version: 66.04
glider: 165
mission: 2
dive: 402
start: 8 2 109 7 54 57
data:
$ID,165
$MISSION,2
$DIVE,402
$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,-125986.39
$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,39
$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
$GPS1,074406,2505.062,12539.874,13,1.8,23,-3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-68.5
$GPS2,075452,2505.119,12539.838,12,2.6,31,-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,172.1,48940,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.95,-219.0,0.0,0.0,0,60,0.00,0.00,-45.42,0.000,2,0.000,0.000,154,2277,2051
$GC,63,-0.95,-219.0,3.1,-3.3,7,126,9.27,2.17,-45.83,0.000,4,0.229,0.055,2482,892,3751
$GC,158,-0.95,-219.0,15.0,-15.6,23,164,0.00,2.15,0.00,0.000,6,0.000,0.038,2481,2275,3751
$GC,484,-0.95,-219.0,62.3,-14.1,84,490,0.00,2.20,0.00,0.000,4,0.000,0.054,2481,3685,3751
$GC,517,-0.95,-219.0,66.8,-14.1,90,523,0.00,2.15,0.00,0.000,6,0.000,0.031,2481,2243,3751
$GC,843,-0.95,-219.0,107.7,-11.8,151,849,0.00,2.05,0.00,0.000,4,0.000,0.041,2481,909,3752
$GC,935,-0.95,-219.0,119.1,-12.8,168,941,0.00,2.05,0.00,0.000,6,0.000,0.040,2480,2230,3752
$GC,1262,-0.95,-219.0,154.5,-10.2,229,1269,0.00,2.28,0.00,0.000,4,0.000,0.054,2481,3685,3753
$GC,1328,-0.95,-219.0,161.4,-10.4,241,1335,0.00,2.12,0.00,0.000,6,0.000,0.031,2481,2259,3753
$GC,1656,-0.95,-219.0,194.7,-10.1,302,1662,0.00,2.08,0.00,0.000,4,0.000,0.043,2481,899,3753
$GC,1699,-0.95,-219.0,199.3,-10.5,310,1704,0.00,2.12,0.00,0.000,6,0.000,0.041,2481,2281,3753
$GC,2025,-0.95,-219.0,232.5,-9.9,371,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2281,3753
$GC,2350,-0.95,-219.0,266.4,-10.2,432,2356,0.00,2.22,0.00,0.000,4,0.000,0.061,2480,3685,3753
$GC,2393,-0.95,-219.0,270.9,-10.5,440,2399,0.00,2.15,0.00,0.000,6,0.000,0.031,2480,2256,3753
$GC,2718,-0.95,-219.0,304.4,-10.3,497,2721,0.00,2.08,0.00,0.000,4,0.000,0.044,2480,898,3753
$GC,2739,-0.95,-219.0,306.6,-10.3,499,2742,0.00,2.12,0.00,0.000,6,0.000,0.042,2481,2274,3753
$GC,3060,-0.95,-219.0,339.2,-10.0,530,3063,0.00,2.22,0.00,0.000,4,0.000,0.056,2481,3691,3752
$GC,3139,-0.95,-219.0,347.7,-10.8,537,3147,0.00,2.15,0.00,0.000,6,0.000,0.032,2481,2269,3751
$GC,3455,-0.95,-219.0,379.6,-9.8,568,3458,0.00,2.25,0.00,0.000,4,0.000,0.056,2481,3686,3750
$GC,3509,-0.95,-219.0,384.6,-9.4,573,3512,0.00,2.08,0.00,0.000,6,0.000,0.032,2481,2287,3750
$GC,3830,-0.95,-219.0,414.3,-8.9,604,3833,0.00,2.22,0.00,0.000,4,0.000,0.058,2481,3680,3749
$GC,3877,-0.95,-219.0,418.7,-9.5,608,3883,0.00,2.08,0.00,0.000,6,0.000,0.038,2481,2305,3748
$GC,4195,-0.95,-219.0,446.7,-9.2,639,4198,0.00,2.17,0.00,0.000,4,0.000,0.045,2481,893,3747
$GC,4217,-0.95,-219.0,449.1,-10.2,641,4220,0.00,2.22,0.00,0.000,6,0.000,0.043,2481,2324,3747
$GC,4532,-0.95,-219.0,479.1,-9.7,671,4535,0.00,2.15,0.00,0.000,4,0.000,0.059,2481,3681,3744
$GC,4601,-0.95,-219.0,486.2,-10.7,677,4608,0.00,2.03,0.00,0.000,6,0.000,0.034,2481,2346,3744
$STATE,4810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4810,begin apogee
$GC,4816,-0.26,0.0,507.1,10.1,695,4987,0.65,0.00,168.82,0.973,6,0.079,0.000,2720,2346,2854
$STATE,4988,end apogee,CONTROL_FINISHED_OK
$STATE,4988,begin climb
$GC,4990,0.95,219.0,520.3,0.0,703,5168,0.98,2.20,168.62,0.960,4,0.042,0.054,3112,3683,1959
