version: 66.04
glider: 165
mission: 2
dive: 383
start: 7 30 109 10 7 57
data:
$ID,165
$MISSION,2
$DIVE,383
$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,-125542.44
$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,51
$R_STBD_OVSHOOT,48
$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
$GPS1,095306,2513.218,12535.894,32,1.5,32,-3.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.1
$GPS2,100752,2513.294,12535.856,15,4.3,34,-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,144.5,65492,-13.3,-8.992
$D_GRID,947
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.89,-219.0,0.0,0.0,0,60,0.00,0.00,-43.62,0.000,2,0.000,0.000,152,2303,2041
$GC,63,-0.89,-219.0,3.3,-4.2,7,121,9.20,2.25,-44.35,0.000,4,0.227,0.050,2452,884,3748
$GC,131,-0.89,-219.0,12.5,-18.4,18,137,0.00,2.17,0.00,0.000,6,0.000,0.040,2452,2268,3749
$GC,458,-0.89,-219.0,73.7,-17.3,79,463,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2268,3749
$GC,784,-0.89,-219.0,125.3,-15.5,140,790,0.00,2.22,0.00,0.000,4,0.000,0.052,2452,3689,3750
$GC,827,-0.89,-219.0,132.2,-16.0,148,832,0.00,2.15,0.00,0.000,6,0.000,0.031,2452,2263,3749
$GC,1153,-0.89,-219.0,179.8,-13.3,209,1160,0.00,2.10,0.00,0.000,4,0.000,0.040,2452,892,3749
$GC,1193,-0.89,-219.0,185.2,-13.8,216,1198,0.00,2.10,0.00,0.000,6,0.000,0.038,2452,2267,3749
$GC,1519,-0.89,-219.0,229.6,-13.9,277,1525,0.00,2.12,0.00,0.000,4,0.000,0.040,2452,886,3749
$GC,1588,-0.89,-219.0,239.6,-14.1,290,1594,0.00,2.05,0.00,0.000,6,0.000,0.038,2451,2215,3749
$GC,1915,-0.89,-219.0,278.8,-11.2,351,1920,0.00,2.05,0.00,0.000,4,0.000,0.042,2452,884,3749
$GC,1995,-0.89,-219.0,288.7,-12.6,366,2001,0.00,2.00,0.00,0.000,6,0.000,0.041,2452,2163,3749
$GC,2314,-0.89,-219.0,325.0,-9.8,405,2318,0.00,1.98,0.00,0.000,4,0.000,0.043,2452,881,3749
$GC,2357,-0.89,-219.0,329.6,-11.5,409,2360,0.00,1.92,0.00,0.000,6,0.000,0.039,2452,2143,3749
$GC,2679,-0.89,-219.0,362.7,-10.4,440,2682,0.00,1.92,0.00,0.000,4,0.000,0.043,2452,891,3748
$GC,2705,-0.89,-219.0,365.8,-11.4,442,2712,0.00,1.92,0.00,0.000,6,0.000,0.040,2452,2114,3748
$GC,3023,-0.89,-219.0,399.1,-10.6,473,3027,0.00,2.47,0.00,0.000,4,0.000,0.055,2452,3677,3746
$GC,3081,-0.89,-219.0,406.0,-10.9,478,3085,0.00,2.30,0.00,0.000,6,0.000,0.033,2452,2150,3745
$GC,3405,-0.89,-219.0,439.0,-9.5,509,3408,0.00,1.92,0.00,0.000,4,0.000,0.045,2452,890,3744
$GC,3448,-0.89,-219.0,443.5,-10.7,513,3451,0.00,1.98,0.00,0.000,6,0.000,0.042,2452,2164,3744
$GC,3770,-0.89,-219.0,473.6,-9.5,544,3773,0.00,1.98,0.00,0.000,4,0.000,0.045,2452,890,3741
$GC,3786,-0.89,-219.0,475.5,-10.4,545,3794,0.00,1.98,0.00,0.000,6,0.000,0.041,2452,2167,3741
