version: 66.04
glider: 165
mission: 2
dive: 536
start: 8 24 109 20 0 25
data:
$ID,165
$MISSION,2
$DIVE,536
$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,-131520.59
$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,37
$R_STBD_OVSHOOT,36
$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
$GPS1,195236,2505.650,12302.519,35,1.2,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-72.2
$GPS2,200019,2505.763,12302.781,8,2.0,13,-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,258.0,72549,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,68,0.00,0.00,-49.60,0.000,2,0.000,0.000,153,2309,1687
$GC,71,-0.91,-219.0,3.0,-2.7,8,148,9.25,2.25,-59.47,0.000,4,0.219,0.063,2469,3682,3749
$GC,293,-0.50,-219.0,58.4,-27.0,47,299,0.43,2.17,0.00,0.000,6,0.132,0.033,2615,2271,3750
$GC,620,-0.54,-219.0,103.1,-10.4,108,626,0.00,2.15,0.00,0.000,4,0.000,0.041,2616,876,3752
$GC,696,-0.70,-219.0,110.5,-8.7,122,702,0.17,2.17,0.00,0.000,6,0.048,0.036,2512,2291,3753
$GC,1024,-0.54,-219.0,166.8,-14.7,183,1030,0.28,2.20,0.00,0.000,4,0.130,0.039,2603,881,3754
$GC,1052,-0.59,-219.0,170.2,-9.9,188,1058,0.00,2.17,0.00,0.000,6,0.000,0.036,2603,2270,3755
$GC,1380,-0.79,-219.0,190.2,-7.1,249,1388,0.17,2.12,0.00,0.000,4,0.049,0.038,2480,885,3754
$GC,1410,-0.73,-219.0,193.9,-14.1,254,1416,0.22,2.15,0.00,0.000,6,0.133,0.039,2546,2268,3755
$GC,1737,-0.73,-219.0,237.1,-13.0,315,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2268,3755
$GC,2062,-0.78,-219.0,277.0,-9.9,376,2068,0.00,2.17,0.00,0.000,4,0.000,0.042,2547,884,3755
$GC,2134,-0.89,-219.0,284.6,-10.8,389,2140,0.15,2.15,0.00,0.000,6,0.054,0.038,2460,2272,3755
$GC,2454,-0.68,-219.0,346.0,-18.7,428,2455,0.32,0.00,0.00,0.000,6,0.133,0.000,2560,2272,3754
$GC,2768,-0.83,-219.0,372.6,-6.9,458,2773,0.12,0.00,0.00,0.000,6,0.060,0.000,2468,2272,3752
$GC,3084,-0.66,-219.0,419.8,-16.1,489,3088,0.28,2.20,0.00,0.000,4,0.128,0.046,2560,891,3750
$GC,3159,-0.87,-219.0,426.5,-6.7,495,3165,0.17,2.17,0.00,0.000,6,0.050,0.046,2461,2263,3750
$GC,3476,-0.70,-219.0,472.3,-15.5,526,3480,0.28,2.20,0.00,0.000,4,0.130,0.047,2550,887,3748
$GC,3540,-0.89,-219.0,479.1,-8.3,531,3546,0.17,2.17,0.00,0.000,6,0.051,0.044,2456,2249,3747
$GC,3857,-0.75,-219.0,526.0,-15.2,554,3859,0.28,0.00,0.00,0.000,6,0.130,0.000,2541,2249,3744
$GC,4158,-0.90,-219.0,553.4,-8.3,569,4162,0.15,2.17,0.00,0.000,4,0.054,0.048,2456,890,3743
$GC,4190,-0.84,-219.0,557.1,-13.1,570,4196,0.17,2.20,0.00,0.000,6,0.136,0.050,2505,2253,3742
$GC,4501,-0.88,-219.0,585.0,-7.5,586,4505,0.00,2.35,0.00,0.000,4,0.000,0.061,2505,3691,3739
$GC,4528,-0.96,-219.0,587.0,-7.8,587,4531,0.00,2.22,0.00,0.000,6,0.000,0.034,2505,2238,3738
$GC,4839,-0.99,-219.0,610.6,-8.5,602,4841,0.12,0.00,0.00,0.000,6,0.061,0.000,2438,2238,3736
$GC,5144,-0.81,-219.0,656.0,-15.4,617,5147,0.22,2.17,0.00,0.000,4,0.137,0.051,2512,886,3733
$GC,5197,-0.91,-219.0,661.9,-9.2,619,5202,0.00,2.17,0.00,0.000,6,0.000,0.051,2510,2233,3733
