version: 66.04
glider: 165
mission: 2
dive: 474
start: 8 12 109 22 55 43
data:
$ID,165
$MISSION,2
$DIVE,474
$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,-127697.05
$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,53
$R_STBD_OVSHOOT,41
$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
$GPS1,224755,2518.105,12519.009,41,1.1,41,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-70.4
$GPS2,225538,2518.226,12519.100,13,1.2,13,-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,269.4,82275,-16.0,-11.000
$D_GRID,1727
$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,-219.0,0.0,0.0,0,61,0.00,0.00,-42.58,0.000,2,0.000,0.000,151,2277,1907
$GC,64,-1.10,-219.0,3.1,-3.3,7,135,9.00,2.22,-54.65,0.000,4,0.225,0.052,2363,884,3749
$GC,183,-1.10,-219.0,18.9,-19.0,27,190,0.00,2.17,0.00,0.000,6,0.000,0.038,2356,2291,3750
$GC,510,-1.10,-219.0,76.2,-17.4,88,516,0.00,2.15,0.00,0.000,4,0.000,0.036,2356,886,3750
$GC,526,-1.10,-219.0,79.1,-18.0,91,533,0.00,2.22,0.00,0.000,6,0.000,0.040,2355,2302,3750
$GC,854,-1.10,-219.0,125.5,-13.7,152,859,0.00,2.17,0.00,0.000,4,0.000,0.039,2356,889,3751
$GC,940,-1.10,-219.0,138.2,-15.1,168,945,0.00,2.12,0.00,0.000,6,0.000,0.038,2355,2268,3751
$GC,1266,-1.10,-219.0,177.9,-12.1,229,1272,0.00,2.12,0.00,0.000,4,0.000,0.040,2355,886,3752
$GC,1337,-1.10,-219.0,186.9,-13.8,242,1342,0.00,2.08,0.00,0.000,6,0.000,0.040,2355,2228,3752
$GC,1663,-1.10,-219.0,229.9,-11.7,303,1670,0.00,2.28,0.00,0.000,4,0.000,0.051,2356,3682,3752
$GC,1719,-1.10,-219.0,236.8,-12.3,313,1724,0.00,2.17,0.00,0.000,6,0.000,0.031,2355,2216,3752
$GC,2045,-1.10,-219.0,276.9,-12.6,374,2051,0.00,2.05,0.00,0.000,4,0.000,0.049,2355,887,3752
$GC,2131,-1.10,-219.0,288.2,-13.0,390,2136,0.00,2.05,0.00,0.000,6,0.000,0.047,2355,2205,3752
$GC,2450,-1.10,-219.0,323.0,-10.2,430,2453,0.00,2.05,0.00,0.000,4,0.000,0.047,2355,889,3752
$GC,2492,-1.10,-219.0,327.7,-11.4,434,2495,0.00,2.03,0.00,0.000,6,0.000,0.043,2355,2165,3752
$GC,2816,-1.10,-219.0,366.8,-11.8,465,2819,0.00,2.00,0.00,0.000,4,0.000,0.044,2355,884,3752
$GC,2853,-1.10,-219.0,371.8,-12.5,468,2859,0.00,2.00,0.00,0.000,6,0.000,0.043,2355,2139,3752
$GC,3169,-1.10,-219.0,404.7,-10.1,499,3172,0.00,1.95,0.00,0.000,4,0.000,0.045,2355,886,3751
$GC,3222,-1.10,-219.0,410.5,-11.1,504,3225,0.00,1.92,0.00,0.000,6,0.000,0.042,2355,2115,3751
$GC,3546,-1.10,-219.0,443.2,-9.7,535,3549,0.00,2.50,0.00,0.000,4,0.000,0.056,2355,3680,3749
