version: 66.04
glider: 165
mission: 2
dive: 470
start: 8 12 109 2 39 25
data:
$ID,165
$MISSION,2
$DIVE,470
$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,-127639.39
$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,41
$R_STBD_OVSHOOT,37
$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
$GPS1,023136,2517.309,12519.799,36,1.5,36,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-68.3
$GPS2,023920,2517.449,12519.894,13,1.4,13,-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,266.8,83480,-16.0,-11.000
$D_GRID,1179
$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,-1.10,-219.0,0.0,0.0,0,65,0.00,0.00,-47.53,0.000,2,0.000,0.000,151,2278,2060
$GC,68,-1.10,-219.0,3.4,-4.3,7,132,8.85,2.25,-45.97,0.000,4,0.222,0.054,2366,881,3749
$GC,169,-1.10,-219.0,17.2,-18.4,24,175,0.00,2.17,0.00,0.000,6,0.000,0.038,2357,2290,3750
$GC,495,-1.10,-219.0,75.5,-16.5,85,502,0.00,2.20,0.00,0.000,4,0.000,0.039,2357,865,3750
$GC,518,-1.10,-219.0,79.6,-17.7,89,524,0.00,2.20,0.00,0.000,6,0.000,0.040,2356,2288,3750
$GC,845,-1.10,-219.0,131.1,-13.1,150,851,0.00,2.20,0.00,0.000,4,0.000,0.052,2356,3684,3751
$GC,926,-1.10,-219.0,142.5,-14.2,165,933,0.00,2.10,0.00,0.000,6,0.000,0.031,2355,2259,3751
$GC,1254,-1.10,-219.0,185.9,-12.8,226,1259,0.00,2.08,0.00,0.000,4,0.000,0.042,2356,909,3752
$GC,1330,-1.10,-219.0,196.4,-14.5,240,1335,0.00,2.10,0.00,0.000,6,0.000,0.039,2356,2272,3752
$GC,1656,-1.10,-219.0,238.4,-14.0,301,1663,0.00,2.12,0.00,0.000,4,0.000,0.043,2356,908,3753
$GC,1717,-1.10,-219.0,247.0,-15.2,312,1723,0.00,2.08,0.00,0.000,6,0.000,0.040,2356,2236,3753
$GC,2044,-1.10,-219.0,289.6,-12.6,373,2051,0.00,2.08,0.00,0.000,4,0.000,0.044,2356,902,3753
$GC,2093,-1.10,-219.0,296.0,-12.9,382,2099,0.00,2.05,0.00,0.000,6,0.000,0.044,2356,2211,3753
$GC,2411,-1.10,-219.0,331.7,-10.6,416,2414,0.00,2.03,0.00,0.000,4,0.000,0.046,2355,911,3753
$GC,2464,-1.10,-219.0,338.3,-12.4,421,2467,0.00,1.98,0.00,0.000,6,0.000,0.043,2356,2180,3753
$GC,2784,-1.10,-219.0,376.6,-11.6,452,2788,0.00,2.00,0.00,0.000,4,0.000,0.052,2356,909,3753
$GC,2817,-1.10,-219.0,380.5,-12.6,455,2820,0.00,1.98,0.00,0.000,6,0.000,0.044,2356,2177,3753
$GC,3140,-1.10,-219.0,415.7,-10.5,486,3143,0.00,2.40,0.00,0.000,4,0.000,0.057,2356,3683,3751
$GC,3172,-1.10,-219.0,419.4,-11.5,488,3177,0.00,2.28,0.00,0.000,6,0.000,0.034,2356,2182,3751
$GC,3487,-1.10,-219.0,455.1,-10.9,519,3491,0.00,2.42,0.00,0.000,4,0.000,0.057,2356,3689,3750
$GC,3514,-1.10,-219.0,458.2,-12.0,521,3517,0.00,2.25,0.00,0.000,6,0.000,0.033,2356,2196,3750
