version: 66.04
glider: 165
mission: 2
dive: 236
start: 6 29 109 4 42 37
data:
$ID,165
$MISSION,2
$DIVE,236
$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,-121723.81
$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,45
$R_STBD_OVSHOOT,27
$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
$GPS1,043107,2449.334,12408.465,29,1.0,29,-3.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-67.0
$GPS2,044232,2449.452,12408.392,11,1.2,11,-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,271.1,90594,-13.7,-7.990
$D_GRID,1853
$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,-0.93,-170.3,0.0,0.0,0,79,0.00,0.00,-64.40,0.000,2,0.000,0.000,152,2134,2079
$GC,81,-0.93,-170.3,3.4,-3.0,10,134,9.20,2.25,-39.65,0.000,4,0.227,0.058,2515,734,3550
$GC,187,-0.07,-170.3,24.9,-29.5,28,195,0.88,2.22,0.00,0.000,6,0.150,0.041,2787,2141,3550
$GC,515,-0.78,-170.3,60.5,-11.2,89,522,0.62,2.20,0.00,0.000,4,0.080,0.049,2562,3546,3552
$GC,564,-0.47,-170.3,67.1,-14.1,98,570,0.25,2.15,0.00,0.000,6,0.120,0.033,2663,2129,3552
$GC,891,-0.37,-170.3,103.9,-10.5,159,897,0.12,2.25,0.00,0.000,4,0.125,0.058,2700,3552,3552
$GC,1067,-0.58,-170.3,118.7,-7.4,192,1075,0.15,2.05,0.00,0.000,6,0.037,0.032,2597,2192,3552
$GC,1396,-0.26,-170.3,167.9,-14.4,253,1402,0.40,2.15,0.00,0.000,4,0.129,0.053,2729,3554,3553
$GC,1439,-0.64,-170.3,171.0,-5.3,261,1445,0.28,2.05,0.00,0.000,6,0.048,0.037,2598,2195,3553
$GC,1765,-0.44,-170.3,205.6,-12.2,322,1772,0.22,2.15,0.00,0.000,4,0.115,0.060,2672,3533,3553
$GC,1841,-0.69,-170.3,210.8,-5.9,336,1848,0.17,1.98,0.00,0.000,6,0.035,0.039,2554,2224,3552
$GC,2168,-0.39,-170.3,251.2,-12.7,397,2174,0.38,2.28,0.00,0.000,4,0.118,0.046,2684,753,3553
$GC,2222,-0.70,-170.3,255.6,-6.7,407,2229,0.25,2.25,0.00,0.000,6,0.043,0.039,2545,2224,3553
$GC,2548,-0.40,-170.3,297.6,-11.7,468,2556,0.43,2.10,0.00,0.000,4,0.117,0.064,2685,3534,3553
$GC,2625,-1.02,-170.3,301.7,-5.2,479,2629,0.52,1.95,0.00,0.000,6,0.064,0.033,2483,2223,3553
$GC,2940,-0.48,-170.3,349.9,-17.2,509,2945,0.55,2.12,0.00,0.000,4,0.130,0.058,2658,3551,3553
$GC,2998,-0.83,-170.3,355.1,-7.6,514,3005,0.22,2.00,0.00,0.000,6,0.035,0.035,2500,2235,3553
$GC,3314,-0.40,-170.3,406.7,-15.2,545,3316,0.57,0.00,0.00,0.000,6,0.122,0.000,2689,2234,3551
$GC,3626,-1.12,-170.3,433.2,-9.0,575,3630,0.60,2.08,0.00,0.000,4,0.065,0.057,2453,3539,3549
$GC,3667,-0.72,-170.3,437.9,-12.0,578,3674,0.38,1.98,0.00,0.000,6,0.125,0.035,2580,2241,3548
$GC,3983,-0.72,-170.3,464.1,-7.6,609,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2237,3546
$GC,4293,-0.72,-170.3,489.0,-9.0,639,4297,0.00,2.12,0.00,0.000,4,0.000,0.061,2577,3543,3544
$GC,4331,-0.72,-170.3,492.1,-8.7,642,4337,0.00,1.98,0.00,0.000,6,0.000,0.036,2577,2251,3543
