version: 66.04
glider: 165
mission: 2
dive: 539
start: 8 25 109 9 46 57
data:
$ID,165
$MISSION,2
$DIVE,539
$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,-131582.84
$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,45
$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
$GPS1,093900,2508.110,12304.718,35,1.7,35,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.2
$GPS2,094652,2508.304,12305.045,8,3.2,27,-3.7
$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,253.5,73778,-16.0,-11.000
$D_GRID,1642
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.91,-219.0,0.0,0.0,0,62,0.00,0.00,-43.03,0.000,2,0.000,0.000,148,2265,1935
$GC,66,-0.91,-219.0,3.5,-5.3,7,128,9.32,2.33,-46.45,0.000,4,0.220,0.063,2471,3700,3750
$GC,257,-0.54,-219.0,54.4,-30.9,41,264,0.43,2.15,0.00,0.000,6,0.124,0.034,2602,2286,3751
$GC,585,-0.54,-219.0,101.1,-11.4,102,591,0.00,2.15,0.00,0.000,4,0.000,0.041,2603,884,3752
$GC,678,-0.66,-219.0,111.3,-10.0,119,684,0.12,2.15,0.00,0.000,6,0.061,0.036,2528,2285,3752
$GC,1006,-0.57,-219.0,163.7,-10.5,180,1011,0.17,0.00,0.00,0.000,6,0.129,0.000,2587,2285,3755
$GC,1334,-0.74,-219.0,189.3,-9.3,241,1341,0.15,2.20,0.00,0.000,4,0.053,0.042,2490,881,3755
$GC,1390,-0.65,-219.0,197.9,-16.0,251,1396,0.28,2.17,0.00,0.000,6,0.123,0.039,2567,2288,3755
$GC,1720,-0.76,-219.0,233.1,-8.9,312,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2289,3755
$GC,2047,-0.88,-219.0,255.7,-6.9,373,2054,0.17,2.22,0.00,0.000,4,0.050,0.044,2453,881,3755
$GC,2092,-0.69,-219.0,261.7,-15.3,381,2099,0.32,2.20,0.00,0.000,6,0.134,0.043,2550,2287,3755
$GC,2420,-0.79,-219.0,298.6,-10.6,442,2426,0.00,2.25,0.00,0.000,4,0.000,0.049,2551,878,3754
$GC,2458,-0.92,-219.0,302.8,-10.8,447,2464,0.20,2.25,0.00,0.000,6,0.048,0.044,2450,2297,3754
$GC,2774,-0.69,-219.0,364.3,-18.8,478,2778,0.30,2.28,0.00,0.000,4,0.138,0.050,2548,880,3751
$GC,2828,-0.82,-219.0,371.3,-10.3,482,2834,0.00,2.22,0.00,0.000,6,0.000,0.048,2549,2285,3751
$GC,3147,-0.94,-219.0,399.3,-7.9,513,3154,0.17,2.28,0.00,0.000,4,0.051,0.058,2439,3692,3748
$GC,3176,-0.86,-219.0,403.1,-13.2,515,3182,0.20,2.17,0.00,0.000,6,0.131,0.038,2499,2277,3748
$GC,3492,-0.81,-219.0,439.6,-10.9,546,3495,0.00,2.20,0.00,0.000,4,0.000,0.048,2499,882,3746
$GC,3568,-0.84,-219.0,447.5,-9.6,553,3571,0.00,2.20,0.00,0.000,6,0.000,0.043,2494,2274,3746
$GC,3889,-0.78,-219.0,486.7,-12.5,584,3893,0.12,2.22,0.00,0.000,4,0.142,0.048,2532,886,3743
$GC,3954,-0.91,-219.0,493.4,-9.0,589,3961,0.12,2.17,0.00,0.000,6,0.060,0.044,2461,2265,3742
$GC,4278,-0.77,-219.0,544.5,-16.3,608,4282,0.20,2.22,0.00,0.000,4,0.137,0.049,2528,884,3740
$GC,4300,-0.71,-219.0,547.9,-14.6,609,4303,0.00,2.17,0.00,0.000,6,0.000,0.044,2523,2261,3740
$GC,4622,-0.79,-219.0,575.2,-7.9,625,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2261,3738
$GC,4926,-0.88,-219.0,603.1,-9.5,640,4929,0.00,2.20,0.00,0.000,4,0.000,0.050,2523,890,3736
$GC,5018,-1.00,-219.0,611.4,-8.8,644,5022,0.20,2.17,0.00,0.000,6,0.051,0.046,2427,2254,3735
