version: 66.04
glider: 165
mission: 2
dive: 244
start: 7 1 109 3 52 39
data:
$ID,165
$MISSION,2
$DIVE,244
$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,150
$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,-121885.66
$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,21
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,034325,2453.827,12356.512,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.5
$GPS2,035232,2453.837,12356.585,14,2.0,14,-3.7
$SPEED_LIMITS,0.138,0.241
$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,259.3,75243,-14.9,-7.990
$D_GRID,1920
$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,12,-0.89,-146.0,0.0,0.0,0,59,0.00,0.00,-45.75,0.000,2,0.000,0.000,150,2121,2083
$GC,61,-0.89,-146.0,3.3,-3.6,7,113,9.32,2.15,-36.03,0.000,4,0.229,0.055,2525,741,3449
$GC,150,-0.09,-146.0,20.5,-27.3,22,156,0.82,2.20,0.00,0.000,6,0.150,0.039,2782,2136,3450
$GC,477,-0.81,-146.0,53.6,-9.7,83,483,0.60,2.22,0.00,0.000,4,0.074,0.050,2547,3560,3452
$GC,568,-0.28,-146.0,69.6,-20.4,100,574,0.50,2.15,0.00,0.000,6,0.126,0.032,2728,2139,3452
$GC,895,-0.90,-146.0,95.1,-7.6,161,901,0.50,0.00,0.00,0.000,6,0.048,0.000,2511,2134,3452
$GC,1221,-0.26,-146.0,162.7,-21.2,222,1229,0.68,2.22,0.00,0.000,4,0.139,0.051,2719,3545,3453
$GC,1319,-0.85,-146.0,171.4,-7.6,240,1326,0.43,2.12,0.00,0.000,6,0.061,0.032,2545,2133,3454
$GC,1646,-0.52,-146.0,221.1,-13.0,301,1652,0.32,2.25,0.00,0.000,4,0.117,0.055,2647,3557,3454
$GC,1743,-0.68,-146.0,227.5,-6.1,319,1749,0.15,2.10,0.00,0.000,6,0.055,0.032,2558,2149,3454
$GC,2069,-0.43,-146.0,268.0,-13.6,380,2075,0.38,2.20,0.00,0.000,4,0.120,0.058,2679,3540,3454
$GC,2165,-1.00,-146.0,274.9,-7.1,398,2176,0.45,2.10,0.00,0.000,6,0.060,0.039,2494,2160,3454
$GC,2492,-0.56,-146.0,321.7,-14.9,445,2496,0.43,2.20,0.00,0.000,4,0.130,0.056,2630,3542,3454
$GC,2594,-0.77,-146.0,329.2,-7.0,454,2597,0.17,2.00,0.00,0.000,6,0.050,0.034,2537,2201,3455
$GC,2914,-0.53,-146.0,365.1,-11.4,485,2916,0.35,0.00,0.00,0.000,6,0.117,0.000,2650,2196,3454
$GC,3227,-1.03,-146.0,384.0,-6.3,515,3231,0.40,2.15,0.00,0.000,4,0.045,0.057,2468,3542,3452
$GC,3429,-0.60,-146.0,413.7,-15.9,533,3435,0.50,2.03,0.00,0.000,6,0.127,0.037,2628,2201,3450
$GC,3744,-0.98,-146.0,437.7,-6.5,564,3748,0.32,2.15,0.00,0.000,4,0.041,0.058,2468,3546,3448
$GC,3990,-0.54,-146.0,469.3,-13.3,587,3994,0.50,1.98,0.00,0.000,6,0.125,0.038,2648,2259,3446
$GC,4311,-1.11,-146.0,489.6,-6.9,618,4315,0.50,2.35,0.00,0.000,4,0.050,0.049,2443,748,3445
$GC,4331,-1.11,-146.0,491.6,-10.4,620,4335,0.00,2.35,0.00,0.000,6,0.000,0.045,2439,2229,3443
$GC,4659,-0.54,-146.0,545.7,-16.8,639,4661,0.65,0.00,0.00,0.000,6,0.141,0.000,2642,2229,3442
