version: 66.04
glider: 165
mission: 2
dive: 289
start: 7 12 109 18 36 20
data:
$ID,165
$MISSION,2
$DIVE,289
$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,-123012.27
$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,64
$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
$GPS1,182407,2519.139,12315.815,28,1.4,28,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-66.0
$GPS2,183613,2519.763,12316.176,10,1.6,21,-3.7
$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,269.3,57566,-13.7,-7.990
$D_GRID,1191
$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,-170.3,0.0,0.0,0,78,0.00,0.00,-63.33,0.000,2,0.000,0.000,152,2112,2046
$GC,80,-0.86,-170.3,3.2,-2.8,10,133,9.50,2.35,-38.53,0.000,4,0.234,0.063,2513,3543,3550
$GC,367,-0.45,-170.3,62.4,-18.3,62,374,0.43,2.15,0.00,0.000,6,0.123,0.039,2656,2146,3551
$GC,694,-0.66,-170.3,93.5,-9.9,123,702,0.17,2.17,0.00,0.000,4,0.051,0.044,2548,727,3553
$GC,803,-0.41,-170.3,106.6,-11.7,143,810,0.40,2.30,0.00,0.000,6,0.120,0.041,2677,2221,3553
$GC,1131,-0.88,-170.3,132.4,-8.6,204,1138,0.38,2.33,0.00,0.000,4,0.063,0.044,2521,733,3554
$GC,1196,-0.64,-170.3,139.9,-12.7,216,1202,0.20,2.25,0.00,0.000,6,0.118,0.046,2601,2162,3553
$GC,1524,-0.78,-170.3,169.0,-7.3,277,1530,0.12,2.22,0.00,0.000,4,0.057,0.045,2520,732,3554
$GC,1567,-0.57,-170.3,173.1,-9.9,285,1573,0.35,2.38,0.00,0.000,6,0.123,0.041,2632,2247,3554
$GC,1893,-0.88,-170.3,191.1,-5.8,346,1901,0.28,2.05,0.00,0.000,4,0.074,0.054,2506,3551,3553
$GC,2125,-0.64,-170.3,220.1,-14.1,389,2131,0.30,1.88,0.00,0.000,6,0.117,0.034,2603,2286,3553
$GC,2451,-0.83,-170.3,243.7,-6.2,450,2458,0.17,2.03,0.00,0.000,4,0.053,0.058,2498,3552,3551
$GC,2661,-0.60,-170.3,268.4,-13.4,489,2667,0.38,1.77,0.00,0.000,6,0.117,0.035,2620,2355,3550
$GC,2987,-0.92,-170.3,299.9,-8.8,550,2996,0.30,1.95,0.00,0.000,4,0.049,0.058,2483,3545,3548
$GC,3055,-0.68,-170.3,307.6,-12.0,557,3058,0.32,1.75,0.00,0.000,6,0.120,0.035,2587,2368,3547
$GC,3375,-0.87,-170.3,334.5,-8.8,588,3378,0.17,1.88,0.00,0.000,4,0.052,0.059,2481,3530,3546
$GC,3520,-0.60,-170.3,352.4,-13.0,601,3526,0.43,1.62,0.00,0.000,6,0.120,0.036,2617,2427,3543
$GC,3835,-0.92,-170.3,376.8,-7.3,632,3839,0.28,2.65,0.00,0.000,4,0.048,0.047,2486,734,3542
$GC,3894,-0.66,-170.3,382.8,-10.9,637,3898,0.38,2.72,0.00,0.000,6,0.130,0.046,2599,2464,3542
$GC,4210,-0.89,-170.3,409.3,-9.5,667,4213,0.17,1.70,0.00,0.000,4,0.055,0.060,2495,3539,3540
$GC,4256,-0.83,-170.3,415.0,-12.2,671,4263,0.12,1.60,0.00,0.000,6,0.114,0.035,2542,2477,3539
$GC,4572,-0.93,-170.3,446.9,-8.4,702,4576,0.00,1.73,0.00,0.000,4,0.000,0.061,2538,3542,3537
$GC,4636,-0.98,-170.3,452.2,-7.7,708,4640,0.10,1.60,0.00,0.000,6,0.046,0.036,2460,2478,3537
