version: 66.04
glider: 165
mission: 2
dive: 249
start: 7 2 109 8 58 15
data:
$ID,165
$MISSION,2
$DIVE,249
$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,-121978.45
$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,36
$R_STBD_OVSHOOT,46
$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
$GPS1,084955,2455.633,12352.876,39,1.6,39,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.0
$GPS2,085810,2455.640,12352.859,10,3.6,29,-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,282.3,71472,-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,-146.0,0.0,0.0,0,61,0.00,0.00,-46.55,0.000,2,0.000,0.000,167,2154,2102
$GC,63,-0.89,-146.0,3.4,-3.5,7,114,9.18,2.20,-35.58,0.000,4,0.225,0.064,2517,3533,3452
$GC,268,-0.15,-146.0,53.3,-26.2,44,275,0.73,2.17,0.00,0.000,6,0.140,0.033,2762,2105,3453
$GC,595,-0.90,-146.0,85.2,-8.6,105,602,0.60,2.25,0.00,0.000,4,0.068,0.048,2526,3534,3454
$GC,633,-0.76,-146.0,89.6,-11.8,112,640,0.12,2.12,0.00,0.000,6,0.131,0.031,2569,2128,3454
$GC,960,-0.37,-146.0,144.7,-17.0,173,966,0.35,2.22,0.00,0.000,4,0.137,0.049,2678,3534,3454
$GC,1003,-0.49,-146.0,149.4,-9.1,181,1009,0.00,2.08,0.00,0.000,6,0.000,0.035,2678,2165,3456
$GC,1330,-0.67,-146.0,176.0,-8.7,242,1336,0.20,2.17,0.00,0.000,4,0.048,0.051,2563,3531,3456
$GC,1416,-0.44,-146.0,187.5,-13.9,258,1422,0.28,2.08,0.00,0.000,6,0.110,0.033,2674,2152,3456
$GC,1743,-0.88,-146.0,211.9,-8.0,319,1750,0.32,2.17,0.00,0.000,4,0.040,0.050,2505,3535,3456
$GC,1947,-0.50,-146.0,243.2,-15.7,357,1953,0.40,1.98,0.00,0.000,6,0.118,0.033,2655,2219,3456
$GC,2273,-0.89,-146.0,267.3,-6.2,418,2279,0.32,0.00,0.00,0.000,6,0.039,0.000,2487,2216,3456
$GC,2601,-0.43,-146.0,315.5,-16.2,471,2605,0.60,2.10,0.00,0.000,4,0.130,0.054,2674,3537,3456
$GC,2659,-0.89,-146.0,320.1,-6.2,476,2663,0.32,2.00,0.00,0.000,6,0.040,0.033,2502,2218,3456
$GC,2980,-0.50,-146.0,365.9,-13.6,507,2982,0.47,0.00,0.00,0.000,6,0.124,0.000,2657,2213,3456
$GC,3293,-1.12,-146.0,386.2,-7.5,537,3296,0.50,2.10,0.00,0.000,4,0.047,0.055,2441,3531,3454
$GC,3468,-0.55,-146.0,414.2,-17.7,553,3472,0.57,1.98,0.00,0.000,6,0.129,0.036,2643,2237,3452
$GC,3789,-1.08,-146.0,440.2,-7.2,584,3792,0.45,2.05,0.00,0.000,4,0.044,0.058,2450,3523,3451
$GC,4002,-0.56,-146.0,471.8,-15.1,604,4006,0.55,1.92,0.00,0.000,6,0.132,0.037,2632,2264,3449
$GC,4323,-1.02,-146.0,490.4,-6.4,635,4327,0.38,2.35,0.00,0.000,4,0.043,0.049,2460,752,3448
$GC,4520,-0.53,-146.0,518.9,-16.8,647,4524,0.55,2.25,0.00,0.000,6,0.130,0.045,2647,2166,3445
$GC,4838,-1.09,-146.0,543.7,-7.6,663,4842,0.45,2.20,0.00,0.000,4,0.051,0.057,2455,3546,3443
$GC,4938,-0.64,-146.0,557.1,-14.9,668,4942,0.45,2.08,0.00,0.000,6,0.127,0.038,2615,2202,3442
