version: 66.04
glider: 165
mission: 2
dive: 581
start: 9 2 109 13 28 58
data:
$ID,165
$MISSION,2
$DIVE,581
$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,-132370.62
$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,56
$R_STBD_OVSHOOT,29
$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
$GPS1,132037,2439.016,12325.717,36,1.0,36,-3.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-66.9
$GPS2,132849,2439.175,12325.820,12,1.3,12,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,298.4,132979,-16.0,-11.000
$D_GRID,1254
$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,-0.91,-219.0,0.0,0.0,0,60,0.00,0.00,-44.88,0.000,2,0.000,0.000,134,2253,1778
$GC,64,-0.91,-219.0,3.0,-3.4,7,135,9.38,2.38,-57.70,0.000,4,0.222,0.058,2468,3700,3749
$GC,243,-0.48,-219.0,49.1,-33.6,38,249,0.45,2.17,0.00,0.000,6,0.127,0.032,2624,2290,3750
$GC,570,-0.55,-219.0,104.7,-12.0,99,576,0.00,2.20,0.00,0.000,4,0.000,0.046,2625,887,3752
$GC,668,-0.71,-219.0,114.1,-8.5,117,676,0.17,2.17,0.00,0.000,6,0.036,0.038,2499,2269,3752
$GC,998,-0.45,-219.0,187.6,-21.4,178,1004,0.40,2.20,0.00,0.000,4,0.131,0.045,2628,887,3753
$GC,1096,-0.71,-219.0,197.5,-7.0,196,1102,0.17,2.15,0.00,0.000,6,0.035,0.038,2495,2249,3753
$GC,1428,-0.47,-219.0,263.9,-19.3,257,1434,0.40,0.00,0.00,0.000,6,0.128,0.000,2626,2249,3753
$GC,1755,-1.01,-219.0,287.4,-8.7,318,1762,0.45,2.17,0.00,0.000,4,0.068,0.045,2453,887,3753
$GC,1785,-1.19,-219.0,290.5,-11.0,323,1790,0.15,2.15,0.00,0.000,6,0.062,0.041,2379,2253,3753
$GC,2108,-0.75,-219.0,373.0,-24.9,359,2112,0.50,2.20,0.00,0.000,4,0.146,0.048,2534,897,3754
$GC,2140,-0.61,-219.0,379.0,-15.0,361,2148,0.17,2.15,0.00,0.000,6,0.117,0.041,2588,2249,3754
$GC,2456,-0.85,-219.0,395.0,-4.1,392,2460,0.20,2.35,0.00,0.000,4,0.048,0.055,2464,3686,3753
$GC,2495,-0.78,-219.0,398.6,-11.7,395,2498,0.20,2.17,0.00,0.000,6,0.114,0.032,2526,2248,3752
$GC,2811,-0.78,-219.0,431.5,-10.7,425,2814,0.00,2.15,0.00,0.000,4,0.000,0.047,2527,884,3750
$GC,2898,-0.88,-219.0,440.2,-9.2,433,2901,0.00,2.15,0.00,0.000,6,0.000,0.041,2524,2252,3749
$GC,3222,-0.88,-219.0,474.3,-11.2,464,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2251,3747
$GC,3539,-0.88,-219.0,509.9,-11.1,491,3542,0.00,2.17,0.00,0.000,4,0.000,0.048,2524,897,3744
$GC,3604,-0.96,-219.0,516.9,-10.5,494,3607,0.15,2.20,0.00,0.000,6,0.055,0.044,2447,2262,3744
$GC,3928,-0.76,-219.0,573.3,-17.8,510,3932,0.25,2.33,0.00,0.000,4,0.136,0.056,2520,3681,3741
$GC,3960,-0.76,-219.0,578.6,-13.5,511,3966,0.00,2.20,0.00,0.000,6,0.000,0.034,2520,2244,3741
$GC,4271,-0.81,-219.0,611.4,-10.7,527,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2244,3738
$GC,4577,-0.86,-219.0,641.8,-9.4,542,4580,0.00,2.17,0.00,0.000,4,0.000,0.051,2521,885,3735
$GC,4674,-0.96,-219.0,650.2,-8.5,546,4678,0.15,2.12,0.00,0.000,6,0.057,0.043,2443,2234,3734
