version: 66.04
glider: 165
mission: 2
dive: 398
start: 8 1 109 19 27 43
data:
$ID,165
$MISSION,2
$DIVE,398
$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,-125900.38
$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,50
$R_STBD_OVSHOOT,33
$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
$GPS1,191737,2505.981,12538.815,35,1.5,35,-3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.2
$GPS2,192737,2506.034,12538.894,9,1.8,14,-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,169.5,51153,-13.3,-8.992
$D_GRID,507
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.95,-219.0,0.0,0.0,0,60,0.00,0.00,-44.08,0.000,2,0.000,0.000,156,2297,2027
$GC,63,-0.95,-219.0,3.1,-3.5,7,124,9.18,2.25,-47.38,0.000,4,0.224,0.054,2476,884,3749
$GC,177,-0.95,-219.0,17.3,-14.5,26,183,0.00,2.20,0.00,0.000,6,0.000,0.038,2468,2291,3750
$GC,503,-0.95,-219.0,67.5,-14.8,87,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2291,3751
$GC,829,-0.95,-219.0,113.3,-12.7,148,835,0.00,2.20,0.00,0.000,4,0.000,0.043,2468,886,3751
$GC,872,-0.95,-219.0,118.9,-12.8,156,878,0.00,2.15,0.00,0.000,6,0.000,0.039,2468,2272,3751
$GC,1199,-0.95,-219.0,156.1,-11.2,217,1205,0.00,2.12,0.00,0.000,4,0.000,0.042,2468,888,3753
$GC,1232,-0.95,-219.0,159.8,-11.4,223,1239,0.00,2.12,0.00,0.000,6,0.000,0.041,2468,2276,3752
$GC,1559,-0.95,-219.0,194.6,-10.9,284,1565,0.00,2.17,0.00,0.000,4,0.000,0.044,2468,883,3752
$GC,1629,-0.95,-219.0,202.5,-11.6,297,1634,0.00,2.05,0.00,0.000,6,0.000,0.041,2468,2225,3752
$GC,1955,-0.95,-219.0,239.0,-10.8,358,1961,0.00,2.10,0.00,0.000,4,0.000,0.048,2469,890,3752
$GC,1993,-0.95,-219.0,243.2,-11.4,365,1998,0.00,2.00,0.00,0.000,6,0.000,0.041,2468,2201,3752
$GC,2318,-0.95,-219.0,277.8,-10.9,426,2324,0.00,2.38,0.00,0.000,4,0.000,0.058,2468,3680,3752
$GC,2357,-0.95,-219.0,281.9,-11.4,433,2362,0.00,2.20,0.00,0.000,6,0.000,0.032,2468,2193,3752
$GC,2677,-0.95,-219.0,314.5,-9.5,480,2681,0.00,2.38,0.00,0.000,4,0.000,0.056,2468,3683,3752
$GC,2725,-0.95,-219.0,319.5,-10.4,484,2731,0.00,2.17,0.00,0.000,6,0.000,0.033,2468,2228,3752
$GC,3043,-0.95,-219.0,348.0,-10.0,515,3046,0.00,2.30,0.00,0.000,4,0.000,0.056,2468,3680,3751
$GC,3107,-0.95,-219.0,354.5,-10.3,520,3112,0.00,2.15,0.00,0.000,6,0.000,0.038,2468,2238,3750
$GC,3422,-0.95,-219.0,382.8,-8.9,551,3423,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,2238,3750
$GC,3733,-0.95,-219.0,409.6,-9.0,581,3736,0.00,2.30,0.00,0.000,4,0.000,0.059,2468,3679,3748
$GC,3781,-0.95,-219.0,414.2,-9.7,585,3784,0.00,2.12,0.00,0.000,6,0.000,0.034,2468,2259,3748
$GC,4102,-0.95,-219.0,444.9,-9.5,616,4105,0.00,2.28,0.00,0.000,4,0.000,0.058,2468,3678,3745
$GC,4139,-0.95,-219.0,448.5,-9.1,619,4142,0.00,2.12,0.00,0.000,6,0.000,0.034,2468,2262,3745
$GC,4459,-0.95,-219.0,477.4,-9.5,650,4463,0.00,2.30,0.00,0.000,4,0.000,0.059,2468,3674,3743
$GC,4550,-0.95,-219.0,486.4,-9.9,658,4556,0.00,2.10,0.00,0.000,6,0.000,0.038,2468,2275,3742
$STATE,4769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4769,begin apogee
$GC,4774,-0.26,0.0,508.1,9.5,676,4946,0.68,0.00,168.82,0.983,6,0.081,0.000,2714,2275,2854
$STATE,4946,end apogee,CONTROL_FINISHED_OK
$STATE,4946,begin climb
$GC,4949,0.95,219.0,519.9,0.0,684,5126,1.00,2.33,169.23,0.966,4,0.040,0.055,3119,3678,1960