$GC,4112,-0.89,-219.0,509.2,-10.4,573,4115,0.00,2.00,0.00,0.000,4,0.000,0.046,2452,883,3739
$GC,4149,-0.89,-219.0,513.3,-10.7,574,4154,0.00,1.95,0.00,0.000,6,0.000,0.047,2452,2131,3738
$GC,4459,-0.89,-219.0,544.9,-10.5,590,4462,0.00,1.98,0.00,0.000,4,0.000,0.046,2452,886,3737
$GC,4501,-0.89,-219.0,549.6,-10.7,592,4509,0.00,1.88,0.00,0.000,6,0.000,0.042,2452,2093,3736
$GC,4830,-0.89,-219.0,584.3,-10.1,608,4833,0.00,2.55,0.00,0.000,4,0.000,0.059,2452,3685,3735
$GC,4909,-0.89,-219.0,592.5,-9.6,611,4915,0.00,2.35,0.00,0.000,6,0.000,0.034,2452,2124,3734
$GC,5220,-0.89,-219.0,618.9,-8.0,627,5223,0.00,2.50,0.00,0.000,4,0.000,0.058,2452,3674,3731
$GC,5252,-0.89,-219.0,621.7,-8.4,628,5255,0.00,2.33,0.00,0.000,6,0.000,0.033,2452,2136,3731
$GC,5562,-0.89,-219.0,648.3,-9.2,643,5565,0.00,2.50,0.00,0.000,4,0.000,0.059,2452,3676,3729
$GC,5625,-0.89,-219.0,654.3,-10.3,646,5629,0.00,2.30,0.00,0.000,6,0.000,0.034,2452,2177,3728
$GC,5947,-0.89,-219.0,685.2,-9.6,662,5950,0.00,2.45,0.00,0.000,4,0.000,0.060,2452,3684,3725
$GC,6037,-0.89,-219.0,693.4,-8.6,666,6040,0.00,2.22,0.00,0.000,6,0.000,0.035,2452,2221,3724
$GC,6354,-0.89,-219.0,723.5,-10.0,682,6357,0.00,2.08,0.00,0.000,4,0.000,0.048,2452,889,3721
$GC,6406,-0.89,-219.0,729.1,-10.8,684,6410,0.00,2.12,0.00,0.000,6,0.000,0.044,2452,2224,3721
$GC,6723,-0.89,-219.0,758.8,-9.1,700,6726,0.00,2.35,0.00,0.000,4,0.000,0.061,2452,3677,3719
$GC,6744,-0.89,-219.0,760.6,-8.9,701,6747,0.00,2.10,0.00,0.000,6,0.000,0.036,2452,2293,3719
$GC,7070,-0.89,-219.0,789.6,-8.9,717,7074,0.00,2.20,0.00,0.000,4,0.000,0.049,2452,891,3717
$GC,7118,-0.89,-219.0,793.7,-8.3,719,7121,0.00,2.30,0.00,0.000,6,0.000,0.046,2452,2338,3716
$GC,7440,-0.89,-219.0,822.8,-8.8,735,7443,0.00,2.30,0.00,0.000,4,0.000,0.048,2452,891,3714
$GC,7487,-0.89,-219.0,827.5,-10.2,737,7490,0.00,2.28,0.00,0.000,6,0.000,0.045,2452,2310,3712
$GC,7803,-0.89,-219.0,855.6,-8.9,753,7806,0.00,2.25,0.00,0.000,4,0.000,0.048,2452,891,3712
$GC,7835,-0.89,-219.0,858.7,-9.8,754,7838,0.00,2.28,0.00,0.000,6,0.000,0.047,2452,2318,3711
$GC,8150,-0.89,-219.0,891.6,-10.0,770,8153,0.00,2.28,0.00,0.000,4,0.000,0.049,2452,890,3709
$GC,8182,-0.89,-219.0,894.8,-10.4,771,8185,0.00,2.30,0.00,0.000,6,0.000,0.046,2452,2315,3709
$GC,8498,-0.89,-219.0,924.9,-9.5,787,8502,0.00,2.22,0.00,0.000,4,0.000,0.062,2452,3686,3707
$GC,8524,-0.89,-219.0,927.9,-12.6,788,8528,0.00,2.15,0.00,0.000,6,0.000,0.037,2452,2306,3705
$STATE,8721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8721,begin apogee
$GC,8727,-0.23,0.0,948.1,10.1,798,8907,0.65,0.00,177.55,1.356,6,0.116,0.000,2667,2300,2854
