version: 66.04
glider: 165
mission: 2
dive: 409
start: 8 3 109 5 34 44
data:
$ID,165
$MISSION,2
$DIVE,409
$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,-126139.77
$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
$GPS1,052754,2504.094,12541.135,35,1.9,36,-3.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-71.4
$GPS2,053438,2504.133,12541.098,11,1.9,11,-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,175.1,46400,-12.5,-8.992
$D_GRID,498
$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,-243.4,0.0,0.0,0,59,0.00,0.00,-45.25,0.000,2,0.000,0.000,151,2303,2061
$GC,63,-0.94,-243.4,3.2,-3.9,7,126,9.18,2.17,-47.55,0.000,4,0.224,0.051,2480,887,3847
$GC,163,-0.94,-243.4,16.1,-15.6,24,169,0.00,2.17,0.00,0.000,6,0.000,0.038,2480,2282,3848
$GC,490,-0.94,-243.4,64.3,-14.9,85,496,0.00,2.17,0.00,0.000,4,0.000,0.040,2480,884,3848
$GC,560,-0.94,-243.4,73.9,-13.3,98,566,0.00,2.12,0.00,0.000,6,0.000,0.039,2480,2249,3848
$GC,887,-0.94,-243.4,112.5,-12.0,159,892,0.00,2.25,0.00,0.000,4,0.000,0.052,2480,3691,3849
$GC,919,-0.94,-243.4,116.5,-12.7,165,925,0.00,2.15,0.00,0.000,6,0.000,0.030,2480,2250,3849
$GC,1246,-0.94,-243.4,154.2,-11.1,226,1253,0.00,2.08,0.00,0.000,4,0.000,0.042,2480,907,3849
$GC,1279,-0.94,-243.4,158.1,-11.9,232,1285,0.00,2.08,0.00,0.000,6,0.000,0.039,2480,2267,3849
$GC,1605,-0.94,-243.4,194.9,-10.1,293,1612,0.00,2.25,0.00,0.000,4,0.000,0.054,2480,3681,3850
$GC,1654,-0.94,-243.4,200.0,-10.8,302,1663,0.00,2.10,0.00,0.000,6,0.000,0.031,2480,2262,3850
$GC,1984,-0.94,-243.4,234.1,-10.0,363,1989,0.00,2.08,0.00,0.000,4,0.000,0.043,2480,904,3850
$GC,2006,-0.94,-243.4,236.4,-10.7,367,2011,0.00,2.12,0.00,0.000,6,0.000,0.040,2480,2292,3850
$GC,2332,-0.94,-243.4,269.4,-10.3,428,2337,0.00,2.17,0.00,0.000,4,0.000,0.055,2480,3679,3850
$GC,2370,-0.94,-243.4,273.4,-10.8,435,2375,0.00,2.03,0.00,0.000,6,0.000,0.031,2480,2299,3850
$GC,2700,-0.94,-243.4,306.4,-10.2,491,2703,0.00,2.17,0.00,0.000,4,0.000,0.056,2480,3678,3850
$GC,2757,-0.94,-243.4,312.6,-10.2,496,2764,0.00,2.08,0.00,0.000,6,0.000,0.034,2480,2301,3850
$GC,3076,-0.94,-243.4,344.2,-9.4,527,3079,0.00,2.15,0.00,0.000,4,0.000,0.042,2480,897,3849
$GC,3091,-0.94,-243.4,345.9,-9.7,528,3097,0.00,2.20,0.00,0.000,6,0.000,0.042,2480,2316,3849
$GC,3407,-0.94,-243.4,378.3,-10.2,559,3410,0.00,2.15,0.00,0.000,4,0.000,0.057,2480,3680,3848
$GC,3471,-0.94,-243.4,384.8,-10.4,565,3474,0.00,2.03,0.00,0.000,6,0.000,0.032,2480,2315,3847
$GC,3791,-0.94,-243.4,416.1,-9.5,596,3795,0.00,2.17,0.00,0.000,4,0.000,0.057,2480,3677,3845
$GC,3818,-0.94,-243.4,418.8,-10.6,598,3825,0.00,2.05,0.00,0.000,6,0.000,0.032,2480,2324,3845
$GC,4134,-0.94,-243.4,451.3,-10.1,629,4137,0.00,2.20,0.00,0.000,4,0.000,0.044,2480,887,3843
$GC,4208,-0.94,-243.4,459.1,-10.9,636,4211,0.00,2.22,0.00,0.000,6,0.000,0.041,2480,2321,3843
$GC,4529,-0.94,-243.4,489.1,-9.4,667,4532,0.00,2.22,0.00,0.000,4,0.000,0.044,2480,892,3841
$GC,4560,-0.94,-243.4,492.2,-9.3,670,4564,0.00,2.22,0.00,0.000,6,0.000,0.042,2480,2322,3841
$STATE,4631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4631,begin apogee
$GC,4637,-0.26,0.0,498.9,9.5,677,4827,0.62,0.00,187.80,0.970,6,0.076,0.000,2712,2322,2854
$STATE,4827,end apogee,CONTROL_FINISHED_OK
