version: 66.04
glider: 165
mission: 2
dive: 245
start: 7 1 109 9 36 7
data:
$ID,165
$MISSION,2
$DIVE,245
$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,-121898.98
$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,33
$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
$GPS1,092837,2454.362,12355.351,28,1.1,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-69.9
$GPS2,093602,2454.361,12355.380,10,1.3,10,-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,260.5,73916,-14.9,-7.990
$D_GRID,1913
$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,-0.89,-146.0,0.0,0.0,0,64,0.00,0.00,-48.67,0.000,2,0.000,0.000,150,2148,2060
$GC,66,-0.89,-146.0,3.4,-3.5,8,118,9.32,2.25,-36.58,0.000,4,0.230,0.056,2525,717,3451
$GC,144,-0.08,-146.0,17.5,-25.9,21,151,0.82,2.25,0.00,0.000,6,0.147,0.039,2784,2136,3451
$GC,471,-0.86,-146.0,49.6,-10.3,82,478,0.65,2.20,0.00,0.000,4,0.055,0.049,2531,3541,3452
$GC,493,-1.19,-146.0,52.3,-11.9,86,499,0.22,2.17,0.00,0.000,6,0.033,0.032,2420,2106,3453
$GC,819,-0.10,-146.0,158.4,-33.6,147,826,1.20,2.28,0.00,0.000,4,0.169,0.051,2766,3538,3453
$GC,885,-0.74,-146.0,166.3,-5.6,159,891,0.50,2.10,0.00,0.000,6,0.066,0.035,2574,2151,3454
$GC,1211,-0.49,-146.0,209.0,-12.7,220,1217,0.28,0.00,0.00,0.000,6,0.117,0.000,2664,2150,3455
$GC,1538,-0.83,-146.0,233.5,-8.2,281,1544,0.28,2.17,0.00,0.000,4,0.041,0.045,2510,745,3456
$GC,1699,-0.41,-146.0,259.9,-17.4,311,1705,0.55,2.22,0.00,0.000,6,0.131,0.042,2682,2163,3456
$GC,2025,-0.97,-146.0,286.4,-6.9,372,2031,0.47,2.20,0.00,0.000,4,0.049,0.058,2486,3539,3456
$GC,2191,-0.54,-146.0,308.6,-12.4,397,2198,0.45,2.03,0.00,0.000,6,0.124,0.033,2637,2198,3456
$GC,2506,-0.92,-146.0,329.3,-7.8,428,2510,0.30,2.12,0.00,0.000,4,0.041,0.055,2485,3540,3456
$GC,2653,-0.52,-146.0,350.2,-15.5,441,2660,0.50,1.95,0.00,0.000,6,0.126,0.034,2647,2232,3455
$GC,2968,-0.99,-146.0,375.1,-7.8,472,2972,0.35,2.10,0.00,0.000,4,0.044,0.057,2480,3546,3454
$GC,3118,-0.59,-146.0,395.2,-13.9,485,3125,0.47,1.90,0.00,0.000,6,0.125,0.036,2632,2275,3453
$GC,3432,-1.04,-146.0,418.6,-7.5,516,3436,0.40,2.03,0.00,0.000,4,0.040,0.059,2446,3543,3452
$GC,3630,-0.51,-146.0,449.8,-15.8,534,3637,0.60,1.88,0.00,0.000,6,0.134,0.038,2644,2318,3449
$GC,3946,-1.11,-146.0,472.4,-6.2,565,3949,0.47,1.98,0.00,0.000,4,0.050,0.059,2448,3554,3448
$GC,4075,-0.62,-146.0,488.5,-14.5,577,4079,0.52,1.80,0.00,0.000,6,0.130,0.037,2614,2354,3446
$GC,4399,-1.05,-146.0,508.6,-5.9,601,4404,0.32,2.50,0.00,0.000,4,0.045,0.048,2458,754,3445
$GC,4420,-1.05,-146.0,510.6,-9.3,602,4423,0.00,2.53,0.00,0.000,6,0.000,0.047,2455,2353,3444
