version: 66.04
glider: 165
mission: 2
dive: 286
start: 7 12 109 0 11 3
data:
$ID,165
$MISSION,2
$DIVE,286
$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,-4
$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,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,-122912.66
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2810
$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,0.034000002
$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,30
$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
$GPS1,000207,2504.224,12313.596,26,1.4,26,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-69.2
$GPS2,001058,2504.493,12313.896,14,3.5,33,-3.6
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,287.4,76910,-13.7,-7.990
$D_GRID,1719
$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,-0.86,-170.3,0.0,0.0,0,57,0.00,0.00,-42.67,0.000,2,0.000,0.000,154,2147,1997
$GC,60,-0.86,-170.3,3.4,-3.2,6,117,9.35,2.28,-40.80,0.000,4,0.228,0.064,2514,3539,3551
$GC,314,-0.31,-170.3,60.3,-24.3,52,322,0.55,2.20,0.00,0.000,6,0.126,0.034,2707,2104,3553
$GC,643,-0.78,-170.3,88.4,-8.3,113,649,0.38,2.10,0.00,0.000,4,0.084,0.042,2547,742,3555
$GC,712,-0.55,-170.3,96.9,-12.8,126,719,0.22,2.12,0.00,0.000,6,0.111,0.038,2643,2104,3554
$GC,1039,-0.78,-170.3,126.8,-7.9,187,1047,0.22,2.12,0.00,0.000,4,0.044,0.042,2509,741,3555
$GC,1111,-0.49,-170.3,135.6,-12.0,200,1117,0.45,2.20,0.00,0.000,6,0.119,0.041,2654,2171,3555
$GC,1438,-0.77,-170.3,163.3,-9.0,261,1444,0.25,2.22,0.00,0.000,4,0.045,0.049,2522,742,3556
$GC,1604,-0.49,-170.3,182.8,-12.1,292,1611,0.35,2.28,0.00,0.000,6,0.114,0.042,2655,2194,3556
$GC,1931,-0.96,-170.3,216.4,-12.9,353,1937,0.43,2.28,0.00,0.000,4,0.071,0.044,2487,734,3556
$GC,1963,-1.06,-170.3,220.4,-12.1,359,1969,0.00,2.25,0.00,0.000,6,0.000,0.039,2481,2199,3555
$GC,2289,-0.71,-170.3,266.0,-12.4,420,2297,0.32,2.15,0.00,0.000,4,0.130,0.058,2576,3533,3556
$GC,2383,-0.65,-170.3,275.3,-9.8,437,2389,0.00,1.98,0.00,0.000,6,0.000,0.034,2576,2218,3555
$GC,2708,-0.69,-170.3,302.0,-7.9,496,2711,0.00,2.28,0.00,0.000,4,0.000,0.047,2575,745,3555
$GC,2793,-0.69,-170.3,309.1,-8.8,504,2797,0.00,2.42,0.00,0.000,6,0.000,0.041,2575,2291,3555
$GC,3117,-0.81,-170.3,335.6,-8.3,535,3119,0.00,1.98,0.00,0.000,4,0.000,0.058,2575,3542,3553
$GC,3244,-0.95,-170.3,346.0,-7.2,547,3248,0.15,1.77,0.00,0.000,6,0.038,0.035,2467,2366,3552
$GC,3564,-0.59,-170.3,387.7,-13.1,578,3569,0.47,2.53,0.00,0.000,4,0.130,0.048,2619,748,3551
$GC,3607,-0.75,-170.3,391.4,-7.7,581,3613,0.15,2.53,0.00,0.000,6,0.055,0.044,2533,2358,3550
$GC,3922,-0.62,-170.3,422.3,-9.7,612,3926,0.25,1.90,0.00,0.000,4,0.120,0.059,2606,3539,3548
$GC,3976,-0.82,-170.3,426.6,-7.7,617,3980,0.17,1.77,0.00,0.000,6,0.053,0.035,2501,2365,3548
