version: 66.04
glider: 165
mission: 2
dive: 471
start: 8 12 109 7 43 30
data:
$ID,165
$MISSION,2
$DIVE,471
$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,-127655.08
$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,39
$R_STBD_OVSHOOT,34
$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
$GPS1,073207,2517.541,12519.727,34,1.1,34,-3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-69.7
$GPS2,074325,2517.740,12519.951,8,1.4,13,-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,266.5,83618,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.10,-219.0,0.0,0.0,0,75,0.00,0.00,-57.38,0.000,2,0.000,0.000,153,2277,1941
$GC,78,-1.10,-219.0,3.1,-3.7,9,144,8.77,2.25,-52.53,0.000,4,0.219,0.051,2369,875,3748
$GC,171,-1.10,-219.0,13.7,-17.8,24,177,0.00,2.22,0.00,0.000,6,0.000,0.038,2360,2291,3749
$GC,498,-1.10,-219.0,75.2,-19.0,85,504,0.00,2.20,0.00,0.000,4,0.000,0.039,2360,868,3748
$GC,531,-1.10,-219.0,81.5,-18.5,91,537,0.00,2.17,0.00,0.000,6,0.000,0.039,2356,2276,3748
$GC,858,-1.10,-219.0,130.6,-14.3,152,864,0.00,2.20,0.00,0.000,4,0.000,0.042,2356,877,3750
$GC,891,-1.10,-219.0,135.3,-14.4,158,898,0.00,2.10,0.00,0.000,6,0.000,0.041,2356,2237,3750
$GC,1220,-1.10,-219.0,179.2,-13.6,219,1226,0.00,2.12,0.00,0.000,4,0.000,0.043,2356,868,3750
$GC,1268,-1.10,-219.0,186.0,-15.0,228,1274,0.00,2.12,0.00,0.000,6,0.000,0.042,2356,2219,3750
$GC,1595,-1.10,-219.0,228.3,-13.0,289,1600,0.00,2.10,0.00,0.000,4,0.000,0.044,2356,869,3750
$GC,1621,-1.10,-219.0,231.9,-13.8,294,1628,0.00,2.10,0.00,0.000,6,0.000,0.043,2356,2204,3751
$GC,1949,-1.10,-219.0,273.7,-12.7,355,1955,0.00,2.08,0.00,0.000,4,0.000,0.044,2356,866,3751
$GC,1992,-1.10,-219.0,279.1,-12.8,363,1998,0.00,2.08,0.00,0.000,6,0.000,0.043,2356,2202,3750
$GC,2319,-1.10,-219.0,316.3,-11.2,411,2322,0.00,2.05,0.00,0.000,4,0.000,0.045,2356,881,3750
$GC,2345,-1.10,-219.0,319.4,-11.9,413,2351,0.00,2.03,0.00,0.000,6,0.000,0.044,2356,2176,3750
$GC,2661,-1.10,-219.0,356.2,-11.8,444,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2176,3750
$GC,2971,-1.10,-219.0,391.1,-11.0,474,2974,0.00,2.05,0.00,0.000,4,0.000,0.048,2356,871,3750
$GC,3030,-1.10,-219.0,397.9,-11.3,479,3035,0.00,2.03,0.00,0.000,6,0.000,0.044,2356,2161,3749
$GC,3345,-1.10,-219.0,433.4,-10.8,510,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2161,3748
$GC,3656,-1.10,-219.0,468.9,-11.2,540,3660,0.00,2.45,0.00,0.000,4,0.000,0.060,2356,3685,3746
$GC,3704,-1.10,-219.0,474.7,-12.4,544,3709,0.00,2.38,0.00,0.000,6,0.000,0.035,2356,2129,3745
