version: 66.04
glider: 165
mission: 2
dive: 576
start: 9 1 109 14 18 37
data:
$ID,165
$MISSION,2
$DIVE,576
$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,-132277.89
$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,43
$R_STBD_OVSHOOT,38
$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
$GPS1,141055,2438.343,12337.128,36,1.8,36,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-64.0
$GPS2,141832,2438.474,12337.188,15,1.2,15,-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,261.9,151677,-16.0,-11.000
$D_GRID,1409
$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,-219.0,0.0,0.0,0,73,0.00,0.00,-57.05,0.000,2,0.000,0.000,141,2277,1867
$GC,76,-0.91,-219.0,3.1,-3.7,9,140,9.07,2.33,-49.17,0.000,4,0.211,0.061,2472,3694,3748
$GC,242,-0.53,-219.0,46.4,-30.0,38,248,0.45,2.17,0.00,0.000,6,0.134,0.033,2607,2272,3749
$GC,569,-0.53,-219.0,106.7,-14.0,99,576,0.00,2.17,0.00,0.000,4,0.000,0.045,2607,880,3751
$GC,724,-0.66,-219.0,124.4,-9.6,127,731,0.12,2.17,0.00,0.000,6,0.060,0.041,2534,2266,3752
$GC,1053,-0.43,-219.0,183.6,-20.0,188,1059,0.30,2.20,0.00,0.000,4,0.130,0.045,2633,884,3752
$GC,1092,-0.52,-219.0,189.6,-12.1,195,1099,0.00,2.15,0.00,0.000,6,0.000,0.038,2633,2266,3752
$GC,1422,-0.73,-219.0,213.3,-6.9,256,1428,0.22,2.20,0.00,0.000,4,0.045,0.043,2501,876,3752
$GC,1471,-0.61,-219.0,220.2,-14.6,265,1477,0.28,2.15,0.00,0.000,6,0.127,0.040,2580,2254,3752
$GC,1801,-0.65,-219.0,257.2,-10.7,326,1806,0.00,2.30,0.00,0.000,4,0.000,0.054,2577,3686,3752
$GC,1824,-0.73,-219.0,259.6,-10.2,330,1829,0.00,2.20,0.00,0.000,6,0.000,0.031,2577,2238,3752
$GC,2152,-0.80,-219.0,290.1,-9.6,391,2159,0.15,2.12,0.00,0.000,4,0.055,0.044,2491,882,3752
$GC,2213,-0.65,-219.0,299.1,-16.3,402,2219,0.28,2.15,0.00,0.000,6,0.124,0.041,2566,2247,3752
$GC,2535,-0.73,-219.0,330.2,-9.3,434,2539,0.00,2.35,0.00,0.000,4,0.000,0.058,2564,3695,3750
$GC,2567,-0.86,-219.0,333.2,-8.9,436,2573,0.17,2.22,0.00,0.000,6,0.050,0.034,2466,2243,3750
$GC,2884,-0.60,-219.0,398.3,-21.5,467,2888,0.38,2.15,0.00,0.000,4,0.130,0.046,2588,887,3749
$GC,2983,-0.85,-219.0,407.0,-6.5,475,2990,0.22,2.15,0.00,0.000,6,0.044,0.041,2467,2246,3748
$GC,3299,-0.68,-219.0,454.7,-15.6,506,3302,0.25,2.20,0.00,0.000,4,0.130,0.047,2552,881,3747
$GC,3347,-0.80,-219.0,459.9,-8.7,510,3350,0.00,2.12,0.00,0.000,6,0.000,0.047,2551,2226,3747
$GC,3672,-0.92,-219.0,484.6,-8.0,541,3676,0.20,2.35,0.00,0.000,4,0.047,0.055,2439,3679,3745
$GC,3747,-0.78,-219.0,496.1,-15.9,548,3751,0.30,2.25,0.00,0.000,6,0.121,0.037,2531,2230,3744
$GC,4072,-0.85,-219.0,530.4,-10.0,565,4075,0.00,2.15,0.00,0.000,4,0.000,0.054,2531,887,3742
$GC,4168,-0.98,-219.0,540.0,-9.7,569,4172,0.20,2.12,0.00,0.000,6,0.047,0.047,2434,2221,3742
$GC,4480,-0.75,-219.0,594.9,-17.6,584,4484,0.30,2.40,0.00,0.000,4,0.136,0.056,2521,3686,3739
$GC,4523,-0.84,-219.0,600.2,-9.0,586,4527,0.00,2.25,0.00,0.000,6,0.000,0.034,2521,2219,3739
$GC,4840,-0.91,-219.0,625.6,-7.9,602,4841,0.10,0.00,0.00,0.000,6,0.071,0.000,2459,2219,3736
