version: 66.04
glider: 165
mission: 2
dive: 573
start: 9 1 109 0 33 32
data:
$ID,165
$MISSION,2
$DIVE,573
$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,-132209.91
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,002206,2437.779,12341.481,34,1.0,39,-3.6
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-66.7
$GPS2,003326,2437.925,12341.554,14,1.1,14,-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,256.2,159017,-16.0,-11.000
$D_GRID,1524
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.91,-219.0,0.0,0.0,0,76,0.00,0.00,-58.80,0.000,2,0.000,0.000,151,2298,1948
$GC,80,-0.91,-219.0,3.4,-4.4,8,142,9.20,2.25,-46.85,0.000,4,0.218,0.064,2468,3685,3749
$GC,266,-0.50,-219.0,55.7,-32.9,41,272,0.43,2.17,0.00,0.000,6,0.128,0.034,2615,2284,3750
$GC,594,-0.50,-219.0,107.2,-10.2,102,601,0.00,2.20,0.00,0.000,4,0.000,0.044,2616,881,3752
$GC,692,-0.65,-219.0,116.3,-8.3,120,699,0.10,2.20,0.00,0.000,6,0.044,0.038,2542,2286,3752
$GC,1020,-0.51,-219.0,170.6,-15.1,181,1026,0.20,0.00,0.00,0.000,6,0.130,0.000,2608,2287,3753
$GC,1348,-0.64,-219.0,201.3,-7.8,242,1354,0.10,2.25,0.00,0.000,4,0.068,0.046,2545,874,3753
$GC,1367,-0.71,-219.0,203.3,-10.2,245,1372,0.00,2.20,0.00,0.000,6,0.000,0.040,2538,2278,3753
$GC,1693,-0.59,-219.0,256.1,-16.5,306,1700,0.17,2.22,0.00,0.000,4,0.130,0.044,2596,883,3752
$GC,1777,-0.79,-219.0,265.8,-9.8,321,1782,0.20,2.12,0.00,0.000,6,0.046,0.038,2481,2250,3753
$GC,2099,-0.54,-219.0,330.2,-21.2,368,2103,0.38,2.20,0.00,0.000,4,0.131,0.044,2600,871,3752
$GC,2169,-0.78,-219.0,338.4,-7.7,374,2173,0.20,2.15,0.00,0.000,6,0.044,0.038,2486,2249,3752
$GC,2485,-0.63,-219.0,388.8,-14.3,404,2489,0.28,2.35,0.00,0.000,4,0.153,0.054,2573,3690,3751
$GC,2517,-0.72,-219.0,392.4,-9.7,406,2524,0.00,2.28,0.00,0.000,6,0.000,0.033,2573,2206,3750
$GC,2837,-0.90,-219.0,417.1,-8.3,437,2842,0.22,0.00,0.00,0.000,6,0.044,0.000,2451,2205,3749
$GC,3154,-0.67,-219.0,476.5,-19.8,468,3155,0.35,0.00,0.00,0.000,6,0.127,0.000,2559,2205,3747
$GC,3466,-0.83,-219.0,503.2,-7.5,496,3470,0.15,2.45,0.00,0.000,4,0.054,0.057,2466,3677,3745
$GC,3488,-0.88,-219.0,505.5,-9.1,497,3491,0.00,2.25,0.00,0.000,6,0.000,0.035,2466,2224,3744
$GC,3805,-0.74,-219.0,555.6,-16.1,513,3808,0.20,2.15,0.00,0.000,4,0.130,0.048,2535,880,3742
$GC,3848,-0.85,-219.0,560.8,-9.4,515,3851,0.00,2.15,0.00,0.000,6,0.000,0.043,2535,2226,3742
$GC,4170,-0.96,-219.0,587.1,-8.3,531,4174,0.17,2.38,0.00,0.000,4,0.051,0.057,2441,3682,3739
$GC,4245,-0.86,-219.0,597.6,-14.9,534,4252,0.22,2.30,0.00,0.000,6,0.122,0.041,2509,2210,3738
$GC,4559,-0.89,-219.0,628.6,-9.5,550,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2210,3735
$GC,4862,-0.94,-219.0,656.5,-9.0,565,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2210,3733
$GC,5166,-0.99,-219.0,684.6,-9.1,580,5167,0.15,0.00,0.00,0.000,6,0.059,0.000,2435,2210,3731
