version: 66.04
glider: 165
mission: 2
dive: 532
start: 8 24 109 1 10 2
data:
$ID,165
$MISSION,2
$DIVE,532
$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,-4
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-131464.31
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,32
$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,3
$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
$GPS1,010230,2500.172,12258.248,36,1.3,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.7
$GPS2,010956,2500.396,12258.633,14,1.2,14,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,267.6,72397,-16.0,-11.000
$D_GRID,1561
$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,-0.91,-219.0,0.0,0.0,0,70,0.00,0.00,-52.28,0.000,2,0.000,0.000,141,2258,1802
$GC,73,-0.91,-219.0,3.2,-3.5,8,143,9.32,2.22,-53.45,0.000,4,0.219,0.058,2479,885,3749
$GC,255,-0.48,-219.0,52.6,-31.3,40,262,0.52,2.20,0.00,0.000,6,0.146,0.040,2625,2291,3750
$GC,583,-0.48,-219.0,102.8,-9.8,101,590,0.00,2.20,0.00,0.000,4,0.000,0.043,2626,878,3752
$GC,650,-0.60,-219.0,109.0,-9.4,113,657,0.08,2.20,0.00,0.000,6,0.050,0.039,2557,2273,3753
$GC,979,-0.54,-219.0,155.6,-14.0,174,986,0.17,2.20,0.00,0.000,4,0.124,0.044,2617,876,3754
$GC,1024,-0.75,-219.0,160.2,-9.0,182,1030,0.22,2.17,0.00,0.000,6,0.044,0.041,2491,2284,3754
$GC,1352,-0.55,-219.0,212.8,-18.2,243,1358,0.32,2.25,0.00,0.000,4,0.129,0.055,2589,3685,3755
$GC,1401,-0.78,-219.0,218.1,-6.9,252,1407,0.17,2.17,0.00,0.000,6,0.048,0.032,2479,2242,3755
$GC,1728,-0.60,-219.0,271.5,-15.6,313,1735,0.30,2.12,0.00,0.000,4,0.123,0.047,2579,888,3755
$GC,1822,-0.81,-219.0,280.5,-8.1,330,1828,0.17,2.10,0.00,0.000,6,0.050,0.043,2472,2227,3755
$GC,2143,-0.63,-219.0,328.9,-14.8,373,2147,0.30,2.35,0.00,0.000,4,0.129,0.056,2563,3683,3755
$GC,2170,-0.67,-219.0,331.9,-9.7,375,2173,0.00,2.20,0.00,0.000,6,0.000,0.032,2563,2232,3755
$GC,2494,-0.82,-219.0,351.9,-7.3,406,2498,0.12,2.12,0.00,0.000,4,0.062,0.052,2481,887,3754
$GC,2568,-0.75,-219.0,362.1,-14.6,412,2575,0.20,2.12,0.00,0.000,6,0.126,0.048,2540,2225,3753
$GC,2885,-0.83,-219.0,399.7,-12.6,443,2889,0.00,2.35,0.00,0.000,4,0.000,0.058,2537,3680,3751
$GC,2927,-0.98,-219.0,404.9,-11.6,447,2931,0.20,2.20,0.00,0.000,6,0.048,0.034,2435,2225,3750
$GC,3249,-0.74,-219.0,471.9,-20.5,478,3253,0.30,2.10,0.00,0.000,4,0.133,0.048,2534,898,3748
$GC,3308,-0.87,-219.0,479.5,-9.8,483,3311,0.00,2.10,0.00,0.000,6,0.000,0.044,2534,2224,3748
$GC,3631,-0.96,-219.0,507.2,-7.9,510,3635,0.17,2.40,0.00,0.000,4,0.053,0.064,2442,3685,3745
$GC,3673,-0.84,-219.0,512.4,-12.2,512,3677,0.22,2.22,0.00,0.000,6,0.127,0.035,2510,2237,3744
$GC,3990,-0.84,-219.0,540.4,-8.7,528,3993,0.00,2.15,0.00,0.000,4,0.000,0.049,2510,874,3743
$GC,4060,-0.91,-219.0,546.6,-9.1,531,4063,0.00,2.12,0.00,0.000,6,0.000,0.044,2510,2222,3742
$GC,4381,-0.91,-219.0,578.8,-10.0,547,4384,0.00,2.15,0.00,0.000,4,0.000,0.048,2510,875,3739
$GC,4419,-0.99,-219.0,582.6,-10.2,548,4424,0.15,2.12,0.00,0.000,6,0.058,0.050,2437,2205,3739