$GC,5267,-1.01,-146.0,579.0,-6.3,684,5270,0.30,2.17,0.00,0.000,4,0.043,0.059,2461,3546,3441
$GC,5511,-0.59,-146.0,609.8,-13.0,695,5519,0.47,2.00,0.00,0.000,6,0.124,0.038,2631,2249,3438
$GC,5823,-1.10,-146.0,625.0,-4.9,711,5827,0.43,2.12,0.00,0.000,4,0.048,0.061,2444,3560,3436
$GC,6041,-0.64,-146.0,655.3,-15.4,721,6045,0.47,1.95,0.00,0.000,6,0.130,0.038,2611,2289,3434
$GC,6357,-1.07,-146.0,679.3,-7.8,737,6360,0.38,2.03,0.00,0.000,4,0.044,0.061,2442,3547,3433
$GC,6469,-0.59,-146.0,695.0,-15.3,742,6472,0.52,1.90,0.00,0.000,6,0.133,0.039,2625,2315,3431
$GC,6791,-1.11,-146.0,717.5,-6.7,758,6794,0.40,2.00,0.00,0.000,4,0.048,0.062,2449,3545,3430
$GC,6930,-0.68,-146.0,735.4,-14.2,764,6936,0.47,1.83,0.00,0.000,6,0.132,0.040,2597,2345,3429
$GC,7239,-1.08,-146.0,757.8,-7.6,780,7243,0.32,1.95,0.00,0.000,4,0.044,0.064,2447,3552,3428
$GC,7282,-0.69,-146.0,762.4,-12.7,782,7286,0.45,1.83,0.00,0.000,6,0.131,0.038,2593,2369,3427
$GC,7610,-1.09,-146.0,786.7,-7.6,798,7611,0.32,0.00,0.00,0.000,6,0.044,0.000,2443,2369,3425
$GC,7913,-0.62,-146.0,832.3,-15.2,813,7915,0.57,0.00,0.00,0.000,6,0.143,0.000,2619,2369,3423
$GC,8220,-1.16,-146.0,851.0,-5.9,828,8223,0.45,1.92,0.00,0.000,4,0.053,0.065,2430,3545,3422
$GC,8293,-0.68,-146.0,859.7,-14.6,831,8301,0.50,1.80,0.00,0.000,6,0.137,0.040,2591,2387,3421
$GC,8605,-0.85,-146.0,876.9,-5.0,847,8609,0.15,2.62,0.00,0.000,4,0.062,0.053,2514,756,3420
$GC,8646,-0.71,-146.0,880.4,-8.8,849,8650,0.20,2.60,0.00,0.000,6,0.120,0.050,2589,2352,3419
$GC,8968,-0.89,-146.0,898.8,-5.7,865,8969,0.17,0.00,0.00,0.000,6,0.057,0.000,2500,2352,3418
$GC,9273,-0.67,-146.0,932.7,-11.8,880,9274,0.32,0.00,0.00,0.000,6,0.127,0.000,2601,2353,3416
$GC,9579,-1.13,-146.0,953.2,-6.7,895,9582,0.35,1.95,0.00,0.000,4,0.048,0.067,2444,3545,3415
$GC,9647,-0.71,-146.0,961.1,-13.3,898,9651,0.43,1.83,0.00,0.000,6,0.134,0.041,2581,2372,3414
$GC,9969,-0.86,-146.0,982.4,-6.2,914,9973,0.12,2.60,0.00,0.000,4,0.067,0.054,2518,763,3414
$GC,10011,-0.74,-146.0,986.2,-9.8,916,10015,0.20,2.58,0.00,0.000,6,0.131,0.052,2576,2354,3413
$STATE,10065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10065,begin apogee
$GC,10070,-0.24,0.0,990.2,6.8,919,10192,0.47,0.00,116.82,1.395,6,0.104,0.000,2739,2469,2854
$STATE,10192,end apogee,CONTROL_FINISHED_OK
$STATE,10193,begin climb
$GC,10194,0.89,146.0,995.2,0.0,925,10323,1.02,0.00,125.72,1.354,6,0.042,0.000,3126,2468,2257
$GC,10617,0.07,146.0,947.7,16.1,946,10620,0.98,0.00,0.00,0.000,6,0.174,0.000,2847,2468,2251
$GC,10923,0.34,211.5,929.8,5.6,961,10987,0.22,2.40,56.08,1.315,4,0.047,0.053,2967,1077,1989
$GC,11071,0.22,211.5,914.6,11.7,968,11075,0.22,2.28,0.00,0.000,6,0.133,0.049,2894,2445,1984
