version: 66.04
glider: 165
mission: 2
dive: 608
start: 9 7 109 16 54 26
data:
$ID,165
$MISSION,2
$DIVE,608
$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,-132901.25
$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,36
$R_STBD_OVSHOOT,51
$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
$GPS1,163407,2452.604,12305.633,34,1.0,34,-3.6
$_CALLS,5
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-70.1
$GPS2,165420,2452.949,12305.830,11,1.6,11,-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,236.5,94615,-16.0,-11.000
$D_GRID,1700
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-0.91,-219.0,0.0,0.0,0,76,0.00,0.00,-61.03,0.000,2,0.000,0.000,141,2315,1988
$GC,80,-0.91,-219.0,3.2,-3.8,9,144,9.05,2.20,-46.83,0.000,4,0.215,0.061,2468,3658,3748
$GC,273,-0.56,-219.0,56.4,-27.6,43,279,0.43,2.12,0.00,0.000,6,0.127,0.033,2597,2277,3749
$GC,601,-0.56,-219.0,107.7,-15.2,104,607,0.00,2.25,0.00,0.000,4,0.000,0.047,2598,883,3751
$GC,736,-0.65,-219.0,122.1,-8.7,129,742,0.00,2.15,0.00,0.000,6,0.000,0.039,2590,2249,3751
$GC,1064,-0.65,-219.0,164.5,-11.9,190,1071,0.00,2.33,0.00,0.000,4,0.000,0.052,2590,3690,3751
$GC,1114,-0.80,-219.0,169.4,-8.8,199,1121,0.15,2.20,0.00,0.000,6,0.038,0.031,2492,2266,3750
$GC,1446,-0.52,-219.0,242.8,-22.7,260,1452,0.35,2.22,0.00,0.000,4,0.130,0.047,2603,883,3751
$GC,1534,-0.74,-219.0,254.2,-9.4,276,1540,0.17,2.20,0.00,0.000,6,0.049,0.038,2504,2278,3750
$GC,1864,-0.54,-219.0,317.7,-18.5,329,1866,0.32,0.00,0.00,0.000,6,0.127,0.000,2605,2280,3750
$GC,2176,-0.74,-219.0,340.6,-5.2,359,2178,0.17,0.00,0.00,0.000,6,0.050,0.000,2500,2279,3749
$GC,2484,-0.58,-219.0,386.4,-15.7,389,2488,0.25,2.25,0.00,0.000,4,0.127,0.048,2584,894,3746
$GC,2511,-0.58,-219.0,389.8,-12.9,391,2514,0.00,2.15,0.00,0.000,6,0.000,0.041,2583,2255,3746
$GC,2832,-0.75,-219.0,418.4,-8.9,422,2836,0.12,2.35,0.00,0.000,4,0.060,0.059,2500,3682,3744
$GC,2859,-0.75,-219.0,421.7,-12.7,424,2862,0.12,2.22,0.00,0.000,6,0.122,0.035,2538,2245,3743
$GC,3174,-0.75,-219.0,460.9,-12.0,454,3177,0.00,2.15,0.00,0.000,4,0.000,0.047,2538,888,3741
$GC,3217,-0.79,-219.0,465.7,-11.0,458,3221,0.00,2.22,0.00,0.000,6,0.000,0.044,2536,2268,3741
$GC,3533,-0.79,-219.0,493.1,-7.7,488,3537,0.00,2.30,0.00,0.000,4,0.000,0.054,2536,3690,3739
$GC,3603,-0.91,-219.0,498.1,-6.3,494,3607,0.15,2.20,0.00,0.000,6,0.055,0.032,2452,2245,3738
$GC,3918,-0.70,-219.0,551.9,-18.1,510,3920,0.32,0.00,0.00,0.000,6,0.127,0.000,2553,2245,3735
$GC,4219,-0.82,-219.0,578.6,-7.3,525,4220,0.12,0.00,0.00,0.000,6,0.063,0.000,2479,2245,3733
$GC,4525,-0.69,-219.0,616.9,-12.8,540,4529,0.20,2.20,0.00,0.000,4,0.129,0.050,2547,891,3731
$GC,4579,-0.84,-219.0,621.5,-6.3,542,4586,0.12,2.22,0.00,0.000,6,0.061,0.047,2474,2263,3730
$GC,4889,-0.73,-219.0,654.5,-11.4,558,4893,0.20,2.35,0.00,0.000,4,0.130,0.054,2533,3687,3728
$GC,4944,-0.90,-219.0,658.7,-6.0,560,4948,0.12,2.22,0.00,0.000,6,0.059,0.038,2461,2265,3727
