version: 66.04
glider: 165
mission: 2
dive: 483
start: 8 14 109 20 30 9
data:
$ID,165
$MISSION,2
$DIVE,483
$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,-127929.85
$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,41
$R_STBD_OVSHOOT,42
$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
$GPS1,202144,2518.850,12514.874,37,2.4,56,-3.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-70.1
$GPS2,203004,2518.934,12514.950,15,3.0,34,-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,269.2,75501,-16.0,-11.000
$D_GRID,1962
$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,-43.25,0.000,2,0.000,0.000,148,2303,1894
$GC,64,-1.10,-219.0,3.3,-3.3,7,130,8.82,2.30,-52.40,0.000,4,0.218,0.053,2362,881,3749
$GC,162,-1.10,-219.0,15.6,-18.2,23,169,0.00,2.17,0.00,0.000,6,0.000,0.040,2356,2275,3750
$GC,490,-1.10,-219.0,74.9,-16.3,84,496,0.00,2.22,0.00,0.000,4,0.000,0.051,2346,3692,3751
$GC,507,-1.10,-219.0,77.3,-14.7,87,514,0.00,2.12,0.00,0.000,6,0.000,0.031,2346,2258,3751
$GC,835,-1.10,-219.0,125.9,-11.9,148,841,0.00,2.10,0.00,0.000,4,0.000,0.040,2346,906,3752
$GC,857,-1.10,-219.0,128.7,-12.3,152,863,0.12,2.17,0.00,0.000,6,0.156,0.038,2376,2315,3752
$GC,1184,-1.10,-219.0,173.1,-14.0,213,1190,0.00,2.22,0.00,0.000,4,0.000,0.040,2376,898,3752
$GC,1255,-1.10,-219.0,183.0,-14.1,226,1261,0.00,2.12,0.00,0.000,6,0.000,0.038,2373,2282,3752
$GC,1582,-1.10,-219.0,219.5,-11.0,287,1588,0.00,2.12,0.00,0.000,4,0.000,0.041,2372,906,3753
$GC,1648,-1.10,-219.0,227.7,-13.2,299,1654,0.00,2.05,0.00,0.000,6,0.000,0.040,2372,2231,3753
$GC,1976,-1.10,-219.0,269.1,-12.0,360,1981,0.00,2.08,0.00,0.000,4,0.000,0.045,2372,907,3753
$GC,2040,-1.10,-219.0,276.9,-12.2,372,2045,0.00,2.05,0.00,0.000,6,0.000,0.045,2372,2202,3753
$GC,2363,-1.10,-219.0,313.4,-12.0,422,2366,0.00,2.03,0.00,0.000,4,0.000,0.046,2372,906,3753
$GC,2416,-1.10,-219.0,320.1,-12.5,427,2419,0.00,1.98,0.00,0.000,6,0.000,0.041,2372,2182,3753
$GC,2737,-1.10,-219.0,358.2,-11.1,458,2740,0.00,2.00,0.00,0.000,4,0.000,0.048,2372,907,3752
$GC,2779,-1.10,-219.0,363.3,-12.2,462,2782,0.00,1.98,0.00,0.000,6,0.000,0.044,2372,2155,3753
$GC,3103,-1.10,-219.0,397.0,-10.3,493,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2155,3752
$GC,3413,-1.10,-219.0,432.1,-11.0,523,3416,0.00,1.95,0.00,0.000,4,0.000,0.047,2372,908,3751
$GC,3461,-1.10,-219.0,438.2,-12.4,527,3468,0.00,1.95,0.00,0.000,6,0.000,0.046,2372,2120,3750
