version: 66.04
glider: 165
mission: 2
dive: 384
start: 7 30 109 15 21 41
data:
$ID,165
$MISSION,2
$DIVE,384
$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,-125572.34
$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,46
$R_STBD_OVSHOOT,39
$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
$GPS1,151337,2511.783,12536.622,27,1.2,27,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-70.5
$GPS2,152136,2511.752,12536.645,11,1.2,27,-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,155.6,62343,-13.3,-8.992
$D_GRID,935
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.89,-219.0,0.0,0.0,0,69,0.00,0.00,-51.80,0.000,2,0.000,0.000,155,2254,2054
$GC,72,-0.89,-219.0,3.4,-3.8,8,130,9.23,2.20,-44.58,0.000,4,0.227,0.057,2454,883,3748
$GC,188,-0.89,-219.0,20.3,-16.9,28,195,0.00,2.20,0.00,0.000,6,0.000,0.038,2454,2282,3749
$GC,515,-0.89,-219.0,73.7,-16.2,89,521,0.00,2.20,0.00,0.000,4,0.000,0.053,2452,3682,3749
$GC,622,-0.89,-219.0,89.6,-14.8,109,628,0.00,2.05,0.00,0.000,6,0.000,0.031,2452,2314,3750
$GC,949,-0.89,-219.0,134.0,-12.3,170,955,0.00,2.17,0.00,0.000,4,0.000,0.051,2452,3692,3751
$GC,1030,-0.89,-219.0,144.5,-12.8,185,1036,0.00,2.10,0.00,0.000,6,0.000,0.031,2452,2270,3751
$GC,1357,-0.89,-219.0,184.5,-12.1,246,1364,0.00,2.10,0.00,0.000,4,0.000,0.041,2452,887,3752
$GC,1434,-0.89,-219.0,193.4,-12.0,260,1439,0.00,2.12,0.00,0.000,6,0.000,0.044,2452,2269,3752
$GC,1760,-0.89,-219.0,231.6,-11.7,321,1766,0.00,2.22,0.00,0.000,4,0.000,0.053,2452,3689,3752
$GC,1782,-0.89,-219.0,234.1,-11.5,325,1787,0.00,2.08,0.00,0.000,6,0.000,0.031,2452,2277,3752
$GC,2108,-0.89,-219.0,272.1,-11.7,386,2115,0.00,2.12,0.00,0.000,4,0.000,0.046,2452,895,3752
$GC,2157,-0.89,-219.0,278.0,-12.1,395,2162,0.00,2.15,0.00,0.000,6,0.000,0.047,2452,2284,3752
$GC,2479,-0.89,-219.0,308.9,-8.1,446,2482,0.00,2.20,0.00,0.000,4,0.000,0.055,2452,3683,3751
$GC,2511,-0.89,-219.0,311.4,-8.1,449,2515,0.00,2.05,0.00,0.000,6,0.000,0.031,2452,2293,3751
$GC,2832,-0.89,-219.0,342.2,-10.1,480,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2287,3751
$GC,3144,-0.89,-219.0,372.9,-8.9,510,3147,0.00,2.22,0.00,0.000,4,0.000,0.057,2452,3688,3750
$GC,3241,-0.89,-219.0,382.0,-9.6,519,3244,0.00,2.05,0.00,0.000,6,0.000,0.032,2452,2307,3749
$GC,3561,-0.89,-219.0,413.5,-10.0,550,3564,0.00,2.17,0.00,0.000,4,0.000,0.044,2452,889,3747
$GC,3571,-0.89,-219.0,414.5,-10.0,551,3575,0.00,2.25,0.00,0.000,6,0.000,0.041,2452,2336,3748
$GC,3894,-0.89,-219.0,444.9,-9.3,582,3897,0.00,2.12,0.00,0.000,4,0.000,0.057,2452,3680,3746
$GC,3984,-0.89,-219.0,453.6,-9.8,590,3992,0.00,2.05,0.00,0.000,6,0.000,0.035,2452,2330,3744
