version: 66.04
glider: 165
mission: 2
dive: 537
start: 8 25 109 0 40 50
data:
$ID,165
$MISSION,2
$DIVE,537
$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,-131535.64
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,003306,2506.292,12303.237,27,1.0,27,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-72.8
$GPS2,004044,2506.546,12303.454,12,1.1,12,-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,256.6,72840,-16.0,-11.000
$D_GRID,1597
$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,17,-0.91,-219.0,0.0,0.0,0,64,0.00,0.00,-45.65,0.000,2,0.000,0.000,143,2280,1848
$GC,68,-0.91,-219.0,3.4,-4.0,7,131,9.48,2.33,-49.47,0.000,4,0.226,0.062,2470,3686,3750
$GC,298,-0.56,-219.0,67.1,-28.1,48,304,0.43,2.17,0.00,0.000,6,0.127,0.033,2600,2259,3751
$GC,625,-0.56,-219.0,117.1,-8.6,109,632,0.00,2.12,0.00,0.000,4,0.000,0.041,2600,874,3753
$GC,714,-0.70,-219.0,123.0,-6.4,125,721,0.12,2.17,0.00,0.000,6,0.058,0.037,2518,2291,3753
$GC,1043,-0.56,-219.0,172.3,-14.6,186,1049,0.22,2.20,0.00,0.000,4,0.126,0.041,2594,887,3755
$GC,1092,-0.74,-219.0,177.1,-7.0,195,1098,0.15,2.15,0.00,0.000,6,0.052,0.037,2494,2290,3755
$GC,1421,-0.57,-219.0,230.7,-19.1,256,1427,0.30,2.22,0.00,0.000,4,0.127,0.043,2592,879,3755
$GC,1459,-0.74,-219.0,236.2,-11.4,263,1465,0.15,2.15,0.00,0.000,6,0.054,0.038,2493,2270,3756
$GC,1785,-0.60,-219.0,285.8,-13.8,324,1791,0.28,2.20,0.00,0.000,4,0.141,0.044,2582,883,3755
$GC,1841,-0.82,-219.0,290.8,-6.5,334,1847,0.20,2.17,0.00,0.000,6,0.047,0.043,2468,2270,3756
$GC,2160,-0.60,-219.0,343.1,-18.5,371,2164,0.32,2.20,0.00,0.000,4,0.127,0.045,2576,886,3755
$GC,2240,-0.84,-219.0,351.2,-7.9,378,2244,0.20,2.12,0.00,0.000,6,0.047,0.041,2466,2230,3755
$GC,2556,-0.67,-219.0,405.1,-17.4,408,2560,0.28,2.35,0.00,0.000,4,0.127,0.054,2550,3684,3753
$GC,2615,-0.87,-219.0,411.4,-9.1,413,2619,0.15,2.22,0.00,0.000,6,0.053,0.033,2458,2222,3752
$GC,2932,-0.67,-219.0,467.9,-18.8,443,2936,0.30,2.12,0.00,0.000,4,0.130,0.048,2558,882,3751
$GC,2992,-0.85,-219.0,475.2,-9.9,448,2996,0.15,2.10,0.00,0.000,6,0.054,0.042,2469,2223,3750
$GC,3325,-0.70,-219.0,527.1,-15.7,472,3329,0.22,2.38,0.00,0.000,4,0.131,0.057,2534,3684,3747
$GC,3346,-0.66,-219.0,530.4,-13.1,473,3349,0.12,2.22,0.00,0.000,6,0.112,0.034,2573,2224,3747
$GC,3665,-1.16,-219.0,552.3,-8.0,489,3669,0.43,2.12,0.00,0.000,4,0.063,0.048,2403,884,3745
$GC,3707,-1.00,-219.0,557.6,-12.5,491,3711,0.20,2.08,0.00,0.000,6,0.150,0.043,2455,2202,3744
$GC,4023,-0.87,-219.0,603.1,-13.6,507,4024,0.15,0.00,0.00,0.000,6,0.142,0.000,2500,2202,3742
$GC,4329,-0.87,-219.0,636.5,-11.1,522,4332,0.00,2.10,0.00,0.000,4,0.000,0.051,2500,893,3740
$GC,4361,-0.91,-219.0,640.1,-10.9,523,4364,0.00,2.08,0.00,0.000,6,0.000,0.046,2500,2201,3740
$GC,4678,-0.91,-219.0,672.1,-9.8,539,4681,0.00,2.42,0.00,0.000,4,0.000,0.061,2500,3679,3736
$GC,4715,-1.01,-219.0,675.5,-8.8,541,4719,0.12,2.28,0.00,0.000,6,0.062,0.036,2432,2208,3736
