version: 66.04
glider: 165
mission: 2
dive: 456
start: 8 9 109 6 48 12
data:
$ID,165
$MISSION,2
$DIVE,456
$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,275
$T_MISSION,330
$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,-127344.02
$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,47
$R_STBD_OVSHOOT,42
$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
$GPS1,062601,2513.147,12529.688,49,1.2,49,-3.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-60.6
$GPS2,064807,2513.500,12529.639,9,1.3,20,-3.9
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2514.100,12430.200
$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,283.3,99581,-16.4,-12.000
$D_GRID,734
$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,-1.14,-243.4,0.0,0.0,0,69,0.00,0.00,-53.72,0.000,2,0.000,0.000,144,2300,2199
$GC,72,-1.14,-243.4,3.2,-4.7,8,130,9.10,2.20,-41.58,0.000,4,0.224,0.053,2423,884,3849
$GC,183,-1.14,-243.4,21.6,-16.8,27,189,0.00,2.15,0.00,0.000,6,0.000,0.039,2423,2278,3849
$GC,509,-1.14,-243.4,68.0,-12.1,88,515,0.00,2.20,0.00,0.000,4,0.000,0.054,2423,3682,3850
$GC,536,-1.14,-243.4,71.3,-12.9,93,542,0.00,2.17,0.00,0.000,6,0.000,0.031,2423,2238,3850
$GC,862,-1.14,-243.4,115.5,-13.5,154,869,0.00,2.05,0.00,0.000,4,0.000,0.043,2423,892,3850
$GC,912,-1.14,-243.4,122.1,-13.3,163,918,0.00,2.08,0.00,0.000,6,0.000,0.041,2423,2243,3850
$GC,1239,-1.14,-243.4,160.9,-11.3,224,1245,0.00,2.28,0.00,0.000,4,0.000,0.055,2423,3685,3850
$GC,1271,-1.14,-243.4,164.7,-12.7,230,1278,0.00,2.17,0.00,0.000,6,0.000,0.031,2423,2236,3851
$GC,1599,-1.14,-243.4,201.9,-11.4,291,1604,0.00,2.05,0.00,0.000,4,0.000,0.044,2422,900,3850
$GC,1625,-1.14,-243.4,205.0,-12.1,296,1631,0.00,2.12,0.00,0.000,6,0.000,0.041,2423,2250,3851
$GC,1952,-1.14,-243.4,239.7,-10.7,357,1957,0.00,2.28,0.00,0.000,4,0.000,0.055,2423,3694,3851
$GC,2038,-1.14,-243.4,249.4,-11.5,373,2043,0.00,2.12,0.00,0.000,6,0.000,0.031,2423,2258,3851
$GC,2364,-1.14,-243.4,286.1,-10.9,434,2371,0.00,2.33,0.00,0.000,4,0.000,0.058,2423,3682,3851
$GC,2403,-1.14,-243.4,290.5,-11.6,441,2409,0.00,2.10,0.00,0.000,6,0.000,0.032,2423,2266,3850
$GC,2722,-1.14,-243.4,323.6,-10.3,480,2725,0.00,2.10,0.00,0.000,4,0.000,0.045,2423,899,3850
$GC,2754,-1.14,-243.4,327.1,-10.9,483,2757,0.00,2.15,0.00,0.000,6,0.000,0.044,2423,2281,3849
$GC,3076,-1.14,-243.4,360.4,-11.1,514,3079,0.00,2.22,0.00,0.000,4,0.000,0.058,2423,3685,3848
$GC,3146,-1.14,-243.4,368.5,-11.2,520,3152,0.00,2.12,0.00,0.000,6,0.000,0.035,2423,2262,3847
$GC,3462,-1.14,-243.4,403.1,-10.5,551,3465,0.00,2.28,0.00,0.000,4,0.000,0.057,2423,3686,3845
$GC,3505,-1.14,-243.4,407.8,-11.2,555,3508,0.00,2.08,0.00,0.000,6,0.000,0.031,2423,2295,3845