$STATE,8907,end apogee,CONTROL_FINISHED_OK
$STATE,8907,begin climb
$GC,8910,0.89,219.0,958.6,0.0,807,9106,1.00,2.42,185.90,1.314,4,0.056,0.061,3037,3687,1960
$GC,9170,0.89,219.0,939.2,16.9,819,9174,0.00,2.22,0.00,0.000,6,0.000,0.038,3048,2306,1957
$GC,9492,0.89,219.0,893.1,12.8,835,9496,0.00,2.25,0.00,0.000,4,0.000,0.052,3058,894,1954
$GC,9534,0.89,219.0,887.1,14.1,837,9538,0.00,2.28,0.00,0.000,6,0.000,0.044,3058,2305,1952
$GC,9861,0.89,219.0,844.6,12.4,853,9864,0.00,2.28,0.00,0.000,4,0.000,0.051,3068,887,1951
$GC,9940,0.89,219.0,834.8,13.1,856,9946,0.08,2.25,0.00,0.000,6,0.182,0.049,3035,2284,1950
$GC,10251,0.89,219.0,795.4,13.1,872,10254,0.00,2.25,0.00,0.000,4,0.000,0.048,3045,890,1949
$GC,10347,0.89,219.0,782.6,13.7,876,10350,0.00,2.20,0.00,0.000,6,0.000,0.044,3045,2284,1949
$GC,10663,0.89,219.0,742.2,12.9,892,10666,0.00,2.25,0.00,0.000,4,0.000,0.057,3045,3689,1948
$GC,10688,0.89,219.0,738.6,13.9,893,10692,0.00,2.20,0.00,0.000,6,0.000,0.037,3056,2281,1949
$GC,11010,0.89,219.0,698.0,12.0,909,11014,0.00,2.28,0.00,0.000,4,0.000,0.056,3055,3681,1948
$GC,11084,0.89,219.0,688.6,14.2,912,11091,0.10,2.15,0.00,0.000,6,0.193,0.039,3037,2325,1947
$GC,11395,0.89,219.0,654.9,10.5,928,11398,0.00,2.20,0.00,0.000,4,0.000,0.057,3037,3683,1947
$GC,11528,0.89,219.0,638.7,12.0,934,11532,0.00,2.10,0.00,0.000,6,0.000,0.039,3046,2325,1947
$GC,11849,0.89,219.0,601.4,11.4,950,11852,0.00,2.28,0.00,0.000,4,0.000,0.049,3057,885,1946
$GC,11957,0.89,219.0,589.7,11.4,955,11960,0.00,2.28,0.00,0.000,6,0.000,0.042,3057,2330,1945
$GC,12277,0.89,219.0,553.7,11.1,971,12280,0.00,2.17,0.00,0.000,4,0.000,0.057,3057,3684,1945
$GC,12357,0.89,219.0,544.3,11.2,974,12363,0.15,2.12,0.00,0.000,6,0.193,0.039,3030,2324,1944
$GC,12668,0.89,219.0,514.8,9.1,990,12671,0.00,2.22,0.00,0.000,4,0.000,0.056,3031,3695,1945
$GC,12710,0.89,219.0,510.2,11.4,992,12713,0.00,2.08,0.00,0.000,6,0.000,0.038,3040,2362,1945
$GC,13032,0.89,219.0,478.4,9.8,1018,13035,0.00,2.33,0.00,0.000,4,0.000,0.048,3050,894,1944
$GC,13143,0.89,221.6,467.9,8.9,1028,13147,0.00,2.30,0.00,0.000,6,0.000,0.042,3050,2335,1944
$GC,13467,0.89,221.6,436.9,9.4,1059,13470,0.00,2.17,0.00,0.000,4,0.000,0.055,3051,3696,1944
$GC,13546,0.89,221.6,428.8,9.6,1066,13552,0.00,2.10,0.00,0.000,6,0.000,0.041,3060,2359,1944
$GC,13864,0.89,221.6,399.5,9.1,1097,13867,0.00,2.30,0.00,0.000,4,0.000,0.047,3071,893,1944
$GC,13934,0.91,234.8,392.9,8.6,1103,13950,0.12,2.35,12.45,0.920,6,0.179,0.041,3041,2381,1896
$GC,14261,0.92,243.6,362.4,8.7,1134,14275,0.00,2.12,9.40,0.858,4,0.000,0.055,3041,3683,1859
