version: 66.04
glider: 165
mission: 2
dive: 570
start: 8 31 109 10 25 7
data:
$ID,165
$MISSION,2
$DIVE,570
$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,-132138.56
$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,34
$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
$GPS1,101737,2437.125,12345.102,37,1.1,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-66.7
$GPS2,102502,2437.182,12345.139,16,1.3,16,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,255.2,165186,-16.0,-11.000
$D_GRID,1510
$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,-219.0,0.0,0.0,0,72,0.00,0.00,-55.88,0.000,2,0.000,0.000,147,2316,1899
$GC,76,-0.91,-219.0,3.3,-4.1,9,138,9.15,2.20,-47.22,0.000,4,0.216,0.064,2469,3688,3747
$GC,243,-0.59,-219.0,45.3,-29.1,38,249,0.40,2.17,0.00,0.000,6,0.123,0.034,2592,2266,3748
$GC,571,-0.51,-219.0,112.2,-16.4,99,577,0.00,2.15,0.00,0.000,4,0.000,0.044,2592,881,3750
$GC,686,-0.56,-219.0,129.1,-12.5,120,691,0.00,2.17,0.00,0.000,6,0.000,0.038,2590,2278,3751
$GC,1012,-0.56,-219.0,169.8,-11.2,181,1018,0.00,2.20,0.00,0.000,4,0.000,0.044,2590,880,3751
$GC,1057,-0.64,-219.0,174.7,-11.0,189,1062,0.00,2.15,0.00,0.000,6,0.000,0.038,2590,2271,3751
$GC,1385,-0.70,-219.0,209.0,-11.2,250,1391,0.00,2.20,0.00,0.000,4,0.000,0.044,2590,880,3751
$GC,1424,-0.79,-219.0,213.2,-11.4,257,1429,0.17,2.15,0.00,0.000,6,0.051,0.039,2492,2263,3751
$GC,1753,-0.54,-219.0,278.2,-18.8,318,1759,0.32,2.20,0.00,0.000,4,0.132,0.045,2596,887,3751
$GC,1808,-0.71,-219.0,284.9,-8.1,328,1814,0.15,2.12,0.00,0.000,6,0.053,0.041,2505,2245,3751
$GC,2133,-0.54,-219.0,338.3,-16.6,369,2135,0.32,0.00,0.00,0.000,6,0.123,0.000,2608,2246,3751
$GC,2447,-0.79,-219.0,359.7,-7.2,399,2451,0.20,2.35,0.00,0.000,4,0.116,0.055,2492,3685,3750
$GC,2485,-0.75,-219.0,364.3,-13.8,402,2488,0.15,2.25,0.00,0.000,6,0.120,0.035,2538,2221,3750
$GC,2800,-0.75,-219.0,403.7,-12.0,432,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2221,3748
$GC,3113,-0.75,-219.0,438.4,-10.4,462,3116,0.00,2.15,0.00,0.000,4,0.000,0.055,2539,878,3747
$GC,3200,-0.84,-219.0,446.9,-9.7,470,3203,0.00,2.15,0.00,0.000,6,0.000,0.045,2536,2227,3747
$GC,3521,-0.88,-219.0,478.5,-9.8,501,3523,0.12,0.00,0.00,0.000,6,0.062,0.000,2464,2228,3745
$GC,3833,-0.73,-219.0,526.4,-15.6,523,3834,0.25,0.00,0.00,0.000,6,0.127,0.000,2542,2228,3743
$GC,4134,-0.85,-219.0,553.8,-8.5,538,4137,0.10,2.15,0.00,0.000,4,0.070,0.051,2476,884,3741
$GC,4167,-0.82,-219.0,557.7,-12.7,539,4170,0.17,2.15,0.00,0.000,6,0.127,0.043,2520,2226,3741
$GC,4477,-0.87,-219.0,589.6,-10.1,554,4481,0.00,2.38,0.00,0.000,4,0.000,0.058,2520,3683,3738
$GC,4536,-1.02,-219.0,595.0,-8.9,557,4540,0.20,2.25,0.00,0.000,6,0.048,0.034,2421,2220,3738
$GC,4861,-0.78,-219.0,654.1,-18.7,573,4865,0.30,2.15,0.00,0.000,4,0.136,0.049,2520,883,3735
$GC,4920,-0.89,-219.0,661.9,-9.4,575,4927,0.00,2.12,0.00,0.000,6,0.000,0.043,2520,2226,3734