$GC,4729,-0.81,-219.0,630.8,-16.3,564,4733,0.22,2.42,0.00,0.000,4,0.142,0.060,2507,3682,3736
$GC,4777,-0.91,-219.0,636.8,-10.2,566,4780,0.00,2.28,0.00,0.000,6,0.000,0.035,2507,2203,3736
$GC,5088,-0.96,-219.0,666.7,-9.5,581,5092,0.10,2.45,0.00,0.000,4,0.071,0.058,2442,3686,3734
$GC,5126,-0.88,-219.0,671.4,-13.2,583,5130,0.20,2.28,0.00,0.000,6,0.127,0.035,2501,2217,3733
$GC,5450,-0.91,-219.0,705.6,-10.3,599,5453,0.00,2.12,0.00,0.000,4,0.000,0.051,2502,878,3732
$GC,5498,-1.00,-219.0,710.9,-10.0,601,5502,0.12,2.12,0.00,0.000,6,0.063,0.045,2437,2219,3731
$GC,5815,-0.84,-219.0,759.4,-15.4,617,5818,0.22,2.40,0.00,0.000,4,0.143,0.061,2507,3674,3728
$GC,5846,-0.89,-219.0,763.3,-10.7,618,5852,0.00,2.30,0.00,0.000,6,0.000,0.040,2507,2202,3728
$GC,6157,-0.96,-219.0,792.2,-9.4,634,6161,0.10,2.10,0.00,0.000,4,0.071,0.050,2450,883,3726
$GC,6211,-0.90,-219.0,799.0,-14.5,636,6217,0.15,2.15,0.00,0.000,6,0.139,0.047,2491,2215,3726
$GC,6521,-0.90,-219.0,833.5,-11.0,652,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2215,3724
$GC,6827,-0.90,-219.0,867.3,-10.6,667,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2215,3722
$GC,7133,-0.93,-219.0,900.3,-11.0,682,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2215,3721
$GC,7437,-0.97,-219.0,931.4,-9.8,697,7441,0.00,2.45,0.00,0.000,4,0.000,0.067,2491,3682,3719
$GC,7486,-1.08,-219.0,935.9,-9.0,699,7490,0.17,2.28,0.00,0.000,6,0.054,0.038,2411,2222,3719
$GC,7796,-0.87,-219.0,984.6,-15.6,714,7798,0.30,0.00,0.00,0.000,6,0.140,0.000,2501,2217,3717
$STATE,7854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7854,begin apogee
$GC,7862,-0.20,0.0,990.8,11.5,717,8045,0.65,0.00,180.77,1.360,6,0.107,0.000,2718,2309,2854
$STATE,8045,end apogee,CONTROL_FINISHED_OK
$STATE,8045,begin climb
$GC,8048,0.91,219.0,996.7,0.0,726,8248,0.95,2.47,188.27,1.319,4,0.042,0.055,3100,905,1959
$GC,8323,0.55,219.0,964.2,22.1,739,8327,0.50,2.25,0.00,0.000,6,0.168,0.045,2962,2293,1953
$GC,8644,0.45,219.0,915.1,14.9,755,8648,0.12,2.28,0.00,0.000,4,0.163,0.058,2927,3686,1950
$GC,8889,0.38,219.0,879.8,14.7,766,8895,0.12,2.15,0.00,0.000,6,0.160,0.038,2903,2317,1949
$GC,9200,0.45,236.7,846.3,10.4,782,9228,0.00,2.33,17.10,1.062,4,0.000,0.057,2902,3688,1888
$GC,9300,0.45,236.7,835.2,11.3,786,9305,0.00,2.12,0.00,0.000,6,0.000,0.038,2911,2332,1886
$GC,9611,0.52,257.6,802.0,10.3,802,9632,0.10,0.00,19.83,1.190,6,0.075,0.000,2966,2326,1803
$GC,9937,0.44,257.6,761.3,12.6,818,9938,0.15,0.00,0.00,0.000,6,0.147,0.000,2924,2326,1799
$GC,10241,0.54,339.1,735.4,8.3,833,10326,0.00,2.38,75.25,1.170,4,0.000,0.057,2924,3693,1471
$GC,10393,0.63,346.1,721.8,10.8,840,10407,0.15,2.15,7.47,0.960,6,0.059,0.036,3008,2335,1442
$GC,10721,0.51,346.1,668.9,17.0,856,10725,0.20,2.22,0.00,0.000,4,0.146,0.053,2945,3697,1439
$GC,10765,0.51,346.1,662.2,13.7,858,10768,0.00,2.10,0.00,0.000,6,0.000,0.035,2953,2348,1439
$GC,11086,0.51,346.1,621.1,12.6,874,11089,0.00,2.17,0.00,0.000,4,0.000,0.054,2953,3688,1438