$GC,4303,-0.89,-219.0,483.6,-9.1,621,4306,0.00,2.15,0.00,0.000,4,0.000,0.058,2452,3677,3743
$GC,4382,-0.89,-219.0,491.1,-9.0,628,4388,0.00,1.98,0.00,0.000,6,0.000,0.034,2452,2371,3742
$GC,4705,-0.89,-219.0,521.4,-9.8,649,4709,0.00,2.30,0.00,0.000,4,0.000,0.044,2452,890,3741
$GC,4726,-0.89,-219.0,523.5,-9.7,650,4729,0.00,2.33,0.00,0.000,6,0.000,0.043,2452,2358,3741
$GC,5047,-0.89,-219.0,554.6,-9.7,666,5050,0.00,2.10,0.00,0.000,4,0.000,0.059,2452,3676,3738
$GC,5159,-0.89,-219.0,565.7,-10.0,671,5162,0.00,1.90,0.00,0.000,6,0.000,0.033,2452,2398,3738
$GC,5480,-0.89,-219.0,596.5,-9.7,687,5483,0.00,2.08,0.00,0.000,4,0.000,0.060,2452,3685,3735
$GC,5506,-0.89,-219.0,599.0,-9.8,688,5510,0.00,2.00,0.00,0.000,6,0.000,0.033,2452,2372,3734
$GC,5828,-0.89,-219.0,628.8,-9.1,704,5831,0.00,2.12,0.00,0.000,4,0.000,0.060,2452,3688,3732
$GC,5886,-0.89,-219.0,634.3,-9.7,706,5893,0.00,1.98,0.00,0.000,6,0.000,0.039,2452,2393,3731
$GC,6197,-0.89,-219.0,662.5,-9.3,722,6200,0.00,2.33,0.00,0.000,4,0.000,0.046,2452,895,3730
$GC,6313,-0.89,-219.0,674.2,-10.4,727,6317,0.00,2.45,0.00,0.000,6,0.000,0.046,2452,2440,3729
$GC,6629,-0.89,-219.0,705.7,-10.4,743,6632,0.00,2.42,0.00,0.000,4,0.000,0.045,2452,906,3726
$GC,6758,-0.89,-219.0,717.9,-10.0,749,6761,0.00,2.50,0.00,0.000,6,0.000,0.046,2452,2478,3725
$GC,7078,-0.89,-219.0,747.7,-9.4,765,7081,0.00,1.92,0.00,0.000,4,0.000,0.064,2452,3674,3723
$GC,7174,-0.89,-219.0,757.5,-10.4,769,7177,0.00,1.75,0.00,0.000,6,0.000,0.035,2452,2501,3722
$GC,7490,-0.89,-219.0,787.8,-9.6,785,7493,0.00,1.92,0.00,0.000,4,0.000,0.064,2452,3670,3720
$GC,7548,-0.89,-219.0,793.8,-10.4,787,7554,0.00,1.70,0.00,0.000,6,0.000,0.035,2452,2546,3720
$GC,7859,-0.89,-219.0,824.6,-10.1,803,7862,0.00,1.83,0.00,0.000,4,0.000,0.064,2452,3675,3717
$GC,7917,-0.89,-219.0,830.2,-10.1,805,7923,0.00,1.65,0.00,0.000,6,0.000,0.035,2452,2585,3717
$GC,8227,-0.89,-219.0,859.2,-9.6,821,8231,0.00,1.80,0.00,0.000,4,0.000,0.066,2452,3674,3715
$GC,8302,-0.89,-219.0,866.4,-9.3,824,8305,0.00,1.60,0.00,0.000,6,0.000,0.036,2452,2615,3715
$GC,8618,-0.89,-219.0,896.7,-9.5,840,8621,0.00,1.75,0.00,0.000,4,0.000,0.067,2452,3691,3712
$GC,8713,-0.89,-219.0,905.9,-10.1,844,8717,0.00,1.58,0.00,0.000,6,0.000,0.037,2452,2656,3711
$STATE,8763,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8763,begin apogee
$GC,8769,-0.23,0.0,910.7,9.5,847,8950,0.62,0.00,177.57,1.328,6,0.086,0.000,2674,2305,2854
$STATE,8950,end apogee,CONTROL_FINISHED_OK
$STATE,8950,begin climb
$GC,8953,0.89,219.0,924.6,0.0,856,9149,0.95,2.35,184.50,1.289,4,0.041,0.059,3050,3674,1959
