version: 66.04
glider: 165
mission: 2
dive: 464
start: 8 10 109 20 20 24
data:
$ID,165
$MISSION,2
$DIVE,464
$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,300
$T_MISSION,360
$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,-127524.95
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.200001
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,201107,2515.330,12523.219,36,1.7,36,-3.9
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.0
$GPS2,202016,2515.440,12523.379,14,2.1,33,-3.9
$SPEED_LIMITS,0.191,0.322
$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,269.7,89123,-16.0,-11.000
$D_GRID,1163
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-1.10,-219.0,0.0,0.0,0,57,0.00,0.00,-42.92,0.000,2,0.000,0.000,146,2299,1980
$GC,60,-1.10,-219.0,3.1,-3.6,7,125,9.07,2.28,-48.15,0.000,4,0.229,0.054,2364,883,3750
$GC,167,-1.10,-219.0,18.3,-15.5,25,173,0.00,2.22,0.00,0.000,6,0.000,0.038,2356,2294,3750
$GC,494,-1.10,-219.0,77.7,-15.6,86,499,0.00,2.20,0.00,0.000,4,0.000,0.038,2356,866,3750
$GC,543,-1.10,-219.0,84.8,-15.3,95,550,0.00,2.17,0.00,0.000,6,0.000,0.040,2356,2278,3750
$GC,871,-1.10,-219.0,127.5,-12.6,156,876,0.00,2.17,0.00,0.000,4,0.000,0.041,2356,875,3751
$GC,936,-1.10,-219.0,137.0,-15.3,168,942,0.00,2.12,0.00,0.000,6,0.000,0.041,2355,2228,3751
$GC,1263,-1.10,-219.0,183.4,-12.1,229,1268,0.00,2.30,0.00,0.000,4,0.000,0.055,2356,3680,3752
$GC,1323,-1.10,-219.0,191.7,-14.2,240,1328,0.00,2.22,0.00,0.000,6,0.000,0.032,2356,2220,3752
$GC,1650,-1.10,-219.0,233.7,-12.5,301,1655,0.00,2.05,0.00,0.000,4,0.000,0.043,2356,881,3752
$GC,1719,-1.10,-219.0,242.9,-13.1,314,1725,0.00,2.10,0.00,0.000,6,0.000,0.041,2355,2217,3752
$GC,2046,-1.10,-219.0,282.6,-11.1,375,2052,0.00,2.08,0.00,0.000,4,0.000,0.044,2356,881,3752
$GC,2068,-1.10,-219.0,285.4,-12.6,379,2075,0.00,2.03,0.00,0.000,6,0.000,0.042,2355,2189,3752
$GC,2394,-1.10,-219.0,324.5,-12.3,422,2397,0.00,2.40,0.00,0.000,4,0.000,0.059,2356,3686,3752
$GC,2410,-1.10,-219.0,326.5,-12.2,423,2417,0.00,2.33,0.00,0.000,6,0.000,0.032,2356,2146,3752
$GC,2728,-1.10,-219.0,362.5,-10.9,454,2732,0.00,2.47,0.00,0.000,4,0.000,0.060,2356,3679,3752
$GC,2770,-1.10,-219.0,367.9,-12.3,457,2776,0.00,2.25,0.00,0.000,6,0.000,0.036,2356,2196,3752
$GC,3087,-1.10,-219.0,403.3,-9.6,488,3090,0.00,2.05,0.00,0.000,4,0.000,0.046,2356,871,3751
$GC,3123,-1.10,-219.0,407.3,-11.4,491,3130,0.00,2.12,0.00,0.000,6,0.000,0.047,2355,2219,3750
$GC,3441,-1.10,-219.0,439.9,-10.5,522,3444,0.00,2.10,0.00,0.000,4,0.000,0.046,2356,880,3749
$GC,3511,-1.10,-219.0,447.7,-10.1,528,3516,0.00,2.03,0.00,0.000,6,0.000,0.051,2356,2162,3749
