version: 66.04
glider: 165
mission: 2
dive: 484
start: 8 15 109 1 40 37
data:
$ID,165
$MISSION,2
$DIVE,484
$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,581.11566
$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,-127943.27
$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,62
$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
$GPS1,012637,2518.797,12514.903,38,1.2,38,-3.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-69.0
$GPS2,014032,2518.786,12515.104,11,1.4,11,-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,269.4,75724,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-1.10,-219.0,0.0,0.0,0,72,0.00,0.00,-56.83,0.000,2,0.000,0.000,153,2319,2006
$GC,76,-1.10,-219.0,3.4,-4.0,9,139,8.90,2.25,-48.75,0.000,4,0.221,0.051,2369,880,3748
$GC,172,-1.10,-219.0,15.8,-18.5,25,177,0.00,2.15,0.00,0.000,6,0.000,0.040,2361,2266,3748
$GC,498,-1.10,-219.0,72.6,-15.9,86,503,0.00,2.15,0.00,0.000,4,0.000,0.041,2360,881,3748
$GC,536,-1.10,-219.0,79.1,-17.2,93,542,0.00,2.15,0.00,0.000,6,0.000,0.040,2356,2272,3748
$GC,863,-1.10,-219.0,124.5,-11.7,154,868,0.00,2.17,0.00,0.000,4,0.000,0.041,2356,869,3749
$GC,896,-1.10,-219.0,128.8,-13.2,160,902,0.00,2.15,0.00,0.000,6,0.000,0.039,2356,2241,3749
$GC,1224,-1.10,-219.0,169.7,-12.1,221,1230,0.00,2.12,0.00,0.000,4,0.000,0.042,2356,870,3749
$GC,1262,-1.10,-219.0,174.3,-12.2,228,1267,0.00,2.08,0.00,0.000,6,0.000,0.041,2356,2220,3750
$GC,1589,-1.10,-219.0,215.7,-12.9,289,1595,0.00,2.08,0.00,0.000,4,0.000,0.043,2356,881,3749
$GC,1653,-1.10,-219.0,224.6,-13.5,301,1660,0.00,2.03,0.00,0.000,6,0.000,0.041,2356,2191,3749
$GC,1981,-1.10,-219.0,264.5,-13.3,362,1987,0.00,2.05,0.00,0.000,4,0.000,0.044,2356,881,3749
$GC,2008,-1.10,-219.0,268.2,-14.2,367,2015,0.00,2.03,0.00,0.000,6,0.000,0.041,2356,2189,3749
$GC,2333,-1.10,-219.0,309.1,-11.6,421,2336,0.00,2.05,0.00,0.000,4,0.000,0.044,2356,874,3749
$GC,2370,-1.10,-219.0,313.7,-13.0,424,2376,0.00,2.08,0.00,0.000,6,0.000,0.043,2356,2177,3749
$GC,2689,-1.10,-219.0,348.6,-10.6,455,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2177,3749
$GC,2999,-1.10,-219.0,383.0,-10.7,485,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2177,3749
$GC,3309,-1.10,-219.0,413.8,-10.0,515,3312,0.00,2.03,0.00,0.000,4,0.000,0.048,2356,884,3747
$GC,3367,-1.10,-219.0,420.8,-12.0,520,3373,0.00,2.03,0.00,0.000,6,0.000,0.044,2356,2155,3747
$GC,3683,-1.10,-219.0,458.9,-11.3,551,3686,0.00,2.00,0.00,0.000,4,0.000,0.046,2356,881,3745