$GC,4036,-1.10,-219.0,508.5,-9.8,572,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2124,3744
$GC,4339,-1.10,-219.0,539.8,-10.8,587,4342,0.00,1.98,0.00,0.000,4,0.000,0.050,2356,863,3742
$GC,4370,-1.10,-219.0,543.6,-12.3,588,4373,0.00,2.03,0.00,0.000,6,0.000,0.045,2356,2133,3742
$GC,4687,-1.10,-219.0,578.1,-10.2,604,4690,0.00,1.98,0.00,0.000,4,0.000,0.048,2356,881,3739
$GC,4713,-1.10,-219.0,580.9,-10.8,605,4716,0.00,1.95,0.00,0.000,6,0.000,0.045,2356,2123,3739
$GC,5034,-1.10,-219.0,613.0,-10.0,621,5038,0.00,2.53,0.00,0.000,4,0.000,0.061,2356,3685,3736
$GC,5131,-1.10,-219.0,623.4,-12.0,625,5136,0.00,2.40,0.00,0.000,6,0.000,0.035,2356,2121,3736
$GC,5441,-1.10,-219.0,657.2,-10.8,641,5444,0.00,2.55,0.00,0.000,4,0.000,0.060,2356,3680,3734
$GC,5500,-1.10,-219.0,663.8,-10.6,644,5503,0.00,2.35,0.00,0.000,6,0.000,0.035,2356,2145,3733
$GC,5821,-1.10,-219.0,699.2,-10.9,660,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2140,3730
$GC,6126,-1.10,-219.0,731.7,-10.3,675,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2140,3728
$GC,6432,-1.10,-219.0,761.9,-9.4,690,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2139,3726
$GC,6736,-1.10,-219.0,792.2,-9.9,705,6740,0.00,2.55,0.00,0.000,4,0.000,0.064,2356,3683,3723
$GC,6816,-1.10,-219.0,800.8,-11.6,709,6819,0.00,2.40,0.00,0.000,6,0.000,0.038,2356,2131,3722
$GC,7143,-1.10,-219.0,834.2,-10.3,725,7147,0.00,2.58,0.00,0.000,4,0.000,0.064,2356,3685,3720
$GC,7217,-1.10,-219.0,842.7,-11.3,728,7223,0.00,2.38,0.00,0.000,6,0.000,0.041,2356,2154,3719
$GC,7529,-1.10,-219.0,877.2,-11.2,744,7533,0.00,2.53,0.00,0.000,4,0.000,0.064,2356,3679,3717
$GC,7571,-1.10,-219.0,882.5,-12.1,746,7575,0.00,2.30,0.00,0.000,6,0.000,0.037,2356,2180,3716
$GC,7898,-1.10,-219.0,920.1,-11.5,762,7901,0.00,2.47,0.00,0.000,4,0.000,0.064,2356,3676,3714
$GC,7942,-1.10,-219.0,925.2,-12.4,764,7945,0.00,2.30,0.00,0.000,6,0.000,0.037,2356,2188,3714
$GC,8263,-1.10,-219.0,962.1,-11.2,780,8266,0.00,2.08,0.00,0.000,4,0.000,0.053,2356,885,3713
$GC,8305,-1.10,-219.0,967.2,-11.5,782,8308,0.00,2.08,0.00,0.000,6,0.000,0.048,2356,2180,3713
$STATE,8527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8527,begin apogee
$GC,8534,-0.26,0.0,992.2,11.0,793,8718,0.88,0.00,181.05,1.368,6,0.117,0.000,2640,2310,2854
$STATE,8718,end apogee,CONTROL_FINISHED_OK
$STATE,8718,begin climb
$GC,8721,1.10,219.0,1006.9,0.0,802,8919,1.20,2.42,187.93,1.332,4,0.053,0.055,3101,894,1961
