version: 66.04
glider: 165
mission: 2
dive: 247
start: 7 1 109 21 21 15
data:
$ID,165
$MISSION,2
$DIVE,247
$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,-121930.65
$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,69
$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
$GPS1,210200,2455.254,12353.817,35,1.2,40,-3.7
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-71.2
$GPS2,212108,2455.309,12353.796,12,1.5,12,-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,260.4,72490,-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,-146.0,0.0,0.0,0,63,0.00,0.00,-49.20,0.000,2,0.000,0.000,141,2119,2188
$GC,65,-0.89,-146.0,3.3,-3.2,7,110,9.30,0.00,-31.85,0.000,6,0.227,0.000,2528,2119,3452
$GC,430,-0.21,-146.0,100.9,-22.2,74,437,0.68,2.28,0.00,0.000,4,0.158,0.053,2740,3546,3453
$GC,458,0.01,-146.0,104.8,-16.1,79,464,0.20,2.12,0.00,0.000,6,0.072,0.032,2821,2148,3454
$GC,785,-0.72,-146.0,132.4,-8.8,140,791,0.62,2.22,0.00,0.000,4,0.073,0.050,2571,3561,3454
$GC,812,-0.96,-146.0,135.1,-9.7,145,818,0.15,2.15,0.00,0.000,6,0.041,0.032,2468,2141,3454
$GC,1138,-0.25,-146.0,209.0,-22.6,206,1146,0.82,2.25,0.00,0.000,4,0.152,0.054,2717,3554,3455
$GC,1226,-0.88,-146.0,217.3,-8.0,222,1233,0.45,2.08,0.00,0.000,6,0.062,0.035,2533,2198,3455
$GC,1553,-0.50,-146.0,261.8,-14.5,283,1559,0.38,0.00,0.00,0.000,6,0.121,0.000,2655,2193,3455
$GC,1878,-0.97,-146.0,286.5,-8.4,344,1887,0.38,2.17,0.00,0.000,4,0.041,0.061,2479,3545,3455
$GC,2100,-0.51,-146.0,321.3,-16.4,373,2106,0.47,2.08,0.00,0.000,6,0.119,0.035,2653,2177,3455
$GC,2416,-1.02,-146.0,342.5,-6.1,404,2420,0.43,2.20,0.00,0.000,4,0.041,0.055,2462,3560,3454
$GC,2661,-0.52,-146.0,378.6,-15.7,426,2668,0.55,2.05,0.00,0.000,6,0.127,0.036,2645,2222,3453
$GC,2977,-1.06,-146.0,401.4,-6.7,457,2981,0.45,2.30,0.00,0.000,4,0.047,0.048,2455,737,3451
$GC,3019,-0.52,-146.0,406.4,-13.3,460,3027,0.57,2.30,0.00,0.000,6,0.130,0.044,2644,2194,3450
$GC,3336,-1.02,-146.0,425.4,-5.9,491,3340,0.38,2.15,0.00,0.000,4,0.047,0.056,2477,3557,3448
$GC,3581,-0.62,-146.0,459.2,-14.5,513,3587,0.38,2.03,0.00,0.000,6,0.123,0.036,2615,2231,3445
$GC,3896,-0.96,-146.0,483.6,-7.1,544,3900,0.28,2.10,0.00,0.000,4,0.041,0.060,2467,3542,3444
$GC,4094,-0.55,-146.0,508.9,-13.8,560,4098,0.50,1.92,0.00,0.000,6,0.122,0.037,2636,2279,3441
$GC,4417,-1.05,-146.0,529.4,-6.8,576,4418,0.43,0.00,0.00,0.000,6,0.045,0.000,2454,2279,3440
$GC,4721,-0.53,-146.0,576.1,-16.4,591,4725,0.57,2.05,0.00,0.000,4,0.140,0.060,2631,3549,3436
$GC,4785,-0.87,-146.0,581.1,-6.2,594,4788,0.25,1.88,0.00,0.000,6,0.044,0.037,2507,2305,3436
$GC,5106,-0.60,-146.0,617.3,-11.4,610,5109,0.35,2.03,0.00,0.000,4,0.121,0.061,2620,3551,3434
