version: 66.04
glider: 165
mission: 2
dive: 379
start: 7 29 109 12 2 30
data:
$ID,165
$MISSION,2
$DIVE,379
$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,367
$T_MISSION,440
$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,225
$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,-125400.27
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2285
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,114830,2519.213,12535.270,37,1.2,37,-3.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-73.6
$GPS2,120225,2519.182,12535.347,15,1.8,32,-3.9
$SPEED_LIMITS,0.156,0.300
$TGT_NAME,RET_1
$TGT_LATLONG,2441.200,12552.200
$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,156.3,75844,-13.3,-8.992
$D_GRID,960
$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,12,begin dive
$GC,15,-0.89,-219.0,0.0,0.0,0,57,0.00,0.00,-40.25,0.000,2,0.000,0.000,151,2235,1950
$GC,60,-0.89,-219.0,3.2,-4.1,7,123,9.05,2.33,-48.88,0.000,4,0.222,0.063,2451,3692,3748
$GC,155,-0.89,-219.0,15.9,-18.7,23,161,0.00,2.12,0.00,0.000,6,0.000,0.031,2451,2267,3748
$GC,482,-0.89,-219.0,71.2,-16.8,84,487,0.00,2.10,0.00,0.000,4,0.000,0.040,2451,883,3749
$GC,541,-0.89,-219.0,80.8,-15.8,95,546,0.00,2.12,0.00,0.000,6,0.000,0.038,2451,2273,3749
$GC,868,-0.89,-219.0,125.5,-11.7,156,873,0.00,2.12,0.00,0.000,4,0.000,0.040,2451,883,3750
$GC,894,-0.89,-219.0,128.8,-12.1,161,901,0.00,2.10,0.00,0.000,6,0.000,0.036,2451,2245,3750
$GC,1223,-0.89,-219.0,167.2,-11.7,222,1229,0.00,2.08,0.00,0.000,4,0.000,0.039,2451,884,3750
$GC,1276,-0.89,-219.0,174.0,-12.3,232,1282,0.00,2.05,0.00,0.000,6,0.000,0.037,2451,2212,3750
$GC,1603,-0.89,-219.0,212.5,-12.1,293,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2212,3750
$GC,1931,-0.89,-219.0,250.2,-10.0,354,1937,0.00,2.30,0.00,0.000,4,0.000,0.051,2452,3683,3750
$GC,1941,-0.89,-219.0,251.3,-9.2,356,1947,0.00,2.22,0.00,0.000,6,0.000,0.031,2451,2196,3750
$GC,2269,-0.89,-219.0,282.9,-11.3,417,2275,0.00,2.35,0.00,0.000,4,0.000,0.052,2451,3685,3750
$GC,2302,-0.89,-219.0,286.8,-12.4,423,2307,0.00,2.12,0.00,0.000,6,0.000,0.031,2451,2244,3750
$GC,2626,-0.89,-219.0,321.9,-10.1,465,2630,0.00,2.28,0.00,0.000,4,0.000,0.054,2451,3685,3748
$GC,2684,-0.89,-219.0,328.0,-10.2,470,2691,0.00,2.10,0.00,0.000,6,0.000,0.033,2451,2292,3747
$GC,3000,-0.89,-219.0,360.1,-10.2,501,3003,0.00,2.20,0.00,0.000,4,0.000,0.054,2451,3688,3746
$GC,3074,-0.89,-219.0,367.9,-10.8,508,3078,0.00,2.05,0.00,0.000,6,0.000,0.031,2451,2328,3746
$GC,3396,-0.89,-219.0,403.5,-11.4,539,3399,0.00,2.15,0.00,0.000,4,0.000,0.055,2451,3676,3744
$GC,3448,-0.89,-219.0,409.6,-11.1,544,3452,0.00,2.00,0.00,0.000,6,0.000,0.031,2451,2348,3743
$GC,3772,-0.89,-219.0,440.8,-9.0,575,3775,0.00,2.12,0.00,0.000,4,0.000,0.056,2451,3686,3742
