version: 66.04
glider: 165
mission: 2
dive: 295
start: 7 14 109 0 6 33
data:
$ID,165
$MISSION,2
$DIVE,295
$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,-2
$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,-123210.73
$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,35
$R_STBD_OVSHOOT,34
$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
$GPS1,235806,2537.673,12331.739,27,1.7,27,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-64.9
$GPS2,000628,2537.904,12332.188,12,2.8,31,-3.8
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,189.4,121454,-13.7,-7.990
$D_GRID,918
$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,11,begin dive
$GC,13,-0.86,-170.3,0.0,0.0,0,55,0.00,0.00,-40.28,0.000,2,0.000,0.000,156,2164,1920
$GC,57,-0.86,-170.3,3.3,-2.8,6,116,9.48,0.00,-45.97,0.000,6,0.233,0.000,2528,2164,3550
$GC,436,-0.46,-170.3,75.1,-17.8,75,442,0.40,2.17,0.00,0.000,4,0.128,0.054,2656,3539,3553
$GC,495,-0.46,-170.3,82.1,-10.5,86,501,0.00,2.17,0.00,0.000,6,0.000,0.036,2657,2115,3554
$GC,822,-0.70,-170.3,114.3,-9.7,147,828,0.20,2.25,0.00,0.000,4,0.047,0.053,2535,3545,3556
$GC,865,-0.56,-170.3,119.0,-11.4,155,871,0.22,2.17,0.00,0.000,6,0.098,0.034,2634,2100,3556
$GC,1192,-0.83,-170.3,142.7,-9.0,216,1198,0.25,2.10,0.00,0.000,4,0.044,0.051,2496,741,3556
$GC,1274,-0.54,-170.3,153.7,-14.2,231,1280,0.45,2.20,0.00,0.000,6,0.123,0.042,2640,2167,3556
$GC,1602,-0.82,-170.3,176.8,-6.0,292,1608,0.22,2.17,0.00,0.000,4,0.101,0.054,2518,3541,3556
$GC,1742,-0.65,-170.3,191.4,-11.6,318,1749,0.22,2.03,0.00,0.000,6,0.111,0.036,2598,2216,3556
$GC,2069,-0.81,-170.3,222.4,-9.7,379,2075,0.15,2.25,0.00,0.000,4,0.054,0.046,2509,753,3556
$GC,2150,-0.57,-170.3,232.1,-12.9,394,2156,0.38,2.40,0.00,0.000,6,0.122,0.049,2628,2289,3556
$GC,2477,-0.87,-170.3,259.5,-8.8,455,2482,0.25,1.98,0.00,0.000,4,0.046,0.055,2497,3543,3556
$GC,2607,-0.65,-170.3,275.4,-13.4,479,2613,0.32,1.83,0.00,0.000,6,0.118,0.035,2601,2311,3555
$GC,2931,-0.90,-170.3,303.3,-7.4,536,2935,0.22,1.95,0.00,0.000,4,0.047,0.057,2484,3539,3554
$GC,3072,-0.66,-170.3,318.6,-11.2,549,3076,0.35,1.75,0.00,0.000,6,0.119,0.034,2597,2353,3553
$GC,3392,-0.86,-170.3,340.5,-6.4,580,3396,0.17,1.90,0.00,0.000,4,0.052,0.059,2491,3532,3552
$GC,3489,-0.65,-170.3,349.2,-10.4,589,3493,0.28,1.67,0.00,0.000,6,0.115,0.035,2599,2414,3551
$GC,3810,-0.91,-170.3,372.3,-7.8,620,3813,0.20,1.80,0.00,0.000,4,0.051,0.057,2494,3553,3550
$GC,3863,-0.77,-170.3,377.7,-10.3,625,3866,0.15,1.65,0.00,0.000,6,0.108,0.035,2559,2449,3549
$GC,4184,-0.90,-170.3,404.4,-8.3,656,4185,0.12,0.00,0.00,0.000,6,0.059,0.000,2478,2448,3547
$GC,4495,-0.79,-170.3,437.5,-10.5,686,4500,0.20,2.67,0.00,0.000,4,0.122,0.048,2548,757,3546