$GC,3825,-1.14,-243.4,440.6,-10.1,586,3828,0.00,2.25,0.00,0.000,4,0.000,0.058,2423,3695,3843
$GC,3868,-1.14,-243.4,445.1,-10.9,590,3872,0.00,2.08,0.00,0.000,6,0.000,0.031,2423,2305,3842
$GC,4189,-1.14,-243.4,478.7,-10.8,621,4193,0.00,2.20,0.00,0.000,4,0.000,0.058,2423,3683,3841
$GC,4215,-1.14,-243.4,481.6,-10.9,623,4221,0.00,2.08,0.00,0.000,6,0.000,0.036,2423,2304,3840
$GC,4542,-1.14,-243.4,515.3,-10.4,648,4545,0.00,2.22,0.00,0.000,4,0.000,0.058,2423,3689,3838
$GC,4600,-1.14,-243.4,521.7,-10.2,650,4607,0.00,2.05,0.00,0.000,6,0.000,0.034,2423,2326,3838
$GC,4911,-1.14,-243.4,552.4,-9.8,666,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2326,3836
$GC,5216,-1.14,-243.4,582.9,-9.9,681,5219,0.00,2.20,0.00,0.000,4,0.000,0.061,2423,3685,3834
$GC,5247,-1.14,-243.4,586.1,-10.2,682,5251,0.00,2.03,0.00,0.000,6,0.000,0.033,2423,2338,3834
$GC,5564,-1.14,-243.4,617.0,-9.3,698,5567,0.00,2.25,0.00,0.000,4,0.000,0.047,2423,893,3831
$GC,5649,-1.14,-243.4,625.4,-9.6,702,5652,0.00,2.25,0.00,0.000,6,0.000,0.045,2423,2318,3831
$GC,5976,-1.14,-243.4,655.8,-9.3,718,5979,0.00,2.20,0.00,0.000,4,0.000,0.062,2423,3683,3829
$GC,6013,-1.14,-243.4,659.4,-9.6,719,6019,0.00,2.08,0.00,0.000,6,0.000,0.034,2423,2304,3828
$GC,6324,-1.14,-243.4,686.6,-9.3,735,6327,0.00,2.25,0.00,0.000,4,0.000,0.061,2423,3691,3826
$GC,6361,-1.14,-243.4,690.0,-9.3,736,6367,0.00,2.08,0.00,0.000,6,0.000,0.035,2423,2324,3826
$GC,6671,-1.14,-243.4,718.8,-9.6,752,6672,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2325,3824
$STATE,6831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6831,begin apogee
$GC,6837,-0.26,0.0,735.4,10.4,760,7036,0.82,0.00,195.85,1.180,6,0.087,0.000,2715,2324,2854
$STATE,7036,end apogee,CONTROL_FINISHED_OK
$STATE,7036,begin climb
$GC,7040,1.14,243.4,750.4,0.0,770,7251,1.17,2.35,200.30,1.160,4,0.038,0.051,3195,909,1857
$GC,7294,1.14,243.4,734.7,16.1,782,7297,0.15,2.28,0.00,0.000,6,0.186,0.044,3160,2335,1854
$GC,7621,1.14,243.4,687.3,13.9,798,7624,0.00,2.17,0.00,0.000,4,0.000,0.055,3160,3696,1852
$GC,7668,1.14,243.4,680.3,14.7,800,7671,0.00,2.10,0.00,0.000,6,0.000,0.036,3169,2330,1851
$GC,7989,1.14,243.4,637.8,13.5,816,7992,0.00,2.17,0.00,0.000,4,0.000,0.054,3169,3686,1849
$GC,8006,1.14,243.4,635.5,14.3,816,8011,0.00,2.10,0.00,0.000,6,0.000,0.041,3179,2321,1849
$GC,8316,1.14,243.4,592.9,12.9,832,8319,0.00,2.25,0.00,0.000,4,0.000,0.048,3189,889,1848
$GC,8438,1.14,243.4,575.9,13.2,837,8444,0.12,2.25,0.00,0.000,6,0.193,0.046,3162,2316,1846
$GC,8750,1.15,254.8,537.1,11.6,853,8763,0.00,2.22,8.65,0.927,4,0.000,0.055,3162,3676,1815
$GC,8834,1.21,298.2,527.3,10.6,857,8879,0.00,2.05,39.92,1.038,6,0.000,0.035,3171,2337,1637
