version: 66.04
glider: 165
mission: 2
dive: 562
start: 8 29 109 20 56 9
data:
$ID,165
$MISSION,2
$DIVE,562
$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,-131987.38
$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,38
$R_STBD_OVSHOOT,45
$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
$GPS1,204806,2445.895,12344.106,25,1.1,25,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-70.1
$GPS2,205604,2446.001,12344.229,8,2.3,27,-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,181.7,17481,-16.0,-11.000
$D_GRID,1797
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.91,-219.0,0.0,0.0,0,75,0.00,0.00,-55.38,0.000,2,0.000,0.000,154,2305,1814
$GC,78,-0.91,-219.0,3.1,-3.8,9,148,9.23,2.25,-53.97,0.000,4,0.219,0.054,2478,872,3747
$GC,342,-0.42,-219.0,83.9,-35.2,56,348,0.57,2.20,0.00,0.000,6,0.143,0.038,2640,2290,3748
$GC,670,-0.60,-219.0,119.2,-7.3,117,676,0.15,0.00,0.00,0.000,6,0.051,0.000,2543,2291,3750
$GC,997,-0.47,-219.0,171.3,-16.1,178,1003,0.22,2.22,0.00,0.000,4,0.123,0.041,2619,876,3751
$GC,1069,-0.70,-219.0,178.2,-7.1,191,1076,0.17,2.17,0.00,0.000,6,0.048,0.037,2517,2293,3751
$GC,1398,-0.53,-219.0,233.8,-18.5,252,1404,0.25,2.25,0.00,0.000,4,0.127,0.042,2600,869,3751
$GC,1427,-0.53,-219.0,238.0,-13.6,257,1432,0.00,2.20,0.00,0.000,6,0.000,0.038,2600,2288,3751
$GC,1754,-0.72,-219.0,264.6,-6.9,318,1759,0.15,0.00,0.00,0.000,6,0.051,0.000,2502,2289,3751
$GC,2077,-0.54,-219.0,315.3,-16.1,370,2080,0.30,2.22,0.00,0.000,4,0.142,0.051,2590,3678,3752
$GC,2130,-0.77,-219.0,320.4,-7.6,375,2134,0.17,2.15,0.00,0.000,6,0.048,0.031,2482,2252,3751
$GC,2447,-0.55,-219.0,376.4,-18.0,405,2451,0.35,2.33,0.00,0.000,4,0.130,0.053,2589,3679,3750
$GC,2474,-0.55,-219.0,380.2,-12.5,407,2477,0.00,2.12,0.00,0.000,6,0.000,0.032,2589,2274,3749
$GC,2795,-0.77,-219.0,402.2,-6.1,438,2798,0.15,2.17,0.00,0.000,4,0.054,0.045,2489,895,3748
$GC,2891,-0.69,-219.0,413.6,-12.9,446,2897,0.25,2.17,0.00,0.000,6,0.125,0.044,2558,2267,3748
$GC,3207,-0.82,-219.0,440.4,-8.7,477,3211,0.12,2.28,0.00,0.000,4,0.059,0.055,2473,3679,3747
$GC,3261,-0.75,-219.0,447.7,-15.3,481,3266,0.22,2.17,0.00,0.000,6,0.123,0.035,2542,2265,3746
$GC,3577,-0.84,-219.0,478.2,-8.5,512,3580,0.00,2.17,0.00,0.000,4,0.000,0.048,2542,893,3745
$GC,3620,-0.97,-219.0,481.7,-8.0,516,3623,0.20,2.17,0.00,0.000,6,0.048,0.041,2437,2274,3744
$GC,3935,-0.71,-219.0,540.7,-19.5,536,3939,0.32,2.22,0.00,0.000,4,0.140,0.049,2543,895,3742
$GC,3973,-0.76,-219.0,546.5,-11.0,538,3976,0.00,2.20,0.00,0.000,6,0.000,0.044,2537,2269,3742
$GC,4295,-0.87,-219.0,573.9,-8.4,554,4299,0.12,2.33,0.00,0.000,4,0.061,0.058,2455,3681,3740
$GC,4327,-0.81,-219.0,577.6,-13.5,555,4334,0.20,2.20,0.00,0.000,6,0.124,0.040,2515,2262,3740
$GC,4639,-0.85,-219.0,610.9,-10.1,571,4642,0.00,2.17,0.00,0.000,4,0.000,0.048,2515,884,3738
$GC,4692,-0.94,-219.0,616.5,-10.1,573,4696,0.12,2.17,0.00,0.000,6,0.060,0.043,2449,2261,3737
$GC,5003,-0.78,-219.0,666.4,-16.9,588,5007,0.22,2.35,0.00,0.000,4,0.138,0.058,2520,3691,3734
