version: 66.04
glider: 165
mission: 2
dive: 475
start: 8 13 109 3 58 18
data:
$ID,165
$MISSION,2
$DIVE,475
$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,-127729.2
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,034907,2518.583,12518.550,32,1.1,32,-3.9
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-70.7
$GPS2,035813,2518.767,12518.560,12,1.3,29,-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,265.5,81474,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-1.10,-219.0,0.0,0.0,0,59,0.00,0.00,-43.92,0.000,2,0.000,0.000,152,2303,1996
$GC,62,-1.10,-219.0,3.4,-4.4,7,128,8.95,2.30,-51.15,0.000,4,0.225,0.051,2367,876,3750
$GC,171,-1.10,-219.0,17.0,-17.7,25,177,0.00,2.22,0.00,0.000,6,0.000,0.039,2357,2285,3751
$GC,498,-1.10,-219.0,76.6,-16.9,86,504,0.00,2.17,0.00,0.000,4,0.000,0.039,2357,872,3751
$GC,568,-1.10,-219.0,88.3,-16.3,99,574,0.00,2.12,0.00,0.000,6,0.000,0.039,2356,2249,3751
$GC,895,-1.10,-219.0,133.5,-14.2,160,902,0.00,2.12,0.00,0.000,4,0.000,0.040,2356,869,3752
$GC,982,-1.10,-219.0,146.4,-15.6,176,989,0.00,2.17,0.00,0.000,6,0.000,0.038,2355,2287,3752
$GC,1312,-1.10,-219.0,191.6,-12.5,237,1317,0.00,2.17,0.00,0.000,4,0.000,0.041,2357,881,3753
$GC,1349,-1.10,-219.0,196.7,-13.3,244,1356,0.00,2.10,0.00,0.000,6,0.000,0.040,2356,2244,3753
$GC,1678,-1.10,-219.0,238.7,-12.9,305,1683,0.00,2.12,0.00,0.000,4,0.000,0.041,2356,869,3753
$GC,1721,-1.10,-219.0,244.8,-13.8,313,1726,0.00,2.08,0.00,0.000,6,0.000,0.041,2355,2217,3753
$GC,2047,-1.10,-219.0,284.2,-11.2,374,2052,0.00,2.10,0.00,0.000,4,0.000,0.044,2356,870,3753
$GC,2121,-1.10,-219.0,293.2,-12.2,388,2128,0.00,2.08,0.00,0.000,6,0.000,0.044,2356,2176,3754
$GC,2440,-1.10,-219.0,330.4,-11.5,424,2443,0.00,2.03,0.00,0.000,4,0.000,0.045,2356,884,3753
$GC,2494,-1.10,-219.0,336.8,-12.4,429,2497,0.00,1.95,0.00,0.000,6,0.000,0.042,2356,2141,3753
$GC,2818,-1.10,-219.0,373.8,-11.7,460,2821,0.00,2.00,0.00,0.000,4,0.000,0.048,2356,872,3753
$GC,2849,-1.10,-219.0,378.3,-13.8,463,2852,0.00,1.95,0.00,0.000,6,0.000,0.043,2356,2126,3753
$GC,3173,-1.10,-219.0,414.0,-10.3,494,3176,0.00,1.98,0.00,0.000,4,0.000,0.048,2356,876,3751
$GC,3199,-1.10,-219.0,417.1,-10.7,496,3206,0.00,1.95,0.00,0.000,6,0.000,0.050,2356,2091,3751
$GC,3516,-1.10,-219.0,451.5,-11.1,527,3519,0.00,2.55,0.00,0.000,4,0.000,0.058,2356,3683,3750
$GC,3574,-1.10,-219.0,458.4,-12.1,532,3577,0.00,2.42,0.00,0.000,6,0.000,0.039,2356,2084,3749