$GC,5509,-0.97,-219.0,689.0,-8.4,635,5510,0.12,0.00,0.00,0.000,6,0.064,0.000,2442,2233,3731
$GC,5813,-0.82,-219.0,731.9,-14.9,650,5817,0.20,2.20,0.00,0.000,4,0.137,0.052,2509,887,3728
$GC,5862,-0.90,-219.0,737.1,-9.0,652,5865,0.00,2.17,0.00,0.000,6,0.000,0.047,2509,2241,3728
$GC,6178,-0.98,-219.0,765.6,-9.4,668,6179,0.12,0.00,0.00,0.000,6,0.064,0.000,2442,2241,3725
$GC,6484,-0.83,-219.0,812.4,-15.9,683,6488,0.20,2.22,0.00,0.000,4,0.135,0.053,2508,886,3723
$GC,6510,-0.83,-219.0,816.1,-13.3,684,6514,0.00,2.17,0.00,0.000,6,0.000,0.048,2508,2234,3723
$GC,6827,-0.91,-219.0,846.6,-9.6,700,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2234,3722
$GC,7133,-1.00,-219.0,875.5,-9.2,715,7134,0.15,0.00,0.00,0.000,6,0.060,0.000,2434,2234,3720
$GC,7437,-0.84,-219.0,922.3,-15.5,730,7441,0.22,2.45,0.00,0.000,4,0.138,0.066,2507,3689,3718
$GC,7469,-0.90,-219.0,926.0,-9.7,731,7475,0.00,2.28,0.00,0.000,6,0.000,0.037,2506,2233,3718
$GC,7780,-1.01,-219.0,953.4,-7.9,747,7782,0.15,0.00,0.00,0.000,6,0.059,0.000,2431,2228,3717
$STATE,8021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8021,begin apogee
$GC,8029,-0.20,0.0,990.4,15.7,759,8212,0.90,0.00,180.80,1.364,6,0.130,0.000,2712,2305,2854
$STATE,8213,end apogee,CONTROL_FINISHED_OK
$STATE,8213,begin climb
$GC,8216,0.91,219.0,1001.3,0.0,768,8416,0.98,2.47,189.02,1.325,4,0.041,0.057,3101,911,1959
$GC,8464,0.53,219.0,982.1,18.8,779,8470,0.52,2.30,0.00,0.000,6,0.167,0.048,2957,2309,1954
$GC,8775,0.44,219.8,945.2,11.0,795,8779,0.12,2.28,0.00,0.000,4,0.163,0.061,2922,3692,1950
$GC,8945,0.39,236.0,927.7,10.5,803,8973,0.00,2.12,17.05,1.079,6,0.000,0.038,2931,2320,1891
$GC,9286,0.45,285.6,894.4,9.3,820,9342,0.00,2.33,46.97,1.225,4,0.000,0.058,2931,3685,1688
$GC,9477,0.45,285.6,873.6,11.3,829,9480,0.00,2.15,0.00,0.000,6,0.000,0.039,2940,2324,1685
$GC,9804,0.53,350.3,844.7,8.8,845,9881,0.00,2.33,62.97,1.187,4,0.000,0.056,2940,3693,1424
$GC,9933,0.57,364.5,832.3,10.5,850,9951,0.00,2.17,14.00,1.134,6,0.000,0.038,2950,2329,1367
$GC,10277,0.62,377.8,796.9,10.6,867,10301,0.00,2.28,14.38,0.989,4,0.000,0.056,2950,3681,1314
$GC,10320,0.65,397.7,792.2,10.3,869,10345,0.00,2.12,20.00,1.164,6,0.000,0.038,2960,2336,1232
$GC,10671,0.68,397.7,750.9,12.0,886,10675,0.12,2.33,0.00,0.000,4,0.064,0.051,3034,894,1229
$GC,10704,0.59,397.7,745.9,15.6,887,10709,0.22,2.30,0.00,0.000,6,0.138,0.042,2970,2336,1227
$GC,11014,0.59,397.7,703.4,14.1,903,11017,0.00,2.20,0.00,0.000,4,0.000,0.057,2970,3696,1226
$GC,11056,0.59,397.7,696.9,16.2,905,11059,0.00,2.15,0.00,0.000,6,0.000,0.038,2977,2324,1226
$GC,11384,0.59,397.7,652.3,13.0,921,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2324,1226
$GC,11688,0.59,397.7,611.2,14.3,936,11691,0.00,2.22,0.00,0.000,4,0.000,0.055,2978,3687,1226
$GC,11762,0.59,397.7,599.9,13.5,939,11765,0.00,2.12,0.00,0.000,6,0.000,0.038,2986,2325,1226
$GC,12079,0.59,397.7,554.0,14.5,955,12082,0.00,2.22,0.00,0.000,4,0.000,0.055,2986,3696,1226