$GC,9196,0.89,219.0,911.4,14.3,867,9200,0.00,2.17,0.00,0.000,6,0.000,0.037,3060,2322,1957
$GC,9518,0.89,219.0,869.2,13.0,883,9521,0.00,2.28,0.00,0.000,4,0.000,0.052,3069,892,1953
$GC,9544,0.89,219.0,865.8,12.7,884,9548,0.15,2.20,0.00,0.000,6,0.186,0.045,3033,2283,1951
$GC,9859,0.89,219.0,828.7,11.7,900,9863,0.00,2.22,0.00,0.000,4,0.000,0.050,3042,891,1950
$GC,9907,0.89,219.0,823.1,11.7,902,9911,0.00,2.20,0.00,0.000,6,0.000,0.044,3042,2265,1949
$GC,10228,0.89,219.0,786.4,11.1,918,10232,0.00,2.30,0.00,0.000,4,0.000,0.058,3043,3690,1949
$GC,10250,0.89,219.0,783.9,11.8,919,10253,0.00,2.22,0.00,0.000,6,0.000,0.038,3053,2258,1948
$GC,10570,0.89,219.0,743.3,12.8,935,10573,0.00,2.17,0.00,0.000,4,0.000,0.051,3063,882,1947
$GC,10629,0.89,219.0,735.6,13.3,937,10635,0.12,2.17,0.00,0.000,6,0.185,0.043,3033,2269,1946
$GC,10939,0.89,219.0,701.2,9.7,953,10942,0.00,2.28,0.00,0.000,4,0.000,0.058,3033,3683,1946
$GC,10987,0.89,219.0,696.3,10.9,955,10990,0.00,2.22,0.00,0.000,6,0.000,0.039,3043,2265,1946
$GC,11308,0.89,219.0,664.1,10.0,971,11312,0.00,2.30,0.00,0.000,4,0.000,0.056,3043,3682,1945
$GC,11441,0.89,219.0,648.4,11.8,977,11445,0.00,2.20,0.00,0.000,6,0.000,0.038,3054,2283,1945
$GC,11757,0.89,219.0,612.5,10.9,993,11760,0.00,2.20,0.00,0.000,4,0.000,0.049,3064,886,1945
$GC,11805,0.89,219.0,607.4,10.4,995,11808,0.12,2.20,0.00,0.000,6,0.183,0.042,3033,2288,1944
$GC,12126,0.89,219.0,577.5,9.3,1011,12126,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2289,1944
$GC,12431,0.89,219.0,544.5,10.7,1026,12434,0.00,2.25,0.00,0.000,4,0.000,0.058,3034,3683,1944
$GC,12446,0.89,219.0,542.8,10.8,1026,12453,0.00,2.22,0.00,0.000,6,0.000,0.044,3043,2277,1943
$GC,12757,0.89,219.0,511.1,9.8,1042,12760,0.00,2.28,0.00,0.000,4,0.000,0.055,3044,3680,1943
$GC,12783,0.89,219.0,508.3,10.5,1043,12787,0.00,2.12,0.00,0.000,6,0.000,0.038,3053,2305,1943
$GC,13101,0.89,219.0,477.4,9.5,1069,13104,0.00,2.22,0.00,0.000,4,0.000,0.048,3063,892,1943
$GC,13186,0.91,236.4,469.2,8.5,1077,13207,0.00,2.17,13.73,0.991,6,0.000,0.042,3064,2286,1889
$GC,13517,0.91,236.4,435.7,9.9,1109,13520,0.00,2.25,0.00,0.000,4,0.000,0.054,3064,3692,1887
$GC,13538,0.91,236.4,433.5,9.5,1111,13541,0.15,2.20,0.00,0.000,6,0.188,0.036,3038,2266,1887
$GC,13858,0.93,254.2,403.6,8.5,1142,13881,0.00,2.17,16.95,0.952,4,0.000,0.048,3047,896,1815
$GC,13934,0.93,254.2,396.2,9.7,1149,13937,0.00,2.17,0.00,0.000,6,0.000,0.040,3047,2274,1814
$GC,14254,0.94,257.5,365.6,8.9,1180,14267,0.00,2.30,3.88,0.598,4,0.000,0.060,3047,3677,1803
$GC,14368,0.94,257.5,354.0,10.6,1190,14374,0.00,2.20,0.00,0.000,6,0.000,0.036,3058,2278,1804