$GC,4741,-0.55,-146.0,560.7,-15.9,618,4745,0.57,1.90,0.00,0.000,4,0.136,0.061,2630,3539,3442
$GC,4810,-0.87,-146.0,566.6,-7.2,621,4814,0.20,1.77,0.00,0.000,6,0.037,0.036,2507,2369,3442
$GC,5132,-0.60,-146.0,605.5,-11.6,637,5137,0.32,2.55,0.00,0.000,4,0.123,0.050,2616,757,3439
$GC,5173,-0.84,-146.0,608.8,-6.5,639,5178,0.12,2.55,0.00,0.000,6,0.028,0.045,2510,2359,3439
$GC,5496,-0.61,-146.0,642.1,-10.4,655,5500,0.32,2.55,0.00,0.000,4,0.130,0.048,2619,754,3436
$GC,5526,-0.80,-146.0,644.3,-5.9,656,5533,0.10,2.53,0.00,0.000,6,0.047,0.045,2528,2338,3436
$GC,5838,-0.66,-146.0,673.5,-9.3,672,5839,0.25,0.00,0.00,0.000,6,0.125,0.000,2607,2338,3434
$GC,6142,-1.09,-146.0,691.2,-6.0,687,6146,0.38,2.50,0.00,0.000,4,0.042,0.049,2435,752,3432
$GC,6174,-0.63,-146.0,694.4,-11.8,688,6178,0.62,2.50,0.00,0.000,6,0.148,0.047,2614,2332,3432
$GC,6485,-1.11,-146.0,713.7,-6.5,703,6489,0.38,2.50,0.00,0.000,4,0.048,0.048,2446,756,3430
$GC,6499,-1.33,-146.0,715.0,-7.1,704,6503,0.15,2.50,0.00,0.000,6,0.067,0.047,2373,2335,3430
$GC,6828,-0.59,-146.0,776.9,-19.6,720,6832,0.82,1.95,0.00,0.000,4,0.162,0.063,2617,3538,3427
$GC,6864,-0.84,-146.0,781.2,-6.7,722,6868,0.15,1.85,0.00,0.000,6,0.040,0.037,2522,2334,3427
$GC,7191,-0.69,-146.0,812.9,-9.5,738,7195,0.25,2.50,0.00,0.000,4,0.120,0.052,2601,756,3425
$GC,7244,-0.92,-146.0,816.3,-5.9,740,7248,0.17,2.53,0.00,0.000,6,0.039,0.048,2482,2322,3424
$GC,7561,-0.61,-146.0,851.3,-11.5,756,7564,0.40,2.00,0.00,0.000,4,0.135,0.065,2605,3545,3423
$GC,7597,-0.88,-146.0,854.0,-6.0,758,7601,0.15,1.85,0.00,0.000,6,0.042,0.039,2513,2349,3423
$GC,7923,-0.71,-146.0,886.4,-10.3,774,7928,0.25,1.98,0.00,0.000,4,0.125,0.067,2590,3535,3420
$GC,7955,-0.88,-146.0,888.9,-7.3,775,7959,0.12,1.85,0.00,0.000,6,0.047,0.039,2509,2345,3420
$GC,8271,-0.69,-146.0,922.5,-10.6,791,8272,0.28,0.00,0.00,0.000,6,0.125,0.000,2595,2344,3419
$GC,8576,-0.89,-146.0,943.0,-6.7,806,8580,0.17,2.55,0.00,0.000,4,0.055,0.054,2502,752,3418
$GC,8602,-0.76,-146.0,945.7,-11.4,807,8606,0.20,2.55,0.00,0.000,6,0.128,0.050,2571,2321,3418
$GC,8925,-0.86,-146.0,969.8,-7.3,823,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2571,2320,3416
$STATE,9227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9227,begin apogee
$GC,9232,-0.24,0.0,991.4,6.8,838,9351,0.50,0.00,116.60,1.391,6,0.107,0.000,2741,2458,2854
$STATE,9352,end apogee,CONTROL_FINISHED_OK
$STATE,9352,begin climb
$GC,9353,0.89,146.0,996.5,0.0,844,9484,1.00,2.20,124.88,1.352,4,0.047,0.067,3119,3685,2258
$GC,9585,0.00,146.0,976.9,17.8,854,9591,1.02,1.95,0.00,0.000,6,0.176,0.041,2827,2482,2254
