version: 66.04
glider: 165
mission: 2
dive: 572
start: 8 31 109 19 48 12
data:
$ID,165
$MISSION,2
$DIVE,572
$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,-132192.73
$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,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
$GPS1,194007,2436.970,12342.761,37,1.1,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-69.2
$GPS2,194807,2436.999,12342.803,13,1.6,18,-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,264.5,161488,-16.0,-11.000
$D_GRID,1440
$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,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,74,0.00,0.00,-56.05,0.000,2,0.000,0.000,148,2288,1847
$GC,78,-0.91,-219.0,3.0,-2.9,8,147,9.15,2.28,-52.33,0.000,4,0.216,0.062,2469,3682,3749
$GC,265,-0.52,-219.0,52.2,-32.0,41,272,0.45,2.15,0.00,0.000,6,0.127,0.034,2607,2283,3750
$GC,593,-0.52,-219.0,109.4,-11.3,102,600,0.00,2.20,0.00,0.000,4,0.000,0.044,2608,870,3752
$GC,719,-0.60,-219.0,121.5,-9.7,125,725,0.00,2.20,0.00,0.000,6,0.000,0.039,2606,2258,3752
$GC,1047,-0.67,-219.0,156.6,-10.3,186,1053,0.12,0.00,0.00,0.000,6,0.060,0.000,2531,2258,3753
$GC,1375,-0.52,-219.0,214.5,-17.1,247,1381,0.22,2.30,0.00,0.000,4,0.125,0.054,2602,3685,3752
$GC,1410,-0.62,-219.0,219.1,-10.9,253,1415,0.00,2.17,0.00,0.000,6,0.000,0.031,2602,2241,3753
$GC,1737,-0.77,-219.0,246.5,-7.3,314,1744,0.17,2.12,0.00,0.000,4,0.048,0.045,2494,887,3752
$GC,1792,-0.61,-219.0,255.1,-17.7,324,1798,0.30,2.15,0.00,0.000,6,0.127,0.043,2585,2248,3752
$GC,2120,-0.69,-219.0,288.7,-10.4,385,2126,0.00,2.30,0.00,0.000,4,0.000,0.054,2585,3688,3752
$GC,2154,-0.87,-219.0,291.7,-8.6,391,2160,0.25,2.17,0.00,0.000,6,0.040,0.031,2450,2241,3752
$GC,2477,-0.54,-219.0,360.4,-22.6,427,2481,0.47,2.12,0.00,0.000,4,0.136,0.045,2600,895,3752
$GC,2553,-0.80,-219.0,368.1,-6.5,433,2559,0.22,2.15,0.00,0.000,6,0.042,0.042,2478,2252,3752
$GC,2869,-0.63,-219.0,415.7,-15.4,464,2870,0.32,0.00,0.00,0.000,6,0.122,0.000,2580,2252,3750
$GC,3183,-0.84,-219.0,437.4,-6.9,494,3189,0.20,0.00,0.00,0.000,6,0.048,0.000,2466,2252,3748
$GC,3499,-0.67,-219.0,487.8,-16.9,525,3503,0.28,2.20,0.00,0.000,4,0.127,0.048,2558,886,3747
$GC,3531,-0.74,-219.0,492.1,-11.4,528,3534,0.00,2.15,0.00,0.000,6,0.000,0.044,2558,2229,3747
$GC,3862,-0.92,-219.0,516.3,-7.0,549,3866,0.20,2.40,0.00,0.000,4,0.049,0.058,2442,3685,3744
$GC,3905,-0.82,-219.0,521.9,-14.6,551,3909,0.25,2.25,0.00,0.000,6,0.120,0.039,2518,2233,3743
$GC,4224,-0.87,-219.0,554.8,-9.9,567,4227,0.00,2.10,0.00,0.000,4,0.000,0.048,2518,894,3741
$GC,4251,-0.94,-219.0,557.8,-10.6,568,4255,0.12,2.15,0.00,0.000,6,0.060,0.049,2449,2236,3741
$GC,4570,-0.77,-219.0,608.9,-16.1,584,4571,0.28,0.00,0.00,0.000,6,0.133,0.000,2533,2236,3738
$GC,4873,-0.90,-219.0,635.9,-8.3,599,4877,0.12,2.38,0.00,0.000,4,0.060,0.059,2455,3684,3735
$GC,4932,-0.85,-219.0,643.0,-13.2,601,4938,0.17,2.25,0.00,0.000,6,0.123,0.039,2507,2244,3734
$GC,5248,-0.89,-219.0,675.1,-10.2,617,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2244,3732