$GC,4964,-1.13,-146.0,568.0,-7.4,654,4968,0.50,2.10,0.00,0.000,4,0.048,0.061,2436,3548,3440
$GC,5115,-0.62,-146.0,590.4,-17.1,661,5119,0.57,2.00,0.00,0.000,6,0.135,0.038,2616,2238,3437
$GC,5436,-1.04,-146.0,612.1,-6.7,677,5440,0.32,2.12,0.00,0.000,4,0.048,0.060,2466,3554,3436
$GC,5494,-0.64,-146.0,618.8,-13.1,679,5500,0.43,2.00,0.00,0.000,6,0.128,0.037,2606,2248,3434
$GC,5805,-0.94,-146.0,638.0,-5.5,695,5809,0.25,2.35,0.00,0.000,4,0.047,0.050,2486,749,3434
$GC,5830,-0.86,-146.0,640.1,-8.8,696,5835,0.15,2.38,0.00,0.000,6,0.131,0.047,2533,2233,3433
$GC,6147,-0.73,-146.0,667.1,-8.8,712,6150,0.15,2.10,0.00,0.000,4,0.136,0.064,2577,3538,3431
$GC,6247,-0.85,-146.0,674.4,-7.0,716,6253,0.00,1.98,0.00,0.000,6,0.000,0.038,2577,2257,3430
$GC,6558,-0.92,-146.0,696.5,-7.2,732,6562,0.15,2.10,0.00,0.000,4,0.059,0.064,2494,3548,3428
$GC,6584,-0.76,-146.0,699.1,-10.7,733,6588,0.22,2.00,0.00,0.000,6,0.120,0.038,2572,2254,3427
$GC,6906,-0.81,-146.0,723.5,-6.9,749,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2572,2254,3425
$GC,7211,-0.87,-146.0,743.3,-6.4,764,7214,0.00,2.10,0.00,0.000,4,0.000,0.065,2572,3540,3424
$GC,7248,-0.99,-146.0,745.6,-6.2,765,7254,0.17,1.98,0.00,0.000,6,0.041,0.038,2476,2266,3423
$GC,7559,-0.63,-146.0,785.9,-14.0,781,7560,0.45,0.00,0.00,0.000,6,0.131,0.000,2617,2261,3421
$GC,7864,-1.12,-146.0,807.1,-7.0,796,7868,0.40,2.10,0.00,0.000,4,0.050,0.063,2444,3545,3420
$GC,8108,-0.69,-146.0,843.1,-15.7,807,8115,0.45,1.92,0.00,0.000,6,0.134,0.041,2589,2312,3418
$GC,8419,-0.85,-146.0,865.0,-6.6,823,8423,0.12,2.03,0.00,0.000,4,0.068,0.067,2522,3543,3417
$GC,8451,-0.76,-146.0,867.9,-10.1,824,8455,0.12,1.90,0.00,0.000,6,0.108,0.040,2578,2319,3416
$GC,8766,-0.86,-146.0,891.4,-7.6,840,8768,0.12,0.00,0.00,0.000,6,0.067,0.000,2515,2316,3416
$GC,9072,-0.70,-146.0,923.0,-10.1,855,9076,0.25,2.03,0.00,0.000,4,0.127,0.068,2590,3537,3414
$GC,9109,-0.91,-146.0,925.8,-6.9,856,9115,0.15,1.90,0.00,0.000,6,0.046,0.040,2505,2328,3414
$GC,9419,-0.71,-146.0,958.9,-10.9,872,9423,0.28,2.53,0.00,0.000,4,0.128,0.055,2591,753,3412
$GC,9467,-0.90,-146.0,962.7,-6.9,874,9471,0.17,2.47,0.00,0.000,6,0.057,0.048,2501,2303,3412
$STATE,9725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9725,begin apogee
$GC,9729,-0.24,0.0,990.9,11.1,887,9848,0.75,0.00,115.95,1.397,6,0.128,0.000,2740,2457,2854
$STATE,9849,end apogee,CONTROL_FINISHED_OK
$STATE,9849,begin climb
$GC,9851,0.89,146.0,996.0,0.0,893,9980,1.00,0.00,125.35,1.357,6,0.046,0.000,3120,2458,2257
$GC,10283,0.10,146.0,950.7,14.8,914,10285,0.93,0.00,0.00,0.000,6,0.170,0.000,2853,2457,2250
$GC,10587,0.41,260.5,937.2,3.8,929,10693,0.28,2.40,98.32,1.326,4,0.049,0.055,2991,1063,1790
$GC,10793,0.25,260.5,915.6,12.1,938,10801,0.28,2.28,0.00,0.000,6,0.133,0.049,2903,2428,1784
