version: 66.04
glider: 165
mission: 2
dive: 420
start: 8 4 109 14 15 2
data:
$ID,165
$MISSION,2
$DIVE,420
$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,-126414.11
$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,50
$R_STBD_OVSHOOT,38
$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
$GPS1,140801,2503.363,12541.095,37,1.2,37,-3.8
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-70.6
$GPS2,141456,2503.358,12541.061,11,1.5,11,-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,161.4,45115,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-0.94,-243.4,0.0,0.0,0,58,0.00,0.00,-44.15,0.000,2,0.000,0.000,150,2297,2034
$GC,62,-0.94,-243.4,3.3,-4.5,7,126,9.25,2.20,-48.45,0.000,4,0.225,0.054,2481,880,3847
$GC,196,-0.94,-243.4,20.4,-14.9,30,201,0.00,2.17,0.00,0.000,6,0.000,0.039,2481,2296,3848
$GC,522,-0.94,-243.4,64.8,-13.7,91,527,0.00,2.17,0.00,0.000,4,0.000,0.040,2481,878,3848
$GC,591,-0.94,-243.4,73.9,-13.1,104,598,0.00,2.12,0.00,0.000,6,0.000,0.040,2481,2265,3848
$GC,919,-0.94,-243.4,109.5,-11.2,165,924,0.00,2.12,0.00,0.000,4,0.000,0.041,2482,881,3849
$GC,967,-0.94,-243.4,115.3,-11.9,174,973,0.00,2.05,0.00,0.000,6,0.000,0.039,2481,2206,3849
$GC,1295,-0.94,-243.4,153.1,-11.7,235,1300,0.00,2.03,0.00,0.000,4,0.000,0.042,2480,884,3849
$GC,1327,-0.94,-243.4,157.0,-12.3,241,1333,0.00,2.00,0.00,0.000,6,0.000,0.039,2481,2176,3849
$GC,1653,-0.94,-243.4,189.7,-10.2,302,1659,0.00,2.38,0.00,0.000,4,0.000,0.054,2481,3689,3850
$GC,1681,-0.94,-243.4,192.3,-9.8,307,1687,0.00,2.30,0.00,0.000,6,0.000,0.031,2481,2153,3850
$GC,2007,-0.94,-243.4,226.3,-10.1,368,2014,0.00,1.98,0.00,0.000,4,0.000,0.044,2481,883,3850
$GC,2030,-0.94,-243.4,228.6,-10.1,372,2037,0.00,2.00,0.00,0.000,6,0.000,0.040,2481,2175,3850
$GC,2358,-0.94,-243.4,261.0,-9.8,433,2363,0.00,2.38,0.00,0.000,4,0.000,0.056,2481,3683,3849
$GC,2437,-0.94,-243.4,268.9,-9.7,448,2445,0.00,2.28,0.00,0.000,6,0.000,0.032,2481,2184,3849
$GC,2765,-0.94,-243.4,301.3,-9.6,508,2769,0.00,2.40,0.00,0.000,4,0.000,0.058,2481,3680,3849
$GC,2808,-0.94,-243.4,305.3,-8.7,511,2813,0.00,2.22,0.00,0.000,6,0.000,0.034,2481,2197,3849
$GC,3125,-0.94,-243.4,335.0,-9.7,542,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2193,3849
$GC,3435,-0.94,-243.4,363.2,-9.0,572,3439,0.00,2.38,0.00,0.000,4,0.000,0.058,2481,3677,3847
$GC,3472,-0.94,-243.4,366.6,-8.2,575,3476,0.00,2.22,0.00,0.000,6,0.000,0.033,2481,2193,3846
$GC,3788,-0.94,-243.4,394.2,-9.5,605,3791,0.00,2.40,0.00,0.000,4,0.000,0.058,2481,3689,3845
$GC,3836,-0.94,-243.4,399.1,-10.5,609,3839,0.00,2.22,0.00,0.000,6,0.000,0.032,2481,2203,3844
$GC,4151,-0.94,-243.4,429.5,-8.9,639,4152,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2198,3843
$GC,4465,-0.94,-243.4,455.8,-8.8,669,4469,0.00,2.38,0.00,0.000,4,0.000,0.059,2481,3676,3841
$GC,4503,-0.94,-243.4,459.3,-8.9,672,4506,0.00,2.17,0.00,0.000,6,0.000,0.033,2481,2225,3841
$STATE,4582,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4582,begin apogee
$GC,4589,-0.26,0.0,466.5,8.6,680,4778,0.62,0.00,186.32,0.946,6,0.068,0.000,2719,2311,2854
$STATE,4778,end apogee,CONTROL_FINISHED_OK
$STATE,4778,begin climb
$GC,4781,0.94,243.4,480.7,0.0,699,4978,0.98,2.25,186.85,0.929,4,0.035,0.056,3126,3659,1860
