version: 66.04
glider: 165
mission: 2
dive: 411
start: 8 3 109 11 38 45
data:
$ID,165
$MISSION,2
$DIVE,411
$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,-126206.21
$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,54
$R_STBD_OVSHOOT,34
$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
$GPS1,113137,2504.995,12540.569,25,2.0,25,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-71.8
$GPS2,113840,2505.086,12540.531,11,2.1,30,-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,167.4,48399,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.94,-243.4,0.0,0.0,0,61,0.00,0.00,-45.78,0.000,2,0.000,0.000,154,2268,2082
$GC,64,-0.94,-243.4,3.3,-3.8,7,127,9.32,2.17,-45.38,0.000,4,0.229,0.058,2486,899,3849
$GC,153,-0.94,-243.4,15.0,-15.2,22,159,0.00,2.17,0.00,0.000,6,0.000,0.038,2481,2294,3850
$GC,481,-0.94,-243.4,58.9,-12.4,83,486,0.00,2.15,0.00,0.000,4,0.000,0.041,2481,890,3850
$GC,545,-0.94,-243.4,67.5,-13.6,95,551,0.00,2.12,0.00,0.000,6,0.000,0.040,2481,2276,3850
$GC,871,-0.94,-243.4,106.9,-10.3,156,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2276,3850
$GC,1197,-0.94,-243.4,143.0,-12.0,217,1204,0.00,2.15,0.00,0.000,4,0.000,0.043,2481,898,3852
$GC,1285,-0.94,-243.4,153.4,-11.8,233,1292,0.00,2.12,0.00,0.000,6,0.000,0.041,2481,2256,3852
$GC,1613,-0.94,-243.4,189.4,-10.4,294,1619,0.00,2.10,0.00,0.000,4,0.000,0.043,2481,893,3852
$GC,1640,-0.94,-243.4,192.5,-11.6,299,1646,0.00,2.10,0.00,0.000,6,0.000,0.041,2481,2243,3852
$GC,1966,-0.94,-243.4,226.8,-10.8,360,1972,0.00,2.12,0.00,0.000,4,0.000,0.043,2481,887,3852
$GC,2008,-0.94,-243.4,231.2,-10.5,368,2015,0.00,2.08,0.00,0.000,6,0.000,0.041,2481,2217,3852
$GC,2335,-0.94,-243.4,265.4,-11.6,429,2342,0.00,2.30,0.00,0.000,4,0.000,0.056,2481,3681,3852
$GC,2390,-0.94,-243.4,271.7,-11.7,439,2395,0.00,2.17,0.00,0.000,6,0.000,0.032,2481,2215,3852
$GC,2714,-0.94,-243.4,304.5,-10.1,496,2717,0.00,2.33,0.00,0.000,4,0.000,0.057,2481,3680,3852
$GC,2794,-0.94,-243.4,312.6,-10.1,503,2799,0.00,2.15,0.00,0.000,6,0.000,0.033,2481,2244,3852
$GC,3111,-0.94,-243.4,342.8,-9.4,534,3114,0.00,2.30,0.00,0.000,4,0.000,0.061,2481,3677,3850
$GC,3164,-0.94,-243.4,348.0,-9.6,538,3170,0.00,2.12,0.00,0.000,6,0.000,0.039,2481,2254,3849
$GC,3480,-0.94,-243.4,377.1,-9.0,569,3483,0.00,2.28,0.00,0.000,4,0.000,0.058,2481,3683,3848
$GC,3516,-0.94,-243.4,380.7,-9.6,572,3523,0.00,2.12,0.00,0.000,6,0.000,0.035,2481,2280,3849
$GC,3832,-0.94,-243.4,408.8,-9.0,603,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2280,3846
$GC,4143,-0.94,-243.4,439.3,-9.8,633,4146,0.00,2.25,0.00,0.000,4,0.000,0.058,2481,3686,3844
$GC,4201,-0.94,-243.4,444.9,-9.9,638,4207,0.00,2.08,0.00,0.000,6,0.000,0.040,2481,2301,3844
$GC,4517,-0.94,-243.4,477.6,-10.5,669,4520,0.00,2.20,0.00,0.000,4,0.000,0.059,2481,3677,3842
$GC,4576,-0.94,-243.4,483.7,-10.7,674,4581,0.00,2.05,0.00,0.000,6,0.000,0.041,2481,2306,3842
$STATE,4824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4824,begin apogee
$GC,4830,-0.26,0.0,507.7,9.0,695,5019,0.62,0.00,186.90,0.973,6,0.069,0.000,2718,2306,2853
$STATE,5020,end apogee,CONTROL_FINISHED_OK
$STATE,5020,begin climb
$GC,5023,0.94,243.4,521.2,0.0,704,5220,0.98,2.30,187.65,0.956,4,0.037,0.057,3120,3671,1860