$GC,5062,-0.92,-219.0,673.5,-10.6,591,5066,0.12,2.20,0.00,0.000,6,0.060,0.033,2448,2249,3733
$GC,5392,-0.77,-219.0,724.5,-15.2,607,5396,0.22,2.17,0.00,0.000,4,0.133,0.048,2523,887,3731
$GC,5478,-0.92,-219.0,732.8,-7.5,611,5482,0.12,2.17,0.00,0.000,6,0.062,0.044,2454,2249,3731
$GC,5802,-0.81,-219.0,777.0,-15.1,627,5806,0.17,2.38,0.00,0.000,4,0.136,0.059,2510,3685,3728
$GC,5873,-0.95,-219.0,785.1,-10.2,630,5877,0.12,2.22,0.00,0.000,6,0.061,0.035,2440,2240,3727
$GC,6187,-0.81,-219.0,832.7,-15.9,645,6190,0.22,2.17,0.00,0.000,4,0.133,0.049,2514,889,3725
$GC,6268,-0.95,-219.0,841.7,-9.7,649,6271,0.12,2.17,0.00,0.000,6,0.063,0.045,2442,2248,3725
$GC,6597,-0.84,-219.0,887.5,-13.8,665,6601,0.20,2.40,0.00,0.000,4,0.135,0.061,2507,3691,3722
$GC,6630,-0.93,-219.0,891.2,-9.6,666,6636,0.00,2.28,0.00,0.000,6,0.000,0.036,2507,2239,3721
$GC,6941,-1.02,-219.0,916.0,-7.8,682,6943,0.17,0.00,0.00,0.000,6,0.053,0.000,2421,2240,3720
$GC,7247,-0.85,-219.0,962.2,-15.8,697,7251,0.25,2.45,0.00,0.000,4,0.140,0.061,2494,3691,3717
$GC,7268,-0.78,-219.0,965.1,-13.6,698,7272,0.12,2.25,0.00,0.000,6,0.120,0.035,2532,2241,3717
$GC,7587,-0.97,-219.0,984.4,-5.8,714,7590,0.17,2.17,0.00,0.000,4,0.054,0.049,2434,889,3715
$GC,7614,-0.97,-219.0,987.1,-10.5,715,7618,0.15,2.17,0.00,0.000,6,0.145,0.044,2469,2242,3716
$STATE,7636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7636,begin apogee
$GC,7644,-0.20,0.0,990.0,11.4,716,7824,0.75,0.00,178.05,1.340,6,0.114,0.000,2713,2315,2854
$STATE,7825,end apogee,CONTROL_FINISHED_OK
$STATE,7825,begin climb
$GC,7828,0.91,219.0,998.7,0.0,725,8024,0.95,2.40,185.88,1.303,4,0.044,0.058,3081,3686,1959
$GC,8265,0.45,219.0,935.7,21.9,745,8269,0.60,2.17,0.00,0.000,6,0.174,0.037,2926,2301,1953
$GC,8581,0.50,260.8,902.6,9.6,761,8630,0.00,2.35,38.50,1.179,4,0.000,0.055,2926,3674,1789
$GC,8797,0.50,260.8,878.2,12.5,771,8801,0.00,2.15,0.00,0.000,6,0.000,0.035,2934,2299,1784
$GC,9118,0.50,260.8,842.8,11.2,787,9121,0.00,2.25,0.00,0.000,4,0.000,0.054,2935,3678,1782
$GC,9145,0.46,260.8,839.6,12.2,788,9148,0.00,2.10,0.00,0.000,6,0.000,0.035,2944,2318,1782
$GC,9467,0.43,260.8,801.7,12.0,804,9468,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2319,1780
$GC,9771,0.43,260.8,764.7,12.1,819,9774,0.00,2.25,0.00,0.000,4,0.000,0.054,2944,3690,1780
$GC,9803,0.36,260.8,760.4,14.8,820,9807,0.20,2.15,0.00,0.000,6,0.147,0.035,2896,2304,1780
$GC,10114,0.56,333.7,731.7,8.5,835,10180,0.17,0.00,64.30,1.179,6,0.053,0.000,2994,2298,1492
$GC,10479,0.47,333.7,680.6,13.6,853,10483,0.20,2.28,0.00,0.000,4,0.134,0.054,2933,3688,1487
$GC,10517,0.54,333.7,676.2,11.2,855,10520,0.00,2.12,0.00,0.000,6,0.000,0.035,2939,2326,1486
$GC,10844,0.66,371.1,643.1,9.7,871,10882,0.15,2.25,33.35,1.098,4,0.056,0.053,3027,3678,1340
$GC,10909,0.51,371.1,633.2,18.7,873,10913,0.30,2.10,0.00,0.000,6,0.143,0.037,2949,2350,1338
$GC,11229,0.66,413.2,601.3,9.6,889,11274,0.12,2.42,38.30,1.068,4,0.061,0.049,3033,900,1168
