version: 66.04
glider: 165
mission: 2
dive: 237
start: 6 29 109 10 27 36
data:
$ID,165
$MISSION,2
$DIVE,237
$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,-121741.4
$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,54
$R_STBD_OVSHOOT,26
$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
$GPS1,101936,2450.076,12406.550,36,1.3,41,-3.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-71.0
$GPS2,102731,2450.187,12406.590,10,1.3,15,-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,264.5,88125,-13.7,-7.990
$D_GRID,1852
$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,-170.3,0.0,0.0,0,61,0.00,0.00,-46.42,0.000,2,0.000,0.000,161,2109,1947
$GC,63,-0.93,-170.3,3.0,-2.4,7,127,9.15,2.17,-47.10,0.000,4,0.225,0.057,2515,746,3552
$GC,159,-0.07,-170.3,19.1,-28.7,23,165,0.95,2.20,0.00,0.000,6,0.150,0.041,2793,2156,3552
$GC,485,-0.77,-170.3,53.8,-11.0,84,492,0.60,2.20,0.00,0.000,4,0.061,0.049,2562,3541,3553
$GC,561,-0.22,-170.3,66.0,-20.4,98,569,0.52,2.12,0.00,0.000,6,0.125,0.033,2749,2141,3554
$GC,890,-0.90,-170.3,93.6,-11.4,159,896,0.57,2.22,0.00,0.000,4,0.065,0.048,2525,3557,3554
$GC,917,-1.10,-170.3,97.4,-13.3,164,923,0.15,2.15,0.00,0.000,6,0.038,0.032,2438,2133,3554
$GC,1244,-0.21,-170.3,185.0,-23.9,225,1251,0.98,2.22,0.00,0.000,4,0.164,0.050,2728,3546,3555
$GC,1315,-0.86,-170.3,190.7,-4.9,238,1322,0.47,2.08,0.00,0.000,6,0.072,0.033,2532,2171,3556
$GC,1642,-0.44,-170.3,238.8,-15.7,299,1648,0.45,0.00,0.00,0.000,6,0.120,0.000,2680,2171,3556
$GC,1968,-1.14,-170.3,263.7,-6.9,360,1975,0.62,2.20,0.00,0.000,4,0.067,0.054,2443,3554,3556
$GC,2115,-0.50,-170.3,287.5,-18.7,387,2121,0.68,2.03,0.00,0.000,6,0.130,0.035,2659,2201,3556
$GC,2435,-1.07,-170.3,313.6,-7.8,432,2439,0.50,2.15,0.00,0.000,4,0.050,0.054,2455,3552,3556
$GC,2595,-0.45,-170.3,339.5,-18.1,446,2602,0.65,2.00,0.00,0.000,6,0.128,0.035,2670,2238,3556
$GC,2911,-1.18,-170.3,363.0,-9.2,477,2912,0.62,0.00,0.00,0.000,6,0.064,0.000,2431,2234,3554
$GC,3221,-0.48,-170.3,423.3,-18.6,507,3226,0.70,2.33,0.00,0.000,4,0.139,0.048,2658,746,3553
$GC,3247,-0.43,-170.3,426.1,-9.1,509,3251,0.00,2.28,0.00,0.000,6,0.000,0.041,2658,2224,3553
$GC,3569,-1.15,-170.3,447.2,-7.6,540,3573,0.55,2.08,0.00,0.000,4,0.074,0.054,2447,3540,3551
$GC,3601,-0.93,-170.3,450.3,-10.6,542,3607,0.20,2.00,0.00,0.000,6,0.127,0.035,2515,2219,3551
$GC,3916,-0.62,-170.3,488.9,-12.9,573,3920,0.30,2.12,0.00,0.000,4,0.122,0.058,2617,3543,3549
$GC,3964,-0.83,-170.3,493.0,-7.1,577,3968,0.17,1.98,0.00,0.000,6,0.050,0.035,2527,2223,3548