$GC,5174,-0.91,-146.0,622.1,-6.4,613,5178,0.22,1.88,0.00,0.000,6,0.035,0.036,2494,2328,3433
$GC,5490,-0.60,-146.0,661.4,-12.4,629,5494,0.40,1.98,0.00,0.000,4,0.124,0.063,2617,3545,3431
$GC,5527,-0.88,-146.0,664.3,-5.7,630,5534,0.17,1.85,0.00,0.000,6,0.038,0.037,2511,2340,3430
$GC,5838,-0.66,-146.0,696.6,-10.6,646,5842,0.28,2.53,0.00,0.000,4,0.123,0.051,2602,747,3429
$GC,5890,-0.87,-146.0,700.5,-7.1,648,5898,0.15,2.55,0.00,0.000,6,0.041,0.046,2508,2340,3428
$GC,6201,-0.65,-146.0,733.8,-11.1,664,6205,0.28,1.95,0.00,0.000,4,0.128,0.062,2591,3548,3426
$GC,6243,-0.86,-146.0,737.0,-7.3,666,6247,0.10,1.85,0.00,0.000,6,0.048,0.038,2518,2346,3425
$GC,6570,-0.69,-146.0,768.3,-9.3,682,6571,0.25,0.00,0.00,0.000,6,0.122,0.000,2598,2345,3423
$GC,6876,-0.88,-146.0,783.4,-4.8,697,6877,0.17,0.00,0.00,0.000,6,0.054,0.000,2502,2345,3422
$GC,7180,-0.65,-146.0,814.9,-11.2,712,7184,0.32,1.98,0.00,0.000,4,0.126,0.065,2603,3548,3420
$GC,7228,-0.89,-146.0,818.5,-6.7,714,7231,0.17,1.85,0.00,0.000,6,0.039,0.039,2501,2350,3419
$GC,7550,-0.66,-146.0,856.1,-12.4,730,7552,0.32,0.00,0.00,0.000,6,0.126,0.000,2603,2350,3417
$GC,7855,-1.07,-146.0,879.3,-7.8,745,7858,0.32,1.98,0.00,0.000,4,0.048,0.066,2452,3551,3416
$GC,8035,-0.68,-146.0,905.3,-15.6,753,8040,0.43,1.88,0.00,0.000,6,0.127,0.041,2591,2350,3414
$GC,8352,-0.86,-146.0,930.1,-7.3,769,8356,0.15,2.58,0.00,0.000,4,0.061,0.054,2516,750,3414
$GC,8399,-0.74,-146.0,935.1,-10.8,771,8403,0.17,2.58,0.00,0.000,6,0.123,0.050,2582,2335,3413
$GC,8715,-0.88,-146.0,958.0,-6.7,787,8719,0.15,1.98,0.00,0.000,4,0.060,0.065,2495,3545,3411
$GC,8746,-0.70,-146.0,960.9,-10.7,788,8750,0.28,1.85,0.00,0.000,6,0.119,0.040,2588,2351,3410
$GC,9062,-0.88,-146.0,980.2,-5.5,804,9066,0.15,2.58,0.00,0.000,4,0.061,0.054,2509,744,3410
$GC,9094,-0.74,-146.0,982.9,-8.5,805,9098,0.25,2.58,0.00,0.000,6,0.130,0.051,2584,2340,3410
$STATE,9224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9224,begin apogee
$GC,9229,-0.24,0.0,990.6,5.6,812,9351,0.45,0.00,115.70,1.391,6,0.103,0.000,2739,2467,2854
$STATE,9351,end apogee,CONTROL_FINISHED_OK
$STATE,9351,begin climb
$GC,9353,0.89,146.0,994.9,0.0,818,9486,1.00,2.50,125.10,1.353,4,0.039,0.054,3137,1060,2256
$GC,9567,0.08,146.0,978.2,17.8,828,9571,0.98,2.33,0.00,0.000,6,0.175,0.049,2848,2445,2251
$GC,9884,0.37,228.0,960.2,5.0,844,9960,0.22,2.38,70.40,1.324,4,0.049,0.051,2970,1069,1923
$GC,9994,0.25,228.0,949.8,10.7,849,9998,0.22,2.28,0.00,0.000,6,0.138,0.048,2905,2446,1918
$GC,10310,0.35,234.9,925.0,7.7,865,10320,0.00,2.25,6.18,1.035,4,0.000,0.049,2914,1054,1895
$GC,10377,0.45,234.9,919.4,8.3,868,10382,0.10,2.25,0.00,0.000,6,0.057,0.047,2990,2430,1894
