version: 66.04
glider: 165
mission: 2
dive: 406
start: 8 2 109 20 26 19
data:
$ID,165
$MISSION,2
$DIVE,406
$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,250
$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,-126076.81
$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,46
$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
$GPS1,201900,2505.138,12540.426,40,1.1,45,-3.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-69.4
$GPS2,202613,2505.174,12540.475,13,1.1,13,-3.9
$SPEED_LIMITS,0.156,0.313
$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,172.3,48587,-12.5,-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,-0.94,-243.4,0.0,0.0,0,56,0.00,0.00,-42.15,0.000,2,0.000,0.000,147,2249,1967
$GC,60,-0.94,-243.4,3.1,-2.9,6,125,9.30,2.12,-50.88,0.000,4,0.227,0.053,2477,874,3847
$GC,157,-0.94,-243.4,15.2,-14.3,22,164,0.00,2.20,0.00,0.000,6,0.000,0.040,2477,2295,3848
$GC,484,-0.94,-243.4,62.4,-12.4,83,490,0.00,2.17,0.00,0.000,4,0.000,0.041,2478,882,3849
$GC,522,-0.94,-243.4,67.1,-12.9,90,529,0.00,2.12,0.00,0.000,6,0.000,0.038,2477,2250,3848
$GC,849,-0.94,-243.4,107.7,-11.8,151,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2250,3849
$GC,1176,-0.94,-243.4,144.9,-11.6,212,1182,0.00,2.12,0.00,0.000,4,0.000,0.043,2477,886,3849
$GC,1219,-0.94,-243.4,150.4,-12.2,220,1225,0.00,2.12,0.00,0.000,6,0.000,0.041,2477,2247,3850
$GC,1546,-0.94,-243.4,187.2,-10.3,281,1551,0.00,2.28,0.00,0.000,4,0.000,0.055,2478,3692,3850
$GC,1572,-0.94,-243.4,190.1,-11.0,286,1580,0.00,2.20,0.00,0.000,6,0.000,0.031,2477,2225,3850
$GC,1900,-0.94,-243.4,225.9,-10.3,347,1905,0.00,2.08,0.00,0.000,4,0.000,0.048,2478,880,3850
$GC,1926,-0.94,-243.4,228.7,-10.6,352,1932,0.00,2.12,0.00,0.000,6,0.000,0.042,2478,2244,3850
$GC,2252,-0.94,-243.4,263.0,-10.7,413,2258,0.00,2.28,0.00,0.000,4,0.000,0.056,2477,3689,3850
$GC,2316,-0.94,-243.4,270.1,-11.2,425,2322,0.00,2.15,0.00,0.000,6,0.000,0.031,2477,2234,3850
$GC,2647,-0.94,-243.4,304.4,-10.0,483,2650,0.00,2.30,0.00,0.000,4,0.000,0.056,2477,3685,3850
$GC,2694,-0.94,-243.4,309.3,-9.9,487,2700,0.00,2.15,0.00,0.000,6,0.000,0.033,2477,2240,3849
$GC,3011,-0.94,-243.4,339.9,-9.6,518,3015,0.00,2.30,0.00,0.000,4,0.000,0.058,2478,3686,3849
$GC,3059,-0.94,-243.4,344.5,-9.8,522,3062,0.00,2.12,0.00,0.000,6,0.000,0.032,2477,2277,3849
$GC,3380,-0.94,-243.4,373.7,-9.5,553,3383,0.00,2.25,0.00,0.000,4,0.000,0.058,2477,3685,3848
$GC,3406,-0.94,-243.4,376.2,-9.9,555,3412,0.00,2.15,0.00,0.000,6,0.000,0.036,2477,2261,3848
$GC,3721,-0.94,-243.4,406.5,-8.8,586,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2261,3847
$GC,4034,-0.94,-243.4,434.3,-7.8,616,4037,0.00,2.28,0.00,0.000,4,0.000,0.058,2477,3679,3844
$GC,4050,-0.94,-243.4,435.7,-8.2,617,4055,0.00,2.10,0.00,0.000,6,0.000,0.035,2477,2279,3844
$GC,4367,-0.94,-243.4,465.4,-10.0,648,4370,0.00,2.15,0.00,0.000,4,0.000,0.046,2478,890,3842
$GC,4409,-0.94,-243.4,469.9,-10.2,652,4412,0.00,2.17,0.00,0.000,6,0.000,0.044,2477,2288,3842
$GC,4739,-0.94,-243.4,504.6,-10.5,682,4743,0.00,2.22,0.00,0.000,4,0.000,0.060,2478,3685,3840
$STATE,4763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4763,begin apogee
$GC,4771,-0.26,0.0,507.4,11.1,683,4966,0.60,0.00,188.35,0.979,6,0.073,0.000,2708,2297,2854
$STATE,4966,end apogee,CONTROL_FINISHED_OK
$STATE,4966,begin climb
