version: 66.04
glider: 165
mission: 2
dive: 231
start: 6 28 109 1 0 57
data:
$ID,165
$MISSION,2
$DIVE,231
$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,413
$T_MISSION,495
$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,200
$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,450
$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,-121595.06
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,005336,2448.106,12418.233,28,1.5,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-71.6
$GPS2,010052,2448.138,12418.297,11,99.0,30,-3.7
$SPEED_LIMITS,0.138,0.273
$TGT_NAME,RET_1
$TGT_LATLONG,2435.000,12317.000
$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,251.3,106060,-12.7,-7.990
$D_GRID,920
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.91,-194.7,0.0,0.0,0,56,0.00,0.00,-40.00,0.000,2,0.000,0.000,165,2122,2038
$GC,58,-0.91,-194.7,3.1,-3.6,6,116,9.00,2.22,-44.33,0.000,4,0.222,0.056,2519,729,3649
$GC,163,0.00,-194.7,24.7,-31.9,24,171,0.95,2.20,0.00,0.000,6,0.147,0.044,2818,2125,3651
$GC,491,-0.66,-194.7,64.5,-10.4,85,498,0.57,2.22,0.00,0.000,4,0.062,0.048,2596,3558,3652
$GC,578,-0.27,-194.7,74.9,-14.1,101,585,0.35,2.12,0.00,0.000,6,0.114,0.032,2731,2148,3651
$GC,906,-0.99,-194.7,105.2,-11.4,162,912,0.57,2.20,0.00,0.000,4,0.055,0.047,2488,3558,3652
$GC,927,-1.19,-194.7,108.0,-13.0,166,933,0.10,2.15,0.00,0.000,6,0.047,0.032,2424,2139,3652
$GC,1254,-0.24,-194.7,201.5,-22.9,227,1260,0.98,2.12,0.00,0.000,4,0.153,0.042,2731,748,3653
$GC,1286,-0.08,-194.7,204.9,-9.8,233,1293,0.17,2.15,0.00,0.000,6,0.074,0.037,2802,2163,3654
$GC,1613,-0.76,-194.7,227.4,-8.2,294,1619,0.62,2.17,0.00,0.000,4,0.075,0.044,2570,747,3654
$GC,1683,-0.57,-194.7,234.7,-11.1,307,1689,0.20,2.17,0.00,0.000,6,0.118,0.040,2634,2167,3654
$GC,2009,-0.65,-194.7,261.1,-9.8,368,2015,0.00,2.20,0.00,0.000,4,0.000,0.061,2634,3542,3654
$GC,2079,-0.80,-194.7,267.7,-9.3,381,2086,0.20,2.00,0.00,0.000,6,0.046,0.033,2526,2190,3654
$GC,2407,-0.38,-194.7,319.4,-16.8,432,2409,0.52,0.00,0.00,0.000,6,0.120,0.000,2698,2185,3654
$GC,2719,-1.06,-194.7,349.1,-10.1,462,2723,0.57,2.15,0.00,0.000,4,0.062,0.055,2469,3541,3652
$GC,2799,-0.55,-194.7,360.3,-16.2,469,2803,0.52,2.03,0.00,0.000,6,0.123,0.035,2641,2188,3652
$GC,3114,-1.15,-194.7,386.3,-8.2,499,3118,0.47,2.15,0.00,0.000,4,0.053,0.056,2441,3538,3650
$GC,3183,-0.52,-194.7,396.3,-18.0,505,3187,0.65,2.00,0.00,0.000,6,0.127,0.035,2652,2201,3649
$GC,3498,-1.19,-194.7,420.4,-8.2,535,3502,0.60,2.12,0.00,0.000,4,0.082,0.056,2432,3539,3648