$GC,5232,-0.98,-219.0,689.1,-9.3,591,5235,0.15,2.40,0.00,0.000,4,0.058,0.059,2440,3685,3732
$GC,5306,-0.90,-219.0,699.1,-14.2,594,5312,0.17,2.28,0.00,0.000,6,0.126,0.041,2492,2228,3731
$GC,5618,-0.90,-219.0,732.2,-10.4,610,5621,0.00,2.15,0.00,0.000,4,0.000,0.051,2492,880,3729
$GC,5650,-0.90,-219.0,735.6,-10.3,611,5653,0.00,2.15,0.00,0.000,6,0.000,0.045,2492,2227,3729
$GC,5965,-0.90,-219.0,768.7,-10.6,627,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2227,3726
$GC,6272,-0.93,-219.0,800.2,-10.5,642,6276,0.00,2.40,0.00,0.000,4,0.000,0.062,2492,3679,3724
$GC,6320,-1.03,-219.0,805.3,-10.4,644,6324,0.15,2.25,0.00,0.000,6,0.058,0.035,2419,2225,3722
$GC,6632,-0.84,-219.0,856.4,-17.1,659,6636,0.25,2.17,0.00,0.000,4,0.137,0.051,2501,888,3721
$GC,6712,-0.95,-219.0,865.6,-10.3,663,6715,0.00,2.15,0.00,0.000,6,0.000,0.046,2500,2223,3721
$GC,7040,-1.01,-219.0,896.4,-9.8,679,7044,0.15,2.42,0.00,0.000,4,0.058,0.061,2425,3682,3719
$GC,7083,-0.93,-219.0,901.9,-13.2,681,7086,0.17,2.28,0.00,0.000,6,0.130,0.037,2477,2223,3717
$GC,7398,-0.93,-219.0,938.1,-11.2,697,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2224,3716
$GC,7705,-0.93,-219.0,972.4,-11.2,712,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2223,3714
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7863,begin apogee
$GC,7870,-0.20,0.0,990.1,11.0,720,8050,0.73,0.00,177.27,1.341,6,0.110,0.000,2715,2292,2854
$STATE,8051,end apogee,CONTROL_FINISHED_OK
$STATE,8051,begin climb
$GC,8055,0.91,219.0,999.3,0.0,729,8250,0.95,2.45,185.18,1.305,4,0.043,0.055,3096,901,1960
$GC,8435,0.55,219.0,953.2,19.8,746,8440,0.50,2.28,0.00,0.000,6,0.163,0.045,2957,2312,1952
$GC,8746,0.46,219.0,914.8,11.4,761,8749,0.00,2.22,0.00,0.000,4,0.000,0.058,2957,3682,1950
$GC,8931,0.31,219.0,891.2,13.0,769,8935,0.30,2.12,0.00,0.000,6,0.149,0.038,2878,2327,1949
$GC,9242,0.57,354.5,869.4,6.4,784,9367,0.20,0.00,118.45,1.248,6,0.052,0.000,2991,2321,1407
$GC,9672,0.49,354.5,804.1,16.1,805,9675,0.17,2.25,0.00,0.000,4,0.139,0.055,2935,3689,1400
$GC,9741,0.55,354.5,794.5,13.7,808,9744,0.00,2.17,0.00,0.000,6,0.000,0.037,2943,2298,1399
$GC,10058,0.61,354.5,754.2,12.8,824,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2298,1398
$GC,10362,0.66,354.5,717.2,11.7,839,10366,0.15,2.28,0.00,0.000,4,0.058,0.050,3035,887,1397
$GC,10389,0.58,354.5,713.5,15.3,840,10393,0.22,2.25,0.00,0.000,6,0.137,0.040,2971,2313,1395
$GC,10700,0.58,354.5,673.0,13.0,855,10703,0.00,2.22,0.00,0.000,4,0.000,0.055,2971,3681,1395
$GC,10817,0.58,354.5,656.3,15.0,860,10820,0.00,2.15,0.00,0.000,6,0.000,0.037,2978,2306,1395
$GC,11133,0.58,354.5,614.2,13.2,876,11136,0.00,2.25,0.00,0.000,4,0.000,0.054,2979,3677,1395
$GC,11172,0.54,354.5,608.6,15.3,877,11177,0.12,2.12,0.00,0.000,6,0.146,0.035,2955,2308,1395
$GC,11482,0.59,354.5,572.4,11.8,893,11485,0.00,2.28,0.00,0.000,4,0.000,0.048,2963,892,1394
$GC,11509,0.66,354.5,569.3,11.9,894,11512,0.00,2.25,0.00,0.000,6,0.000,0.038,2963,2318,1392