$GC,5258,-0.76,-219.0,704.9,-16.9,575,5259,0.25,0.00,0.00,0.000,6,0.128,0.000,2538,2264,3724
$GC,5561,-0.88,-219.0,737.6,-10.2,590,5565,0.12,2.22,0.00,0.000,4,0.064,0.049,2466,887,3722
$GC,5687,-0.81,-219.0,756.0,-15.8,596,5691,0.20,2.25,0.00,0.000,6,0.130,0.044,2523,2280,3721
$GC,6012,-0.90,-219.0,787.3,-8.5,612,6013,0.10,0.00,0.00,0.000,6,0.071,0.000,2465,2280,3719
$GC,6314,-0.80,-219.0,824.5,-12.0,627,6315,0.20,0.00,0.00,0.000,6,0.132,0.000,2524,2281,3716
$GC,6620,-0.90,-219.0,843.8,-6.0,642,6621,0.10,0.00,0.00,0.000,6,0.072,0.000,2466,2281,3714
$GC,6924,-0.81,-219.0,878.4,-12.4,657,6928,0.17,2.33,0.00,0.000,4,0.133,0.051,2518,884,3711
$GC,6967,-0.90,-219.0,883.1,-9.3,659,6970,0.00,2.25,0.00,0.000,6,0.000,0.044,2518,2273,3711
$GC,7284,-1.00,-219.0,912.0,-9.4,675,7288,0.17,2.28,0.00,0.000,4,0.054,0.048,2424,889,3709
$GC,7316,-0.87,-219.0,916.3,-14.8,676,7322,0.28,2.30,0.00,0.000,6,0.136,0.047,2502,2268,3709
$GC,7628,-0.91,-219.0,948.3,-9.6,692,7631,0.00,2.35,0.00,0.000,4,0.000,0.058,2495,3686,3707
$GC,7655,-0.96,-219.0,950.9,-10.0,693,7658,0.00,2.22,0.00,0.000,6,0.000,0.035,2495,2261,3707
$GC,7966,-0.96,-219.0,983.3,-10.8,708,7969,0.00,2.25,0.00,0.000,4,0.000,0.051,2494,879,3705
$STATE,8022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8022,begin apogee
$GC,8031,-0.20,0.0,990.1,11.8,710,8209,0.65,0.00,175.20,1.337,6,0.115,0.000,2706,2300,2853
$STATE,8209,end apogee,CONTROL_FINISHED_OK
$STATE,8209,begin climb
$GC,8212,0.91,219.0,1001.9,0.0,719,8416,1.00,2.58,192.98,1.299,4,0.046,0.058,3079,3685,1960
$GC,8656,0.50,219.0,949.0,19.2,739,8663,0.50,2.20,0.00,0.000,6,0.147,0.042,2945,2306,1953
$GC,8968,0.52,265.7,918.8,9.4,755,9014,0.00,2.38,40.03,1.242,4,0.000,0.054,2944,3692,1771
$GC,9156,0.49,265.7,896.9,12.9,763,9163,0.00,2.20,0.00,0.000,6,0.000,0.037,2953,2287,1766
$GC,9467,0.49,265.7,857.9,12.3,779,9470,0.00,2.30,0.00,0.000,4,0.000,0.053,2953,3689,1764
$GC,9569,0.42,265.7,843.8,14.1,784,9572,0.17,2.15,0.00,0.000,6,0.137,0.035,2912,2312,1763
$GC,9891,0.58,321.2,812.9,9.1,800,9946,0.15,2.35,48.50,1.211,4,0.063,0.054,2996,3692,1544
$GC,9990,0.46,321.2,798.5,17.4,804,9996,0.28,2.15,0.00,0.000,6,0.134,0.037,2926,2333,1541
$GC,10302,0.61,365.7,767.2,9.5,820,10343,0.15,0.00,39.67,1.174,6,0.061,0.000,3012,2328,1362
$GC,10646,0.52,365.7,710.7,17.2,837,10650,0.20,2.33,0.00,0.000,4,0.127,0.049,2957,898,1358
$GC,10674,0.56,365.7,706.8,13.7,838,10677,0.00,2.30,0.00,0.000,6,0.000,0.039,2957,2340,1356
$GC,10990,0.61,365.7,669.8,11.7,854,10993,0.00,2.20,0.00,0.000,4,0.000,0.054,2957,3689,1355
$GC,11043,0.66,365.7,663.0,12.4,856,11046,0.00,2.12,0.00,0.000,6,0.000,0.035,2964,2330,1355
$GC,11360,0.70,365.7,622.5,13.8,872,11364,0.12,2.22,0.00,0.000,4,0.065,0.051,3038,3683,1355
$GC,11398,0.55,365.7,615.6,19.6,874,11402,0.30,2.12,0.00,0.000,6,0.135,0.035,2960,2334,1355
$GC,11721,0.61,365.7,572.5,12.7,890,11724,0.00,2.35,0.00,0.000,4,0.000,0.049,2965,888,1355
