version: 66.04
glider: 165
mission: 2
dive: 568
start: 8 31 109 1 7 57
data:
$ID,165
$MISSION,2
$DIVE,568
$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,-132105.55
$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,37
$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
$GPS1,010007,2437.631,12346.642,29,0.9,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.8
$GPS2,010750,2437.748,12346.694,12,0.9,12,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_1
$TGT_LATLONG,2436.700,12346.000
$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,224.8,2266,-16.7,-11.000
$D_GRID,1676
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,14,-0.92,-202.0,0.0,0.0,0,75,0.00,0.00,-59.00,0.000,2,0.000,0.000,144,2324,1932
$GC,78,-0.94,-219.0,3.4,-4.6,9,142,9.27,2.17,-47.90,0.000,4,0.222,0.062,2463,3693,3747
$GC,303,-0.56,-219.0,67.3,-33.7,49,309,0.43,2.17,0.00,0.000,6,0.117,0.034,2596,2277,3748
$GC,630,-0.52,-219.0,119.4,-13.9,110,636,0.00,2.15,0.00,0.000,4,0.000,0.041,2597,881,3750
$GC,664,-0.56,-219.0,123.8,-12.7,116,670,0.00,2.20,0.00,0.000,6,0.000,0.036,2590,2291,3750
$GC,991,-0.60,-219.0,166.1,-12.3,177,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2590,2293,3750
$GC,1318,-0.65,-219.0,206.0,-11.3,238,1325,0.00,2.22,0.00,0.000,4,0.000,0.042,2590,874,3751
$GC,1385,-0.79,-219.0,212.6,-9.0,250,1393,0.17,2.20,0.00,0.000,6,0.051,0.038,2491,2293,3751
$GC,1718,-0.57,-219.0,275.8,-19.4,311,1723,0.30,0.00,0.00,0.000,6,0.136,0.000,2589,2293,3751
$GC,2048,-0.73,-219.0,307.7,-8.7,365,2052,0.12,2.22,0.00,0.000,4,0.061,0.044,2508,884,3751
$GC,2128,-0.69,-219.0,318.1,-14.1,372,2132,0.17,2.20,0.00,0.000,6,0.127,0.041,2560,2290,3751
$GC,2444,-0.75,-219.0,354.3,-11.3,402,2447,0.00,2.22,0.00,0.000,4,0.000,0.045,2560,880,3750
$GC,2476,-0.83,-219.0,357.9,-11.4,405,2480,0.15,2.20,0.00,0.000,6,0.054,0.041,2469,2288,3750
$GC,2793,-0.63,-219.0,415.7,-16.6,435,2797,0.32,2.25,0.00,0.000,4,0.133,0.055,2573,3679,3749
$GC,2825,-0.74,-219.0,419.8,-9.3,437,2830,0.00,2.15,0.00,0.000,6,0.000,0.035,2573,2273,3748
$GC,3144,-0.94,-219.0,442.2,-7.2,468,3150,0.25,0.00,0.00,0.000,6,0.042,0.000,2441,2271,3747
$GC,3460,-0.69,-219.0,505.6,-19.4,498,3464,0.35,2.22,0.00,0.000,4,0.138,0.048,2553,893,3746
$GC,3493,-0.69,-219.0,510.3,-12.7,499,3498,0.00,2.22,0.00,0.000,6,0.000,0.048,2551,2290,3745
$GC,3803,-0.86,-219.0,535.1,-7.6,515,3804,0.12,0.00,0.00,0.000,6,0.060,0.000,2468,2291,3743
$GC,4109,-0.74,-219.0,580.6,-16.0,530,4110,0.25,0.00,0.00,0.000,6,0.128,0.000,2545,2291,3741
$GC,4414,-0.91,-219.0,607.0,-7.7,545,4418,0.17,2.28,0.00,0.000,4,0.050,0.059,2448,3682,3739
$GC,4446,-0.86,-219.0,610.8,-13.3,546,4453,0.17,2.17,0.00,0.000,6,0.127,0.035,2500,2285,3738
$GC,4758,-0.86,-219.0,645.1,-10.3,562,4761,0.00,2.22,0.00,0.000,4,0.000,0.049,2500,884,3736
$GC,4823,-0.93,-219.0,651.5,-9.6,565,4826,0.00,2.22,0.00,0.000,6,0.000,0.044,2500,2282,3736
$GC,5145,-0.96,-219.0,683.1,-9.8,581,5149,0.00,2.30,0.00,0.000,4,0.000,0.060,2500,3689,3733