$GC,3611,-1.10,-219.0,450.1,-10.5,540,3616,0.00,2.35,0.00,0.000,6,0.000,0.034,2355,2122,3749
$GC,3928,-1.10,-219.0,482.0,-9.9,571,3931,0.00,1.92,0.00,0.000,4,0.000,0.047,2356,875,3748
$GC,4008,-1.10,-219.0,490.4,-9.9,578,4014,0.00,1.95,0.00,0.000,6,0.000,0.045,2355,2109,3747
$GC,4320,-1.10,-219.0,521.9,-10.8,599,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2110,3745
$GC,4625,-1.10,-219.0,556.7,-11.1,614,4628,0.00,1.92,0.00,0.000,4,0.000,0.048,2356,887,3743
$GC,4690,-1.10,-219.0,564.2,-11.8,617,4693,0.00,1.90,0.00,0.000,6,0.000,0.046,2356,2094,3743
$GC,5016,-1.10,-219.0,599.7,-10.8,633,5024,0.00,2.58,0.00,0.000,4,0.000,0.061,2355,3682,3740
$GC,5093,-1.10,-219.0,608.3,-11.4,636,5097,0.00,2.40,0.00,0.000,6,0.000,0.035,2355,2106,3739
$GC,5403,-1.10,-219.0,641.8,-10.7,651,5407,0.00,2.58,0.00,0.000,4,0.000,0.059,2355,3685,3738
$GC,5430,-1.10,-219.0,644.9,-12.2,652,5433,0.00,2.40,0.00,0.000,6,0.000,0.035,2356,2111,3737
$GC,5742,-1.10,-219.0,676.7,-9.9,667,5746,0.00,2.58,0.00,0.000,4,0.000,0.060,2355,3686,3735
$GC,5768,-1.10,-219.0,679.8,-11.2,668,5772,0.00,2.42,0.00,0.000,6,0.000,0.035,2355,2125,3735
$GC,6084,-1.10,-219.0,714.0,-11.1,684,6087,0.00,1.92,0.00,0.000,4,0.000,0.049,2355,897,3733
$GC,6164,-1.10,-219.0,723.9,-12.4,687,6171,0.00,1.92,0.00,0.000,6,0.000,0.053,2355,2102,3732
$GC,6474,-1.10,-219.0,760.1,-11.7,703,6478,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3682,3730
$GC,6554,-1.10,-219.0,770.2,-12.2,707,6558,0.00,2.42,0.00,0.000,6,0.000,0.036,2356,2111,3729
$GC,6876,-1.10,-219.0,807.7,-11.2,723,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2106,3727
$GC,7180,-1.10,-219.0,840.3,-10.4,738,7184,0.00,2.60,0.00,0.000,4,0.000,0.063,2355,3684,3725
$GC,7234,-1.10,-219.0,846.1,-11.5,740,7237,0.00,2.45,0.00,0.000,6,0.000,0.037,2355,2102,3724
$GC,7545,-1.10,-219.0,878.7,-10.6,755,7548,0.00,1.92,0.00,0.000,4,0.000,0.051,2355,887,3723
$GC,7571,-1.10,-219.0,881.8,-11.8,756,7574,0.00,1.95,0.00,0.000,6,0.000,0.047,2355,2091,3722
$GC,7893,-1.10,-219.0,916.2,-10.3,772,7897,0.00,2.60,0.00,0.000,4,0.000,0.062,2355,3674,3721
$GC,7967,-1.10,-219.0,924.8,-11.8,775,7976,0.00,2.42,0.00,0.000,6,0.000,0.036,2355,2103,3720
$GC,8278,-1.10,-219.0,956.7,-9.8,791,8282,0.00,2.60,0.00,0.000,4,0.000,0.061,2356,3676,3719
$GC,8321,-1.10,-219.0,961.2,-11.0,793,8325,0.00,2.42,0.00,0.000,6,0.000,0.035,2355,2102,3718
$STATE,8613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8613,begin apogee