$GC,4642,-0.72,-170.3,522.1,-10.2,662,4646,0.00,2.10,0.00,0.000,4,0.000,0.061,2577,3536,3541
$GC,4700,-0.72,-170.3,527.9,-8.9,664,4707,0.00,1.95,0.00,0.000,6,0.000,0.035,2577,2263,3541
$GC,5011,-0.72,-170.3,552.8,-7.7,680,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2261,3539
$GC,5316,-0.72,-170.3,576.9,-8.4,695,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2261,3537
$GC,5621,-0.72,-170.3,602.9,-8.3,710,5625,0.00,2.10,0.00,0.000,4,0.000,0.064,2577,3535,3534
$GC,5675,-0.79,-170.3,606.9,-7.6,712,5678,0.00,1.95,0.00,0.000,6,0.000,0.038,2577,2266,3533
$GC,5990,-0.79,-170.3,633.3,-9.0,728,5994,0.00,2.40,0.00,0.000,4,0.000,0.051,2577,759,3532
$GC,6016,-0.79,-170.3,635.9,-10.2,729,6020,0.00,2.35,0.00,0.000,6,0.000,0.045,2577,2235,3531
$GC,6338,-0.79,-170.3,664.7,-8.9,745,6341,0.00,2.10,0.00,0.000,4,0.000,0.064,2577,3542,3529
$GC,6380,-0.90,-170.3,668.2,-8.1,747,6384,0.10,1.98,0.00,0.000,6,0.049,0.037,2506,2258,3528
$GC,6708,-0.62,-170.3,706.0,-11.0,763,6712,0.32,2.10,0.00,0.000,4,0.123,0.064,2614,3539,3527
$GC,6760,-0.93,-170.3,709.1,-4.0,765,6767,0.22,1.98,0.00,0.000,6,0.038,0.038,2492,2257,3526
$GC,7071,-0.58,-170.3,744.8,-12.6,781,7075,0.43,2.38,0.00,0.000,4,0.126,0.053,2628,755,3524
$GC,7103,-0.80,-170.3,747.4,-6.6,782,7109,0.17,2.38,0.00,0.000,6,0.054,0.046,2543,2263,3524
$GC,7413,-0.70,-170.3,774.3,-8.6,798,7417,0.17,2.05,0.00,0.000,4,0.123,0.063,2590,3540,3522
$GC,7445,-0.86,-170.3,776.5,-6.6,799,7449,0.10,1.95,0.00,0.000,6,0.048,0.038,2520,2271,3521
$GC,7760,-0.66,-170.3,810.5,-11.3,815,7762,0.28,0.00,0.00,0.000,6,0.120,0.000,2607,2266,3519
$GC,8066,-1.08,-170.3,831.9,-7.2,830,8070,0.38,2.08,0.00,0.000,4,0.048,0.064,2447,3542,3518
$GC,8268,-0.65,-170.3,860.7,-15.1,839,8272,0.47,1.95,0.00,0.000,6,0.128,0.041,2603,2285,3516
$GC,8585,-0.84,-170.3,881.5,-6.3,855,8588,0.17,2.42,0.00,0.000,4,0.058,0.054,2516,757,3514
$GC,8605,-0.84,-170.3,883.3,-8.9,856,8609,0.08,2.42,0.00,0.000,6,0.135,0.048,2538,2261,3514
$GC,8926,-0.74,-170.3,911.9,-8.8,872,8930,0.15,2.42,0.00,0.000,4,0.131,0.053,2586,747,3513
$GC,8953,-0.81,-170.3,914.1,-8.3,873,8956,0.00,2.42,0.00,0.000,6,0.000,0.048,2586,2254,3513
$GC,9274,-0.94,-170.3,934.9,-6.7,889,9278,0.20,2.10,0.00,0.000,4,0.053,0.065,2488,3540,3511
$GC,9327,-0.68,-170.3,940.5,-12.1,891,9331,0.32,1.98,0.00,0.000,6,0.121,0.040,2609,2269,3511
$GC,9643,-1.14,-170.3,962.5,-7.4,907,9647,0.40,2.10,0.00,0.000,4,0.054,0.064,2441,3546,3509
$GC,9791,-0.70,-170.3,983.8,-15.9,914,9796,0.45,1.92,0.00,0.000,6,0.130,0.042,2587,2320,3507
$STATE,9866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9866,begin apogee
$GC,9871,-0.26,0.0,990.2,7.5,918,10011,0.43,0.00,135.02,1.395,6,0.100,0.000,2735,2449,2854
