version: 66.04
glider: 165
mission: 2
dive: 479
start: 8 14 109 0 6 19
data:
$ID,165
$MISSION,2
$DIVE,479
$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,-127846.47
$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,49
$R_STBD_OVSHOOT,31
$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
$GPS1,235854,2518.593,12516.957,39,1.2,39,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.6
$GPS2,000614,2518.606,12517.031,11,1.3,11,-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,269.8,78897,-16.0,-11.000
$D_GRID,1852
$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,-219.0,0.0,0.0,0,64,0.00,0.00,-48.90,0.000,2,0.000,0.000,154,2266,2062
$GC,68,-1.10,-219.0,3.6,-4.7,8,131,9.02,2.22,-45.72,0.000,4,0.227,0.058,2369,885,3750
$GC,190,-1.10,-219.0,21.5,-17.9,29,196,0.00,2.22,0.00,0.000,6,0.000,0.041,2368,2288,3750
$GC,516,-1.10,-219.0,74.6,-14.1,90,523,0.00,2.20,0.00,0.000,4,0.000,0.052,2368,3683,3751
$GC,571,-1.10,-219.0,83.8,-17.8,100,577,0.00,2.05,0.00,0.000,6,0.000,0.031,2368,2290,3751
$GC,897,-1.10,-219.0,129.0,-14.2,161,903,0.00,2.15,0.00,0.000,4,0.000,0.039,2368,906,3752
$GC,999,-1.10,-219.0,143.1,-13.3,180,1005,0.00,2.10,0.00,0.000,6,0.000,0.037,2359,2278,3752
$GC,1326,-1.10,-219.0,180.5,-10.9,241,1332,0.00,2.12,0.00,0.000,4,0.000,0.040,2359,904,3752
$GC,1392,-1.10,-219.0,188.0,-11.7,253,1398,0.00,2.10,0.00,0.000,6,0.000,0.039,2359,2246,3752
$GC,1719,-1.10,-219.0,230.2,-12.8,314,1726,0.00,2.10,0.00,0.000,4,0.000,0.041,2359,904,3753
$GC,1769,-1.10,-219.0,236.9,-13.5,323,1774,0.00,2.03,0.00,0.000,6,0.000,0.040,2359,2224,3753
$GC,2095,-1.10,-219.0,272.5,-10.1,384,2101,0.00,2.05,0.00,0.000,4,0.000,0.043,2359,909,3753
$GC,2123,-1.10,-219.0,275.4,-11.2,389,2128,0.00,2.00,0.00,0.000,6,0.000,0.041,2359,2206,3753
$GC,2446,-1.10,-219.0,310.8,-11.1,441,2449,0.00,2.00,0.00,0.000,4,0.000,0.043,2359,909,3753
$GC,2482,-1.10,-219.0,315.4,-12.1,444,2488,0.00,2.03,0.00,0.000,6,0.000,0.048,2359,2185,3753
$GC,2798,-1.10,-219.0,352.7,-11.3,475,2801,0.00,1.98,0.00,0.000,4,0.000,0.044,2359,911,3753
$GC,2820,-1.10,-219.0,355.2,-12.0,477,2823,0.00,1.98,0.00,0.000,6,0.000,0.041,2359,2185,3753
$GC,3143,-1.10,-219.0,390.6,-11.0,508,3146,0.00,1.98,0.00,0.000,4,0.000,0.044,2359,911,3753
$GC,3191,-1.10,-219.0,396.5,-12.4,512,3197,0.00,1.98,0.00,0.000,6,0.000,0.045,2359,2155,3753
$GC,3506,-1.10,-219.0,430.7,-10.1,543,3509,0.00,1.95,0.00,0.000,4,0.000,0.045,2359,905,3752
$GC,3528,-1.10,-219.0,432.9,-10.5,545,3531,0.00,1.92,0.00,0.000,6,0.000,0.042,2359,2147,3752
