version: 66.04
glider: 165
mission: 2
dive: 396
start: 8 1 109 13 6 57
data:
$ID,165
$MISSION,2
$DIVE,396
$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,-125864.59
$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,52
$R_STBD_OVSHOOT,36
$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
$GPS1,125957,2506.645,12538.392,32,3.0,51,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-69.8
$GPS2,130652,2506.651,12538.371,13,99.0,32,-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,166.1,52567,-13.3,-8.992
$D_GRID,525
$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,-219.0,0.0,0.0,0,58,0.00,0.00,-43.67,0.000,2,0.000,0.000,153,2276,2022
$GC,62,-0.95,-219.0,3.2,-4.0,7,122,9.25,2.20,-46.83,0.000,4,0.228,0.053,2479,887,3749
$GC,164,-0.95,-219.0,16.1,-15.4,24,170,0.00,2.20,0.00,0.000,6,0.000,0.041,2479,2288,3751
$GC,491,-0.95,-219.0,63.7,-13.5,85,497,0.00,2.15,0.00,0.000,4,0.000,0.041,2479,887,3751
$GC,513,-0.95,-219.0,66.7,-13.8,89,518,0.00,2.12,0.00,0.000,6,0.000,0.039,2479,2251,3751
$GC,839,-0.95,-219.0,106.0,-11.7,150,845,0.00,2.10,0.00,0.000,4,0.000,0.042,2479,883,3752
$GC,893,-0.95,-219.0,112.5,-12.3,160,899,0.00,2.12,0.00,0.000,6,0.000,0.041,2479,2249,3752
$GC,1220,-0.95,-219.0,150.0,-10.8,221,1225,0.00,2.10,0.00,0.000,4,0.000,0.043,2479,880,3753
$GC,1246,-0.95,-219.0,153.0,-11.1,226,1253,0.00,2.12,0.00,0.000,6,0.000,0.041,2479,2245,3753
$GC,1573,-0.95,-219.0,190.4,-12.6,287,1581,0.00,2.25,0.00,0.000,4,0.000,0.055,2479,3684,3754
$GC,1596,-0.95,-219.0,193.4,-12.5,291,1603,0.00,2.15,0.00,0.000,6,0.000,0.031,2479,2240,3753
$GC,1923,-0.95,-219.0,228.5,-9.8,352,1930,0.00,2.08,0.00,0.000,4,0.000,0.050,2479,910,3753
$GC,1988,-0.95,-219.0,235.1,-10.1,364,1994,0.00,2.08,0.00,0.000,6,0.000,0.041,2479,2259,3753
$GC,2315,-0.95,-219.0,266.9,-8.8,425,2320,0.00,2.25,0.00,0.000,4,0.000,0.057,2479,3691,3754
$GC,2401,-0.95,-219.0,275.0,-9.3,441,2408,0.00,2.10,0.00,0.000,6,0.000,0.031,2479,2270,3753
$GC,2727,-0.95,-219.0,305.2,-9.8,497,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2270,3753
$GC,3037,-0.95,-219.0,335.4,-9.6,527,3040,0.00,2.25,0.00,0.000,4,0.000,0.058,2479,3685,3753
$GC,3117,-0.95,-219.0,342.6,-8.5,534,3123,0.00,2.08,0.00,0.000,6,0.000,0.036,2479,2290,3752
$GC,3434,-0.95,-219.0,370.6,-10.1,565,3437,0.00,2.22,0.00,0.000,4,0.000,0.058,2479,3688,3751
$GC,3498,-0.95,-219.0,377.2,-10.2,571,3501,0.00,2.05,0.00,0.000,6,0.000,0.032,2479,2330,3750
$GC,3818,-0.95,-219.0,406.1,-8.8,602,3822,0.00,2.25,0.00,0.000,4,0.000,0.045,2479,887,3749
$GC,3844,-0.95,-219.0,408.6,-9.8,604,3851,0.00,2.28,0.00,0.000,6,0.000,0.045,2479,2322,3749
$GC,4163,-0.95,-219.0,435.4,-8.4,635,4166,0.00,2.17,0.00,0.000,4,0.000,0.059,2479,3694,3747
$GC,4264,-0.95,-219.0,444.2,-8.0,644,4270,0.00,2.10,0.00,0.000,6,0.000,0.035,2479,2312,3746
$GC,4583,-0.95,-219.0,474.0,-10.2,675,4586,0.00,2.20,0.00,0.000,4,0.000,0.059,2479,3685,3744
$GC,4614,-0.95,-219.0,477.3,-9.4,678,4618,0.00,2.05,0.00,0.000,6,0.000,0.034,2479,2332,3743
$GC,4936,-0.95,-219.0,509.2,-10.5,705,4939,0.00,2.17,0.00,0.000,4,0.000,0.060,2479,3683,3742
$STATE,5078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5078,begin apogee
$GC,5088,-0.26,0.0,525.6,11.1,711,5259,0.62,0.00,169.38,1.002,6,0.080,0.000,2711,2298,2854
$STATE,5260,end apogee,CONTROL_FINISHED_OK
$STATE,5260,begin climb