$GC,4281,-0.58,-170.3,528.1,-10.2,596,4285,0.30,2.12,0.00,0.000,4,0.114,0.059,2631,3539,3547
$GC,4328,-0.87,-170.3,530.9,-4.0,598,4332,0.22,1.98,0.00,0.000,6,0.035,0.035,2504,2243,3547
$GC,4644,-0.54,-170.3,565.8,-11.5,614,4645,0.43,0.00,0.00,0.000,6,0.120,0.000,2643,2238,3544
$GC,4949,-1.13,-170.3,586.4,-7.6,629,4953,0.50,2.10,0.00,0.000,4,0.053,0.058,2442,3548,3543
$GC,4981,-0.73,-170.3,589.9,-12.3,630,4985,0.40,2.00,0.00,0.000,6,0.126,0.038,2586,2240,3541
$GC,5297,-0.79,-170.3,615.1,-7.1,646,5301,0.00,2.10,0.00,0.000,4,0.000,0.061,2586,3540,3539
$GC,5328,-0.89,-170.3,617.0,-6.1,647,5332,0.12,1.98,0.00,0.000,6,0.043,0.036,2506,2251,3539
$GC,5644,-0.59,-170.3,653.9,-12.4,663,5645,0.38,0.00,0.00,0.000,6,0.120,0.000,2628,2246,3537
$GC,5950,-1.11,-170.3,674.2,-6.5,678,5953,0.45,2.10,0.00,0.000,4,0.051,0.061,2445,3543,3535
$GC,6114,-0.63,-170.3,695.7,-14.5,685,6122,0.50,1.98,0.00,0.000,6,0.123,0.039,2612,2266,3533
$GC,6425,-1.11,-170.3,712.8,-6.1,701,6429,0.40,2.08,0.00,0.000,4,0.049,0.062,2445,3545,3531
$GC,6559,-0.65,-170.3,731.2,-16.0,707,6563,0.52,1.90,0.00,0.000,6,0.128,0.040,2611,2299,3531
$GC,6874,-1.14,-170.3,757.0,-8.5,723,6878,0.43,2.03,0.00,0.000,4,0.052,0.064,2438,3540,3528
$GC,6985,-0.64,-170.3,773.8,-16.7,728,6990,0.50,1.85,0.00,0.000,6,0.126,0.039,2604,2344,3526
$GC,7308,-0.93,-170.3,794.5,-5.7,744,7312,0.20,2.55,0.00,0.000,4,0.060,0.051,2512,745,3526
$GC,7328,-1.12,-170.3,796.2,-8.1,745,7332,0.12,2.53,0.00,0.000,6,0.048,0.048,2438,2313,3525
$GC,7651,-0.58,-170.3,843.4,-14.8,761,7655,0.57,2.00,0.00,0.000,4,0.138,0.063,2617,3541,3523
$GC,7704,-0.91,-170.3,847.2,-4.3,763,7710,0.20,1.85,0.00,0.000,6,0.040,0.038,2501,2343,3522
$GC,8014,-0.64,-170.3,880.8,-10.9,779,8015,0.35,0.00,0.00,0.000,6,0.123,0.000,2612,2339,3521
$GC,8319,-1.13,-170.3,898.0,-6.1,794,8323,0.43,1.95,0.00,0.000,4,0.054,0.066,2442,3535,3520
$GC,8448,-0.69,-170.3,914.8,-15.2,800,8452,0.50,1.83,0.00,0.000,6,0.127,0.041,2599,2345,3519
$GC,8771,-0.87,-170.3,937.3,-7.3,816,8775,0.17,2.55,0.00,0.000,4,0.055,0.053,2508,757,3518
$GC,8796,-0.76,-170.3,940.3,-11.9,817,8800,0.22,2.53,0.00,0.000,6,0.129,0.051,2576,2331,3517
$GC,9112,-0.85,-170.3,966.2,-6.6,833,9116,0.00,2.53,0.00,0.000,4,0.000,0.051,2576,756,3516
$GC,9143,-0.94,-170.3,969.2,-9.9,834,9147,0.12,2.53,0.00,0.000,6,0.049,0.049,2501,2312,3516
$STATE,9315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9315,begin apogee
$GC,9320,-0.26,0.0,990.8,10.9,843,9460,0.70,0.00,136.40,1.388,6,0.119,0.000,2730,2451,2854
$STATE,9460,end apogee,CONTROL_FINISHED_OK
$STATE,9460,begin climb
