version: 66.04
glider: 165
mission: 2
dive: 451
start: 8 8 109 11 45 5
data:
$ID,165
$MISSION,2
$DIVE,451
$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,275
$T_MISSION,330
$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,250
$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,-127245.84
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2793
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$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,53
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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
$GPS1,113637,2513.145,12531.651,26,2.0,26,-3.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-64.3
$GPS2,114457,2513.089,12531.588,12,1.8,13,-3.9
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2514.100,12430.200
$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,285.6,102858,-16.4,-12.000
$D_GRID,795
$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,-1.14,-243.4,0.0,0.0,0,61,0.00,0.00,-45.90,0.000,2,0.000,0.000,148,2274,2046
$GC,64,-1.14,-243.4,3.3,-3.6,7,127,9.38,2.25,-49.92,0.000,4,0.235,0.054,2419,881,3848
$GC,197,-1.14,-243.4,21.3,-15.8,30,202,0.00,2.17,0.00,0.000,6,0.000,0.039,2412,2287,3850
$GC,523,-1.14,-243.4,74.5,-15.6,91,528,0.00,2.20,0.00,0.000,4,0.000,0.055,2401,3682,3850
$GC,587,-1.14,-243.4,84.9,-16.1,103,593,0.00,2.08,0.00,0.000,6,0.000,0.031,2401,2275,3851
$GC,914,-1.14,-243.4,127.4,-10.8,164,919,0.00,2.10,0.00,0.000,4,0.000,0.042,2401,908,3851
$GC,1000,-1.14,-243.4,138.0,-13.5,180,1006,0.00,2.10,0.00,0.000,6,0.000,0.040,2399,2269,3851
$GC,1328,-1.14,-243.4,180.2,-11.3,241,1334,0.00,2.12,0.00,0.000,4,0.000,0.043,2399,896,3852
$GC,1393,-1.14,-243.4,188.5,-13.3,253,1400,0.00,2.10,0.00,0.000,6,0.000,0.040,2399,2242,3852
$GC,1722,-1.14,-243.4,228.2,-11.8,314,1727,0.00,2.10,0.00,0.000,4,0.000,0.043,2399,907,3852
$GC,1749,-1.14,-243.4,231.7,-12.9,319,1754,0.00,2.03,0.00,0.000,6,0.000,0.040,2398,2222,3853
$GC,2075,-1.14,-243.4,269.0,-10.6,380,2080,0.00,2.08,0.00,0.000,4,0.000,0.046,2398,896,3853
$GC,2118,-1.14,-243.4,273.8,-10.8,388,2123,0.00,2.03,0.00,0.000,6,0.000,0.042,2398,2197,3853
$GC,2447,-1.14,-243.4,306.4,-10.2,444,2451,0.00,2.38,0.00,0.000,4,0.000,0.061,2398,3685,3853
$GC,2495,-1.14,-243.4,311.3,-10.5,448,2498,0.00,2.22,0.00,0.000,6,0.000,0.032,2398,2205,3853
$GC,2818,-1.14,-243.4,347.1,-10.9,479,2822,0.00,2.40,0.00,0.000,4,0.000,0.061,2398,3691,3853
$GC,2866,-1.14,-243.4,352.9,-11.4,483,2869,0.00,2.20,0.00,0.000,6,0.000,0.031,2398,2220,3853
$GC,3190,-1.14,-243.4,387.0,-10.8,514,3192,0.00,2.03,0.00,0.000,4,0.000,0.044,2398,903,3852
$GC,3210,-1.14,-243.4,389.7,-11.4,516,3214,0.00,2.08,0.00,0.000,6,0.000,0.041,2398,2223,3852
$GC,3534,-1.14,-243.4,423.7,-10.5,547,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2224,3851
$GC,3844,-1.14,-243.4,455.9,-9.9,577,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2224,3850