$GC,11105,0.43,283.4,893.0,7.1,954,11129,0.17,2.30,20.25,1.255,4,0.057,0.053,3005,1066,1697
$GC,11165,0.26,283.4,886.0,13.0,956,11172,0.30,2.25,0.00,0.000,6,0.134,0.049,2909,2426,1694
$GC,11476,0.44,302.0,862.8,7.3,972,11499,0.15,2.28,17.10,1.238,4,0.061,0.051,3004,1068,1623
$GC,11540,0.30,302.0,855.2,12.7,975,11544,0.28,2.22,0.00,0.000,6,0.133,0.048,2916,2420,1620
$GC,11869,0.48,323.8,830.3,7.2,991,11894,0.17,2.22,20.92,1.245,4,0.054,0.051,3021,1064,1532
$GC,11963,0.30,323.8,817.7,14.7,995,11969,0.35,2.17,0.00,0.000,6,0.137,0.047,2918,2410,1529
$GC,12274,0.52,339.2,793.7,7.4,1011,12295,0.20,2.22,14.43,1.194,4,0.050,0.052,3031,1068,1471
$GC,12363,0.32,339.2,781.3,14.8,1015,12367,0.32,2.15,0.00,0.000,6,0.134,0.048,2927,2380,1469
$GC,12685,0.51,339.2,753.9,8.4,1031,12689,0.15,2.10,0.00,0.000,4,0.058,0.051,3013,1065,1467
$GC,12737,0.37,339.2,747.4,13.5,1033,12741,0.22,2.10,0.00,0.000,6,0.127,0.045,2939,2364,1467
$GC,13053,0.51,339.2,719.2,8.4,1049,13057,0.12,2.10,0.00,0.000,4,0.065,0.051,3019,1064,1467
$GC,13112,0.35,339.2,711.9,13.4,1051,13118,0.22,2.10,0.00,0.000,6,0.127,0.046,2933,2364,1466
$GC,13422,0.52,339.2,686.1,8.2,1067,13426,0.15,2.08,0.00,0.000,4,0.058,0.051,3024,1072,1466
$GC,13459,0.37,339.2,681.6,13.6,1068,13466,0.25,2.08,0.00,0.000,6,0.130,0.045,2942,2362,1466
$GC,13770,0.51,339.2,653.8,8.5,1084,13773,0.12,2.05,0.00,0.000,4,0.064,0.051,3020,1066,1466
$GC,13801,0.39,339.2,650.2,12.4,1085,13805,0.20,2.05,0.00,0.000,6,0.127,0.045,2954,2341,1466
$GC,14117,0.50,339.2,621.3,9.2,1101,14120,0.00,2.03,0.00,0.000,4,0.000,0.051,2961,1063,1466
$GC,14175,0.63,339.2,615.5,10.3,1103,14181,0.12,2.03,0.00,0.000,6,0.044,0.044,3037,2332,1464
$GC,14486,0.39,339.2,568.4,15.6,1119,14487,0.30,0.00,0.00,0.000,6,0.136,0.000,2946,2332,1464
$GC,14791,0.56,340.8,542.8,7.9,1134,14794,0.15,2.00,0.00,0.000,4,0.059,0.050,3029,1064,1464
$GC,14870,0.42,340.8,532.8,13.1,1137,14877,0.20,2.05,0.00,0.000,6,0.128,0.045,2962,2341,1465
$GC,15181,0.54,340.8,502.5,9.6,1153,15185,0.00,2.17,0.00,0.000,4,0.000,0.061,2962,3695,1464
$GC,15212,0.59,340.8,499.0,10.4,1154,15216,0.10,2.08,0.00,0.000,6,0.053,0.039,3027,2362,1464
$GC,15534,0.44,340.8,455.3,13.5,1185,15537,0.22,2.03,0.00,0.000,4,0.134,0.050,2969,1066,1464
$GC,15613,0.56,340.8,447.1,10.1,1192,15620,0.00,2.00,0.00,0.000,6,0.000,0.044,2969,2323,1464
$GC,15931,0.68,340.8,417.8,9.0,1223,15934,0.20,2.00,0.00,0.000,4,0.053,0.049,3075,1063,1464
$GC,15973,0.38,340.8,412.1,14.0,1227,15977,0.45,1.95,0.00,0.000,6,0.143,0.044,2941,2311,1464
$GC,16293,0.68,413.4,391.4,5.3,1258,16363,0.28,2.10,63.78,0.974,4,0.044,0.049,3075,1067,1167
