version: 66.04
glider: 165
mission: 2
dive: 482
start: 8 14 109 15 26 48
data:
$ID,165
$MISSION,2
$DIVE,482
$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,-127891.87
$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,42
$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
$GPS1,151554,2518.777,12515.427,23,1.1,40,-3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-69.2
$GPS2,152643,2518.863,12515.497,8,1.4,13,-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,269.4,76395,-16.0,-11.000
$D_GRID,1939
$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,-219.0,0.0,0.0,0,76,0.00,0.00,-58.22,0.000,2,0.000,0.000,158,2268,1971
$GC,79,-1.10,-219.0,3.2,-3.3,9,143,9.00,2.25,-49.97,0.000,4,0.228,0.054,2365,875,3749
$GC,192,-1.10,-219.0,19.2,-18.7,28,198,0.00,2.20,0.00,0.000,6,0.000,0.039,2357,2291,3750
$GC,520,-1.10,-219.0,75.7,-14.4,89,525,0.00,2.17,0.00,0.000,4,0.000,0.038,2356,877,3750
$GC,547,-1.10,-219.0,79.5,-14.2,94,552,0.00,2.15,0.00,0.000,6,0.000,0.041,2355,2267,3750
$GC,874,-1.10,-219.0,127.4,-12.8,155,879,0.00,2.25,0.00,0.000,4,0.000,0.053,2355,3692,3751
$GC,900,-1.10,-219.0,130.8,-12.7,160,908,0.00,2.17,0.00,0.000,6,0.000,0.031,2355,2237,3751
$GC,1230,-1.10,-219.0,170.5,-13.2,221,1236,0.00,2.05,0.00,0.000,4,0.000,0.041,2355,898,3751
$GC,1311,-1.10,-219.0,182.1,-14.4,236,1318,0.00,2.10,0.00,0.000,6,0.000,0.040,2355,2243,3752
$GC,1638,-1.10,-219.0,226.4,-12.8,297,1644,0.00,2.08,0.00,0.000,4,0.000,0.048,2355,909,3751
$GC,1713,-1.10,-219.0,235.5,-12.8,311,1718,0.00,2.00,0.00,0.000,6,0.000,0.039,2355,2208,3751
$GC,2039,-1.10,-219.0,272.6,-12.3,372,2046,0.00,2.05,0.00,0.000,4,0.000,0.048,2355,913,3751
$GC,2090,-1.10,-219.0,279.3,-14.2,381,2095,0.00,1.95,0.00,0.000,6,0.000,0.039,2355,2182,3751
$GC,2415,-1.10,-219.0,319.3,-11.5,427,2418,0.00,1.98,0.00,0.000,4,0.000,0.043,2355,906,3751
$GC,2480,-1.10,-219.0,327.0,-12.4,433,2483,0.00,1.92,0.00,0.000,6,0.000,0.041,2355,2155,3751
$GC,2803,-1.10,-219.0,367.9,-12.6,464,2806,0.00,1.95,0.00,0.000,4,0.000,0.045,2355,912,3751
$GC,2834,-1.10,-219.0,372.3,-13.0,467,2838,0.00,1.90,0.00,0.000,6,0.000,0.041,2355,2137,3751
$GC,3155,-1.10,-219.0,410.7,-11.0,498,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2138,3750
$GC,3468,-1.10,-219.0,442.9,-9.9,528,3471,0.00,1.95,0.00,0.000,4,0.000,0.053,2355,905,3748
$GC,3511,-1.10,-219.0,447.6,-10.7,532,3514,0.00,1.92,0.00,0.000,6,0.000,0.047,2355,2128,3748