$GC,3851,-1.10,-219.0,466.7,-10.8,576,3854,0.00,1.95,0.00,0.000,4,0.000,0.046,2359,902,3750
$GC,3905,-1.10,-219.0,473.1,-12.3,581,3908,0.00,1.90,0.00,0.000,6,0.000,0.044,2359,2122,3750
$GC,4237,-1.10,-219.0,508.8,-10.2,609,4240,0.00,1.90,0.00,0.000,4,0.000,0.047,2359,910,3749
$GC,4284,-1.10,-219.0,514.0,-10.4,611,4287,0.00,1.88,0.00,0.000,6,0.000,0.044,2359,2106,3748
$GC,4606,-1.10,-219.0,544.8,-9.8,627,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2106,3746
$GC,4910,-1.10,-219.0,578.5,-11.7,642,4913,0.00,1.90,0.00,0.000,4,0.000,0.049,2359,906,3744
$GC,4958,-1.10,-219.0,584.5,-12.3,644,4961,0.00,1.90,0.00,0.000,6,0.000,0.045,2359,2091,3743
$GC,5280,-1.10,-219.0,621.2,-10.7,660,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2091,3742
$GC,5585,-1.10,-219.0,652.6,-9.8,675,5588,0.00,1.90,0.00,0.000,4,0.000,0.051,2359,913,3739
$GC,5648,-1.10,-219.0,659.2,-10.8,678,5651,0.00,1.85,0.00,0.000,6,0.000,0.047,2359,2086,3738
$GC,5976,-1.10,-219.0,690.5,-9.7,694,5979,0.00,1.85,0.00,0.000,4,0.000,0.048,2359,915,3737
$GC,6002,-1.10,-219.0,693.3,-10.7,695,6005,0.00,1.83,0.00,0.000,6,0.000,0.047,2359,2048,3737
$GC,6325,-1.10,-219.0,726.7,-10.9,711,6329,0.00,2.67,0.00,0.000,4,0.000,0.061,2359,3685,3734
$GC,6345,-1.10,-219.0,729.2,-11.0,712,6349,0.00,2.47,0.00,0.000,6,0.000,0.035,2359,2075,3733
$GC,6667,-1.10,-219.0,763.5,-10.3,728,6670,0.00,1.83,0.00,0.000,4,0.000,0.050,2359,910,3731
$GC,6732,-1.10,-219.0,770.3,-10.6,731,6735,0.00,1.77,0.00,0.000,6,0.000,0.047,2359,2026,3731
$GC,7059,-1.10,-219.0,800.9,-8.9,747,7063,0.00,2.72,0.00,0.000,4,0.000,0.064,2359,3685,3729
$GC,7091,-1.10,-219.0,803.9,-10.1,748,7096,0.00,2.55,0.00,0.000,6,0.000,0.039,2359,2052,3728
$GC,7402,-1.10,-219.0,833.9,-10.3,764,7406,0.00,2.70,0.00,0.000,4,0.000,0.062,2359,3685,3726
$GC,7439,-1.10,-219.0,838.0,-11.6,766,7442,0.00,2.53,0.00,0.000,6,0.000,0.036,2359,2057,3726
$GC,7760,-1.10,-219.0,874.7,-11.7,782,7767,0.00,2.67,0.00,0.000,4,0.000,0.061,2359,3676,3724
$GC,7805,-1.10,-219.0,880.7,-13.2,784,7808,0.00,2.53,0.00,0.000,6,0.000,0.036,2359,2048,3724
$GC,8131,-1.10,-219.0,920.7,-12.0,800,8134,0.00,1.83,0.00,0.000,4,0.000,0.052,2359,915,3722
$GC,8184,-1.10,-219.0,927.3,-12.0,802,8187,0.00,1.77,0.00,0.000,6,0.000,0.048,2359,2009,3721
$GC,8501,-1.10,-219.0,961.6,-10.5,818,8505,0.00,2.75,0.00,0.000,4,0.000,0.064,2358,3676,3720
$GC,8554,-1.10,-219.0,967.6,-11.9,820,8559,0.00,2.55,0.00,0.000,6,0.000,0.041,2359,2050,3719
$STATE,8780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8780,begin apogee
