version: 66.04
glider: 165
mission: 2
dive: 617
start: 9 9 109 17 30 31
data:
$ID,165
$MISSION,2
$DIVE,617
$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,330
$T_MISSION,396
$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,-133736.78
$T_RSLEEP,10
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,171006,2518.357,12312.706,39,1.0,39,-3.7
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-68.3
$GPS2,173026,2518.845,12313.537,8,1.2,8,-3.7
$SPEED_LIMITS,0.173,0.311
$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,236.7,81987,-14.7,-10.000
$D_GRID,1081
$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,-0.86,-219.0,0.0,0.0,0,66,0.00,0.00,-50.45,0.000,2,0.000,0.000,148,2252,1887
$GC,70,-0.86,-219.0,3.0,-3.3,8,139,9.15,2.33,-52.47,0.000,4,0.218,0.060,2489,3698,3749
$GC,285,-0.40,-219.0,61.1,-31.0,46,292,0.52,2.15,0.00,0.000,6,0.127,0.034,2651,2297,3750
$GC,615,-0.53,-219.0,107.0,-7.9,107,620,0.12,2.25,0.00,0.000,4,0.060,0.044,2573,879,3751
$GC,664,-0.50,-219.0,113.3,-14.0,116,670,0.10,2.25,0.00,0.000,6,0.113,0.040,2625,2288,3751
$GC,993,-0.63,-219.0,139.3,-6.8,177,999,0.15,2.28,0.00,0.000,4,0.050,0.044,2533,876,3752
$GC,1053,-0.48,-219.0,147.4,-15.9,188,1059,0.30,2.25,0.00,0.000,6,0.122,0.041,2624,2288,3752
$GC,1382,-0.65,-219.0,171.7,-6.7,249,1388,0.15,2.28,0.00,0.000,4,0.054,0.043,2534,875,3752
$GC,1464,-0.57,-219.0,180.8,-11.2,264,1471,0.15,2.22,0.00,0.000,6,0.111,0.041,2593,2263,3751
$GC,1793,-0.66,-219.0,208.0,-9.3,325,1798,0.00,2.30,0.00,0.000,4,0.000,0.053,2590,3693,3750
$GC,1820,-0.79,-219.0,210.5,-9.0,330,1828,0.15,2.22,0.00,0.000,6,0.038,0.031,2492,2265,3751
$GC,2153,-0.56,-219.0,269.5,-16.2,391,2159,0.32,2.22,0.00,0.000,4,0.127,0.044,2592,885,3749
$GC,2180,-0.56,-219.0,273.6,-11.9,396,2186,0.00,2.20,0.00,0.000,6,0.000,0.040,2592,2267,3749
$GC,2508,-0.68,-219.0,295.5,-7.1,457,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,2267,3747
$GC,2829,-0.83,-219.0,317.3,-6.1,493,2833,0.20,2.25,0.00,0.000,4,0.048,0.047,2473,888,3744
$GC,2856,-0.76,-219.0,320.3,-12.0,495,2860,0.22,2.20,0.00,0.000,6,0.129,0.041,2535,2267,3744
$GC,3173,-0.71,-219.0,356.1,-11.8,525,3176,0.00,2.30,0.00,0.000,4,0.000,0.055,2535,3685,3742
$GC,3194,-0.71,-219.0,358.8,-12.3,526,3201,0.00,2.25,0.00,0.000,6,0.000,0.035,2535,2253,3742
$GC,3510,-0.71,-219.0,395.1,-11.9,557,3513,0.00,2.17,0.00,0.000,4,0.000,0.048,2535,888,3740
$GC,3558,-0.75,-219.0,400.8,-12.1,561,3564,0.00,2.17,0.00,0.000,6,0.000,0.041,2535,2251,3740
$GC,3878,-0.75,-219.0,431.6,-10.5,592,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2251,3737
$GC,4194,-0.75,-219.0,467.7,-11.7,623,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2251,3735
$GC,4507,-0.75,-219.0,503.1,-11.1,652,4510,0.00,2.22,0.00,0.000,4,0.000,0.049,2535,885,3732
$GC,4609,-0.84,-219.0,514.9,-10.8,656,4614,0.00,2.25,0.00,0.000,6,0.000,0.048,2535,2261,3732
$GC,4921,-0.88,-219.0,549.1,-10.9,672,4924,0.12,2.35,0.00,0.000,4,0.063,0.056,2464,3685,3729
$GC,4947,-0.82,-219.0,552.8,-14.9,673,4951,0.17,2.22,0.00,0.000,6,0.121,0.035,2516,2250,3728
$GC,5258,-0.82,-219.0,588.3,-10.4,688,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2250,3726
$GC,5564,-0.82,-219.0,616.9,-8.8,703,5567,0.00,2.20,0.00,0.000,4,0.000,0.049,2516,886,3723
$GC,5607,-0.82,-219.0,620.9,-8.7,705,5610,0.00,2.22,0.00,0.000,6,0.000,0.044,2516,2262,3723