$GC,9009,1.10,219.0,991.1,12.6,815,9012,0.00,2.28,0.00,0.000,6,0.000,0.046,3101,2303,1954
$GC,9325,1.10,219.0,952.2,12.1,831,9328,0.00,2.25,0.00,0.000,4,0.000,0.059,3101,3691,1951
$GC,9442,1.10,219.0,937.0,13.3,836,9446,0.00,2.12,0.00,0.000,6,0.000,0.038,3111,2321,1951
$GC,9758,1.10,219.0,897.1,12.6,852,9761,0.00,2.28,0.00,0.000,4,0.000,0.051,3121,893,1949
$GC,9795,1.10,219.0,892.2,13.3,853,9801,0.15,2.28,0.00,0.000,6,0.177,0.051,3085,2316,1948
$GC,10106,1.10,219.0,855.3,11.9,869,10109,0.00,2.30,0.00,0.000,4,0.000,0.050,3094,885,1948
$GC,10132,1.10,219.0,852.2,11.8,870,10135,0.00,2.28,0.00,0.000,6,0.000,0.043,3094,2325,1947
$GC,10453,1.10,219.0,813.5,12.1,886,10456,0.00,2.30,0.00,0.000,4,0.000,0.049,3104,891,1947
$GC,10485,1.10,219.0,809.6,12.2,887,10489,0.00,2.22,0.00,0.000,6,0.000,0.044,3104,2299,1946
$GC,10795,1.10,219.0,770.8,12.5,902,10799,0.00,2.25,0.00,0.000,4,0.000,0.058,3104,3695,1946
$GC,10838,1.10,219.0,765.1,14.4,904,10841,0.00,2.17,0.00,0.000,6,0.000,0.038,3115,2291,1946
$GC,11165,1.11,225.4,728.1,10.8,920,11170,0.00,0.00,4.47,0.825,6,0.000,0.000,3114,2290,1934
$GC,11470,1.12,234.5,694.2,10.7,935,11484,0.00,2.30,10.25,1.077,4,0.000,0.057,3115,3689,1896
$GC,11522,1.12,234.5,687.2,14.6,936,11528,0.12,2.20,0.00,0.000,6,0.191,0.038,3096,2285,1895
$GC,11833,1.12,234.5,647.7,12.9,952,11836,0.00,2.20,0.00,0.000,4,0.000,0.048,3105,895,1894
$GC,11886,1.12,234.5,641.0,12.1,954,11889,0.00,2.20,0.00,0.000,6,0.000,0.043,3105,2283,1893
$GC,12202,1.12,234.5,601.6,12.0,970,12206,0.00,2.28,0.00,0.000,4,0.000,0.057,3105,3693,1893
$GC,12277,1.12,234.5,592.3,11.5,973,12282,0.00,2.20,0.00,0.000,6,0.000,0.037,3116,2269,1893
$GC,12587,1.17,268.3,560.3,9.9,989,12622,0.00,2.22,30.60,1.083,4,0.000,0.048,3126,894,1759
$GC,12666,1.17,271.3,551.8,10.9,992,12675,0.00,2.25,4.03,0.682,6,0.000,0.041,3126,2299,1746
$GC,12992,1.17,271.3,511.2,13.3,1008,12995,0.00,2.25,0.00,0.000,4,0.000,0.048,3136,898,1745
$GC,13034,1.17,271.3,505.3,13.3,1010,13038,0.12,2.15,0.00,0.000,6,0.174,0.041,3106,2260,1743
$GC,13355,1.17,271.3,465.7,11.8,1039,13358,0.00,2.30,0.00,0.000,4,0.000,0.055,3107,3689,1743
$GC,13408,1.17,271.3,459.0,13.1,1044,13411,0.00,2.20,0.00,0.000,6,0.000,0.037,3115,2266,1743
$GC,13732,1.17,271.3,418.9,12.2,1075,13735,0.00,2.15,0.00,0.000,4,0.000,0.047,3125,897,1743
$GC,13876,1.17,271.3,401.5,12.6,1088,13882,0.00,2.15,0.00,0.000,6,0.000,0.041,3126,2237,1742
$GC,14194,1.18,280.4,367.3,10.7,1119,14208,0.00,2.38,9.02,0.850,4,0.000,0.054,3126,3681,1710