$GC,5184,0.95,219.0,508.9,12.8,695,5188,0.00,2.15,0.00,0.000,6,0.000,0.036,3129,2311,1957
$GC,5502,0.95,219.0,470.5,12.6,722,5505,0.00,2.20,0.00,0.000,4,0.000,0.048,3140,899,1953
$GC,5538,0.95,219.0,465.5,12.8,725,5544,0.12,2.20,0.00,0.000,6,0.178,0.042,3092,2292,1952
$GC,5854,0.95,219.0,429.6,10.8,756,5857,0.00,2.20,0.00,0.000,4,0.000,0.054,3092,3687,1951
$GC,5966,0.95,219.0,418.1,9.2,766,5972,0.00,2.15,0.00,0.000,6,0.000,0.041,3102,2297,1950
$GC,6284,0.95,219.0,388.9,9.6,797,6288,0.00,2.17,0.00,0.000,4,0.000,0.047,3112,897,1948
$GC,6348,0.95,219.0,382.6,9.7,803,6351,0.00,2.22,0.00,0.000,6,0.000,0.041,3112,2338,1947
$GC,6670,0.95,219.0,351.9,10.9,834,6674,0.00,2.10,0.00,0.000,4,0.000,0.054,3112,3681,1946
$GC,6777,0.95,219.0,340.5,10.8,844,6780,0.00,2.03,0.00,0.000,6,0.000,0.035,3122,2339,1946
$GC,7100,1.03,278.9,311.8,7.3,875,7155,0.00,2.33,47.45,0.873,4,0.000,0.046,3133,905,1715
$GC,7293,1.03,278.9,292.9,10.2,899,7299,0.00,2.17,0.00,0.000,6,0.000,0.039,3133,2298,1710
$GC,7619,1.03,278.9,259.2,10.0,960,7625,0.00,2.22,0.00,0.000,4,0.000,0.058,3133,3681,1710
$GC,7743,1.03,278.9,244.7,11.4,983,7748,0.00,2.10,0.00,0.000,6,0.000,0.035,3143,2291,1710
$GC,8069,1.03,278.9,209.9,9.8,1044,8076,0.00,2.22,0.00,0.000,4,0.000,0.052,3143,3684,1709
$GC,8087,1.03,278.9,208.1,10.6,1047,8092,0.00,2.10,0.00,0.000,6,0.000,0.035,3154,2289,1709
$GC,8412,1.03,278.9,173.7,10.4,1108,8419,0.12,0.00,0.00,0.000,6,0.179,0.000,3122,2284,1709
$GC,8739,1.08,319.8,145.3,7.9,1169,8777,0.00,2.22,33.62,0.733,4,0.000,0.044,3131,908,1550
$GC,8837,1.10,341.7,137.5,8.4,1186,8862,0.00,2.17,19.55,0.700,6,0.000,0.038,3131,2294,1459
$GC,9183,1.10,341.7,103.9,9.3,1250,9189,0.00,2.20,0.00,0.000,4,0.000,0.053,3131,3693,1458
$GC,9290,1.10,341.7,93.9,9.1,1270,9296,0.00,2.12,0.00,0.000,6,0.000,0.036,3143,2309,1458
$GC,9617,1.13,362.5,68.6,8.4,1331,9642,0.00,2.22,17.88,0.639,4,0.000,0.045,3152,903,1376
$GC,9728,1.18,402.0,59.7,7.9,1351,9766,0.00,2.17,32.78,0.642,6,0.000,0.035,3152,2325,1215
$GC,10088,1.19,411.2,29.4,8.7,1417,10101,0.00,2.28,8.82,0.543,4,0.000,0.042,3162,903,1177
$GC,10106,1.24,449.5,28.0,7.9,1420,10145,0.00,2.08,32.10,0.602,6,0.000,0.035,3162,2263,1019
$STATE,10400,end climb,SURFACE_DEPTH_REACHED
$STATE,10400,begin surface coast
$FINISH,1.2,1.008191
$STATE,10432,end surface coast,CONTROL_FINISHED_OK
$STATE,10435,begin surface
$SM_CCo,10451,19.65,0.571,0,0,916,475.15
$SM_GC,2.38,0.00,0.00,19.65,0.000,0.000,0.571,146,2268,916,-8.27,-0.48,475.15
$IRIDIUM_FIX,2456.07,12537.51,261098,191945
$TT8_MAMPS,0.047554
$HUMID,1669
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,27.10
$XPDR_PINGS,753
$24V_AH,23.9,89.882
$10V_AH,10.6,61.066
$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,18.650,100.550,530.250,19.650,0.000,59.648,62.625,267.011,191.500,0.000,0.000,16.698,0.000,6440.076,641.121,3233.621,730.154,0.000,1821.871,0.000,2784.476,0.000,24.480,0.000
$DEVICE_MAMPS,223.964,59.059,982.527,570.648,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,991.034,1120.317,1868.376,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85280,1480
$CAP_FILE_SIZE,124701,0
$CFSIZE,260165632,221749248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,  1.7,1
$GPS,010809,222307,2506.028,12539.080,28,1.0,28,-3.9