version: 66.04
glider: 165
mission: 2
dive: 401
start: 8 2 109 4 48 49
data:
$ID,165
$MISSION,2
$DIVE,401
$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,-125951.48
$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,65
$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
$GPS1,043807,2504.881,12539.943,28,1.5,28,-3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-67.3
$GPS2,044843,2504.906,12539.954,10,1.5,15,-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,180.4,48499,-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,-219.0,0.0,0.0,0,57,0.00,0.00,-43.05,0.000,2,0.000,0.000,153,2257,2002
$GC,60,-0.95,-219.0,3.1,-3.5,7,120,9.27,2.15,-46.58,0.000,4,0.228,0.053,2477,903,3749
$GC,168,-0.95,-219.0,17.2,-15.6,25,174,0.00,2.12,0.00,0.000,6,0.000,0.038,2478,2290,3751
$GC,494,-0.95,-219.0,66.5,-14.5,86,500,0.00,2.12,0.00,0.000,4,0.000,0.039,2478,902,3751
$GC,532,-0.95,-219.0,71.8,-14.2,93,538,0.00,2.10,0.00,0.000,6,0.000,0.038,2478,2259,3751
$GC,859,-0.95,-219.0,111.2,-12.2,154,864,0.00,2.10,0.00,0.000,4,0.000,0.041,2478,889,3751
$GC,907,-0.95,-219.0,117.5,-12.9,163,914,0.00,2.05,0.00,0.000,6,0.000,0.040,2477,2230,3752
$GC,1236,-0.95,-219.0,155.8,-11.6,224,1241,0.00,2.30,0.00,0.000,4,0.000,0.054,2478,3694,3752
$GC,1268,-0.95,-219.0,159.9,-12.4,230,1274,0.00,2.20,0.00,0.000,6,0.000,0.031,2478,2229,3752
$GC,1595,-0.95,-219.0,195.4,-10.9,291,1602,0.00,2.03,0.00,0.000,4,0.000,0.043,2478,893,3753
$GC,1644,-0.95,-219.0,201.1,-11.4,300,1650,0.00,2.10,0.00,0.000,6,0.000,0.041,2478,2234,3753
$GC,1971,-0.95,-219.0,237.6,-10.8,361,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2234,3753
$GC,2296,-0.95,-219.0,272.2,-10.9,422,2302,0.00,2.30,0.00,0.000,4,0.000,0.063,2478,3683,3753
$GC,2328,-0.95,-219.0,275.8,-11.2,428,2334,0.00,2.17,0.00,0.000,6,0.000,0.032,2478,2236,3753
$GC,2652,-0.95,-219.0,307.3,-9.2,482,2655,0.00,2.33,0.00,0.000,4,0.000,0.058,2478,3692,3753
$GC,2727,-0.95,-219.0,314.2,-9.1,489,2730,0.00,2.15,0.00,0.000,6,0.000,0.031,2478,2242,3752
$GC,3050,-0.95,-219.0,343.2,-9.0,520,3053,0.00,2.30,0.00,0.000,4,0.000,0.056,2477,3685,3751
$GC,3070,-0.95,-219.0,345.3,-9.3,521,3076,0.00,2.12,0.00,0.000,6,0.000,0.036,2478,2256,3751
$GC,3386,-0.95,-219.0,376.3,-10.4,552,3390,0.00,2.28,0.00,0.000,4,0.000,0.057,2478,3686,3750
$GC,3407,-0.95,-219.0,378.5,-10.2,553,3413,0.00,2.10,0.00,0.000,6,0.000,0.033,2478,2278,3749
$GC,3724,-0.95,-219.0,410.1,-9.4,584,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2278,3749
$GC,4036,-0.95,-219.0,437.6,-8.6,614,4039,0.00,2.25,0.00,0.000,4,0.000,0.059,2478,3685,3746
$GC,4089,-0.95,-219.0,442.6,-8.9,619,4092,0.00,2.08,0.00,0.000,6,0.000,0.033,2478,2296,3746
$GC,4410,-0.95,-219.0,471.5,-8.9,650,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2290,3744
$GC,4722,-0.95,-219.0,499.7,-8.7,680,4726,0.00,2.22,0.00,0.000,4,0.000,0.060,2478,3682,3742
$GC,4764,-0.95,-219.0,503.7,-8.8,683,4767,0.00,2.08,0.00,0.000,6,0.000,0.033,2478,2295,3742
$STATE,4803,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4803,begin apogee
$GC,4809,-0.26,0.0,507.4,8.6,685,4980,0.65,0.00,169.05,0.980,6,0.079,0.000,2716,2288,2854
$STATE,4980,end apogee,CONTROL_FINISHED_OK
$STATE,4980,begin climb
