version: 66.04
glider: 165
mission: 2
dive: 394
start: 8 1 109 6 34 44
data:
$ID,165
$MISSION,2
$DIVE,394
$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,-125810.27
$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,60
$R_STBD_OVSHOOT,37
$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
$GPS1,062800,2506.917,12538.286,38,1.3,38,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-67.0
$GPS2,063438,2506.969,12538.250,12,1.4,12,-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,153.1,53185,-13.3,-8.992
$D_GRID,554
$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,-0.95,-219.0,0.0,0.0,0,60,0.00,0.00,-45.88,0.000,2,0.000,0.000,157,2260,2076
$GC,63,-0.95,-219.0,3.4,-4.0,7,121,9.25,2.17,-43.50,0.000,4,0.230,0.054,2478,892,3749
$GC,169,-0.95,-219.0,17.8,-15.7,25,176,0.00,2.17,0.00,0.000,6,0.000,0.040,2478,2283,3751
$GC,497,-0.95,-219.0,67.5,-14.5,86,503,0.00,2.15,0.00,0.000,4,0.000,0.042,2478,888,3751
$GC,550,-0.95,-219.0,75.0,-13.3,96,556,0.00,2.15,0.00,0.000,6,0.000,0.040,2478,2268,3751
$GC,876,-0.95,-219.0,115.2,-12.2,157,883,0.00,2.12,0.00,0.000,4,0.000,0.042,2478,883,3752
$GC,920,-0.95,-219.0,120.5,-12.1,165,927,0.00,2.10,0.00,0.000,6,0.000,0.039,2478,2237,3752
$GC,1248,-0.95,-219.0,157.5,-11.7,226,1254,0.00,2.28,0.00,0.000,4,0.000,0.054,2478,3689,3753
$GC,1317,-0.95,-219.0,165.6,-11.8,239,1323,0.00,2.12,0.00,0.000,6,0.000,0.031,2478,2259,3753
$GC,1643,-0.95,-219.0,201.1,-10.1,300,1649,0.00,2.10,0.00,0.000,4,0.000,0.043,2478,902,3754
$GC,1675,-0.95,-219.0,204.6,-10.7,306,1681,0.00,2.15,0.00,0.000,6,0.000,0.042,2478,2275,3754
$GC,2002,-0.95,-219.0,240.4,-11.7,367,2007,0.00,2.22,0.00,0.000,4,0.000,0.059,2478,3682,3754
$GC,2045,-0.95,-219.0,245.3,-11.3,375,2050,0.00,2.05,0.00,0.000,6,0.000,0.032,2479,2282,3754
$GC,2371,-0.95,-219.0,277.9,-9.0,436,2377,0.00,2.22,0.00,0.000,4,0.000,0.056,2478,3691,3754
$GC,2452,-0.95,-219.0,285.5,-9.5,451,2457,0.00,2.05,0.00,0.000,6,0.000,0.032,2478,2301,3754
$GC,2777,-0.95,-219.0,317.3,-9.0,496,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2301,3753
$GC,3087,-0.95,-219.0,348.4,-11.0,526,3091,0.00,2.22,0.00,0.000,4,0.000,0.058,2478,3685,3753
$GC,3177,-0.95,-219.0,358.4,-11.0,534,3184,0.00,2.08,0.00,0.000,6,0.000,0.039,2478,2309,3753
$GC,3494,-0.95,-219.0,388.8,-9.0,565,3497,0.00,2.17,0.00,0.000,4,0.000,0.058,2478,3680,3752
$GC,3515,-0.95,-219.0,390.7,-8.9,567,3518,0.00,2.00,0.00,0.000,6,0.000,0.033,2478,2331,3751
$GC,3835,-0.95,-219.0,419.0,-8.1,598,3838,0.00,2.17,0.00,0.000,4,0.000,0.058,2478,3692,3750
$GC,3872,-0.95,-219.0,422.1,-8.8,601,3879,0.00,2.05,0.00,0.000,6,0.000,0.032,2478,2326,3750
$GC,4191,-0.95,-219.0,449.7,-8.7,632,4195,0.00,2.17,0.00,0.000,4,0.000,0.058,2478,3691,3748
$GC,4233,-0.95,-219.0,453.7,-8.9,636,4236,0.00,1.98,0.00,0.000,6,0.000,0.033,2478,2375,3747
$GC,4556,-0.95,-219.0,483.1,-9.0,667,4560,0.00,2.28,0.00,0.000,4,0.000,0.046,2479,903,3746
$GC,4571,-0.95,-219.0,484.9,-9.5,668,4575,0.00,2.33,0.00,0.000,6,0.000,0.044,2478,2393,3746
$GC,4900,-0.95,-219.0,514.7,-8.9,692,4903,0.00,2.05,0.00,0.000,4,0.000,0.060,2478,3692,3743
$GC,4969,-0.95,-219.0,520.8,-9.5,695,4973,0.00,1.95,0.00,0.000,6,0.000,0.034,2478,2397,3743
$GC,5291,-0.95,-219.0,551.0,-9.6,711,5294,0.00,2.05,0.00,0.000,4,0.000,0.060,2478,3679,3741
$STATE,5319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5319,begin apogee
$GC,5328,-0.26,0.0,554.2,9.7,712,5500,0.60,0.00,169.68,1.025,6,0.082,0.000,2704,2285,2854
$STATE,5500,end apogee,CONTROL_FINISHED_OK
$STATE,5500,begin climb
