version: 66.04
glider: 165
mission: 2
dive: 559
start: 8 29 109 7 0 54
data:
$ID,165
$MISSION,2
$DIVE,559
$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,-131926.14
$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,47
$R_STBD_OVSHOOT,39
$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
$GPS1,065224,2452.077,12341.493,39,1.7,39,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-71.8
$GPS2,070046,2452.199,12341.520,11,2.2,30,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_1
$TGT_LATLONG,2436.700,12346.000
$TGT_RADIUS,2000.000
$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,184.7,29678,-16.0,-11.000
$D_GRID,1919
$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,-0.91,-219.0,0.0,0.0,0,72,0.00,0.00,-56.70,0.000,2,0.000,0.000,147,2261,1893
$GC,76,-0.91,-219.0,3.3,-4.3,9,140,9.18,2.22,-50.40,0.000,4,0.216,0.054,2479,885,3748
$GC,193,-0.39,-219.0,31.1,-35.6,29,200,0.60,2.17,0.00,0.000,6,0.150,0.039,2647,2283,3749
$GC,521,-0.50,-219.0,84.1,-9.0,90,527,0.00,2.17,0.00,0.000,4,0.000,0.040,2647,885,3751
$GC,571,-0.74,-219.0,88.3,-8.1,99,579,0.28,2.12,0.00,0.000,6,0.038,0.035,2495,2274,3751
$GC,901,-0.45,-219.0,171.5,-22.9,160,907,0.43,2.25,0.00,0.000,4,0.135,0.051,2630,3681,3752
$GC,939,-0.60,-219.0,177.1,-9.5,167,947,0.12,2.12,0.00,0.000,6,0.058,0.030,2532,2246,3753
$GC,1270,-0.51,-219.0,225.0,-13.6,228,1281,0.22,2.30,0.00,0.000,4,0.120,0.050,2603,3679,3753
$GC,1335,-0.77,-219.0,230.3,-5.8,239,1342,0.20,2.10,0.00,0.000,6,0.044,0.031,2480,2260,3753
$GC,1663,-0.52,-219.0,292.4,-19.7,300,1669,0.38,2.12,0.00,0.000,4,0.130,0.043,2601,902,3753
$GC,1692,-0.52,-219.0,296.6,-14.0,305,1698,0.00,2.10,0.00,0.000,6,0.000,0.038,2601,2257,3753
$GC,2015,-0.74,-219.0,320.6,-7.8,340,2016,0.17,0.00,0.00,0.000,6,0.050,0.000,2488,2257,3753
$GC,2325,-0.56,-219.0,374.6,-17.6,370,2330,0.32,2.17,0.00,0.000,4,0.127,0.048,2594,906,3752
$GC,2378,-0.79,-219.0,380.3,-8.9,375,2382,0.20,2.12,0.00,0.000,6,0.045,0.040,2481,2271,3752
$GC,2694,-0.63,-219.0,434.6,-15.8,405,2698,0.28,2.28,0.00,0.000,4,0.124,0.054,2564,3683,3749
$GC,2732,-0.77,-219.0,438.9,-8.3,408,2735,0.00,2.12,0.00,0.000,6,0.000,0.038,2564,2295,3749
$GC,3053,-0.94,-219.0,462.5,-7.5,439,3057,0.20,2.20,0.00,0.000,4,0.046,0.044,2446,890,3747
$GC,3096,-0.77,-219.0,468.7,-16.7,442,3102,0.30,2.22,0.00,0.000,6,0.133,0.045,2532,2289,3747
$GC,3413,-0.83,-219.0,500.2,-9.3,473,3416,0.00,2.25,0.00,0.000,4,0.000,0.058,2532,3682,3745
$GC,3461,-0.98,-219.0,504.6,-8.8,475,3465,0.20,2.15,0.00,0.000,6,0.044,0.034,2427,2285,3745
$GC,3781,-0.72,-219.0,563.9,-19.7,491,3785,0.35,2.25,0.00,0.000,4,0.137,0.048,2541,884,3743
$GC,3839,-0.87,-219.0,571.8,-8.8,494,3843,0.12,2.22,0.00,0.000,6,0.060,0.048,2464,2278,3743
$GC,4164,-0.75,-219.0,618.1,-15.1,510,4168,0.20,2.33,0.00,0.000,4,0.130,0.060,2532,3682,3740
$GC,4239,-0.94,-219.0,625.9,-7.9,513,4243,0.15,2.15,0.00,0.000,6,0.051,0.035,2441,2285,3739