$GC,5336,-0.78,-219.0,661.8,-16.3,660,5338,0.32,0.00,0.00,0.000,6,0.142,0.000,2525,2254,3732
$GC,5639,-0.91,-219.0,686.9,-7.8,675,5643,0.12,2.38,0.00,0.000,4,0.064,0.064,2454,3691,3730
$GC,5661,-0.94,-219.0,688.9,-10.0,676,5664,0.00,2.22,0.00,0.000,6,0.000,0.036,2454,2251,3730
$GC,5977,-0.82,-219.0,733.5,-13.9,692,5981,0.17,2.20,0.00,0.000,4,0.137,0.051,2513,884,3728
$GC,6030,-0.94,-219.0,739.5,-9.7,694,6036,0.00,2.22,0.00,0.000,6,0.000,0.051,2510,2259,3728
$GC,6341,-1.02,-219.0,768.3,-9.2,710,6342,0.17,0.00,0.00,0.000,6,0.054,0.000,2425,2259,3725
$GC,6647,-0.82,-219.0,820.2,-17.2,725,6651,0.25,2.25,0.00,0.000,4,0.140,0.053,2506,890,3723
$GC,6711,-0.92,-219.0,827.8,-9.5,728,6714,0.00,2.17,0.00,0.000,6,0.000,0.048,2506,2243,3723
$GC,7033,-1.00,-219.0,858.2,-9.7,744,7037,0.15,2.40,0.00,0.000,4,0.059,0.063,2425,3692,3721
$GC,7076,-0.91,-219.0,864.1,-14.4,746,7079,0.22,2.25,0.00,0.000,6,0.131,0.037,2491,2246,3720
$GC,7395,-0.94,-219.0,900.5,-11.4,762,7398,0.00,2.20,0.00,0.000,4,0.000,0.054,2491,880,3719
$GC,7475,-1.01,-219.0,910.3,-12.0,765,7482,0.12,2.20,0.00,0.000,6,0.065,0.048,2431,2245,3719
$GC,7787,-0.83,-219.0,961.0,-16.5,781,7790,0.22,2.25,0.00,0.000,4,0.143,0.053,2505,880,3717
$GC,7818,-0.83,-219.0,965.4,-11.8,782,7824,0.00,2.22,0.00,0.000,6,0.000,0.054,2505,2237,3717
$STATE,8105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8105,begin apogee
$GC,8112,-0.20,0.0,991.2,8.6,797,8295,0.62,0.00,179.95,1.360,6,0.104,0.000,2716,2319,2854
$STATE,8295,end apogee,CONTROL_FINISHED_OK
$STATE,8295,begin climb
$GC,8299,0.91,219.0,1000.7,0.0,806,8496,0.95,2.45,188.38,1.321,4,0.043,0.057,3098,906,1960
$GC,8692,0.53,219.0,954.0,18.5,824,8696,0.52,2.25,0.00,0.000,6,0.167,0.046,2951,2301,1952
$GC,9008,0.44,219.0,915.8,11.3,840,9011,0.00,2.28,0.00,0.000,4,0.000,0.060,2952,3693,1950
$GC,9142,0.30,219.0,899.6,12.2,846,9146,0.28,2.15,0.00,0.000,6,0.154,0.038,2881,2306,1949
$GC,9463,0.56,358.3,878.6,6.3,862,9599,0.17,2.38,125.62,1.250,4,0.057,0.057,2972,3689,1391
$GC,9715,0.51,358.3,846.3,14.6,874,9718,0.15,2.17,0.00,0.000,6,0.152,0.038,2941,2309,1388
$GC,10041,0.57,358.3,810.1,11.1,890,10044,0.00,2.28,0.00,0.000,4,0.000,0.051,2951,894,1385
$GC,10074,0.65,358.3,806.5,11.2,891,10078,0.12,2.25,0.00,0.000,6,0.062,0.040,3022,2317,1383
$GC,10385,0.48,358.3,752.5,17.8,906,10388,0.25,2.22,0.00,0.000,4,0.146,0.056,2943,3683,1383
$GC,10497,0.52,358.3,737.6,12.2,911,10500,0.00,2.12,0.00,0.000,6,0.000,0.038,2952,2322,1383
$GC,10813,0.56,358.3,700.5,11.4,927,10816,0.00,2.22,0.00,0.000,4,0.000,0.055,2952,3683,1382
$GC,10877,0.56,358.3,692.3,13.1,930,10880,0.00,2.10,0.00,0.000,6,0.000,0.038,2961,2331,1382
$GC,11205,0.56,358.3,648.3,14.3,946,11206,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2331,1382
$GC,11509,0.56,358.3,607.3,13.0,961,11510,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2331,1382
$GC,11814,0.56,358.3,570.8,11.6,976,11817,0.00,2.22,0.00,0.000,4,0.000,0.056,2961,3686,1381