$GC,3829,-1.10,-219.0,494.7,-11.4,551,3832,0.00,2.00,0.00,0.000,4,0.000,0.046,2355,905,3749
$GC,3888,-1.10,-219.0,501.5,-11.6,556,3893,0.00,1.98,0.00,0.000,6,0.000,0.044,2356,2157,3748
$GC,4199,-1.10,-219.0,535.2,-10.7,572,4202,0.00,1.98,0.00,0.000,4,0.000,0.047,2356,896,3746
$GC,4230,-1.10,-219.0,538.8,-11.0,573,4233,0.00,1.95,0.00,0.000,6,0.000,0.044,2355,2122,3746
$GC,4546,-1.10,-219.0,570.2,-9.8,589,4549,0.00,1.90,0.00,0.000,4,0.000,0.048,2356,912,3744
$GC,4584,-1.10,-219.0,574.0,-10.7,590,4589,0.00,1.88,0.00,0.000,6,0.000,0.050,2356,2091,3744
$GC,4895,-1.10,-219.0,604.9,-9.9,606,4898,0.00,2.58,0.00,0.000,4,0.000,0.060,2356,3686,3741
$GC,4964,-1.10,-219.0,612.0,-10.7,609,4967,0.00,2.38,0.00,0.000,6,0.000,0.035,2356,2116,3740
$GC,5280,-1.10,-219.0,644.5,-10.1,625,5283,0.00,1.88,0.00,0.000,4,0.000,0.049,2356,909,3739
$GC,5312,-1.10,-219.0,647.9,-10.5,626,5315,0.00,1.90,0.00,0.000,6,0.000,0.046,2356,2113,3738
$GC,5628,-1.10,-219.0,677.7,-9.2,642,5632,0.00,2.55,0.00,0.000,4,0.000,0.061,2356,3688,3736
$GC,5665,-1.10,-219.0,681.3,-10.1,644,5669,0.00,2.40,0.00,0.000,6,0.000,0.034,2356,2109,3735
$GC,5987,-1.10,-219.0,709.7,-9.0,660,5990,0.00,1.88,0.00,0.000,4,0.000,0.049,2356,909,3734
$GC,6035,-1.10,-219.0,714.6,-10.7,662,6038,0.00,1.88,0.00,0.000,6,0.000,0.045,2355,2099,3733
$GC,6356,-1.10,-219.0,748.8,-10.9,678,6359,0.00,1.90,0.00,0.000,4,0.000,0.051,2355,905,3731
$GC,6382,-1.10,-219.0,751.8,-12.2,679,6386,0.00,1.85,0.00,0.000,6,0.000,0.046,2356,2055,3730
$GC,6704,-1.10,-219.0,787.8,-11.2,695,6707,0.00,1.83,0.00,0.000,4,0.000,0.051,2356,908,3728
$GC,6762,-1.10,-219.0,794.8,-11.8,697,6769,0.00,1.95,0.00,0.000,6,0.000,0.048,2356,2112,3727
$GC,7073,-1.10,-219.0,829.2,-10.7,713,7077,0.00,2.58,0.00,0.000,4,0.000,0.063,2355,3682,3726
$GC,7143,-1.10,-219.0,837.1,-11.5,716,7146,0.00,2.35,0.00,0.000,6,0.000,0.035,2356,2151,3725
$GC,7453,-1.10,-219.0,869.4,-10.2,731,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2146,3723
$GC,7758,-1.10,-219.0,898.6,-9.4,746,7762,0.00,2.55,0.00,0.000,4,0.000,0.064,2356,3683,3721
$GC,7844,-1.10,-219.0,907.9,-11.3,750,7847,0.00,2.38,0.00,0.000,6,0.000,0.037,2355,2148,3720
$GC,8159,-1.10,-219.0,939.3,-9.7,766,8162,0.00,1.95,0.00,0.000,4,0.000,0.051,2356,916,3719
$GC,8186,-1.10,-219.0,942.2,-11.0,767,8189,0.00,1.95,0.00,0.000,6,0.000,0.049,2355,2112,3719
$GC,8507,-1.10,-219.0,974.7,-10.0,783,8512,0.00,2.58,0.00,0.000,4,0.000,0.064,2355,3676,3717
$GC,8624,-1.10,-219.0,987.4,-11.2,788,8627,0.00,2.33,0.00,0.000,6,0.000,0.037,2356,2171,3715