$GC,14351,0.92,243.6,353.3,9.3,1142,14358,0.00,2.03,0.00,0.000,6,0.000,0.037,3050,2395,1859
$GC,14670,0.96,280.7,325.4,8.0,1173,14705,0.00,0.00,33.30,0.907,6,0.000,0.000,3050,2394,1708
$GC,15012,0.96,280.7,295.5,9.1,1210,15018,0.00,2.42,0.00,0.000,4,0.000,0.051,3061,888,1704
$GC,15098,1.00,312.9,287.7,8.1,1226,15140,0.00,2.45,30.17,0.822,6,0.000,0.044,3061,2438,1577
$GC,15463,1.00,312.9,252.4,9.6,1293,15469,0.00,2.47,0.00,0.000,4,0.000,0.044,3072,884,1575
$GC,15495,1.00,312.9,249.0,9.6,1299,15502,0.00,2.45,0.00,0.000,6,0.000,0.038,3072,2446,1573
$GC,15823,1.00,312.9,220.4,9.3,1360,15828,0.00,2.47,0.00,0.000,4,0.000,0.044,3084,891,1573
$GC,15951,1.05,349.5,209.9,8.0,1384,15987,0.00,2.38,31.60,0.797,6,0.000,0.043,3084,2380,1429
$GC,16309,1.05,349.5,174.8,10.5,1450,16315,0.00,2.35,0.00,0.000,4,0.000,0.044,3094,891,1428
$GC,16449,1.05,349.5,160.0,10.3,1476,16455,0.00,2.28,0.00,0.000,6,0.000,0.038,3094,2338,1426
$GC,16776,1.05,349.5,128.7,9.1,1537,16782,0.00,2.12,0.00,0.000,4,0.000,0.053,3094,3681,1426
$GC,16867,1.05,349.5,119.8,9.5,1554,16873,0.00,2.05,0.00,0.000,6,0.000,0.033,3104,2348,1425
$GC,17194,1.11,400.1,88.0,7.6,1615,17244,0.00,2.33,42.47,0.687,4,0.000,0.044,3115,903,1221
$GC,17325,1.16,442.0,77.6,7.8,1638,17364,0.00,2.20,35.47,0.662,6,0.000,0.039,3115,2317,1050
$GC,17688,1.19,463.4,47.2,8.4,1704,17713,0.00,2.22,18.80,0.620,4,0.000,0.042,3125,900,963
$GC,17932,1.26,518.9,26.8,7.5,1749,17983,0.00,2.10,45.67,0.613,6,0.000,0.035,3125,2249,737
$STATE,18183,end climb,SURFACE_DEPTH_REACHED
$STATE,18183,begin surface coast
$FINISH,1.5,1.010150
$STATE,18215,end surface coast,CONTROL_FINISHED_OK
$STATE,18215,begin surface
$SM_CCo,18291,0.00,0.000,0,0,733,520.28
$SM_GC,2.40,7.60,0.00,0.00,0.035,0.000,0.000,156,2254,733,-7.99,-0.90,520.28
$IRIDIUM_FIX,2505.59,12533.09,241098,101004
$TT8_MAMPS,0.048321
$HUMID,1604
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,26.80
$XPDR_PINGS,735
$ALTIM_BOTTOM_PING,875.1,96.3
$24V_AH,22.7,86.944
$10V_AH,10.6,58.901
$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,18.900,194.275,622.800,0.000,0.000,86.394,100.325,385.631,191.250,0.000,0.000,36.865,0.000,13137.035,749.768,4219.929,1033.267,0.000,2344.804,0.000,3572.038,0.000,53.414,0.000
$DEVICE_MAMPS,227.032,62.127,1356.056,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1213.205,1244.856,1964.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104095,1801
$CAP_FILE_SIZE,188281,0
$CFSIZE,260165632,222932992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.024,204.5,1
$GPS,300709,151337,2511.783,12536.622,27,1.2,27,-3.9