$GC,3836,-0.89,-219.0,446.5,-8.6,581,3839,0.00,1.92,0.00,0.000,6,0.000,0.032,2451,2380,3741
$GC,4159,-0.89,-219.0,475.4,-10.8,612,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2375,3739
$GC,4466,-0.89,-219.0,506.6,-9.9,639,4469,0.00,2.08,0.00,0.000,4,0.000,0.059,2451,3674,3737
$GC,4551,-0.89,-219.0,514.7,-9.4,643,4554,0.00,1.90,0.00,0.000,6,0.000,0.033,2451,2397,3737
$GC,4878,-0.89,-219.0,542.2,-8.4,659,4881,0.00,2.35,0.00,0.000,4,0.000,0.045,2451,884,3735
$GC,4930,-0.89,-219.0,547.0,-9.6,661,4938,0.00,2.40,0.00,0.000,6,0.000,0.043,2451,2418,3733
$GC,5242,-0.89,-219.0,575.1,-9.3,677,5245,0.00,2.00,0.00,0.000,4,0.000,0.059,2451,3677,3732
$GC,5300,-0.89,-219.0,581.2,-10.4,679,5305,0.00,1.85,0.00,0.000,6,0.000,0.034,2451,2419,3731
$GC,5610,-0.89,-219.0,611.3,-9.2,695,5613,0.00,2.38,0.00,0.000,4,0.000,0.045,2452,896,3729
$GC,5631,-0.89,-219.0,613.3,-9.4,696,5634,0.00,2.45,0.00,0.000,6,0.000,0.043,2451,2458,3729
$GC,5959,-0.89,-219.0,643.7,-9.9,712,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2458,3727
$GC,6263,-0.89,-219.0,670.8,-8.5,727,6266,0.00,2.47,0.00,0.000,4,0.000,0.046,2451,890,3724
$GC,6294,-0.89,-219.0,673.6,-9.0,728,6300,0.00,2.45,0.00,0.000,6,0.000,0.044,2451,2446,3723
$GC,6606,-0.89,-219.0,701.0,-9.5,744,6609,0.00,1.98,0.00,0.000,4,0.000,0.061,2451,3683,3722
$GC,6664,-0.89,-219.0,706.6,-9.2,746,6670,0.00,1.88,0.00,0.000,6,0.000,0.037,2451,2455,3721
$GC,6974,-0.89,-219.0,733.8,-9.1,762,6978,0.00,1.98,0.00,0.000,4,0.000,0.061,2451,3683,3718
$GC,7061,-0.89,-219.0,741.5,-9.2,766,7063,0.00,1.75,0.00,0.000,6,0.000,0.035,2451,2509,3717
$GC,7386,-0.89,-219.0,769.1,-8.4,782,7390,0.00,1.90,0.00,0.000,4,0.000,0.063,2451,3681,3716
$GC,7504,-0.89,-219.0,779.2,-8.9,787,7507,0.00,1.70,0.00,0.000,6,0.000,0.036,2451,2565,3714
$GC,7819,-0.89,-219.0,805.2,-8.7,803,7823,0.00,1.83,0.00,0.000,4,0.000,0.064,2451,3674,3713
$GC,7883,-0.89,-219.0,811.0,-9.5,806,7887,0.00,1.62,0.00,0.000,6,0.000,0.035,2451,2598,3712
$GC,8210,-0.89,-219.0,840.8,-8.8,822,8214,0.00,1.77,0.00,0.000,4,0.000,0.065,2451,3676,3710
$GC,8268,-0.89,-219.0,846.1,-9.2,824,8274,0.00,1.60,0.00,0.000,6,0.000,0.038,2451,2634,3709
$GC,8579,-0.89,-219.0,874.7,-9.5,840,8582,0.00,1.70,0.00,0.000,4,0.000,0.065,2451,3665,3708
$GC,8643,-0.89,-219.0,880.6,-9.6,843,8646,0.00,1.55,0.00,0.000,6,0.000,0.036,2451,2638,3707
$GC,8969,-0.89,-219.0,909.8,-8.8,859,8972,0.00,1.67,0.00,0.000,4,0.000,0.065,2451,3674,3706
$GC,9060,-0.89,-219.0,917.9,-9.8,863,9063,0.00,1.58,0.00,0.000,6,0.000,0.035,2451,2637,3705
$GC,9380,-0.89,-219.0,945.5,-8.6,879,9384,0.00,1.70,0.00,0.000,4,0.000,0.066,2451,3666,3704
$GC,9455,-0.89,-219.0,951.8,-8.3,882,9458,0.00,1.55,0.00,0.000,6,0.000,0.035,2451,2639,3703
