version: 66.04
glider: 165
mission: 2
dive: 233
start: 6 28 109 11 30 2
data:
$ID,165
$MISSION,2
$DIVE,233
$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,175
$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,-121662.06
$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,55
$R_STBD_OVSHOOT,28
$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
$GPS1,112236,2447.943,12414.929,40,1.1,45,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-72.2
$GPS2,112957,2448.025,12415.041,12,2.5,31,-3.7
$SPEED_LIMITS,0.138,0.258
$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,277.7,100681,-13.7,-7.990
$D_GRID,1077
$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,-0.93,-170.3,0.0,0.0,0,55,0.00,0.00,-39.62,0.000,2,0.000,0.000,163,2120,1965
$GC,57,-0.93,-170.3,3.0,-2.9,6,117,9.23,2.20,-44.62,0.000,4,0.230,0.054,2511,741,3550
$GC,170,-0.09,-170.3,25.5,-28.7,25,177,0.85,2.22,0.00,0.000,6,0.146,0.045,2781,2144,3551
$GC,497,-0.79,-170.3,62.4,-10.7,86,504,0.60,2.17,0.00,0.000,4,0.063,0.048,2552,3543,3552
$GC,535,-0.69,-170.3,67.0,-12.2,93,543,0.10,2.15,0.00,0.000,6,0.124,0.038,2588,2127,3552
$GC,863,-0.26,-170.3,124.2,-16.5,154,869,0.45,2.10,0.00,0.000,4,0.127,0.042,2735,746,3552
$GC,880,0.03,-170.3,126.4,-15.4,157,887,0.28,2.15,0.00,0.000,6,0.090,0.040,2830,2152,3553
$GC,1208,-0.65,-170.3,155.7,-10.8,218,1215,0.57,2.15,0.00,0.000,4,0.059,0.049,2600,3537,3554
$GC,1305,-0.65,-170.3,166.4,-11.3,236,1311,0.00,2.05,0.00,0.000,6,0.000,0.031,2600,2165,3553
$GC,1631,-0.52,-170.3,202.5,-11.2,297,1638,0.17,2.15,0.00,0.000,4,0.115,0.053,2659,3533,3554
$GC,1750,-0.78,-170.3,212.7,-8.8,319,1756,0.25,1.98,0.00,0.000,6,0.046,0.032,2524,2193,3554
$GC,2076,-0.35,-170.3,259.7,-14.1,380,2082,0.55,2.22,0.00,0.000,4,0.121,0.049,2705,753,3554
$GC,2114,-0.61,-170.3,262.3,-5.7,387,2120,0.22,2.22,0.00,0.000,6,0.053,0.038,2602,2212,3554
$GC,2440,-0.77,-170.3,293.5,-10.0,448,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,2212,3554
$GC,2757,-0.99,-170.3,318.4,-6.5,485,2761,0.28,2.08,0.00,0.000,4,0.038,0.058,2451,3533,3554
$GC,2902,-0.39,-170.3,341.3,-17.3,498,2908,0.70,1.85,0.00,0.000,6,0.129,0.042,2694,2312,3553
$GC,3217,-1.10,-170.3,368.9,-9.6,529,3219,0.62,0.00,0.00,0.000,6,0.064,0.000,2455,2307,3553
$GC,3528,-0.48,-170.3,423.0,-20.1,559,3531,0.62,1.98,0.00,0.000,4,0.137,0.061,2658,3535,3551
$GC,3602,-0.94,-170.3,430.1,-7.9,565,3608,0.35,1.85,0.00,0.000,6,0.051,0.035,2504,2306,3550
$GC,3917,-0.58,-170.3,470.2,-11.3,596,3918,0.40,0.00,0.00,0.000,6,0.121,0.000,2634,2306,3548
$GC,4229,-1.12,-170.3,485.8,-6.0,626,4233,0.45,1.95,0.00,0.000,4,0.053,0.059,2447,3534,3547