$GC,11348,0.62,413.2,584.2,15.2,894,11352,0.17,2.30,0.00,0.000,6,0.131,0.038,2983,2340,1165
$GC,11659,0.67,413.2,545.8,12.1,909,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2341,1163
$GC,11964,0.73,413.2,510.2,11.5,924,11965,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2341,1162
$GC,12274,0.80,413.2,474.5,12.0,949,12278,0.17,2.35,0.00,0.000,4,0.055,0.048,3076,892,1162
$GC,12333,0.69,413.2,463.7,19.1,954,12337,0.25,2.30,0.00,0.000,6,0.136,0.039,3003,2340,1161
$GC,12649,0.73,413.2,422.3,12.5,984,12652,0.00,2.17,0.00,0.000,4,0.000,0.054,3003,3689,1160
$GC,12691,0.73,413.2,417.0,13.4,988,12695,0.00,2.12,0.00,0.000,6,0.000,0.035,3011,2315,1160
$GC,13012,0.78,413.2,380.2,11.8,1019,13015,0.00,2.28,0.00,0.000,4,0.000,0.048,3021,895,1160
$GC,13066,0.87,413.2,373.9,11.5,1024,13069,0.12,2.25,0.00,0.000,6,0.064,0.037,3097,2335,1160
$GC,13387,0.68,413.2,313.8,19.6,1055,13391,0.30,2.20,0.00,0.000,4,0.134,0.051,3001,3692,1160
$GC,13528,0.80,434.2,296.6,10.3,1070,13552,0.00,2.12,18.05,0.815,6,0.000,0.040,3009,2354,1081
$GC,13876,0.91,447.2,262.6,10.6,1134,13895,0.17,2.35,12.57,0.754,4,0.051,0.053,3128,896,1029
$GC,13955,0.74,447.2,248.3,18.3,1148,13963,0.38,2.30,0.00,0.000,6,0.135,0.038,3016,2346,1029
$GC,14285,0.85,447.2,208.8,11.9,1209,14291,0.12,2.33,0.00,0.000,4,0.061,0.045,3105,900,1029
$GC,14339,0.78,447.2,200.0,17.4,1219,14346,0.20,2.25,0.00,0.000,6,0.122,0.037,3028,2317,1028
$GC,14668,0.88,464.8,162.7,10.4,1280,14687,0.10,0.00,16.27,0.693,6,0.071,0.000,3093,2318,958
$GC,15008,0.82,464.8,109.0,13.6,1343,15015,0.17,0.00,0.00,0.000,6,0.129,0.000,3041,2319,958
$GC,15336,1.06,548.7,77.2,8.2,1404,15418,0.17,2.25,73.53,0.650,4,0.050,0.050,3141,3683,612
$GC,15441,1.00,548.7,61.5,16.3,1421,15447,0.17,2.15,0.00,0.000,6,0.133,0.034,3099,2309,609
$GC,15772,1.23,605.8,27.1,9.1,1482,15828,0.17,2.28,33.03,0.532,4,0.048,0.045,3220,894,483
$STATE,15897,end climb,SURFACE_DEPTH_REACHED
$STATE,15897,begin surface coast
$FINISH,1.8,1.008739
$STATE,15910,end surface coast,CONTROL_FINISHED_OK
$STATE,15910,begin surface
$SM_CCo,15992,0.00,0.000,0,0,475,583.57
$SM_GC,2.40,7.88,0.00,0.00,0.032,0.000,0.000,146,2315,475,-8.08,0.82,583.57
$IRIDIUM_FIX,2439.44,12346.01,231198,161614
$TT8_MAMPS,0.048321
$HUMID,1757
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,25.90
$XPDR_PINGS,722
$24V_AH,23.1,126.800
$10V_AH,10.3,81.837
$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,29.750,147.475,691.825,0.000,0.000,24.574,32.632,233.367,188.500,0.000,0.000,30.400,0.000,11336.635,781.951,3503.276,811.539,0.000,2164.569,0.000,2923.963,0.000,54.007,0.000
$DEVICE_MAMPS,219.362,92.807,1339.949,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.755,1031.556,1249.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85172,1507
$CAP_FILE_SIZE,176758,0
$CFSIZE,260165632,208433152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.113, 42.2,1
$GPS,300809,012337,2444.235,12345.112,32,1.1,32,-3.6