$GC,10694,0.21,234.9,880.7,12.5,884,10697,0.32,2.20,0.00,0.000,4,0.137,0.051,2901,1061,1893
$GC,10752,0.37,240.6,875.9,7.8,886,10762,0.08,2.20,6.40,1.056,6,0.059,0.047,2961,2420,1872
$GC,11079,0.26,240.6,842.7,10.0,903,11083,0.17,2.17,0.00,0.000,4,0.135,0.048,2911,1063,1870
$GC,11121,0.41,249.6,839.3,7.7,905,11139,0.08,2.17,9.70,1.164,6,0.059,0.045,2973,2415,1835
$GC,11442,0.25,249.6,805.1,10.8,921,11446,0.20,2.05,0.00,0.000,4,0.138,0.061,2908,3692,1833
$GC,11489,0.32,249.6,800.7,9.2,923,11493,0.00,1.98,0.00,0.000,6,0.000,0.038,2916,2425,1832
$GC,11805,0.42,253.2,776.3,7.9,939,11814,0.12,2.20,4.20,0.851,4,0.064,0.051,3002,1059,1821
$GC,11869,0.19,253.2,768.7,12.2,942,11873,0.40,2.15,0.00,0.000,6,0.140,0.047,2882,2410,1820
$GC,12195,0.46,290.6,746.2,6.6,958,12241,0.22,2.22,36.17,1.177,4,0.051,0.051,3006,1048,1669
$GC,12278,0.30,290.6,736.0,12.5,962,12282,0.25,2.22,0.00,0.000,6,0.132,0.047,2915,2395,1666
$GC,12599,0.47,290.6,708.5,8.2,978,12603,0.15,2.15,0.00,0.000,4,0.060,0.048,3010,1047,1664
$GC,12657,0.31,290.6,701.3,13.8,980,12664,0.28,2.17,0.00,0.000,6,0.131,0.046,2921,2382,1663
$GC,12969,0.48,298.2,675.5,7.7,996,12982,0.15,2.17,7.43,1.031,4,0.058,0.050,3016,1058,1638
$GC,13031,0.31,298.2,668.2,11.1,999,13035,0.25,2.10,0.00,0.000,6,0.130,0.046,2923,2357,1636
$GC,13358,0.50,311.2,643.1,7.5,1015,13373,0.15,0.00,13.10,1.110,6,0.060,0.000,3007,2357,1585
$GC,13663,0.34,311.2,605.1,12.6,1030,13666,0.28,2.10,0.00,0.000,4,0.132,0.050,2934,1050,1583
$GC,13705,0.54,311.2,601.2,8.4,1032,13708,0.12,2.12,0.00,0.000,6,0.044,0.044,3013,2362,1583
$GC,14027,0.37,311.2,559.7,13.0,1048,14028,0.25,0.00,0.00,0.000,6,0.133,0.000,2938,2362,1583
$GC,14331,0.52,313.3,534.0,7.9,1063,14335,0.15,2.08,0.00,0.000,4,0.062,0.048,3023,1050,1583
$GC,14432,0.37,313.3,521.9,12.8,1067,14438,0.25,2.10,0.00,0.000,6,0.130,0.045,2941,2353,1581
$GC,14743,0.52,313.3,494.4,8.8,1086,14745,0.12,0.00,0.00,0.000,6,0.064,0.000,3016,2353,1581
$GC,15055,0.38,313.3,457.6,11.9,1116,15058,0.22,2.05,0.00,0.000,4,0.131,0.047,2952,1058,1581
$GC,15139,0.55,313.3,450.3,8.5,1124,15143,0.08,2.05,0.00,0.000,6,0.054,0.044,3017,2339,1581
$GC,15460,0.41,313.3,413.1,11.8,1155,15464,0.22,2.15,0.00,0.000,4,0.129,0.060,2949,3684,1581
$GC,15503,0.51,313.3,408.8,9.4,1159,15506,0.00,2.08,0.00,0.000,6,0.000,0.038,2955,2339,1581
$GC,15825,0.64,313.3,380.7,8.6,1190,15828,0.17,2.03,0.00,0.000,4,0.054,0.048,3055,1044,1581
$GC,15904,0.40,313.3,370.3,13.5,1197,15911,0.30,2.05,0.00,0.000,6,0.135,0.044,2949,2330,1581
$GC,16219,0.59,320.3,344.7,7.7,1228,16232,0.17,2.08,9.02,0.851,4,0.052,0.048,3047,1050,1548
$GC,16306,0.41,320.3,334.6,12.4,1236,16310,0.28,2.05,0.00,0.000,6,0.128,0.044,2957,2335,1546
