version: 66.04
glider: 165
mission: 2
dive: 614
start: 9 8 109 20 40 20
data:
$ID,165
$MISSION,2
$DIVE,614
$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,-133050.97
$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,62
$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
$GPS1,203125,2459.895,12305.562,40,1.2,40,-3.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.5
$GPS2,204014,2500.128,12305.722,14,1.4,14,-3.6
$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,262.7,82230,-16.0,-11.000
$D_GRID,1650
$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,14,-0.91,-219.0,0.0,0.0,0,66,0.00,0.00,-49.90,0.000,2,0.000,0.000,150,2255,1973
$GC,69,-0.91,-219.0,3.3,-4.0,8,132,9.12,2.35,-45.85,0.000,4,0.219,0.060,2472,3690,3748
$GC,246,-0.51,-219.0,50.9,-32.2,39,253,0.45,2.12,0.00,0.000,6,0.117,0.034,2612,2307,3749
$GC,575,-0.51,-219.0,113.4,-8.1,100,581,0.00,2.28,0.00,0.000,4,0.000,0.042,2612,883,3750
$GC,740,-0.70,-219.0,127.1,-8.6,130,746,0.17,2.20,0.00,0.000,6,0.049,0.038,2511,2290,3751
$GC,1068,-0.47,-219.0,187.6,-17.9,191,1075,0.35,0.00,0.00,0.000,6,0.129,0.000,2623,2291,3752
$GC,1397,-0.66,-219.0,209.9,-6.9,252,1403,0.17,2.30,0.00,0.000,4,0.048,0.044,2516,869,3753
$GC,1416,-0.77,-219.0,211.9,-9.4,255,1422,0.00,2.22,0.00,0.000,6,0.000,0.040,2513,2281,3753
$GC,1744,-0.60,-219.0,268.5,-15.1,316,1750,0.20,2.28,0.00,0.000,4,0.131,0.045,2578,881,3753
$GC,1822,-0.74,-219.0,275.7,-7.2,330,1828,0.10,2.22,0.00,0.000,6,0.068,0.039,2509,2283,3753
$GC,2149,-0.62,-219.0,323.4,-13.8,377,2150,0.22,0.00,0.00,0.000,6,0.127,0.000,2577,2283,3753
$GC,2463,-0.76,-219.0,349.2,-8.2,407,2466,0.12,2.33,0.00,0.000,4,0.063,0.046,2497,872,3751
$GC,2527,-0.67,-219.0,357.9,-14.0,412,2533,0.22,2.30,0.00,0.000,6,0.125,0.044,2561,2287,3751
$GC,2843,-0.78,-219.0,386.9,-7.6,443,2846,0.00,2.28,0.00,0.000,4,0.000,0.046,2561,876,3748
$GC,2875,-0.91,-219.0,389.4,-7.2,446,2879,0.22,2.28,0.00,0.000,6,0.044,0.046,2452,2285,3749
$GC,3191,-0.67,-219.0,442.3,-17.8,476,3195,0.32,2.35,0.00,0.000,4,0.131,0.047,2556,875,3747
$GC,3267,-0.83,-219.0,449.8,-7.8,482,3274,0.12,2.28,0.00,0.000,6,0.058,0.042,2481,2274,3746
$GC,3583,-0.70,-219.0,496.1,-15.1,513,3585,0.25,0.00,0.00,0.000,6,0.125,0.000,2559,2274,3744
$GC,3890,-0.84,-219.0,524.4,-9.4,530,3894,0.15,2.30,0.00,0.000,4,0.054,0.048,2469,884,3741
$GC,3986,-0.76,-219.0,539.1,-16.1,534,3992,0.22,2.28,0.00,0.000,6,0.125,0.047,2534,2268,3740
$GC,4298,-0.84,-219.0,577.2,-11.7,550,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2268,3738
$GC,4602,-0.93,-219.0,608.5,-9.8,565,4606,0.15,2.28,0.00,0.000,4,0.058,0.048,2453,882,3734
$GC,4629,-0.86,-219.0,611.8,-13.6,566,4632,0.17,2.25,0.00,0.000,6,0.133,0.044,2501,2281,3734
$GC,4946,-0.86,-219.0,649.5,-12.1,582,4953,0.00,2.30,0.00,0.000,4,0.000,0.048,2501,875,3732
$GC,4991,-0.86,-219.0,655.1,-12.1,584,4994,0.00,2.25,0.00,0.000,6,0.000,0.044,2500,2269,3732
$GC,5318,-0.86,-219.0,692.9,-11.2,600,5321,0.00,2.28,0.00,0.000,4,0.000,0.048,2500,874,3729