$GC,5036,-0.80,-219.0,724.2,-16.5,557,5044,0.25,2.12,0.00,0.000,4,0.138,0.051,2515,888,3734
$GC,5130,-0.92,-219.0,734.6,-9.4,561,5133,0.00,2.10,0.00,0.000,6,0.000,0.045,2511,2207,3734
$GC,5451,-0.98,-219.0,764.7,-9.6,577,5455,0.15,2.42,0.00,0.000,4,0.058,0.062,2435,3674,3731
$GC,5490,-0.89,-219.0,769.2,-13.0,579,5493,0.20,2.28,0.00,0.000,6,0.129,0.037,2494,2214,3730
$GC,5813,-0.89,-219.0,803.1,-10.2,595,5816,0.00,2.12,0.00,0.000,4,0.000,0.052,2494,883,3728
$GC,5878,-0.94,-219.0,809.7,-9.5,598,5881,0.00,2.10,0.00,0.000,6,0.000,0.046,2494,2197,3727
$GC,6205,-0.94,-219.0,841.7,-9.6,614,6208,0.00,2.45,0.00,0.000,4,0.000,0.063,2494,3677,3725
$GC,6253,-1.04,-219.0,846.1,-8.3,616,6256,0.15,2.28,0.00,0.000,6,0.059,0.037,2421,2216,3724
$GC,6564,-0.83,-219.0,895.4,-16.2,631,6568,0.28,2.15,0.00,0.000,4,0.138,0.052,2511,888,3723
$GC,6639,-0.96,-219.0,903.2,-8.1,634,6645,0.12,2.12,0.00,0.000,6,0.064,0.051,2447,2199,3722
$GC,6950,-0.84,-219.0,943.3,-13.4,650,6952,0.20,0.00,0.00,0.000,6,0.137,0.000,2506,2200,3721
$GC,7255,-0.93,-219.0,969.1,-7.9,665,7258,0.00,2.47,0.00,0.000,4,0.000,0.065,2506,3682,3719
$GC,7303,-1.10,-219.0,973.1,-7.5,667,7307,0.22,2.30,0.00,0.000,6,0.048,0.037,2402,2211,3719
$STATE,7427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7427,begin apogee
$GC,7434,-0.20,0.0,993.8,18.4,673,7618,1.00,0.00,180.93,1.357,6,0.139,0.000,2708,2294,2854
$STATE,7618,end apogee,CONTROL_FINISHED_OK
$STATE,7618,begin climb
$GC,7621,0.91,219.0,1005.2,0.0,682,7819,0.98,2.40,188.52,1.322,4,0.048,0.062,3079,3689,1961
$GC,7964,0.46,219.0,967.2,20.5,698,7968,0.57,2.17,0.00,0.000,6,0.176,0.039,2932,2312,1955
$GC,8275,0.48,267.9,936.1,9.4,713,8331,0.00,2.35,45.47,1.220,4,0.000,0.058,2931,3677,1761
$GC,8477,0.48,267.9,913.9,12.3,722,8480,0.00,2.15,0.00,0.000,6,0.000,0.038,2940,2308,1757
$GC,8793,0.48,270.2,879.3,10.9,738,8797,0.00,2.25,0.00,0.000,4,0.000,0.056,2940,3685,1754
$GC,8831,0.42,270.2,874.8,12.4,740,8834,0.12,2.12,0.00,0.000,6,0.155,0.037,2916,2320,1754
$GC,9153,0.49,286.3,842.7,10.5,756,9181,0.00,2.30,18.45,1.084,4,0.000,0.056,2916,3690,1686
$GC,9290,0.49,286.3,826.3,12.1,762,9293,0.00,2.12,0.00,0.000,6,0.000,0.037,2924,2332,1685
$GC,9607,0.55,307.9,791.3,10.3,778,9632,0.10,2.25,20.80,1.190,4,0.077,0.055,2981,3689,1597
$GC,9691,0.43,307.9,779.0,15.5,782,9695,0.25,2.10,0.00,0.000,6,0.149,0.037,2921,2350,1596
$GC,10013,0.56,357.6,747.3,9.3,798,10061,0.12,0.00,46.03,1.194,6,0.066,0.000,2994,2345,1395
$GC,10357,0.47,357.6,700.0,13.2,815,10361,0.20,2.20,0.00,0.000,4,0.139,0.055,2933,3691,1390
$GC,10421,0.58,388.5,693.2,10.0,818,10457,0.00,2.10,28.23,1.139,6,0.000,0.036,2941,2342,1268
$GC,10765,0.69,404.0,660.3,10.5,835,10786,0.17,2.22,14.75,1.072,4,0.051,0.056,3034,3686,1207
$GC,10802,0.53,404.0,654.2,18.9,836,10808,0.32,2.10,0.00,0.000,6,0.148,0.043,2950,2356,1207