$GC,3779,-1.10,-219.0,472.8,-10.3,558,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2120,3749
$GC,4088,-1.10,-219.0,504.5,-10.5,586,4092,0.00,1.95,0.00,0.000,4,0.000,0.050,2372,907,3748
$GC,4153,-1.10,-219.0,511.8,-11.3,589,4156,0.00,1.90,0.00,0.000,6,0.000,0.044,2372,2119,3747
$GC,4479,-1.10,-219.0,548.8,-11.9,605,4483,0.00,2.53,0.00,0.000,4,0.000,0.060,2372,3685,3744
$GC,4548,-1.10,-219.0,557.1,-11.6,608,4551,0.00,2.33,0.00,0.000,6,0.000,0.034,2372,2152,3744
$GC,4865,-1.10,-219.0,590.7,-10.5,624,4866,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2147,3743
$GC,5169,-1.10,-219.0,620.9,-9.7,639,5172,0.00,1.95,0.00,0.000,4,0.000,0.049,2372,906,3740
$GC,5213,-1.10,-219.0,625.4,-10.8,641,5216,0.00,1.92,0.00,0.000,6,0.000,0.046,2372,2128,3740
$GC,5539,-1.10,-219.0,661.2,-11.4,657,5543,0.00,2.53,0.00,0.000,4,0.000,0.061,2372,3683,3737
$GC,5576,-1.10,-219.0,665.8,-12.5,659,5579,0.00,2.38,0.00,0.000,6,0.000,0.035,2372,2130,3737
$GC,5904,-1.10,-219.0,700.8,-10.0,675,5908,0.00,2.55,0.00,0.000,4,0.000,0.060,2373,3688,3735
$GC,5936,-1.10,-219.0,704.4,-10.6,676,5941,0.00,2.38,0.00,0.000,6,0.000,0.039,2372,2149,3735
$GC,6246,-1.10,-219.0,733.6,-9.3,692,6250,0.00,2.50,0.00,0.000,4,0.000,0.060,2372,3679,3733
$GC,6268,-1.10,-219.0,735.6,-9.6,693,6271,0.00,2.33,0.00,0.000,6,0.000,0.035,2372,2156,3732
$GC,6589,-1.10,-219.0,766.0,-9.8,709,6592,0.00,1.98,0.00,0.000,4,0.000,0.049,2372,900,3730
$GC,6620,-1.10,-219.0,769.4,-10.4,710,6623,0.00,1.95,0.00,0.000,6,0.000,0.046,2372,2132,3730
$GC,6937,-1.10,-219.0,803.8,-11.5,726,6940,0.00,2.53,0.00,0.000,4,0.000,0.062,2372,3677,3728
$GC,7000,-1.10,-219.0,811.4,-11.7,729,7004,0.00,2.35,0.00,0.000,6,0.000,0.035,2372,2148,3727
$GC,7321,-1.10,-219.0,848.4,-11.2,745,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2143,3725
$GC,7628,-1.10,-219.0,880.6,-10.1,760,7631,0.00,2.53,0.00,0.000,4,0.000,0.063,2372,3674,3723
$GC,7675,-1.10,-219.0,885.7,-11.0,762,7678,0.00,2.33,0.00,0.000,6,0.000,0.035,2372,2163,3722
$GC,7992,-1.10,-219.0,916.0,-9.8,778,7995,0.00,2.00,0.00,0.000,4,0.000,0.051,2372,900,3721
$GC,8018,-1.10,-219.0,919.0,-11.2,779,8021,0.00,2.03,0.00,0.000,6,0.000,0.048,2372,2161,3721
$GC,8339,-1.10,-219.0,952.2,-10.5,795,8343,0.00,2.50,0.00,0.000,4,0.000,0.064,2372,3679,3719
$GC,8382,-1.10,-219.0,956.9,-10.9,797,8386,0.00,2.33,0.00,0.000,6,0.000,0.036,2372,2173,3718
$STATE,8695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8695,begin apogee
