version: 66.04
glider: 165
mission: 2
dive: 404
start: 8 2 109 14 14 48
data:
$ID,165
$MISSION,2
$DIVE,404
$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,-126030.11
$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,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
$GPS1,140731,2505.262,12539.916,39,1.1,39,-3.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-67.6
$GPS2,141443,2505.338,12539.922,8,1.4,8,-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,176.3,49247,-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,11,begin dive
$GC,13,-0.95,-219.0,0.0,0.0,0,59,0.00,0.00,-43.92,0.000,2,0.000,0.000,148,2286,2025
$GC,62,-0.95,-219.0,3.3,-3.9,7,127,9.75,2.20,-46.20,0.000,4,0.244,0.052,2479,887,3750
$GC,164,-0.95,-219.0,16.8,-16.4,24,171,0.00,2.17,0.00,0.000,6,0.000,0.039,2478,2279,3750
$GC,491,-0.95,-219.0,64.2,-13.2,85,497,0.00,2.15,0.00,0.000,4,0.000,0.040,2478,875,3751
$GC,502,-0.95,-219.0,65.5,-12.7,87,508,0.00,2.17,0.00,0.000,6,0.000,0.040,2478,2269,3751
$GC,828,-0.95,-219.0,103.3,-10.7,148,835,0.00,2.22,0.00,0.000,4,0.000,0.054,2478,3694,3752
$GC,856,-0.95,-219.0,106.5,-11.6,153,862,0.00,2.17,0.00,0.000,6,0.000,0.030,2478,2217,3752
$GC,1183,-0.95,-219.0,143.0,-10.5,214,1188,0.00,2.05,0.00,0.000,4,0.000,0.043,2478,889,3753
$GC,1215,-0.95,-219.0,146.7,-11.5,220,1222,0.00,2.10,0.00,0.000,6,0.000,0.041,2478,2260,3753
$GC,1542,-0.95,-219.0,181.1,-10.2,281,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2260,3753
$GC,1868,-0.95,-219.0,213.4,-10.6,342,1875,0.00,2.28,0.00,0.000,4,0.000,0.056,2477,3681,3753
$GC,1922,-0.95,-219.0,219.2,-11.0,352,1930,0.00,2.20,0.00,0.000,6,0.000,0.031,2478,2218,3753
$GC,2250,-0.95,-219.0,251.7,-9.4,413,2256,0.00,2.33,0.00,0.000,4,0.000,0.056,2478,3682,3753
$GC,2309,-0.95,-219.0,257.4,-9.5,424,2316,0.00,2.20,0.00,0.000,6,0.000,0.032,2478,2224,3753
$GC,2636,-0.95,-219.0,290.4,-10.6,485,2642,0.00,2.33,0.00,0.000,4,0.000,0.056,2478,3690,3753
$GC,2663,-0.95,-219.0,293.3,-10.6,490,2669,0.00,2.17,0.00,0.000,6,0.000,0.035,2478,2236,3753
$GC,2986,-0.95,-219.0,323.2,-8.6,527,2989,0.00,2.30,0.00,0.000,4,0.000,0.057,2478,3683,3753
$GC,3051,-0.95,-219.0,328.5,-8.4,533,3054,0.00,2.10,0.00,0.000,6,0.000,0.033,2478,2267,3752
$GC,3371,-0.95,-219.0,358.7,-10.4,564,3375,0.00,2.28,0.00,0.000,4,0.000,0.058,2477,3691,3750
$GC,3425,-0.95,-219.0,364.4,-11.0,569,3428,0.00,2.08,0.00,0.000,6,0.000,0.032,2478,2287,3750
$GC,3745,-0.95,-219.0,396.7,-9.0,600,3749,0.00,2.22,0.00,0.000,4,0.000,0.057,2478,3682,3749
$GC,3809,-0.95,-219.0,402.4,-8.2,606,3813,0.00,2.03,0.00,0.000,6,0.000,0.032,2478,2315,3748
$GC,4130,-0.95,-219.0,429.3,-8.5,637,4133,0.00,2.20,0.00,0.000,4,0.000,0.044,2477,884,3746
$GC,4145,-0.95,-219.0,430.6,-8.5,638,4152,0.00,2.28,0.00,0.000,6,0.000,0.047,2478,2321,3746
$GC,4464,-0.95,-219.0,459.7,-9.6,669,4467,0.00,2.17,0.00,0.000,4,0.000,0.059,2478,3694,3744
$GC,4544,-0.95,-219.0,467.6,-9.4,676,4551,0.00,2.08,0.00,0.000,6,0.000,0.038,2478,2326,3743
$GC,4862,-0.95,-219.0,494.7,-8.9,707,4865,0.00,2.17,0.00,0.000,4,0.000,0.058,2478,3688,3742
$GC,5001,-0.95,-219.0,507.0,-8.4,716,5004,0.00,2.00,0.00,0.000,6,0.000,0.032,2478,2371,3740
$STATE,5009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5009,begin apogee