$GC,3832,-1.10,-219.0,481.7,-10.7,563,3835,0.00,1.90,0.00,0.000,4,0.000,0.047,2355,914,3746
$GC,3869,-1.10,-219.0,485.9,-11.5,566,3875,0.00,1.90,0.00,0.000,6,0.000,0.045,2355,2127,3746
$GC,4192,-1.10,-219.0,520.5,-11.0,589,4196,0.00,2.50,0.00,0.000,4,0.000,0.059,2355,3677,3744
$GC,4283,-1.10,-219.0,530.8,-11.2,593,4287,0.00,2.35,0.00,0.000,6,0.000,0.034,2355,2128,3743
$GC,4594,-1.10,-219.0,563.6,-10.5,608,4597,0.00,1.92,0.00,0.000,4,0.000,0.048,2355,909,3741
$GC,4615,-1.10,-219.0,565.9,-11.3,609,4618,0.00,1.88,0.00,0.000,6,0.000,0.043,2355,2109,3741
$GC,4942,-1.10,-219.0,599.2,-10.2,625,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2109,3738
$GC,5246,-1.10,-219.0,633.2,-12.0,640,5250,0.00,2.55,0.00,0.000,4,0.000,0.060,2355,3683,3737
$GC,5299,-1.10,-219.0,640.0,-13.6,642,5305,0.00,2.42,0.00,0.000,6,0.000,0.036,2355,2110,3735
$GC,5611,-1.10,-219.0,673.6,-10.0,658,5614,0.00,1.88,0.00,0.000,4,0.000,0.049,2355,909,3734
$GC,5637,-1.10,-219.0,676.3,-10.9,659,5640,0.00,1.88,0.00,0.000,6,0.000,0.046,2355,2093,3734
$GC,5958,-1.10,-219.0,707.1,-9.8,675,5962,0.00,2.58,0.00,0.000,4,0.000,0.061,2355,3676,3731
$GC,5974,-1.10,-219.0,708.6,-10.1,676,5978,0.00,2.42,0.00,0.000,6,0.000,0.035,2355,2093,3731
$GC,6295,-1.10,-219.0,741.7,-10.6,692,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2090,3729
$GC,6602,-1.10,-219.0,775.2,-11.1,707,6605,0.00,2.62,0.00,0.000,4,0.000,0.062,2355,3683,3726
$GC,6650,-1.10,-219.0,781.0,-12.5,709,6653,0.00,2.42,0.00,0.000,6,0.000,0.037,2355,2106,3726
$GC,6960,-1.10,-219.0,814.8,-10.4,724,6963,0.00,1.88,0.00,0.000,4,0.000,0.051,2355,916,3724
$GC,6992,-1.10,-219.0,818.3,-11.2,725,6995,0.00,1.88,0.00,0.000,6,0.000,0.048,2355,2074,3724
$GC,7309,-1.10,-219.0,851.6,-10.3,741,7312,0.00,1.88,0.00,0.000,4,0.000,0.051,2355,918,3722
$GC,7394,-1.10,-219.0,861.3,-10.9,745,7397,0.00,1.90,0.00,0.000,6,0.000,0.048,2355,2108,3721
$GC,7722,-1.10,-219.0,894.4,-9.7,761,7725,0.00,2.58,0.00,0.000,4,0.000,0.063,2355,3676,3719
$GC,7844,-1.10,-219.0,907.7,-11.5,767,7847,0.00,2.33,0.00,0.000,6,0.000,0.037,2355,2171,3718
$GC,8171,-1.10,-219.0,940.4,-9.6,783,8175,0.00,2.50,0.00,0.000,4,0.000,0.062,2355,3679,3716
$GC,8197,-1.10,-219.0,943.1,-10.2,784,8201,0.00,2.33,0.00,0.000,6,0.000,0.037,2355,2174,3716
$GC,8513,-1.10,-219.0,973.4,-9.5,800,8516,0.00,2.00,0.00,0.000,4,0.000,0.051,2355,913,3714
$GC,8550,-1.10,-219.0,977.1,-10.0,801,8555,0.00,1.95,0.00,0.000,6,0.000,0.048,2355,2132,3714