$GC,3826,-1.10,-219.0,480.2,-10.1,559,3829,0.00,2.03,0.00,0.000,4,0.000,0.048,2356,871,3748
$GC,3891,-1.10,-219.0,487.3,-11.1,565,3894,0.00,1.98,0.00,0.000,6,0.000,0.045,2355,2134,3748
$GC,4218,-1.10,-219.0,522.6,-11.1,587,4222,0.00,2.50,0.00,0.000,4,0.000,0.059,2356,3688,3745
$GC,4245,-1.10,-219.0,525.6,-12.0,588,4249,0.00,2.42,0.00,0.000,6,0.000,0.034,2356,2090,3744
$GC,4556,-1.10,-219.0,559.5,-10.7,603,4559,0.00,1.90,0.00,0.000,4,0.000,0.049,2356,871,3743
$GC,4609,-1.10,-219.0,565.3,-11.0,605,4612,0.00,1.95,0.00,0.000,6,0.000,0.045,2356,2092,3743
$GC,4925,-1.10,-219.0,597.4,-9.9,621,4928,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3683,3740
$GC,4999,-1.10,-219.0,605.4,-11.1,624,5005,0.00,2.42,0.00,0.000,6,0.000,0.037,2356,2103,3739
$GC,5310,-1.10,-219.0,638.6,-10.6,640,5313,0.00,2.58,0.00,0.000,4,0.000,0.059,2356,3683,3738
$GC,5341,-1.10,-219.0,642.2,-11.7,641,5347,0.00,2.40,0.00,0.000,6,0.000,0.035,2356,2124,3737
$GC,5653,-1.10,-219.0,675.7,-10.6,657,5656,0.00,1.95,0.00,0.000,4,0.000,0.049,2356,876,3736
$GC,5684,-1.10,-219.0,679.6,-11.8,658,5688,0.00,2.00,0.00,0.000,6,0.000,0.047,2356,2121,3735
$GC,6001,-1.10,-219.0,712.1,-10.4,674,6004,0.00,2.53,0.00,0.000,4,0.000,0.061,2356,3676,3732
$GC,6048,-1.10,-219.0,717.1,-10.2,676,6052,0.00,2.40,0.00,0.000,6,0.000,0.035,2356,2106,3732
$GC,6364,-1.10,-219.0,749.8,-10.6,692,6368,0.00,1.92,0.00,0.000,4,0.000,0.050,2355,881,3730
$GC,6396,-1.10,-219.0,753.2,-10.8,693,6399,0.00,1.95,0.00,0.000,6,0.000,0.046,2356,2114,3730
$GC,6712,-1.10,-219.0,787.6,-11.1,709,6715,0.00,2.55,0.00,0.000,4,0.000,0.061,2356,3678,3727
$GC,6823,-1.10,-219.0,801.3,-12.5,714,6827,0.00,2.40,0.00,0.000,6,0.000,0.036,2356,2108,3726
$GC,7140,-1.10,-219.0,837.5,-11.2,730,7144,0.00,2.60,0.00,0.000,4,0.000,0.061,2356,3683,3724
$GC,7171,-1.10,-219.0,841.2,-12.1,731,7178,0.00,2.38,0.00,0.000,6,0.000,0.036,2356,2140,3723
$GC,7482,-1.10,-219.0,871.9,-9.6,747,7486,0.00,2.55,0.00,0.000,4,0.000,0.063,2355,3682,3722
$GC,7514,-1.10,-219.0,875.0,-10.5,748,7521,0.00,2.38,0.00,0.000,6,0.000,0.040,2356,2155,3722
$GC,7824,-1.10,-219.0,905.5,-10.2,764,7828,0.00,2.53,0.00,0.000,4,0.000,0.063,2356,3680,3720
$GC,7850,-1.10,-219.0,908.3,-11.3,765,7854,0.00,2.35,0.00,0.000,6,0.000,0.037,2356,2181,3719
$GC,8167,-1.10,-219.0,942.5,-11.0,781,8171,0.00,2.50,0.00,0.000,4,0.000,0.064,2355,3682,3717
$GC,8188,-1.10,-219.0,944.9,-11.8,782,8191,0.00,2.30,0.00,0.000,6,0.000,0.037,2355,2194,3717
$GC,8510,-1.10,-219.0,979.4,-10.7,798,8513,0.00,2.47,0.00,0.000,4,0.000,0.064,2356,3680,3716
$GC,8536,-1.10,-219.0,982.4,-11.3,799,8539,0.00,2.28,0.00,0.000,6,0.000,0.037,2356,2215,3716