$GC,5146,-0.79,-219.0,668.7,-14.6,617,5149,0.17,2.12,0.00,0.000,4,0.132,0.050,2519,884,3734
$GC,5199,-0.90,-219.0,674.4,-8.2,619,5206,0.00,2.15,0.00,0.000,6,0.000,0.048,2519,2221,3733
$GC,5511,-1.00,-219.0,698.4,-7.8,635,5512,0.17,0.00,0.00,0.000,6,0.052,0.000,2430,2222,3731
$GC,5815,-0.81,-219.0,746.9,-16.5,650,5819,0.25,2.17,0.00,0.000,4,0.133,0.050,2513,884,3728
$GC,5896,-0.92,-219.0,755.0,-8.0,653,5901,0.00,2.10,0.00,0.000,6,0.000,0.042,2511,2208,3727
$GC,6207,-1.01,-219.0,780.9,-9.0,669,6211,0.17,2.42,0.00,0.000,4,0.054,0.058,2412,3688,3725
$GC,6276,-0.87,-219.0,790.4,-15.5,672,6280,0.28,2.28,0.00,0.000,6,0.129,0.035,2495,2218,3723
$GC,6593,-0.91,-219.0,820.8,-9.0,688,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2218,3722
$GC,6897,-0.96,-219.0,849.2,-9.2,703,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2218,3720
$GC,7204,-1.01,-219.0,878.4,-10.1,718,7207,0.12,2.15,0.00,0.000,4,0.069,0.051,2436,889,3717
$GC,7268,-0.92,-219.0,887.3,-14.8,721,7271,0.20,2.15,0.00,0.000,6,0.135,0.046,2484,2224,3717
$GC,7584,-0.92,-219.0,922.1,-11.3,737,7588,0.00,2.42,0.00,0.000,4,0.000,0.062,2482,3683,3715
$GC,7606,-0.95,-219.0,924.5,-10.9,738,7609,0.00,2.28,0.00,0.000,6,0.000,0.035,2482,2221,3714
$GC,7921,-0.95,-219.0,959.4,-11.5,754,7924,0.00,2.15,0.00,0.000,4,0.000,0.051,2482,887,3712
$GC,7960,-0.99,-219.0,963.6,-11.5,755,7966,0.00,2.15,0.00,0.000,6,0.000,0.046,2482,2222,3712
$STATE,8186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8186,begin apogee
$GC,8193,-0.20,0.0,990.2,11.5,767,8373,0.70,0.00,177.15,1.341,6,0.108,0.000,2711,2310,2854
$STATE,8373,end apogee,CONTROL_FINISHED_OK
$STATE,8373,begin climb
$GC,8376,0.91,219.0,1001.3,0.0,776,8574,0.98,2.45,186.10,1.307,4,0.044,0.054,3094,913,1960
$GC,8799,0.56,219.0,949.0,20.1,795,8806,0.47,2.25,0.00,0.000,6,0.161,0.046,2961,2304,1951
$GC,9110,0.45,219.0,906.4,13.5,811,9113,0.12,2.28,0.00,0.000,4,0.160,0.056,2927,3695,1949
$GC,9271,0.38,219.0,885.8,12.4,818,9276,0.12,2.15,0.00,0.000,6,0.154,0.038,2902,2326,1948
$GC,9581,0.47,255.5,854.9,9.8,834,9625,0.00,2.40,33.12,1.161,4,0.000,0.051,2911,900,1811
$GC,9669,0.60,288.2,846.6,9.9,838,9703,0.17,2.28,30.12,1.201,6,0.060,0.040,3011,2316,1678
$GC,10013,0.42,288.2,791.0,16.4,854,10017,0.28,2.22,0.00,0.000,4,0.135,0.054,2921,3694,1673
$GC,10155,0.42,288.2,773.7,11.9,860,10161,0.00,2.15,0.00,0.000,6,0.000,0.038,2930,2324,1672
$GC,10466,0.51,328.0,742.7,9.7,876,10506,0.00,0.00,36.00,1.169,6,0.000,0.000,2930,2324,1515
$GC,10811,0.57,328.0,705.6,11.4,893,10813,0.10,0.00,0.00,0.000,6,0.075,0.000,3000,2324,1510
$GC,11117,0.47,328.0,657.1,15.8,908,11119,0.22,0.00,0.00,0.000,6,0.133,0.000,2934,2324,1510
$GC,11422,0.55,333.4,623.7,10.8,923,11430,0.00,2.25,4.85,0.792,4,0.000,0.055,2934,3691,1494
$GC,11455,0.61,338.0,620.3,10.8,924,11466,0.10,2.12,6.00,0.863,6,0.075,0.036,2997,2320,1475
$GC,11773,0.53,338.0,574.9,14.4,940,11777,0.17,2.25,0.00,0.000,4,0.137,0.052,2947,3691,1475