$STATE,8674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8674,begin apogee
$GC,8682,-0.26,0.0,990.1,10.0,808,8865,0.88,0.00,181.02,1.363,6,0.110,0.000,2645,2307,2854
$STATE,8866,end apogee,CONTROL_FINISHED_OK
$STATE,8866,begin climb
$GC,8869,1.10,219.0,1003.0,0.0,817,9066,1.20,2.33,187.82,1.326,4,0.051,0.054,3106,937,1961
$GC,9135,1.10,219.0,987.5,13.1,829,9142,0.00,2.22,0.00,0.000,6,0.000,0.048,3106,2303,1954
$GC,9446,1.10,219.0,945.9,12.9,845,9449,0.00,2.22,0.00,0.000,4,0.000,0.058,3106,3686,1952
$GC,9542,1.10,219.0,932.8,13.2,849,9546,0.12,2.08,0.00,0.000,6,0.192,0.038,3087,2350,1951
$GC,9852,1.10,219.0,896.0,11.4,864,9856,0.00,2.33,0.00,0.000,4,0.000,0.050,3096,890,1950
$GC,9959,1.10,219.0,883.3,11.5,869,9963,0.00,2.25,0.00,0.000,6,0.000,0.044,3096,2313,1949
$GC,10275,1.10,219.0,844.8,12.3,885,10278,0.00,2.20,0.00,0.000,4,0.000,0.057,3096,3680,1948
$GC,10306,1.10,219.0,840.7,13.4,886,10310,0.00,2.20,0.00,0.000,6,0.000,0.038,3106,2279,1948
$GC,10623,1.10,219.0,800.3,12.6,902,10626,0.00,2.30,0.00,0.000,4,0.000,0.056,3107,3686,1947
$GC,10649,1.10,219.0,796.6,13.8,903,10653,0.12,2.20,0.00,0.000,6,0.196,0.038,3089,2264,1947
$GC,10965,1.10,219.0,757.7,12.3,919,10968,0.00,2.17,0.00,0.000,4,0.000,0.049,3097,892,1947
$GC,11088,1.10,219.0,742.6,12.9,924,11094,0.00,2.15,0.00,0.000,6,0.000,0.047,3097,2239,1946
$GC,11398,1.10,219.0,704.2,12.5,940,11401,0.00,2.35,0.00,0.000,4,0.000,0.056,3098,3693,1945
$GC,11494,1.10,219.0,691.8,12.5,944,11498,0.00,2.28,0.00,0.000,6,0.000,0.036,3108,2222,1945
$GC,11805,1.10,219.0,655.3,11.8,959,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2223,1945
$GC,12110,1.10,219.0,620.0,11.5,974,12113,0.00,2.40,0.00,0.000,4,0.000,0.054,3108,3693,1944
$GC,12283,1.12,231.1,600.2,10.6,982,12299,0.00,2.25,9.45,1.012,6,0.000,0.036,3119,2239,1910
$GC,12604,1.20,293.4,568.2,8.9,998,12667,0.00,2.45,56.20,1.091,4,0.000,0.054,3119,3694,1655
$GC,12721,1.20,293.4,555.3,11.5,1003,12724,0.00,2.22,0.00,0.000,6,0.000,0.035,3130,2283,1654
$GC,13036,1.20,293.4,516.2,12.7,1019,13039,0.00,2.20,0.00,0.000,4,0.000,0.048,3141,900,1651
$GC,13186,1.20,293.4,497.6,12.3,1026,13189,0.00,2.12,0.00,0.000,6,0.000,0.040,3140,2249,1648
$GC,13510,1.20,293.4,454.7,13.3,1057,13513,0.00,2.33,0.00,0.000,4,0.000,0.053,3141,3693,1648
$GC,13601,1.20,293.4,441.1,14.7,1065,13605,0.15,2.25,0.00,0.000,6,0.180,0.035,3114,2242,1648
$GC,13916,1.24,331.5,406.3,9.7,1095,13961,0.00,2.45,35.40,0.927,4,0.000,0.054,3113,3687,1502