$GC,5355,-0.86,-219.0,697.3,-11.8,601,5361,0.00,2.25,0.00,0.000,6,0.000,0.044,2500,2268,3729
$GC,5666,-0.86,-219.0,729.1,-10.2,617,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2268,3726
$GC,5972,-0.86,-219.0,762.3,-10.7,632,5976,0.00,2.28,0.00,0.000,4,0.000,0.048,2500,880,3724
$GC,6053,-0.91,-219.0,770.7,-11.0,636,6056,0.00,2.25,0.00,0.000,6,0.000,0.044,2500,2266,3723
$GC,6380,-0.91,-219.0,806.0,-11.0,652,6383,0.00,2.28,0.00,0.000,4,0.000,0.048,2500,878,3720
$GC,6435,-0.96,-219.0,812.0,-10.8,654,6438,0.00,2.22,0.00,0.000,6,0.000,0.045,2500,2247,3720
$GC,6746,-0.96,-219.0,845.1,-10.6,669,6749,0.00,2.25,0.00,0.000,4,0.000,0.048,2500,878,3719
$GC,6805,-1.02,-219.0,851.5,-10.3,671,6814,0.15,2.22,0.00,0.000,6,0.059,0.045,2429,2245,3718
$GC,7117,-0.83,-219.0,901.3,-16.2,687,7118,0.28,0.00,0.00,0.000,6,0.137,0.000,2511,2245,3716
$GC,7422,-0.90,-219.0,930.1,-8.8,702,7425,0.00,2.25,0.00,0.000,4,0.000,0.051,2510,883,3714
$GC,7482,-1.00,-219.0,935.6,-8.9,704,7487,0.15,2.28,0.00,0.000,6,0.059,0.050,2442,2247,3714
$GC,7793,-0.85,-219.0,981.2,-15.1,720,7796,0.17,2.28,0.00,0.000,4,0.141,0.049,2499,884,3712
$GC,7853,-0.91,-219.0,988.0,-10.6,723,7856,0.00,2.22,0.00,0.000,6,0.000,0.044,2499,2245,3712
$STATE,7871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7871,begin apogee
$GC,7878,-0.20,0.0,990.1,9.2,724,8058,0.65,0.00,177.43,1.341,6,0.107,0.000,2713,2316,2854
$STATE,8058,end apogee,CONTROL_FINISHED_OK
$STATE,8059,begin climb
$GC,8062,0.91,219.0,1000.2,0.0,733,8275,1.00,2.60,198.68,1.301,4,0.039,0.055,3088,3676,1959
$GC,8355,0.47,219.0,971.2,23.2,746,8361,0.62,2.33,0.00,0.000,6,0.150,0.036,2932,2302,1956
$GC,8667,0.50,242.8,937.3,10.2,762,8700,0.00,2.35,22.73,1.122,4,0.000,0.054,2932,3680,1863
$GC,8735,0.46,242.8,929.3,13.2,765,8738,0.00,2.17,0.00,0.000,6,0.000,0.035,2940,2293,1861
$GC,9056,0.49,265.2,894.7,10.2,781,9081,0.00,2.30,20.55,1.209,4,0.000,0.054,2940,3680,1772
$GC,9204,0.45,265.2,878.3,11.8,788,9207,0.00,2.15,0.00,0.000,6,0.000,0.036,2950,2310,1769
$GC,9530,0.47,283.6,843.7,10.4,804,9552,0.00,2.33,16.88,1.175,4,0.000,0.053,2950,3689,1696
$GC,9617,0.44,283.6,833.9,11.9,808,9621,0.15,2.12,0.00,0.000,6,0.143,0.035,2916,2333,1695
$GC,9939,0.65,389.9,808.3,7.4,824,10042,0.20,2.33,93.95,1.222,4,0.054,0.053,3021,3677,1264
$GC,10077,0.52,389.9,787.9,17.7,830,10081,0.28,2.15,0.00,0.000,6,0.132,0.035,2952,2328,1262
$GC,10388,0.61,401.2,753.9,10.6,845,10402,0.00,2.33,10.23,1.045,4,0.000,0.050,2960,889,1217
$GC,10458,0.80,450.1,746.8,9.4,847,10511,0.22,2.30,44.45,1.160,6,0.048,0.039,3060,2333,1018
$GC,10819,0.63,450.1,674.0,21.5,865,10823,0.22,2.20,0.00,0.000,4,0.139,0.051,2987,3689,1014
$GC,10901,0.67,450.1,660.5,13.7,869,10904,0.00,2.12,0.00,0.000,6,0.000,0.035,2995,2335,1013
$GC,11227,0.67,450.1,612.5,14.9,885,11231,0.00,2.35,0.00,0.000,4,0.000,0.049,3006,885,1012
$GC,11276,0.72,450.1,605.5,14.6,887,11280,0.00,2.30,0.00,0.000,6,0.000,0.037,3006,2340,1011
