version: 66.04
glider: 165
mission: 2
dive: 563
start: 8 30 109 1 31 18
data:
$ID,165
$MISSION,2
$DIVE,563
$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,-132005.31
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,012337,2444.235,12345.112,32,1.1,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-70.7
$GPS2,013113,2444.329,12345.266,10,1.3,15,-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,193.5,14184,-16.0,-11.000
$D_GRID,1778
$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,15,-0.91,-219.0,0.0,0.0,0,71,0.00,0.00,-55.05,0.000,2,0.000,0.000,143,2309,1829
$GC,75,-0.91,-219.0,3.1,-3.7,9,145,9.23,2.33,-53.40,0.000,4,0.218,0.056,2478,879,3749
$GC,290,-0.51,-219.0,68.0,-28.9,47,296,0.47,2.20,0.00,0.000,6,0.134,0.039,2612,2290,3750
$GC,617,-0.51,-219.0,117.7,-11.0,108,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2291,3752
$GC,944,-0.57,-219.0,148.0,-10.3,169,950,0.00,2.25,0.00,0.000,4,0.000,0.042,2612,880,3752
$GC,967,-0.66,-219.0,150.2,-9.7,173,973,0.15,2.17,0.00,0.000,6,0.053,0.038,2521,2286,3752
$GC,1294,-0.46,-219.0,211.7,-17.9,234,1301,0.30,2.25,0.00,0.000,4,0.131,0.043,2619,865,3752
$GC,1373,-0.71,-219.0,219.7,-7.3,248,1379,0.20,2.17,0.00,0.000,6,0.045,0.038,2497,2269,3753
$GC,1704,-0.48,-219.0,281.4,-19.5,309,1710,0.38,2.20,0.00,0.000,4,0.130,0.044,2618,878,3753
$GC,1726,-0.40,-219.0,285.8,-16.8,313,1732,0.10,2.17,0.00,0.000,6,0.121,0.041,2651,2269,3753
$GC,2054,-0.94,-219.0,315.0,-11.1,362,2058,0.45,2.28,0.00,0.000,4,0.069,0.051,2473,3686,3753
$GC,2092,-1.09,-219.0,319.0,-10.1,365,2096,0.12,2.15,0.00,0.000,6,0.063,0.031,2407,2250,3752
$GC,2407,-0.69,-219.0,399.3,-23.2,395,2409,0.50,0.00,0.00,0.000,6,0.142,0.000,2558,2245,3752
$GC,2718,-0.82,-219.0,430.0,-8.7,425,2722,0.12,2.35,0.00,0.000,4,0.059,0.056,2478,3688,3751
$GC,2750,-0.78,-219.0,433.9,-13.0,427,2757,0.17,2.15,0.00,0.000,6,0.120,0.034,2532,2285,3750
$GC,3066,-0.83,-219.0,470.4,-10.6,458,3069,0.00,2.22,0.00,0.000,4,0.000,0.048,2532,886,3749
$GC,3115,-0.91,-219.0,475.4,-10.3,462,3121,0.15,2.20,0.00,0.000,6,0.054,0.041,2448,2290,3748
$GC,3431,-0.69,-219.0,529.5,-18.2,485,3435,0.32,2.28,0.00,0.000,4,0.133,0.048,2554,892,3747
$GC,3512,-0.88,-219.0,537.8,-6.8,489,3515,0.15,2.17,0.00,0.000,6,0.054,0.041,2465,2274,3746
$GC,3836,-0.74,-219.0,585.4,-15.4,505,3840,0.22,2.33,0.00,0.000,4,0.129,0.063,2534,3682,3743
$GC,3868,-0.81,-219.0,589.6,-10.0,506,3873,0.00,2.20,0.00,0.000,6,0.000,0.035,2535,2261,3743
$GC,4179,-0.93,-219.0,617.5,-9.7,522,4183,0.15,2.17,0.00,0.000,4,0.053,0.047,2448,886,3741
$GC,4223,-0.81,-219.0,623.7,-16.0,524,4227,0.25,2.22,0.00,0.000,6,0.131,0.047,2516,2273,3741
$GC,4541,-0.87,-219.0,659.0,-10.7,540,4545,0.00,2.30,0.00,0.000,4,0.000,0.059,2511,3683,3737
$GC,4606,-1.00,-219.0,665.5,-8.9,543,4610,0.15,2.17,0.00,0.000,6,0.055,0.035,2431,2261,3736
$GC,4931,-0.81,-219.0,720.9,-16.4,559,4935,0.25,2.20,0.00,0.000,4,0.134,0.048,2514,886,3734