$GC,3897,-1.10,-219.0,496.6,-12.3,563,3900,0.00,1.90,0.00,0.000,4,0.000,0.048,2356,882,3748
$GC,3940,-1.10,-219.0,502.2,-12.4,567,3943,0.00,1.90,0.00,0.000,6,0.000,0.044,2356,2097,3748
$GC,4266,-1.10,-219.0,539.4,-10.9,583,4270,0.00,2.55,0.00,0.000,4,0.000,0.059,2356,3682,3745
$GC,4292,-1.10,-219.0,542.4,-11.4,584,4296,0.00,2.47,0.00,0.000,6,0.000,0.034,2356,2060,3745
$GC,4603,-1.10,-219.0,573.2,-9.1,599,4606,0.00,1.83,0.00,0.000,4,0.000,0.048,2356,885,3743
$GC,4646,-1.10,-219.0,577.6,-10.6,601,4649,0.00,1.85,0.00,0.000,6,0.000,0.044,2356,2064,3743
$GC,4973,-1.10,-219.0,610.5,-10.6,617,4977,0.00,2.60,0.00,0.000,4,0.000,0.059,2356,3676,3740
$GC,5026,-1.10,-219.0,616.6,-11.4,619,5031,0.00,2.47,0.00,0.000,6,0.000,0.038,2356,2063,3740
$GC,5337,-1.10,-219.0,650.6,-11.1,635,5341,0.00,2.65,0.00,0.000,4,0.000,0.058,2356,3689,3737
$GC,5353,-1.10,-219.0,652.4,-10.9,636,5356,0.00,2.47,0.00,0.000,6,0.000,0.034,2356,2065,3737
$GC,5675,-1.10,-219.0,688.0,-10.9,652,5678,0.00,2.65,0.00,0.000,4,0.000,0.060,2356,3683,3735
$GC,5695,-1.10,-219.0,690.5,-11.5,653,5699,0.00,2.47,0.00,0.000,6,0.000,0.035,2356,2069,3735
$GC,6017,-1.10,-219.0,723.0,-9.3,669,6020,0.00,1.85,0.00,0.000,4,0.000,0.050,2356,887,3733
$GC,6039,-1.10,-219.0,725.1,-9.3,670,6042,0.00,1.88,0.00,0.000,6,0.000,0.046,2356,2070,3733
$GC,6365,-1.10,-219.0,756.9,-9.8,686,6369,0.00,2.62,0.00,0.000,4,0.000,0.061,2356,3680,3730
$GC,6446,-1.10,-219.0,765.3,-10.0,690,6450,0.00,2.50,0.00,0.000,6,0.000,0.036,2356,2062,3729
$GC,6767,-1.10,-219.0,800.0,-11.2,706,6771,0.00,2.67,0.00,0.000,4,0.000,0.061,2356,3688,3727
$GC,6788,-1.10,-219.0,802.5,-11.6,707,6792,0.00,2.50,0.00,0.000,6,0.000,0.035,2356,2063,3726
$GC,7105,-1.10,-219.0,837.4,-11.1,723,7108,0.00,2.65,0.00,0.000,4,0.000,0.061,2356,3676,3724
$GC,7141,-1.10,-219.0,841.8,-12.0,725,7145,0.00,2.47,0.00,0.000,6,0.000,0.035,2356,2068,3723
$GC,7468,-1.10,-219.0,878.5,-11.4,741,7472,0.00,2.65,0.00,0.000,4,0.000,0.061,2356,3674,3722
$GC,7495,-1.10,-219.0,881.7,-12.0,742,7498,0.00,2.45,0.00,0.000,6,0.000,0.035,2356,2083,3721
$GC,7810,-1.10,-219.0,917.6,-11.3,758,7814,0.00,2.62,0.00,0.000,4,0.000,0.062,2356,3674,3720
$GC,7863,-1.10,-219.0,924.0,-12.1,760,7870,0.00,2.45,0.00,0.000,6,0.000,0.036,2356,2086,3719
$GC,8175,-1.10,-219.0,958.1,-10.4,776,8178,0.00,2.62,0.00,0.000,4,0.000,0.061,2356,3677,3718
$GC,8249,-1.10,-219.0,966.4,-11.2,779,8254,0.00,2.40,0.00,0.000,6,0.000,0.035,2356,2120,3717
$STATE,8495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8495,begin apogee
