519
$CAP_FILE_SIZE,133932,0
$CFSIZE,260165632,222281728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020, 51.9,1
$GPS,010809,001201,2507.778,12538.134,41,1.9,41,-3.9