version: 66.04
glider: 165
mission: 2
dive: 413
start: 8 3 109 17 45 1
data:
$ID,165
$MISSION,2
$DIVE,413
$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,-126253.2
$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,62
$R_STBD_OVSHOOT,36
$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
$GPS1,173436,2503.963,12541.181,34,1.2,40,-3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.2
$GPS2,174455,2503.998,12541.260,14,1.5,31,-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,168.3,46062,-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,-243.4,0.0,0.0,0,56,0.00,0.00,-42.17,0.000,2,0.000,0.000,155,2258,1981
$GC,59,-0.94,-243.4,3.3,-4.5,7,123,9.25,2.17,-50.35,0.000,4,0.225,0.054,2486,889,3848
$GC,171,-0.94,-243.4,17.3,-15.3,26,177,0.00,2.15,0.00,0.000,6,0.000,0.038,2481,2296,3850
$GC,498,-0.94,-243.4,59.6,-12.6,87,503,0.00,2.15,0.00,0.000,4,0.000,0.040,2481,889,3850
$GC,594,-0.94,-243.4,71.9,-12.1,105,602,0.00,2.10,0.00,0.000,6,0.000,0.040,2481,2243,3850
$GC,923,-0.94,-243.4,108.5,-11.0,166,929,0.00,2.08,0.00,0.000,4,0.000,0.042,2480,890,3850
$GC,1025,-0.94,-243.4,120.5,-12.2,185,1031,0.00,2.12,0.00,0.000,6,0.000,0.041,2481,2274,3850
$GC,1353,-0.94,-243.4,157.8,-11.1,246,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2274,3850
$GC,1679,-0.94,-243.4,193.9,-11.4,307,1685,0.00,2.15,0.00,0.000,4,0.000,0.044,2481,904,3850
$GC,1696,-0.94,-243.4,195.9,-11.3,310,1702,0.00,2.10,0.00,0.000,6,0.000,0.041,2481,2248,3851
$GC,2023,-0.94,-243.4,230.0,-10.8,371,2028,0.00,2.28,0.00,0.000,4,0.000,0.055,2481,3692,3850
$GC,2060,-0.94,-243.4,233.9,-10.8,378,2065,0.00,2.15,0.00,0.000,6,0.000,0.031,2481,2259,3851
$GC,2386,-0.94,-243.4,266.1,-10.4,439,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2259,3851
$GC,2712,-0.94,-243.4,299.1,-10.2,500,2717,0.00,2.30,0.00,0.000,4,0.000,0.058,2481,3691,3850
$GC,2749,-0.94,-243.4,302.9,-10.6,504,2755,0.00,2.17,0.00,0.000,6,0.000,0.038,2481,2259,3851
$GC,3065,-0.94,-243.4,334.0,-9.9,535,3068,0.00,2.28,0.00,0.000,4,0.000,0.057,2481,3686,3850
$GC,3096,-0.94,-243.4,337.1,-10.1,538,3100,0.00,2.15,0.00,0.000,6,0.000,0.032,2481,2264,3850
$GC,3417,-0.94,-243.4,371.5,-10.9,569,3420,0.00,2.28,0.00,0.000,4,0.000,0.058,2481,3686,3848
$GC,3471,-0.94,-243.4,377.3,-10.4,574,3474,0.00,2.12,0.00,0.000,6,0.000,0.032,2481,2264,3847
$GC,3794,-0.94,-243.4,412.1,-10.6,605,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2259,3846
$GC,4103,-0.94,-243.4,444.1,-10.2,635,4107,0.00,2.30,0.00,0.000,4,0.000,0.059,2481,3691,3844
$GC,4140,-0.94,-243.4,448.2,-10.3,638,4143,0.00,2.12,0.00,0.000,6,0.000,0.033,2481,2267,3844
$GC,4461,-0.94,-243.4,482.3,-11.1,669,4465,0.00,2.28,0.00,0.000,4,0.000,0.058,2481,3691,3842
$GC,4493,-0.94,-243.4,485.8,-11.1,672,4496,0.00,2.12,0.00,0.000,6,0.000,0.033,2481,2288,3841
$STATE,4604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4604,begin apogee
$GC,4610,-0.26,0.0,498.7,11.4,683,4800,0.60,0.00,187.73,0.975,6,0.055,0.000,2719,2282,2854
$STATE,4801,end apogee,CONTROL_FINISHED_OK
$STATE,4801,begin climb
$GC,4804,0.94,243.4,514.8,0.0,693,5001,0.98,2.25,188.20,0.960,4,0.041,0.050,3122,908,1859
$GC,5016,0.94,243.4,507.6,13.1,703,5019,0.00,2.25,0.00,0.000,6,0.000,0.042,3123,2295,1857