$GC,4957,-0.65,-170.3,489.9,-13.0,739,4962,0.43,2.75,0.00,0.000,4,0.137,0.048,2596,745,3535
$GC,5048,-0.75,-170.3,497.8,-8.1,747,5052,0.00,2.70,0.00,0.000,6,0.000,0.044,2596,2468,3535
$GC,5370,-1.04,-170.3,526.5,-9.2,764,5373,0.30,1.70,0.00,0.000,4,0.048,0.060,2455,3541,3532
$GC,5481,-0.74,-170.3,541.8,-14.9,769,5485,0.32,1.60,0.00,0.000,6,0.128,0.036,2563,2482,3531
$GC,5802,-0.89,-170.3,573.5,-9.3,785,5806,0.12,1.70,0.00,0.000,4,0.063,0.064,2492,3548,3529
$GC,5897,-0.72,-170.3,584.7,-11.8,789,5901,0.22,1.60,0.00,0.000,6,0.118,0.038,2571,2497,3528
$GC,6214,-0.90,-170.3,612.0,-8.4,805,6217,0.15,1.67,0.00,0.000,4,0.061,0.063,2484,3539,3527
$GC,6261,-0.76,-170.3,616.8,-10.7,807,6265,0.22,1.60,0.00,0.000,6,0.123,0.037,2560,2485,3526
$GC,6585,-0.92,-170.3,641.5,-7.2,823,6588,0.15,1.70,0.00,0.000,4,0.060,0.064,2476,3538,3524
$GC,6675,-0.70,-170.3,650.5,-10.6,827,6679,0.28,1.60,0.00,0.000,6,0.124,0.038,2579,2491,3523
$GC,6997,-0.93,-170.3,672.0,-6.1,843,7000,0.17,1.70,0.00,0.000,4,0.058,0.064,2486,3545,3522
$GC,7054,-0.80,-170.3,677.3,-9.8,845,7060,0.17,1.60,0.00,0.000,6,0.125,0.038,2547,2497,3520
$GC,7365,-0.91,-170.3,700.0,-7.6,861,7369,0.00,1.70,0.00,0.000,4,0.000,0.065,2547,3531,3518
$GC,7434,-1.06,-170.3,705.4,-7.7,864,7438,0.17,1.60,0.00,0.000,6,0.040,0.038,2450,2481,3519
$GC,7755,-0.72,-170.3,746.4,-13.1,880,7760,0.38,2.80,0.00,0.000,4,0.144,0.051,2570,743,3517
$GC,7808,-0.80,-170.3,751.1,-7.5,882,7816,0.00,2.78,0.00,0.000,6,0.000,0.048,2570,2487,3516
$GC,8120,-1.01,-170.3,776.7,-9.2,898,8123,0.20,1.70,0.00,0.000,4,0.054,0.064,2460,3539,3516
$GC,8364,-0.75,-170.3,809.1,-13.8,909,8368,0.30,1.60,0.00,0.000,6,0.131,0.040,2559,2498,3514
$GC,8681,-0.92,-170.3,835.0,-7.8,925,8682,0.15,0.00,0.00,0.000,6,0.060,0.000,2478,2498,3513
$GC,8986,-0.69,-170.3,867.5,-10.8,940,8991,0.32,2.85,0.00,0.000,4,0.135,0.051,2584,738,3512
$GC,9033,-0.81,-170.3,871.2,-7.0,942,9037,0.00,2.83,0.00,0.000,6,0.000,0.048,2584,2495,3511
$GC,9350,-1.11,-170.3,894.4,-7.6,958,9353,0.32,1.70,0.00,0.000,4,0.052,0.065,2438,3545,3510
$GC,9500,-0.80,-170.3,915.1,-15.4,965,9503,0.38,1.62,0.00,0.000,6,0.139,0.041,2551,2475,3509
$GC,9826,-0.80,-170.3,946.9,-10.3,981,9830,0.00,2.80,0.00,0.000,4,0.000,0.053,2552,744,3508
$GC,9878,-0.80,-170.3,952.1,-9.4,983,9885,0.00,2.80,0.00,0.000,6,0.000,0.050,2551,2487,3508
$GC,10189,-0.80,-170.3,981.5,-9.2,999,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2487,3507
$STATE,10288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10289,begin apogee
$GC,10294,-0.24,0.0,991.7,10.0,1004,10433,0.55,0.00,137.12,1.392,6,0.109,0.000,2735,2487,2854
$STATE,10433,end apogee,CONTROL_FINISHED_OK
$STATE,10433,begin climb
$GC,10435,0.86,170.3,1002.1,0.0,1011,10591,0.95,2.12,147.25,1.351,4,0.046,0.067,3096,3675,2157