$STATE,8652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8652,begin apogee
$GC,8659,-0.26,0.0,990.7,10.8,790,8844,0.90,0.00,182.20,1.366,6,0.120,0.000,2646,2299,2854
$STATE,8844,end apogee,CONTROL_FINISHED_OK
$STATE,8844,begin climb
$GC,8847,1.10,219.0,1003.4,0.0,799,9046,1.20,2.38,188.62,1.330,4,0.051,0.061,3094,3686,1959
$GC,9083,1.10,219.0,990.4,15.7,810,9087,0.00,2.17,0.00,0.000,6,0.000,0.039,3105,2324,1956
$GC,9404,1.10,219.0,946.4,13.2,826,9408,0.00,2.30,0.00,0.000,4,0.000,0.053,3115,887,1951
$GC,9480,1.10,219.0,936.3,13.3,829,9483,0.00,2.25,0.00,0.000,6,0.000,0.046,3115,2298,1949
$GC,9790,1.10,219.0,892.6,14.2,844,9793,0.00,2.25,0.00,0.000,4,0.000,0.058,3115,3692,1949
$GC,9827,1.10,219.0,887.2,15.5,845,9833,0.15,2.22,0.00,0.000,6,0.185,0.038,3089,2260,1949
$GC,10138,1.10,219.0,846.4,13.0,861,10141,0.00,2.17,0.00,0.000,4,0.000,0.050,3098,889,1948
$GC,10164,1.10,219.0,842.9,12.8,862,10167,0.00,2.22,0.00,0.000,6,0.000,0.044,3098,2272,1947
$GC,10485,1.10,219.0,803.3,12.6,878,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2271,1948
$GC,10791,1.10,219.0,765.0,12.6,893,10794,0.00,2.20,0.00,0.000,4,0.000,0.049,3108,896,1946
$GC,10838,1.10,219.0,758.6,13.9,895,10842,0.00,2.17,0.00,0.000,6,0.000,0.044,3108,2269,1945
$GC,11160,1.10,219.0,714.1,14.1,911,11163,0.00,2.30,0.00,0.000,4,0.000,0.056,3107,3696,1945
$GC,11219,1.10,219.0,705.1,16.2,914,11223,0.12,2.22,0.00,0.000,6,0.193,0.038,3089,2262,1945
$GC,11540,1.10,219.0,665.4,11.0,930,11543,0.00,2.33,0.00,0.000,4,0.000,0.055,3090,3691,1944
$GC,11577,1.10,219.0,661.0,11.8,931,11583,0.00,2.25,0.00,0.000,6,0.000,0.041,3098,2249,1944
$GC,11888,1.10,219.0,627.0,11.0,947,11891,0.00,2.15,0.00,0.000,4,0.000,0.049,3109,892,1944
$GC,11940,1.13,240.4,620.9,10.3,949,11973,0.00,2.15,19.65,1.014,6,0.000,0.043,3109,2251,1871
$GC,12276,1.13,240.4,582.9,11.4,966,12279,0.00,2.17,0.00,0.000,4,0.000,0.048,3118,890,1869
$GC,12325,1.13,240.4,577.4,11.5,968,12328,0.00,2.12,0.00,0.000,6,0.000,0.041,3118,2235,1868
$GC,12646,1.15,259.5,542.4,10.4,984,12674,0.00,2.38,19.55,0.963,4,0.000,0.056,3118,3687,1796
$GC,12762,1.15,259.5,529.3,11.3,989,12766,0.00,2.25,0.00,0.000,6,0.000,0.037,3130,2246,1795
$GC,13073,1.15,259.5,494.9,11.8,1006,13076,0.00,2.35,0.00,0.000,4,0.000,0.054,3130,3692,1793
$GC,13121,1.15,259.5,488.9,14.0,1010,13128,0.15,2.17,0.00,0.000,6,0.181,0.037,3102,2293,1793
$GC,13437,1.22,314.2,454.2,9.2,1041,13491,0.00,2.28,49.20,1.010,4,0.000,0.048,3111,906,1572