$GC,5028,-0.93,-219.0,731.0,-8.5,563,5035,0.00,2.20,0.00,0.000,6,0.000,0.044,2511,2269,3733
$GC,5339,-1.01,-219.0,755.4,-7.5,579,5343,0.17,2.33,0.00,0.000,4,0.054,0.059,2412,3683,3731
$GC,5388,-0.86,-219.0,761.2,-14.2,581,5392,0.30,2.17,0.00,0.000,6,0.130,0.035,2503,2273,3729
$GC,5699,-0.92,-219.0,789.3,-8.9,596,5702,0.00,2.22,0.00,0.000,4,0.000,0.050,2503,881,3727
$GC,5742,-1.02,-219.0,793.0,-8.4,598,5745,0.15,2.22,0.00,0.000,6,0.057,0.044,2428,2272,3727
$GC,6066,-0.86,-219.0,842.8,-16.1,614,6068,0.25,0.00,0.00,0.000,6,0.140,0.000,2502,2272,3724
$GC,6368,-0.93,-219.0,872.0,-9.0,629,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2272,3723
$GC,6674,-1.00,-219.0,898.6,-8.7,644,6675,0.12,0.00,0.00,0.000,6,0.064,0.000,2439,2272,3720
$GC,6978,-0.88,-219.0,941.6,-14.6,659,6982,0.20,2.38,0.00,0.000,4,0.137,0.064,2494,3683,3717
$GC,7010,-0.92,-219.0,945.3,-10.7,660,7016,0.00,2.22,0.00,0.000,6,0.000,0.041,2494,2280,3717
$GC,7322,-0.98,-219.0,973.2,-8.8,676,7325,0.00,2.25,0.00,0.000,4,0.000,0.052,2494,886,3715
$GC,7354,-1.05,-219.0,976.3,-9.2,677,7358,0.15,2.25,0.00,0.000,6,0.059,0.047,2421,2279,3715
$STATE,7458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7458,begin apogee
$GC,7466,-0.20,0.0,990.8,14.6,682,7646,0.93,0.00,178.18,1.341,6,0.130,0.000,2708,2279,2854
$STATE,7647,end apogee,CONTROL_FINISHED_OK
$STATE,7647,begin climb
$GC,7650,0.91,219.0,998.9,0.0,691,7846,1.00,2.45,185.93,1.304,4,0.039,0.061,3094,3682,1960
$GC,7948,0.43,219.0,961.7,25.0,705,7952,0.65,2.20,0.00,0.000,6,0.170,0.038,2924,2295,1955
$GC,8259,0.45,232.4,925.0,10.5,720,8283,0.00,2.35,13.98,0.991,4,0.000,0.058,2924,3683,1904
$GC,8344,0.39,232.4,915.3,12.8,724,8348,0.00,2.17,0.00,0.000,6,0.000,0.037,2933,2296,1904
$GC,8671,0.41,277.4,882.1,9.5,740,8716,0.00,2.35,40.35,1.239,4,0.000,0.056,2933,3685,1722
$GC,8827,0.38,277.4,864.6,12.5,747,8831,0.15,2.15,0.00,0.000,6,0.141,0.038,2899,2318,1719
$GC,9143,0.53,325.8,835.2,9.4,763,9189,0.15,0.00,43.67,1.220,6,0.059,0.000,2982,2312,1526
$GC,9489,0.46,325.8,782.4,15.7,780,9493,0.17,2.28,0.00,0.000,4,0.138,0.055,2925,3698,1520
$GC,9537,0.50,325.8,776.0,12.4,782,9540,0.00,2.15,0.00,0.000,6,0.000,0.035,2933,2318,1519
$GC,9854,0.59,357.4,742.3,9.9,798,9895,0.10,0.00,30.70,1.099,6,0.071,0.000,2998,2317,1395
$GC,10200,0.50,357.4,691.3,14.9,815,10204,0.20,2.25,0.00,0.000,4,0.135,0.054,2935,3686,1392
$GC,10237,0.56,357.4,686.4,12.0,817,10240,0.00,2.12,0.00,0.000,6,0.000,0.037,2942,2330,1391
$GC,10565,0.63,362.0,652.4,10.8,833,10573,0.12,2.33,4.47,0.766,4,0.063,0.049,3025,884,1378
$GC,10602,0.54,362.0,646.9,16.0,834,10608,0.25,2.30,0.00,0.000,6,0.133,0.044,2952,2338,1377
$GC,10913,0.60,362.0,608.9,11.6,850,10916,0.00,2.17,0.00,0.000,4,0.000,0.054,2952,3686,1377
$GC,10961,0.63,362.0,602.6,13.3,852,10964,0.00,2.10,0.00,0.000,6,0.000,0.035,2958,2331,1377
$GC,11283,0.68,362.0,564.2,12.0,868,11286,0.12,2.30,0.00,0.000,4,0.063,0.048,3035,896,1377
$GC,11310,0.61,362.0,560.3,15.5,869,11314,0.20,2.28,0.00,0.000,6,0.136,0.038,2978,2338,1376