$GC,5014,-0.26,0.0,508.1,8.8,717,5186,0.65,0.00,169.10,0.983,6,0.078,0.000,2716,2365,2854
$STATE,5186,end apogee,CONTROL_FINISHED_OK
$STATE,5186,begin climb
$GC,5189,0.95,219.0,519.4,0.0,725,5367,1.00,2.17,169.15,0.965,4,0.041,0.054,3119,3689,1960
$GC,5457,0.95,219.0,501.6,15.2,737,5464,0.00,2.12,0.00,0.000,6,0.000,0.035,3129,2306,1956
$GC,5774,0.95,219.0,463.0,11.0,767,5777,0.00,2.20,0.00,0.000,4,0.000,0.046,3140,887,1953
$GC,5870,0.95,219.0,451.8,11.4,776,5874,0.15,2.20,0.00,0.000,6,0.177,0.041,3102,2307,1951
$GC,6191,0.95,219.0,415.8,11.3,807,6194,0.00,2.15,0.00,0.000,4,0.000,0.053,3102,3677,1950
$GC,6270,0.95,219.0,406.5,11.6,814,6277,0.00,2.15,0.00,0.000,6,0.000,0.040,3111,2285,1950
$GC,6589,0.95,219.0,370.8,11.0,845,6592,0.00,2.22,0.00,0.000,4,0.000,0.051,3111,3689,1948
$GC,6749,0.95,219.0,352.8,10.3,860,6752,0.00,2.08,0.00,0.000,6,0.000,0.034,3121,2334,1947
$GC,7073,0.95,219.0,320.1,10.0,891,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2334,1946
$GC,7385,0.96,226.0,287.9,8.8,932,7397,0.00,2.28,4.55,0.596,4,0.000,0.044,3132,906,1932
$GC,7519,0.96,226.0,275.9,9.2,957,7526,0.00,2.28,0.00,0.000,6,0.000,0.039,3132,2375,1931
$GC,7846,0.99,247.1,250.4,8.4,1018,7871,0.00,0.00,19.05,0.808,6,0.000,0.000,3132,2375,1845
$GC,8191,0.99,247.1,217.5,9.7,1082,8197,0.00,2.05,0.00,0.000,4,0.000,0.057,3132,3680,1842
$GC,8330,0.99,247.1,204.0,9.1,1108,8336,0.08,2.03,0.00,0.000,6,0.179,0.040,3118,2362,1842
$GC,8657,1.04,294.1,178.2,7.7,1169,8701,0.00,2.30,38.80,0.767,4,0.000,0.047,3127,900,1654
$GC,8782,1.06,306.4,166.9,8.7,1191,8801,0.00,2.22,11.62,0.690,6,0.000,0.041,3127,2330,1603
$GC,9123,1.15,377.4,137.9,7.0,1254,9186,0.10,2.22,58.22,0.726,4,0.079,0.049,3179,3684,1315
$GC,9207,1.15,377.4,129.2,12.4,1268,9213,0.00,2.17,0.00,0.000,6,0.000,0.035,3189,2276,1315
$GC,9534,1.15,377.4,91.3,10.9,1329,9541,0.00,2.12,0.00,0.000,4,0.000,0.042,3198,910,1311
$GC,9567,1.15,377.4,87.5,11.8,1335,9573,0.10,2.10,0.00,0.000,6,0.158,0.036,3157,2252,1311
$GC,9894,1.15,378.6,57.2,9.0,1396,9899,0.00,2.10,0.00,0.000,4,0.000,0.049,3165,906,1311
$GC,10033,1.15,380.3,44.1,8.9,1422,10039,0.00,2.12,0.00,0.000,6,0.000,0.041,3164,2297,1311
$GC,10361,1.19,408.6,14.9,8.2,1483,10392,0.00,2.17,26.23,0.604,4,0.000,0.051,3165,3681,1187
$STATE,10499,end climb,SURFACE_DEPTH_REACHED
$STATE,10499,begin surface coast
$FINISH,1.4,0.999307
$STATE,10534,end surface coast,CONTROL_FINISHED_OK
$STATE,10534,begin surface
$SM_CCo,10552,51.58,0.591,0,0,917,475.15
$SM_GC,2.16,0.00,0.00,51.58,0.000,0.000,0.591,146,2285,917,-8.27,0.00,475.15
$IRIDIUM_FIX,2456.07,12540.83,271098,111137
$TT8_MAMPS,0.048321
$HUMID,1692
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,26.80
$XPDR_PINGS,774
$24V_AH,23.8,90.940
$10V_AH,10.6,61.904
$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,19.550,104.300,496.725,51.575,0.000,28.225,42.775,227.220,196.750,0.000,0.000,10.087,0.000,6407.195,653.664,3314.703,633.368,0.000,1864.132,0.000,2858.751,0.000,22.554,0.000
$DEVICE_MAMPS,243.906,59.059,983.294,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.602,1141.131,1905.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85379,1515
$CAP_FILE_SIZE,128018,0
$CFSIZE,260165632,221290496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.115, 37.1,1
$GPS,020809,171236,2504.878,12540.329,28,1.3,39,-3.9