$GC,8701,-0.26,0.0,991.2,10.5,813,8886,0.82,0.00,181.73,1.365,6,0.110,0.000,2646,2301,2854
$STATE,8886,end apogee,CONTROL_FINISHED_OK
$STATE,8886,begin climb
$GC,8889,1.10,219.0,1005.2,0.0,822,9081,1.20,0.00,188.25,1.328,6,0.051,0.000,3094,2300,1961
$GC,9382,1.10,219.0,962.8,12.4,846,9385,0.00,2.28,0.00,0.000,4,0.000,0.062,3094,3694,1952
$GC,9467,1.10,219.0,951.8,12.7,850,9471,0.00,2.12,0.00,0.000,6,0.000,0.038,3104,2331,1952
$GC,9794,1.10,219.0,910.4,12.9,866,9797,0.00,2.30,0.00,0.000,4,0.000,0.051,3115,888,1951
$GC,9873,1.10,219.0,900.1,13.6,869,9879,0.00,2.22,0.00,0.000,6,0.000,0.045,3115,2287,1949
$GC,10184,1.10,219.0,858.9,13.3,885,10187,0.00,2.25,0.00,0.000,4,0.000,0.058,3115,3689,1949
$GC,10285,1.10,219.0,844.7,14.0,889,10291,0.15,2.22,0.00,0.000,6,0.190,0.038,3089,2255,1948
$GC,10595,1.10,219.0,808.0,11.4,905,10598,0.00,2.17,0.00,0.000,4,0.000,0.051,3098,887,1948
$GC,10681,1.10,219.0,797.8,11.7,909,10684,0.00,2.15,0.00,0.000,6,0.000,0.043,3098,2244,1947
$GC,11007,1.10,219.0,759.4,11.5,925,11011,0.00,2.33,0.00,0.000,4,0.000,0.056,3098,3682,1946
$GC,11077,1.10,219.0,751.3,12.3,928,11081,0.00,2.22,0.00,0.000,6,0.000,0.038,3109,2248,1946
$GC,11393,1.10,219.0,715.9,11.2,944,11396,0.00,2.35,0.00,0.000,4,0.000,0.056,3109,3683,1946
$GC,11467,1.10,219.0,706.7,12.3,947,11471,0.05,2.20,0.00,0.000,6,0.195,0.038,3091,2285,1946
$GC,11783,1.10,219.0,671.0,11.4,963,11787,0.00,2.20,0.00,0.000,4,0.000,0.049,3099,898,1945
$GC,11874,1.10,219.0,660.2,11.0,967,11877,0.00,2.15,0.00,0.000,6,0.000,0.042,3099,2259,1944
$GC,12195,1.14,247.2,624.6,10.0,983,12230,0.00,2.35,25.58,1.049,4,0.000,0.056,3100,3688,1845
$GC,12364,1.14,247.2,605.0,11.7,990,12367,0.00,2.17,0.00,0.000,6,0.000,0.037,3110,2291,1843
$GC,12685,1.17,270.2,570.7,10.2,1006,12711,0.00,2.25,21.55,1.071,4,0.000,0.048,3120,897,1751
$GC,12770,1.17,270.2,561.6,11.5,1010,12773,0.00,2.22,0.00,0.000,6,0.000,0.041,3120,2292,1747
$GC,13090,1.17,270.2,522.6,12.0,1026,13093,0.00,2.25,0.00,0.000,4,0.000,0.054,3120,3690,1746
$GC,13225,1.17,270.2,505.5,13.0,1032,13228,0.00,2.15,0.00,0.000,6,0.000,0.036,3130,2300,1746
$GC,13542,1.17,275.5,468.4,10.8,1060,13553,0.00,0.00,5.38,0.785,6,0.000,0.000,3131,2300,1729
$GC,13865,1.17,275.5,431.4,11.2,1091,13868,0.00,2.22,0.00,0.000,4,0.000,0.048,3141,891,1728
$GC,13972,1.17,275.5,418.4,12.9,1101,13976,0.12,2.30,0.00,0.000,6,0.172,0.041,3110,2340,1727
$GC,14288,1.19,287.2,385.2,10.6,1131,14303,0.00,2.15,11.80,0.895,4,0.000,0.054,3110,3687,1683