$GC,11399,0.37,242.1,891.0,6.9,984,11433,0.12,2.33,27.17,1.277,4,0.067,0.051,2965,1076,1865
$GC,11487,0.29,242.1,882.6,10.3,988,11491,0.12,2.25,0.00,0.000,6,0.132,0.048,2914,2441,1861
$GC,11808,0.40,270.9,859.7,6.9,1004,11839,0.12,2.25,26.10,1.265,4,0.067,0.051,2992,1078,1747
$GC,11881,0.26,270.9,852.0,10.9,1007,11887,0.28,2.22,0.00,0.000,6,0.133,0.047,2904,2425,1744
$GC,12192,0.45,295.5,829.8,7.1,1023,12219,0.17,2.28,22.48,1.244,4,0.054,0.051,3014,1076,1648
$GC,12276,0.26,295.5,819.3,12.6,1027,12281,0.32,2.20,0.00,0.000,6,0.135,0.046,2910,2416,1644
$GC,12600,0.44,295.5,793.9,8.0,1043,12603,0.15,2.17,0.00,0.000,4,0.058,0.049,2997,1067,1643
$GC,12722,0.32,295.5,778.7,12.0,1049,12726,0.25,2.12,0.00,0.000,6,0.136,0.047,2924,2403,1641
$GC,13048,0.46,295.5,750.3,8.4,1065,13052,0.12,2.12,0.00,0.000,4,0.067,0.050,3002,1070,1641
$GC,13133,0.33,295.5,740.0,13.0,1069,13137,0.20,2.10,0.00,0.000,6,0.126,0.047,2926,2373,1640
$GC,13460,0.47,295.5,711.9,8.5,1085,13463,0.12,2.12,0.00,0.000,4,0.065,0.061,3003,3693,1640
$GC,13496,0.20,295.5,707.2,13.9,1086,13503,0.38,2.03,0.00,0.000,6,0.137,0.038,2891,2396,1640
$GC,13807,0.52,309.7,684.0,7.5,1102,13832,0.25,2.12,14.57,1.006,4,0.048,0.050,3027,1079,1590
$GC,13950,0.32,309.7,664.5,15.0,1108,13956,0.32,2.08,0.00,0.000,6,0.134,0.044,2923,2361,1589
$GC,14260,0.49,309.7,637.0,8.1,1124,14265,0.15,2.08,0.00,0.000,4,0.059,0.049,3011,1076,1589
$GC,14287,0.42,309.7,634.2,10.4,1125,14291,0.15,2.08,0.00,0.000,6,0.129,0.045,2961,2362,1588
$GC,14608,0.42,309.7,605.5,8.4,1141,14611,0.00,2.08,0.00,0.000,4,0.000,0.049,2969,1076,1588
$GC,14644,0.47,309.7,602.2,9.1,1142,14651,0.00,2.03,0.00,0.000,6,0.000,0.044,2969,2341,1588
$GC,14955,0.47,309.7,571.7,11.0,1158,14959,0.00,2.05,0.00,0.000,4,0.000,0.050,2977,1066,1588
$GC,14986,0.47,309.7,568.2,11.4,1159,14990,0.00,2.03,0.00,0.000,6,0.000,0.044,2977,2335,1587
$GC,15302,0.47,309.7,533.9,10.5,1175,15306,0.00,2.20,0.00,0.000,4,0.000,0.060,2977,3683,1587
$GC,15367,0.41,309.7,526.3,12.3,1178,15370,0.12,2.05,0.00,0.000,6,0.146,0.039,2951,2355,1587
$GC,15683,0.52,309.7,498.4,8.6,1194,15686,0.10,2.03,0.00,0.000,4,0.074,0.049,3020,1075,1588
$GC,15758,0.40,309.7,489.5,13.3,1201,15761,0.25,2.03,0.00,0.000,6,0.132,0.044,2945,2375,1587
$GC,16078,0.58,348.7,463.6,6.6,1232,16120,0.17,0.00,35.28,1.026,6,0.052,0.000,3037,2375,1431
$GC,16428,0.42,348.7,423.2,11.8,1266,16432,0.28,2.12,0.00,0.000,4,0.129,0.048,2962,1067,1428
$GC,16519,0.59,348.7,416.0,8.6,1274,16525,0.10,2.05,0.00,0.000,6,0.046,0.043,3035,2340,1427
$GC,16835,0.46,348.7,375.7,13.8,1305,16836,0.22,0.00,0.00,0.000,6,0.129,0.000,2967,2340,1427
$GC,17147,0.62,348.7,346.6,8.6,1335,17150,0.15,2.03,0.00,0.000,4,0.058,0.048,3050,1064,1427