$GC,11114,0.68,459.4,620.9,9.1,852,11170,0.15,2.45,51.05,1.110,4,0.058,0.051,3039,904,981
$GC,11193,0.61,459.4,608.8,16.5,855,11199,0.22,2.35,0.00,0.000,6,0.131,0.039,2975,2359,978
$GC,11505,0.67,459.4,570.8,13.1,871,11508,0.00,2.15,0.00,0.000,4,0.000,0.056,2975,3690,975
$GC,11542,0.75,459.4,565.6,13.7,872,11548,0.12,2.10,0.00,0.000,6,0.061,0.042,3046,2354,975
$GC,11852,0.63,459.4,501.5,20.8,888,11854,0.22,0.00,0.00,0.000,6,0.140,0.000,2981,2350,974
$GC,12166,0.71,459.4,457.7,13.3,917,12169,0.00,2.17,0.00,0.000,4,0.000,0.054,2980,3693,973
$GC,12193,0.78,459.4,453.4,13.7,919,12199,0.12,2.08,0.00,0.000,6,0.058,0.035,3052,2353,973
$GC,12509,0.68,459.4,395.2,16.6,950,12513,0.17,2.35,0.00,0.000,4,0.143,0.048,3010,884,973
$GC,12530,0.62,459.4,391.7,15.3,951,12536,0.12,2.35,0.00,0.000,6,0.128,0.038,2976,2379,972
$GC,12846,0.78,504.1,360.5,9.5,982,12888,0.17,0.00,39.03,0.927,6,0.056,0.000,3061,2380,799
$GC,13196,0.70,504.1,299.0,17.0,1016,13202,0.20,2.42,0.00,0.000,4,0.137,0.047,3005,887,795
$GC,13236,0.87,561.3,294.5,9.1,1023,13309,0.15,2.35,61.67,0.852,6,0.059,0.038,3092,2378,562
$GC,13630,0.77,561.3,221.3,18.9,1095,13636,0.17,2.40,0.00,0.000,4,0.137,0.048,3045,887,540
$GC,13668,0.85,561.3,215.9,12.6,1102,13674,0.00,2.35,0.00,0.000,6,0.000,0.039,3045,2363,539
$GC,13995,0.91,561.3,176.9,13.6,1163,14001,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2363,535
$GC,14322,1.02,561.3,131.4,12.8,1224,14328,0.17,2.38,0.00,0.000,4,0.052,0.051,3148,888,534
$GC,14410,0.93,561.3,115.2,19.1,1240,14416,0.25,2.28,0.00,0.000,6,0.127,0.038,3074,2335,533
$GC,14738,1.19,633.0,75.5,8.6,1301,14764,0.20,2.38,16.27,0.595,4,0.048,0.047,3196,890,482
$GC,14792,1.08,633.0,68.6,15.5,1310,14799,0.17,2.28,0.00,0.000,6,0.133,0.038,3129,2328,476
$GC,15120,1.21,647.1,26.1,10.5,1371,15126,0.12,0.00,0.00,0.000,6,0.062,0.000,3202,2327,472
$STATE,15267,end climb,SURFACE_DEPTH_REACHED
$STATE,15267,begin surface coast
$FINISH,2.0,1.020847
$STATE,15289,end surface coast,CONTROL_FINISHED_OK
$STATE,15289,begin surface
$SM_CCo,15367,0.00,0.000,0,0,469,584.80
$SM_GC,2.65,7.85,0.00,0.00,0.036,0.000,0.000,162,2328,469,-8.09,1.22,584.80
$IRIDIUM_FIX,2458.45,12301.13,181198,202018
$TT8_MAMPS,0.049088
$HUMID,1772
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.20
$XPDR_PINGS,659
$24V_AH,22.9,120.425
$10V_AH,10.3,78.625
$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,30.025,147.450,711.200,0.000,0.000,28.841,30.917,228.096,172.750,0.000,0.000,14.418,0.000,10962.282,810.602,3262.647,753.843,0.000,2102.131,0.000,2717.729,0.000,57.275,0.000
$DEVICE_MAMPS,226.265,65.962,1356.823,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,949.521,971.160,1159.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78876,1403
$CAP_FILE_SIZE,169642,0
$CFSIZE,260165632,210710528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.383, 54.2,1
$GPS,250809,045801,2507.428,12303.544,41,1.3,41,-3.6