$GC,5263,0.95,219.0,539.4,0.0,720,5441,1.00,2.28,169.52,0.984,4,0.036,0.050,3134,908,1960
$GC,5515,0.95,219.0,529.3,10.6,732,5519,0.12,2.22,0.00,0.000,6,0.181,0.042,3104,2316,1955
$GC,5833,0.95,219.0,484.8,16.3,752,5836,0.00,2.17,0.00,0.000,4,0.000,0.054,3104,3695,1952
$GC,5955,0.95,219.0,463.7,15.8,763,5961,0.00,2.10,0.00,0.000,6,0.000,0.035,3113,2330,1952
$GC,6273,0.95,219.0,424.6,10.1,794,6276,0.00,2.15,0.00,0.000,4,0.000,0.054,3113,3681,1949
$GC,6305,0.95,219.0,420.5,12.1,797,6308,0.00,2.03,0.00,0.000,6,0.000,0.036,3123,2345,1950
$GC,6628,0.95,219.0,386.9,9.3,828,6631,0.00,2.12,0.00,0.000,4,0.000,0.054,3123,3682,1948
$GC,6739,0.95,219.0,374.2,12.4,838,6747,0.10,2.05,0.00,0.000,6,0.185,0.039,3103,2358,1947
$GC,7056,0.95,219.0,338.3,9.9,869,7060,0.00,2.28,0.00,0.000,4,0.000,0.046,3113,894,1946
$GC,7157,0.96,226.1,328.6,8.8,878,7169,0.00,2.28,4.82,0.637,6,0.000,0.041,3113,2338,1931
$GC,7478,0.96,226.1,300.2,9.5,909,7481,0.00,2.12,0.00,0.000,4,0.000,0.054,3113,3693,1931
$GC,7584,0.96,226.1,289.9,9.6,928,7591,0.00,2.05,0.00,0.000,6,0.000,0.037,3123,2360,1930
$GC,7912,0.96,226.1,262.0,9.0,989,7917,0.00,2.10,0.00,0.000,4,0.000,0.052,3123,3690,1929
$GC,8034,0.96,226.1,249.5,10.7,1012,8040,0.08,2.00,0.00,0.000,6,0.185,0.036,3109,2395,1929
$GC,8361,1.00,258.5,223.0,8.1,1073,8397,0.00,2.40,27.77,0.798,4,0.000,0.046,3119,903,1798
$GC,8573,1.03,283.7,204.4,8.3,1112,8598,0.00,2.38,21.65,0.771,6,0.000,0.045,3119,2398,1697
$GC,8920,1.08,323.6,173.5,7.9,1176,8958,0.00,2.45,33.78,0.759,4,0.000,0.044,3130,898,1532
$GC,9077,1.08,323.6,158.9,10.4,1204,9082,0.00,2.30,0.00,0.000,6,0.000,0.044,3130,2363,1529
$GC,9403,1.12,352.3,126.9,8.2,1265,9433,0.00,2.10,24.38,0.710,4,0.000,0.058,3130,3684,1416
$GC,9460,1.12,352.3,122.0,9.5,1275,9466,0.00,2.03,0.00,0.000,6,0.000,0.036,3140,2370,1416
$GC,9787,1.12,352.3,92.6,9.3,1336,9793,0.00,2.28,0.00,0.000,4,0.000,0.043,3150,890,1415
$GC,9911,1.13,366.0,82.2,8.6,1359,9929,0.00,2.28,12.48,0.635,6,0.000,0.038,3151,2341,1360
$GC,10250,1.21,428.1,53.8,7.3,1422,10307,0.00,2.15,50.53,0.647,4,0.000,0.054,3150,3692,1108
$GC,10406,1.21,428.1,40.0,9.9,1449,10412,0.00,2.03,0.00,0.000,6,0.000,0.032,3160,2350,1107
$GC,10732,1.21,428.1,10.3,9.5,1510,10739,0.00,2.28,0.00,0.000,4,0.000,0.044,3171,896,1105
$STATE,10806,end climb,SURFACE_DEPTH_REACHED
$STATE,10806,begin surface coast
$FINISH,1.5,1.020485
$STATE,10833,end surface coast,CONTROL_FINISHED_OK
$STATE,10833,begin surface
$SM_CCo,10852,37.50,0.588,0,0,916,475.15
$SM_GC,2.33,0.00,0.00,37.50,0.000,0.000,0.588,156,2300,916,-8.24,0.42,475.15
$IRIDIUM_FIX,2458.45,12535.58,261098,090915
$TT8_MAMPS,0.048321
$HUMID,1677
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.10
$XPDR_PINGS,774
$24V_AH,23.6,89.534
$10V_AH,10.6,60.789
$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,18.750,112.775,514.300,37.500,0.000,24.816,35.033,195.915,197.000,0.000,0.000,35.152,0.000,6652.746,647.922,3383.866,592.844,0.000,1879.341,0.000,2896.630,0.000,24.233,0.000
$DEVICE_MAMPS,227.799,59.826,1001.702,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1024.489,1145.730,1906.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88333,1529
$CAP_FILE_SIZE,129938,0
$CFSIZE,260165632,221896704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 24.3,1
$GPS,010809,160931,2505.956,12538.622,40,1.2,40,-3.9