$GC,4330,-0.58,-170.3,499.4,-16.0,635,4337,0.50,1.83,0.00,0.000,6,0.124,0.037,2632,2333,3545
$GC,4647,-1.11,-170.3,520.1,-7.1,651,4652,0.45,2.47,0.00,0.000,4,0.054,0.049,2451,747,3544
$GC,4793,-0.56,-170.3,542.6,-17.0,658,4797,0.60,2.38,0.00,0.000,6,0.138,0.048,2638,2256,3542
$GC,5113,-1.21,-170.3,567.7,-8.5,674,5117,0.57,2.05,0.00,0.000,4,0.059,0.060,2414,3528,3540
$GC,5144,-0.74,-170.3,571.6,-14.0,675,5148,0.47,1.90,0.00,0.000,6,0.138,0.037,2570,2285,3538
$GC,5461,-0.74,-170.3,600.6,-8.9,691,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2569,2284,3538
$GC,5766,-0.74,-170.3,626.2,-8.6,706,5769,0.00,2.03,0.00,0.000,4,0.000,0.064,2564,3536,3535
$GC,5802,-0.74,-170.3,629.3,-9.0,707,5809,0.00,1.92,0.00,0.000,6,0.000,0.037,2564,2285,3535
$GC,6113,-0.70,-170.3,657.8,-9.5,723,6114,0.10,0.00,0.00,0.000,6,0.131,0.000,2593,2279,3533
$GC,6418,-0.79,-170.3,678.6,-6.1,738,6422,0.00,2.05,0.00,0.000,4,0.000,0.064,2590,3523,3531
$GC,6455,-0.94,-170.3,680.8,-5.7,739,6461,0.17,1.92,0.00,0.000,6,0.041,0.038,2491,2280,3531
$GC,6765,-0.57,-170.3,719.7,-13.5,755,6770,0.45,2.40,0.00,0.000,4,0.127,0.053,2636,762,3529
$GC,6824,-0.89,-170.3,723.9,-6.5,757,6830,0.25,2.35,0.00,0.000,6,0.038,0.045,2496,2236,3529
$GC,7135,-0.58,-170.3,760.9,-11.8,773,7139,0.43,2.10,0.00,0.000,4,0.128,0.064,2633,3525,3527
$GC,7187,-0.98,-170.3,764.1,-5.0,775,7194,0.32,1.95,0.00,0.000,6,0.042,0.038,2479,2259,3526
$GC,7498,-0.60,-170.3,806.1,-14.9,791,7502,0.45,2.38,0.00,0.000,4,0.126,0.052,2624,762,3525
$GC,7545,-0.91,-170.3,810.3,-7.0,793,7549,0.22,2.35,0.00,0.000,6,0.040,0.046,2505,2228,3525
$GC,7861,-0.66,-170.3,848.9,-12.1,809,7865,0.32,2.10,0.00,0.000,4,0.125,0.064,2603,3525,3522
$GC,7946,-0.93,-170.3,854.7,-6.6,813,7950,0.20,1.95,0.00,0.000,6,0.039,0.039,2490,2266,3522
$GC,8273,-0.60,-170.3,896.2,-13.3,829,8277,0.38,2.40,0.00,0.000,4,0.129,0.052,2615,762,3520
$GC,8321,-0.89,-170.3,900.1,-6.5,831,8325,0.22,2.35,0.00,0.000,6,0.049,0.048,2502,2239,3520
$GC,8631,-0.62,-170.3,936.3,-12.3,846,8635,0.38,2.12,0.00,0.000,4,0.127,0.066,2620,3545,3518
$GC,8689,-0.98,-170.3,939.6,-5.1,848,8695,0.28,1.98,0.00,0.000,6,0.041,0.040,2470,2265,3518
$GC,8999,-0.57,-170.3,979.3,-13.2,864,9003,0.52,2.42,0.00,0.000,4,0.133,0.054,2635,753,3516
$GC,9042,-0.95,-170.3,982.1,-4.3,866,9046,0.32,2.38,0.00,0.000,6,0.050,0.048,2494,2244,3516
$STATE,9122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9122,begin apogee
$GC,9126,-0.26,0.0,990.1,10.5,870,9267,0.75,0.00,136.35,1.384,6,0.127,0.000,2734,2445,2854
$STATE,9267,end apogee,CONTROL_FINISHED_OK
$STATE,9267,begin climb
$GC,9269,0.93,170.3,995.2,0.0,877,9420,1.05,2.42,144.57,1.345,4,0.048,0.053,3141,1075,2157