$GC,8787,-0.26,0.0,991.7,10.6,832,8971,0.88,0.00,182.10,1.364,6,0.111,0.000,2648,2301,2855
$STATE,8972,end apogee,CONTROL_FINISHED_OK
$STATE,8972,begin climb
$GC,8975,1.10,219.0,1005.4,0.0,841,9172,1.17,2.33,187.77,1.328,4,0.053,0.055,3099,936,1961
$GC,9183,1.10,219.0,998.6,12.2,851,9186,0.00,2.28,0.00,0.000,6,0.000,0.048,3099,2310,1958
$GC,9509,1.10,219.0,960.2,11.2,867,9512,0.00,2.22,0.00,0.000,4,0.000,0.051,3109,932,1953
$GC,9535,1.10,219.0,957.3,11.4,868,9539,0.00,2.17,0.00,0.000,6,0.000,0.045,3109,2297,1952
$GC,9857,1.13,240.2,923.0,10.3,884,9887,0.00,2.30,21.10,1.134,4,0.000,0.059,3109,3695,1873
$GC,10007,1.13,240.2,905.3,11.3,891,10010,0.00,2.10,0.00,0.000,6,0.000,0.038,3118,2351,1871
$GC,10328,1.13,240.2,866.1,12.7,907,10331,0.00,2.28,0.00,0.000,4,0.000,0.050,3129,922,1870
$GC,10435,1.13,240.2,852.7,11.8,912,10438,0.15,2.20,0.00,0.000,6,0.175,0.044,3092,2314,1868
$GC,10762,1.13,240.2,811.1,13.0,928,10765,0.00,2.22,0.00,0.000,4,0.000,0.048,3101,923,1867
$GC,10804,1.13,240.2,805.3,13.8,930,10807,0.00,2.15,0.00,0.000,6,0.000,0.043,3101,2288,1866
$GC,11130,1.13,240.2,762.5,12.9,946,11133,0.00,2.25,0.00,0.000,4,0.000,0.058,3101,3682,1866
$GC,11259,1.13,240.2,745.0,12.7,952,11262,0.00,2.08,0.00,0.000,6,0.000,0.038,3111,2342,1866
$GC,11585,1.13,240.2,702.5,13.3,968,11588,0.00,2.30,0.00,0.000,4,0.000,0.050,3122,892,1865
$GC,11681,1.13,240.2,690.1,13.7,972,11684,0.00,2.22,0.00,0.000,6,0.000,0.044,3122,2297,1864
$GC,11997,1.13,240.2,652.4,11.5,988,12000,0.00,2.25,0.00,0.000,4,0.000,0.049,3132,894,1864
$GC,12023,1.13,240.2,649.0,11.5,989,12027,0.10,2.22,0.00,0.000,6,0.170,0.042,3101,2283,1864
$GC,12344,1.13,240.2,614.6,11.1,1005,12348,0.00,2.28,0.00,0.000,4,0.000,0.056,3101,3692,1864
$GC,12403,1.13,240.2,607.5,12.7,1007,12409,0.00,2.20,0.00,0.000,6,0.000,0.037,3111,2266,1864
$GC,12714,1.16,260.4,573.4,10.3,1023,12735,0.00,2.25,17.55,1.066,4,0.000,0.048,3121,896,1792
$GC,12832,1.16,260.4,559.7,11.5,1028,12835,0.00,2.20,0.00,0.000,6,0.000,0.041,3121,2287,1789
$GC,13143,1.18,282.9,526.7,10.2,1043,13165,0.00,0.00,21.42,1.040,6,0.000,0.000,3121,2287,1700
$GC,13468,1.18,282.9,488.7,11.9,1063,13472,0.00,2.25,0.00,0.000,4,0.000,0.055,3121,3689,1697
$GC,13597,1.18,282.9,471.9,12.8,1075,13600,0.00,2.22,0.00,0.000,6,0.000,0.037,3132,2261,1696
$GC,13914,1.19,291.4,436.5,10.7,1105,13927,0.00,2.35,8.32,0.877,4,0.000,0.054,3132,3678,1665
$GC,14089,1.19,291.4,415.0,11.9,1121,14095,0.00,2.28,0.00,0.000,6,0.000,0.037,3142,2218,1665
