version: 66.04
glider: 165
mission: 2
dive: 574
start: 9 1 109 5 7 33
data:
$ID,165
$MISSION,2
$DIVE,574
$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,-132244.09
$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,42
$R_STBD_OVSHOOT,36
$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
$GPS1,045931,2437.568,12340.191,39,1.3,39,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-68.7
$GPS2,050728,2437.617,12340.215,11,2.4,30,-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,270.5,156996,-16.0,-11.000
$D_GRID,1456
$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,14,-0.91,-219.0,0.0,0.0,0,66,0.00,0.00,-50.62,0.000,2,0.000,0.000,142,2297,1847
$GC,70,-0.91,-219.0,3.1,-3.1,8,139,9.12,2.28,-52.70,0.000,4,0.214,0.067,2468,3692,3748
$GC,241,-0.48,-219.0,48.1,-34.7,38,247,0.50,2.17,0.00,0.000,6,0.128,0.034,2622,2277,3749
$GC,569,-0.55,-219.0,97.5,-10.1,99,575,0.00,2.17,0.00,0.000,4,0.000,0.045,2623,884,3751
$GC,641,-0.74,-219.0,104.0,-7.9,112,647,0.22,2.17,0.00,0.000,6,0.044,0.038,2504,2284,3751
$GC,968,-0.44,-219.0,178.5,-22.7,173,975,0.40,2.25,0.00,0.000,4,0.135,0.046,2633,881,3752
$GC,1003,-0.48,-219.0,183.9,-12.2,179,1010,0.00,2.20,0.00,0.000,6,0.000,0.039,2633,2290,3753
$GC,1333,-0.71,-219.0,204.4,-6.9,240,1339,0.20,0.00,0.00,0.000,6,0.048,0.000,2508,2290,3753
$GC,1661,-0.54,-219.0,258.8,-17.4,301,1666,0.28,2.25,0.00,0.000,4,0.126,0.046,2601,884,3753
$GC,1742,-0.74,-219.0,266.3,-7.1,316,1748,0.17,2.17,0.00,0.000,6,0.048,0.039,2494,2278,3753
$GC,2066,-0.54,-219.0,324.1,-18.7,365,2068,0.35,0.00,0.00,0.000,6,0.127,0.000,2603,2278,3752
$GC,2380,-0.76,-219.0,349.1,-6.4,395,2384,0.17,2.25,0.00,0.000,4,0.087,0.046,2496,884,3752
$GC,2439,-0.69,-219.0,356.2,-13.4,400,2443,0.20,2.20,0.00,0.000,6,0.124,0.044,2556,2264,3752
$GC,2755,-0.76,-219.0,386.6,-7.7,430,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2264,3751
$GC,3068,-0.86,-219.0,411.3,-8.4,460,3072,0.15,2.33,0.00,0.000,4,0.055,0.061,2460,3680,3749
$GC,3101,-0.78,-219.0,415.4,-13.3,462,3107,0.22,2.20,0.00,0.000,6,0.118,0.036,2530,2256,3748
$GC,3418,-0.83,-219.0,450.5,-9.2,493,3421,0.00,2.15,0.00,0.000,4,0.000,0.048,2530,891,3747
$GC,3462,-0.92,-219.0,454.7,-9.2,497,3466,0.15,2.17,0.00,0.000,6,0.054,0.043,2450,2269,3747
$GC,3783,-0.73,-219.0,506.9,-17.0,526,3787,0.28,2.25,0.00,0.000,4,0.134,0.051,2540,891,3746
$GC,3837,-0.85,-219.0,512.9,-8.1,528,3842,0.00,2.20,0.00,0.000,6,0.000,0.044,2538,2266,3745
$GC,4148,-0.96,-219.0,539.0,-8.5,544,4151,0.17,2.25,0.00,0.000,4,0.051,0.048,2437,881,3743
$GC,4185,-0.81,-219.0,544.2,-15.7,546,4189,0.28,2.20,0.00,0.000,6,0.127,0.044,2519,2246,3743
$GC,4510,-0.87,-219.0,577.0,-9.6,562,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2246,3740
$GC,4812,-0.93,-219.0,607.5,-9.7,577,4816,0.12,2.35,0.00,0.000,4,0.061,0.058,2442,3682,3737
$GC,4845,-0.85,-219.0,611.5,-13.9,578,4851,0.20,2.25,0.00,0.000,6,0.124,0.036,2501,2243,3736
$GC,5156,-0.85,-219.0,645.7,-10.3,594,5159,0.00,2.15,0.00,0.000,4,0.000,0.049,2502,887,3735