$GC,8620,-0.26,0.0,990.6,9.7,808,8805,0.88,0.00,182.40,1.361,6,0.114,0.000,2643,2296,2854
$STATE,8805,end apogee,CONTROL_FINISHED_OK
$STATE,8805,begin climb
$GC,8808,1.10,219.0,1002.8,0.0,817,9008,1.20,2.40,188.32,1.325,4,0.051,0.054,3104,912,1960
$GC,9098,1.10,219.0,982.9,13.0,830,9104,0.00,2.28,0.00,0.000,6,0.000,0.051,3104,2314,1954
$GC,9409,1.10,219.0,941.8,12.7,846,9413,0.00,2.28,0.00,0.000,4,0.000,0.050,3114,906,1952
$GC,9435,1.10,219.0,938.3,12.5,847,9439,0.00,2.22,0.00,0.000,6,0.000,0.044,3114,2292,1951
$GC,9751,1.10,219.0,899.1,12.2,863,9754,0.00,2.25,0.00,0.000,4,0.000,0.058,3114,3682,1950
$GC,9831,1.10,219.0,888.4,13.4,866,9837,0.15,2.17,0.00,0.000,6,0.184,0.044,3087,2290,1950
$GC,10143,1.10,219.0,853.7,11.3,882,10146,0.00,2.28,0.00,0.000,4,0.000,0.057,3088,3684,1949
$GC,10169,1.10,219.0,850.3,12.9,883,10172,0.00,2.17,0.00,0.000,6,0.000,0.038,3096,2304,1949
$GC,10491,1.10,219.0,811.2,12.2,899,10494,0.00,2.25,0.00,0.000,4,0.000,0.057,3096,3682,1948
$GC,10533,1.10,219.0,805.7,13.9,901,10536,0.00,2.10,0.00,0.000,6,0.000,0.038,3106,2328,1948
$GC,10859,1.10,219.0,764.4,13.1,917,10862,0.00,2.28,0.00,0.000,4,0.000,0.049,3117,893,1947
$GC,10902,1.10,219.0,758.7,14.0,919,10906,0.12,2.25,0.00,0.000,6,0.180,0.043,3088,2316,1946
$GC,11224,1.10,219.0,718.6,12.4,935,11227,0.00,2.20,0.00,0.000,4,0.000,0.056,3088,3682,1946
$GC,11379,1.10,219.0,698.2,12.6,942,11382,0.00,2.08,0.00,0.000,6,0.000,0.038,3096,2338,1946
$GC,11700,1.10,219.0,659.4,11.7,958,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2337,1945
$GC,12005,1.14,249.7,626.6,10.0,973,12035,0.00,2.33,25.75,1.122,4,0.000,0.050,3107,894,1836
$GC,12079,1.18,277.4,618.9,10.1,976,12116,0.00,2.35,28.05,1.037,6,0.000,0.045,3107,2352,1723
$GC,12429,1.18,277.4,578.5,11.5,994,12432,0.00,2.35,0.00,0.000,4,0.000,0.048,3118,892,1718
$GC,12520,1.21,300.8,568.2,10.2,998,12554,0.00,2.30,23.85,0.994,6,0.000,0.042,3117,2339,1626
$GC,12879,1.21,300.8,523.0,13.0,1016,12882,0.00,2.17,0.00,0.000,4,0.000,0.056,3117,3689,1623
$GC,12910,1.21,300.8,518.2,14.7,1017,12913,0.00,2.10,0.00,0.000,6,0.000,0.036,3128,2334,1623
$GC,13229,1.21,300.8,475.9,12.7,1041,13232,0.00,2.20,0.00,0.000,4,0.000,0.054,3128,3692,1622
$GC,13368,1.21,300.8,457.5,12.8,1054,13371,0.00,2.15,0.00,0.000,6,0.000,0.037,3138,2305,1622
$GC,13689,1.21,300.8,417.6,11.9,1085,13692,0.00,2.22,0.00,0.000,4,0.000,0.048,3149,897,1621
$GC,13801,1.21,308.4,405.1,10.7,1095,13812,0.00,2.20,7.25,0.830,6,0.000,0.042,3149,2286,1596