$GC,17204,0.46,348.7,339.2,12.3,1340,17212,0.25,2.03,0.00,0.000,6,0.127,0.042,2968,2336,1427
$GC,17520,0.64,348.7,310.7,9.3,1371,17524,0.17,2.00,0.00,0.000,4,0.051,0.048,3063,1064,1427
$GC,17578,0.47,348.7,303.0,12.3,1376,17585,0.28,2.00,0.00,0.000,6,0.129,0.041,2973,2323,1427
$GC,17905,0.68,370.8,276.4,7.2,1435,17930,0.17,1.98,19.27,0.855,4,0.052,0.048,3070,1069,1342
$GC,18016,0.50,370.8,262.3,13.7,1455,18022,0.30,1.95,0.00,0.000,6,0.131,0.042,2980,2314,1340
$GC,18342,0.73,375.1,234.6,7.8,1516,18355,0.20,2.00,5.25,0.644,4,0.048,0.046,3094,1066,1324
$GC,18478,0.53,375.1,217.2,13.1,1541,18485,0.28,1.92,0.00,0.000,6,0.130,0.041,2993,2280,1323
$GC,18805,0.94,397.5,194.1,7.2,1602,18832,0.30,1.98,20.17,0.780,4,0.039,0.047,3156,1067,1231
$GC,18863,0.60,397.5,186.8,13.1,1612,18869,0.40,1.92,0.00,0.000,6,0.136,0.041,3013,2277,1230
$GC,19190,0.92,397.5,157.0,8.6,1673,19198,0.25,1.90,0.00,0.000,4,0.040,0.045,3150,1067,1229
$GC,19235,0.61,397.5,151.4,12.5,1681,19242,0.40,1.90,0.00,0.000,6,0.130,0.040,3020,2271,1230
$GC,19563,0.96,418.0,128.0,7.2,1742,19589,0.25,1.90,18.73,0.712,4,0.041,0.045,3162,1063,1147
$GC,19717,0.67,418.0,107.1,15.4,1770,19723,0.35,1.85,0.00,0.000,6,0.128,0.039,3037,2237,1145
$GC,20044,1.16,469.6,82.8,6.1,1831,20095,0.38,1.92,42.62,0.678,4,0.035,0.045,3238,1061,938
$GC,20202,0.74,469.6,58.8,16.4,1859,20208,0.55,1.80,0.00,0.000,6,0.133,0.038,3063,2205,934
$GC,20529,1.26,476.8,34.5,7.7,1920,20543,0.43,1.75,6.55,0.524,4,0.035,0.042,3286,1065,910
$GC,20665,0.74,476.8,9.9,19.2,1945,20674,0.73,1.70,0.00,0.000,6,0.143,0.037,3059,2168,910
$STATE,20751,end climb,SURFACE_DEPTH_REACHED
$STATE,20752,begin surface coast
$FINISH,1.7,1.021287
$STATE,20811,end surface coast,CONTROL_FINISHED_OK
$STATE,20811,begin surface
$SM_CCo,20885,0.00,0.000,0,0,909,477.11
$SM_GC,2.32,7.35,0.00,0.00,0.033,0.000,0.000,158,2173,909,-8.21,1.07,477.11
$IRIDIUM_FIX,2444.18,12350.63,260998,030329
$TT8_MAMPS,0.048321
$HUMID,1552
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.50
$XPDR_PINGS,290
$24V_AH,23.4,55.707
$10V_AH,10.7,37.442
$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,46.425,174.725,536.825,0.000,0.000,24.226,33.140,276.763,80.500,0.000,0.000,32.055,0.000,15121.182,724.720,4779.084,712.221,0.000,2480.410,0.000,4033.573,0.000,53.974,0.000
$DEVICE_MAMPS,225.498,78.234,1395.173,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1334.860,1353.165,2112.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113515,1972
$CAP_FILE_SIZE,229981,0
$CFSIZE,260165632,236388352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.201,114.0,1
$GPS,020709,144707,2456.284,12352.010,27,1.4,27,-3.7