$GC,4569,-0.74,-170.3,445.1,-10.3,692,4575,0.00,2.72,0.00,0.000,6,0.000,0.045,2548,2492,3545
$GC,4886,-0.87,-170.3,472.4,-8.2,723,4889,0.00,1.65,0.00,0.000,4,0.000,0.062,2548,3538,3544
$GC,4976,-1.01,-170.3,478.8,-6.6,731,4982,0.15,1.58,0.00,0.000,6,0.038,0.035,2450,2485,3543
$GC,5302,-0.66,-170.3,515.2,-12.2,757,5306,0.43,2.75,0.00,0.000,4,0.137,0.048,2589,753,3541
$GC,5376,-0.75,-170.3,521.1,-7.0,760,5382,0.00,2.72,0.00,0.000,6,0.000,0.044,2589,2489,3540
$GC,5686,-1.01,-170.3,542.6,-6.9,776,5690,0.28,1.67,0.00,0.000,4,0.046,0.061,2453,3537,3538
$GC,5816,-0.73,-170.3,557.3,-12.5,782,5819,0.35,1.58,0.00,0.000,6,0.127,0.037,2569,2499,3537
$GC,6143,-0.90,-170.3,582.4,-8.0,798,6146,0.15,1.70,0.00,0.000,4,0.058,0.062,2479,3539,3536
$GC,6201,-0.74,-170.3,588.1,-10.7,800,6207,0.25,1.58,0.00,0.000,6,0.120,0.037,2565,2502,3535
$GC,6511,-0.91,-170.3,611.1,-7.6,816,6515,0.15,1.65,0.00,0.000,4,0.057,0.063,2479,3539,3534
$GC,6607,-0.71,-170.3,621.4,-11.8,820,6611,0.28,1.58,0.00,0.000,6,0.120,0.037,2574,2503,3533
$GC,6923,-0.93,-170.3,649.0,-8.7,836,6927,0.17,1.70,0.00,0.000,4,0.055,0.063,2477,3539,3532
$GC,7013,-0.72,-170.3,659.3,-12.1,840,7017,0.28,1.58,0.00,0.000,6,0.123,0.037,2571,2503,3530
$GC,7337,-0.93,-170.3,684.8,-7.7,856,7340,0.17,1.67,0.00,0.000,4,0.057,0.063,2472,3543,3529
$GC,7448,-0.71,-170.3,697.2,-11.5,861,7452,0.30,1.60,0.00,0.000,6,0.123,0.038,2573,2498,3528
$GC,7771,-0.94,-170.3,721.6,-7.6,877,7774,0.17,1.67,0.00,0.000,4,0.057,0.063,2478,3536,3527
$GC,7839,-0.75,-170.3,728.5,-10.7,880,7843,0.25,1.58,0.00,0.000,6,0.123,0.038,2562,2503,3526
$GC,8161,-0.95,-170.3,755.8,-9.0,896,8164,0.17,1.67,0.00,0.000,4,0.057,0.064,2467,3538,3525
$GC,8229,-0.71,-170.3,764.0,-12.9,899,8234,0.32,1.60,0.00,0.000,6,0.124,0.038,2575,2495,3524
$GC,8551,-0.96,-170.3,793.2,-8.9,915,8554,0.20,1.70,0.00,0.000,4,0.054,0.066,2472,3541,3523
$GC,8636,-0.74,-170.3,803.1,-12.5,919,8640,0.28,1.60,0.00,0.000,6,0.125,0.038,2564,2496,3523
$GC,8964,-0.95,-170.3,829.9,-7.8,935,8968,0.17,1.73,0.00,0.000,4,0.058,0.066,2469,3534,3522
$GC,9006,-0.78,-170.3,834.3,-10.6,937,9010,0.22,1.58,0.00,0.000,6,0.127,0.038,2556,2507,3520
$GC,9332,-0.78,-170.3,858.9,-7.2,953,9336,0.00,2.83,0.00,0.000,4,0.000,0.051,2556,750,3520
$GC,9412,-0.78,-170.3,864.9,-7.8,956,9418,0.00,2.75,0.00,0.000,6,0.000,0.048,2554,2469,3519
$GC,9722,-0.96,-170.3,885.7,-6.7,972,9724,0.15,0.00,0.00,0.000,6,0.061,0.000,2471,2469,3518
$GC,10028,-0.72,-170.3,917.8,-11.2,987,10029,0.35,0.00,0.00,0.000,6,0.135,0.000,2578,2469,3517
$STATE,10046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10046,begin apogee
$GC,10051,-0.24,0.0,919.5,10.7,988,10191,0.45,0.00,137.85,1.345,6,0.100,0.000,2735,2468,2854
$STATE,10191,end apogee,CONTROL_FINISHED_OK