$STATE,9564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9564,begin apogee
$GC,9571,-0.23,0.0,961.1,8.1,888,9751,0.62,0.00,177.60,1.364,6,0.088,0.000,2672,2284,2854
$STATE,9752,end apogee,CONTROL_FINISHED_OK
$STATE,9752,begin climb
$GC,9754,0.89,219.0,973.7,0.0,897,9950,0.95,2.45,185.85,1.325,4,0.042,0.061,3044,3673,1960
$GC,10003,0.89,219.0,958.3,14.8,908,10006,0.00,2.15,0.00,0.000,6,0.000,0.039,3054,2330,1958
$GC,10318,0.89,219.0,915.8,12.7,924,10322,0.00,2.30,0.00,0.000,4,0.000,0.052,3065,888,1954
$GC,10425,0.89,219.0,901.7,13.0,929,10429,0.12,2.20,0.00,0.000,6,0.184,0.044,3034,2275,1952
$GC,10746,0.89,219.0,864.9,11.0,945,10749,0.00,2.25,0.00,0.000,4,0.000,0.053,3044,893,1951
$GC,10799,0.89,219.0,858.7,10.9,947,10802,0.00,2.17,0.00,0.000,6,0.000,0.044,3044,2249,1950
$GC,11115,0.89,219.0,818.5,13.4,963,11118,0.00,2.33,0.00,0.000,4,0.000,0.058,3044,3692,1950
$GC,11157,0.89,219.0,812.4,14.7,965,11160,0.00,2.22,0.00,0.000,6,0.000,0.039,3054,2256,1950
$GC,11483,0.89,219.0,768.5,13.6,981,11487,0.00,2.17,0.00,0.000,4,0.000,0.052,3065,886,1949
$GC,11548,0.89,219.0,759.7,13.3,984,11551,0.12,2.17,0.00,0.000,6,0.183,0.043,3034,2268,1948
$GC,11874,0.89,219.0,721.1,11.9,1000,11877,0.00,2.28,0.00,0.000,4,0.000,0.057,3034,3682,1948
$GC,11976,0.89,219.0,706.9,13.3,1004,11981,0.00,2.20,0.00,0.000,6,0.000,0.042,3044,2272,1947
$GC,12285,0.89,219.0,667.3,12.9,1020,12289,0.00,2.17,0.00,0.000,4,0.000,0.050,3054,897,1947
$GC,12381,0.89,219.0,654.1,13.5,1024,12385,0.00,2.20,0.00,0.000,6,0.000,0.042,3055,2271,1946
$GC,12697,0.89,219.0,614.6,12.4,1040,12698,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2271,1946
$GC,13002,0.89,219.0,581.8,10.4,1055,13005,0.00,2.28,0.00,0.000,4,0.000,0.057,3054,3686,1946
$GC,13017,0.89,219.0,580.2,10.0,1055,13024,0.10,2.22,0.00,0.000,6,0.183,0.038,3035,2266,1946
$GC,13329,0.89,219.0,549.0,10.7,1071,13332,0.00,2.17,0.00,0.000,4,0.000,0.049,3045,884,1946
$GC,13381,0.89,219.0,543.2,10.6,1073,13385,0.00,2.20,0.00,0.000,6,0.000,0.040,3045,2271,1945
$GC,13697,0.89,219.0,511.5,9.8,1089,13700,0.00,2.28,0.00,0.000,4,0.000,0.055,3045,3690,1945
$GC,13767,0.89,219.0,504.4,9.9,1092,13770,0.00,2.15,0.00,0.000,6,0.000,0.037,3055,2289,1945
$GC,14084,0.90,231.6,475.5,8.6,1120,14098,0.00,2.25,9.98,0.957,4,0.000,0.049,3066,899,1908
$GC,14131,0.92,244.8,471.3,8.6,1124,14148,0.00,2.25,13.43,0.974,6,0.000,0.041,3066,2309,1855
$GC,14457,0.92,244.8,437.3,11.2,1156,14461,0.00,2.25,0.00,0.000,4,0.000,0.047,3076,903,1852
$GC,14602,0.92,244.8,421.7,10.6,1169,14607,0.12,2.17,0.00,0.000,6,0.175,0.040,3046,2288,1851
$GC,14917,0.92,246.6,392.6,8.9,1200,14918,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2288,1851
$GC,15228,0.92,246.6,363.9,9.8,1230,15231,0.00,2.20,0.00,0.000,4,0.000,0.047,3055,900,1851