$GC,3709,-1.10,-219.0,462.1,-12.8,553,3715,0.00,2.00,0.00,0.000,6,0.000,0.044,2356,2131,3745
$GC,4028,-1.10,-219.0,497.3,-10.7,584,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2131,3743
$GC,4341,-1.10,-219.0,529.9,-10.2,601,4344,0.00,1.98,0.00,0.000,4,0.000,0.048,2356,880,3741
$GC,4399,-1.10,-219.0,535.6,-9.6,603,4406,0.00,1.98,0.00,0.000,6,0.000,0.051,2356,2130,3740
$GC,4711,-1.10,-219.0,564.6,-10.0,619,4714,0.00,2.50,0.00,0.000,4,0.000,0.060,2356,3677,3738
$GC,4769,-1.10,-219.0,571.1,-11.2,622,4772,0.00,2.35,0.00,0.000,6,0.000,0.035,2356,2126,3738
$GC,5095,-1.10,-219.0,607.5,-11.0,638,5099,0.00,2.53,0.00,0.000,4,0.000,0.059,2356,3677,3736
$GC,5128,-1.10,-219.0,611.0,-11.5,639,5134,0.00,2.38,0.00,0.000,6,0.000,0.038,2356,2123,3735
$GC,5438,-1.10,-219.0,645.2,-10.8,655,5441,0.00,1.95,0.00,0.000,4,0.000,0.048,2356,879,3733
$GC,5485,-1.10,-219.0,650.9,-12.1,657,5489,0.00,1.98,0.00,0.000,6,0.000,0.045,2356,2111,3732
$GC,5807,-1.10,-219.0,685.7,-10.9,673,5811,0.00,2.55,0.00,0.000,4,0.000,0.059,2356,3686,3730
$GC,5887,-1.10,-219.0,694.9,-11.6,676,5893,0.00,2.40,0.00,0.000,6,0.000,0.040,2356,2129,3729
$GC,6199,-1.10,-219.0,726.4,-9.6,692,6202,0.00,1.95,0.00,0.000,4,0.000,0.049,2356,885,3727
$GC,6225,-1.10,-219.0,729.3,-11.0,693,6228,0.00,1.98,0.00,0.000,6,0.000,0.045,2356,2113,3727
$GC,6546,-1.10,-219.0,759.1,-9.4,709,6550,0.00,2.55,0.00,0.000,4,0.000,0.060,2356,3681,3724
$GC,6562,-1.10,-219.0,760.8,-9.6,710,6566,0.00,2.42,0.00,0.000,6,0.000,0.035,2356,2102,3724
$GC,6884,-1.10,-219.0,792.9,-10.0,726,6888,0.00,2.60,0.00,0.000,4,0.000,0.061,2356,3684,3722
$GC,6948,-1.10,-219.0,799.8,-10.8,729,6952,0.00,2.38,0.00,0.000,6,0.000,0.035,2357,2139,3721
$GC,7270,-1.10,-219.0,833.9,-10.8,745,7273,0.00,2.55,0.00,0.000,4,0.000,0.061,2356,3684,3719
$GC,7290,-1.10,-219.0,836.3,-11.2,746,7294,0.00,2.40,0.00,0.000,6,0.000,0.035,2356,2127,3718
$GC,7612,-1.10,-219.0,871.1,-10.8,762,7615,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3686,3717
$GC,7638,-1.10,-219.0,874.3,-11.8,763,7642,0.00,2.38,0.00,0.000,6,0.000,0.035,2356,2143,3717
$GC,7948,-1.10,-219.0,908.6,-11.1,778,7951,0.00,2.00,0.00,0.000,4,0.000,0.051,2356,883,3715
$GC,7975,-1.10,-219.0,911.9,-12.7,779,7978,0.00,2.03,0.00,0.000,6,0.000,0.048,2356,2152,3715
$GC,8297,-1.10,-219.0,946.6,-10.3,795,8301,0.00,2.53,0.00,0.000,4,0.000,0.064,2356,3685,3713
$GC,8371,-1.10,-219.0,955.1,-11.4,798,8377,0.00,2.38,0.00,0.000,6,0.000,0.038,2356,2159,3712
$GC,8682,-1.10,-219.0,986.0,-9.6,814,8685,0.00,2.53,0.00,0.000,4,0.000,0.063,2356,3680,3711