$GC,10612,0.25,170.3,998.6,13.3,1019,10616,0.73,2.00,0.00,0.000,6,0.167,0.041,2891,2475,2154
$GC,10933,0.39,283.1,982.3,4.4,1035,11041,0.12,2.47,98.05,1.336,4,0.064,0.054,2960,1045,1696
$GC,11104,0.39,283.1,967.6,8.9,1043,11108,0.00,2.33,0.00,0.000,6,0.000,0.048,2960,2435,1693
$GC,11431,0.35,294.4,940.3,7.6,1059,11446,0.12,2.28,10.18,1.179,4,0.143,0.053,2930,1044,1652
$GC,11489,0.51,372.2,936.9,5.5,1061,11574,0.12,2.22,73.12,1.286,6,0.067,0.047,3003,2430,1335
$GC,11877,0.42,372.2,898.2,10.6,1080,11881,0.20,2.25,0.00,0.000,4,0.129,0.053,2953,1041,1329
$GC,11979,0.48,372.2,886.3,13.4,1084,11985,0.00,2.17,0.00,0.000,6,0.000,0.046,2953,2402,1326
$GC,12289,0.54,372.2,846.1,12.5,1100,12292,0.00,2.20,0.00,0.000,4,0.000,0.051,2959,1032,1325
$GC,12332,0.60,372.2,840.6,15.4,1102,12336,0.12,2.15,0.00,0.000,6,0.065,0.045,3021,2383,1325
$GC,12652,0.46,372.2,792.3,13.3,1118,12656,0.20,2.17,0.00,0.000,4,0.128,0.051,2969,1039,1325
$GC,12700,0.51,383.0,787.8,7.6,1120,12716,0.00,2.12,9.23,1.127,6,0.000,0.045,2969,2362,1292
$GC,13021,0.51,383.0,760.8,8.7,1136,13022,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2363,1291
$GC,13326,0.55,383.0,731.2,10.3,1151,13329,0.00,2.15,0.00,0.000,4,0.000,0.051,2978,1037,1290
$GC,13357,0.55,383.0,727.7,12.0,1152,13361,0.00,2.12,0.00,0.000,6,0.000,0.045,2978,2357,1289
$GC,13674,0.55,383.0,689.9,12.2,1168,13677,0.00,2.10,0.00,0.000,4,0.000,0.051,2987,1028,1289
$GC,13694,0.55,383.0,687.3,12.1,1169,13698,0.00,2.12,0.00,0.000,6,0.000,0.044,2987,2353,1289
$GC,14020,0.55,383.0,643.6,14.3,1185,14024,0.00,2.10,0.00,0.000,4,0.000,0.050,2996,1048,1289
$GC,14047,0.55,383.0,639.7,14.4,1186,14050,0.00,2.08,0.00,0.000,6,0.000,0.044,2996,2341,1289
$GC,14368,0.55,383.0,590.0,15.6,1202,14371,0.00,2.10,0.00,0.000,4,0.000,0.050,3004,1039,1289
$GC,14411,0.50,383.0,583.2,17.4,1204,14414,0.12,2.05,0.00,0.000,6,0.130,0.044,2970,2340,1288
$GC,14737,0.62,383.0,542.9,10.7,1220,14741,0.12,2.17,0.00,0.000,4,0.063,0.061,3040,3693,1289
$GC,14866,0.44,383.0,525.1,14.2,1226,14870,0.32,2.25,0.00,0.000,6,0.135,0.040,2951,2249,1289
$GC,15188,0.72,428.4,503.1,6.6,1242,15232,0.22,0.00,41.78,1.062,6,0.048,0.000,3069,2243,1106
$GC,15539,0.57,428.4,453.9,15.4,1274,15543,0.25,1.90,0.00,0.000,4,0.130,0.051,3000,1042,1102
$GC,15614,0.57,428.4,444.8,11.8,1281,15617,0.00,1.83,0.00,0.000,6,0.000,0.042,3000,2178,1101
$GC,15936,0.61,428.4,409.9,10.7,1312,15940,0.00,1.85,0.00,0.000,4,0.000,0.052,3007,1036,1101
$GC,15962,0.65,428.4,406.8,11.3,1314,15969,0.00,1.80,0.00,0.000,6,0.000,0.041,3008,2165,1101
$GC,16279,0.69,428.4,367.0,12.5,1345,16283,0.00,2.47,0.00,0.000,4,0.000,0.059,3008,3695,1101
