version: 66.04
glider: 165
mission: 2
dive: 594
start: 9 5 109 0 49 48
data:
$ID,165
$MISSION,2
$DIVE,594
$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,-132593.72
$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,38
$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
$GPS1,004154,2448.378,12305.879,37,0.9,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-65.8
$GPS2,004943,2448.439,12305.935,9,1.8,14,-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,241.4,96296,-16.0,-11.000
$D_GRID,1594
$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,17,-0.91,-219.0,0.0,0.0,0,70,0.00,0.00,-50.47,0.000,2,0.000,0.000,143,2320,1868
$GC,73,-0.91,-219.0,3.1,-3.2,8,143,9.27,2.20,-54.03,0.000,4,0.221,0.062,2472,3683,3747
$GC,298,-0.56,-219.0,58.6,-27.0,48,305,0.38,2.17,0.00,0.000,6,0.123,0.034,2609,2285,3749
$GC,626,-0.56,-219.0,114.1,-15.8,109,632,0.00,2.22,0.00,0.000,4,0.000,0.047,2610,883,3750
$GC,708,-0.70,-219.0,125.7,-11.9,124,715,0.12,2.17,0.00,0.000,6,0.040,0.038,2525,2255,3750
$GC,1037,-0.54,-219.0,192.8,-14.6,185,1043,0.22,2.33,0.00,0.000,4,0.127,0.051,2589,3685,3751
$GC,1070,-0.60,-219.0,196.5,-9.2,191,1076,0.00,2.17,0.00,0.000,6,0.000,0.032,2589,2265,3751
$GC,1399,-0.70,-219.0,211.8,-3.5,252,1405,0.00,2.20,0.00,0.000,4,0.000,0.048,2589,884,3752
$GC,1432,-0.82,-219.0,213.3,-4.3,258,1440,0.20,2.20,0.00,0.000,6,0.044,0.039,2477,2277,3752
$GC,1764,-0.53,-219.0,282.2,-21.9,319,1769,0.40,2.28,0.00,0.000,4,0.135,0.048,2605,886,3752
$GC,1824,-0.74,-219.0,290.0,-8.2,330,1832,0.20,2.17,0.00,0.000,6,0.045,0.039,2493,2265,3752
$GC,2146,-0.52,-219.0,350.5,-20.1,367,2150,0.35,2.22,0.00,0.000,4,0.126,0.045,2608,888,3751
$GC,2179,-0.63,-219.0,354.7,-9.2,369,2184,0.00,2.17,0.00,0.000,6,0.000,0.046,2608,2245,3751
$GC,2498,-1.19,-219.0,377.1,-8.5,400,2502,0.55,2.22,0.00,0.000,4,0.058,0.047,2390,883,3750
$GC,2520,-1.38,-219.0,379.8,-11.0,401,2526,0.15,2.17,0.00,0.000,6,0.065,0.047,2325,2234,3750
$GC,2836,-0.80,-219.0,473.8,-29.2,432,2841,0.65,2.20,0.00,0.000,4,0.161,0.049,2515,890,3748
$GC,2858,-0.39,-219.0,479.0,-24.8,434,2862,0.45,2.17,0.00,0.000,6,0.117,0.048,2652,2241,3748
$GC,3183,-0.95,-219.0,506.9,-10.8,462,3187,0.47,2.38,0.00,0.000,4,0.082,0.052,2470,3692,3746
$GC,3227,-1.07,-219.0,511.5,-10.1,464,3230,0.10,2.25,0.00,0.000,6,0.071,0.034,2414,2239,3745
$GC,3551,-0.75,-219.0,579.7,-22.4,480,3555,0.38,2.20,0.00,0.000,4,0.137,0.052,2535,896,3743
$GC,3611,-0.86,-219.0,588.8,-10.9,483,3614,0.00,2.17,0.00,0.000,6,0.000,0.042,2535,2263,3743
$GC,3938,-0.97,-219.0,619.4,-9.3,499,3941,0.17,2.33,0.00,0.000,4,0.052,0.054,2439,3684,3741
$GC,3982,-0.86,-219.0,625.4,-15.7,501,3986,0.22,2.20,0.00,0.000,6,0.123,0.033,2506,2245,3740
$GC,4303,-0.86,-219.0,663.7,-11.1,517,4306,0.00,2.15,0.00,0.000,4,0.000,0.048,2506,896,3738
$GC,4383,-0.92,-219.0,672.3,-10.4,520,4389,0.00,2.20,0.00,0.000,6,0.000,0.049,2506,2244,3738