$GC,14408,1.19,291.4,375.3,12.7,1152,14411,0.00,2.38,0.00,0.000,4,0.000,0.052,3143,3683,1665
$GC,14498,1.19,291.4,364.2,11.0,1160,14502,0.15,2.25,0.00,0.000,6,0.178,0.037,3115,2234,1664
$GC,14819,1.26,342.0,335.3,9.3,1191,14873,0.00,2.22,45.70,0.912,4,0.000,0.048,3124,893,1458
$GC,15017,1.26,342.0,313.6,12.4,1209,15022,0.00,2.12,0.00,0.000,6,0.000,0.040,3124,2233,1453
$GC,15340,1.26,342.0,274.3,11.4,1259,15345,0.00,2.15,0.00,0.000,4,0.000,0.048,3134,885,1453
$GC,15474,1.29,372.7,260.7,10.0,1284,15509,0.00,2.17,27.05,0.830,6,0.000,0.040,3134,2260,1334
$GC,15832,1.29,372.7,220.0,12.6,1350,15840,0.00,2.30,0.00,0.000,4,0.000,0.054,3134,3685,1332
$GC,15845,1.29,372.7,217.8,13.5,1352,15851,0.00,2.25,0.00,0.000,6,0.000,0.035,3145,2258,1332
$GC,16172,1.31,390.1,179.7,10.4,1413,16192,0.00,2.38,15.82,0.736,4,0.000,0.051,3145,3692,1262
$GC,16299,1.31,390.1,164.9,13.2,1436,16305,0.00,2.33,0.00,0.000,6,0.000,0.038,3156,2220,1262
$GC,16626,1.33,399.4,130.4,10.7,1497,16640,0.00,2.42,9.65,0.652,4,0.000,0.049,3156,3695,1224
$GC,16716,1.33,399.4,118.8,14.3,1513,16722,0.00,2.22,0.00,0.000,6,0.000,0.035,3166,2266,1224
$GC,17043,1.35,418.0,85.4,10.4,1574,17070,0.00,2.17,17.30,0.660,4,0.000,0.044,3176,901,1149
$GC,17140,1.41,470.0,75.9,9.2,1591,17190,0.00,2.12,44.40,0.669,6,0.000,0.038,3176,2269,936
$GC,17514,1.47,520.2,38.8,9.3,1659,17563,0.00,2.20,42.25,0.630,4,0.000,0.048,3186,900,731
$GC,17799,1.56,585.7,11.2,8.8,1711,17866,0.08,2.05,44.00,0.535,2,0.052,0.035,3250,2215,562
$STATE,17867,end climb,SURFACE_DEPTH_REACHED
$STATE,17867,begin surface coast
$FINISH,1.7,1.010245
$STATE,17885,end surface coast,CONTROL_FINISHED_OK
$STATE,17885,begin surface
$SM_CCo,17964,0.00,0.000,0,0,556,563.94
$SM_GC,2.42,7.97,0.00,0.00,0.034,0.000,0.000,151,2305,556,-7.94,0.57,563.94
$IRIDIUM_FIX,2510.35,12515.92,071198,191917
$TT8_MAMPS,0.049088
$HUMID,1657
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.00
$XPDR_PINGS,891
$24V_AH,22.9,106.780
$10V_AH,10.4,71.696
$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,19.525,183.225,684.450,0.000,0.000,30.610,31.014,215.629,230.750,0.000,0.000,13.054,0.000,12847.338,791.719,3967.659,760.736,0.000,2362.868,0.000,3353.052,0.000,56.973,0.000
$DEVICE_MAMPS,227.032,75.166,1363.726,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1163.094,1198.842,1479.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97935,1726
$CAP_FILE_SIZE,180972,0
$CFSIZE,260165632,215252992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.091, 86.2,1
$GPS,140809,050636,2518.683,12516.376,30,1.3,30,-3.9