$GC,16328,0.73,428.4,360.5,13.0,1349,16331,0.00,2.40,0.00,0.000,6,0.000,0.039,3018,2152,1101
$GC,16642,0.73,428.4,318.9,12.6,1379,16646,0.00,2.47,0.00,0.000,4,0.000,0.058,3017,3684,1100
$GC,16658,0.73,428.4,316.8,13.3,1380,16664,0.00,2.38,0.00,0.000,6,0.000,0.038,3026,2173,1101
$GC,16979,0.73,428.4,283.1,8.5,1427,16986,0.00,1.80,0.00,0.000,4,0.000,0.051,3034,1041,1100
$GC,17055,0.73,428.7,277.0,8.0,1441,17061,0.00,1.77,0.00,0.000,6,0.000,0.040,3034,2178,1100
$GC,17381,0.73,428.7,248.7,10.2,1502,17387,0.00,1.83,0.00,0.000,4,0.000,0.050,3039,1038,1100
$GC,17408,0.73,428.7,245.9,10.4,1507,17414,0.00,1.77,0.00,0.000,6,0.000,0.040,3039,2159,1099
$GC,17735,0.73,428.7,210.0,9.5,1568,17741,0.00,2.45,0.00,0.000,4,0.000,0.055,3039,3695,1100
$GC,17793,0.73,428.7,204.0,10.4,1579,17800,0.00,2.35,0.00,0.000,6,0.000,0.038,3049,2175,1100
$GC,18121,0.73,428.7,172.1,11.6,1640,18126,0.00,1.77,0.00,0.000,4,0.000,0.049,3056,1045,1099
$GC,18190,0.70,428.7,163.7,11.9,1653,18196,0.00,1.80,0.00,0.000,6,0.000,0.040,3057,2194,1100
$GC,18517,0.70,428.7,129.0,8.1,1714,18523,0.00,2.40,0.00,0.000,4,0.000,0.054,3056,3698,1100
$GC,18581,0.70,428.7,123.0,9.4,1726,18587,0.12,2.30,0.00,0.000,6,0.133,0.035,3030,2196,1100
$GC,18908,0.92,428.7,90.1,10.1,1787,18916,0.17,2.40,0.00,0.000,4,0.052,0.053,3141,3689,1100
$GC,18942,0.85,428.7,86.0,11.5,1793,18949,0.20,2.45,0.00,0.000,6,0.133,0.036,3086,2120,1100
$GC,19270,1.02,456.4,55.9,7.1,1854,19296,0.15,0.00,24.10,0.679,6,0.054,0.000,3171,2119,992
$GC,19617,0.90,456.4,27.4,8.8,1918,19623,0.20,1.73,0.00,0.000,4,0.123,0.047,3109,1036,991
$GC,19638,0.86,456.4,25.6,8.2,1922,19644,0.00,1.73,0.00,0.000,6,0.000,0.038,3109,2147,990
$STATE,19903,end climb,SURFACE_DEPTH_REACHED
$STATE,19904,begin surface coast
$FINISH,2.0,1.021371
$STATE,19931,end surface coast,CONTROL_FINISHED_OK
$STATE,19931,begin surface
$SM_CCo,19945,15.18,0.599,0,0,917,475.15
$SM_GC,2.92,0.00,0.00,15.18,0.000,0.000,0.599,164,2153,917,-8.27,0.51,475.15
$IRIDIUM_FIX,2505.59,12328.19,061098,121213
$TT8_MAMPS,0.049088
$HUMID,1639
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.90
$XPDR_PINGS,316
$24V_AH,23.1,64.531
$10V_AH,10.6,44.951
$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,32.250,187.175,540.825,15.175,0.000,24.420,32.247,508.296,87.000,0.000,0.000,25.242,0.000,14220.503,733.651,4705.931,985.480,0.000,2477.444,0.000,3990.664,0.000,54.019,0.000
$DEVICE_MAMPS,233.935,66.729,1392.105,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1342.355,1397.510,2198.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113756,1977
$CAP_FILE_SIZE,224770,0
$CFSIZE,260165632,231653376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.476, 44.0,1
$GPS,130709,001006,2523.567,12317.435,37,1.6,42,-3.7