$GC,11826,0.70,354.5,529.8,12.6,910,11827,0.12,0.00,0.00,0.000,6,0.064,0.000,3029,2318,1393
$GC,12132,0.59,354.5,476.5,17.3,931,12136,0.20,2.25,0.00,0.000,4,0.135,0.054,2967,3692,1393
$GC,12258,0.62,354.5,460.3,12.4,942,12261,0.00,2.15,0.00,0.000,6,0.000,0.035,2974,2311,1393
$GC,12583,0.67,354.5,422.6,11.2,973,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2311,1393
$GC,12902,0.72,354.5,385.5,11.6,1004,12905,0.10,2.25,0.00,0.000,4,0.068,0.053,3040,3686,1393
$GC,12933,0.59,354.5,380.2,16.3,1006,12939,0.28,2.17,0.00,0.000,6,0.136,0.037,2969,2311,1393
$GC,13250,0.69,360.8,343.9,10.8,1037,13260,0.10,2.28,3.97,0.563,4,0.068,0.051,3037,3681,1383
$GC,13298,0.57,360.8,336.4,16.6,1041,13304,0.28,2.12,0.00,0.000,6,0.132,0.035,2965,2309,1383
$GC,13614,0.76,415.6,304.5,9.2,1072,13669,0.17,2.30,49.22,0.843,4,0.049,0.047,3070,892,1157
$GC,13687,0.66,415.6,293.9,15.9,1081,13692,0.28,2.25,0.00,0.000,6,0.128,0.036,2989,2309,1155
$GC,14017,0.79,428.0,257.9,10.6,1142,14036,0.12,2.25,11.05,0.726,4,0.062,0.055,3059,3679,1108
$GC,14058,0.70,428.0,251.0,18.1,1149,14064,0.20,2.12,0.00,0.000,6,0.138,0.034,3007,2302,1108
$GC,14385,0.78,428.0,208.2,12.6,1210,14391,0.00,2.25,0.00,0.000,4,0.000,0.047,3017,892,1108
$GC,14434,0.91,428.0,201.7,12.7,1219,14441,0.15,2.20,0.00,0.000,6,0.058,0.035,3113,2310,1107
$GC,14763,0.75,428.0,138.9,15.8,1280,14769,0.28,2.20,0.00,0.000,4,0.130,0.054,3024,3676,1107
$GC,14873,0.94,498.9,127.8,8.6,1300,14941,0.10,2.12,60.12,0.693,6,0.048,0.034,3106,2315,818
$GC,15263,0.94,498.9,71.6,13.8,1371,15269,0.00,2.25,0.00,0.000,4,0.000,0.048,3116,901,816
$GC,15350,1.03,498.9,59.9,11.5,1387,15357,0.00,2.22,0.00,0.000,6,0.000,0.036,3116,2308,814
$GC,15679,1.09,510.2,20.8,10.6,1448,15697,0.00,2.22,10.10,0.538,4,0.000,0.054,3116,3683,773
$GC,15752,1.09,510.2,12.2,12.8,1461,15758,0.00,2.08,0.00,0.000,6,0.000,0.031,3126,2315,772
$STATE,15830,end climb,SURFACE_DEPTH_REACHED
$STATE,15830,begin surface coast
$FINISH,1.7,1.020964
$STATE,15857,end surface coast,CONTROL_FINISHED_OK
$STATE,15857,begin surface
$SM_CCo,15935,0.00,0.000,0,0,771,510.96
$SM_GC,2.41,7.62,0.00,0.00,0.035,0.000,0.000,162,2306,771,-8.10,0.59,510.96
$IRIDIUM_FIX,2427.58,12348.64,251198,050558
$TT8_MAMPS,0.048321
$HUMID,1747
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,26.20
$XPDR_PINGS,712
$24V_AH,23.1,128.791
$10V_AH,10.3,82.859
$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,26.425,137.600,615.375,0.000,0.000,22.277,30.356,216.151,186.000,0.000,0.000,17.993,0.000,11486.635,708.513,3380.262,768.088,0.000,2033.613,0.000,2824.860,0.000,53.980,0.000
$DEVICE_MAMPS,215.527,65.195,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.167,1011.204,1208.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82113,1481
$CAP_FILE_SIZE,167253,0
$CFSIZE,260165632,207708160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192, 57.8,1
$GPS,310809,145137,2436.898,12344.095,31,1.1,31,-3.6