$GC,5172,-1.04,-219.0,685.8,-10.5,582,5176,0.17,2.15,0.00,0.000,6,0.052,0.033,2415,2284,3733
$GC,5490,-0.82,-219.0,741.4,-18.0,598,5494,0.30,2.25,0.00,0.000,4,0.142,0.050,2512,885,3729
$GC,5534,-0.90,-219.0,747.4,-9.9,600,5537,0.00,2.22,0.00,0.000,6,0.000,0.044,2511,2284,3729
$GC,5862,-1.01,-219.0,776.4,-9.1,616,5866,0.15,2.30,0.00,0.000,4,0.058,0.059,2428,3683,3727
$GC,5905,-0.93,-219.0,781.9,-14.3,618,5909,0.17,2.17,0.00,0.000,6,0.132,0.035,2479,2273,3726
$GC,6221,-0.93,-219.0,819.5,-11.3,634,6224,0.00,2.22,0.00,0.000,4,0.000,0.051,2479,882,3724
$GC,6248,-0.93,-219.0,822.6,-12.0,635,6251,0.00,2.25,0.00,0.000,6,0.000,0.045,2479,2290,3724
$GC,6565,-0.93,-219.0,855.4,-10.3,651,6568,0.00,2.30,0.00,0.000,4,0.000,0.061,2480,3685,3721
$GC,6618,-1.02,-219.0,860.8,-9.5,653,6624,0.00,2.15,0.00,0.000,6,0.000,0.035,2479,2290,3721
$GC,6930,-1.05,-219.0,891.9,-10.2,669,6931,0.12,0.00,0.00,0.000,6,0.067,0.000,2419,2290,3719
$GC,7234,-0.89,-219.0,937.9,-15.0,684,7238,0.22,2.28,0.00,0.000,4,0.141,0.051,2491,890,3717
$GC,7261,-0.86,-219.0,941.4,-13.1,685,7264,0.00,2.28,0.00,0.000,6,0.000,0.048,2490,2303,3717
$GC,7578,-0.93,-219.0,970.6,-9.0,701,7581,0.00,2.30,0.00,0.000,4,0.000,0.064,2490,3687,3715
$GC,7615,-1.04,-219.0,974.1,-8.9,703,7619,0.15,2.17,0.00,0.000,6,0.058,0.035,2418,2287,3714
$STATE,7730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7730,begin apogee
$GC,7737,-0.20,0.0,990.7,15.4,709,7917,0.95,0.00,177.57,1.341,6,0.130,0.000,2712,2282,2854
$STATE,7918,end apogee,CONTROL_FINISHED_OK
$STATE,7918,begin climb
$GC,7922,0.94,219.0,999.4,0.0,718,8117,1.00,2.40,185.62,1.307,4,0.045,0.055,3105,908,1960
$GC,8283,0.57,219.0,954.0,20.2,734,8290,0.50,2.28,0.00,0.000,6,0.167,0.048,2967,2313,1952
$GC,8594,0.46,219.0,913.5,12.0,750,8598,0.12,2.25,0.00,0.000,4,0.165,0.056,2933,3691,1949
$GC,8754,0.42,239.1,895.5,10.3,757,8780,0.00,2.17,17.38,1.181,6,0.000,0.041,2942,2307,1878
$GC,9084,0.43,251.0,861.2,10.6,774,9097,0.00,0.00,11.65,1.125,6,0.000,0.000,2942,2307,1830
$GC,9390,0.43,251.0,827.8,11.1,789,9393,0.00,2.25,0.00,0.000,4,0.000,0.054,2942,3682,1826
$GC,9481,0.38,251.0,816.2,13.3,793,9485,0.17,2.10,0.00,0.000,6,0.147,0.037,2901,2333,1826
$GC,9798,0.54,308.9,786.9,8.9,809,9854,0.15,0.00,51.72,1.208,6,0.061,0.000,2984,2326,1593
$GC,10169,0.47,308.9,732.6,15.0,827,10173,0.17,2.22,0.00,0.000,4,0.140,0.055,2929,3682,1588
$GC,10218,0.52,308.9,725.9,13.4,829,10221,0.00,2.12,0.00,0.000,6,0.000,0.037,2937,2320,1588
$GC,10534,0.58,308.9,690.6,11.1,845,10537,0.00,2.22,0.00,0.000,4,0.000,0.054,2938,3682,1587
$GC,10561,0.61,308.9,687.4,12.6,846,10564,0.00,2.10,0.00,0.000,6,0.000,0.036,2946,2331,1586
$GC,10883,0.66,308.9,648.3,11.9,862,10886,0.12,2.30,0.00,0.000,4,0.063,0.048,3028,896,1586
$GC,10942,0.56,308.9,638.6,16.6,864,10947,0.22,2.30,0.00,0.000,6,0.139,0.043,2966,2334,1583
$GC,11252,0.56,308.9,598.3,12.0,880,11255,0.00,2.20,0.00,0.000,4,0.000,0.054,2965,3692,1583
$GC,11295,0.53,308.9,592.8,13.1,882,11299,0.00,2.12,0.00,0.000,6,0.000,0.035,2972,2327,1583
