version: 66.04
glider: 165
mission: 2
dive: 416
start: 8 4 109 2 46 51
data:
$ID,165
$MISSION,2
$DIVE,416
$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,-126320.08
$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,55
$R_STBD_OVSHOOT,37
$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
$GPS1,023930,2503.873,12541.401,34,1.1,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-72.0
$GPS2,024646,2503.837,12541.395,10,99.0,29,-3.8
$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,167.2,45698,-12.5,-8.992
$D_GRID,466
$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,-243.4,0.0,0.0,0,59,0.00,0.00,-44.53,0.000,2,0.000,0.000,159,2278,2043
$GC,63,-0.94,-243.4,3.3,-4.3,7,126,9.38,2.15,-48.58,0.000,4,0.231,0.050,2485,880,3847
$GC,163,-0.94,-243.4,15.4,-14.6,24,169,0.00,2.17,0.00,0.000,6,0.000,0.037,2482,2297,3848
$GC,490,-0.94,-243.4,57.6,-12.9,85,498,0.00,2.17,0.00,0.000,4,0.000,0.040,2482,897,3848
$GC,545,-0.94,-243.4,64.9,-13.5,95,551,0.00,2.12,0.00,0.000,6,0.000,0.039,2481,2264,3849
$GC,872,-0.94,-243.4,102.1,-10.9,156,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2265,3849
$GC,1198,-0.94,-243.4,139.2,-11.0,217,1205,0.00,2.22,0.00,0.000,4,0.000,0.056,2481,3679,3850
$GC,1249,-0.94,-243.4,144.6,-10.6,226,1254,0.00,2.12,0.00,0.000,6,0.000,0.031,2481,2240,3850
$GC,1575,-0.94,-243.4,181.4,-11.7,287,1582,0.00,2.30,0.00,0.000,4,0.000,0.054,2481,3673,3850
$GC,1640,-0.94,-243.4,189.0,-11.8,299,1646,0.00,2.12,0.00,0.000,6,0.000,0.031,2481,2252,3851
$GC,1966,-0.94,-243.4,224.5,-11.2,360,1972,0.00,2.08,0.00,0.000,4,0.000,0.043,2481,893,3850
$GC,1998,-0.94,-243.4,228.1,-10.9,366,2004,0.00,2.12,0.00,0.000,6,0.000,0.041,2481,2250,3851
$GC,2324,-0.94,-243.4,261.4,-10.1,427,2330,0.00,2.28,0.00,0.000,4,0.000,0.061,2481,3690,3850
$GC,2372,-0.94,-243.4,266.2,-10.3,436,2378,0.00,2.15,0.00,0.000,6,0.000,0.031,2482,2258,3850
$GC,2699,-0.94,-243.4,296.6,-8.8,497,2706,0.00,2.28,0.00,0.000,4,0.000,0.054,2481,3697,3850
$GC,2754,-0.94,-243.4,301.7,-9.4,506,2757,0.00,2.15,0.00,0.000,6,0.000,0.031,2482,2256,3850
$GC,3074,-0.94,-243.4,333.6,-10.7,537,3078,0.00,2.28,0.00,0.000,4,0.000,0.055,2481,3688,3849
$GC,3128,-0.94,-243.4,339.3,-11.0,542,3131,0.00,2.12,0.00,0.000,6,0.000,0.031,2481,2260,3849
$GC,3451,-0.94,-243.4,369.6,-8.5,573,3454,0.00,2.28,0.00,0.000,4,0.000,0.055,2481,3691,3847
$GC,3493,-0.94,-243.4,373.3,-8.2,577,3496,0.00,2.10,0.00,0.000,6,0.000,0.031,2481,2274,3847
$GC,3814,-0.94,-243.4,402.2,-9.3,608,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2269,3845
$GC,4125,-0.94,-243.4,432.0,-9.4,638,4128,0.00,2.28,0.00,0.000,4,0.000,0.058,2482,3692,3843
$GC,4188,-0.94,-243.4,437.9,-9.0,643,4194,0.00,2.12,0.00,0.000,6,0.000,0.031,2481,2281,3843
$STATE,4493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4493,begin apogee
$GC,4500,-0.26,0.0,466.7,10.2,673,4689,0.60,0.00,186.43,0.949,6,0.069,0.000,2713,2281,2854
$STATE,4689,end apogee,CONTROL_FINISHED_OK
$STATE,4689,begin climb