$GC,11626,0.61,362.0,518.4,12.7,885,11629,0.00,2.17,0.00,0.000,4,0.000,0.054,2979,3683,1376
$GC,11700,0.61,362.0,508.1,14.4,888,11703,0.00,2.08,0.00,0.000,6,0.000,0.036,2985,2353,1376
$GC,12024,0.61,362.0,465.4,12.7,916,12027,0.00,2.33,0.00,0.000,4,0.000,0.048,2996,894,1376
$GC,12077,0.61,362.0,458.3,11.3,920,12083,0.00,2.35,0.00,0.000,6,0.000,0.043,2996,2341,1375
$GC,12396,0.61,362.0,414.6,13.7,951,12399,0.00,2.17,0.00,0.000,4,0.000,0.054,2996,3689,1375
$GC,12461,0.55,362.0,404.8,15.2,957,12464,0.17,2.05,0.00,0.000,6,0.138,0.035,2956,2360,1375
$GC,12776,0.70,389.3,370.5,10.1,987,12807,0.15,0.00,25.23,0.899,6,0.053,0.000,3039,2355,1265
$GC,13117,0.61,389.3,317.5,16.0,1020,13118,0.20,0.00,0.00,0.000,6,0.131,0.000,2980,2355,1264
$GC,13432,0.79,450.8,284.7,8.9,1064,13492,0.15,2.40,53.83,0.833,4,0.056,0.048,3069,889,1015
$GC,13555,0.75,450.8,266.4,15.1,1085,13561,0.17,2.35,0.00,0.000,6,0.130,0.038,3018,2361,1012
$GC,13882,0.80,450.8,220.7,13.2,1146,13888,0.00,2.15,0.00,0.000,4,0.000,0.056,3019,3695,1011
$GC,13904,0.84,450.8,217.5,13.7,1150,13910,0.00,2.10,0.00,0.000,6,0.000,0.039,3026,2342,1011
$GC,14231,0.91,450.8,173.9,11.2,1211,14239,0.12,2.30,0.00,0.000,4,0.061,0.044,3119,886,1011
$GC,14271,0.77,450.8,167.8,17.5,1218,14277,0.30,2.33,0.00,0.000,6,0.133,0.040,3031,2361,1011
$GC,14599,0.89,477.8,133.4,10.1,1279,14631,0.10,2.15,23.10,0.686,4,0.071,0.050,3101,3687,906
$GC,14665,0.79,477.8,123.1,17.9,1290,14671,0.25,2.05,0.00,0.000,6,0.132,0.032,3036,2351,905
$GC,14993,0.98,517.7,84.9,9.7,1351,15032,0.15,2.38,34.45,0.650,4,0.054,0.044,3139,894,742
$GC,15102,0.98,517.7,67.6,15.2,1370,15108,0.15,2.28,0.00,0.000,6,0.124,0.035,3095,2354,741
$GC,15430,1.19,583.3,34.3,8.8,1431,15495,0.17,2.15,59.55,0.606,4,0.050,0.049,3199,3692,481
$GC,15524,1.09,583.3,18.7,20.1,1446,15530,0.20,2.15,0.00,0.000,6,0.127,0.037,3131,2330,474
$STATE,15650,end climb,SURFACE_DEPTH_REACHED
$STATE,15650,begin surface coast
$FINISH,1.8,1.018799
$STATE,15672,end surface coast,CONTROL_FINISHED_OK
$STATE,15672,begin surface
$SM_CCo,15750,0.00,0.000,0,0,466,585.78
$SM_GC,2.50,7.50,0.00,0.00,0.025,0.000,0.000,146,2324,466,-8.08,1.10,585.78
$IRIDIUM_FIX,2437.06,12346.01,231198,212146
$TT8_MAMPS,0.048321
$HUMID,1738
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.10
$XPDR_PINGS,724
$24V_AH,23.1,127.057
$10V_AH,10.3,81.962
$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,29.050,147.275,693.425,0.000,0.000,25.328,31.913,223.410,189.000,0.000,0.000,17.306,0.000,11239.659,796.813,3348.927,784.439,0.000,2119.778,0.000,2795.781,0.000,53.979,0.000
$DEVICE_MAMPS,217.828,63.661,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,992.804,1022.857,1240.447,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82018,1474
$CAP_FILE_SIZE,172167,0
$CFSIZE,260165632,208343040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.194, 48.0,1
$GPS,300809,055454,2442.724,12346.295,23,1.1,41,-3.6