$GC,5074,0.94,243.4,460.2,13.4,725,5081,0.12,2.12,0.00,0.000,6,0.179,0.037,3099,2303,1856
$GC,5389,0.94,243.4,422.2,11.8,756,5393,0.00,2.20,0.00,0.000,4,0.000,0.046,3108,885,1853
$GC,5469,0.94,243.4,413.4,11.1,763,5475,0.00,2.20,0.00,0.000,6,0.000,0.040,3109,2291,1852
$GC,5788,0.94,243.4,377.2,10.2,794,5791,0.00,2.17,0.00,0.000,4,0.000,0.046,3118,900,1851
$GC,5926,0.94,243.4,362.3,10.6,807,5929,0.00,2.25,0.00,0.000,6,0.000,0.040,3118,2350,1850
$GC,6249,0.94,243.4,327.1,10.2,838,6252,0.00,2.10,0.00,0.000,4,0.000,0.053,3118,3689,1849
$GC,6291,0.94,243.4,322.2,11.0,842,6295,0.12,2.03,0.00,0.000,6,0.187,0.034,3098,2340,1848
$GC,6611,0.94,243.4,287.9,11.1,883,6616,0.00,2.22,0.00,0.000,4,0.000,0.044,3108,904,1847
$GC,6686,0.94,243.4,280.0,10.5,897,6692,0.00,2.22,0.00,0.000,6,0.000,0.039,3107,2340,1846
$GC,7013,0.94,243.4,247.0,9.1,958,7018,0.00,2.15,0.00,0.000,4,0.000,0.059,3107,3682,1846
$GC,7130,0.94,243.4,235.7,9.2,980,7136,0.00,2.10,0.00,0.000,6,0.000,0.040,3117,2319,1846
$GC,7456,0.94,243.4,207.0,9.2,1041,7463,0.00,2.17,0.00,0.000,4,0.000,0.051,3118,3695,1845
$GC,7533,0.95,251.2,200.3,8.8,1055,7545,0.00,2.08,5.12,0.584,6,0.000,0.034,3128,2315,1829
$GC,7866,1.00,293.2,172.8,7.9,1117,7910,0.00,2.25,35.95,0.759,4,0.000,0.044,3139,915,1656
$GC,7947,1.06,335.6,166.5,7.9,1131,7993,0.00,2.22,35.80,0.742,6,0.000,0.044,3138,2336,1485
$GC,8313,1.06,335.6,130.4,10.0,1198,8319,0.00,2.10,0.00,0.000,4,0.000,0.051,3139,3682,1481
$GC,8351,1.06,335.6,126.4,10.7,1205,8358,0.00,2.12,0.00,0.000,6,0.000,0.035,3149,2285,1481
$GC,8678,1.06,335.6,94.0,9.9,1266,8684,0.00,2.12,0.00,0.000,4,0.000,0.044,3159,900,1481
$GC,8732,1.07,345.9,89.1,8.7,1276,8746,0.00,2.17,9.45,0.617,6,0.000,0.037,3159,2325,1442
$GC,9066,1.11,376.4,62.4,8.2,1338,9097,0.00,2.12,26.12,0.650,4,0.000,0.049,3159,3683,1318
$GC,9222,1.12,386.3,49.6,8.7,1366,9235,0.00,2.08,9.15,0.568,6,0.000,0.032,3169,2319,1279
$GC,9555,1.18,434.1,21.6,7.8,1428,9600,0.00,2.20,39.50,0.608,4,0.000,0.041,3179,894,1083
$GC,9734,1.18,434.1,6.1,9.8,1460,9740,0.00,2.15,0.00,0.000,6,0.000,0.034,3179,2311,1079
$STATE,9764,end climb,SURFACE_DEPTH_REACHED
$STATE,9764,begin surface coast
$FINISH,1.5,1.001876
$STATE,9791,end surface coast,CONTROL_FINISHED_OK
$STATE,9791,begin surface
$SM_CCo,9807,31.45,0.578,0,0,917,475.15
$SM_GC,2.37,0.00,0.00,31.45,0.000,0.000,0.578,162,2316,917,-8.22,0.90,475.15
$IRIDIUM_FIX,2456.07,12538.90,291098,111125
$TT8_MAMPS,0.047554
$HUMID,1695
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,26.70
$XPDR_PINGS,762
$24V_AH,23.5,93.781
$10V_AH,10.6,64.090
$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,18.825,100.525,534.275,31.450,0.000,23.009,37.826,213.144,193.250,0.000,0.000,13.769,0.000,5816.930,641.149,3170.142,599.754,0.000,1811.498,0.000,2726.190,0.000,19.243,0.000
$DEVICE_MAMPS,225.498,78.234,946.478,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,983.185,1128.464,1892.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82176,1471
$CAP_FILE_SIZE,121954,0
$CFSIZE,260165632,220114944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,338.9,1
$GPS,040809,165958,2502.620,12541.396,12,99.0,31,-3.8