$GC,5549,-0.95,-219.0,704.9,-10.2,632,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2244,3729
$GC,5853,-1.01,-219.0,732.8,-8.3,647,5857,0.15,2.20,0.00,0.000,4,0.061,0.051,2435,883,3727
$GC,5897,-0.90,-219.0,737.9,-12.6,649,5901,0.22,2.20,0.00,0.000,6,0.134,0.046,2491,2250,3727
$GC,6215,-0.94,-219.0,768.6,-9.6,665,6219,0.00,2.38,0.00,0.000,4,0.000,0.061,2491,3686,3724
$GC,6307,-1.04,-219.0,777.2,-8.8,669,6311,0.15,2.22,0.00,0.000,6,0.057,0.035,2418,2245,3723
$GC,6619,-0.84,-219.0,827.5,-16.6,684,6622,0.25,2.17,0.00,0.000,4,0.140,0.051,2500,893,3721
$GC,6645,-0.79,-219.0,831.4,-13.8,685,6648,0.00,2.20,0.00,0.000,6,0.000,0.047,2500,2256,3721
$GC,6962,-0.86,-219.0,859.6,-8.8,701,6965,0.00,2.38,0.00,0.000,4,0.000,0.063,2500,3686,3719
$GC,6994,-0.98,-219.0,862.6,-8.7,702,7002,0.12,2.28,0.00,0.000,6,0.062,0.041,2437,2241,3719
$GC,7306,-0.84,-219.0,907.0,-14.9,718,7310,0.20,2.20,0.00,0.000,4,0.135,0.051,2501,888,3717
$GC,7343,-0.90,-219.0,911.8,-10.9,720,7346,0.00,2.20,0.00,0.000,6,0.000,0.046,2500,2250,3716
$GC,7670,-0.98,-219.0,941.9,-8.9,736,7674,0.10,2.40,0.00,0.000,4,0.074,0.061,2441,3692,3714
$GC,7719,-0.94,-219.0,947.4,-12.1,738,7723,0.12,2.25,0.00,0.000,6,0.131,0.036,2477,2246,3713
$GC,8029,-0.94,-219.0,982.3,-11.4,753,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2245,3712
$STATE,8108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8108,begin apogee
$GC,8116,-0.20,0.0,991.6,11.4,757,8296,0.73,0.00,177.38,1.345,6,0.110,0.000,2716,2300,2854
$STATE,8296,end apogee,CONTROL_FINISHED_OK
$STATE,8296,begin climb
$GC,8299,0.91,219.0,1003.6,0.0,766,8495,0.95,2.45,185.90,1.313,4,0.044,0.058,3093,908,1959
$GC,8662,0.55,219.0,964.3,19.1,783,8666,0.47,2.28,0.00,0.000,6,0.157,0.046,2960,2316,1951
$GC,8983,0.45,219.0,924.2,12.3,799,8987,0.12,2.25,0.00,0.000,4,0.160,0.058,2924,3689,1949
$GC,9120,0.37,219.0,908.1,11.5,805,9124,0.12,2.15,0.00,0.000,6,0.151,0.036,2899,2308,1948
$GC,9431,0.49,271.0,879.0,9.2,820,9484,0.12,0.00,47.12,1.204,6,0.071,0.000,2965,2302,1749
$GC,9776,0.42,271.0,833.3,13.5,837,9780,0.17,2.28,0.00,0.000,4,0.140,0.055,2914,3686,1743
$GC,9813,0.42,271.0,828.6,11.3,839,9817,0.00,2.15,0.00,0.000,6,0.000,0.036,2923,2308,1742
$GC,10141,0.49,304.0,794.7,9.9,855,10177,0.00,2.38,29.48,1.193,4,0.000,0.054,2922,3698,1613
$GC,10216,0.49,304.0,786.6,11.3,858,10219,0.00,2.15,0.00,0.000,6,0.000,0.035,2931,2329,1612
$GC,10532,0.56,330.3,755.1,10.1,874,10558,0.00,0.00,24.40,1.160,6,0.000,0.000,2931,2329,1507
$GC,10858,0.65,343.3,722.3,10.6,890,10877,0.17,0.00,12.88,1.080,6,0.054,0.000,3030,2325,1453
$GC,11182,0.48,343.3,663.0,18.9,906,11186,0.28,2.25,0.00,0.000,4,0.134,0.053,2941,3697,1450
$GC,11226,0.52,343.3,656.8,13.6,908,11229,0.00,2.15,0.00,0.000,6,0.000,0.035,2950,2312,1450
$GC,11547,0.56,343.3,619.2,11.6,924,11548,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2311,1450
$GC,11853,0.61,343.3,582.6,11.7,939,11854,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2312,1449