$GC,9462,0.08,170.3,980.5,17.8,886,9467,1.00,2.33,0.00,0.000,6,0.177,0.050,2849,2446,2154
$GC,9783,0.32,237.8,959.9,5.9,902,9846,0.20,2.38,58.28,1.314,4,0.051,0.052,2955,1074,1883
$GC,9867,0.19,237.8,951.8,10.4,906,9871,0.20,2.30,0.00,0.000,6,0.127,0.048,2888,2445,1880
$GC,10194,0.31,237.8,925.4,8.3,922,10197,0.00,2.22,0.00,0.000,4,0.000,0.051,2893,1064,1875
$GC,10241,0.45,252.5,921.7,7.5,924,10259,0.15,2.22,13.10,1.216,6,0.035,0.047,3003,2439,1824
$GC,10562,0.11,252.5,878.1,14.0,940,10566,0.45,2.03,0.00,0.000,4,0.142,0.062,2860,3692,1820
$GC,10588,0.11,252.5,875.4,8.6,941,10592,0.00,1.92,0.00,0.000,6,0.000,0.039,2862,2461,1820
$GC,10903,0.43,332.6,857.3,5.5,957,10981,0.25,2.40,70.88,1.288,4,0.048,0.051,2992,1060,1497
$GC,11073,0.30,332.6,837.6,12.1,965,11077,0.22,2.25,0.00,0.000,6,0.130,0.047,2921,2421,1492
$GC,11400,0.41,332.6,809.9,8.7,981,11404,0.00,2.20,0.00,0.000,4,0.000,0.051,2929,1055,1491
$GC,11458,0.52,332.6,804.8,9.1,983,11464,0.12,2.20,0.00,0.000,6,0.044,0.047,3008,2416,1489
$GC,11768,0.28,332.6,760.6,14.9,999,11772,0.32,2.20,0.00,0.000,4,0.137,0.051,2919,1059,1489
$GC,11821,0.47,342.6,755.8,7.7,1001,11834,0.10,2.12,8.82,1.101,6,0.049,0.045,2994,2383,1457
$GC,12138,0.30,342.6,717.1,12.9,1017,12142,0.22,2.12,0.00,0.000,4,0.134,0.049,2931,1053,1455
$GC,12191,0.46,355.4,711.6,7.6,1019,12207,0.08,2.12,12.85,1.142,6,0.056,0.045,2996,2367,1405
$GC,12519,0.32,355.4,669.9,13.2,1036,12520,0.25,0.00,0.00,0.000,6,0.131,0.000,2921,2367,1403
$GC,12822,0.50,355.4,642.8,9.1,1051,12826,0.17,2.10,0.00,0.000,4,0.055,0.052,3011,1048,1401
$GC,12865,0.36,355.4,637.0,15.2,1053,12868,0.20,2.12,0.00,0.000,6,0.130,0.047,2934,2363,1401
$GC,13191,0.52,355.4,604.5,8.7,1069,13192,0.15,0.00,0.00,0.000,6,0.058,0.000,3017,2363,1401
$GC,13496,0.31,355.4,563.0,13.6,1084,13500,0.32,2.08,0.00,0.000,4,0.132,0.051,2926,1053,1401
$GC,13517,0.31,355.4,560.8,10.7,1085,13521,0.00,2.10,0.00,0.000,6,0.000,0.044,2926,2362,1400
$GC,13844,0.55,374.7,535.8,7.4,1101,13865,0.20,0.00,18.00,1.064,6,0.050,0.000,3025,2362,1326
$GC,14170,0.38,374.7,495.0,12.5,1118,14173,0.28,2.10,0.00,0.000,4,0.127,0.051,2950,1044,1324
$GC,14238,0.56,374.7,488.5,9.1,1124,14245,0.10,2.10,0.00,0.000,6,0.045,0.044,3023,2351,1322
$GC,14554,0.41,374.7,446.2,13.1,1155,14555,0.25,0.00,0.00,0.000,6,0.126,0.000,2947,2351,1322
$GC,14866,0.69,446.0,423.1,5.7,1185,14934,0.22,2.20,61.60,0.995,4,0.048,0.050,3069,1054,1034
$GC,14955,0.48,446.0,411.8,13.3,1193,14958,0.32,2.10,0.00,0.000,6,0.131,0.043,2974,2351,1032
$GC,15275,0.67,446.0,384.4,8.8,1224,15279,0.17,2.10,0.00,0.000,4,0.052,0.048,3066,1050,1029
