version: 66.04
glider: 165
mission: 2
dive: 412
start: 8 3 109 14 40 14
data:
$ID,165
$MISSION,2
$DIVE,412
$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,-126219.55
$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,46
$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
$GPS1,143331,2504.636,12540.789,40,1.1,40,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-69.7
$GPS2,144008,2504.683,12540.814,9,1.1,9,-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,166.2,47524,-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,-43.45,0.000,2,0.000,0.000,160,2306,2016
$GC,61,-0.94,-243.4,3.2,-3.7,7,126,9.07,2.20,-49.58,0.000,4,0.219,0.052,2480,889,3847
$GC,142,-0.94,-243.4,12.9,-17.0,20,147,0.00,2.15,0.00,0.000,6,0.000,0.038,2480,2288,3848
$GC,468,-0.94,-243.4,56.0,-13.4,81,474,0.00,2.15,0.00,0.000,4,0.000,0.041,2481,887,3849
$GC,538,-0.94,-243.4,65.4,-13.4,94,544,0.00,2.12,0.00,0.000,6,0.000,0.040,2480,2249,3849
$GC,864,-0.94,-243.4,103.7,-11.6,155,871,0.00,2.25,0.00,0.000,4,0.000,0.054,2480,3689,3849
$GC,876,-0.94,-243.4,105.0,-11.4,157,881,0.00,2.17,0.00,0.000,6,0.000,0.031,2480,2233,3849
$GC,1202,-0.94,-243.4,140.5,-11.5,218,1208,0.00,2.05,0.00,0.000,4,0.000,0.042,2480,886,3850
$GC,1240,-0.94,-243.4,144.8,-11.8,225,1246,0.00,2.08,0.00,0.000,6,0.000,0.040,2480,2224,3850
$GC,1566,-0.94,-243.4,180.6,-10.5,286,1572,0.00,2.30,0.00,0.000,4,0.000,0.054,2480,3689,3850
$GC,1593,-0.94,-243.4,183.8,-11.7,291,1600,0.00,2.22,0.00,0.000,6,0.000,0.031,2480,2203,3851
$GC,1920,-0.94,-243.4,218.7,-10.6,352,1927,0.00,2.05,0.00,0.000,4,0.000,0.044,2480,884,3850
$GC,1964,-0.94,-243.4,223.1,-9.9,360,1970,0.00,2.05,0.00,0.000,6,0.000,0.041,2480,2203,3850
$GC,2290,-0.94,-243.4,255.4,-10.6,421,2295,0.00,2.33,0.00,0.000,4,0.000,0.055,2480,3682,3850
$GC,2365,-0.94,-243.4,263.5,-10.5,435,2372,0.00,2.20,0.00,0.000,6,0.000,0.032,2480,2194,3850
$GC,2693,-0.94,-243.4,295.1,-8.5,496,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2194,3850
$GC,3012,-0.94,-243.4,323.5,-9.3,532,3015,0.00,2.38,0.00,0.000,4,0.000,0.057,2480,3682,3849
$GC,3080,-0.94,-243.4,330.1,-9.3,538,3084,0.00,2.22,0.00,0.000,6,0.000,0.033,2480,2222,3849
$GC,3404,-0.94,-243.4,362.5,-11.1,569,3408,0.00,2.35,0.00,0.000,4,0.000,0.057,2480,3689,3847
$GC,3452,-0.94,-243.4,368.1,-10.7,573,3455,0.00,2.20,0.00,0.000,6,0.000,0.032,2480,2220,3847
$GC,3776,-0.94,-243.4,400.6,-9.8,604,3780,0.00,2.35,0.00,0.000,4,0.000,0.057,2480,3688,3845
$GC,3850,-0.94,-243.4,407.9,-9.2,610,3856,0.00,2.22,0.00,0.000,6,0.000,0.038,2480,2230,3845
$GC,4169,-0.94,-243.4,434.5,-8.5,641,4172,0.00,2.33,0.00,0.000,4,0.000,0.058,2480,3686,3843
$GC,4232,-0.94,-243.4,440.7,-9.5,646,4238,0.00,2.20,0.00,0.000,6,0.000,0.037,2480,2241,3842
$GC,4548,-0.94,-243.4,472.9,-10.6,677,4552,0.00,2.30,0.00,0.000,4,0.000,0.058,2480,3683,3841
$GC,4580,-0.94,-243.4,476.2,-10.5,680,4583,0.00,2.15,0.00,0.000,6,0.000,0.034,2480,2249,3841
$GC,4902,-0.94,-243.4,506.2,-8.8,708,4906,0.00,2.30,0.00,0.000,4,0.000,0.058,2480,3677,3838
$STATE,4910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4910,begin apogee
$GC,4918,-0.26,0.0,507.4,8.7,708,5108,0.60,0.00,187.85,0.982,6,0.079,0.000,2707,2284,2854
$STATE,5108,end apogee,CONTROL_FINISHED_OK
$STATE,5108,begin climb