$GC,8503,-0.26,0.0,991.5,9.9,792,8687,0.88,0.00,181.98,1.365,6,0.116,0.000,2641,2295,2854
$STATE,8688,end apogee,CONTROL_FINISHED_OK
$STATE,8688,begin climb
$GC,8690,1.10,219.0,1003.8,0.0,801,8883,1.20,0.00,189.07,1.328,6,0.051,0.000,3093,2295,1961
$GC,9176,1.10,219.0,956.7,13.3,825,9180,0.00,2.28,0.00,0.000,4,0.000,0.059,3092,3695,1952
$GC,9208,1.10,219.0,952.1,13.8,826,9211,0.00,2.17,0.00,0.000,6,0.000,0.038,3103,2304,1952
$GC,9524,1.10,219.0,909.9,13.6,842,9527,0.00,2.25,0.00,0.000,4,0.000,0.051,3113,886,1951
$GC,9588,1.10,219.0,901.3,14.2,845,9591,0.00,2.25,0.00,0.000,6,0.000,0.044,3113,2307,1949
$GC,9915,1.10,219.0,859.9,12.6,861,9918,0.00,2.22,0.00,0.000,4,0.000,0.058,3114,3683,1949
$GC,9979,1.10,219.0,851.1,14.0,864,9982,0.15,2.15,0.00,0.000,6,0.187,0.038,3087,2299,1948
$GC,10306,1.10,219.0,812.2,11.5,880,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2296,1948
$GC,10610,1.10,219.0,776.1,11.5,895,10613,0.00,2.22,0.00,0.000,4,0.000,0.051,3096,897,1947
$GC,10690,1.10,219.0,766.5,12.3,898,10696,0.00,2.20,0.00,0.000,6,0.000,0.044,3096,2276,1946
$GC,11001,1.10,219.0,729.4,11.9,914,11004,0.00,2.30,0.00,0.000,4,0.000,0.058,3096,3696,1946
$GC,11113,1.10,219.0,714.8,13.2,919,11116,0.00,2.17,0.00,0.000,6,0.000,0.038,3107,2290,1946
$GC,11435,1.10,219.0,675.7,11.9,935,11438,0.00,2.28,0.00,0.000,4,0.000,0.056,3107,3686,1945
$GC,11477,1.10,219.0,670.1,13.7,937,11481,0.12,2.12,0.00,0.000,6,0.194,0.038,3088,2308,1945
$GC,11804,1.10,219.0,634.6,11.1,953,11807,0.00,2.22,0.00,0.000,4,0.000,0.048,3097,903,1945
$GC,11954,1.13,239.6,618.9,10.3,960,11976,0.00,2.20,16.70,1.096,6,0.000,0.043,3098,2296,1877
$GC,12279,1.13,239.6,581.7,11.1,976,12282,0.00,2.25,0.00,0.000,4,0.000,0.048,3107,891,1874
$GC,12365,1.14,248.0,572.5,10.7,980,12378,0.00,2.17,8.60,0.974,6,0.000,0.042,3107,2267,1843
$GC,12690,1.14,248.0,535.1,11.7,996,12693,0.00,2.30,0.00,0.000,4,0.000,0.056,3108,3692,1841
$GC,12786,1.15,256.0,523.5,10.7,1000,12799,0.00,2.22,8.73,0.946,6,0.000,0.036,3118,2255,1810
$GC,13104,1.15,256.0,484.5,11.8,1022,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2255,1808
$GC,13414,1.15,256.0,449.1,11.2,1052,13417,0.00,2.15,0.00,0.000,4,0.000,0.048,3128,891,1808
$GC,13468,1.15,256.0,443.3,11.3,1057,13471,0.00,2.20,0.00,0.000,6,0.000,0.041,3128,2285,1806
$GC,13791,1.15,256.0,407.7,11.7,1088,13794,0.00,2.22,0.00,0.000,4,0.000,0.054,3128,3682,1806