$GC,15361,0.51,446.0,372.2,15.5,1232,15364,0.28,2.05,0.00,0.000,6,0.127,0.043,2982,2342,1028
$GC,15681,0.72,462.9,344.0,7.5,1263,15703,0.20,2.10,14.80,0.887,4,0.049,0.049,3093,1050,966
$GC,15750,0.48,462.9,334.4,15.4,1269,15757,0.32,2.05,0.00,0.000,6,0.129,0.042,2976,2330,965
$GC,16066,0.72,482.3,310.2,7.4,1300,16089,0.22,2.10,18.05,0.869,4,0.046,0.048,3100,1051,885
$GC,16142,0.49,482.3,299.2,17.3,1307,16148,0.35,2.00,0.00,0.000,6,0.124,0.041,2976,2304,884
$GC,16467,0.96,482.3,264.8,11.8,1368,16476,0.40,2.00,0.00,0.000,4,0.038,0.048,3171,1053,882
$GC,16595,0.50,482.3,238.1,23.6,1391,16600,0.62,1.90,0.00,0.000,6,0.143,0.042,2982,2273,882
$GC,16921,1.19,482.3,210.7,9.5,1452,16927,0.60,2.28,0.00,0.000,4,0.067,0.057,3203,3698,883
$GC,16969,0.68,482.3,202.1,19.5,1461,16976,0.57,2.20,0.00,0.000,6,0.151,0.038,3042,2290,882
$GC,17296,0.81,482.3,166.9,9.3,1522,17302,0.10,1.95,0.00,0.000,4,0.069,0.048,3115,1026,882
$GC,17360,0.67,482.3,158.2,14.1,1534,17366,0.22,1.98,0.00,0.000,6,0.117,0.040,3027,2289,882
$GC,17686,1.19,482.3,131.6,9.6,1595,17693,0.47,2.20,0.00,0.000,4,0.041,0.054,3233,3693,882
$GC,17720,0.94,482.3,126.2,16.9,1601,17726,0.35,2.15,0.00,0.000,6,0.157,0.036,3125,2303,882
$GC,18047,0.86,482.3,83.1,11.6,1662,18053,0.10,1.95,0.00,0.000,4,0.134,0.047,3102,1049,882
$GC,18292,0.93,482.3,57.8,9.2,1708,18300,0.00,1.90,0.00,0.000,6,0.000,0.038,3102,2273,882
$GC,18620,1.06,482.3,28.9,8.3,1769,18626,0.15,2.22,0.00,0.000,4,0.054,0.057,3188,3695,882
$GC,18658,0.83,482.3,23.7,14.9,1776,18665,0.30,2.20,0.00,0.000,6,0.130,0.036,3087,2265,882
$STATE,18935,end climb,SURFACE_DEPTH_REACHED
$STATE,18935,begin surface coast
$FINISH,1.5,1.008453
$STATE,18973,end surface coast,CONTROL_FINISHED_OK
$STATE,18973,begin surface
$SM_CCo,19048,0.00,0.000,0,0,882,483.73
$SM_GC,2.26,7.38,0.00,0.00,0.033,0.000,0.000,159,2106,882,-8.21,-0.82,483.73
$IRIDIUM_FIX,2437.06,12416.95,220998,060658
$TT8_MAMPS,0.048321
$HUMID,1553
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.60
$XPDR_PINGS,281
$24V_AH,23.5,52.141
$10V_AH,10.7,34.660
$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,44.750,175.425,557.300,0.000,0.000,28.071,39.269,223.971,78.250,0.000,0.000,34.192,0.000,13786.375,746.498,4296.874,621.497,0.000,2319.062,0.000,3602.322,0.000,55.235,0.000
$DEVICE_MAMPS,230.100,68.263,1384.435,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1240.920,1278.704,2005.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104054,1835
$CAP_FILE_SIZE,210502,0
$CFSIZE,260165632,238211072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056, 89.7,1
$GPS,280609,164830,2448.755,12412.513,35,1.0,40,-3.7