$GC,4983,0.95,219.0,518.9,0.0,693,5161,0.98,2.30,169.12,0.966,4,0.038,0.054,3118,3683,1959
$GC,5267,0.95,219.0,502.1,13.1,706,5271,0.00,2.15,0.00,0.000,6,0.000,0.035,3129,2305,1957
$GC,5591,0.95,219.0,462.5,12.5,736,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2305,1953
$GC,5898,0.95,219.0,427.3,10.7,766,5901,0.00,2.20,0.00,0.000,4,0.000,0.053,3128,3690,1951
$GC,6027,0.95,219.0,412.8,11.3,778,6031,0.15,2.15,0.00,0.000,6,0.191,0.035,3102,2267,1950
$GC,6342,0.95,219.0,381.2,9.5,808,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2264,1949
$GC,6655,0.98,241.1,353.7,8.4,838,6677,0.00,2.33,17.45,0.858,4,0.000,0.051,3102,3683,1870
$GC,6724,0.98,241.1,346.8,9.7,844,6730,0.00,2.15,0.00,0.000,6,0.000,0.037,3111,2298,1869
$GC,7043,0.98,241.1,317.4,9.2,875,7046,0.00,2.15,0.00,0.000,4,0.000,0.044,3121,907,1867
$GC,7064,0.98,241.1,315.2,9.2,877,7067,0.00,2.20,0.00,0.000,6,0.000,0.038,3121,2333,1866
$GC,7385,1.01,268.6,285.5,8.2,923,7414,0.00,2.28,23.23,0.836,4,0.000,0.044,3132,905,1758
$GC,7569,1.02,275.0,268.9,8.8,957,7582,0.00,2.10,6.62,0.684,6,0.000,0.038,3132,2266,1731
$GC,7902,1.02,275.0,234.2,9.9,1019,7908,0.00,2.22,0.00,0.000,4,0.000,0.050,3131,3690,1730
$GC,7966,1.02,275.0,227.8,9.8,1031,7972,0.00,2.15,0.00,0.000,6,0.000,0.033,3142,2262,1730
$GC,8292,1.05,298.6,199.2,8.3,1092,8318,0.00,2.28,20.88,0.763,4,0.000,0.048,3143,3690,1635
$GC,8505,1.05,298.6,177.2,9.4,1131,8511,0.00,2.12,0.00,0.000,6,0.000,0.033,3153,2305,1634
$GC,8832,1.06,309.2,145.7,8.7,1192,8846,0.00,2.25,9.90,0.664,4,0.000,0.048,3153,3695,1593
$GC,8932,1.06,309.2,135.0,11.0,1210,8937,0.00,2.10,0.00,0.000,6,0.000,0.038,3162,2331,1593
$GC,9258,1.07,315.0,107.7,8.8,1271,9270,0.00,2.20,6.38,0.569,4,0.000,0.044,3173,891,1570
$GC,9377,1.15,380.0,97.8,7.2,1293,9436,0.00,2.25,53.47,0.686,6,0.000,0.036,3173,2342,1304
$GC,9759,1.18,403.6,64.2,8.3,1362,9785,0.00,2.33,20.10,0.629,4,0.000,0.041,3184,896,1207
$GC,9915,1.18,403.6,49.8,9.7,1390,9921,0.00,2.20,0.00,0.000,6,0.000,0.036,3184,2328,1204
$GC,10241,1.18,403.6,17.1,10.0,1451,10247,0.00,2.12,0.00,0.000,4,0.000,0.048,3183,3687,1205
$GC,10349,1.18,403.6,4.8,11.5,1471,10354,0.00,2.03,0.00,0.000,6,0.000,0.031,3193,2350,1205
$STATE,10368,end climb,SURFACE_DEPTH_REACHED
$STATE,10368,begin surface coast
$FINISH,1.3,1.020026
$STATE,10395,end surface coast,CONTROL_FINISHED_OK
$STATE,10395,begin surface
$SM_CCo,10412,56.60,0.588,0,0,916,475.15
$SM_GC,2.24,0.00,0.00,56.60,0.000,0.000,0.588,156,2278,916,-8.24,-0.23,475.15
$IRIDIUM_FIX,2453.69,12506.54,271098,040423
$TT8_MAMPS,0.048321
$HUMID,1673
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,27.20
$XPDR_PINGS,765
$24V_AH,23.8,90.409
$10V_AH,10.6,61.480
$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,18.700,95.950,496.200,56.600,0.000,60.620,83.482,284.236,194.500,0.000,0.000,17.600,0.000,6469.404,636.750,3208.293,765.584,0.000,1797.279,0.000,2755.660,0.000,22.581,0.000
$DEVICE_MAMPS,227.799,94.341,980.226,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,991.358,1108.652,1851.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85056,1480
$CAP_FILE_SIZE,126120,0
$CFSIZE,260165632,221523968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219,353.2,1
$GPS,020809,074406,2505.062,12539.874,13,1.8,23,-3.9