$STATE,10191,begin climb
$GC,10193,0.86,170.3,926.4,0.0,995,10345,0.98,2.45,145.88,1.302,4,0.048,0.054,3107,1081,2158
$GC,10385,0.32,170.3,917.4,14.9,1004,10390,0.68,2.28,0.00,0.000,6,0.166,0.048,2919,2445,2153
$GC,10695,0.29,199.4,893.5,7.1,1019,10721,0.00,0.00,25.12,1.248,6,0.000,0.000,2919,2444,2041
$GC,11020,0.33,227.7,869.9,7.1,1035,11057,0.00,2.33,27.77,1.177,4,0.000,0.051,2928,1071,1924
$GC,11115,0.34,235.1,862.5,7.8,1038,11126,0.00,2.25,7.65,1.058,6,0.000,0.046,2928,2441,1895
$GC,11442,0.37,263.0,837.7,7.1,1055,11484,0.00,2.33,27.80,1.174,4,0.000,0.051,2930,1067,1779
$GC,11531,0.42,269.2,830.7,7.8,1059,11541,0.00,2.22,6.78,1.018,6,0.000,0.045,2929,2424,1756
$GC,11848,0.42,273.4,806.4,7.9,1074,11857,0.00,2.20,5.32,0.945,4,0.000,0.049,2931,1062,1738
$GC,11890,0.51,299.3,803.0,7.2,1076,11919,0.10,2.17,24.73,1.226,6,0.048,0.044,3000,2407,1632
$GC,12233,0.36,299.3,764.9,11.0,1093,12237,0.22,2.08,0.00,0.000,4,0.131,0.060,2927,3687,1627
$GC,12248,0.27,299.3,763.1,11.1,1094,12252,0.10,2.00,0.00,0.000,6,0.121,0.039,2898,2415,1628
$GC,12576,0.52,303.0,737.8,7.9,1110,12585,0.20,2.10,3.88,0.774,4,0.052,0.061,3009,3681,1618
$GC,12634,0.29,303.0,730.3,14.5,1112,12640,0.38,2.10,0.00,0.000,6,0.135,0.041,2905,2333,1617
$GC,12944,0.53,303.0,702.5,9.3,1128,12948,0.20,2.20,0.00,0.000,4,0.051,0.059,3010,3689,1617
$GC,13067,0.32,303.0,684.9,14.3,1133,13074,0.35,2.22,0.00,0.000,6,0.135,0.040,2915,2256,1617
$GC,13377,0.56,303.0,656.8,8.8,1149,13381,0.20,2.35,0.00,0.000,4,0.049,0.059,3018,3686,1616
$GC,13523,0.33,303.0,637.5,12.6,1155,13529,0.38,2.33,0.00,0.000,6,0.137,0.041,2914,2195,1616
$GC,13833,0.67,360.5,616.6,6.2,1171,13896,0.28,2.60,52.20,1.154,4,0.045,0.059,3055,3697,1382
$GC,14076,0.40,360.5,583.5,14.6,1182,14081,0.43,2.50,0.00,0.000,6,0.142,0.041,2940,2114,1380
$GC,14393,0.70,379.4,560.7,7.4,1198,14415,0.22,1.75,17.20,1.078,4,0.046,0.054,3066,1055,1307
$GC,14517,0.50,379.4,543.8,15.1,1203,14523,0.25,1.67,0.00,0.000,6,0.132,0.043,2971,2101,1304
$GC,14827,0.66,379.4,510.5,10.7,1219,14831,0.15,2.58,0.00,0.000,4,0.056,0.058,3057,3687,1302
$GC,14896,0.42,379.4,500.0,16.2,1222,14900,0.40,2.50,0.00,0.000,6,0.137,0.040,2947,2120,1302
$GC,15218,0.72,379.4,469.4,8.8,1253,15222,0.22,2.55,0.00,0.000,4,0.048,0.057,3072,3686,1301
$GC,15341,0.46,379.4,452.5,14.9,1264,15345,0.40,2.47,0.00,0.000,6,0.140,0.040,2963,2102,1301
$GC,15656,0.70,379.4,424.4,9.0,1294,15660,0.20,1.65,0.00,0.000,4,0.048,0.051,3067,1061,1302
$GC,15741,0.50,379.4,413.7,13.2,1302,15745,0.28,1.65,0.00,0.000,6,0.127,0.041,2976,2106,1300
$GC,16063,0.71,379.4,384.0,8.8,1333,16066,0.17,1.67,0.00,0.000,4,0.050,0.050,3079,1045,1300