$GC,3542,-0.69,-194.7,425.2,-13.2,539,3546,0.52,2.00,0.00,0.000,6,0.133,0.035,2599,2199,3647
$GC,3857,-0.69,-194.7,450.8,-6.3,569,3860,0.00,2.15,0.00,0.000,4,0.000,0.058,2599,3545,3646
$GC,3926,-0.77,-194.7,455.3,-7.1,575,3932,0.00,2.03,0.00,0.000,6,0.000,0.035,2599,2216,3646
$GC,4242,-0.77,-194.7,481.5,-7.2,606,4245,0.00,2.12,0.00,0.000,4,0.000,0.059,2599,3546,3644
$GC,4317,-0.88,-194.7,487.1,-7.7,613,4320,0.17,1.98,0.00,0.000,6,0.051,0.035,2507,2226,3643
$GC,4645,-0.51,-194.7,528.2,-11.5,634,4649,0.43,2.12,0.00,0.000,4,0.125,0.059,2647,3540,3640
$GC,4692,-0.93,-194.7,531.6,-5.1,636,4696,0.28,1.98,0.00,0.000,6,0.042,0.035,2496,2243,3640
$GC,5008,-0.51,-194.7,569.2,-12.6,652,5012,0.47,2.33,0.00,0.000,4,0.124,0.050,2652,751,3638
$GC,5045,-0.84,-194.7,572.0,-5.0,654,5049,0.28,2.30,0.00,0.000,6,0.048,0.041,2521,2240,3638
$GC,5372,-0.56,-194.7,611.2,-13.6,670,5376,0.32,2.08,0.00,0.000,4,0.123,0.061,2630,3537,3636
$GC,5424,-0.88,-194.7,615.9,-6.7,672,5434,0.22,1.98,0.00,0.000,6,0.041,0.035,2507,2238,3635
$GC,5736,-0.55,-194.7,654.7,-12.3,688,5737,0.40,0.00,0.00,0.000,6,0.120,0.000,2638,2238,3633
$GC,6040,-1.22,-194.7,673.8,-7.6,703,6044,0.57,2.10,0.00,0.000,4,0.065,0.060,2412,3551,3631
$GC,6164,-0.61,-194.7,692.2,-18.0,708,6171,0.60,1.98,0.00,0.000,6,0.135,0.037,2618,2259,3630
$GC,6473,-1.17,-194.7,718.2,-9.1,724,6477,0.47,2.05,0.00,0.000,4,0.059,0.059,2434,3542,3629
$GC,6558,-0.64,-194.7,731.1,-18.1,728,6562,0.50,1.95,0.00,0.000,6,0.128,0.037,2610,2270,3627
$GC,6886,-1.11,-194.7,755.9,-6.6,744,6889,0.38,2.05,0.00,0.000,4,0.051,0.060,2448,3536,3626
$GC,7077,-0.62,-194.7,782.2,-15.3,753,7081,0.50,1.88,0.00,0.000,6,0.128,0.037,2613,2316,3624
$GC,7400,-1.12,-194.7,800.2,-5.9,769,7404,0.40,2.00,0.00,0.000,4,0.054,0.061,2444,3549,3622
$GC,7469,-0.61,-194.7,808.2,-14.7,772,7473,0.50,1.88,0.00,0.000,6,0.127,0.038,2621,2330,3621
$GC,7785,-1.17,-194.7,828.2,-6.7,788,7789,0.47,2.50,0.00,0.000,4,0.059,0.049,2436,745,3620
$GC,7827,-0.67,-194.7,832.8,-12.1,790,7831,0.57,2.50,0.00,0.000,6,0.140,0.047,2601,2323,3619
$GC,8143,-1.10,-194.7,851.4,-6.4,806,8147,0.35,1.95,0.00,0.000,4,0.052,0.061,2450,3536,3618
$GC,8267,-0.65,-194.7,867.5,-16.0,812,8271,0.50,1.77,0.00,0.000,6,0.127,0.038,2608,2362,3617
$GC,8588,-1.13,-194.7,889.6,-7.4,828,8592,0.40,2.55,0.00,0.000,4,0.060,0.050,2444,752,3616
$GC,8656,-0.65,-194.7,898.3,-14.9,831,8661,0.55,2.53,0.00,0.000,6,0.140,0.048,2610,2334,3615
$GC,8966,-1.18,-194.7,919.0,-7.0,846,8970,0.47,1.92,0.00,0.000,4,0.059,0.063,2425,3536,3614