$GC,5226,-0.93,-219.0,652.9,-9.9,597,5229,0.00,2.15,0.00,0.000,6,0.000,0.044,2502,2240,3734
$GC,5547,-0.96,-219.0,686.6,-10.7,613,5551,0.00,2.38,0.00,0.000,4,0.000,0.059,2500,3688,3732
$GC,5590,-1.06,-219.0,691.1,-10.4,615,5594,0.17,2.22,0.00,0.000,6,0.053,0.033,2415,2238,3731
$GC,5910,-0.86,-219.0,746.1,-17.6,631,5913,0.25,2.17,0.00,0.000,4,0.138,0.049,2497,884,3728
$GC,6000,-0.94,-219.0,757.2,-10.3,635,6004,0.00,2.15,0.00,0.000,6,0.000,0.044,2497,2234,3728
$GC,6323,-0.98,-219.0,789.2,-9.8,651,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2234,3726
$GC,6627,-1.03,-219.0,816.6,-8.4,666,6628,0.15,0.00,0.00,0.000,6,0.059,0.000,2424,2234,3723
$GC,6933,-0.87,-219.0,861.2,-15.0,681,6937,0.20,2.22,0.00,0.000,4,0.137,0.053,2491,890,3721
$GC,6986,-0.94,-219.0,867.3,-9.2,683,6993,0.00,2.15,0.00,0.000,6,0.000,0.046,2491,2226,3720
$GC,7298,-0.98,-219.0,896.3,-9.4,699,7301,0.00,2.42,0.00,0.000,4,0.000,0.062,2491,3682,3719
$GC,7341,-1.09,-219.0,900.1,-8.6,701,7345,0.17,2.28,0.00,0.000,6,0.052,0.036,2409,2222,3718
$GC,7661,-0.90,-219.0,951.5,-16.7,717,7664,0.22,2.15,0.00,0.000,4,0.138,0.051,2481,894,3716
$GC,7769,-0.95,-219.0,964.1,-9.6,722,7772,0.00,2.15,0.00,0.000,6,0.000,0.048,2481,2222,3716
$STATE,8025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8025,begin apogee
$GC,8033,-0.20,0.0,991.1,10.6,735,8213,0.70,0.00,177.85,1.343,6,0.107,0.000,2712,2311,2854
$STATE,8213,end apogee,CONTROL_FINISHED_OK
$STATE,8213,begin climb
$GC,8218,0.91,219.0,1000.2,0.0,744,8414,0.95,2.40,185.93,1.309,4,0.036,0.060,3099,3674,1960
$GC,8655,0.42,219.0,932.1,24.7,764,8659,0.68,2.15,0.00,0.000,6,0.157,0.038,2915,2306,1954
$GC,8965,0.47,261.2,899.6,9.6,779,9005,0.00,0.00,36.92,1.233,6,0.000,0.000,2916,2306,1788
$GC,9311,0.58,314.2,867.6,9.2,796,9366,0.15,2.40,47.45,1.230,4,0.063,0.057,3001,3686,1571
$GC,9434,0.40,314.2,848.2,18.4,801,9440,0.35,2.20,0.00,0.000,6,0.139,0.038,2910,2296,1569
$GC,9746,0.56,357.1,817.0,9.6,817,9790,0.15,2.35,38.55,1.200,4,0.059,0.051,3003,897,1397
$GC,9813,0.50,357.1,807.2,15.5,820,9817,0.22,2.25,0.00,0.000,6,0.128,0.040,2938,2295,1395
$GC,10131,0.56,357.1,770.9,11.5,836,10134,0.00,2.25,0.00,0.000,4,0.000,0.054,2938,3689,1393
$GC,10184,0.60,357.1,764.2,12.2,838,10187,0.00,2.17,0.00,0.000,6,0.000,0.035,2946,2291,1391
$GC,10500,0.64,357.1,727.0,11.7,854,10504,0.12,2.25,0.00,0.000,4,0.062,0.049,3032,894,1391
$GC,10554,0.55,357.1,719.0,16.1,856,10560,0.25,2.25,0.00,0.000,6,0.131,0.044,2960,2298,1389
$GC,10865,0.55,357.1,681.3,11.9,872,10868,0.00,2.25,0.00,0.000,4,0.000,0.055,2960,3683,1389
$GC,10972,0.55,357.1,667.1,14.4,877,10975,0.00,2.17,0.00,0.000,6,0.000,0.037,2965,2302,1389
$GC,11299,0.55,357.1,626.2,12.8,893,11302,0.00,2.28,0.00,0.000,4,0.000,0.050,2975,888,1389
$GC,11336,0.60,357.1,621.5,12.1,895,11339,0.00,2.25,0.00,0.000,6,0.000,0.039,2975,2306,1387
$GC,11658,0.60,357.1,578.4,14.2,911,11661,0.00,2.25,0.00,0.000,4,0.000,0.054,2975,3685,1387