$GC,16126,0.47,379.4,376.3,13.3,1339,16130,0.32,1.67,0.00,0.000,6,0.132,0.041,2963,2109,1300
$GC,16447,0.77,379.4,346.4,10.7,1370,16450,0.25,1.67,0.00,0.000,4,0.045,0.051,3093,1061,1300
$GC,16473,0.68,379.4,342.7,14.5,1372,16480,0.17,1.65,0.00,0.000,6,0.138,0.040,3035,2112,1300
$GC,16789,0.61,379.4,301.4,10.7,1403,16793,0.00,2.53,0.00,0.000,4,0.000,0.057,3035,3687,1300
$GC,16847,0.51,379.4,294.8,10.8,1412,16854,0.20,2.47,0.00,0.000,6,0.120,0.038,2977,2104,1300
$GC,17175,0.80,419.3,270.5,6.7,1473,17214,0.25,1.73,35.03,0.890,4,0.044,0.050,3109,1049,1143
$GC,17336,0.55,419.3,250.5,14.3,1502,17343,0.35,1.67,0.00,0.000,6,0.131,0.040,2995,2101,1140
$GC,17664,0.80,419.3,215.8,11.2,1563,17669,0.17,1.65,0.00,0.000,4,0.051,0.048,3103,1054,1139
$GC,17743,0.61,419.3,203.2,16.4,1578,17750,0.30,1.65,0.00,0.000,6,0.126,0.040,3003,2092,1139
$GC,18070,0.88,442.3,171.5,7.3,1639,18096,0.22,1.65,20.35,0.792,4,0.046,0.049,3137,1054,1049
$GC,18173,0.64,442.3,159.4,13.5,1657,18180,0.35,1.65,0.00,0.000,6,0.132,0.039,3023,2095,1046
$GC,18501,0.90,442.3,124.5,12.2,1718,18507,0.17,1.67,0.00,0.000,4,0.051,0.047,3131,1049,1045
$GC,18544,0.73,442.3,118.3,14.6,1726,18550,0.22,1.65,0.00,0.000,6,0.131,0.039,3046,2098,1045
$GC,18870,0.92,442.3,89.1,8.2,1787,18877,0.17,1.65,0.00,0.000,4,0.050,0.048,3144,1048,1045
$GC,18919,0.81,442.3,83.5,13.1,1796,18925,0.20,1.65,0.00,0.000,6,0.122,0.038,3075,2111,1045
$GC,19246,0.97,442.3,50.9,8.9,1857,19253,0.15,2.53,0.00,0.000,4,0.053,0.055,3159,3699,1045
$GC,19318,0.80,442.3,42.2,12.1,1870,19324,0.32,2.47,0.00,0.000,6,0.127,0.039,3071,2091,1045
$GC,19646,1.20,469.2,17.7,7.1,1931,19673,0.30,1.67,23.05,0.643,4,0.039,0.044,3239,1038,940
$STATE,19756,end climb,SURFACE_DEPTH_REACHED
$STATE,19758,begin surface coast
$FINISH,2.0,1.021579
$STATE,19772,end surface coast,CONTROL_FINISHED_OK
$STATE,19772,begin surface
$SM_CCo,19790,4.07,0.425,0,0,917,475.15
$SM_GC,3.22,0.00,0.00,4.07,0.000,0.000,0.425,154,2156,917,-8.30,0.59,475.15
$IRIDIUM_FIX,2527.05,12326.17,071098,191947
$TT8_MAMPS,0.048321
$HUMID,1688
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.00
$XPDR_PINGS,309
$24V_AH,23.2,65.795
$10V_AH,10.6,45.962
$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,38.700,179.800,560.600,4.075,0.000,31.139,33.325,270.902,84.500,0.000,0.000,33.935,0.000,14037.470,746.164,4694.298,780.530,0.000,2469.510,0.000,3967.220,0.000,49.002,0.000
$DEVICE_MAMPS,233.168,65.962,1345.318,424.918,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1326.970,1366.132,2144.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113644,1954
$CAP_FILE_SIZE,226692,0
$CFSIZE,260165632,231014400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.449, 64.9,1
$GPS,140709,053751,2538.141,12336.463,41,2.1,60,-3.8