$GC,5935,-0.82,-219.0,651.3,-9.7,721,5938,0.00,2.22,0.00,0.000,4,0.000,0.047,2516,892,3720
$GC,5979,-0.85,-219.0,655.5,-9.7,723,5982,0.00,2.20,0.00,0.000,6,0.000,0.043,2511,2251,3720
$GC,6305,-0.85,-219.0,687.4,-9.6,739,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2251,3718
$GC,6611,-0.85,-219.0,715.5,-9.0,754,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2251,3716
$GC,6916,-0.85,-219.0,742.5,-8.6,769,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2252,3714
$GC,7221,-0.85,-219.0,769.5,-8.6,784,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2251,3712
$GC,7527,-0.85,-219.0,795.4,-8.2,799,7530,0.00,2.25,0.00,0.000,4,0.000,0.051,2511,891,3710
$GC,7570,-0.85,-219.0,798.9,-7.7,801,7573,0.00,2.22,0.00,0.000,6,0.000,0.046,2511,2251,3710
$GC,7898,-0.85,-219.0,826.4,-8.8,817,7901,0.00,2.22,0.00,0.000,4,0.000,0.048,2510,893,3708
$GC,7947,-0.89,-219.0,831.3,-9.5,819,7950,0.00,2.20,0.00,0.000,6,0.000,0.045,2510,2241,3708
$GC,8268,-0.89,-219.0,865.8,-11.2,835,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2242,3706
$GC,8575,-0.89,-219.0,899.9,-11.1,850,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2242,3704
$GC,8880,-0.89,-219.0,932.4,-10.5,865,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2242,3703
$GC,9184,-0.89,-219.0,964.6,-10.8,880,9187,0.00,2.25,0.00,0.000,4,0.000,0.051,2510,885,3702
$GC,9222,-0.93,-219.0,968.8,-11.7,881,9227,0.00,2.22,0.00,0.000,6,0.000,0.046,2510,2242,3702
$STATE,9427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9427,begin apogee
$GC,9436,-0.20,0.0,991.6,11.0,892,9615,0.62,0.00,176.68,1.341,6,0.106,0.000,2714,2312,2854
$STATE,9615,end apogee,CONTROL_FINISHED_OK
$STATE,9615,begin climb
$GC,9619,0.86,219.0,1004.2,0.0,901,9834,0.98,2.62,200.98,1.304,4,0.045,0.061,3066,3677,1960
$GC,9952,0.44,219.0,975.6,17.8,916,9957,0.55,2.28,0.00,0.000,6,0.146,0.038,2926,2314,1955
$GC,10264,0.54,295.4,950.6,7.7,931,10335,0.00,2.38,66.18,1.277,4,0.000,0.058,2925,3676,1649
$GC,10359,0.58,329.6,942.8,9.0,935,10395,0.00,2.22,31.50,1.230,6,0.000,0.038,2934,2293,1510
$GC,10722,0.59,337.1,909.3,9.8,953,10735,0.10,2.35,7.18,1.016,4,0.078,0.056,2988,3682,1478
$GC,10774,0.46,337.1,901.7,16.1,955,10778,0.25,2.17,0.00,0.000,6,0.137,0.039,2925,2305,1479
$GC,11086,0.56,365.9,871.9,9.1,970,11119,0.10,2.38,26.65,1.219,4,0.079,0.053,2989,896,1361
$GC,11137,0.50,365.9,865.6,12.9,972,11141,0.17,2.28,0.00,0.000,6,0.127,0.041,2938,2304,1360
$GC,11448,0.58,388.5,835.0,9.3,987,11470,0.00,0.00,20.80,1.185,6,0.000,0.000,2939,2304,1270
$GC,11774,0.66,395.7,803.3,9.8,1003,11787,0.15,2.28,7.57,1.009,4,0.061,0.055,3020,3682,1240
$GC,11811,0.51,395.7,798.2,15.4,1004,11817,0.28,2.20,0.00,0.000,6,0.134,0.040,2950,2290,1240
$GC,12123,0.56,395.7,762.3,10.7,1020,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2290,1239
$GC,12427,0.62,395.7,728.8,10.9,1035,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2290,1239
$GC,12732,0.68,398.6,697.4,9.9,1050,12741,0.15,2.30,3.53,0.650,4,0.061,0.053,3035,899,1229
$GC,12771,0.57,398.6,692.4,14.9,1051,12778,0.25,2.28,0.00,0.000,6,0.127,0.041,2963,2313,1229
$GC,13081,0.57,398.6,657.1,11.1,1067,13085,0.00,2.28,0.00,0.000,4,0.000,0.055,2963,3693,1229
$GC,13120,0.57,398.6,652.4,13.1,1069,13123,0.00,2.20,0.00,0.000,6,0.000,0.037,2969,2310,1229