$GC,9895,0.45,224.7,960.8,5.1,870,9968,0.38,2.42,67.65,1.325,4,0.042,0.051,3003,1038,1936
$GC,10170,0.20,224.7,928.2,12.1,883,10174,0.35,2.25,0.00,0.000,6,0.139,0.048,2892,2411,1929
$GC,10491,0.37,245.2,904.6,7.2,899,10521,0.12,2.25,19.77,1.153,4,0.065,0.052,2964,1042,1853
$GC,10543,0.28,245.2,899.4,10.4,901,10547,0.15,2.25,0.00,0.000,6,0.131,0.047,2914,2410,1851
$GC,10859,0.36,245.2,872.8,8.1,917,10862,0.00,2.08,0.00,0.000,4,0.000,0.061,2914,3695,1849
$GC,10884,0.36,245.2,870.4,9.4,918,10889,0.00,2.03,0.00,0.000,6,0.000,0.038,2922,2405,1849
$GC,11206,0.40,245.2,844.2,8.1,934,11210,0.00,2.12,0.00,0.000,4,0.000,0.051,2931,1046,1848
$GC,11254,0.46,245.2,840.2,8.6,936,11258,0.08,2.17,0.00,0.000,6,0.060,0.045,2991,2396,1847
$GC,11575,0.24,245.2,803.6,11.4,952,11579,0.30,2.15,0.00,0.000,4,0.139,0.048,2910,1040,1847
$GC,11618,0.42,256.9,800.1,7.6,954,11632,0.12,2.12,10.70,1.174,6,0.070,0.044,2984,2384,1806
$GC,11939,0.25,256.9,762.5,12.1,969,11943,0.25,2.12,0.00,0.000,4,0.137,0.047,2912,1051,1804
$GC,11975,0.41,256.9,759.0,8.4,971,11979,0.08,2.12,0.00,0.000,6,0.059,0.044,2973,2370,1803
$GC,12302,0.30,256.9,724.5,10.5,987,12306,0.20,2.12,0.00,0.000,4,0.138,0.061,2913,3690,1803
$GC,12360,0.35,256.9,719.2,8.6,989,12367,0.00,2.05,0.00,0.000,6,0.000,0.038,2922,2376,1803
$GC,12671,0.45,256.9,695.1,8.3,1005,12674,0.12,2.10,0.00,0.000,4,0.064,0.049,3006,1054,1802
$GC,12718,0.25,256.9,689.5,12.5,1007,12722,0.32,2.12,0.00,0.000,6,0.137,0.044,2901,2378,1801
$GC,13039,0.45,266.1,664.3,7.7,1023,13050,0.17,0.00,9.05,1.081,6,0.058,0.000,2995,2378,1769
$GC,13345,0.27,266.1,627.0,12.4,1038,13349,0.28,2.12,0.00,0.000,4,0.136,0.048,2917,1047,1768
$GC,13425,0.49,295.2,620.7,6.9,1042,13458,0.17,2.10,26.95,1.143,6,0.055,0.044,3010,2372,1649
$GC,13771,0.32,295.2,578.0,13.5,1059,13774,0.25,2.12,0.00,0.000,4,0.134,0.048,2938,1049,1646
$GC,13882,0.47,295.2,567.3,8.9,1064,13886,0.00,2.10,0.00,0.000,6,0.000,0.043,2938,2348,1643
$GC,14198,0.60,295.2,540.0,8.2,1080,14199,0.20,0.00,0.00,0.000,6,0.052,0.000,3032,2348,1643
$GC,14503,0.36,295.2,501.3,12.6,1095,14504,0.32,0.00,0.00,0.000,6,0.135,0.000,2934,2348,1643
$GC,14815,0.56,323.1,479.3,7.0,1124,14848,0.17,2.15,24.75,1.036,4,0.056,0.049,3036,1050,1535
$GC,14906,0.39,323.1,468.3,13.3,1132,14913,0.28,2.10,0.00,0.000,6,0.134,0.043,2949,2340,1532
$GC,15222,0.52,323.1,440.9,9.2,1163,15223,0.12,0.00,0.00,0.000,6,0.062,0.000,3020,2340,1532
$GC,15534,0.41,323.1,400.8,12.5,1193,15538,0.20,2.08,0.00,0.000,4,0.128,0.048,2963,1042,1531
$GC,15570,0.55,323.1,397.0,9.6,1196,15574,0.00,2.08,0.00,0.000,6,0.000,0.043,2963,2337,1530