$GC,11858,0.56,358.3,565.6,12.3,978,11861,0.00,2.12,0.00,0.000,6,0.000,0.037,2968,2329,1381
$GC,12184,0.56,358.3,525.9,11.9,994,12187,0.00,2.22,0.00,0.000,4,0.000,0.054,2968,3689,1381
$GC,12259,0.56,358.3,516.2,13.3,997,12262,0.00,2.10,0.00,0.000,6,0.000,0.036,2976,2340,1381
$GC,12579,0.56,358.3,477.7,12.2,1021,12582,0.00,2.33,0.00,0.000,4,0.000,0.049,2987,884,1380
$GC,12610,0.56,358.3,473.9,11.4,1023,12616,0.00,2.33,0.00,0.000,6,0.000,0.038,2986,2356,1379
$GC,12928,0.56,358.3,437.1,11.5,1054,12932,0.00,2.15,0.00,0.000,4,0.000,0.054,2986,3686,1379
$GC,12961,0.52,358.3,432.6,13.5,1057,12965,0.17,2.10,0.00,0.000,6,0.142,0.035,2947,2335,1379
$GC,13277,0.69,415.6,402.7,9.1,1087,13332,0.15,2.38,49.80,0.966,4,0.057,0.048,3043,889,1157
$GC,13388,0.65,415.6,387.8,14.0,1097,13392,0.20,2.35,0.00,0.000,6,0.131,0.039,2986,2355,1154
$GC,13704,0.69,415.6,346.3,12.9,1127,13707,0.00,2.15,0.00,0.000,4,0.000,0.054,2986,3692,1153
$GC,13816,0.76,415.6,331.9,11.7,1137,13822,0.00,2.08,0.00,0.000,6,0.000,0.035,2993,2351,1153
$GC,14134,0.80,415.6,295.7,12.9,1171,14139,0.12,2.33,0.00,0.000,4,0.061,0.048,3070,897,1152
$GC,14167,0.72,415.6,290.6,16.7,1177,14173,0.20,2.30,0.00,0.000,6,0.139,0.038,3013,2359,1151
$GC,14494,0.72,415.6,247.0,12.2,1238,14501,0.00,2.15,0.00,0.000,4,0.000,0.059,3012,3687,1151
$GC,14613,0.75,415.6,230.4,13.9,1260,14619,0.00,2.05,0.00,0.000,6,0.000,0.037,3020,2369,1151
$GC,14941,0.75,415.6,179.0,17.0,1321,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2369,1151
$GC,15267,0.80,415.6,136.2,11.2,1382,15274,0.00,2.17,0.00,0.000,4,0.000,0.054,3020,3684,1151
$GC,15428,0.97,455.7,121.0,9.6,1411,15466,0.15,2.03,33.97,0.725,6,0.042,0.041,3115,2390,996
$GC,15790,0.90,455.7,64.8,14.3,1477,15796,0.15,2.38,0.00,0.000,4,0.137,0.045,3081,894,992
$GC,15857,1.09,540.2,57.9,8.2,1489,15938,0.15,2.33,73.85,0.666,6,0.052,0.036,3161,2383,647
$GC,16259,1.09,540.2,3.4,12.8,1562,16266,0.00,2.08,0.00,0.000,4,0.000,0.050,3161,3697,636
$STATE,16269,end climb,SURFACE_DEPTH_REACHED
$STATE,16269,begin surface coast
$FINISH,1.9,1.021165
$STATE,16295,end surface coast,CONTROL_FINISHED_OK
$STATE,16295,begin surface
$SM_CCo,16375,0.00,0.000,0,0,635,544.32
$SM_GC,2.81,7.75,0.00,0.00,0.035,0.000,0.000,148,2252,635,-8.08,-0.90,544.32
$IRIDIUM_FIX,2458.45,12306.42,191198,050557
$TT8_MAMPS,0.049088
$HUMID,1792
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.20
$XPDR_PINGS,746
$24V_AH,22.9,120.932
$10V_AH,10.3,78.885
$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,26.400,151.125,651.575,0.000,0.000,31.448,30.625,225.678,194.500,0.000,0.000,30.506,0.000,11665.293,739.504,3625.968,779.688,0.000,2151.337,0.000,3031.641,0.000,56.451,0.000
$DEVICE_MAMPS,220.129,82.836,1359.891,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.917,1071.129,1310.302,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88352,1569
$CAP_FILE_SIZE,175330,0
$CFSIZE,260165632,210522112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.383, 52.6,1
$GPS,250809,142055,2509.047,12305.521,40,1.3,40,-3.7