$GC,11763,0.70,365.7,567.2,12.4,892,11767,0.12,2.33,0.00,0.000,6,0.064,0.038,3027,2345,1352
$GC,12080,0.59,365.7,516.7,15.6,908,12084,0.20,2.20,0.00,0.000,4,0.133,0.052,2962,3683,1352
$GC,12217,0.68,393.2,502.3,10.1,914,12250,0.10,2.10,23.40,0.996,6,0.077,0.035,3019,2349,1251
$GC,12559,0.62,393.2,453.4,15.5,946,12562,0.15,2.35,0.00,0.000,4,0.129,0.047,2985,890,1250
$GC,12601,0.71,393.2,448.3,11.4,949,12607,0.00,2.33,0.00,0.000,6,0.000,0.038,2985,2357,1247
$GC,12921,0.76,393.2,409.0,13.6,980,12927,0.12,0.00,0.00,0.000,6,0.062,0.000,3050,2357,1247
$GC,13240,0.64,393.2,348.8,19.1,1011,13244,0.20,2.17,0.00,0.000,4,0.130,0.051,2985,3686,1248
$GC,13354,0.70,393.2,331.9,13.1,1021,13357,0.00,2.12,0.00,0.000,6,0.000,0.034,2993,2329,1247
$GC,13672,0.76,393.2,290.3,12.8,1058,13677,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2329,1247
$GC,13999,0.90,447.6,251.5,9.2,1119,14054,0.17,2.35,47.28,0.815,4,0.051,0.049,3115,887,1028
$GC,14135,0.76,447.6,229.7,17.9,1143,14142,0.30,2.30,0.00,0.000,6,0.133,0.038,3027,2339,1024
$GC,14464,0.81,447.6,186.5,15.4,1204,14470,0.00,2.20,0.00,0.000,4,0.000,0.054,3027,3681,1024
$GC,14487,0.86,447.6,183.0,15.4,1208,14493,0.00,2.15,0.00,0.000,6,0.000,0.034,3032,2308,1023
$GC,14815,0.92,447.6,137.8,14.8,1269,14821,0.12,2.28,0.00,0.000,4,0.065,0.045,3122,885,1023
$GC,14887,0.81,447.6,124.9,17.5,1282,14893,0.28,2.28,0.00,0.000,6,0.129,0.038,3042,2323,1024
$GC,15218,1.13,588.3,90.4,6.3,1343,15344,0.25,2.25,117.50,0.666,4,0.041,0.053,3172,3683,478
$GC,15408,1.13,588.3,58.0,14.4,1375,15415,0.15,2.10,0.00,0.000,6,0.141,0.033,3140,2327,467
$GC,15738,1.23,588.3,16.6,12.2,1436,15745,0.10,2.30,0.00,0.000,4,0.069,0.048,3214,885,458
$GC,15805,1.18,588.3,6.7,16.1,1448,15812,0.15,2.28,0.00,0.000,6,0.130,0.038,3165,2314,457
$STATE,15830,end climb,SURFACE_DEPTH_REACHED
$STATE,15831,begin surface coast
$FINISH,1.9,1.007787
$STATE,15852,end surface coast,CONTROL_FINISHED_OK
$STATE,15852,begin surface
$SM_CCo,15931,0.00,0.000,0,0,457,587.98
$SM_GC,2.52,7.75,0.00,0.00,0.032,0.000,0.000,153,2316,457,-8.09,0.88,587.98
$IRIDIUM_FIX,2444.18,12302.53,021298,161627
$TT8_MAMPS,0.047554
$HUMID,1789
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.60
$XPDR_PINGS,930
$24V_AH,22.0,138.467
$10V_AH,10.2,87.643
$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,27.700,139.375,684.550,0.000,0.000,136.402,243.996,393.301,240.500,0.000,0.000,13.800,0.000,11665.263,773.172,3357.210,1313.294,0.000,2104.802,0.000,2808.564,0.000,53.980,0.000
$DEVICE_MAMPS,214.760,61.360,1336.881,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,983.442,997.466,1181.386,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82291,1457
$CAP_FILE_SIZE,175022,0
$CFSIZE,260165632,204324864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.323, 58.3,1
$GPS,070909,212101,2452.725,12306.438,40,1.1,40,-3.6