$GC,4695,-0.96,-219.0,702.2,-9.0,536,4696,0.10,0.00,0.00,0.000,6,0.071,0.000,2450,2245,3735
$GC,4999,-0.81,-219.0,746.1,-15.3,551,5001,0.22,0.00,0.00,0.000,6,0.134,0.000,2517,2245,3732
$GC,5306,-0.90,-219.0,775.9,-10.0,566,5310,0.00,2.40,0.00,0.000,4,0.000,0.061,2516,3687,3729
$GC,5349,-1.04,-219.0,780.3,-9.5,568,5353,0.20,2.22,0.00,0.000,6,0.048,0.035,2423,2252,3729
$GC,5669,-0.82,-219.0,837.6,-19.2,584,5673,0.25,2.25,0.00,0.000,4,0.134,0.051,2506,883,3726
$GC,5816,-0.91,-219.0,856.9,-12.1,591,5819,0.00,2.17,0.00,0.000,6,0.000,0.044,2506,2226,3725
$GC,6144,-0.97,-219.0,895.1,-11.3,607,6147,0.12,2.45,0.00,0.000,4,0.061,0.059,2439,3692,3723
$GC,6192,-0.89,-219.0,902.0,-15.0,609,6195,0.17,2.28,0.00,0.000,6,0.126,0.035,2489,2234,3721
$GC,6507,-0.89,-219.0,940.3,-11.6,625,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2234,3720
$GC,6814,-0.89,-219.0,973.4,-10.4,640,6817,0.00,2.20,0.00,0.000,4,0.000,0.054,2489,887,3719
$GC,6910,-0.95,-219.0,983.5,-10.3,644,6913,0.00,2.17,0.00,0.000,6,0.000,0.046,2490,2227,3718
$STATE,6978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6979,begin apogee
$GC,6987,-0.20,0.0,990.7,10.1,648,7167,0.68,0.00,178.18,1.332,6,0.107,0.000,2712,2315,2854
$STATE,7168,end apogee,CONTROL_FINISHED_OK
$STATE,7168,begin climb
$GC,7171,0.91,219.0,1001.3,0.0,657,7369,0.98,2.50,188.82,1.295,4,0.044,0.052,3090,903,1962
$GC,7386,0.52,219.0,990.2,17.7,667,7391,0.52,2.38,0.00,0.000,6,0.158,0.044,2950,2297,1958
$GC,7703,0.49,246.2,957.1,10.1,683,7732,0.00,2.38,24.05,1.218,4,0.000,0.058,2950,3694,1849
$GC,7821,0.41,246.2,944.0,12.4,688,7825,0.17,2.17,0.00,0.000,6,0.151,0.036,2910,2307,1847
$GC,8132,0.61,364.4,921.3,7.0,703,8242,0.17,2.38,105.12,1.264,4,0.058,0.054,3012,3694,1367
$GC,8355,0.47,364.4,886.1,16.6,713,8361,0.30,2.15,0.00,0.000,6,0.137,0.035,2935,2331,1363
$GC,8666,0.60,400.2,854.2,9.8,729,8707,0.12,2.42,31.92,1.203,4,0.064,0.051,3023,892,1221
$GC,8756,0.55,400.2,840.3,16.7,733,8759,0.22,2.30,0.00,0.000,6,0.128,0.041,2957,2322,1219
$GC,9077,0.60,400.2,797.9,13.3,749,9080,0.00,2.22,0.00,0.000,4,0.000,0.055,2958,3692,1216
$GC,9115,0.65,400.2,792.6,14.8,750,9121,0.00,2.17,0.00,0.000,6,0.000,0.038,2964,2310,1216
$GC,9426,0.69,400.2,748.9,14.1,766,9430,0.12,2.28,0.00,0.000,4,0.065,0.051,3035,3695,1215
$GC,9469,0.53,400.2,740.6,21.2,768,9473,0.32,2.15,0.00,0.000,6,0.133,0.035,2949,2322,1215
$GC,9786,0.62,400.2,700.6,11.8,784,9789,0.00,2.33,0.00,0.000,4,0.000,0.050,2957,891,1214
$GC,9839,0.77,417.6,694.6,10.4,786,9859,0.20,2.30,15.73,1.091,6,0.051,0.044,3048,2318,1151
$GC,10169,0.61,417.6,629.5,21.0,802,10173,0.20,2.22,0.00,0.000,4,0.143,0.052,2983,3680,1149
$GC,10211,0.61,417.6,620.5,17.4,804,10215,0.00,2.15,0.00,0.000,6,0.000,0.035,2991,2305,1149
$GC,10533,0.61,417.6,570.7,14.7,820,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2302,1149
