version: 66.04
glider: 165
mission: 2
dive: 400
start: 8 2 109 1 41 32
data:
$ID,165
$MISSION,2
$DIVE,400
$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,-125933.26
$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,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
$GPS1,013437,2505.475,12539.494,30,1.5,30,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-69.6
$GPS2,014126,2505.477,12539.518,14,1.2,14,-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,172.9,49769,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.95,-219.0,0.0,0.0,0,56,0.00,0.00,-42.33,0.000,2,0.000,0.000,148,2268,1984
$GC,60,-0.95,-219.0,3.3,-3.9,7,125,9.35,2.17,-46.92,0.000,4,0.230,0.054,2483,890,3750
$GC,162,-0.95,-219.0,16.6,-15.0,24,169,0.00,2.17,0.00,0.000,6,0.000,0.038,2481,2282,3750
$GC,490,-0.95,-219.0,64.2,-12.6,85,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2282,3751
$GC,816,-0.95,-219.0,104.6,-11.8,146,822,0.00,2.12,0.00,0.000,4,0.000,0.041,2481,893,3753
$GC,843,-0.95,-219.0,108.0,-12.3,151,849,0.00,2.15,0.00,0.000,6,0.000,0.040,2481,2275,3753
$GC,1170,-0.95,-219.0,144.4,-10.9,212,1177,0.00,2.20,0.00,0.000,4,0.000,0.054,2481,3681,3753
$GC,1220,-0.95,-219.0,149.9,-10.9,221,1226,0.00,2.08,0.00,0.000,6,0.000,0.031,2481,2267,3753
$GC,1547,-0.95,-219.0,185.3,-10.3,282,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2267,3754
$GC,1874,-0.95,-219.0,218.7,-9.6,343,1879,0.00,2.25,0.00,0.000,4,0.000,0.056,2481,3688,3754
$GC,1959,-0.95,-219.0,227.1,-9.4,359,1965,0.00,2.08,0.00,0.000,6,0.000,0.031,2481,2279,3754
$GC,2285,-0.95,-219.0,260.1,-10.7,420,2292,0.00,2.12,0.00,0.000,4,0.000,0.044,2481,890,3754
$GC,2303,-0.95,-219.0,261.9,-10.4,423,2308,0.00,2.15,0.00,0.000,6,0.000,0.041,2481,2290,3754
$GC,2628,-0.95,-219.0,295.2,-9.3,484,2636,0.00,2.25,0.00,0.000,4,0.000,0.062,2481,3686,3754
$GC,2742,-0.95,-219.0,306.1,-9.4,499,2747,0.00,2.08,0.00,0.000,6,0.000,0.036,2481,2309,3754
$GC,3060,-0.95,-219.0,337.1,-10.3,530,3063,0.00,2.17,0.00,0.000,4,0.000,0.058,2481,3680,3753
$GC,3113,-0.95,-219.0,342.8,-10.3,535,3116,0.00,1.98,0.00,0.000,6,0.000,0.033,2481,2351,3753
$GC,3436,-0.95,-219.0,373.8,-8.7,566,3439,0.00,2.12,0.00,0.000,4,0.000,0.058,2481,3682,3752
$GC,3457,-0.95,-219.0,375.9,-8.9,568,3460,0.00,1.98,0.00,0.000,6,0.000,0.033,2481,2371,3752
$GC,3780,-0.95,-219.0,403.9,-9.7,599,3784,0.00,2.10,0.00,0.000,4,0.000,0.058,2481,3691,3751
$GC,3817,-0.95,-219.0,407.7,-9.7,602,3823,0.00,2.00,0.00,0.000,6,0.000,0.038,2481,2370,3750
$GC,4135,-0.95,-219.0,437.2,-9.5,633,4138,0.00,2.10,0.00,0.000,4,0.000,0.058,2481,3686,3748
$GC,4193,-0.95,-219.0,443.1,-10.3,638,4199,0.00,1.98,0.00,0.000,6,0.000,0.035,2480,2388,3748
$GC,4510,-0.95,-219.0,473.9,-9.9,669,4514,0.00,2.30,0.00,0.000,4,0.000,0.045,2482,904,3746
$GC,4537,-0.95,-219.0,476.9,-10.5,671,4541,0.00,2.35,0.00,0.000,6,0.000,0.044,2481,2402,3747
$GC,4864,-0.95,-219.0,506.1,-8.7,699,4867,0.00,2.03,0.00,0.000,4,0.000,0.061,2481,3677,3744
$STATE,4871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4871,begin apogee
$GC,4880,-0.26,0.0,507.1,8.6,699,5052,0.60,0.00,169.65,0.986,6,0.079,0.000,2708,2301,2854
$STATE,5052,end apogee,CONTROL_FINISHED_OK
$STATE,5052,begin climb
$GC,5055,0.95,219.0,519.3,0.0,708,5234,1.00,2.35,169.18,0.966,4,0.037,0.055,3120,3687,1960