$GC,5294,0.94,243.4,506.2,13.9,716,5301,0.10,2.12,0.00,0.000,6,0.183,0.036,3101,2316,1857
$GC,5612,0.94,243.4,469.1,11.7,744,5615,0.00,2.22,0.00,0.000,4,0.000,0.048,3110,888,1853
$GC,5691,0.94,243.4,459.4,11.6,751,5698,0.00,2.17,0.00,0.000,6,0.000,0.041,3110,2270,1852
$GC,6006,0.94,243.4,420.8,12.4,782,6010,0.00,2.22,0.00,0.000,4,0.000,0.054,3111,3683,1851
$GC,6086,0.94,243.4,409.9,14.0,789,6092,0.00,2.15,0.00,0.000,6,0.000,0.035,3121,2285,1851
$GC,6405,0.94,243.4,372.9,11.5,820,6408,0.00,2.22,0.00,0.000,4,0.000,0.052,3121,3686,1849
$GC,6441,0.94,243.4,368.2,12.3,823,6448,0.10,2.10,0.00,0.000,6,0.179,0.038,3101,2324,1849
$GC,6757,0.94,243.4,337.5,9.8,854,6760,0.00,2.20,0.00,0.000,4,0.000,0.045,3110,904,1847
$GC,6863,0.94,243.4,326.9,9.5,864,6867,0.00,2.17,0.00,0.000,6,0.000,0.040,3110,2314,1846
$GC,7181,0.94,243.4,294.4,9.8,899,7187,0.00,2.15,0.00,0.000,4,0.000,0.052,3110,3681,1845
$GC,7305,0.94,243.4,281.4,11.4,922,7311,0.00,2.10,0.00,0.000,6,0.000,0.036,3120,2296,1845
$GC,7632,0.94,243.4,250.9,9.2,983,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2296,1844
$GC,7959,0.96,257.3,222.6,8.6,1044,7977,0.00,2.22,9.95,0.723,4,0.000,0.047,3131,906,1804
$GC,8013,0.96,257.3,217.5,9.5,1054,8020,0.00,2.20,0.00,0.000,6,0.000,0.041,3131,2298,1803
$GC,8341,0.96,258.8,186.1,9.0,1115,8348,0.00,2.20,0.00,0.000,4,0.000,0.052,3131,3681,1802
$GC,8374,0.99,283.7,183.2,8.4,1121,8402,0.00,2.12,23.20,0.753,6,0.000,0.035,3142,2267,1696
$GC,8722,1.03,318.8,152.1,8.1,1185,8759,0.00,2.33,29.58,0.730,4,0.000,0.053,3142,3681,1553
$GC,8908,1.03,318.8,132.8,11.8,1219,8915,0.00,2.08,0.00,0.000,6,0.000,0.033,3152,2332,1553
$GC,9236,1.12,388.3,103.9,7.3,1280,9298,0.00,2.17,56.75,0.693,4,0.000,0.048,3152,3690,1270
$GC,9432,1.12,388.3,82.9,10.7,1315,9438,0.00,2.03,0.00,0.000,6,0.000,0.032,3161,2362,1269
$GC,9759,1.14,401.8,54.0,8.7,1376,9777,0.00,2.10,11.82,0.596,4,0.000,0.049,3161,3693,1217
$GC,9879,1.14,401.8,42.5,11.2,1398,9884,0.00,2.08,0.00,0.000,6,0.000,0.034,3172,2312,1217
$GC,10205,1.14,401.8,11.7,9.6,1459,10212,0.00,2.15,0.00,0.000,4,0.000,0.041,3182,900,1217
$STATE,10305,end climb,SURFACE_DEPTH_REACHED
$STATE,10305,begin surface coast
$FINISH,1.4,1.020841
$STATE,10346,end surface coast,CONTROL_FINISHED_OK
$STATE,10346,begin surface
$SM_CCo,10364,56.67,0.587,0,0,916,475.15
$SM_GC,2.25,0.00,0.00,56.67,0.000,0.000,0.587,160,2306,916,-8.23,0.59,475.15
$IRIDIUM_FIX,2458.45,12542.22,281098,080849
$TT8_MAMPS,0.049088
$HUMID,1670
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,26.90
$XPDR_PINGS,775
$24V_AH,23.9,92.192
$10V_AH,10.6,62.865
$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,18.800,99.650,505.850,56.675,0.000,23.810,33.877,206.266,197.000,0.000,0.000,32.706,0.000,6298.498,674.499,3236.832,606.857,0.000,1851.745,0.000,2781.284,0.000,22.555,0.000
$DEVICE_MAMPS,229.333,60.593,972.556,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.097,1125.175,1871.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85087,1485
$CAP_FILE_SIZE,122546,0
$CFSIZE,260165632,220774400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,350.1,1
$GPS,030809,143331,2504.636,12540.789,40,1.1,40,-3.9