$STATE,4827,begin climb
$GC,4830,0.94,243.4,514.3,0.0,687,5022,1.00,0.00,188.43,0.954,6,0.038,0.000,3120,2322,1861
$GC,5325,0.94,243.4,471.5,12.6,721,5328,0.00,2.15,0.00,0.000,4,0.000,0.055,3120,3683,1855
$GC,5379,0.94,243.4,464.6,12.3,726,5382,0.12,2.08,0.00,0.000,6,0.189,0.035,3100,2317,1854
$GC,5700,0.94,243.4,428.4,11.5,757,5703,0.00,2.17,0.00,0.000,4,0.000,0.053,3100,3687,1851
$GC,5796,0.94,243.4,417.0,11.7,766,5799,0.00,2.05,0.00,0.000,6,0.000,0.035,3109,2335,1851
$GC,6118,0.94,243.4,381.5,10.5,797,6121,0.00,2.22,0.00,0.000,4,0.000,0.045,3120,896,1849
$GC,6155,0.94,243.4,377.4,10.5,800,6161,0.00,2.30,0.00,0.000,6,0.000,0.045,3120,2349,1848
$GC,6473,0.94,243.4,342.8,10.8,831,6477,0.00,2.10,0.00,0.000,4,0.000,0.053,3121,3689,1847
$GC,6657,0.94,243.4,322.7,10.1,848,6660,0.12,2.00,0.00,0.000,6,0.187,0.034,3100,2357,1847
$GC,6975,0.95,249.5,292.4,8.8,886,6987,0.00,2.17,4.05,0.545,4,0.000,0.051,3099,3686,1836
$GC,7199,0.96,260.9,272.0,8.7,928,7218,0.00,1.92,11.12,0.772,6,0.000,0.040,3108,2422,1790
$GC,7539,1.03,313.6,245.1,7.7,991,7588,0.00,2.50,44.40,0.814,4,0.000,0.043,3119,887,1574
$GC,7691,1.03,313.6,230.9,10.1,1018,7697,0.00,2.42,0.00,0.000,6,0.000,0.043,3119,2432,1570
$GC,8017,1.03,313.6,197.4,10.4,1079,8023,0.00,1.98,0.00,0.000,4,0.000,0.051,3119,3685,1570
$GC,8098,1.03,313.6,188.6,11.0,1094,8104,0.00,1.95,0.00,0.000,6,0.000,0.038,3129,2410,1570
$GC,8425,1.09,366.0,159.2,7.7,1155,8475,0.00,2.42,43.45,0.739,4,0.000,0.048,3140,900,1360
$GC,8584,1.09,366.0,144.3,10.8,1183,8590,0.00,2.38,0.00,0.000,6,0.000,0.037,3140,2432,1357
$GC,8910,1.09,366.0,110.8,9.5,1244,8916,0.00,2.42,0.00,0.000,4,0.000,0.048,3151,887,1357
$GC,8996,1.12,388.4,103.4,8.4,1260,9021,0.00,2.33,19.12,0.670,6,0.000,0.041,3151,2386,1269
$GC,9342,1.16,420.7,72.4,8.2,1324,9374,0.00,2.42,27.60,0.650,4,0.000,0.043,3162,885,1137
$GC,9534,1.16,420.7,55.0,9.1,1359,9540,0.00,2.25,0.00,0.000,6,0.000,0.038,3161,2341,1135
$GC,9861,1.16,420.7,26.0,9.6,1420,9866,0.00,2.25,0.00,0.000,4,0.000,0.042,3172,885,1135
$GC,9952,1.17,428.6,17.7,8.8,1437,9966,0.00,2.15,7.50,0.514,6,0.000,0.036,3172,2292,1105
$STATE,10108,end climb,SURFACE_DEPTH_REACHED
$STATE,10108,begin surface coast
$FINISH,1.3,1.000585
$STATE,10140,end surface coast,CONTROL_FINISHED_OK
$STATE,10140,begin surface
$SM_CCo,10156,36.12,0.581,0,0,916,475.15
$SM_GC,2.36,0.00,0.00,36.12,0.000,0.000,0.581,153,2298,916,-8.25,0.37,475.15
$IRIDIUM_FIX,2453.69,12549.40,281098,020258
$TT8_MAMPS,0.048321
$HUMID,1667
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,27.20
$XPDR_PINGS,760
$24V_AH,23.9,91.836
$10V_AH,10.6,62.588
$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,18.675,104.475,533.475,36.125,0.000,24.444,33.443,208.394,193.000,0.000,0.000,13.436,0.000,6118.747,679.318,3169.545,604.579,0.000,1828.094,0.000,2730.337,0.000,23.571,0.000
$DEVICE_MAMPS,223.964,56.758,970.255,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,984.862,1111.425,1854.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85113,1472
$CAP_FILE_SIZE,121914,0
$CFSIZE,260165632,220921856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,347.3,1
$GPS,030809,082537,2504.327,12540.945,36,1.2,36,-3.9