$GC,4969,0.94,243.4,523.2,0.0,693,5166,1.00,2.30,188.52,0.963,4,0.041,0.057,3112,3682,1860
$GC,5186,0.94,243.4,511.3,15.3,703,5190,0.00,2.17,0.00,0.000,6,0.000,0.036,3121,2309,1858
$GC,5504,0.94,243.4,468.9,12.6,729,5507,0.00,2.20,0.00,0.000,4,0.000,0.054,3122,3690,1854
$GC,5562,0.94,243.4,460.8,13.2,734,5570,0.10,2.10,0.00,0.000,6,0.180,0.036,3102,2336,1853
$GC,5878,0.94,243.4,427.2,10.8,765,5881,0.00,2.15,0.00,0.000,4,0.000,0.052,3102,3692,1851
$GC,5909,0.94,243.4,423.9,11.6,768,5913,0.00,2.03,0.00,0.000,6,0.000,0.035,3111,2368,1851
$GC,6233,0.94,243.4,388.0,11.9,799,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2366,1850
$GC,6541,0.94,243.4,356.2,9.1,829,6544,0.00,2.10,0.00,0.000,4,0.000,0.052,3110,3693,1847
$GC,6594,0.94,243.4,350.6,10.7,834,6597,0.00,1.98,0.00,0.000,6,0.000,0.034,3120,2400,1847
$GC,6917,0.94,243.4,317.7,11.0,865,6921,0.00,2.33,0.00,0.000,4,0.000,0.044,3132,899,1845
$GC,6996,0.94,243.4,308.6,10.7,872,7003,0.10,2.40,0.00,0.000,6,0.162,0.043,3101,2422,1844
$GC,7320,0.94,243.4,278.2,9.1,925,7325,0.00,2.40,0.00,0.000,4,0.000,0.043,3111,890,1844
$GC,7483,0.96,258.9,264.9,8.6,955,7500,0.00,2.30,11.32,0.771,6,0.000,0.038,3111,2380,1798
$GC,7820,0.96,258.9,233.8,9.5,1018,7827,0.00,2.08,0.00,0.000,4,0.000,0.053,3111,3685,1796
$GC,7966,0.96,258.9,219.5,9.5,1045,7972,0.00,1.92,0.00,0.000,6,0.000,0.034,3120,2397,1796
$GC,8293,0.96,258.9,188.6,9.1,1106,8300,0.00,2.38,0.00,0.000,4,0.000,0.045,3132,869,1795
$GC,8417,0.96,258.9,176.7,9.3,1129,8424,0.05,2.40,0.00,0.000,6,0.141,0.038,3101,2405,1795
$GC,8744,1.07,350.0,151.9,6.7,1190,8827,0.10,2.42,75.20,0.736,4,0.081,0.046,3160,891,1425
$GC,8871,1.07,350.0,139.5,11.0,1211,8877,0.00,2.38,0.00,0.000,6,0.000,0.037,3159,2410,1423
$GC,9198,1.07,350.0,106.4,9.1,1272,9204,0.00,2.38,0.00,0.000,4,0.000,0.044,3171,897,1422
$GC,9289,1.09,360.7,98.5,8.7,1289,9303,0.00,2.28,9.50,0.611,6,0.000,0.035,3171,2361,1382
$GC,9624,1.17,431.9,69.8,7.2,1351,9688,0.00,2.33,58.08,0.655,4,0.000,0.041,3181,890,1092
$GC,9709,1.17,431.9,62.5,9.4,1365,9715,0.00,2.28,0.00,0.000,6,0.000,0.039,3181,2346,1090
$GC,10035,1.17,431.9,30.2,9.3,1426,10042,0.00,2.10,0.00,0.000,4,0.000,0.048,3181,3702,1090
$GC,10123,1.17,431.9,21.4,9.7,1442,10130,0.00,2.08,0.00,0.000,6,0.000,0.031,3191,2311,1089
$STATE,10320,end climb,SURFACE_DEPTH_REACHED
$STATE,10320,begin surface coast
$FINISH,1.3,0.996978
$STATE,10352,end surface coast,CONTROL_FINISHED_OK
$STATE,10352,begin surface
$SM_CCo,10368,34.70,0.581,0,0,916,475.15
$SM_GC,2.35,0.00,0.00,34.70,0.000,0.000,0.581,150,2303,916,-8.26,0.51,475.15
$IRIDIUM_FIX,2456.07,12542.22,271098,171746
$TT8_MAMPS,0.048321
$HUMID,1679
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,27.10
$XPDR_PINGS,758
$24V_AH,23.3,91.295
$10V_AH,10.6,62.179
$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,18.950,105.750,530.975,34.700,0.000,31.520,40.653,216.488,192.750,0.000,0.000,15.197,0.000,6313.851,665.209,3199.118,632.748,0.000,1833.938,0.000,2752.932,0.000,22.558,0.000
$DEVICE_MAMPS,227.032,59.826,979.459,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.450,1121.019,1867.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85326,1485
$CAP_FILE_SIZE,123649,0
$CFSIZE,260165632,221138944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,359.0,1
$GPS,020809,232034,2505.276,12540.458,7,2.2,26,-3.9