$GC,9193,1.21,298.2,482.0,14.0,880,9197,0.00,2.28,0.00,0.000,4,0.000,0.048,3181,890,1633
$GC,9300,1.21,298.2,466.6,14.0,890,9303,0.00,2.28,0.00,0.000,6,0.000,0.041,3181,2335,1630
$GC,9624,1.21,298.2,421.1,13.5,921,9627,0.00,2.28,0.00,0.000,4,0.000,0.046,3191,900,1630
$GC,9656,1.21,298.2,416.7,12.9,924,9659,0.00,2.22,0.00,0.000,6,0.000,0.040,3191,2320,1628
$GC,9979,1.21,298.2,374.7,14.0,955,9983,0.00,2.25,0.00,0.000,4,0.000,0.047,3202,890,1628
$GC,10027,1.21,298.2,367.7,14.1,959,10033,0.00,2.22,0.00,0.000,6,0.000,0.040,3202,2314,1627
$GC,10345,1.21,298.2,322.1,14.3,990,10348,0.00,2.22,0.00,0.000,4,0.000,0.045,3212,894,1627
$GC,10360,1.21,298.2,319.6,14.3,991,10367,0.12,2.20,0.00,0.000,6,0.190,0.040,3183,2310,1627
$GC,10681,1.21,298.2,278.2,12.2,1038,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2311,1627
$GC,11007,1.22,312.7,239.8,11.5,1099,11025,0.00,2.20,12.40,0.795,4,0.000,0.052,3183,3689,1578
$GC,11117,1.22,312.7,225.6,13.8,1119,11123,0.00,2.17,0.00,0.000,6,0.000,0.035,3193,2264,1577
$GC,11445,1.26,344.5,187.0,10.9,1180,11482,0.00,2.20,28.73,0.790,4,0.000,0.048,3202,902,1448
$GC,11530,1.30,375.6,177.3,11.0,1195,11569,0.00,2.12,29.80,0.732,6,0.000,0.038,3203,2252,1321
$GC,11892,1.30,375.6,130.3,12.1,1261,11898,0.00,2.30,0.00,0.000,4,0.000,0.055,3203,3693,1319
$GC,11956,1.30,375.6,122.0,12.2,1273,11962,0.00,2.17,0.00,0.000,6,0.000,0.035,3213,2274,1319
$GC,12283,1.45,498.4,86.9,7.9,1334,12389,0.12,0.00,101.70,0.705,6,0.074,0.000,3270,2268,821
$GC,12710,1.45,498.4,32.8,13.7,1411,12716,0.00,2.15,0.00,0.000,4,0.000,0.051,3280,897,817
$GC,12835,1.45,498.4,13.1,16.5,1434,12841,0.00,2.25,0.00,0.000,6,0.000,0.038,3280,2335,817
$STATE,12891,end climb,SURFACE_DEPTH_REACHED
$STATE,12891,begin surface coast
$FINISH,1.6,1.021788
$STATE,12908,end surface coast,CONTROL_FINISHED_OK
$STATE,12908,begin surface
$SM_CCo,12985,0.00,0.000,0,0,814,500.41
$SM_GC,2.53,7.97,0.00,0.00,0.035,0.000,0.000,157,2344,814,-8.12,1.67,500.41
$IRIDIUM_FIX,2503.20,12531.71,031198,060653
$TT8_MAMPS,0.047554
$HUMID,1726
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,25.80
$XPDR_PINGS,806
$24V_AH,23.3,101.065
$10V_AH,10.5,68.486
$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,19.600,130.925,617.350,0.000,0.000,133.598,260.398,503.587,207.000,0.000,0.000,22.113,0.000,9020.801,720.567,3227.664,1312.388,0.000,1955.532,0.000,2725.145,0.000,37.450,0.000
$DEVICE_MAMPS,223.964,62.127,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,972.282,1035.591,1471.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82153,1448
$CAP_FILE_SIZE,147686,0
$CFSIZE,260165632,217481216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.127,102.0,1
$GPS,090809,102537,2513.795,12528.989,37,1.2,37,-3.9