$GC,4554,-0.78,-219.0,676.9,-17.0,528,4557,0.25,2.22,0.00,0.000,4,0.131,0.047,2524,887,3736
$GC,4575,-0.72,-219.0,680.6,-14.6,529,4578,0.00,2.25,0.00,0.000,6,0.000,0.044,2523,2305,3736
$GC,4891,-0.82,-219.0,711.3,-9.5,545,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2305,3734
$GC,5196,-0.93,-219.0,738.7,-8.9,560,5200,0.12,2.28,0.00,0.000,4,0.061,0.048,2450,894,3732
$GC,5228,-0.87,-219.0,742.6,-13.1,561,5234,0.20,2.25,0.00,0.000,6,0.130,0.046,2500,2300,3731
$GC,5539,-0.93,-219.0,772.6,-8.9,577,5543,0.00,2.28,0.00,0.000,4,0.000,0.062,2500,3686,3728
$GC,5593,-1.05,-219.0,777.2,-7.8,579,5600,0.17,2.15,0.00,0.000,6,0.052,0.035,2413,2285,3728
$GC,5905,-0.84,-219.0,827.6,-16.7,595,5906,0.32,0.00,0.00,0.000,6,0.135,0.000,2511,2280,3725
$GC,6209,-0.94,-219.0,854.4,-8.2,610,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,2280,3723
$GC,6514,-1.04,-219.0,880.4,-8.9,625,6518,0.17,2.35,0.00,0.000,4,0.054,0.063,2420,3683,3721
$GC,6547,-0.95,-219.0,884.3,-13.6,626,6552,0.17,2.17,0.00,0.000,6,0.135,0.041,2471,2304,3720
$GC,6857,-0.95,-219.0,922.7,-12.4,642,6860,0.00,2.30,0.00,0.000,4,0.000,0.051,2471,877,3719
$GC,6905,-0.95,-219.0,928.7,-11.7,644,6908,0.00,2.30,0.00,0.000,6,0.000,0.048,2468,2297,3718
$GC,7221,-0.95,-219.0,967.9,-12.2,660,7225,0.00,2.33,0.00,0.000,4,0.000,0.064,2468,3695,3716
$GC,7264,-0.98,-219.0,972.8,-11.0,662,7267,0.00,2.17,0.00,0.000,6,0.000,0.036,2468,2295,3715
$STATE,7419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7419,begin apogee
$GC,7427,-0.20,0.0,990.8,11.4,670,7608,0.75,0.00,178.12,1.345,6,0.114,0.000,2712,2289,2854
$STATE,7608,end apogee,CONTROL_FINISHED_OK
$STATE,7608,begin climb
$GC,7611,0.91,219.0,1000.9,0.0,679,7807,0.98,2.42,185.77,1.311,4,0.044,0.056,3097,904,1960
$GC,7936,0.54,219.0,966.6,20.3,694,7940,0.50,2.28,0.00,0.000,6,0.165,0.045,2958,2313,1953
$GC,8257,0.44,219.0,928.1,11.4,710,8261,0.12,2.25,0.00,0.000,4,0.163,0.058,2923,3688,1950
$GC,8365,0.38,219.0,916.3,11.4,715,8368,0.00,2.15,0.00,0.000,6,0.000,0.037,2932,2306,1949
$GC,8686,0.36,229.8,883.3,10.6,731,8696,0.12,0.00,8.98,1.089,6,0.157,0.000,2897,2306,1917
$GC,8992,0.51,302.9,856.3,8.5,746,9059,0.15,0.00,65.82,1.248,6,0.061,0.000,2975,2303,1619
$GC,9358,0.44,302.9,806.7,13.9,764,9362,0.17,2.28,0.00,0.000,4,0.142,0.056,2919,3684,1613
$GC,9434,0.50,302.9,798.0,11.0,767,9441,0.00,2.15,0.00,0.000,6,0.000,0.038,2927,2306,1612
$GC,9744,0.55,302.9,763.8,11.5,783,9745,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2306,1611
$GC,10050,0.62,315.7,730.8,10.6,798,10063,0.15,0.00,11.48,1.084,6,0.059,0.000,3016,2301,1566
$GC,10355,0.47,315.7,678.6,17.7,813,10357,0.28,0.00,0.00,0.000,6,0.138,0.000,2934,2302,1563
$GC,10660,0.54,318.9,643.6,10.9,828,10668,0.00,2.30,4.00,0.716,4,0.000,0.056,2935,3683,1553
$GC,10708,0.59,318.9,637.9,12.8,830,10711,0.00,2.12,0.00,0.000,6,0.000,0.037,2942,2314,1553
