version: 66.04
glider: 165
mission: 2
dive: 407
start: 8 2 109 23 31 20
data:
$ID,165
$MISSION,2
$DIVE,407
$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,-126088.47
$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,51
$R_STBD_OVSHOOT,38
$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
$GPS1,232034,2505.276,12540.458,7,2.2,26,-3.9
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-67.9
$GPS2,233114,2505.267,12540.487,9,1.7,9,-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,176.7,48736,-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,-243.4,0.0,0.0,0,57,0.00,0.00,-43.53,0.000,2,0.000,0.000,147,2303,2019
$GC,60,-0.94,-243.4,3.2,-3.7,7,125,9.32,2.20,-47.40,0.000,4,0.227,0.054,2484,884,3849
$GC,178,-0.94,-243.4,19.1,-15.9,27,184,0.00,2.17,0.00,0.000,6,0.000,0.038,2481,2301,3849
$GC,504,-0.94,-243.4,65.9,-12.1,88,511,0.00,2.17,0.00,0.000,4,0.000,0.041,2481,886,3849
$GC,549,-0.94,-243.4,71.5,-12.3,96,556,0.00,2.15,0.00,0.000,6,0.000,0.038,2481,2269,3849
$GC,877,-0.94,-243.4,111.4,-12.4,157,882,0.00,2.12,0.00,0.000,4,0.000,0.042,2481,886,3850
$GC,931,-0.94,-243.4,118.6,-13.6,167,936,0.00,2.08,0.00,0.000,6,0.000,0.041,2481,2244,3849
$GC,1258,-0.94,-243.4,155.7,-10.9,228,1264,0.00,2.10,0.00,0.000,4,0.000,0.043,2481,880,3850
$GC,1276,-0.94,-243.4,157.6,-11.2,231,1281,0.00,2.10,0.00,0.000,6,0.000,0.041,2481,2249,3850
$GC,1603,-0.94,-243.4,194.8,-10.9,292,1610,0.00,2.28,0.00,0.000,4,0.000,0.055,2480,3677,3850
$GC,1668,-0.94,-243.4,201.7,-10.0,304,1675,0.00,2.17,0.00,0.000,6,0.000,0.032,2481,2237,3850
$GC,1997,-0.94,-243.4,233.4,-10.1,365,2002,0.00,2.30,0.00,0.000,4,0.000,0.055,2481,3692,3850
$GC,2023,-0.94,-243.4,236.4,-10.9,370,2029,0.00,2.15,0.00,0.000,6,0.000,0.031,2481,2258,3850
$GC,2349,-0.94,-243.4,270.6,-10.0,431,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2258,3850
$GC,2679,-0.94,-243.4,303.6,-10.2,490,2682,0.00,2.28,0.00,0.000,4,0.000,0.061,2481,3679,3850
$GC,2748,-0.94,-243.4,310.4,-10.0,496,2751,0.00,2.12,0.00,0.000,6,0.000,0.033,2481,2268,3849
$GC,3069,-0.94,-243.4,341.8,-10.0,527,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2263,3848
$GC,3379,-0.94,-243.4,372.0,-9.7,557,3382,0.00,2.28,0.00,0.000,4,0.000,0.058,2481,3687,3847
$GC,3416,-0.94,-243.4,375.6,-9.5,560,3425,0.00,2.15,0.00,0.000,6,0.000,0.032,2481,2260,3846
$GC,3732,-0.94,-243.4,404.4,-9.0,591,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2260,3845
$GC,4045,-0.94,-243.4,433.6,-10.0,621,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2259,3844
$GC,4353,-0.94,-243.4,464.5,-9.6,651,4356,0.00,2.28,0.00,0.000,4,0.000,0.060,2481,3680,3841
$GC,4405,-0.94,-243.4,469.6,-9.9,656,4409,0.00,2.12,0.00,0.000,6,0.000,0.034,2481,2284,3841
$GC,4727,-0.94,-243.4,499.6,-9.6,687,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2278,3839
$STATE,4816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4816,begin apogee
$GC,4822,-0.26,0.0,508.7,9.9,692,5012,0.62,0.00,188.05,0.976,6,0.065,0.000,2719,2278,2854
$STATE,5012,end apogee,CONTROL_FINISHED_OK
$STATE,5012,begin climb
$GC,5016,0.94,243.4,524.2,0.0,701,5212,0.98,2.33,188.65,0.960,4,0.035,0.056,3128,3680,1860