$STATE,8721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8721,begin apogee
$GC,8730,-0.26,0.0,990.3,10.7,816,8913,0.88,0.00,180.18,1.361,6,0.131,0.000,2636,2280,2854
$STATE,8914,end apogee,CONTROL_FINISHED_OK
$STATE,8914,begin climb
$GC,8917,1.10,219.0,1002.1,0.0,825,9114,1.20,2.40,187.68,1.323,4,0.054,0.060,3086,3685,1961
$GC,9173,1.10,219.0,985.9,13.9,837,9176,0.00,2.17,0.00,0.000,6,0.000,0.038,3097,2307,1957
$GC,9494,1.10,219.0,943.2,13.3,853,9497,0.00,2.25,0.00,0.000,4,0.000,0.051,3107,890,1952
$GC,9542,1.10,219.0,937.0,12.3,855,9545,0.00,2.20,0.00,0.000,6,0.000,0.045,3107,2284,1951
$GC,9863,1.10,219.0,895.4,12.5,871,9866,0.00,2.28,0.00,0.000,4,0.000,0.057,3107,3693,1950
$GC,9953,1.10,219.0,882.9,14.1,875,9957,0.12,2.17,0.00,0.000,6,0.191,0.036,3088,2285,1950
$GC,10275,1.10,219.0,843.0,12.4,891,10278,0.00,2.20,0.00,0.000,4,0.000,0.049,3097,900,1949
$GC,10360,1.10,219.0,831.8,13.0,895,10363,0.00,2.15,0.00,0.000,6,0.000,0.042,3097,2273,1948
$GC,10687,1.10,219.0,789.3,13.4,911,10690,0.00,2.28,0.00,0.000,4,0.000,0.056,3097,3685,1947
$GC,10740,1.10,219.0,781.6,14.5,913,10743,0.00,2.17,0.00,0.000,6,0.000,0.037,3108,2279,1947
$GC,11056,1.10,219.0,739.9,13.1,929,11059,0.00,2.20,0.00,0.000,4,0.000,0.050,3118,891,1947
$GC,11179,1.10,219.0,724.6,11.9,934,11185,0.12,2.17,0.00,0.000,6,0.180,0.044,3089,2254,1946
$GC,11489,1.12,230.3,690.5,10.6,950,11502,0.00,2.25,8.80,1.042,4,0.000,0.051,3097,894,1915
$GC,11537,1.12,230.3,685.1,12.1,952,11540,0.00,2.15,0.00,0.000,6,0.000,0.044,3097,2246,1914
$GC,11857,1.13,241.1,650.6,10.6,968,11873,0.00,2.35,11.32,1.062,4,0.000,0.055,3097,3689,1870
$GC,11947,1.13,241.1,639.6,12.3,971,11950,0.00,2.28,0.00,0.000,6,0.000,0.037,3108,2229,1869
$GC,12264,1.13,241.1,600.7,12.6,987,12267,0.00,2.40,0.00,0.000,4,0.000,0.055,3108,3698,1868
$GC,12322,1.13,241.1,592.8,12.5,990,12325,0.00,2.30,0.00,0.000,6,0.000,0.035,3119,2219,1868
$GC,12649,1.14,247.2,555.8,10.8,1006,12659,0.00,2.15,6.60,0.898,4,0.000,0.048,3129,901,1846
$GC,12760,1.14,247.2,543.3,11.5,1011,12764,0.12,2.08,0.00,0.000,6,0.172,0.041,3099,2224,1844
$GC,13076,1.16,267.0,509.7,10.3,1027,13100,0.00,2.42,19.12,1.023,4,0.000,0.054,3099,3688,1764
$GC,13227,1.17,276.0,493.1,10.7,1036,13241,0.00,2.35,9.32,0.922,6,0.000,0.036,3109,2186,1728
$GC,13548,1.17,276.0,456.8,11.7,1067,13551,0.00,2.05,0.00,0.000,4,0.000,0.049,3119,890,1725
$GC,13575,1.17,276.0,453.6,11.3,1069,13580,0.00,2.05,0.00,0.000,6,0.000,0.039,3118,2197,1724
$GC,13892,1.18,278.9,416.5,10.9,1100,13895,0.00,2.08,0.00,0.000,4,0.000,0.048,3128,894,1724