$GC,5472,-0.84,-219.0,731.8,-15.5,595,5476,0.22,2.47,0.00,0.000,4,0.133,0.061,2506,3679,3727
$GC,5493,-0.79,-219.0,734.9,-14.2,596,5496,0.00,2.25,0.00,0.000,6,0.000,0.035,2506,2227,3727
$GC,5810,-0.86,-219.0,763.6,-9.1,612,5814,0.00,2.42,0.00,0.000,4,0.000,0.061,2506,3683,3725
$GC,5837,-0.98,-219.0,766.2,-8.5,613,5840,0.12,2.25,0.00,0.000,6,0.061,0.035,2438,2225,3724
$GC,6153,-0.84,-219.0,811.9,-15.0,629,6156,0.20,2.17,0.00,0.000,4,0.134,0.050,2503,877,3722
$GC,6202,-0.94,-219.0,817.3,-9.3,631,6205,0.00,2.17,0.00,0.000,6,0.000,0.046,2503,2231,3722
$GC,6523,-1.02,-219.0,844.4,-8.5,647,6527,0.15,2.40,0.00,0.000,4,0.058,0.061,2426,3677,3720
$GC,6567,-0.94,-219.0,849.6,-13.4,649,6574,0.17,2.25,0.00,0.000,6,0.128,0.036,2477,2232,3719
$GC,6890,-0.94,-219.0,883.3,-10.4,665,6894,0.00,2.17,0.00,0.000,4,0.000,0.051,2478,883,3716
$GC,6927,-0.94,-219.0,887.4,-11.1,666,6934,0.00,2.22,0.00,0.000,6,0.000,0.051,2478,2237,3716
$GC,7239,-0.94,-219.0,919.5,-10.4,682,7242,0.00,2.40,0.00,0.000,4,0.000,0.061,2478,3685,3715
$GC,7277,-1.00,-219.0,923.5,-9.9,684,7280,0.00,2.28,0.00,0.000,6,0.000,0.035,2478,2227,3714
$GC,7598,-1.00,-219.0,958.0,-10.6,700,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,2227,3712
$STATE,7900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7900,begin apogee
$GC,7908,-0.20,0.0,990.7,10.7,715,8088,0.73,0.00,177.00,1.343,6,0.108,0.000,2717,2313,2854
$STATE,8088,end apogee,CONTROL_FINISHED_OK
$STATE,8088,begin climb
$GC,8091,0.91,219.0,1001.1,0.0,724,8289,0.95,2.47,185.70,1.307,4,0.043,0.055,3094,904,1959
$GC,8508,0.54,219.0,948.6,20.0,743,8512,0.47,2.25,0.00,0.000,6,0.160,0.045,2962,2313,1952
$GC,8819,0.43,219.0,908.4,12.9,758,8823,0.15,2.25,0.00,0.000,4,0.155,0.056,2918,3688,1948
$GC,8921,0.39,219.0,895.9,11.3,763,8924,0.00,2.15,0.00,0.000,6,0.000,0.036,2927,2307,1948
$GC,9248,0.40,233.4,862.3,10.5,779,9268,0.00,2.33,12.02,1.132,4,0.000,0.055,2927,3683,1901
$GC,9322,0.34,233.4,853.6,12.4,782,9325,0.15,2.12,0.00,0.000,6,0.142,0.037,2894,2309,1900
$GC,9639,0.52,311.2,826.7,8.4,798,9710,0.15,0.00,69.82,1.228,6,0.062,0.000,2969,2305,1584
$GC,10003,0.46,311.2,779.1,13.7,816,10007,0.15,2.28,0.00,0.000,4,0.138,0.054,2925,3691,1577
$GC,10046,0.49,311.2,773.4,12.9,818,10049,0.00,2.15,0.00,0.000,6,0.000,0.035,2933,2309,1577
$GC,10368,0.54,311.2,735.4,11.6,834,10371,0.00,2.28,0.00,0.000,4,0.000,0.049,2944,896,1576
$GC,10395,0.60,311.2,732.1,11.4,835,10398,0.00,2.28,0.00,0.000,6,0.000,0.039,2944,2335,1574
$GC,10717,0.63,336.4,696.2,10.2,851,10745,0.12,2.28,22.17,1.123,4,0.065,0.054,3012,3692,1481
$GC,10902,0.45,336.4,665.3,16.6,859,10908,0.32,2.12,0.00,0.000,6,0.140,0.037,2927,2334,1479
$GC,11214,0.59,367.7,635.7,9.9,875,11247,0.12,2.38,28.83,1.094,4,0.067,0.049,3020,902,1354
$GC,11298,0.53,367.7,622.5,16.6,879,11301,0.25,2.28,0.00,0.000,6,0.128,0.038,2947,2335,1351
$GC,11625,0.60,367.7,583.7,12.0,895,11628,0.00,2.17,0.00,0.000,4,0.000,0.054,2946,3682,1350