$STATE,8605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8605,begin apogee
$GC,8611,-0.26,0.0,990.3,11.1,803,8796,0.88,0.00,182.12,1.368,6,0.114,0.000,2642,2299,2854
$STATE,8796,end apogee,CONTROL_FINISHED_OK
$STATE,8796,begin climb
$GC,8799,1.10,219.0,1003.9,0.0,812,8997,1.20,2.38,188.65,1.332,4,0.051,0.062,3092,3683,1959
$GC,9019,1.10,219.0,994.7,13.8,822,9022,0.00,2.22,0.00,0.000,6,0.000,0.039,3103,2302,1957
$GC,9335,1.10,219.0,952.8,13.3,838,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2302,1952
$GC,9640,1.10,219.0,911.4,13.8,853,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2302,1950
$GC,9945,1.10,219.0,869.2,13.6,868,9948,0.00,2.25,0.00,0.000,4,0.000,0.052,3113,890,1949
$GC,9982,1.10,219.0,864.1,13.6,869,9988,0.00,2.28,0.00,0.000,6,0.000,0.049,3113,2312,1948
$GC,10293,1.10,219.0,823.7,12.3,885,10296,0.00,2.22,0.00,0.000,4,0.000,0.058,3113,3686,1947
$GC,10319,1.10,219.0,820.3,13.1,886,10323,0.10,2.20,0.00,0.000,6,0.184,0.038,3093,2293,1947
$GC,10640,1.10,219.0,783.5,11.6,902,10643,0.00,2.28,0.00,0.000,4,0.000,0.058,3093,3684,1947
$GC,10667,1.10,219.0,780.1,12.6,903,10670,0.00,2.12,0.00,0.000,6,0.000,0.038,3102,2309,1947
$GC,10988,1.10,219.0,742.5,11.6,919,10991,0.00,2.25,0.00,0.000,4,0.000,0.056,3102,3693,1946
$GC,11025,1.10,219.0,738.0,13.0,920,11030,0.00,2.12,0.00,0.000,6,0.000,0.038,3112,2331,1946
$GC,11335,1.10,219.0,700.4,12.1,936,11338,0.00,2.28,0.00,0.000,4,0.000,0.048,3123,897,1946
$GC,11415,1.10,219.0,690.9,11.9,939,11422,0.15,2.30,0.00,0.000,6,0.177,0.044,3086,2335,1944
$GC,11725,1.14,249.0,659.0,10.0,955,11762,0.00,2.22,27.42,1.078,4,0.000,0.057,3086,3692,1837
$GC,11795,1.14,249.0,651.1,12.3,957,11798,0.00,2.12,0.00,0.000,6,0.000,0.037,3095,2334,1836
$GC,12110,1.14,250.0,616.7,11.0,973,12114,0.00,2.28,0.00,0.000,4,0.000,0.049,3105,901,1834
$GC,12185,1.14,250.0,608.7,11.2,976,12189,0.00,2.25,0.00,0.000,6,0.000,0.042,3106,2321,1832
$GC,12495,1.14,250.0,573.3,11.3,991,12499,0.00,2.20,0.00,0.000,4,0.000,0.057,3106,3686,1832
$GC,12533,1.16,261.6,569.1,10.6,992,12548,0.00,2.12,11.88,1.022,6,0.000,0.040,3116,2325,1787
$GC,12859,1.16,261.6,525.9,13.4,1009,12862,0.00,2.28,0.00,0.000,4,0.000,0.049,3126,894,1785
$GC,12944,1.16,261.6,514.8,12.3,1013,12947,0.00,2.25,0.00,0.000,6,0.000,0.042,3127,2314,1783
$GC,13267,1.16,265.3,476.9,10.9,1038,13277,0.00,2.30,4.53,0.726,4,0.000,0.054,3137,889,1772
$GC,13368,1.22,310.3,466.0,9.5,1047,13421,0.00,2.20,43.67,0.978,6,0.000,0.041,3137,2289,1587
$GC,13738,1.22,310.3,424.4,12.1,1083,13741,0.00,2.25,0.00,0.000,4,0.000,0.047,3147,887,1583
$GC,13877,1.22,310.3,407.8,11.9,1096,13880,0.00,2.12,0.00,0.000,6,0.000,0.039,3147,2234,1580