$GC,14010,1.21,307.8,403.9,10.0,1111,14044,0.00,2.12,28.77,0.962,6,0.000,0.039,3128,2249,1598
$GC,14353,1.27,354.8,370.3,9.4,1144,14401,0.00,2.28,41.95,0.934,4,0.000,0.048,3138,895,1406
$GC,14489,1.27,354.8,355.7,11.6,1156,14496,0.00,2.22,0.00,0.000,6,0.000,0.041,3137,2294,1403
$GC,14807,1.27,354.8,317.9,11.8,1187,14810,0.00,2.22,0.00,0.000,4,0.000,0.053,3138,3684,1402
$GC,14828,1.27,354.8,315.0,11.8,1189,14832,0.00,2.20,0.00,0.000,6,0.000,0.035,3149,2260,1402
$GC,15151,1.27,354.8,277.6,11.8,1237,15156,0.00,2.30,0.00,0.000,4,0.000,0.052,3149,3685,1402
$GC,15314,1.27,354.8,256.6,12.6,1267,15319,0.00,2.28,0.00,0.000,6,0.000,0.035,3159,2219,1402
$GC,15640,1.32,394.2,218.5,9.7,1328,15677,0.00,2.17,34.00,0.805,4,0.000,0.047,3169,890,1246
$GC,15731,1.32,394.2,208.6,11.5,1344,15738,0.00,2.12,0.00,0.000,6,0.000,0.042,3170,2234,1244
$GC,16058,1.32,396.1,171.9,10.9,1405,16064,0.00,2.33,0.00,0.000,4,0.000,0.052,3170,3692,1243
$GC,16150,1.32,396.1,160.2,11.7,1422,16156,0.00,2.28,0.00,0.000,6,0.000,0.039,3180,2243,1243
$GC,16478,1.32,396.1,119.9,13.9,1483,16484,0.00,2.10,0.00,0.000,4,0.000,0.044,3190,892,1244
$GC,16559,1.32,396.1,109.1,13.8,1498,16565,0.12,2.10,0.00,0.000,6,0.165,0.042,3160,2240,1242
$GC,16885,1.44,491.8,78.5,7.8,1559,16974,0.00,2.20,81.18,0.683,4,0.000,0.049,3169,888,848
$GC,17215,1.49,532.3,45.3,9.6,1618,17259,0.12,2.17,36.08,0.634,6,0.060,0.038,3240,2274,680
$STATE,17574,end climb,SURFACE_DEPTH_REACHED
$STATE,17574,begin surface coast
$FINISH,1.7,1.001487
$STATE,17594,end surface coast,CONTROL_FINISHED_OK
$STATE,17594,begin surface
$SM_CCo,17611,46.08,0.574,1,0,484,581.12
$SM_GC,2.40,0.00,0.00,46.08,0.000,0.000,0.574,155,2281,484,-8.05,-0.14,581.12
$IRIDIUM_FIX,2507.97,12515.92,091198,010129
$TT8_MAMPS,0.048321
$HUMID,1700
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.70
$XPDR_PINGS,890
$24V_AH,22.9,108.047
$10V_AH,10.4,72.402
$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,19.525,186.225,645.000,46.075,0.000,136.253,293.984,0.000,230.500,0.000,0.000,12.799,0.000,12862.799,803.819,3885.973,911.492,0.000,2335.485,0.000,3279.543,0.000,54.025,0.000
$DEVICE_MAMPS,220.896,63.661,1361.425,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1138.461,1168.278,1429.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94683,1688
$CAP_FILE_SIZE,175938,0
$CFSIZE,260165632,214736896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107, 90.8,1
$GPS,150809,063606,2518.725,12514.523,40,1.4,40,-3.9