$GC,5502,0.95,219.0,568.8,0.0,721,5682,1.02,2.38,169.82,1.007,4,0.044,0.058,3110,3681,1960
$GC,5837,0.95,219.0,541.6,14.5,736,5843,0.00,2.12,0.00,0.000,6,0.000,0.038,3120,2305,1955
$GC,6147,0.95,219.0,500.7,12.5,752,6150,0.00,2.20,0.00,0.000,4,0.000,0.054,3121,3692,1953
$GC,6195,0.95,219.0,495.0,11.5,755,6201,0.10,2.15,0.00,0.000,6,0.189,0.036,3102,2306,1952
$GC,6510,0.95,219.0,463.2,10.1,786,6514,0.00,2.22,0.00,0.000,4,0.000,0.054,3102,3687,1951
$GC,6564,0.95,219.0,457.7,10.2,791,6567,0.00,2.03,0.00,0.000,6,0.000,0.035,3111,2346,1951
$GC,6887,0.95,219.0,422.2,11.8,822,6890,0.00,2.25,0.00,0.000,4,0.000,0.046,3121,897,1949
$GC,6923,0.95,219.0,417.7,12.0,825,6929,0.00,2.33,0.00,0.000,6,0.000,0.044,3122,2363,1948
$GC,7241,0.95,219.0,383.8,10.6,856,7245,0.00,2.30,0.00,0.000,4,0.000,0.045,3132,892,1947
$GC,7294,0.95,219.0,378.5,9.5,860,7301,0.10,2.33,0.00,0.000,6,0.173,0.043,3102,2361,1946
$GC,7610,0.96,223.2,349.6,8.9,891,7613,0.00,2.08,0.00,0.000,4,0.000,0.054,3102,3684,1945
$GC,7696,0.96,223.2,341.5,9.8,899,7699,0.00,1.98,0.00,0.000,6,0.000,0.035,3111,2371,1945
$GC,8018,0.98,242.1,312.3,8.5,930,8041,0.00,2.33,17.90,0.851,4,0.000,0.045,3122,888,1865
$GC,8121,0.98,242.1,302.0,9.8,939,8126,0.00,2.30,0.00,0.000,6,0.000,0.044,3122,2357,1863
$GC,8446,1.02,278.1,272.5,8.0,998,8483,0.00,2.38,30.30,0.841,4,0.000,0.045,3132,894,1719
$GC,8521,1.02,278.1,265.4,10.3,1011,8526,0.00,2.20,0.00,0.000,6,0.000,0.038,3132,2303,1716
$GC,8847,1.02,278.1,231.0,10.9,1072,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2303,1715
$GC,9174,1.02,278.1,200.6,9.0,1133,9179,0.00,2.17,0.00,0.000,4,0.000,0.051,3132,3693,1714
$GC,9206,1.02,278.1,197.5,9.8,1139,9211,0.00,2.15,0.00,0.000,6,0.000,0.034,3143,2265,1714
$GC,9533,1.06,309.2,165.8,8.1,1200,9564,0.00,2.25,26.33,0.749,4,0.000,0.049,3143,3681,1592
$GC,9678,1.06,309.2,150.9,10.4,1226,9685,0.00,2.08,0.00,0.000,6,0.000,0.034,3153,2309,1591
$GC,10006,1.08,320.3,120.3,8.7,1287,10024,0.00,2.22,10.40,0.652,4,0.000,0.048,3164,900,1547
$GC,10110,1.11,346.6,112.0,8.3,1306,10142,0.00,2.20,22.85,0.688,6,0.000,0.038,3164,2329,1440
$GC,10463,1.12,355.3,78.6,8.8,1371,10476,0.00,2.17,8.43,0.587,4,0.000,0.050,3164,3683,1404
$GC,10600,1.12,355.3,65.4,9.1,1396,10606,0.00,2.03,0.00,0.000,6,0.000,0.033,3174,2353,1405
$GC,10926,1.12,355.3,37.8,9.7,1457,10932,0.00,2.22,0.00,0.000,4,0.000,0.048,3184,906,1404
$GC,11050,1.14,370.0,26.9,8.6,1480,11070,0.00,2.22,13.65,0.588,6,0.000,0.036,3184,2348,1344
$STATE,11302,end climb,SURFACE_DEPTH_REACHED
$STATE,11302,begin surface coast
$FINISH,1.4,0.998949
$STATE,11329,end surface coast,CONTROL_FINISHED_OK
$STATE,11329,begin surface
$SM_CCo,11346,81.70,0.590,0,0,917,475.15
$SM_GC,2.18,0.00,0.00,81.70,0.000,0.000,0.590,153,2278,917,-8.25,-0.14,475.15
$IRIDIUM_FIX,2458.45,12538.90,261098,030306
$TT8_MAMPS,0.048321
$HUMID,1652
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.10
$XPDR_PINGS,775
$24V_AH,23.1,89.186
$10V_AH,10.6,60.506
$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,18.775,117.050,469.350,81.700,0.000,24.202,36.385,200.593,197.500,0.000,0.000,15.751,0.000,7156.490,669.278,3369.759,606.284,0.000,1897.939,0.000,2896.411,0.000,25.891,0.000
$DEVICE_MAMPS,230.100,81.302,1024.712,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.379,1139.958,1889.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88508,1532
$CAP_FILE_SIZE,133239,0
$CFSIZE,260165632,222048256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222,330.8,1
$GPS,010809,094606,2507.031,12538.132,29,1.6,29,-3.9