$GC,15893,0.67,323.5,371.0,8.0,1227,15896,0.20,2.05,0.00,0.000,4,0.051,0.048,3070,1046,1530
$GC,15950,0.40,323.5,363.1,13.3,1232,15957,0.35,2.05,0.00,0.000,6,0.137,0.043,2957,2326,1530
$GC,16267,0.57,327.3,336.9,7.9,1263,16277,0.12,0.00,4.40,0.664,6,0.062,0.000,3027,2326,1519
$GC,16586,0.48,327.3,302.9,10.9,1294,16590,0.17,2.05,0.00,0.000,4,0.130,0.048,2983,1047,1519
$GC,16662,0.61,330.6,296.5,7.9,1305,16670,0.00,2.00,4.80,0.673,6,0.000,0.042,2983,2322,1505
$GC,16990,0.80,376.1,274.3,6.3,1366,17032,0.25,0.00,39.62,0.871,6,0.048,0.000,3104,2322,1319
$GC,17354,0.52,376.1,222.7,14.9,1433,17360,0.35,0.00,0.00,0.000,6,0.136,0.000,2992,2322,1315
$GC,17681,0.77,423.9,197.8,6.2,1494,17725,0.17,2.12,39.92,0.793,4,0.054,0.048,3099,1039,1125
$GC,17811,0.67,423.9,181.1,13.7,1517,17818,0.22,2.00,0.00,0.000,6,0.128,0.041,3033,2289,1122
$GC,18139,0.87,433.6,150.1,7.6,1578,18152,0.20,2.03,8.88,0.669,4,0.047,0.046,3144,1040,1085
$GC,18249,0.68,433.6,135.9,13.6,1598,18256,0.28,1.98,0.00,0.000,6,0.120,0.040,3041,2291,1085
$GC,18577,1.09,433.6,110.6,9.5,1659,18583,0.30,1.92,0.00,0.000,4,0.038,0.044,3204,1046,1083
$GC,18790,0.73,433.6,75.6,16.4,1699,18797,0.45,1.88,0.00,0.000,6,0.131,0.041,3058,2234,1083
$GC,19117,1.03,474.0,52.9,6.5,1760,19157,0.25,1.92,34.10,0.649,4,0.042,0.045,3193,1045,920
$GC,19184,0.84,474.0,45.1,12.5,1771,19190,0.30,1.85,0.00,0.000,6,0.120,0.038,3093,2222,919
$GC,19510,1.23,474.0,18.1,8.5,1832,19516,0.30,1.85,0.00,0.000,4,0.076,0.045,3247,1039,919
$GC,19585,0.84,474.0,6.6,17.8,1846,19592,0.47,1.77,0.00,0.000,6,0.130,0.044,3092,2177,918
$STATE,19621,end climb,SURFACE_DEPTH_REACHED
$STATE,19621,begin surface coast
$FINISH,1.4,1.008917
$STATE,19653,end surface coast,CONTROL_FINISHED_OK
$STATE,19653,begin surface
$SM_CCo,19728,0.00,0.000,0,0,917,475.15
$SM_GC,2.29,7.43,0.00,0.00,0.030,0.000,0.000,149,2183,917,-8.22,1.36,475.15
$IRIDIUM_FIX,2444.18,12359.19,250998,030335
$TT8_MAMPS,0.047554
$HUMID,1537
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.70
$XPDR_PINGS,306
$24V_AH,23.4,54.836
$10V_AH,10.7,36.739
$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,44.100,171.300,532.075,0.000,0.000,31.531,37.131,242.367,84.500,0.000,0.000,12.688,0.000,14411.724,687.153,4361.000,673.322,0.000,2308.235,0.000,3680.367,0.000,54.000,0.000
$DEVICE_MAMPS,230.100,77.467,1391.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1257.987,1246.459,1946.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107509,1859
$CAP_FILE_SIZE,215076,0
$CFSIZE,260165632,236855296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.203, 77.5,1
$GPS,010709,150554,2454.696,12354.450,39,1.2,39,-3.7