$GC,9462,0.93,170.3,993.0,0.0,850,9613,1.08,2.22,145.15,1.344,4,0.050,0.066,3128,3693,2157
$GC,9711,-0.01,170.3,962.5,18.9,862,9715,1.12,1.95,0.00,0.000,6,0.176,0.041,2820,2470,2153
$GC,10032,0.47,250.4,941.5,5.5,878,10107,0.38,2.42,68.43,1.308,4,0.043,0.054,3006,1054,1832
$GC,10316,0.19,250.4,908.1,12.8,891,10320,0.38,2.22,0.00,0.000,6,0.137,0.049,2887,2408,1824
$GC,10633,0.38,284.7,886.2,6.9,907,10667,0.15,2.28,29.70,1.272,4,0.061,0.054,2971,1041,1693
$GC,10716,0.27,284.7,877.0,11.7,911,10720,0.15,2.22,0.00,0.000,6,0.129,0.048,2910,2389,1689
$GC,11042,0.37,284.7,848.6,8.5,927,11043,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2389,1687
$GC,11348,0.48,284.7,821.3,9.2,942,11351,0.17,2.17,0.00,0.000,4,0.057,0.052,3002,1037,1686
$GC,11373,0.34,284.7,818.2,12.6,943,11377,0.20,2.17,0.00,0.000,6,0.133,0.048,2936,2380,1684
$GC,11689,0.34,284.7,786.7,9.7,959,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2380,1684
$GC,11994,0.34,284.7,759.3,9.0,974,11998,0.00,2.17,0.00,0.000,4,0.000,0.051,2945,1038,1684
$GC,12068,0.34,284.7,752.6,8.4,977,12072,0.00,2.17,0.00,0.000,6,0.000,0.046,2945,2389,1682
$GC,12385,0.34,284.7,722.6,9.8,993,12388,0.00,2.17,0.00,0.000,4,0.000,0.051,2954,1044,1682
$GC,12421,0.34,284.7,718.9,9.9,994,12427,0.00,2.12,0.00,0.000,6,0.000,0.045,2954,2363,1682
$GC,12732,0.29,284.7,688.8,9.0,1010,12736,0.15,2.12,0.00,0.000,4,0.138,0.051,2918,1045,1682
$GC,12764,0.45,314.7,686.4,7.0,1011,12796,0.10,2.12,25.98,1.184,6,0.052,0.045,3000,2366,1570
$GC,13101,0.25,314.7,648.0,12.5,1028,13105,0.30,2.17,0.00,0.000,4,0.132,0.061,2904,3699,1567
$GC,13126,0.31,314.7,645.3,9.3,1029,13130,0.00,2.12,0.00,0.000,6,0.000,0.038,2912,2351,1567
$GC,13442,0.53,346.6,621.6,7.0,1045,13477,0.22,2.17,28.92,1.139,4,0.049,0.050,3031,1038,1439
$GC,13537,0.33,346.6,609.3,13.2,1049,13541,0.32,2.17,0.00,0.000,6,0.130,0.044,2927,2362,1436
$GC,13853,0.53,364.7,584.6,7.4,1065,13876,0.17,0.00,16.77,1.084,6,0.053,0.000,3016,2361,1366
$GC,14179,0.37,364.7,541.4,13.6,1081,14182,0.25,2.12,0.00,0.000,4,0.127,0.049,2950,1032,1364
$GC,14231,0.53,364.7,536.0,9.2,1083,14235,0.08,2.15,0.00,0.000,6,0.053,0.044,3012,2361,1361
$GC,14547,0.41,364.7,497.8,11.8,1099,14548,0.20,0.00,0.00,0.000,6,0.126,0.000,2952,2362,1361
$GC,14859,0.54,364.7,468.5,8.9,1129,14862,0.12,2.10,0.00,0.000,4,0.066,0.049,3025,1042,1361
$GC,14911,0.40,364.7,462.2,12.7,1134,14915,0.22,2.10,0.00,0.000,6,0.122,0.044,2950,2347,1361
$GC,15232,0.56,364.7,436.6,8.1,1165,15234,0.15,0.00,0.00,0.000,6,0.057,0.000,3027,2348,1361
$GC,15544,0.42,364.7,399.4,12.2,1195,15548,0.22,2.08,0.00,0.000,4,0.126,0.049,2963,1043,1361