$GC,14122,1.21,308.4,366.0,12.6,1126,14125,0.00,2.25,0.00,0.000,4,0.000,0.054,3149,3690,1596
$GC,14191,1.21,308.4,356.7,13.4,1132,14198,0.12,2.25,0.00,0.000,6,0.173,0.038,3121,2266,1595
$GC,14507,1.24,325.9,321.0,10.4,1163,14530,0.00,2.30,17.20,0.876,4,0.000,0.052,3122,3683,1524
$GC,14680,1.24,332.8,302.3,10.8,1179,14691,0.00,2.12,7.50,0.755,6,0.000,0.036,3131,2308,1496
$GC,15010,1.25,340.2,265.5,10.8,1238,15023,0.00,2.30,8.18,0.750,4,0.000,0.046,3141,891,1466
$GC,15114,1.25,340.2,253.5,12.0,1257,15119,0.00,2.20,0.00,0.000,6,0.000,0.039,3141,2292,1465
$GC,15440,1.31,388.0,218.5,9.4,1318,15488,0.00,2.28,42.10,0.811,4,0.000,0.052,3141,3689,1272
$GC,15592,1.31,388.0,200.4,12.3,1345,15597,0.00,2.12,0.00,0.000,6,0.000,0.035,3152,2317,1271
$GC,15919,1.31,388.0,161.6,12.2,1406,15925,0.00,2.25,0.00,0.000,4,0.000,0.048,3162,897,1270
$GC,15974,1.31,388.0,155.3,11.4,1416,15981,0.00,2.28,0.00,0.000,6,0.000,0.038,3162,2341,1268
$GC,16302,1.35,416.3,122.2,10.0,1477,16333,0.00,2.17,25.40,0.712,4,0.000,0.056,3162,3696,1154
$GC,16453,1.35,416.3,104.4,12.4,1504,16460,0.00,2.17,0.00,0.000,6,0.000,0.034,3173,2280,1154
$GC,16781,1.41,466.8,71.5,9.3,1565,16831,0.00,2.20,42.97,0.673,4,0.000,0.049,3182,888,948
$GC,17034,1.43,481.5,46.0,10.5,1611,17053,0.00,2.15,12.77,0.599,6,0.000,0.036,3182,2251,891
$GC,17375,1.43,482.8,10.2,11.0,1674,17381,0.00,2.15,0.00,0.000,4,0.000,0.048,3192,888,891
$STATE,17442,end climb,SURFACE_DEPTH_REACHED
$STATE,17442,begin surface coast
$FINISH,1.7,1.021598
$STATE,17469,end surface coast,CONTROL_FINISHED_OK
$STATE,17469,begin surface
$SM_CCo,17548,0.00,0.000,0,0,889,482.01
$SM_GC,2.47,7.78,0.00,0.00,0.035,0.000,0.000,152,2299,889,-7.95,0.37,482.01
$IRIDIUM_FIX,2507.97,12519.24,061198,171757
$TT8_MAMPS,0.049088
$HUMID,1681
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.00
$XPDR_PINGS,885
$24V_AH,22.9,105.529
$10V_AH,10.4,70.993
$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,19.250,182.425,611.750,0.000,0.000,23.014,35.964,236.214,229.250,0.000,0.000,15.083,0.000,12575.423,737.257,3892.417,768.697,0.000,2254.816,0.000,3284.743,0.000,54.031,0.000
$DEVICE_MAMPS,225.498,62.894,1360.658,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1141.582,1174.866,1453.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94661,1692
$CAP_FILE_SIZE,176451,0
$CFSIZE,260165632,215736320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077, 74.3,1
$GPS,130809,034907,2518.583,12518.550,32,1.1,32,-3.9