$GC,13635,1.22,314.2,433.3,11.8,1059,13641,0.00,2.15,0.00,0.000,6,0.000,0.039,3111,2263,1567
$GC,13953,1.22,314.2,396.9,11.8,1090,13956,0.00,2.17,0.00,0.000,4,0.000,0.047,3122,899,1567
$GC,14076,1.22,314.2,382.6,11.1,1101,14081,0.00,2.20,0.00,0.000,6,0.000,0.039,3122,2299,1564
$GC,14393,1.26,342.0,350.6,10.1,1132,14426,0.00,2.30,24.88,0.907,4,0.000,0.059,3122,3686,1458
$GC,14536,1.26,342.0,333.5,11.8,1145,14539,0.00,2.12,0.00,0.000,6,0.000,0.036,3132,2315,1458
$GC,14854,1.26,342.0,295.2,11.5,1179,14859,0.00,2.25,0.00,0.000,4,0.000,0.047,3142,887,1458
$GC,14924,1.27,354.0,287.6,10.6,1192,14942,0.00,2.30,11.70,0.805,6,0.000,0.041,3142,2338,1410
$GC,15264,1.27,354.0,246.2,12.5,1255,15270,0.00,2.30,0.00,0.000,4,0.000,0.046,3153,894,1409
$GC,15329,1.27,354.0,238.3,12.1,1267,15334,0.00,2.20,0.00,0.000,6,0.000,0.038,3153,2306,1408
$GC,15655,1.34,409.6,205.0,9.1,1328,15709,0.00,2.28,48.35,0.792,4,0.000,0.044,3163,898,1184
$GC,15816,1.34,409.6,189.0,11.3,1357,15822,0.00,2.12,0.00,0.000,6,0.000,0.037,3163,2250,1180
$GC,16142,1.34,409.6,147.7,12.2,1418,16149,0.00,2.30,0.00,0.000,4,0.000,0.054,3163,3687,1180
$GC,16262,1.34,409.6,133.1,12.0,1440,16268,0.00,2.20,0.00,0.000,6,0.000,0.039,3173,2261,1180
$GC,16589,1.44,494.3,95.3,8.1,1501,16665,0.00,2.22,70.82,0.692,4,0.000,0.044,3183,905,838
$GC,16907,1.50,540.4,63.6,9.4,1558,16957,0.00,2.05,41.72,0.650,6,0.000,0.035,3183,2233,647
$GC,17281,1.53,567.8,21.8,10.1,1626,17325,0.12,2.38,29.02,0.539,4,0.064,0.048,3250,3689,536
$STATE,17410,end climb,SURFACE_DEPTH_REACHED
$STATE,17410,begin surface coast
$FINISH,1.7,1.011333
$STATE,17424,end surface coast,CONTROL_FINISHED_OK
$STATE,17424,begin surface
$SM_CCo,17504,0.00,0.000,0,0,528,570.57
$SM_GC,2.41,7.93,0.00,0.00,0.031,0.000,0.000,153,2279,528,-7.93,-0.17,570.57
$IRIDIUM_FIX,2507.97,12522.56,051198,212139
$TT8_MAMPS,0.048321
$HUMID,1669
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.00
$XPDR_PINGS,841
$24V_AH,22.9,104.540
$10V_AH,10.4,70.430
$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,19.425,187.675,685.725,0.000,0.000,30.400,33.348,233.414,218.250,0.000,0.000,15.566,0.000,12576.998,799.101,3783.025,772.563,0.000,2307.727,0.000,3183.906,0.000,54.009,0.000
$DEVICE_MAMPS,221.663,69.030,1366.027,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.214,1129.729,1367.027,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94687,1652
$CAP_FILE_SIZE,176372,0
$CFSIZE,260165632,216125440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.127, 78.1,1
$GPS,120809,073207,2517.541,12519.727,34,1.1,34,-3.9