$GC,12100,0.59,397.7,550.5,16.3,956,12103,0.00,2.12,0.00,0.000,6,0.000,0.038,2995,2334,1225
$GC,12426,0.56,397.7,496.8,16.7,972,12430,0.12,2.33,0.00,0.000,4,0.151,0.050,2971,887,1225
$GC,12465,0.64,397.7,491.3,12.3,975,12468,0.00,2.33,0.00,0.000,6,0.000,0.040,2971,2354,1224
$GC,12783,0.68,397.7,449.2,12.1,1005,12786,0.00,2.17,0.00,0.000,4,0.000,0.056,2971,3695,1224
$GC,12870,0.68,397.7,437.6,13.3,1013,12873,0.00,2.10,0.00,0.000,6,0.000,0.036,2979,2346,1224
$GC,13193,0.71,397.7,397.6,11.6,1044,13197,0.00,2.33,0.00,0.000,4,0.000,0.051,2989,896,1224
$GC,13231,0.81,423.6,393.5,10.1,1047,13258,0.15,2.33,23.12,0.955,6,0.059,0.041,3061,2358,1127
$GC,13569,0.65,423.6,333.7,19.3,1079,13572,0.20,2.17,0.00,0.000,4,0.143,0.054,2996,3698,1125
$GC,13644,0.70,423.6,323.3,11.9,1085,13651,0.00,2.10,0.00,0.000,6,0.000,0.036,3005,2349,1124
$GC,13964,0.70,423.6,280.5,14.2,1129,13970,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2349,1124
$GC,14291,0.70,423.6,234.8,13.2,1190,14296,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2349,1123
$GC,14618,0.75,423.6,189.2,13.6,1251,14623,0.00,2.33,0.00,0.000,4,0.000,0.049,3015,891,1124
$GC,14656,0.83,423.6,184.3,11.5,1258,14662,0.00,2.35,0.00,0.000,6,0.000,0.044,3016,2364,1122
$GC,14984,0.91,443.9,145.8,10.3,1319,15009,0.15,2.17,18.50,0.738,4,0.058,0.056,3101,3687,1043
$GC,15032,0.78,443.9,137.9,19.7,1327,15038,0.28,2.05,0.00,0.000,6,0.139,0.035,3030,2366,1043
$GC,15360,0.97,460.7,104.6,10.4,1388,15381,0.17,2.38,15.32,0.686,4,0.050,0.046,3143,880,977
$GC,15445,0.90,460.7,90.7,15.8,1403,15451,0.25,2.35,0.00,0.000,6,0.127,0.041,3069,2362,975
$GC,15773,1.09,523.5,64.7,8.9,1464,15830,0.17,0.00,53.92,0.669,6,0.050,0.000,3169,2362,718
$GC,16154,1.06,523.5,7.9,14.0,1533,16161,0.17,2.38,0.00,0.000,4,0.133,0.048,3120,886,716
$GC,16195,1.25,557.5,3.3,9.9,1540,16203,0.12,2.33,3.62,0.368,2,0.025,0.041,3224,2346,706
$STATE,16203,end climb,SURFACE_DEPTH_REACHED
$STATE,16203,begin surface coast
$FINISH,1.8,1.020118
$STATE,16232,end surface coast,CONTROL_FINISHED_OK
$STATE,16232,begin surface
$SM_CCo,16311,0.00,0.000,0,0,705,527.15
$SM_GC,2.64,7.93,0.00,0.00,0.036,0.000,0.000,145,2283,705,-8.10,-0.06,527.15
$IRIDIUM_FIX,2458.45,12301.13,181198,151541
$TT8_MAMPS,0.049088
$HUMID,1755
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.60
$XPDR_PINGS,717
$24V_AH,22.8,120.149
$10V_AH,10.3,78.505
$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,26.750,133.900,659.700,0.000,0.000,25.999,37.558,224.856,187.250,0.000,0.000,15.438,0.000,11697.292,768.193,3493.346,779.384,0.000,2135.828,0.000,2929.475,0.000,53.965,0.000
$DEVICE_MAMPS,219.362,82.069,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.818,1085.229,1336.519,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88292,1547
$CAP_FILE_SIZE,171441,0
$CFSIZE,260165632,210792448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.380, 63.5,1
$GPS,250809,003306,2506.292,12303.237,27,1.0,27,-3.6