$GC,5282,0.95,219.0,507.0,14.1,718,5289,0.12,2.15,0.00,0.000,6,0.195,0.036,3102,2300,1957
$GC,5598,0.95,219.0,469.2,11.4,746,5601,0.00,2.17,0.00,0.000,4,0.000,0.048,3111,900,1954
$GC,5623,0.95,219.0,466.1,11.4,748,5630,0.00,2.25,0.00,0.000,6,0.000,0.044,3111,2316,1953
$GC,5942,0.95,219.0,430.6,10.4,779,5945,0.00,2.17,0.00,0.000,4,0.000,0.054,3111,3697,1952
$GC,6091,0.95,219.0,413.3,11.7,793,6094,0.00,2.05,0.00,0.000,6,0.000,0.035,3121,2333,1951
$GC,6414,0.95,219.0,380.3,10.0,824,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2332,1949
$GC,6722,0.95,219.0,347.8,10.4,854,6725,0.00,2.15,0.00,0.000,4,0.000,0.053,3121,3689,1947
$GC,6755,0.95,219.0,344.1,11.3,857,6758,0.12,2.00,0.00,0.000,6,0.193,0.035,3101,2356,1948
$GC,7075,0.97,231.6,314.7,8.6,888,7090,0.00,2.33,9.82,0.785,4,0.000,0.045,3111,893,1909
$GC,7204,0.97,231.6,302.3,10.7,900,7208,0.00,2.30,0.00,0.000,6,0.000,0.041,3111,2366,1906
$GC,7529,0.97,231.6,272.1,9.8,958,7536,0.00,2.10,0.00,0.000,4,0.000,0.055,3111,3677,1905
$GC,7605,0.97,231.6,264.7,9.3,972,7611,0.00,2.03,0.00,0.000,6,0.000,0.037,3121,2358,1905
$GC,7932,1.06,307.4,239.0,6.9,1033,7998,0.00,2.22,62.10,0.819,4,0.000,0.050,3121,3690,1601
$GC,8091,1.06,307.4,223.8,11.3,1061,8096,0.00,2.00,0.00,0.000,6,0.000,0.033,3131,2374,1598
$GC,8416,1.06,307.4,190.0,9.5,1122,8423,0.00,2.30,0.00,0.000,4,0.000,0.044,3142,891,1595
$GC,8444,1.06,307.4,187.3,9.7,1127,8450,0.00,2.33,0.00,0.000,6,0.000,0.038,3142,2378,1595
$GC,8771,1.06,307.4,156.9,9.8,1188,8776,0.00,2.08,0.00,0.000,4,0.000,0.055,3142,3688,1595
$GC,8926,1.06,307.4,140.0,10.8,1217,8932,0.00,1.92,0.00,0.000,6,0.000,0.032,3151,2414,1595
$GC,9253,1.10,337.7,110.2,8.2,1278,9285,0.00,2.38,25.67,0.697,4,0.000,0.046,3162,897,1475
$GC,9296,1.14,375.7,106.9,7.9,1285,9335,0.00,2.47,32.03,0.685,6,0.000,0.037,3162,2470,1321
$GC,9656,1.14,375.7,73.5,9.1,1351,9662,0.00,1.92,0.00,0.000,4,0.000,0.052,3162,3687,1319
$GC,9784,1.14,375.7,61.7,9.4,1375,9790,0.00,1.98,0.00,0.000,6,0.000,0.036,3172,2394,1319
$GC,10111,1.14,375.7,30.6,9.6,1436,10117,0.00,2.30,0.00,0.000,4,0.000,0.041,3182,887,1319
$GC,10166,1.14,375.7,25.5,9.4,1446,10172,0.00,2.35,0.00,0.000,6,0.000,0.035,3182,2434,1318
$STATE,10415,end climb,SURFACE_DEPTH_REACHED
$STATE,10415,begin surface coast
$FINISH,1.4,1.020919
$STATE,10448,end surface coast,CONTROL_FINISHED_OK
$STATE,10448,begin surface
$SM_CCo,10465,76.95,0.594,0,0,916,475.15
$SM_GC,2.28,0.00,0.00,76.95,0.000,0.000,0.594,157,2257,916,-8.24,-0.85,475.15
$IRIDIUM_FIX,2458.45,12542.22,261098,222223
$TT8_MAMPS,0.049088
$HUMID,1652
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.00
$XPDR_PINGS,757
$24V_AH,23.2,90.229
$10V_AH,10.6,61.343
$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,18.900,103.550,468.450,76.950,0.000,30.494,38.032,198.912,192.500,0.000,0.000,16.622,0.000,6413.044,658.504,3250.836,602.703,0.000,1834.483,0.000,2799.026,0.000,22.560,0.000
$DEVICE_MAMPS,230.100,62.127,986.362,593.658,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.586,1128.370,1882.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85160,1499
$CAP_FILE_SIZE,124236,0
$CFSIZE,260165632,221597696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118, 44.1,1
$GPS,020809,043807,2504.881,12539.943,28,1.5,28,-3.9