$GC,4155,-1.14,-243.4,486.8,-10.5,607,4158,0.00,2.08,0.00,0.000,4,0.000,0.046,2398,898,3848
$GC,4176,-1.14,-243.4,489.1,-9.8,609,4179,0.00,2.05,0.00,0.000,6,0.000,0.043,2398,2212,3848
$GC,4495,-1.14,-243.4,519.8,-9.3,630,4498,0.00,2.35,0.00,0.000,4,0.000,0.058,2398,3681,3846
$GC,4537,-1.14,-243.4,523.7,-9.4,632,4540,0.00,2.20,0.00,0.000,6,0.000,0.033,2398,2223,3845
$GC,4858,-1.14,-243.4,555.2,-10.3,648,4861,0.00,2.03,0.00,0.000,4,0.000,0.046,2399,911,3844
$GC,4890,-1.14,-243.4,558.9,-11.0,649,4893,0.00,2.03,0.00,0.000,6,0.000,0.044,2398,2206,3843
$GC,5207,-1.14,-243.4,593.6,-10.7,665,5210,0.00,2.38,0.00,0.000,4,0.000,0.059,2398,3683,3841
$GC,5276,-1.14,-243.4,600.9,-10.1,668,5279,0.00,2.20,0.00,0.000,6,0.000,0.033,2398,2222,3841
$GC,5592,-1.14,-243.4,631.8,-9.5,684,5595,0.00,2.05,0.00,0.000,4,0.000,0.046,2399,902,3839
$GC,5650,-1.14,-243.4,638.1,-10.9,686,5656,0.00,2.05,0.00,0.000,6,0.000,0.045,2398,2196,3838
$GC,5961,-1.14,-243.4,667.6,-9.9,702,5965,0.00,2.40,0.00,0.000,4,0.000,0.061,2398,3681,3837
$GC,5998,-1.14,-243.4,671.4,-10.1,704,6001,0.00,2.22,0.00,0.000,6,0.000,0.034,2398,2219,3837
$GC,6326,-1.14,-243.4,700.2,-8.4,720,6329,0.00,2.40,0.00,0.000,4,0.000,0.059,2398,3688,3835
$GC,6438,-1.14,-243.4,709.3,-8.1,725,6441,0.00,2.17,0.00,0.000,6,0.000,0.033,2398,2247,3834
$GC,6748,-1.14,-243.4,733.0,-7.7,740,6751,0.00,2.33,0.00,0.000,4,0.000,0.060,2398,3675,3832
$GC,6785,-1.14,-243.4,736.0,-7.4,741,6792,0.00,2.17,0.00,0.000,6,0.000,0.034,2398,2238,3832
$GC,7097,-1.14,-243.4,760.9,-8.5,757,7100,0.00,2.10,0.00,0.000,4,0.000,0.048,2398,900,3830
$GC,7123,-1.14,-243.4,763.3,-9.6,758,7126,0.00,2.12,0.00,0.000,6,0.000,0.045,2398,2244,3830
$GC,7445,-1.14,-243.4,791.8,-9.1,774,7448,0.00,2.35,0.00,0.000,4,0.000,0.061,2398,3693,3829
$STATE,7478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7479,begin apogee
$GC,7487,-0.26,0.0,795.2,9.2,775,7693,0.90,0.00,199.18,1.220,6,0.112,0.000,2703,2287,2853
$STATE,7693,end apogee,CONTROL_FINISHED_OK
$STATE,7693,begin climb
$GC,7696,1.14,243.4,809.6,0.0,786,7910,1.20,2.33,201.90,1.200,4,0.037,0.052,3197,919,1860
$GC,8022,1.14,243.4,778.7,15.9,801,8026,0.15,2.22,0.00,0.000,6,0.186,0.045,3162,2309,1853
$GC,8339,1.14,243.4,728.4,16.0,817,8342,0.00,2.25,0.00,0.000,4,0.000,0.049,3170,906,1852
$GC,8376,1.14,243.4,722.7,14.3,818,8382,0.00,2.20,0.00,0.000,6,0.000,0.043,3171,2293,1851
$GC,8686,1.14,243.4,676.1,14.9,834,8687,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2294,1850
$GC,8993,1.14,243.4,632.5,13.8,849,8996,0.00,2.20,0.00,0.000,4,0.000,0.047,3180,909,1849
$GC,9018,1.14,243.4,628.9,13.1,850,9022,0.00,2.17,0.00,0.000,6,0.000,0.042,3180,2293,1848
$GC,9340,1.14,243.4,583.2,14.7,866,9343,0.00,2.22,0.00,0.000,4,0.000,0.054,3180,3686,1847
$GC,9419,1.14,243.4,570.3,17.3,869,9427,0.12,2.15,0.00,0.000,6,0.209,0.037,3164,2287,1847