$GC,5331,0.94,243.4,468.3,11.8,730,5334,0.00,2.20,0.00,0.000,4,0.000,0.055,3123,3684,1853
$GC,5464,0.94,243.4,451.3,12.0,742,5471,0.10,2.08,0.00,0.000,6,0.185,0.041,3103,2350,1851
$GC,5780,0.94,243.4,418.9,10.4,773,5783,0.00,2.28,0.00,0.000,4,0.000,0.047,3112,891,1848
$GC,5806,0.94,243.4,416.4,9.4,775,5812,0.00,2.28,0.00,0.000,6,0.000,0.047,3112,2326,1848
$GC,6124,0.94,243.4,384.2,11.1,806,6127,0.00,2.15,0.00,0.000,4,0.000,0.054,3112,3692,1846
$GC,6171,0.94,243.4,378.5,12.1,810,6178,0.00,2.10,0.00,0.000,6,0.000,0.039,3122,2334,1846
$GC,6490,0.94,243.4,342.3,10.6,841,6493,0.00,2.20,0.00,0.000,4,0.000,0.046,3132,906,1845
$GC,6521,0.94,243.4,338.7,10.7,844,6525,0.15,2.22,0.00,0.000,6,0.175,0.040,3095,2340,1844
$GC,6837,0.97,270.0,310.4,8.3,874,6858,0.00,0.00,20.48,0.855,6,0.000,0.000,3095,2340,1753
$GC,7174,0.97,270.0,279.0,10.9,926,7180,0.00,2.30,0.00,0.000,4,0.000,0.048,3104,905,1749
$GC,7244,0.97,270.0,271.5,10.7,939,7249,0.00,2.20,0.00,0.000,6,0.000,0.040,3104,2320,1748
$GC,7569,1.07,344.4,241.4,7.1,1000,7636,0.00,2.22,61.75,0.830,4,0.000,0.052,3104,3692,1449
$GC,7729,1.07,344.4,226.5,11.2,1028,7736,0.00,2.10,0.00,0.000,6,0.000,0.036,3114,2333,1447
$GC,8057,1.07,344.4,189.4,10.5,1089,8063,0.00,2.25,0.00,0.000,4,0.000,0.045,3124,903,1445
$GC,8159,1.07,344.4,178.9,9.9,1108,8166,0.00,2.17,0.00,0.000,6,0.000,0.044,3125,2306,1444
$GC,8488,1.07,344.4,148.2,9.9,1169,8493,0.00,2.17,0.00,0.000,4,0.000,0.057,3125,3686,1444
$GC,8552,1.07,344.4,141.5,10.6,1181,8558,0.00,2.17,0.00,0.000,6,0.000,0.038,3135,2277,1444
$GC,8879,1.07,344.4,111.7,9.6,1242,8885,0.00,2.22,0.00,0.000,4,0.000,0.050,3135,3693,1444
$GC,8954,1.07,344.4,104.4,9.2,1256,8962,0.00,2.10,0.00,0.000,6,0.000,0.033,3145,2311,1444
$GC,9282,1.19,448.2,78.1,6.4,1317,9370,0.00,2.28,83.65,0.672,4,0.000,0.049,3146,3678,1026
$GC,9573,1.19,448.2,49.7,9.9,1369,9579,0.00,2.03,0.00,0.000,6,0.000,0.038,3156,2359,1024
$GC,9899,1.19,448.2,20.5,9.3,1430,9905,0.00,2.10,0.00,0.000,4,0.000,0.049,3155,3677,1025
$GC,10038,1.19,448.2,7.4,9.9,1456,10045,0.00,2.08,0.00,0.000,6,0.000,0.032,3165,2309,1024
$STATE,10080,end climb,SURFACE_DEPTH_REACHED
$STATE,10080,begin surface coast
$FINISH,1.4,1.009191
$STATE,10107,end surface coast,CONTROL_FINISHED_OK
$STATE,10107,begin surface
$SM_CCo,10124,22.12,0.578,0,0,917,475.15
$SM_GC,2.09,0.00,0.00,22.12,0.000,0.000,0.578,161,2303,917,-8.23,0.54,475.15
$IRIDIUM_FIX,2456.07,12540.83,281098,171747
$TT8_MAMPS,0.049088
$HUMID,1713
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,26.80
$XPDR_PINGS,764
$24V_AH,23.8,92.554
$10V_AH,10.6,63.140
$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,18.700,95.975,541.800,22.125,0.000,53.958,69.204,271.253,194.000,0.000,0.000,33.013,0.000,6185.622,650.971,3178.639,725.109,0.000,1802.414,0.000,2718.483,0.000,20.898,0.000
$DEVICE_MAMPS,224.731,59.059,974.857,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,984.308,1116.256,1864.683,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81932,1469
$CAP_FILE_SIZE,121461,0
$CFSIZE,260165632,220626944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248,331.9,1
$GPS,030809,203507,2504.077,12541.219,35,1.0,35,-3.9