$GC,4692,0.94,243.4,483.4,0.0,692,4887,0.98,2.38,187.38,0.933,4,0.038,0.053,3115,3689,1859
$GC,4900,0.94,243.4,478.2,11.4,711,4903,0.00,2.15,0.00,0.000,6,0.000,0.035,3125,2308,1858
$GC,5223,0.94,243.4,437.2,12.0,742,5226,0.00,2.20,0.00,0.000,4,0.000,0.051,3125,3692,1854
$GC,5265,0.94,243.4,432.1,11.3,746,5268,0.15,2.10,0.00,0.000,6,0.192,0.035,3098,2306,1852
$GC,5586,0.94,243.4,398.8,9.9,777,5589,0.00,2.17,0.00,0.000,4,0.000,0.044,3108,903,1851
$GC,5676,0.94,245.8,390.2,8.9,785,5683,0.00,2.17,0.00,0.000,6,0.000,0.039,3108,2314,1848
$GC,5994,0.94,245.8,355.8,11.1,816,5997,0.00,2.15,0.00,0.000,4,0.000,0.051,3109,3692,1847
$GC,6143,0.94,245.8,338.9,10.6,830,6146,0.00,2.05,0.00,0.000,6,0.000,0.033,3118,2331,1847
$GC,6467,0.94,245.8,304.4,10.9,861,6470,0.00,2.22,0.00,0.000,4,0.000,0.044,3129,889,1845
$GC,6579,0.94,245.8,292.2,10.1,878,6585,0.08,2.25,0.00,0.000,6,0.170,0.040,3105,2320,1845
$GC,6906,0.98,274.4,261.1,8.3,939,6935,0.00,2.17,24.17,0.818,4,0.000,0.051,3105,3690,1733
$GC,7031,0.98,274.4,247.3,11.8,962,7037,0.00,2.22,0.00,0.000,6,0.000,0.039,3114,2260,1731
$GC,7359,1.00,287.0,215.3,8.7,1023,7377,0.00,2.28,11.62,0.739,4,0.000,0.049,3114,3690,1682
$GC,7537,1.00,287.0,198.4,10.3,1056,7543,0.00,2.15,0.00,0.000,6,0.000,0.035,3125,2274,1681
$GC,7864,1.05,330.2,170.9,7.9,1117,7908,0.00,2.17,36.08,0.758,4,0.000,0.044,3135,913,1507
$GC,8041,1.05,330.2,154.0,10.4,1149,8048,0.00,2.22,0.00,0.000,6,0.000,0.043,3135,2341,1503
$GC,8369,1.10,371.4,124.0,8.0,1210,8412,0.00,2.33,34.42,0.711,4,0.000,0.046,3145,906,1337
$GC,8521,1.10,371.4,109.9,9.2,1237,8528,0.00,2.30,0.00,0.000,6,0.000,0.036,3145,2371,1335
$GC,8848,1.10,371.4,79.5,9.4,1298,8854,0.00,2.30,0.00,0.000,4,0.000,0.044,3156,897,1335
$GC,8955,1.13,392.8,70.0,8.5,1318,8980,0.00,2.25,18.17,0.644,6,0.000,0.041,3156,2345,1252
$GC,9301,1.18,439.9,42.6,7.8,1382,9344,0.00,2.33,38.92,0.628,4,0.000,0.042,3166,906,1059
$GC,9483,1.18,439.9,26.7,9.4,1415,9489,0.00,2.15,0.00,0.000,6,0.000,0.037,3166,2283,1056
$STATE,9737,end climb,SURFACE_DEPTH_REACHED
$STATE,9738,begin surface coast
$FINISH,1.3,1.020874
$STATE,9770,end surface coast,CONTROL_FINISHED_OK
$STATE,9770,begin surface
$SM_CCo,9787,28.25,0.578,0,0,916,475.15
$SM_GC,2.60,0.00,0.00,28.25,0.000,0.000,0.578,154,2288,916,-8.25,0.08,475.15
$IRIDIUM_FIX,2453.69,12544.15,281098,232300
$TT8_MAMPS,0.048321
$HUMID,1690
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,26.80
$XPDR_PINGS,752
$24V_AH,23.9,93.090
$10V_AH,10.6,63.552
$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,18.825,92.350,537.200,28.250,0.000,26.359,37.485,208.704,190.750,0.000,0.000,32.173,0.000,5822.600,640.016,3151.060,610.805,0.000,1787.211,0.000,2710.330,0.000,19.242,0.000
$DEVICE_MAMPS,230.867,60.593,948.779,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,981.619,1129.838,1888.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82228,1469
$CAP_FILE_SIZE,117418,0
$CFSIZE,260165632,220409856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 19.0,1
$GPS,040809,053130,2503.069,12541.618,38,1.7,38,-3.8