$GC,15629,0.56,364.7,391.0,9.1,1202,15635,0.08,2.08,0.00,0.000,6,0.053,0.043,3026,2342,1360
$GC,15945,0.45,364.7,355.0,10.9,1233,15946,0.20,0.00,0.00,0.000,6,0.124,0.000,2965,2342,1360
$GC,16257,0.62,371.0,329.0,7.8,1263,16268,0.15,2.10,6.30,0.765,4,0.057,0.049,3050,1042,1340
$GC,16305,0.45,371.0,323.2,12.2,1267,16311,0.25,2.05,0.00,0.000,6,0.123,0.042,2967,2334,1339
$GC,16622,0.62,371.0,293.9,10.1,1304,16628,0.15,0.00,0.00,0.000,6,0.055,0.000,3045,2334,1340
$GC,16948,0.49,371.0,257.6,10.9,1365,16955,0.22,2.03,0.00,0.000,4,0.123,0.048,2984,1028,1340
$GC,16997,0.63,371.0,253.4,8.6,1374,17004,0.08,2.05,0.00,0.000,6,0.052,0.041,3049,2330,1339
$GC,17324,0.53,371.0,214.0,11.3,1435,17330,0.20,2.17,0.00,0.000,4,0.123,0.057,2986,3701,1339
$GC,17356,0.58,371.0,210.8,9.3,1441,17363,0.00,2.12,0.00,0.000,6,0.000,0.038,2993,2305,1339
$GC,17684,0.81,432.6,188.0,6.0,1502,17741,0.20,0.00,51.58,0.789,6,0.048,0.000,3112,2300,1091
$GC,18063,0.62,432.6,140.6,10.6,1571,18069,0.28,1.98,0.00,0.000,4,0.126,0.045,3029,1031,1088
$GC,18116,0.83,456.5,136.1,7.2,1581,18143,0.12,2.03,20.83,0.721,6,0.040,0.039,3122,2310,992
$GC,18465,0.71,456.5,91.9,12.1,1645,18472,0.22,2.20,0.00,0.000,4,0.122,0.052,3047,3695,991
$GC,18557,0.88,459.3,83.6,7.9,1662,18569,0.15,2.12,3.67,0.427,6,0.054,0.037,3133,2302,980
$GC,18891,0.82,459.3,46.0,11.5,1724,18897,0.17,1.98,0.00,0.000,4,0.120,0.049,3081,1031,981
$GC,18945,0.99,459.3,40.9,8.4,1734,18951,0.12,2.05,0.00,0.000,6,0.040,0.041,3167,2335,981
$STATE,19247,end climb,SURFACE_DEPTH_REACHED
$STATE,19247,begin surface coast
$FINISH,1.7,1.017681
$STATE,19270,end surface coast,CONTROL_FINISHED_OK
$STATE,19270,begin surface
$SM_CCo,19345,0.00,0.000,0,0,980,459.69
$SM_GC,2.31,7.60,0.00,0.00,0.031,0.000,0.000,151,2098,980,-8.22,-1.05,459.69
$IRIDIUM_FIX,2439.44,12406.42,230998,040444
$TT8_MAMPS,0.048321
$HUMID,1575
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.30
$XPDR_PINGS,247
$24V_AH,23.5,53.091
$10V_AH,10.7,35.339
$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,43.950,162.825,533.725,0.000,0.000,22.954,32.450,282.483,69.750,0.000,0.000,16.953,0.000,14168.916,699.608,4226.795,684.438,0.000,2268.729,0.000,3560.987,0.000,53.984,0.000
$DEVICE_MAMPS,225.498,72.865,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1215.369,1214.317,1887.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104232,1795
$CAP_FILE_SIZE,208706,0
$CFSIZE,260165632,237776896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197, 97.3,1
$GPS,290609,155101,2450.642,12404.775,40,1.6,40,-3.7