$GC,11133,0.51,346.1,614.7,14.2,876,11136,0.00,2.08,0.00,0.000,6,0.000,0.035,2961,2349,1438
$GC,11456,0.51,346.1,573.1,12.7,892,11459,0.00,2.33,0.00,0.000,4,0.000,0.048,2971,889,1438
$GC,11493,0.56,346.9,568.7,11.0,894,11496,0.00,2.33,0.00,0.000,6,0.000,0.039,2971,2358,1435
$GC,11814,0.56,346.9,530.4,11.8,910,11815,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2358,1435
$GC,12120,0.59,366.8,498.1,10.3,925,12143,0.00,2.22,18.52,1.012,4,0.000,0.055,2971,3687,1358
$GC,12201,0.59,371.9,489.1,10.8,932,12211,0.00,2.12,6.30,0.824,6,0.000,0.038,2979,2333,1336
$GC,12523,0.59,371.9,446.1,15.1,963,12526,0.00,2.22,0.00,0.000,4,0.000,0.053,2980,3700,1334
$GC,12576,0.59,371.9,437.4,16.7,968,12579,0.00,2.10,0.00,0.000,6,0.000,0.036,2987,2350,1334
$GC,12897,0.59,371.9,386.0,14.8,999,12900,0.00,2.17,0.00,0.000,4,0.000,0.053,2988,3696,1334
$GC,12934,0.59,371.9,380.2,16.0,1002,12939,0.00,2.10,0.00,0.000,6,0.000,0.038,2996,2353,1334
$GC,13253,0.59,371.9,335.1,13.7,1033,13256,0.00,2.33,0.00,0.000,4,0.000,0.047,3007,885,1334
$GC,13302,0.59,371.9,328.1,13.2,1037,13306,0.12,2.33,0.00,0.000,6,0.131,0.037,2974,2361,1332
$GC,13619,0.82,483.9,296.3,7.2,1070,13722,0.17,2.20,96.97,0.881,4,0.061,0.052,3059,3699,881
$GC,13775,0.78,483.9,266.5,20.8,1097,13782,0.12,2.12,0.00,0.000,6,0.156,0.036,3034,2357,877
$GC,14103,0.78,483.9,211.4,17.3,1158,14109,0.00,2.35,0.00,0.000,4,0.000,0.049,3045,888,876
$GC,14184,0.84,483.9,198.3,13.5,1173,14191,0.00,2.28,0.00,0.000,6,0.000,0.037,3045,2341,876
$GC,14513,0.88,483.9,152.1,14.0,1234,14518,0.00,2.15,0.00,0.000,4,0.000,0.055,3045,3683,875
$GC,14589,0.92,483.9,140.4,15.1,1248,14595,0.00,2.08,0.00,0.000,6,0.000,0.041,3053,2345,875
$GC,14917,1.10,513.0,103.9,10.0,1309,14950,0.17,2.35,24.90,0.705,4,0.052,0.050,3161,897,761
$GC,15067,1.03,513.0,78.5,18.7,1336,15074,0.17,2.25,0.00,0.000,6,0.128,0.037,3110,2338,759
$GC,15397,1.18,554.6,42.1,9.6,1397,15442,0.15,0.00,39.97,0.646,6,0.057,0.000,3192,2338,589
$STATE,15653,end climb,SURFACE_DEPTH_REACHED
$STATE,15653,begin surface coast
$FINISH,1.9,1.016757
$STATE,15674,end surface coast,CONTROL_FINISHED_OK
$STATE,15674,begin surface
$SM_CCo,15753,0.00,0.000,0,0,575,559.04
$SM_GC,2.57,7.80,0.00,0.00,0.035,0.000,0.000,165,2254,575,-8.09,-0.88,559.04
$IRIDIUM_FIX,2451.31,12258.54,171198,202009
$TT8_MAMPS,0.049088
$HUMID,1744
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.60
$XPDR_PINGS,678
$24V_AH,22.9,119.106
$10V_AH,10.3,77.987
$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,26.250,146.875,675.375,0.000,0.000,28.831,31.794,216.880,177.500,0.000,0.000,16.392,0.000,11335.382,762.510,3323.743,743.099,0.000,2083.188,0.000,2774.242,0.000,53.985,0.000
$DEVICE_MAMPS,219.362,77.467,1359.891,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,978.448,998.241,1193.313,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82017,1448
$CAP_FILE_SIZE,167748,0
$CFSIZE,260165632,211165184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.436, 56.1,1
$GPS,240809,053337,2502.094,12259.227,39,1.2,39,-3.6