$GC,11622,0.53,308.9,549.6,13.3,898,11625,0.00,2.22,0.00,0.000,4,0.000,0.054,2972,3680,1583
$GC,11643,0.53,308.9,546.5,14.4,899,11646,0.00,2.10,0.00,0.000,6,0.000,0.037,2981,2336,1583
$GC,11970,0.53,308.9,503.0,12.1,915,11974,0.00,2.33,0.00,0.000,4,0.000,0.048,2991,888,1583
$GC,12003,0.53,308.9,498.7,12.2,916,12008,0.15,2.33,0.00,0.000,6,0.132,0.038,2950,2337,1582
$GC,12319,0.61,308.9,464.5,11.5,947,12322,0.00,2.17,0.00,0.000,4,0.000,0.054,2950,3682,1582
$GC,12442,0.67,308.9,449.6,11.8,958,12449,0.12,2.15,0.00,0.000,6,0.065,0.040,3016,2320,1582
$GC,12758,0.58,308.9,402.1,15.7,989,12762,0.17,2.25,0.00,0.000,4,0.140,0.051,2961,3686,1582
$GC,12827,0.58,308.9,393.0,12.5,995,12830,0.00,2.10,0.00,0.000,6,0.000,0.036,2966,2330,1582
$GC,13152,0.64,308.9,355.5,11.5,1026,13158,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2330,1582
$GC,13471,0.72,316.0,319.1,10.7,1057,13482,0.12,2.28,5.60,0.670,4,0.061,0.046,3045,893,1565
$GC,13510,0.63,316.0,313.6,13.7,1060,13516,0.22,2.30,0.00,0.000,6,0.134,0.043,2980,2344,1565
$GC,13833,0.76,376.7,280.9,8.8,1110,13894,0.12,2.22,53.28,0.828,4,0.065,0.052,3045,3677,1318
$GC,13922,0.67,376.7,268.3,16.0,1125,13927,0.20,2.12,0.00,0.000,6,0.139,0.035,2998,2323,1316
$GC,14249,0.77,398.8,233.0,10.2,1186,14274,0.00,2.28,19.58,0.758,4,0.000,0.045,3007,896,1227
$GC,14328,0.93,421.0,225.0,10.2,1200,14353,0.20,2.28,20.45,0.745,6,0.049,0.041,3116,2336,1136
$GC,14678,0.75,421.0,156.7,17.9,1264,14684,0.28,2.35,0.00,0.000,4,0.140,0.044,3038,885,1134
$GC,14696,0.64,421.0,153.1,17.7,1267,14702,0.12,2.28,0.00,0.000,6,0.112,0.035,2982,2326,1133
$GC,15024,1.03,536.6,128.0,6.8,1328,15125,0.30,0.00,97.47,0.693,6,0.038,0.000,3139,2327,664
$GC,15446,1.03,536.6,54.3,13.8,1404,15452,0.00,2.17,0.00,0.000,4,0.000,0.051,3139,3685,655
$GC,15501,1.03,536.6,46.7,14.0,1414,15508,0.10,2.15,0.00,0.000,6,0.129,0.035,3113,2314,655
$GC,15830,1.19,555.7,10.3,10.3,1475,15861,0.15,2.25,19.23,0.515,4,0.055,0.045,3210,892,584
$STATE,15874,end climb,SURFACE_DEPTH_REACHED
$STATE,15874,begin surface coast
$FINISH,1.8,1.020296
$STATE,15891,end surface coast,CONTROL_FINISHED_OK
$STATE,15891,begin surface
$SM_CCo,15972,0.00,0.000,0,0,578,558.06
$SM_GC,2.41,7.85,0.00,0.00,0.035,0.000,0.000,160,2303,578,-8.10,0.48,558.06
$IRIDIUM_FIX,2427.58,12345.35,241198,202016
$TT8_MAMPS,0.049088
$HUMID,1745
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.10
$XPDR_PINGS,734
$24V_AH,23.1,128.296
$10V_AH,10.3,82.609
$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,27.125,146.700,659.550,0.000,0.000,30.831,31.707,227.793,191.500,0.000,0.000,14.652,0.000,11476.385,758.475,3383.094,783.285,0.000,2100.172,0.000,2823.755,0.000,53.990,0.000
$DEVICE_MAMPS,221.663,63.661,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.338,1010.348,1206.551,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85028,1486
$CAP_FILE_SIZE,169847,0
$CFSIZE,260165632,207888384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.187, 57.7,1
$GPS,310809,053507,2436.583,12346.424,34,0.9,34,-3.6