$GC,14330,1.19,289.8,351.8,10.7,1131,14346,0.00,2.20,9.95,0.846,6,0.000,0.038,3136,2259,1672
$GC,14656,1.19,289.8,312.9,11.3,1163,14659,0.00,2.33,0.00,0.000,4,0.000,0.053,3137,3695,1670
$GC,14703,1.20,298.1,307.3,10.7,1167,14720,0.12,2.20,9.00,0.799,6,0.180,0.036,3116,2262,1637
$GC,15038,1.28,359.9,271.8,8.9,1223,15098,0.00,2.35,54.58,0.859,4,0.000,0.052,3116,3690,1385
$GC,15152,1.28,359.9,259.2,11.6,1243,15158,0.00,2.12,0.00,0.000,6,0.000,0.035,3125,2327,1384
$GC,15479,1.33,404.0,225.3,9.5,1304,15522,0.00,2.30,38.28,0.806,4,0.000,0.051,3125,3692,1205
$GC,15559,1.35,418.7,216.3,10.5,1318,15579,0.00,2.28,14.48,0.746,6,0.000,0.039,3136,2242,1145
$GC,15899,1.35,418.7,176.8,11.9,1381,15905,0.00,2.12,0.00,0.000,4,0.000,0.046,3146,887,1143
$GC,15926,1.35,418.7,173.5,12.1,1386,15934,0.00,2.15,0.00,0.000,6,0.000,0.041,3146,2241,1141
$GC,16254,1.36,429.1,137.1,10.7,1447,16267,0.00,2.38,9.32,0.655,4,0.000,0.051,3146,3693,1104
$GC,16364,1.36,429.1,124.6,12.1,1467,16370,0.00,2.20,0.00,0.000,6,0.000,0.038,3156,2261,1103
$GC,16691,1.38,443.7,88.5,10.5,1528,16710,0.00,0.00,13.95,0.650,6,0.000,0.000,3157,2256,1044
$GC,17032,1.44,491.3,55.8,9.4,1591,17082,0.10,2.20,40.67,0.652,4,0.074,0.048,3222,897,849
$GC,17109,1.44,491.3,46.8,11.3,1604,17115,0.08,2.22,0.00,0.000,6,0.147,0.036,3197,2308,849
$GC,17436,1.46,506.4,9.3,10.5,1665,17455,0.00,2.15,13.98,0.574,4,0.000,0.053,3197,3677,788
$STATE,17490,end climb,SURFACE_DEPTH_REACHED
$STATE,17490,begin surface coast
$FINISH,1.6,1.005014
$STATE,17517,end surface coast,CONTROL_FINISHED_OK
$STATE,17517,begin surface
$SM_CCo,17597,0.00,0.000,0,0,786,507.28
$SM_GC,2.50,7.85,0.00,0.00,0.038,0.000,0.000,157,2260,786,-7.92,-0.71,507.28
$IRIDIUM_FIX,2510.35,12522.56,061198,070734
$TT8_MAMPS,0.048321
$HUMID,1675
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.00
$XPDR_PINGS,875
$24V_AH,23.0,104.791
$10V_AH,10.4,70.570
$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,19.400,174.275,631.550,0.000,0.000,58.667,73.518,318.801,226.750,0.000,0.000,15.058,0.000,12778.677,746.135,3801.428,912.737,0.000,2234.017,0.000,3202.867,0.000,54.013,0.000
$DEVICE_MAMPS,218.595,73.632,1368.328,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1132.115,1155.906,1415.086,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94764,1680
$CAP_FILE_SIZE,177741,0
$CFSIZE,260165632,216031232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112, 85.5,1
$GPS,120809,123737,2517.774,12519.467,27,1.3,27,-3.9