$GC,13448,0.57,398.6,612.1,12.5,1085,13448,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2309,1228
$GC,13752,0.57,398.6,573.7,12.8,1100,13752,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2309,1229
$GC,14058,0.57,398.6,537.0,11.4,1115,14061,0.00,2.30,0.00,0.000,4,0.000,0.054,2969,3686,1229
$GC,14100,0.57,398.6,531.7,12.5,1117,14103,0.00,2.17,0.00,0.000,6,0.000,0.037,2977,2312,1229
$GC,14412,0.57,398.6,496.9,11.7,1133,14415,0.00,2.33,0.00,0.000,4,0.000,0.051,2987,902,1228
$GC,14488,0.63,398.6,488.2,11.5,1139,14494,0.00,2.28,0.00,0.000,6,0.000,0.039,2987,2313,1228
$GC,14806,0.63,398.6,450.3,12.0,1170,14809,0.00,2.28,0.00,0.000,4,0.000,0.054,2988,3692,1227
$GC,14914,0.63,398.6,435.7,13.6,1180,14917,0.00,2.20,0.00,0.000,6,0.000,0.037,2996,2311,1228
$GC,15236,0.59,398.6,396.8,10.1,1211,15239,0.00,2.33,0.00,0.000,4,0.000,0.051,3007,894,1228
$GC,15284,0.59,398.6,391.5,11.4,1215,15288,0.15,2.30,0.00,0.000,6,0.122,0.039,2967,2315,1228
$GC,15600,0.67,398.6,360.5,11.2,1245,15604,0.00,2.35,0.00,0.000,4,0.000,0.049,2973,897,1227
$GC,15622,0.75,398.6,358.1,11.0,1246,15628,0.15,2.33,0.00,0.000,6,0.057,0.038,3046,2317,1228
$GC,15938,0.62,398.6,300.7,17.5,1277,15942,0.20,2.28,0.00,0.000,4,0.130,0.052,2981,3682,1228
$GC,16089,0.67,398.6,282.6,10.5,1304,16095,0.00,2.20,0.00,0.000,6,0.000,0.037,2988,2339,1227
$GC,16417,0.73,398.6,249.6,11.2,1365,16422,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2339,1227
$GC,16743,0.80,398.6,213.9,11.4,1426,16749,0.15,2.38,0.00,0.000,4,0.057,0.048,3080,897,1227
$GC,16819,0.67,398.6,201.8,19.6,1440,16825,0.30,2.33,0.00,0.000,6,0.127,0.043,2993,2328,1228
$GC,17148,0.79,415.4,166.1,9.5,1501,17169,0.12,2.25,16.40,0.714,4,0.063,0.051,3057,3686,1160
$GC,17258,0.67,415.4,149.2,16.2,1520,17264,0.22,2.12,0.00,0.000,6,0.130,0.037,2999,2343,1160
$GC,17589,1.04,582.2,125.0,4.9,1581,17742,0.28,2.40,145.27,0.693,4,0.043,0.054,3147,885,477
$GC,17811,1.11,582.2,94.7,14.1,1617,17816,0.00,2.28,0.00,0.000,6,0.000,0.041,3148,2319,464
$GC,18138,1.11,582.2,50.4,10.2,1678,18144,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2319,456
$GC,18466,1.15,582.2,10.2,11.5,1739,18473,0.00,2.38,0.00,0.000,4,0.000,0.049,3156,861,454
$GC,18517,1.24,582.2,4.0,12.2,1748,18523,0.00,2.28,0.00,0.000,6,0.000,0.035,3157,2313,453
$STATE,18525,end climb,SURFACE_DEPTH_REACHED
$STATE,18525,begin surface coast
$FINISH,1.8,1.008660
$STATE,18552,end surface coast,CONTROL_FINISHED_OK
$STATE,18552,begin surface
$SM_CCo,18632,0.00,0.000,0,0,452,589.21
$SM_GC,2.42,7.75,0.00,0.00,0.031,0.000,0.000,156,2322,452,-8.10,1.05,589.21
$IRIDIUM_FIX,2510.35,12315.62,041298,171727
$TT8_MAMPS,0.049088
$HUMID,1774
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.30
$XPDR_PINGS,888
$24V_AH,21.5,141.073
$10V_AH,10.1,88.897
$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,24.775,149.600,702.725,0.000,0.000,82.145,104.135,617.174,230.000,0.000,0.000,10.807,0.000,13669.023,794.909,3856.062,1490.731,0.000,2295.533,0.000,3234.097,0.000,53.971,0.000
$DEVICE_MAMPS,217.828,94.341,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.571,1213.423,1485.021,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97920,1755
$CAP_FILE_SIZE,193917,0
$CFSIZE,260165632,203476992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.389, 60.1,1
$GPS,090909,224206,2518.859,12314.596,38,1.1,38,-3.7