$GC,4992,-0.79,-219.0,700.3,-16.5,562,4993,0.28,0.00,0.00,0.000,6,0.132,0.000,2525,2235,3733
$GC,5295,-0.91,-219.0,724.5,-7.6,577,5299,0.12,2.40,0.00,0.000,4,0.064,0.060,2454,3682,3731
$GC,5339,-0.88,-219.0,729.2,-11.7,579,5342,0.15,2.25,0.00,0.000,6,0.124,0.036,2498,2237,3729
$GC,5663,-0.91,-219.0,762.9,-10.0,595,5666,0.00,2.17,0.00,0.000,4,0.000,0.051,2498,884,3728
$GC,5732,-0.99,-219.0,770.1,-10.0,598,5736,0.12,2.15,0.00,0.000,6,0.064,0.044,2435,2226,3727
$GC,6052,-0.85,-219.0,820.1,-16.2,614,6053,0.25,0.00,0.00,0.000,6,0.133,0.000,2510,2226,3725
$GC,6354,-0.95,-219.0,851.6,-10.0,629,6356,0.12,0.00,0.00,0.000,6,0.064,0.000,2447,2226,3723
$GC,6659,-0.84,-219.0,895.3,-14.3,644,6663,0.20,2.22,0.00,0.000,4,0.133,0.054,2511,886,3721
$GC,6702,-0.95,-219.0,899.9,-8.5,646,6710,0.12,2.17,0.00,0.000,6,0.064,0.046,2447,2230,3720
$GC,7029,-0.86,-219.0,940.2,-11.8,662,7031,0.20,0.00,0.00,0.000,6,0.136,0.000,2506,2230,3718
$GC,7331,-0.95,-219.0,963.0,-7.3,677,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2230,3717
$GC,7638,-1.05,-219.0,978.9,-4.6,692,7639,0.17,0.00,0.00,0.000,6,0.055,0.000,2422,2230,3715
$STATE,7755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7755,begin apogee
$GC,7762,-0.20,0.0,991.4,11.3,698,7943,0.93,0.00,177.62,1.341,6,0.128,0.000,2709,2300,2854
$STATE,7943,end apogee,CONTROL_FINISHED_OK
$STATE,7943,begin climb
$GC,7946,0.91,219.0,994.3,0.0,707,8143,1.02,2.45,186.35,1.299,4,0.041,0.057,3110,892,1960
$GC,8207,0.52,219.0,958.1,26.3,719,8213,0.57,2.33,0.00,0.000,6,0.160,0.051,2950,2300,1954
$GC,8519,0.44,219.0,909.7,14.5,735,8522,0.00,2.28,0.00,0.000,4,0.000,0.058,2949,3695,1950
$GC,8663,0.31,219.0,887.8,15.0,741,8669,0.28,2.17,0.00,0.000,6,0.143,0.042,2878,2315,1949
$GC,8974,0.52,315.6,862.5,7.7,757,9060,0.17,0.00,84.00,1.239,6,0.055,0.000,2979,2309,1567
$GC,9365,0.44,315.6,802.0,16.8,776,9369,0.20,2.28,0.00,0.000,4,0.137,0.055,2917,3687,1560
$GC,9492,0.49,315.6,784.2,13.5,782,9495,0.00,2.17,0.00,0.000,6,0.000,0.038,2924,2305,1559
$GC,9819,0.59,339.3,747.6,10.2,798,9842,0.12,0.00,21.27,1.143,6,0.068,0.000,3002,2301,1470
$GC,10144,0.47,339.3,698.9,15.7,814,10148,0.20,2.30,0.00,0.000,4,0.136,0.054,2937,3696,1467
$GC,10225,0.47,339.3,687.5,13.9,818,10228,0.00,2.20,0.00,0.000,6,0.000,0.037,2945,2298,1466
$GC,10551,0.52,339.3,648.5,11.5,834,10555,0.00,2.28,0.00,0.000,4,0.000,0.053,2945,3685,1465
$GC,10584,0.52,339.3,644.5,12.6,835,10589,0.00,2.15,0.00,0.000,6,0.000,0.037,2952,2309,1465
$GC,10895,0.55,339.3,606.3,12.1,851,10898,0.00,2.30,0.00,0.000,4,0.000,0.050,2958,887,1464
$GC,10954,0.65,346.6,599.5,10.8,854,10967,0.00,2.28,6.82,0.901,6,0.000,0.038,2958,2318,1439
$GC,11280,0.68,346.6,561.4,11.5,870,11284,0.12,2.22,0.00,0.000,4,0.064,0.054,3027,3682,1439