$STATE,10011,end apogee,CONTROL_FINISHED_OK
$STATE,10011,begin climb
$GC,10013,0.93,170.3,997.4,0.0,925,10165,1.02,2.45,145.25,1.354,4,0.036,0.055,3150,1074,2158
$GC,10192,0.04,170.3,987.8,18.1,933,10197,1.10,2.35,0.00,0.000,6,0.177,0.051,2834,2448,2154
$GC,10509,0.48,251.5,971.1,5.4,949,10586,0.35,2.40,69.72,1.327,4,0.042,0.052,3010,1067,1826
$GC,10704,0.18,251.5,945.9,13.9,958,10708,0.40,2.25,0.00,0.000,6,0.138,0.050,2883,2426,1819
$GC,11026,0.38,298.2,922.4,6.5,974,11078,0.17,2.28,42.40,1.253,4,0.057,0.052,2977,1072,1637
$GC,11127,0.25,298.2,911.5,12.1,978,11134,0.25,2.22,0.00,0.000,6,0.133,0.048,2904,2433,1634
$GC,11438,0.39,298.2,887.3,8.0,994,11441,0.12,2.20,0.00,0.000,4,0.064,0.052,2976,1067,1631
$GC,11500,0.27,298.2,880.2,12.4,997,11505,0.20,2.17,0.00,0.000,6,0.127,0.047,2909,2408,1629
$GC,11822,0.38,298.2,852.3,8.5,1013,11826,0.10,2.15,0.00,0.000,4,0.075,0.052,2970,1063,1629
$GC,11875,0.28,298.2,846.2,11.8,1015,11879,0.17,2.15,0.00,0.000,6,0.127,0.047,2911,2395,1628
$GC,12190,0.39,298.2,817.3,9.5,1031,12192,0.10,0.00,0.00,0.000,6,0.077,0.000,2962,2395,1628
$GC,12496,0.30,298.2,783.2,10.8,1046,12497,0.15,0.00,0.00,0.000,6,0.138,0.000,2919,2395,1627
$GC,12801,0.40,298.2,757.2,8.6,1061,12804,0.00,2.15,0.00,0.000,4,0.000,0.051,2927,1069,1628
$GC,12891,0.46,298.2,749.2,8.8,1065,12895,0.08,2.12,0.00,0.000,6,0.061,0.047,2986,2383,1626
$GC,13213,0.28,298.2,711.2,11.8,1081,13217,0.25,2.08,0.00,0.000,4,0.137,0.050,2919,1066,1625
$GC,13244,0.39,298.2,708.2,8.1,1082,13248,0.00,2.10,0.00,0.000,6,0.000,0.046,2919,2373,1626
$GC,13560,0.49,298.2,680.0,9.6,1098,13564,0.17,2.12,0.00,0.000,4,0.058,0.062,3005,3695,1626
$GC,13618,0.18,298.2,671.2,16.8,1100,13625,0.43,2.03,0.00,0.000,6,0.138,0.041,2878,2400,1625
$GC,13929,0.72,374.6,649.9,5.6,1116,14000,0.43,2.25,66.12,1.173,4,0.044,0.052,3086,1044,1325
$GC,14199,0.32,374.6,605.4,18.3,1129,14203,0.55,2.08,0.00,0.000,6,0.146,0.048,2923,2328,1318
$GC,14519,0.54,374.6,578.7,8.7,1145,14520,0.20,0.00,0.00,0.000,6,0.052,0.000,3021,2328,1316
$GC,14824,0.37,374.6,535.5,13.5,1160,14828,0.28,2.08,0.00,0.000,4,0.127,0.052,2945,1050,1316
$GC,14856,0.51,374.6,532.2,9.6,1161,14860,0.08,2.05,0.00,0.000,6,0.056,0.044,3008,2323,1315
$GC,15172,0.42,374.6,496.0,12.2,1178,15173,0.17,0.00,0.00,0.000,6,0.125,0.000,2956,2323,1315
$GC,15484,0.56,374.6,468.7,8.9,1208,15487,0.12,2.05,0.00,0.000,4,0.066,0.051,3028,1038,1315
$GC,15520,0.42,374.6,464.3,13.2,1211,15528,0.20,2.08,0.00,0.000,6,0.122,0.044,2961,2335,1315
$GC,15836,0.57,374.6,433.8,8.2,1242,15840,0.12,2.08,0.00,0.000,4,0.061,0.050,3034,1047,1315
$GC,15889,0.43,374.6,428.2,11.1,1247,15893,0.22,2.03,0.00,0.000,6,0.120,0.044,2961,2316,1315