$GC,14686,0.94,257.5,324.2,9.6,1221,14689,0.00,2.15,0.00,0.000,4,0.000,0.047,3067,903,1803
$GC,14782,0.94,257.5,315.6,9.3,1230,14785,0.00,2.17,0.00,0.000,6,0.000,0.039,3068,2280,1802
$GC,15102,0.94,263.0,287.4,8.8,1273,15114,0.00,2.22,7.10,0.746,4,0.000,0.053,3068,3683,1780
$GC,15183,1.02,323.6,280.5,7.3,1288,15240,0.00,2.15,52.40,0.866,6,0.000,0.041,3078,2307,1534
$GC,15562,1.02,323.6,243.3,9.9,1357,15567,0.00,2.22,0.00,0.000,4,0.000,0.051,3078,3692,1530
$GC,15600,1.02,323.6,239.4,10.4,1364,15606,0.00,2.08,0.00,0.000,6,0.000,0.035,3088,2343,1530
$GC,15928,1.02,323.6,207.2,9.8,1425,15933,0.00,2.25,0.00,0.000,4,0.000,0.044,3099,903,1530
$GC,16084,1.02,323.6,191.9,9.5,1454,16090,0.00,2.25,0.00,0.000,6,0.000,0.043,3099,2340,1528
$GC,16411,1.02,323.6,161.8,9.1,1515,16416,0.00,2.12,0.00,0.000,4,0.000,0.051,3099,3693,1528
$GC,16427,1.02,326.8,160.4,8.9,1518,16433,0.15,2.12,0.00,0.000,6,0.160,0.038,3070,2294,1528
$GC,16753,1.02,326.8,129.7,9.4,1579,16759,0.00,2.20,0.00,0.000,4,0.000,0.050,3079,906,1528
$GC,16861,1.02,326.8,119.2,9.5,1599,16867,0.00,2.15,0.00,0.000,6,0.000,0.038,3079,2298,1528
$GC,17188,1.20,475.5,95.6,4.9,1660,17321,0.15,2.28,123.90,0.687,4,0.062,0.052,3151,3680,914
$GC,17406,1.20,475.5,70.3,13.6,1697,17412,0.05,2.12,0.00,0.000,6,0.166,0.033,3135,2313,912
$GC,17733,1.22,484.8,38.2,8.7,1758,17745,0.00,2.25,8.70,0.553,4,0.000,0.048,3135,3692,876
$GC,17836,1.22,484.8,28.3,9.7,1777,17842,0.00,2.22,0.00,0.000,6,0.000,0.031,3144,2242,876
$STATE,18102,end climb,SURFACE_DEPTH_REACHED
$STATE,18102,begin surface coast
$FINISH,1.5,1.009999
$STATE,18134,end surface coast,CONTROL_FINISHED_OK
$STATE,18134,begin surface
$SM_CCo,18211,0.00,0.000,0,0,876,485.20
$SM_GC,2.25,7.60,0.00,0.00,0.035,0.000,0.000,163,2236,876,-7.97,-1.39,485.20
$IRIDIUM_FIX,2507.97,12539.74,241098,101009
$TT8_MAMPS,0.047554
$HUMID,1620
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,26.80
$XPDR_PINGS,743
$ALTIM_BOTTOM_PING,851.4,83.9
$24V_AH,23.2,87.167
$10V_AH,10.6,59.066
$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,19.300,188.750,588.725,0.000,0.000,30.686,31.820,242.776,193.000,0.000,0.000,29.272,0.000,12886.121,726.096,4294.140,744.758,0.000,2338.401,0.000,3640.378,0.000,51.654,0.000
$DEVICE_MAMPS,227.032,66.729,1327.677,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1234.497,1277.136,2024.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107334,1833
$CAP_FILE_SIZE,185527,0
$CFSIZE,260165632,222826496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,334.7,1
$GPS,300709,202607,2511.179,12536.669,33,1.4,33,-3.9