$GC,14094,1.24,331.5,385.8,12.0,1111,14100,0.00,2.33,0.00,0.000,6,0.000,0.035,3123,2207,1500
$GC,14412,1.24,331.5,351.6,11.0,1142,14415,0.00,2.08,0.00,0.000,4,0.000,0.048,3133,891,1498
$GC,14557,1.24,331.5,335.0,11.1,1155,14562,0.00,2.05,0.00,0.000,6,0.000,0.044,3133,2191,1496
$GC,14874,1.25,340.5,299.6,10.7,1186,14886,0.00,2.12,8.73,0.785,4,0.000,0.048,3143,897,1464
$GC,14972,1.25,340.5,288.8,12.0,1204,14979,0.00,2.10,0.00,0.000,6,0.000,0.040,3143,2231,1463
$GC,15301,1.25,340.5,252.3,11.0,1265,15306,0.00,2.33,0.00,0.000,4,0.000,0.051,3143,3688,1463
$GC,15322,1.28,360.2,249.9,10.3,1269,15347,0.00,2.33,18.40,0.810,6,0.000,0.034,3154,2177,1385
$GC,15669,1.29,366.0,213.9,10.8,1333,15680,0.00,2.03,6.43,0.653,4,0.000,0.051,3163,885,1361
$GC,15800,1.29,366.9,199.6,11.0,1357,15806,0.00,2.12,0.00,0.000,6,0.000,0.042,3163,2244,1359
$GC,16127,1.29,366.9,158.1,13.4,1418,16132,0.00,2.12,0.00,0.000,4,0.000,0.045,3173,896,1360
$GC,16240,1.29,366.9,144.2,11.4,1439,16246,0.00,2.05,0.00,0.000,6,0.000,0.043,3173,2205,1360
$GC,16567,1.32,394.9,106.3,10.1,1500,16599,0.00,2.08,25.75,0.695,4,0.000,0.045,3182,896,1244
$GC,16719,1.41,464.7,91.1,8.6,1527,16783,0.00,2.08,59.50,0.690,6,0.000,0.036,3182,2229,958
$GC,17107,1.45,499.5,48.1,9.8,1597,17144,0.00,2.17,29.23,0.637,4,0.000,0.050,3192,894,816
$GC,17230,1.45,499.5,34.4,13.2,1619,17236,0.00,2.08,0.00,0.000,6,0.000,0.035,3192,2234,815
$STATE,17505,end climb,SURFACE_DEPTH_REACHED
$STATE,17505,begin surface coast
$FINISH,1.7,1.009575
$STATE,17538,end surface coast,CONTROL_FINISHED_OK
$STATE,17538,begin surface
$SM_CCo,17616,0.00,0.000,0,0,812,500.90
$SM_GC,2.53,7.80,0.00,0.00,0.036,0.000,0.000,148,2302,812,-7.95,0.48,500.90
$IRIDIUM_FIX,2510.35,12431.00,081198,151531
$TT8_MAMPS,0.047554
$HUMID,1702
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.70
$XPDR_PINGS,890
$24V_AH,22.9,107.538
$10V_AH,10.4,72.120
$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,19.275,173.825,617.925,0.000,0.000,57.787,63.289,294.164,230.500,0.000,0.000,15.105,0.000,12711.906,734.446,3888.333,893.665,0.000,2252.491,0.000,3277.958,0.000,53.984,0.000
$DEVICE_MAMPS,227.799,91.273,1362.959,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.192,1154.091,1412.783,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94843,1677
$CAP_FILE_SIZE,178400,0
$CFSIZE,260165632,214962176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.067, 93.5,1
$GPS,140809,202144,2518.850,12514.874,37,2.4,56,-3.9