$GC,11030,0.65,327.1,603.4,10.7,846,11040,0.12,0.00,9.07,0.976,6,0.063,0.000,3017,2309,1520
$GC,11335,0.52,327.1,554.5,15.7,861,11338,0.20,2.28,0.00,0.000,4,0.139,0.054,2952,3694,1519
$GC,11410,0.52,327.1,544.8,13.1,864,11415,0.00,2.15,0.00,0.000,6,0.000,0.037,2958,2330,1519
$GC,11721,0.55,327.1,510.3,11.2,880,11724,0.00,2.30,0.00,0.000,4,0.000,0.048,2966,888,1519
$GC,11785,0.67,354.3,503.5,10.1,883,11816,0.00,2.28,25.67,1.010,6,0.000,0.038,2967,2333,1408
$GC,12134,0.74,365.4,466.7,10.6,915,12149,0.15,2.22,10.57,0.899,4,0.057,0.055,3039,3680,1364
$GC,12184,0.59,365.4,459.1,16.8,919,12191,0.25,2.12,0.00,0.000,6,0.146,0.038,2975,2328,1363
$GC,12500,0.63,365.4,420.5,12.0,950,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2328,1363
$GC,12813,0.69,365.4,384.8,11.3,980,12817,0.00,2.30,0.00,0.000,4,0.000,0.048,2984,882,1363
$GC,12899,0.79,365.4,374.8,11.1,987,12906,0.15,2.28,0.00,0.000,6,0.055,0.038,3064,2327,1361
$GC,13214,0.61,365.4,319.3,17.8,1018,13216,0.30,0.00,0.00,0.000,6,0.139,0.000,2975,2326,1361
$GC,13529,0.76,409.3,286.2,9.5,1060,13577,0.15,2.25,38.88,0.835,4,0.056,0.053,3052,3680,1184
$GC,13668,0.68,409.3,261.8,18.3,1085,13674,0.22,2.12,0.00,0.000,6,0.140,0.035,2994,2324,1184
$GC,13998,0.80,422.3,222.1,10.6,1146,14011,0.12,0.00,12.45,0.727,6,0.060,0.000,3071,2317,1132
$GC,14333,0.71,422.3,166.3,15.8,1208,14339,0.17,2.20,0.00,0.000,4,0.138,0.054,3013,3683,1131
$GC,14388,0.82,422.3,159.3,11.3,1218,14394,0.00,2.10,0.00,0.000,6,0.000,0.037,3021,2327,1130
$GC,14717,1.01,487.9,127.7,8.8,1279,14775,0.20,0.00,55.65,0.702,6,0.046,0.000,3138,2321,863
$GC,15100,0.94,487.9,61.5,14.4,1348,15106,0.17,0.00,0.00,0.000,6,0.129,0.000,3080,2321,859
$GC,15428,1.15,536.4,29.6,9.4,1409,15474,0.17,2.33,41.20,0.604,4,0.050,0.044,3193,896,665
$GC,15534,1.07,536.4,12.8,15.1,1427,15541,0.17,2.28,0.00,0.000,6,0.125,0.040,3121,2335,661
$STATE,15613,end climb,SURFACE_DEPTH_REACHED
$STATE,15613,begin surface coast
$FINISH,1.7,1.007926
$STATE,15643,end surface coast,CONTROL_FINISHED_OK
$STATE,15643,begin surface
$SM_CCo,15722,0.00,0.000,0,0,659,538.43
$SM_GC,2.52,7.57,0.00,0.00,0.031,0.000,0.000,143,2261,659,-8.08,-0.68,538.43
$IRIDIUM_FIX,2444.18,12342.06,231198,020246
$TT8_MAMPS,0.049088
$HUMID,1741
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.00
$XPDR_PINGS,709
$24V_AH,23.1,126.040
$10V_AH,10.3,81.445
$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,28.700,124.450,647.675,0.000,0.000,28.190,33.008,248.858,185.250,0.000,0.000,33.218,0.000,11394.760,750.545,3256.723,786.465,0.000,2011.911,0.000,2698.239,0.000,54.026,0.000
$DEVICE_MAMPS,215.527,76.700,1345.318,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,976.038,981.023,1158.659,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82126,1447
$CAP_FILE_SIZE,166129,0
$CFSIZE,260165632,208715776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,  4.5,1
$GPS,290809,112400,2449.726,12341.525,34,1.6,40,-3.6