$GC,12157,0.67,343.3,547.4,11.6,954,12161,0.12,2.28,0.00,0.000,4,0.063,0.048,3032,901,1449
$GC,12211,0.58,343.3,539.5,14.7,956,12215,0.22,2.25,0.00,0.000,6,0.133,0.038,2968,2322,1447
$GC,12522,0.58,343.3,502.0,11.6,971,12525,0.00,2.22,0.00,0.000,4,0.000,0.055,2968,3689,1447
$GC,12581,0.58,343.3,494.3,13.5,975,12587,0.00,2.12,0.00,0.000,6,0.000,0.035,2975,2320,1447
$GC,12900,0.58,343.3,455.3,12.8,1006,12904,0.00,2.28,0.00,0.000,4,0.000,0.048,2985,896,1447
$GC,12932,0.62,343.3,450.7,13.1,1008,12938,0.00,2.30,0.00,0.000,6,0.000,0.041,2985,2335,1446
$GC,13250,0.62,343.3,410.8,13.0,1039,13254,0.00,2.33,0.00,0.000,4,0.000,0.046,2995,897,1446
$GC,13304,0.66,343.3,403.4,12.4,1043,13311,0.00,2.28,0.00,0.000,6,0.000,0.042,2995,2319,1446
$GC,13623,0.72,393.8,365.9,9.3,1074,13671,0.00,2.35,44.15,0.907,4,0.000,0.047,3004,891,1246
$GC,13832,0.80,393.8,342.0,11.4,1093,13835,0.10,2.33,0.00,0.000,6,0.076,0.038,3065,2361,1241
$GC,14150,0.67,393.8,285.9,17.9,1130,14156,0.20,0.00,0.00,0.000,6,0.176,0.000,3000,2363,1241
$GC,14478,0.76,409.4,248.4,10.5,1191,14496,0.00,2.42,13.77,0.758,4,0.000,0.046,3010,890,1184
$GC,14556,0.86,409.4,240.1,11.0,1205,14561,0.15,2.30,0.00,0.000,6,0.057,0.036,3105,2356,1183
$GC,14883,0.69,409.4,179.0,18.2,1266,14889,0.30,2.15,0.00,0.000,4,0.129,0.051,3005,3689,1183
$GC,14976,0.80,409.4,166.1,12.8,1283,14983,0.00,2.05,0.00,0.000,6,0.000,0.032,3012,2366,1183
$GC,15305,0.97,458.0,129.6,9.4,1344,15356,0.17,2.40,42.10,0.696,4,0.050,0.048,3143,903,986
$GC,15418,0.84,458.0,110.5,17.9,1363,15425,0.30,2.35,0.00,0.000,6,0.128,0.037,3053,2400,984
$GC,15747,1.12,576.5,76.1,7.0,1424,15857,0.20,2.53,104.53,0.646,4,0.046,0.045,3176,891,499
$GC,15917,1.12,576.5,49.3,14.4,1452,15923,0.08,2.33,0.00,0.000,6,0.110,0.035,3138,2356,487
$GC,16245,1.19,576.5,8.0,12.2,1513,16250,0.00,2.33,0.00,0.000,4,0.000,0.044,3147,891,481
$STATE,16285,end climb,SURFACE_DEPTH_REACHED
$STATE,16285,begin surface coast
$FINISH,2.1,1.021114
$STATE,16291,end surface coast,CONTROL_FINISHED_OK
$STATE,16291,begin surface
$SM_CCo,16371,0.00,0.000,0,0,479,582.59
$SM_GC,2.48,7.60,0.00,0.00,0.028,0.000,0.000,166,2294,479,-8.09,0.25,582.59
$IRIDIUM_FIX,2427.58,12342.06,251198,151537
$TT8_MAMPS,0.049088
$HUMID,1768
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.10
$XPDR_PINGS,745
$24V_AH,23.1,129.310
$10V_AH,10.3,83.120
$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,27.250,139.650,681.700,0.000,0.000,31.207,39.180,228.145,194.250,0.000,0.000,20.696,0.000,11792.663,790.779,3422.497,806.868,0.000,2126.982,0.000,2857.215,0.000,53.978,0.000
$DEVICE_MAMPS,216.294,63.661,1344.551,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.025,1038.785,1247.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85306,1522
$CAP_FILE_SIZE,170883,0
$CFSIZE,260165632,207519744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.204, 47.5,1
$GPS,010909,002206,2437.779,12341.481,34,1.0,39,-3.6