$GC,11422,0.50,346.6,534.7,21.1,876,11428,0.32,2.17,0.00,0.000,6,0.138,0.039,2941,2314,1439
$GC,11735,0.59,346.6,496.0,11.5,893,11738,0.00,2.30,0.00,0.000,4,0.000,0.049,2951,885,1439
$GC,11777,0.70,346.6,491.1,11.4,896,11783,0.15,2.30,0.00,0.000,6,0.054,0.041,3026,2318,1438
$GC,12093,0.57,346.6,439.8,15.0,927,12097,0.20,2.25,0.00,0.000,4,0.137,0.053,2963,3689,1438
$GC,12146,0.57,346.6,432.8,11.3,931,12152,0.00,2.15,0.00,0.000,6,0.000,0.035,2969,2311,1438
$GC,12466,0.60,346.6,395.8,11.8,962,12469,0.00,2.28,0.00,0.000,4,0.000,0.048,2979,895,1438
$GC,12508,0.67,346.6,390.5,11.3,965,12515,0.00,2.28,0.00,0.000,6,0.000,0.038,2979,2334,1438
$GC,12828,0.73,368.0,355.2,10.3,996,12852,0.10,2.25,20.17,0.881,4,0.071,0.053,3037,3683,1353
$GC,12940,0.58,368.0,337.2,18.8,1006,12944,0.28,2.12,0.00,0.000,6,0.135,0.036,2966,2326,1352
$GC,13262,0.70,368.0,300.8,11.0,1037,13266,0.12,2.33,0.00,0.000,4,0.060,0.048,3046,881,1351
$GC,13326,0.66,368.0,291.7,14.2,1047,13332,0.17,2.28,0.00,0.000,6,0.127,0.038,2995,2326,1350
$GC,13654,0.79,418.5,256.9,9.3,1108,13704,0.12,2.28,44.25,0.812,4,0.062,0.051,3061,3684,1147
$GC,13845,0.71,418.5,226.9,17.9,1142,13851,0.22,2.15,0.00,0.000,6,0.135,0.040,3006,2315,1141
$GC,14173,0.79,418.5,190.2,11.1,1203,14179,0.00,2.28,0.00,0.000,4,0.000,0.047,3015,882,1141
$GC,14233,0.99,465.7,183.8,9.4,1214,14277,0.22,2.28,40.22,0.739,6,0.044,0.037,3135,2335,955
$GC,14602,0.81,465.7,109.5,19.5,1281,14610,0.28,2.33,0.00,0.000,4,0.133,0.045,3054,891,953
$GC,14681,0.95,483.3,99.2,10.4,1295,14701,0.00,2.25,15.52,0.637,6,0.000,0.037,3055,2327,882
$GC,15023,1.19,551.1,67.9,8.7,1358,15093,0.25,2.38,60.58,0.637,4,0.044,0.046,3195,889,602
$GC,15149,1.13,551.1,47.5,16.5,1379,15155,0.17,2.25,0.00,0.000,6,0.134,0.040,3146,2314,595
$STATE,15474,end climb,SURFACE_DEPTH_REACHED
$STATE,15474,begin surface coast
$FINISH,1.8,1.021281
$STATE,15498,end surface coast,CONTROL_FINISHED_OK
$STATE,15498,begin surface
$SM_CCo,15577,0.00,0.000,0,0,589,555.60
$SM_GC,2.67,7.85,0.00,0.00,0.043,0.000,0.000,164,2320,589,-8.10,0.99,555.60
$IRIDIUM_FIX,2429.95,12326.28,271198,080819
$TT8_MAMPS,0.048321
$HUMID,1766
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.00
$XPDR_PINGS,699
$24V_AH,23.0,131.566
$10V_AH,10.3,84.251
$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,29.050,129.725,656.825,0.000,0.000,26.358,31.822,259.378,182.750,0.000,0.000,14.284,0.000,11199.095,737.219,3273.303,826.426,0.000,2025.562,0.000,2737.873,0.000,57.435,0.000
$DEVICE_MAMPS,222.430,90.506,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,973.880,975.158,1155.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82102,1444
$CAP_FILE_SIZE,164820,0
$CFSIZE,260165632,206721024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,198.4,1
$GPS,020909,174937,2439.187,12322.745,38,0.9,38,-3.6