$GC,4296,-0.82,-170.3,461.3,-11.3,648,4300,0.15,1.90,0.00,0.000,4,0.120,0.059,2548,3538,3546
$GC,4414,-0.97,-170.3,472.3,-8.8,659,4418,0.10,1.83,0.00,0.000,6,0.044,0.036,2464,2335,3545
$GC,4733,-0.64,-170.3,509.9,-12.1,686,4737,0.43,2.47,0.00,0.000,4,0.128,0.049,2598,751,3544
$GC,4776,-0.77,-170.3,513.1,-6.4,688,4780,0.12,2.47,0.00,0.000,6,0.061,0.043,2522,2335,3543
$GC,5097,-0.81,-170.3,540.5,-9.1,704,5100,0.00,1.92,0.00,0.000,4,0.000,0.061,2521,3544,3541
$GC,5182,-0.72,-170.3,549.3,-11.0,708,5186,0.15,1.77,0.00,0.000,6,0.110,0.037,2575,2376,3539
$GC,5511,-0.94,-170.3,578.6,-8.8,724,5514,0.17,1.88,0.00,0.000,4,0.055,0.061,2467,3537,3538
$GC,5723,-0.68,-170.3,603.4,-11.3,734,5727,0.35,1.70,0.00,0.000,6,0.120,0.038,2586,2419,3537
$GC,6050,-0.92,-170.3,624.1,-6.5,750,6054,0.20,1.80,0.00,0.000,4,0.051,0.061,2484,3536,3535
$GC,6114,-0.76,-170.3,629.5,-9.1,753,6117,0.22,1.65,0.00,0.000,6,0.120,0.038,2562,2454,3535
$GC,6442,-0.94,-170.3,651.7,-6.3,769,6444,0.15,0.00,0.00,0.000,6,0.061,0.000,2475,2454,3534
$GC,6746,-0.70,-170.3,679.4,-10.5,784,6750,0.32,2.72,0.00,0.000,4,0.134,0.050,2580,753,3531
$GC,6804,-0.81,-170.3,683.4,-6.5,787,6808,0.00,2.75,0.00,0.000,6,0.000,0.047,2580,2483,3531
$GC,7124,-1.06,-170.3,703.6,-7.1,803,7128,0.30,1.70,0.00,0.000,4,0.047,0.064,2437,3531,3528
$GC,7370,-0.71,-170.3,736.8,-14.3,814,7374,0.43,1.58,0.00,0.000,6,0.132,0.039,2575,2503,3526
$GC,7686,-0.99,-170.3,758.8,-6.5,830,7689,0.22,1.70,0.00,0.000,4,0.054,0.065,2468,3538,3525
$GC,7760,-0.75,-170.3,765.9,-10.6,833,7764,0.28,1.60,0.00,0.000,6,0.123,0.038,2561,2499,3524
$GC,8076,-0.97,-170.3,785.0,-5.8,849,8080,0.17,2.80,0.00,0.000,4,0.058,0.051,2466,747,3523
$GC,8267,-0.73,-170.3,805.0,-11.8,858,8271,0.35,2.70,0.00,0.000,6,0.136,0.051,2572,2420,3522
$GC,8590,-0.96,-170.3,827.2,-7.3,874,8594,0.17,1.80,0.00,0.000,4,0.058,0.064,2474,3533,3521
$GC,8787,-0.75,-170.3,849.8,-11.9,883,8795,0.25,1.62,0.00,0.000,6,0.123,0.040,2559,2480,3519
$GC,9111,-0.75,-170.3,876.3,-8.0,899,9115,0.00,2.80,0.00,0.000,4,0.000,0.052,2559,742,3518
$GC,9163,-0.80,-170.3,880.8,-7.9,901,9169,0.00,2.75,0.00,0.000,6,0.000,0.050,2559,2448,3518
$GC,9474,-1.02,-170.3,904.5,-7.4,917,9477,0.22,1.77,0.00,0.000,4,0.051,0.067,2448,3527,3516
$GC,9719,-0.73,-170.3,936.7,-14.7,928,9723,0.38,1.77,0.00,0.000,6,0.130,0.041,2570,2391,3514
$GC,10035,-0.97,-170.3,964.1,-9.2,944,10039,0.20,1.90,0.00,0.000,4,0.055,0.067,2474,3530,3514
$GC,10087,-0.80,-170.3,970.2,-12.2,946,10091,0.20,1.75,0.00,0.000,6,0.126,0.040,2542,2406,3514
$STATE,10299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10299,begin apogee
$GC,10304,-0.24,0.0,991.9,10.0,957,10445,0.57,0.00,138.62,1.394,6,0.111,0.000,2736,2439,2854
$STATE,10446,end apogee,CONTROL_FINISHED_OK
$STATE,10446,begin climb