$GC,11781,0.60,357.1,559.9,14.6,916,11786,0.00,2.20,0.00,0.000,6,0.000,0.041,2983,2300,1387
$GC,12092,0.60,357.1,517.1,14.0,932,12093,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2300,1387
$GC,12399,0.60,357.1,478.5,12.2,955,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2300,1388
$GC,12710,0.60,357.1,438.2,13.6,985,12714,0.00,2.28,0.00,0.000,4,0.000,0.053,2983,3689,1387
$GC,12748,0.60,357.1,432.8,15.1,988,12751,0.00,2.15,0.00,0.000,6,0.000,0.035,2992,2306,1387
$GC,13069,0.60,357.1,391.1,12.0,1019,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2307,1387
$GC,13381,0.60,357.1,353.6,12.9,1049,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2303,1386
$GC,13690,0.60,357.1,314.5,12.7,1079,13693,0.00,2.25,0.00,0.000,4,0.000,0.047,3002,898,1386
$GC,13707,0.60,357.1,312.6,11.8,1080,13712,0.00,2.28,0.00,0.000,6,0.000,0.037,3002,2326,1386
$GC,14029,0.60,357.1,270.6,11.3,1132,14035,0.12,2.22,0.00,0.000,4,0.125,0.057,2967,3680,1386
$GC,14117,0.70,357.1,261.0,11.1,1148,14123,0.00,2.15,0.00,0.000,6,0.000,0.035,2973,2305,1386
$GC,14445,0.85,393.3,229.9,9.8,1209,14481,0.17,2.25,30.58,0.772,4,0.048,0.049,3089,900,1249
$GC,14535,0.75,393.3,215.2,17.7,1225,14541,0.22,2.22,0.00,0.000,6,0.132,0.037,3024,2317,1248
$GC,14863,0.80,405.3,176.9,10.6,1286,14882,0.00,2.25,11.30,0.673,4,0.000,0.051,3024,3686,1200
$GC,14953,0.80,405.3,166.1,12.4,1302,14959,0.00,2.12,0.00,0.000,6,0.000,0.035,3031,2311,1200
$GC,15281,0.88,436.5,128.6,9.9,1363,15315,0.00,2.30,27.62,0.681,4,0.000,0.045,3040,903,1074
$GC,15374,1.02,450.9,118.1,10.5,1379,15394,0.15,2.22,13.70,0.634,6,0.036,0.035,3136,2314,1014
$GC,15719,0.97,450.9,60.8,14.3,1442,15725,0.15,2.20,0.00,0.000,4,0.131,0.051,3091,3684,1013
$GC,15775,1.07,489.0,54.3,9.7,1452,15812,0.00,2.15,32.17,0.619,6,0.000,0.037,3099,2311,859
$GC,16137,1.29,568.8,21.0,8.3,1518,16213,0.22,2.30,71.00,0.587,4,0.069,0.043,3228,904,532
$STATE,16232,end climb,SURFACE_DEPTH_REACHED
$STATE,16232,begin surface coast
$FINISH,1.8,1.009519
$STATE,16240,end surface coast,CONTROL_FINISHED_OK
$STATE,16240,begin surface
$SM_CCo,16321,0.00,0.000,0,0,522,572.04
$SM_GC,2.57,8.00,0.00,0.00,0.035,0.000,0.000,162,2304,522,-8.10,0.54,572.04
$IRIDIUM_FIX,2427.58,12342.06,261198,000059
$TT8_MAMPS,0.049088
$HUMID,1747
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.20
$XPDR_PINGS,740
$24V_AH,23.1,129.816
$10V_AH,10.3,83.374
$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,27.000,142.850,673.075,0.000,0.000,29.631,32.986,225.121,193.000,0.000,0.000,33.563,0.000,11713.534,753.835,3517.186,778.251,0.000,2124.891,0.000,2924.887,0.000,53.982,0.000
$DEVICE_MAMPS,213.993,87.438,1343.017,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.504,1047.690,1263.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85094,1535
$CAP_FILE_SIZE,171951,0
$CFSIZE,260165632,207343616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197, 44.7,1
$GPS,010909,094037,2438.290,12338.620,39,1.6,39,-3.6