$GC,15248,0.92,246.6,361.9,9.3,1232,15252,0.00,2.17,0.00,0.000,6,0.000,0.039,3055,2272,1851
$GC,15570,0.96,279.1,333.5,8.1,1263,15605,0.00,2.25,30.35,0.907,4,0.000,0.047,3065,903,1715
$GC,15644,0.99,297.9,327.2,8.5,1270,15668,0.00,2.15,17.55,0.861,6,0.000,0.038,3065,2262,1638
$GC,15978,0.99,297.9,296.0,9.5,1306,15985,0.00,2.20,0.00,0.000,4,0.000,0.051,3075,906,1636
$GC,16102,0.99,297.9,284.0,9.2,1329,16108,0.00,2.20,0.00,0.000,6,0.000,0.039,3074,2314,1635
$GC,16428,0.99,297.9,252.5,9.7,1390,16435,0.00,2.22,0.00,0.000,4,0.000,0.056,3075,3683,1634
$GC,16461,0.99,297.9,249.2,10.1,1396,16467,0.00,2.17,0.00,0.000,6,0.000,0.036,3085,2289,1634
$GC,16788,0.99,297.9,218.6,9.5,1457,16793,0.00,2.15,0.00,0.000,4,0.000,0.045,3095,906,1634
$GC,16895,1.01,315.9,208.3,8.5,1477,16915,0.00,2.15,16.33,0.769,6,0.000,0.038,3095,2300,1566
$GC,17236,1.01,315.9,175.3,9.6,1540,17242,0.00,2.22,0.00,0.000,4,0.000,0.050,3106,900,1565
$GC,17252,1.01,315.9,173.7,9.6,1543,17258,0.10,2.17,0.00,0.000,6,0.145,0.037,3074,2285,1564
$GC,17580,1.04,343.8,143.1,8.2,1604,17610,0.00,2.22,24.90,0.729,4,0.000,0.055,3074,3690,1451
$GC,17680,1.06,355.1,134.2,8.7,1622,17699,0.00,2.15,11.25,0.666,6,0.000,0.036,3083,2288,1405
$GC,18020,1.11,395.1,104.7,7.9,1685,18058,0.00,0.00,33.70,0.693,6,0.000,0.000,3083,2288,1242
$GC,18378,1.11,396.4,72.2,9.0,1751,18384,0.00,2.25,0.00,0.000,4,0.000,0.054,3083,3693,1241
$GC,18560,1.13,415.7,55.0,8.5,1785,18586,0.00,2.10,18.62,0.634,6,0.000,0.032,3092,2324,1158
$GC,18907,1.21,477.1,31.4,7.3,1849,18964,0.12,2.17,50.42,0.623,4,0.059,0.052,3169,3680,908
$GC,19017,1.21,477.1,19.8,11.4,1868,19024,0.12,2.15,0.00,0.000,6,0.128,0.032,3128,2289,907
$STATE,19192,end climb,SURFACE_DEPTH_REACHED
$STATE,19192,begin surface coast
$FINISH,1.6,1.021237
$STATE,19229,end surface coast,CONTROL_FINISHED_OK
$STATE,19229,begin surface
$SM_CCo,19305,0.00,0.000,0,0,905,478.09
$SM_GC,2.29,7.60,0.00,0.00,0.038,0.000,0.000,161,2284,905,-7.97,-0.03,478.09
$IRIDIUM_FIX,2512.73,12535.87,231098,121254
$TT8_MAMPS,0.049088
$HUMID,1605
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,26.80
$XPDR_PINGS,756
$24V_AH,23.2,86.012
$10V_AH,10.6,58.228
$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,19.050,186.275,589.975,0.000,0.000,74.447,162.497,297.997,196.750,0.000,0.000,34.493,0.000,13912.618,723.003,4479.042,991.059,0.000,2398.677,0.000,3795.806,0.000,52.337,0.000
$DEVICE_MAMPS,221.663,65.962,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1286.040,1329.132,2094.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110594,1908
$CAP_FILE_SIZE,196483,0
$CFSIZE,260165632,223330304
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,270.0,1
$GPS,290709,172526,2517.438,12535.324,30,2.3,49,-3.9