$GC,10448,0.86,170.3,1001.8,0.0,964,10603,0.95,2.22,147.38,1.353,4,0.048,0.067,3093,3692,2157
$GC,10779,0.25,170.3,975.1,15.2,979,10783,0.68,1.95,0.00,0.000,6,0.167,0.041,2892,2479,2152
$GC,11095,0.35,253.0,957.4,5.4,995,11172,0.00,2.45,71.90,1.328,4,0.000,0.054,2899,1052,1820
$GC,11264,0.49,279.6,946.6,7.1,1003,11300,0.20,2.30,26.17,1.193,6,0.054,0.048,2998,2442,1714
$GC,11606,0.31,279.6,906.2,12.0,1019,11610,0.25,2.25,0.00,0.000,4,0.135,0.051,2927,1042,1709
$GC,11658,0.37,279.6,901.5,8.8,1021,11664,0.00,2.20,0.00,0.000,6,0.000,0.046,2927,2420,1708
$GC,11969,0.46,323.4,879.3,6.6,1037,12014,0.00,2.33,39.78,1.292,4,0.000,0.052,2930,1054,1533
$GC,12069,0.61,377.4,872.7,6.3,1041,12130,0.17,2.20,51.88,1.242,6,0.042,0.045,3032,2386,1315
$GC,12435,0.45,377.4,826.1,13.8,1059,12439,0.25,2.17,0.00,0.000,4,0.130,0.053,2966,1041,1309
$GC,12484,0.52,377.4,821.3,9.4,1061,12487,0.00,2.15,0.00,0.000,6,0.000,0.046,2966,2380,1308
$GC,12805,0.52,377.4,791.7,9.2,1077,12808,0.00,2.15,0.00,0.000,4,0.000,0.051,2974,1041,1306
$GC,12841,0.52,377.4,787.8,10.3,1078,12847,0.00,2.15,0.00,0.000,6,0.000,0.045,2975,2370,1306
$GC,13152,0.52,377.4,754.5,10.8,1094,13155,0.00,2.12,0.00,0.000,4,0.000,0.051,2983,1042,1306
$GC,13188,0.52,377.4,750.5,10.9,1095,13195,0.00,2.12,0.00,0.000,6,0.000,0.044,2983,2361,1305
$GC,13499,0.52,377.4,715.5,10.9,1111,13503,0.00,2.12,0.00,0.000,4,0.000,0.050,2991,1047,1305
$GC,13547,0.52,377.4,710.3,11.5,1113,13551,0.00,2.10,0.00,0.000,6,0.000,0.045,2992,2353,1305
$GC,13868,0.52,377.4,674.4,11.4,1129,13871,0.00,2.10,0.00,0.000,4,0.000,0.051,3000,1037,1305
$GC,13926,0.47,377.4,667.4,11.6,1131,13933,0.10,2.08,0.00,0.000,6,0.121,0.045,2966,2332,1304
$GC,14237,0.53,377.4,632.3,11.5,1147,14240,0.00,2.05,0.00,0.000,4,0.000,0.051,2973,1043,1304
$GC,14284,0.58,377.4,626.8,11.2,1149,14288,0.00,2.05,0.00,0.000,6,0.000,0.044,2973,2323,1304
$GC,14606,0.61,377.4,593.8,9.2,1165,14610,0.10,2.05,0.00,0.000,4,0.071,0.052,3036,1036,1304
$GC,14637,0.48,377.4,590.4,11.3,1166,14641,0.20,2.03,0.00,0.000,6,0.129,0.044,2971,2302,1304
$GC,14953,0.60,425.8,568.1,6.5,1182,15008,0.00,2.10,44.62,1.075,4,0.000,0.052,2977,1051,1117
$GC,15086,0.69,425.8,558.3,8.9,1188,15089,0.15,2.00,0.00,0.000,6,0.058,0.044,3051,2297,1114
$GC,15407,0.59,425.8,516.9,13.7,1204,15410,0.17,2.00,0.00,0.000,4,0.130,0.051,3006,1045,1112
$GC,15443,0.59,425.8,512.5,12.3,1205,15449,0.00,1.98,0.00,0.000,6,0.000,0.043,3005,2276,1113
$GC,15756,0.59,425.8,474.8,12.8,1230,15760,0.00,2.00,0.00,0.000,4,0.000,0.052,3013,1044,1112
$GC,15804,0.59,425.8,468.7,12.4,1234,15811,0.00,1.92,0.00,0.000,6,0.000,0.043,3013,2247,1113
$GC,16122,0.59,425.8,425.7,13.1,1265,16125,0.00,1.92,0.00,0.000,4,0.000,0.050,3021,1034,1113
$GC,16158,0.59,425.8,420.7,13.7,1268,16165,0.00,1.92,0.00,0.000,6,0.000,0.041,3021,2243,1113