$GC,5260,0.94,243.4,511.0,15.2,712,5266,0.12,2.17,0.00,0.000,6,0.181,0.042,3101,2303,1858
$GC,5576,0.94,243.4,473.6,12.1,738,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2303,1854
$GC,5884,0.94,243.4,436.8,11.1,768,5887,0.00,2.20,0.00,0.000,4,0.000,0.054,3101,3683,1851
$GC,5932,0.94,243.4,431.1,12.1,772,5938,0.00,2.15,0.00,0.000,6,0.000,0.042,3110,2298,1851
$GC,6250,0.94,243.4,394.1,12.1,803,6253,0.00,2.17,0.00,0.000,4,0.000,0.047,3121,900,1850
$GC,6340,0.94,243.4,383.4,11.4,811,6345,0.00,2.22,0.00,0.000,6,0.000,0.041,3121,2309,1848
$GC,6658,0.94,243.4,348.3,10.5,842,6661,0.00,2.17,0.00,0.000,4,0.000,0.054,3121,3692,1847
$GC,6705,0.94,243.4,343.2,10.4,846,6712,0.10,2.12,0.00,0.000,6,0.180,0.040,3101,2314,1846
$GC,7021,0.94,243.4,315.2,9.8,877,7024,0.00,2.17,0.00,0.000,4,0.000,0.054,3101,3682,1845
$GC,7128,0.94,243.4,303.3,11.6,887,7131,0.00,1.98,0.00,0.000,6,0.000,0.036,3110,2373,1845
$GC,7453,0.94,244.7,269.9,9.0,945,7460,0.00,2.28,0.00,0.000,4,0.000,0.045,3121,905,1844
$GC,7679,0.96,254.3,250.0,8.8,987,7691,0.00,2.22,7.47,0.703,6,0.000,0.039,3121,2340,1817
$GC,8012,0.96,257.7,220.9,8.9,1049,8024,0.00,2.17,4.50,0.559,4,0.000,0.052,3121,3682,1802
$GC,8136,0.99,286.0,210.0,8.3,1072,8166,0.00,2.05,25.12,0.779,6,0.000,0.038,3131,2353,1687
$GC,8486,0.99,286.0,176.5,9.5,1137,8493,0.00,2.25,0.00,0.000,4,0.000,0.044,3142,900,1683
$GC,8627,1.01,297.2,163.9,8.7,1163,8646,0.00,2.28,10.23,0.682,6,0.000,0.038,3142,2353,1642
$GC,8968,1.01,297.2,132.6,9.9,1226,8973,0.00,2.28,0.00,0.000,4,0.000,0.043,3152,890,1642
$GC,9053,1.01,297.2,124.4,9.5,1242,9059,0.12,2.22,0.00,0.000,6,0.160,0.038,3120,2338,1640
$GC,9381,1.08,358.1,99.2,7.5,1303,9437,0.00,2.30,50.78,0.689,4,0.000,0.047,3130,895,1392
$GC,9549,1.14,406.2,84.7,7.8,1333,9593,0.00,2.17,39.40,0.663,6,0.000,0.038,3129,2297,1198
$GC,9914,1.20,455.8,53.6,7.8,1400,9959,0.15,2.25,40.85,0.631,4,0.058,0.049,3209,3681,994
$GC,10071,1.20,455.8,37.0,10.9,1428,10077,0.15,2.20,0.00,0.000,6,0.164,0.033,3181,2246,993
$GC,10397,1.20,455.8,4.0,9.4,1489,10404,0.00,2.10,0.00,0.000,4,0.000,0.046,3190,885,992
$STATE,10406,end climb,SURFACE_DEPTH_REACHED
$STATE,10407,begin surface coast
$FINISH,1.5,1.011470
$STATE,10428,end surface coast,CONTROL_FINISHED_OK
$STATE,10428,begin surface
$SM_CCo,10446,14.80,0.557,0,0,916,475.15
$SM_GC,2.75,0.00,0.00,14.80,0.000,0.000,0.557,157,2300,916,-8.24,0.42,475.15
$IRIDIUM_FIX,2453.69,12540.83,271098,232344
$TT8_MAMPS,0.048321
$HUMID,1704
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,26.80
$XPDR_PINGS,773
$24V_AH,23.5,91.481
$10V_AH,10.6,62.317
$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,19.300,91.900,555.050,14.800,0.000,59.483,71.901,302.526,196.500,0.000,0.000,11.031,0.000,6444.205,662.678,3202.953,767.309,0.000,1825.219,0.000,2760.929,0.000,22.554,0.000
$DEVICE_MAMPS,227.032,60.593,976.391,556.842,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.153,1123.690,1875.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85334,1495
$CAP_FILE_SIZE,123582,0
$CFSIZE,260165632,221065216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 25.0,1
$GPS,030809,022637,2504.656,12540.847,30,1.8,30,-3.9