$GC,10839,0.61,417.6,529.2,13.4,835,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2302,1148
$GC,11144,0.61,417.6,485.3,14.5,854,11145,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2302,1148
$GC,11459,0.66,417.6,442.7,12.4,884,11462,0.00,2.30,0.00,0.000,4,0.000,0.050,3002,887,1148
$GC,11475,0.70,417.6,440.2,12.4,885,11479,0.00,2.28,0.00,0.000,6,0.000,0.038,3002,2315,1146
$GC,11794,0.70,417.6,398.6,15.2,915,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2315,1146
$GC,12106,0.74,417.6,353.4,15.1,945,12109,0.00,2.22,0.00,0.000,4,0.000,0.053,3001,3683,1146
$GC,12175,0.74,417.6,342.1,14.4,951,12182,0.00,2.20,0.00,0.000,6,0.000,0.035,3010,2277,1146
$GC,12495,0.77,417.6,302.1,11.9,982,12498,0.00,2.22,0.00,0.000,4,0.000,0.048,3021,895,1146
$GC,12538,0.83,417.6,296.4,12.4,988,12543,0.00,2.25,0.00,0.000,6,0.000,0.042,3021,2295,1146
$GC,12865,0.83,417.6,253.1,15.1,1049,12871,0.00,2.25,0.00,0.000,4,0.000,0.051,3021,3685,1146
$GC,13019,0.83,417.6,227.3,16.6,1077,13024,0.00,2.15,0.00,0.000,6,0.000,0.035,3029,2305,1146
$GC,13346,0.83,417.6,180.8,12.5,1138,13352,0.00,2.28,0.00,0.000,4,0.000,0.049,3038,895,1146
$GC,13401,0.91,417.6,174.0,11.8,1148,13407,0.00,2.22,0.00,0.000,6,0.000,0.042,3039,2295,1146
$GC,13729,0.95,417.6,136.6,11.7,1209,13735,0.12,2.25,0.00,0.000,4,0.059,0.050,3113,3686,1145
$GC,13850,0.77,417.6,116.1,17.0,1231,13858,0.32,2.12,0.00,0.000,6,0.135,0.035,3028,2331,1146
$GC,14179,0.98,487.2,82.6,8.7,1292,14243,0.17,2.38,58.58,0.657,4,0.051,0.045,3143,889,866
$GC,14324,0.92,487.2,60.4,14.8,1317,14330,0.22,2.25,0.00,0.000,6,0.120,0.035,3075,2325,864
$GC,14653,1.10,521.6,25.6,9.8,1378,14692,0.17,2.35,28.95,0.590,4,0.051,0.044,3185,886,726
$GC,14698,0.94,521.6,19.2,15.3,1385,14704,0.35,2.22,0.00,0.000,6,0.124,0.035,3079,2312,726
$STATE,14884,end climb,SURFACE_DEPTH_REACHED
$STATE,14884,begin surface coast
$FINISH,1.7,1.009746
$STATE,14921,end surface coast,CONTROL_FINISHED_OK
$STATE,14921,begin surface
$SM_CCo,15000,0.00,0.000,0,0,723,522.73
$SM_GC,2.40,7.55,0.00,0.00,0.036,0.000,0.000,157,2312,723,-8.08,0.76,522.73
$IRIDIUM_FIX,2437.06,12308.50,291198,202023
$TT8_MAMPS,0.049088
$HUMID,1772
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.50
$XPDR_PINGS,710
$24V_AH,22.7,134.811
$10V_AH,10.2,85.884
$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,28.325,143.900,631.350,0.000,0.000,29.057,33.058,229.001,185.500,0.000,0.000,16.440,0.000,10640.309,727.026,3265.832,799.750,0.000,2006.299,0.000,2725.956,0.000,54.009,0.000
$DEVICE_MAMPS,220.896,83.603,1332.279,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,964.098,996.341,1229.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79027,1427
$CAP_FILE_SIZE,163222,0
$CFSIZE,260165632,205586432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.339, 49.9,1
$GPS,050909,050037,2448.420,12305.814,25,1.6,25,-3.6