$GC,14201,1.22,310.3,366.9,12.7,1127,14204,0.00,2.15,0.00,0.000,4,0.000,0.048,3157,887,1581
$GC,14211,1.22,310.3,365.3,13.3,1128,14214,0.15,2.12,0.00,0.000,6,0.170,0.041,3118,2242,1580
$GC,14532,1.24,325.7,331.9,10.5,1159,14554,0.00,2.22,13.68,0.862,4,0.000,0.048,3127,890,1525
$GC,14719,1.24,332.5,309.8,10.8,1176,14730,0.00,2.17,7.62,0.760,6,0.000,0.040,3127,2247,1498
$GC,15049,1.24,332.5,267.9,12.1,1230,15054,0.00,2.33,0.00,0.000,4,0.000,0.054,3127,3689,1497
$GC,15103,1.24,332.5,261.3,12.8,1240,15108,0.00,2.25,0.00,0.000,6,0.000,0.039,3138,2238,1497
$GC,15429,1.24,332.5,225.1,11.5,1301,15435,0.00,2.33,0.00,0.000,4,0.000,0.051,3138,3686,1497
$GC,15542,1.26,344.1,211.4,10.6,1322,15560,0.00,2.17,11.62,0.747,6,0.000,0.041,3148,2267,1451
$GC,15884,1.28,361.3,175.2,10.4,1385,15904,0.00,2.35,16.50,0.737,4,0.000,0.051,3148,3691,1381
$GC,15974,1.28,361.3,163.7,12.6,1401,15979,0.00,2.15,0.00,0.000,6,0.000,0.034,3159,2288,1381
$GC,16300,1.30,376.8,129.4,10.5,1462,16320,0.00,2.10,14.82,0.690,4,0.000,0.044,3169,904,1317
$GC,16428,1.30,376.8,115.7,11.3,1485,16434,0.00,2.15,0.00,0.000,6,0.000,0.042,3169,2260,1315
$GC,16755,1.30,376.8,85.6,11.7,1546,16761,0.00,2.12,0.00,0.000,4,0.000,0.044,3178,903,1315
$GC,17001,1.41,470.5,61.8,7.8,1592,17084,0.00,2.17,78.38,0.661,6,0.000,0.036,3178,2319,934
$GC,17407,1.41,470.5,24.8,11.4,1665,17412,0.00,2.15,0.00,0.000,4,0.000,0.054,3178,3683,931
$GC,17477,1.41,470.5,16.1,11.7,1678,17483,0.00,2.17,0.00,0.000,6,0.000,0.032,3189,2253,931
$STATE,17619,end climb,SURFACE_DEPTH_REACHED
$STATE,17619,begin surface coast
$FINISH,1.5,1.021847
$STATE,17641,end surface coast,CONTROL_FINISHED_OK
$STATE,17641,begin surface
$SM_CCo,17658,3.20,0.321,0,0,917,475.15
$SM_GC,2.76,0.00,0.00,3.20,0.000,0.000,0.321,148,2252,917,-8.07,-0.96,475.15
$IRIDIUM_FIX,2505.59,12521.18,041198,151517
$TT8_MAMPS,0.049088
$HUMID,1684
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,26.20
$XPDR_PINGS,902
$24V_AH,23.0,103.035
$10V_AH,10.5,69.588
$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,19.325,197.250,600.900,3.200,0.000,33.207,39.403,285.211,233.500,0.000,0.000,36.488,0.000,12703.874,746.625,3889.856,840.201,0.000,2254.974,0.000,3254.958,0.000,54.036,0.000
$DEVICE_MAMPS,228.566,81.302,1368.328,320.606,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1152.375,1191.548,1475.746,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97950,1709
$CAP_FILE_SIZE,181369,0
$CFSIZE,260165632,216707072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.093, 63.7,1
$GPS,110809,011537,2515.748,12522.549,25,1.1,25,-3.9