$GC,16475,0.59,425.8,387.8,8.9,1299,16476,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2243,1112
$GC,16786,0.59,425.8,362.4,8.6,1329,16789,0.00,1.90,0.00,0.000,4,0.000,0.051,3027,1044,1113
$GC,16812,0.59,425.8,360.1,8.5,1331,16818,0.00,1.90,0.00,0.000,6,0.000,0.041,3027,2235,1113
$GC,17128,0.59,425.8,326.1,11.6,1362,17129,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2236,1112
$GC,17439,0.59,425.8,292.0,10.7,1398,17446,0.00,1.90,0.00,0.000,4,0.000,0.050,3034,1048,1112
$GC,17466,0.59,425.8,289.0,10.9,1403,17472,0.10,1.88,0.00,0.000,6,0.114,0.041,2998,2230,1113
$GC,17793,0.78,425.8,254.4,11.1,1464,17800,0.17,2.33,0.00,0.000,4,0.051,0.058,3102,3689,1112
$GC,17885,0.57,425.8,237.9,18.7,1481,17891,0.38,2.40,0.00,0.000,6,0.132,0.038,2997,2129,1112
$GC,18211,0.85,425.8,203.2,8.3,1542,18218,0.22,1.70,0.00,0.000,4,0.048,0.048,3122,1044,1112
$GC,18303,0.62,425.8,192.1,12.8,1559,18309,0.30,1.70,0.00,0.000,6,0.130,0.041,3009,2130,1113
$GC,18630,0.88,425.8,163.7,8.9,1620,18637,0.20,1.73,0.00,0.000,4,0.048,0.047,3129,1045,1113
$GC,18716,0.65,425.8,152.9,14.3,1636,18724,0.32,1.65,0.00,0.000,6,0.129,0.040,3023,2093,1112
$GC,19044,0.92,435.5,123.5,7.7,1697,19057,0.22,0.00,9.25,0.669,6,0.049,0.000,3152,2093,1077
$GC,19377,0.73,435.5,81.6,12.6,1759,19383,0.35,1.67,0.00,0.000,4,0.126,0.048,3049,1039,1078
$GC,19448,1.06,482.9,77.0,6.5,1772,19494,0.22,1.65,40.55,0.694,6,0.035,0.039,3182,2097,884
$GC,19817,0.90,482.9,37.4,12.8,1839,19823,0.25,2.55,0.00,0.000,4,0.130,0.052,3100,3690,881
$GC,19892,0.97,482.9,29.6,8.7,1853,19898,0.00,2.47,0.00,0.000,6,0.000,0.037,3110,2086,881
$GC,20219,1.16,482.9,8.2,8.0,1914,20225,0.20,2.55,0.00,0.000,4,0.047,0.050,3216,3687,882
$STATE,20265,end climb,SURFACE_DEPTH_REACHED
$STATE,20265,begin surface coast
$FINISH,1.6,1.008665
$STATE,20286,end surface coast,CONTROL_FINISHED_OK
$STATE,20286,begin surface
$SM_CCo,20365,0.00,0.000,0,0,880,483.98
$SM_GC,2.34,7.90,0.00,0.00,0.041,0.000,0.000,151,2114,880,-8.20,-0.59,483.98
$IRIDIUM_FIX,2453.69,12311.71,051098,181844
$TT8_MAMPS,0.048321
$HUMID,1589
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.30
$XPDR_PINGS,313
$24V_AH,23.1,63.791
$10V_AH,10.6,44.393
$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,33.925,192.150,570.150,0.000,0.000,27.406,33.677,297.030,86.250,0.000,0.000,35.708,0.000,14577.733,735.790,4758.853,779.248,0.000,2511.223,0.000,4033.648,0.000,55.983,0.000
$DEVICE_MAMPS,227.799,121.953,1394.406,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1307.067,1350.456,2104.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110421,1927
$CAP_FILE_SIZE,222675,0
$CFSIZE,260165632,232005632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.325, 40.2,1
$GPS,120709,055124,2508.142,12313.885,36,1.1,36,-3.7