$GC,16210,0.59,374.6,404.4,8.2,1278,16214,0.15,2.03,0.00,0.000,4,0.057,0.049,3043,1054,1315
$GC,16252,0.41,374.6,399.2,13.2,1282,16256,0.28,2.00,0.00,0.000,6,0.124,0.043,2953,2314,1315
$GC,16574,0.61,403.8,371.3,7.1,1313,16607,0.17,2.05,24.12,0.940,4,0.053,0.049,3048,1054,1206
$GC,16643,0.46,403.8,363.4,12.7,1319,16651,0.22,2.03,0.00,0.000,6,0.119,0.042,2973,2314,1205
$GC,16959,0.64,403.8,339.4,8.3,1350,16960,0.15,0.00,0.00,0.000,6,0.055,0.000,3050,2314,1204
$GC,17270,0.51,403.8,296.7,14.6,1382,17276,0.22,0.00,0.00,0.000,6,0.121,0.000,2980,2314,1204
$GC,17596,0.68,405.2,266.0,7.9,1443,17604,0.17,2.00,0.00,0.000,4,0.052,0.048,3075,1038,1204
$GC,17641,0.50,405.2,260.6,13.0,1451,17648,0.30,1.98,0.00,0.000,6,0.128,0.042,2984,2311,1204
$GC,17968,0.71,405.2,231.1,8.9,1512,17975,0.17,2.22,0.00,0.000,4,0.051,0.058,3077,3691,1204
$GC,17989,0.71,405.2,228.2,11.0,1516,17996,0.10,2.17,0.00,0.000,6,0.137,0.036,3052,2292,1204
$GC,18316,0.66,405.2,193.1,11.2,1577,18322,0.00,1.95,0.00,0.000,4,0.000,0.048,3060,1047,1204
$GC,18375,0.60,405.2,185.9,13.3,1588,18381,0.12,1.95,0.00,0.000,6,0.114,0.041,3015,2294,1204
$GC,18702,0.73,406.5,155.2,7.9,1649,18708,0.12,2.20,0.00,0.000,4,0.062,0.054,3088,3692,1204
$GC,18761,0.52,406.5,148.3,12.5,1660,18767,0.32,2.15,0.00,0.000,6,0.126,0.035,2973,2293,1204
$GC,19088,1.25,492.3,125.1,5.3,1721,19171,0.62,2.03,72.80,0.725,4,0.050,0.046,3238,1048,845
$GC,19374,0.77,492.3,71.2,19.1,1772,19380,0.52,1.98,0.00,0.000,6,0.136,0.040,3071,2290,840
$GC,19701,1.03,507.9,43.4,7.5,1833,19721,0.22,2.25,13.32,0.613,4,0.044,0.052,3190,3690,782
$GC,19731,1.03,507.9,39.5,11.7,1838,19738,0.15,2.20,0.00,0.000,6,0.135,0.035,3152,2277,782
$STATE,20057,end climb,SURFACE_DEPTH_REACHED
$STATE,20057,begin surface coast
$FINISH,1.6,1.010088
$STATE,20083,end surface coast,CONTROL_FINISHED_OK
$STATE,20083,begin surface
$SM_CCo,20158,0.00,0.000,0,0,781,508.51
$SM_GC,2.42,7.60,0.00,0.00,0.034,0.000,0.000,162,2109,781,-8.21,-0.74,508.51
$IRIDIUM_FIX,2437.06,12408.39,230998,040420
$TT8_MAMPS,0.047554
$HUMID,1566
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.20
$XPDR_PINGS,266
$24V_AH,23.5,52.877
$10V_AH,10.7,35.179
$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,40.150,179.375,568.775,0.000,0.000,52.350,74.680,353.868,74.500,0.000,0.000,13.169,0.000,14746.419,759.147,4450.874,843.943,0.000,2423.059,0.000,3762.298,0.000,54.003,0.000
$DEVICE_MAMPS,227.032,74.399,1395.173,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1288.236,1310.451,2042.468,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110307,1904
$CAP_FILE_SIZE,220812,0
$CFSIZE,260165632,237871104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.133, 89.8,1
$GPS,290609,101936,2450.076,12406.550,36,1.3,41,-3.7