$GC,16421,0.50,413.4,375.2,13.8,1269,16427,0.32,1.98,0.00,0.000,6,0.133,0.043,2980,2295,1164
$GC,16736,0.70,413.4,346.5,9.0,1300,16740,0.20,1.98,0.00,0.000,4,0.051,0.048,3083,1067,1162
$GC,16789,0.50,413.4,339.1,15.9,1305,16793,0.30,1.92,0.00,0.000,6,0.131,0.043,2977,2270,1162
$GC,17110,0.79,437.0,314.8,7.1,1336,17135,0.28,2.33,20.33,0.884,4,0.044,0.058,3108,3683,1071
$GC,17168,0.46,437.0,305.9,18.5,1341,17175,0.45,2.22,0.00,0.000,6,0.134,0.038,2965,2286,1071
$GC,17492,0.95,437.0,275.0,9.0,1396,17499,0.43,2.30,0.00,0.000,4,0.042,0.056,3149,3689,1068
$GC,17552,0.54,437.0,264.9,19.8,1407,17558,0.55,2.33,0.00,0.000,6,0.139,0.038,2992,2197,1068
$GC,17878,0.79,438.2,235.4,7.9,1468,17884,0.22,1.77,0.00,0.000,4,0.046,0.049,3113,1065,1068
$GC,17937,0.58,438.2,227.4,15.2,1479,17943,0.30,1.77,0.00,0.000,6,0.129,0.040,3003,2199,1069
$GC,18263,0.88,465.8,202.7,7.0,1540,18294,0.28,2.40,25.27,0.788,4,0.042,0.054,3135,3698,954
$GC,18348,0.55,465.8,189.5,17.4,1555,18354,0.50,2.35,0.00,0.000,6,0.132,0.037,2992,2193,953
$GC,18674,1.40,465.8,157.3,11.5,1616,18681,0.73,2.42,0.00,0.000,4,0.061,0.051,3271,3701,951
$GC,18755,0.71,465.8,141.9,21.9,1631,18763,0.73,2.25,0.00,0.000,6,0.158,0.038,3050,2265,951
$GC,19084,1.00,487.9,117.9,7.2,1692,19111,0.20,1.85,19.40,0.699,4,0.046,0.044,3173,1061,863
$GC,19211,0.80,487.9,100.7,14.4,1715,19219,0.28,1.83,0.00,0.000,6,0.120,0.038,3081,2222,862
$GC,19540,1.06,487.9,70.4,8.5,1776,19545,0.20,0.00,0.00,0.000,6,0.048,0.000,3192,2222,861
$GC,19866,0.84,487.9,21.6,14.1,1837,19872,0.30,2.33,0.00,0.000,4,0.130,0.051,3094,3694,861
$GC,19936,1.09,497.0,14.7,7.7,1850,19950,0.15,2.30,8.57,0.552,6,0.038,0.035,3201,2209,828
$STATE,20017,end climb,SURFACE_DEPTH_REACHED
$STATE,20017,begin surface coast
$FINISH,1.5,1.009519
$STATE,20035,end surface coast,CONTROL_FINISHED_OK
$STATE,20035,begin surface
$SM_CCo,20110,0.00,0.000,0,0,826,497.47
$SM_GC,2.36,7.72,0.00,0.00,0.035,0.000,0.000,153,2156,826,-8.21,0.59,497.47
$IRIDIUM_FIX,2444.18,12355.90,240998,212133
$TT8_MAMPS,0.047554
$HUMID,1559
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.40
$XPDR_PINGS,262
$24V_AH,23.4,54.632
$10V_AH,10.7,36.575
$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,46.200,179.200,549.675,0.000,0.000,26.437,31.737,343.624,73.500,0.000,0.000,16.420,0.000,14683.124,737.683,4430.399,763.951,0.000,2377.691,0.000,3733.759,0.000,54.001,0.000
$DEVICE_MAMPS,229.333,108.914,1397.474,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1264.379,1261.001,1961.231,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,106980,1868
$CAP_FILE_SIZE,222457,0
$CFSIZE,260165632,236957696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182, 82.1,1
$GPS,010709,092837,2454.362,12355.351,28,1.1,28,-3.7