$GC,16628,0.64,372.0,314.4,6.1,1267,16677,0.20,2.08,45.20,0.903,4,0.049,0.047,3062,1050,1336
$GC,16732,0.48,372.0,303.1,13.5,1276,16736,0.30,2.05,0.00,0.000,6,0.130,0.042,2974,2332,1334
$GC,17057,0.68,372.0,276.3,9.6,1333,17063,0.17,2.05,0.00,0.000,4,0.051,0.046,3067,1044,1331
$GC,17121,0.54,372.0,267.0,16.2,1345,17129,0.20,2.00,0.00,0.000,6,0.126,0.041,2989,2298,1331
$GC,17449,0.74,378.4,237.2,7.8,1406,17461,0.20,1.98,5.95,0.680,4,0.049,0.048,3100,1048,1310
$GC,17498,0.50,378.4,231.5,13.1,1415,17504,0.40,1.95,0.00,0.000,6,0.132,0.041,2978,2298,1310
$GC,17824,0.93,380.5,206.6,7.9,1476,17831,0.38,1.95,0.00,0.000,4,0.036,0.047,3158,1052,1310
$GC,17846,0.99,380.5,204.1,9.7,1480,17852,0.00,1.88,0.00,0.000,6,0.000,0.041,3158,2242,1310
$GC,18172,0.60,380.5,152.7,15.2,1541,18180,0.47,2.30,0.00,0.000,4,0.137,0.054,3011,3693,1310
$GC,18249,0.81,384.3,146.2,7.8,1555,18262,0.10,2.33,6.85,0.643,6,0.048,0.035,3106,2194,1286
$GC,18583,0.71,384.3,112.6,9.6,1617,18590,0.17,1.80,0.00,0.000,4,0.127,0.046,3055,1047,1287
$GC,18659,0.86,392.6,106.4,7.7,1631,18672,0.08,1.80,8.52,0.637,6,0.052,0.038,3123,2203,1252
$GC,18994,0.80,392.6,70.1,9.9,1693,19001,0.17,2.38,0.00,0.000,4,0.124,0.056,3065,3696,1252
$GC,19027,0.86,392.6,66.9,8.8,1699,19033,0.00,2.33,0.00,0.000,6,0.000,0.034,3074,2171,1252
$GC,19354,1.12,464.6,46.1,5.3,1760,19420,0.28,1.75,58.72,0.644,4,0.042,0.044,3218,1050,960
$GC,19474,0.83,464.6,31.4,14.6,1780,19480,0.38,1.80,0.00,0.000,6,0.126,0.039,3086,2190,957
$GC,19801,1.12,493.4,7.5,6.9,1841,19834,0.22,2.40,24.45,0.588,4,0.044,0.051,3210,3701,840
$STATE,19837,end climb,SURFACE_DEPTH_REACHED
$STATE,19837,begin surface coast
$FINISH,1.4,1.018390
$STATE,19847,end surface coast,CONTROL_FINISHED_OK
$STATE,19847,begin surface
$SM_CCo,19925,0.00,0.000,0,0,838,494.28
$SM_GC,2.27,7.82,0.00,0.00,0.034,0.000,0.000,159,2122,838,-8.20,-0.37,494.28
$IRIDIUM_FIX,2444.18,12233.55,250998,212158
$TT8_MAMPS,0.049088
$HUMID,1531
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.90
$XPDR_PINGS,253
$24V_AH,23.5,55.274
$10V_AH,10.7,37.088
$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,43.300,183.275,553.100,0.000,0.000,109.586,207.084,492.089,71.250,0.000,0.000,14.007,0.000,14687.009,723.203,4424.306,1197.850,0.000,2378.770,0.000,3732.253,0.000,56.591,0.000
$DEVICE_MAMPS,227.032,75.166,1390.571,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1252.093,1233.147,1916.487,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107256,1849
$CAP_FILE_SIZE,229231,0
$CFSIZE,260165632,236621824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.248, 96.2,1
$GPS,020709,025407,2454.920,12353.737,27,1.3,27,-3.7