$GC,11860,0.57,338.0,563.9,11.5,944,11863,0.00,2.10,0.00,0.000,6,0.000,0.035,2951,2345,1475
$GC,12181,0.61,338.0,526.0,12.1,960,12184,0.00,2.35,0.00,0.000,4,0.000,0.049,2953,884,1474
$GC,12218,0.76,370.9,521.9,9.9,961,12253,0.20,2.33,30.25,1.018,6,0.049,0.038,3047,2357,1342
$GC,12565,0.61,370.9,459.0,18.0,989,12568,0.20,2.15,0.00,0.000,4,0.137,0.052,2981,3684,1339
$GC,12613,0.61,370.9,451.4,15.1,993,12616,0.00,2.10,0.00,0.000,6,0.000,0.035,2989,2331,1337
$GC,12934,0.61,370.9,403.8,16.1,1024,12937,0.00,2.30,0.00,0.000,4,0.000,0.047,2999,888,1337
$GC,13009,0.65,370.9,393.3,13.6,1030,13014,0.00,2.30,0.00,0.000,6,0.000,0.038,2999,2335,1335
$GC,13328,0.65,370.9,354.3,12.1,1061,13331,0.00,2.17,0.00,0.000,4,0.000,0.052,2999,3687,1335
$GC,13387,0.65,370.9,346.1,13.0,1066,13392,0.00,2.12,0.00,0.000,6,0.000,0.040,3008,2334,1335
$GC,13706,0.65,370.9,304.2,12.9,1097,13710,0.00,2.30,0.00,0.000,4,0.000,0.046,3019,890,1335
$GC,13771,0.65,370.9,295.4,11.9,1106,13776,0.00,2.33,0.00,0.000,6,0.000,0.042,3019,2340,1335
$GC,14098,0.65,370.9,252.3,13.4,1167,14104,0.00,2.17,0.00,0.000,4,0.000,0.052,3019,3694,1335
$GC,14158,0.60,370.9,244.2,14.3,1178,14164,0.17,2.12,0.00,0.000,6,0.120,0.039,2975,2334,1335
$GC,14485,0.84,459.7,214.4,8.0,1239,14565,0.17,2.40,75.53,0.769,4,0.050,0.046,3093,894,979
$GC,14668,0.77,459.7,183.9,17.4,1271,14675,0.22,2.25,0.00,0.000,6,0.127,0.035,3027,2329,974
$GC,15000,0.90,482.6,145.5,10.2,1332,15026,0.12,2.22,19.45,0.680,4,0.064,0.048,3107,3686,885
$GC,15059,0.78,482.6,135.4,19.1,1342,15065,0.28,2.15,0.00,0.000,6,0.127,0.035,3034,2302,885
$GC,15389,1.01,540.2,97.2,9.1,1403,15447,0.17,0.00,50.83,0.659,6,0.050,0.000,3141,2298,646
$GC,15771,1.01,540.2,39.3,13.3,1472,15777,0.12,2.25,0.00,0.000,4,0.130,0.048,3113,888,641
$GC,15799,1.08,540.2,35.4,12.3,1477,15805,0.00,2.25,0.00,0.000,6,0.000,0.034,3113,2323,641
$STATE,16107,end climb,SURFACE_DEPTH_REACHED
$STATE,16107,begin surface coast
$FINISH,1.7,1.013950
$STATE,16134,end surface coast,CONTROL_FINISHED_OK
$STATE,16134,begin surface
$SM_CCo,16213,0.00,0.000,0,0,638,543.58
$SM_GC,2.48,7.57,0.00,0.00,0.032,0.000,0.000,158,2325,638,-8.10,1.16,543.58
$IRIDIUM_FIX,2427.58,12340.09,261198,090928
$TT8_MAMPS,0.049088
$HUMID,1758
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,26.20
$XPDR_PINGS,766
$24V_AH,23.1,130.322
$10V_AH,10.3,83.625
$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,27.075,146.900,649.400,0.000,0.000,23.545,32.984,226.615,199.500,0.000,0.000,17.056,0.000,11539.346,760.852,3534.993,799.234,0.000,2140.186,0.000,2957.439,0.000,53.985,0.000
$DEVICE_MAMPS,210.925,87.438,1341.483,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.467,1046.199,1276.863,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85201,1540
$CAP_FILE_SIZE,173964,0
$CFSIZE,260165632,207163392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114, 56.6,1
$GPS,010909,184955,2438.358,12335.297,41,1.2,41,-3.6