$GC,5111,0.94,243.4,520.8,0.0,718,5309,1.00,2.35,188.07,0.963,4,0.041,0.056,3112,3677,1860
$GC,5427,0.94,243.4,497.8,14.5,732,5432,0.00,2.12,0.00,0.000,6,0.000,0.038,3122,2319,1857
$GC,5745,0.94,243.4,458.0,12.2,763,5748,0.00,2.22,0.00,0.000,4,0.000,0.048,3133,893,1853
$GC,5776,0.94,243.4,453.7,13.3,766,5780,0.12,2.22,0.00,0.000,6,0.175,0.043,3101,2320,1852
$GC,6098,0.94,243.4,415.0,12.8,797,6101,0.00,2.15,0.00,0.000,4,0.000,0.055,3101,3685,1850
$GC,6178,0.94,243.4,404.8,13.2,804,6184,0.00,2.12,0.00,0.000,6,0.000,0.038,3111,2315,1850
$GC,6496,0.94,243.4,367.4,10.9,835,6499,0.00,2.17,0.00,0.000,4,0.000,0.054,3110,3692,1848
$GC,6608,0.94,243.4,354.5,10.8,845,6614,0.00,2.08,0.00,0.000,6,0.000,0.041,3121,2333,1848
$GC,6925,0.94,243.4,321.1,11.1,876,6928,0.00,2.22,0.00,0.000,4,0.000,0.046,3131,900,1847
$GC,6967,0.94,243.4,316.5,10.7,880,6971,0.12,2.22,0.00,0.000,6,0.173,0.040,3100,2340,1846
$GC,7288,0.94,243.4,282.2,9.7,925,7294,0.00,2.12,0.00,0.000,4,0.000,0.054,3100,3688,1845
$GC,7375,0.94,243.4,273.3,10.9,941,7381,0.00,2.05,0.00,0.000,6,0.000,0.035,3109,2334,1845
$GC,7702,1.00,288.3,243.8,7.9,1002,7743,0.00,2.17,35.50,0.821,4,0.000,0.051,3109,3683,1677
$GC,7914,1.00,288.3,222.9,10.8,1041,7921,0.00,2.03,0.00,0.000,6,0.000,0.035,3119,2354,1675
$GC,8241,1.00,288.3,190.9,9.3,1102,8247,0.00,2.28,0.00,0.000,4,0.000,0.046,3130,897,1672
$GC,8290,1.02,303.4,186.9,8.6,1111,8309,0.00,2.30,13.27,0.736,6,0.000,0.039,3130,2360,1616
$GC,8629,1.02,303.4,157.1,9.4,1174,8635,0.00,2.30,0.00,0.000,4,0.000,0.046,3141,896,1614
$GC,8753,1.02,303.4,145.2,9.3,1197,8760,0.00,2.25,0.00,0.000,6,0.000,0.038,3141,2336,1613
$GC,9081,1.06,339.0,116.3,8.1,1258,9118,0.00,2.15,30.45,0.709,4,0.000,0.053,3141,3689,1471
$GC,9176,1.06,339.0,108.0,9.2,1275,9182,0.00,2.08,0.00,0.000,6,0.000,0.039,3151,2351,1471
$GC,9503,1.16,416.9,79.7,7.1,1336,9572,0.00,2.15,63.08,0.675,4,0.000,0.055,3151,3687,1154
$GC,9684,1.16,416.9,62.6,10.8,1368,9690,0.00,1.95,0.00,0.000,6,0.000,0.034,3160,2416,1152
$GC,10011,1.16,423.8,31.3,8.8,1429,10024,0.00,2.05,6.82,0.519,4,0.000,0.053,3160,3680,1125
$GC,10122,1.16,423.8,20.4,9.8,1449,10128,0.00,1.98,0.00,0.000,6,0.000,0.033,3170,2376,1125
$STATE,10307,end climb,SURFACE_DEPTH_REACHED
$STATE,10307,begin surface coast
$FINISH,1.5,0.998886
$STATE,10339,end surface coast,CONTROL_FINISHED_OK
$STATE,10340,begin surface
$SM_CCo,10357,39.80,0.591,0,0,917,475.15
$SM_GC,2.37,0.00,0.00,39.80,0.000,0.000,0.591,158,2260,917,-8.23,-0.74,475.15
$IRIDIUM_FIX,2458.45,12538.90,281098,111140
$TT8_MAMPS,0.048321
$HUMID,1699
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,26.60
$XPDR_PINGS,764
$24V_AH,23.8,92.369
$10V_AH,10.6,63.003
$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,18.600,109.325,525.050,39.800,0.000,24.466,32.788,203.254,194.250,0.000,0.000,12.706,0.000,6245.929,668.566,3250.857,603.013,0.000,1861.987,0.000,2803.004,0.000,22.554,0.000
$DEVICE_MAMPS,219.362,65.962,981.760,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.388,1133.968,1892.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85389,1490
$CAP_FILE_SIZE,125304,0
$CFSIZE,260165632,220696576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,  1.9,1
$GPS,030809,173436,2503.963,12541.181,34,1.2,40,-3.9