$GC,13919,1.15,256.0,392.2,11.5,1100,13923,0.15,2.20,0.00,0.000,6,0.180,0.037,3102,2261,1806
$GC,14235,1.27,355.9,362.9,7.6,1130,14328,0.12,2.30,87.97,0.936,4,0.077,0.048,3167,897,1402
$GC,14396,1.27,355.9,345.4,12.0,1144,14404,0.00,2.20,0.00,0.000,6,0.000,0.044,3167,2242,1398
$GC,14715,1.27,355.9,302.5,13.6,1175,14719,0.00,2.33,0.00,0.000,4,0.000,0.054,3167,3688,1396
$GC,14790,1.27,355.9,291.2,14.1,1187,14795,0.15,2.28,0.00,0.000,6,0.186,0.035,3142,2225,1396
$GC,15117,1.27,355.9,252.9,11.3,1248,15123,0.00,2.38,0.00,0.000,4,0.000,0.053,3142,3682,1395
$GC,15156,1.27,355.9,248.6,12.3,1255,15161,0.00,2.20,0.00,0.000,6,0.000,0.035,3151,2254,1396
$GC,15482,1.29,370.5,211.3,10.5,1316,15500,0.00,0.00,12.77,0.754,6,0.000,0.000,3152,2254,1342
$GC,15821,1.29,370.5,173.6,11.7,1379,15827,0.00,2.30,0.00,0.000,4,0.000,0.051,3151,3689,1342
$GC,15896,1.29,370.5,164.3,13.1,1393,15902,0.00,2.22,0.00,0.000,6,0.000,0.035,3162,2254,1342
$GC,16223,1.31,382.6,129.1,10.6,1454,16242,0.00,2.12,11.85,0.676,4,0.000,0.048,3172,904,1293
$GC,16248,1.31,389.2,126.4,10.8,1458,16260,0.00,2.15,7.20,0.595,6,0.000,0.038,3172,2290,1267
$GC,16582,1.33,406.3,91.0,10.4,1520,16601,0.00,0.00,16.05,0.659,6,0.000,0.000,3172,2290,1197
$GC,16922,1.44,488.0,59.3,8.2,1583,16997,0.00,2.25,68.62,0.659,4,0.000,0.048,3181,903,862
$GC,17200,1.50,538.7,30.4,9.3,1633,17251,0.00,2.12,44.70,0.617,6,0.000,0.035,3181,2255,654
$STATE,17446,end climb,SURFACE_DEPTH_REACHED
$STATE,17446,begin surface coast
$FINISH,1.6,1.010606
$STATE,17473,end surface coast,CONTROL_FINISHED_OK
$STATE,17473,begin surface
$SM_CCo,17551,0.00,0.000,0,0,645,541.87
$SM_GC,2.45,7.68,0.00,0.00,0.028,0.000,0.000,155,2262,645,-7.94,-0.65,541.87
$IRIDIUM_FIX,2507.97,12519.24,061198,232325
$TT8_MAMPS,0.048321
$HUMID,1674
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.10
$XPDR_PINGS,877
$24V_AH,23.0,105.779
$10V_AH,10.4,71.134
$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,19.400,180.700,654.250,0.000,0.000,28.976,31.972,297.935,227.250,0.000,0.000,31.515,0.000,12624.093,779.055,3827.906,828.531,0.000,2255.637,0.000,3208.650,0.000,56.215,0.000
$DEVICE_MAMPS,225.498,64.428,1365.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1134.608,1167.138,1432.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94776,1683
$CAP_FILE_SIZE,175783,0
$CFSIZE,260165632,215642112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122, 82.4,1
$GPS,130809,085154,2518.868,12518.094,23,1.6,41,-3.9