$STATE,8980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8980,begin apogee
$GC,8986,-0.26,0.0,920.4,7.2,846,9144,0.95,0.00,154.93,1.333,6,0.137,0.000,2728,2448,2854
$STATE,9144,end apogee,CONTROL_FINISHED_OK
$STATE,9144,begin climb
$GC,9146,0.91,194.7,927.3,0.0,854,9319,1.05,2.38,163.05,1.295,4,0.051,0.052,3128,1062,2058
$GC,9339,0.06,194.7,913.3,20.0,863,9344,1.02,2.30,0.00,0.000,6,0.171,0.046,2842,2445,2054
$GC,9660,0.37,236.0,889.9,6.8,879,9704,0.28,2.33,35.62,1.252,4,0.045,0.051,2983,1065,1889
$GC,9842,0.09,236.0,868.9,11.7,887,9847,0.40,2.22,0.00,0.000,6,0.134,0.045,2854,2426,1884
$GC,10158,0.52,272.9,849.2,7.0,903,10195,0.35,2.25,32.17,1.246,4,0.045,0.049,3027,1061,1740
$GC,10328,0.16,272.9,825.7,14.7,910,10332,0.47,2.17,0.00,0.000,6,0.140,0.044,2877,2400,1734
$GC,10649,0.35,277.2,799.1,7.9,926,10653,0.15,2.17,0.00,0.000,4,0.057,0.049,2958,1034,1732
$GC,10676,0.29,277.2,796.7,10.2,927,10680,0.15,2.15,0.00,0.000,6,0.136,0.044,2915,2397,1732
$GC,10997,0.34,315.4,769.9,6.9,943,11040,0.00,2.25,37.05,1.230,4,0.000,0.048,2922,1061,1566
$GC,11061,0.51,382.2,766.2,6.1,946,11126,0.17,2.12,60.12,1.213,6,0.055,0.042,3017,2378,1294
$GC,11428,0.25,382.2,714.3,14.6,964,11431,0.35,2.12,0.00,0.000,4,0.131,0.048,2915,1058,1289
$GC,11480,0.49,382.2,709.5,8.0,966,11487,0.12,2.10,0.00,0.000,6,0.045,0.042,3001,2360,1287
$GC,11791,0.32,382.2,666.5,14.6,982,11795,0.25,2.10,0.00,0.000,4,0.128,0.049,2934,1059,1287
$GC,11833,0.48,382.2,661.8,9.4,984,11837,0.08,2.05,0.00,0.000,6,0.054,0.042,2998,2341,1285
$GC,12160,0.34,382.2,618.3,13.9,1000,12163,0.22,2.15,0.00,0.000,4,0.129,0.058,2931,3683,1285
$GC,12191,0.43,382.2,614.7,10.1,1001,12197,0.00,2.08,0.00,0.000,6,0.000,0.038,2938,2353,1285
$GC,12501,0.61,422.9,591.9,6.9,1017,12544,0.22,2.12,34.95,1.116,4,0.048,0.051,3052,1059,1128
$GC,12650,0.36,422.9,569.1,16.2,1024,12654,0.40,2.03,0.00,0.000,6,0.134,0.043,2932,2332,1126
$GC,12976,0.56,422.9,540.0,8.6,1040,12980,0.20,2.05,0.00,0.000,4,0.049,0.049,3035,1062,1123
$GC,13013,0.36,422.9,535.4,13.6,1041,13020,0.30,1.98,0.00,0.000,6,0.129,0.041,2938,2304,1123
$GC,13324,0.55,422.9,509.7,8.4,1057,13327,0.17,1.98,0.00,0.000,4,0.051,0.049,3031,1047,1123
$GC,13344,0.55,422.9,507.3,11.6,1058,13349,0.08,2.03,0.00,0.000,6,0.127,0.041,3003,2320,1123
$GC,13664,0.55,422.9,465.7,14.0,1086,13668,0.00,2.03,0.00,0.000,4,0.000,0.049,3011,1058,1123
$GC,13702,0.51,422.9,460.3,15.1,1089,13708,0.00,1.98,0.00,0.000,6,0.000,0.042,3011,2303,1123