$GC,11598,0.72,450.1,554.6,15.6,903,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2341,1011
$GC,11903,0.72,450.1,513.9,12.8,918,11904,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2341,1009
$GC,12211,0.72,450.1,471.1,15.0,942,12215,0.00,2.40,0.00,0.000,4,0.000,0.049,3016,886,1009
$GC,12232,0.72,450.1,467.9,14.8,943,12239,0.00,2.33,0.00,0.000,6,0.000,0.038,3016,2338,1010
$GC,12551,0.72,450.1,417.6,16.0,974,12554,0.00,2.20,0.00,0.000,4,0.000,0.051,3016,3684,1010
$GC,12594,0.72,450.1,410.3,16.3,978,12598,0.00,2.15,0.00,0.000,6,0.000,0.035,3025,2309,1010
$GC,12916,0.72,450.1,358.3,14.7,1009,12919,0.00,2.30,0.00,0.000,4,0.000,0.049,3034,897,1009
$GC,13018,0.72,450.1,344.0,13.8,1018,13024,0.00,2.30,0.00,0.000,6,0.000,0.038,3034,2316,1009
$GC,13337,0.72,450.1,300.2,15.5,1049,13341,0.00,2.33,0.00,0.000,4,0.000,0.047,3041,896,1009
$GC,13355,0.72,450.1,297.2,16.1,1051,13361,0.00,2.22,0.00,0.000,6,0.000,0.037,3042,2295,1009
$GC,13682,0.72,450.1,246.0,13.6,1112,13688,0.00,2.30,0.00,0.000,4,0.000,0.051,3042,3680,1009
$GC,13721,0.72,450.1,240.7,12.6,1119,13728,0.15,2.17,0.00,0.000,6,0.134,0.035,3006,2290,1009
$GC,14050,0.82,450.1,207.1,11.9,1180,14056,0.12,2.28,0.00,0.000,4,0.063,0.048,3097,898,1009
$GC,14083,0.73,450.1,201.7,17.5,1186,14089,0.28,2.25,0.00,0.000,6,0.133,0.038,3018,2298,1009
$GC,14414,0.90,509.4,158.6,9.0,1247,14472,0.15,2.28,49.35,0.736,4,0.058,0.051,3114,3675,776
$GC,14541,0.80,509.4,136.6,17.0,1268,14547,0.28,2.17,0.00,0.000,6,0.126,0.036,3041,2295,774
$GC,14872,1.16,591.1,97.3,8.2,1329,14948,0.28,2.28,69.30,0.676,4,0.041,0.048,3193,886,477
$GC,15018,1.12,591.1,70.6,16.2,1354,15024,0.20,2.25,0.00,0.000,6,0.131,0.035,3136,2320,461
$GC,15346,1.21,591.1,35.2,12.5,1415,15353,0.10,2.33,0.00,0.000,4,0.071,0.044,3207,885,453
$GC,15403,1.15,591.1,26.0,17.4,1425,15409,0.20,2.17,0.00,0.000,6,0.128,0.035,3149,2285,452
$STATE,15560,end climb,SURFACE_DEPTH_REACHED
$STATE,15561,begin surface coast
$FINISH,1.9,1.021442
$STATE,15583,end surface coast,CONTROL_FINISHED_OK
$STATE,15583,begin surface
$SM_CCo,15661,0.00,0.000,0,0,450,589.70
$SM_GC,2.64,7.62,0.00,0.00,0.027,0.000,0.000,164,2291,450,-8.09,0.17,589.70
$IRIDIUM_FIX,2446.56,12305.82,031298,161617
$TT8_MAMPS,0.049088
$HUMID,1795
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.80
$XPDR_PINGS,724
$24V_AH,21.6,140.066
$10V_AH,10.1,88.395
$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,26.250,149.700,703.525,0.000,0.000,31.150,33.687,290.759,189.000,0.000,0.000,16.775,0.000,11127.763,806.384,3354.571,867.222,0.000,2136.089,0.000,2802.155,0.000,54.022,0.000
$DEVICE_MAMPS,219.362,88.972,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,985.460,997.593,1204.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81895,1459
$CAP_FILE_SIZE,168147,0
$CFSIZE,260165632,203808768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.419, 48.0,1
$GPS,090909,010225,2501.631,12305.866,39,1.1,39,-3.6