$GC,11679,0.67,367.7,576.7,13.1,897,11682,0.12,2.10,0.00,0.000,6,0.066,0.035,3020,2330,1350
$GC,11995,0.56,367.7,521.4,17.5,913,11996,0.20,0.00,0.00,0.000,6,0.134,0.000,2962,2329,1349
$GC,12303,0.63,367.7,481.0,13.6,934,12306,0.00,2.30,0.00,0.000,4,0.000,0.049,2968,891,1349
$GC,12356,0.74,367.7,474.2,13.0,938,12363,0.15,2.25,0.00,0.000,6,0.057,0.038,3045,2319,1347
$GC,12672,0.59,367.7,417.3,18.1,969,12676,0.22,2.22,0.00,0.000,4,0.133,0.053,2973,3680,1347
$GC,12819,0.63,367.7,398.1,12.1,982,12822,0.00,2.10,0.00,0.000,6,0.000,0.036,2981,2330,1347
$GC,13144,0.69,367.7,361.0,11.1,1013,13148,0.00,2.30,0.00,0.000,4,0.000,0.048,2990,888,1347
$GC,13188,0.77,367.7,355.8,11.4,1017,13192,0.12,2.30,0.00,0.000,6,0.062,0.038,3057,2341,1346
$GC,13504,0.63,367.7,305.1,16.8,1047,13505,0.25,0.00,0.00,0.000,6,0.128,0.000,2981,2341,1346
$GC,13824,0.75,385.2,271.1,10.4,1103,13843,0.12,2.40,15.15,0.779,4,0.063,0.048,3059,893,1282
$GC,13865,0.65,385.2,265.0,15.9,1110,13872,0.22,2.30,0.00,0.000,6,0.127,0.039,2992,2352,1282
$GC,14194,0.73,385.2,224.9,11.0,1171,14199,0.00,2.35,0.00,0.000,4,0.000,0.044,3001,883,1282
$GC,14228,0.86,410.6,221.3,10.1,1177,14258,0.15,2.28,23.35,0.755,6,0.058,0.036,3093,2338,1178
$GC,14583,0.71,410.6,161.8,16.3,1242,14590,0.25,2.17,0.00,0.000,4,0.128,0.054,3011,3687,1177
$GC,14633,0.80,410.6,154.5,12.8,1251,14639,0.00,2.08,0.00,0.000,6,0.000,0.032,3020,2331,1177
$GC,14961,0.95,457.6,118.5,9.4,1312,15007,0.17,2.35,40.47,0.682,4,0.051,0.044,3142,892,986
$GC,15057,0.82,457.6,102.6,18.9,1328,15063,0.32,2.28,0.00,0.000,6,0.127,0.035,3044,2341,986
$GC,15385,1.12,551.3,68.1,7.8,1389,15468,0.22,0.00,80.45,0.636,6,0.044,0.000,3168,2342,604
$GC,15790,1.06,551.3,4.3,15.7,1462,15797,0.17,2.33,0.00,0.000,4,0.147,0.042,3118,887,591
$STATE,15800,end climb,SURFACE_DEPTH_REACHED
$STATE,15800,begin surface coast
$FINISH,1.9,1.008032
$STATE,15816,end surface coast,CONTROL_FINISHED_OK
$STATE,15816,begin surface
$SM_CCo,15896,0.00,0.000,0,0,589,555.60
$SM_GC,2.62,7.53,0.00,0.00,0.028,0.000,0.000,156,2289,589,-8.11,0.11,555.60
$IRIDIUM_FIX,2427.58,12340.09,261198,000053
$TT8_MAMPS,0.049088
$HUMID,1753
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,25.80
$XPDR_PINGS,734
$24V_AH,23.1,129.565
$10V_AH,10.3,83.246
$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,27.425,140.000,654.975,0.000,0.000,56.493,77.306,304.394,191.500,0.000,0.000,16.549,0.000,11491.492,753.894,3356.671,938.965,0.000,2068.109,0.000,2802.556,0.000,57.545,0.000
$DEVICE_MAMPS,217.828,65.195,1343.017,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,989.321,1009.319,1206.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82184,1467
$CAP_FILE_SIZE,171026,0
$CFSIZE,260165632,207429632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154, 64.0,1
$GPS,010909,045931,2437.568,12340.191,39,1.3,39,-3.6