$GC,5264,0.95,219.0,506.1,13.3,716,5267,0.00,2.10,0.00,0.000,6,0.000,0.036,3122,2312,1957
$GC,5587,0.95,219.0,466.8,11.6,744,5590,0.00,2.20,0.00,0.000,4,0.000,0.047,3132,891,1953
$GC,5644,0.95,219.0,459.6,12.0,749,5650,0.08,2.22,0.00,0.000,6,0.176,0.041,3099,2298,1952
$GC,5961,0.95,219.0,428.0,9.3,780,5964,0.00,2.20,0.00,0.000,4,0.000,0.054,3099,3695,1951
$GC,6121,0.95,219.0,410.9,10.7,795,6124,0.00,2.10,0.00,0.000,6,0.000,0.035,3108,2307,1950
$GC,6444,0.95,219.3,381.1,9.0,826,6447,0.00,2.17,0.00,0.000,4,0.000,0.045,3119,904,1948
$GC,6486,0.95,219.3,376.9,9.7,830,6489,0.00,2.22,0.00,0.000,6,0.000,0.041,3119,2338,1947
$GC,6809,0.95,219.3,346.2,10.0,861,6812,0.00,2.12,0.00,0.000,4,0.000,0.053,3119,3696,1946
$GC,6916,0.95,219.3,335.1,9.8,871,6919,0.00,2.05,0.00,0.000,6,0.000,0.034,3129,2335,1946
$GC,7238,1.00,254.5,305.7,8.0,902,7272,0.00,2.28,28.02,0.848,4,0.000,0.048,3140,893,1814
$GC,7336,1.00,254.5,296.4,9.9,914,7343,0.00,2.22,0.00,0.000,6,0.000,0.044,3140,2316,1811
$GC,7664,1.00,254.5,261.8,10.2,975,7670,0.00,2.22,0.00,0.000,4,0.000,0.044,3150,887,1809
$GC,7745,1.00,254.5,253.1,11.3,990,7751,0.10,2.22,0.00,0.000,6,0.172,0.043,3119,2305,1809
$GC,8072,1.04,288.3,223.7,8.1,1051,8109,0.00,2.28,28.25,0.788,4,0.000,0.047,3128,902,1676
$GC,8146,1.04,288.3,216.9,9.7,1064,8152,0.00,2.20,0.00,0.000,6,0.000,0.041,3128,2292,1675
$GC,8472,1.07,311.9,187.2,8.3,1125,8499,0.00,2.20,20.33,0.743,4,0.000,0.056,3128,3678,1581
$GC,8643,1.07,311.9,168.7,11.0,1156,8648,0.00,2.08,0.00,0.000,6,0.000,0.040,3139,2311,1579
$GC,8969,1.07,311.9,137.4,9.6,1217,8975,0.00,2.20,0.00,0.000,4,0.000,0.050,3139,3688,1579
$GC,9039,1.07,311.9,130.1,10.9,1230,9045,0.00,2.08,0.00,0.000,6,0.000,0.037,3149,2335,1579
$GC,9366,1.10,341.1,102.9,8.2,1291,9398,0.00,2.15,25.12,0.680,4,0.000,0.054,3149,3684,1462
$GC,9430,1.10,341.1,96.9,9.6,1302,9436,0.00,1.98,0.00,0.000,6,0.000,0.032,3158,2394,1462
$GC,9756,1.19,412.7,73.4,7.0,1363,9820,0.00,2.35,57.88,0.660,4,0.000,0.043,3169,895,1170
$GC,9932,1.19,412.7,58.2,9.7,1394,9938,0.00,2.30,0.00,0.000,6,0.000,0.042,3169,2378,1167
$GC,10260,1.19,412.7,26.9,9.9,1455,10267,0.00,2.33,0.00,0.000,4,0.000,0.042,3180,900,1167
$GC,10395,1.21,430.9,14.5,8.5,1480,10420,0.00,2.22,15.48,0.570,6,0.000,0.040,3180,2354,1096
$STATE,10503,end climb,SURFACE_DEPTH_REACHED
$STATE,10503,begin surface coast
$FINISH,1.3,1.020894
$STATE,10535,end surface coast,CONTROL_FINISHED_OK
$STATE,10535,begin surface
$SM_CCo,10551,34.15,0.578,0,0,916,475.15
$SM_GC,2.32,0.00,0.00,34.15,0.000,0.000,0.578,156,2268,916,-8.24,-0.48,475.15
$IRIDIUM_FIX,2456.07,12537.51,271098,070718
$TT8_MAMPS,0.048321
$HUMID,1664
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,27.20
$XPDR_PINGS,794
$24V_AH,23.9,90.588
$10V_AH,10.7,61.621
$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,18.650,108.525,512.525,34.150,0.000,63.623,98.225,258.485,201.750,0.000,0.000,34.275,0.000,6473.292,649.316,3321.780,761.495,0.000,1857.518,0.000,2841.315,0.000,24.469,0.000
$DEVICE_MAMPS,228.566,65.962,973.323,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.485,1138.094,1899.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85310,1506
$CAP_FILE_SIZE,129292,0
$CFSIZE,260165632,221446144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.245,353.0,1
$GPS,020809,105230,2505.555,12539.689,38,1.6,43,-3.9