$GC,9730,1.14,243.4,526.8,12.9,885,9734,0.00,2.20,0.00,0.000,4,0.000,0.048,3173,889,1846
$GC,9789,1.15,249.9,519.4,11.8,887,9797,0.00,2.20,4.38,0.719,6,0.000,0.044,3174,2280,1834
$GC,10116,1.17,267.7,479.9,11.4,911,10138,0.00,2.28,17.52,0.992,4,0.000,0.047,3182,902,1761
$GC,10217,1.19,285.0,467.4,11.4,920,10239,0.00,2.28,16.35,0.964,6,0.000,0.042,3182,2316,1693
$GC,10557,1.19,285.0,417.3,14.5,953,10560,0.00,2.20,0.00,0.000,4,0.000,0.054,3183,3693,1690
$GC,10695,1.19,285.0,397.6,14.6,966,10698,0.00,2.08,0.00,0.000,6,0.000,0.036,3192,2344,1689
$GC,11016,1.19,285.0,352.8,13.4,997,11020,0.00,2.28,0.00,0.000,4,0.000,0.047,3203,888,1689
$GC,11042,1.19,285.0,349.4,12.3,999,11048,0.00,2.28,0.00,0.000,6,0.000,0.040,3203,2339,1688
$GC,11361,1.19,285.0,308.7,12.8,1030,11364,0.00,2.15,0.00,0.000,4,0.000,0.053,3203,3696,1687
$GC,11462,1.19,285.0,294.0,14.2,1043,11468,0.15,2.08,0.00,0.000,6,0.192,0.035,3178,2339,1687
$GC,11788,1.23,319.4,254.3,10.9,1104,11825,0.00,2.28,30.52,0.848,4,0.000,0.044,3188,900,1551
$GC,11830,1.25,330.5,249.6,11.6,1111,11848,0.00,2.30,11.52,0.761,6,0.000,0.039,3187,2354,1505
$GC,12168,1.25,337.8,208.6,11.8,1174,12180,0.00,2.38,7.45,0.685,4,0.000,0.044,3198,900,1475
$GC,12256,1.33,400.3,199.4,9.9,1190,12317,0.00,2.25,54.38,0.798,6,0.000,0.043,3198,2340,1220
$GC,12638,1.33,400.3,148.5,14.5,1260,12644,0.00,2.30,0.00,0.000,4,0.000,0.047,3208,899,1216
$GC,12692,1.33,400.3,141.4,12.8,1270,12698,0.00,2.25,0.00,0.000,6,0.000,0.038,3208,2317,1215
$GC,13018,1.45,494.9,102.4,8.9,1331,13101,0.15,2.35,78.38,0.714,4,0.064,0.044,3290,902,835
$GC,13218,1.45,494.9,75.1,14.1,1366,13224,0.12,2.25,0.00,0.000,6,0.184,0.041,3263,2332,832
$GC,13546,1.45,494.9,31.3,13.4,1427,13552,0.00,2.25,0.00,0.000,4,0.000,0.042,3272,888,832
$GC,13594,1.45,494.9,24.9,12.2,1436,13600,0.00,2.22,0.00,0.000,6,0.000,0.040,3272,2329,831
$STATE,13736,end climb,SURFACE_DEPTH_REACHED
$STATE,13736,begin surface coast
$FINISH,1.6,1.011903
$STATE,13758,end surface coast,CONTROL_FINISHED_OK
$STATE,13758,begin surface
$SM_CCo,13835,0.00,0.000,0,0,829,496.73
$SM_GC,2.30,7.97,0.00,0.00,0.037,0.000,0.000,148,2336,829,-8.12,1.41,496.73
$IRIDIUM_FIX,2505.59,12533.09,021198,070752
$TT8_MAMPS,0.047554
$HUMID,1710
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,25.90
$XPDR_PINGS,745
$24V_AH,23.2,99.952
$10V_AH,10.5,67.847
$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,20.150,145.075,621.575,0.000,0.000,30.612,34.879,276.948,192.250,0.000,0.000,15.446,0.000,9538.646,704.828,3322.174,740.077,0.000,1992.038,0.000,2804.462,0.000,40.752,0.000
$DEVICE_MAMPS,234.702,61.360,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,985.577,1029.279,1431.943,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85260,1467
$CAP_FILE_SIZE,149092,0
$CFSIZE,260165632,217894912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,127.4,1
$GPS,080809,153637,2512.858,12531.301,35,1.1,35,-3.9