$GC,14018,0.45,422.9,418.1,11.7,1120,14022,0.15,2.22,0.00,0.000,4,0.123,0.058,2966,3694,1123
$GC,14049,0.53,422.9,414.7,10.0,1122,14056,0.00,2.15,0.00,0.000,6,0.000,0.038,2971,2310,1122
$GC,14367,0.66,422.9,388.0,8.7,1153,14370,0.17,1.95,0.00,0.000,4,0.052,0.046,3076,1051,1123
$GC,14473,0.40,422.9,371.5,17.0,1163,14477,0.43,1.92,0.00,0.000,6,0.133,0.041,2945,2295,1123
$GC,14793,0.96,443.2,342.9,7.4,1194,14819,0.50,2.00,17.62,0.904,4,0.048,0.048,3159,1057,1047
$GC,14946,0.38,443.2,315.0,22.2,1208,14950,0.68,1.92,0.00,0.000,6,0.149,0.041,2949,2272,1045
$GC,15267,1.09,443.2,284.9,11.4,1252,15273,0.57,0.00,0.00,0.000,6,0.062,0.000,3170,2273,1044
$GC,15594,0.49,443.2,213.3,21.1,1313,15600,0.60,1.90,0.00,0.000,4,0.146,0.044,2990,1060,1044
$GC,15620,0.23,443.2,209.2,16.2,1318,15627,0.25,1.92,0.00,0.000,6,0.089,0.038,2896,2290,1043
$GC,15947,0.97,443.2,176.0,10.1,1379,15953,0.62,0.00,0.00,0.000,6,0.067,0.000,3136,2290,1044
$GC,16273,0.69,443.2,135.3,12.5,1440,16279,0.30,0.00,0.00,0.000,6,0.123,0.000,3037,2290,1043
$GC,16599,0.87,443.2,107.4,8.4,1501,16606,0.17,1.92,0.00,0.000,4,0.050,0.044,3138,1061,1044
$GC,16745,0.64,443.2,88.8,12.4,1528,16751,0.32,1.90,0.00,0.000,6,0.119,0.038,3028,2293,1044
$GC,17072,1.22,443.2,65.2,8.9,1589,17078,0.50,1.92,0.00,0.000,4,0.048,0.041,3234,1053,1043
$GC,17302,0.71,443.2,25.5,16.6,1632,17309,0.55,1.85,0.00,0.000,6,0.136,0.039,3056,2246,1043
$GC,17629,1.05,510.2,4.4,6.1,1693,17651,0.28,0.00,20.08,0.601,2,0.039,0.000,3200,2246,954
$STATE,17651,end climb,SURFACE_DEPTH_REACHED
$STATE,17651,begin surface coast
$FINISH,1.6,1.021213
$STATE,17686,end surface coast,CONTROL_FINISHED_OK
$STATE,17686,begin surface
$SM_CCo,17761,0.00,0.000,0,0,950,467.05
$SM_GC,2.27,7.78,0.00,0.00,0.037,0.000,0.000,151,2102,950,-8.21,-0.90,467.05
$IRIDIUM_FIX,2434.69,12416.95,210998,191928
$TT8_MAMPS,0.048321
$HUMID,1554
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,26.50
$XPDR_PINGS,241
$24V_AH,23.6,51.672
$10V_AH,10.7,34.334
$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,48.700,167.625,555.600,0.000,0.000,25.273,34.971,228.612,67.500,0.000,0.000,33.179,0.000,12694.031,719.477,4132.885,614.274,0.000,2252.318,0.000,3471.964,0.000,49.027,0.000
$DEVICE_MAMPS,221.663,62.894,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1151.429,1173.319,1840.929,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97842,1703
$CAP_FILE_SIZE,201649,0
$CFSIZE,260165632,238436352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226, 94.4,1
$GPS,280609,055755,2447.625,12416.805,37,1.5,37,-3.7