$GC,14394,1.20,293.2,373.4,10.8,1140,14404,0.00,2.10,6.95,0.792,6,0.000,0.041,3119,2337,1657
$GC,14722,1.24,329.3,340.2,9.8,1172,14759,0.00,2.33,33.03,0.910,4,0.000,0.047,3130,895,1510
$GC,14825,1.24,329.3,329.1,12.1,1181,14829,0.00,2.28,0.00,0.000,6,0.000,0.039,3130,2323,1507
$GC,15142,1.24,329.3,292.7,12.1,1216,15149,0.00,2.30,0.00,0.000,4,0.000,0.048,3141,898,1506
$GC,15170,1.24,332.2,289.5,10.9,1221,15176,0.00,2.15,0.00,0.000,6,0.000,0.038,3141,2270,1505
$GC,15496,1.37,430.9,256.1,7.7,1282,15588,0.00,2.33,86.85,0.841,4,0.000,0.047,3151,894,1096
$GC,15655,1.38,440.2,241.5,10.7,1309,15671,0.00,2.17,8.95,0.707,6,0.000,0.038,3150,2268,1059
$GC,15992,1.38,446.3,201.0,10.8,1372,16005,0.00,2.20,6.65,0.640,4,0.000,0.044,3160,894,1033
$GC,16011,1.38,446.3,198.7,11.4,1375,16016,0.00,2.05,0.00,0.000,6,0.000,0.035,3161,2219,1033
$GC,16337,1.38,446.3,156.8,13.0,1436,16344,0.00,2.35,0.00,0.000,4,0.000,0.055,3160,3686,1033
$GC,16387,1.38,446.3,150.4,12.3,1445,16392,0.00,2.22,0.00,0.000,6,0.000,0.033,3171,2235,1033
$GC,16713,1.46,504.1,111.8,9.1,1506,16769,0.00,2.15,49.72,0.709,4,0.000,0.045,3180,889,797
$GC,16940,1.49,533.5,85.4,10.0,1547,16971,0.00,2.05,26.83,0.668,6,0.000,0.036,3180,2193,678
$GC,17295,1.52,554.4,44.9,10.3,1612,17333,0.10,2.08,22.02,0.581,4,0.074,0.044,3247,885,590
$GC,17365,1.52,554.4,36.3,11.4,1624,17372,0.00,2.03,0.00,0.000,6,0.000,0.036,3247,2203,587
$STATE,17626,end climb,SURFACE_DEPTH_REACHED
$STATE,17626,begin surface coast
$FINISH,1.9,1.008534
$STATE,17647,end surface coast,CONTROL_FINISHED_OK
$STATE,17647,begin surface
$SM_CCo,17726,0.00,0.000,0,0,582,557.32
$SM_GC,2.59,7.93,0.00,0.00,0.036,0.000,0.000,154,2322,582,-7.93,1.05,557.32
$IRIDIUM_FIX,2512.73,12437.64,081198,151536
$TT8_MAMPS,0.049088
$HUMID,1715
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.50
$XPDR_PINGS,882
$24V_AH,22.9,107.793
$10V_AH,10.4,72.259
$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,19.325,171.725,675.275,0.000,0.000,27.752,36.322,245.245,228.500,0.000,0.000,37.361,0.000,12759.815,775.732,3864.365,789.841,0.000,2286.137,0.000,3243.609,0.000,56.236,0.000
$DEVICE_MAMPS,217.828,69.030,1365.260,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.537,1143.506,1382.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94598,1677
$CAP_FILE_SIZE,176475,0
$CFSIZE,260165632,214863872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.181, 87.1,1
$GPS,150809,012637,2518.797,12514.903,38,1.2,38,-3.9