version: 66.04
glider: 165
mission: 2
dive: 578
start: 9 1 109 23 38 51
data:
$ID,165
$MISSION,2
$DIVE,578
$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,-132324.97
$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,61
$R_STBD_OVSHOOT,31
$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
$GPS1,233007,2439.342,12333.416,25,1.1,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-66.4
$GPS2,233846,2439.589,12333.423,9,2.7,28,-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,259.2,145036,-16.0,-11.000
$D_GRID,1362
$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,16,-0.91,-219.0,0.0,0.0,0,65,0.00,0.00,-47.30,0.000,2,0.000,0.000,141,2246,1870
$GC,69,-0.91,-219.0,3.1,-2.7,7,139,9.15,2.33,-53.22,0.000,4,0.216,0.062,2470,3688,3747
$GC,262,-0.58,-219.0,51.4,-25.5,41,269,0.35,2.15,0.00,0.000,6,0.120,0.034,2585,2298,3748
$GC,591,-0.50,-219.0,113.1,-14.7,102,597,0.12,2.25,0.00,0.000,4,0.131,0.047,2625,881,3750
$GC,769,-0.72,-219.0,131.0,-8.7,135,775,0.15,2.20,0.00,0.000,6,0.038,0.038,2509,2281,3751
$GC,1097,-0.49,-219.0,198.2,-19.8,196,1103,0.32,2.25,0.00,0.000,4,0.130,0.046,2613,882,3751
$GC,1168,-0.72,-219.0,205.5,-7.0,209,1175,0.20,2.12,0.00,0.000,6,0.044,0.038,2504,2250,3752
$GC,1497,-0.54,-219.0,268.5,-17.0,270,1503,0.30,2.20,0.00,0.000,4,0.122,0.046,2602,882,3752
$GC,1564,-0.79,-219.0,275.1,-7.9,282,1570,0.22,2.08,0.00,0.000,6,0.042,0.039,2479,2222,3752
$GC,1891,-0.55,-219.0,335.4,-19.9,327,1893,0.40,0.00,0.00,0.000,6,0.127,0.000,2603,2222,3751
$GC,2204,-1.09,-219.0,356.5,-7.6,357,2208,0.47,2.17,0.00,0.000,4,0.085,0.050,2430,888,3752
$GC,2248,-0.95,-219.0,361.4,-11.8,360,2254,0.12,2.15,0.00,0.000,6,0.139,0.046,2466,2205,3751
$GC,2564,-0.76,-219.0,413.3,-16.5,391,2566,0.22,0.00,0.00,0.000,6,0.130,0.000,2537,2204,3750
$GC,2878,-0.81,-219.0,442.3,-9.6,421,2881,0.00,2.12,0.00,0.000,4,0.000,0.051,2537,882,3747
$GC,2942,-0.93,-219.0,448.7,-8.3,427,2946,0.17,2.10,0.00,0.000,6,0.051,0.042,2448,2215,3747
$GC,3268,-0.72,-219.0,504.6,-17.2,457,3269,0.32,0.00,0.00,0.000,6,0.130,0.000,2548,2216,3745
$GC,3573,-0.86,-219.0,529.0,-6.9,472,3574,0.12,0.00,0.00,0.000,6,0.063,0.000,2470,2216,3743
$GC,3879,-0.72,-219.0,571.9,-14.6,487,3883,0.20,2.17,0.00,0.000,4,0.129,0.051,2538,885,3740
$GC,3922,-0.82,-219.0,576.6,-8.6,489,3925,0.00,2.10,0.00,0.000,6,0.000,0.043,2537,2211,3740
$GC,4244,-0.94,-219.0,599.3,-6.8,505,4246,0.17,0.00,0.00,0.000,6,0.051,0.000,2446,2211,3738
$GC,4548,-0.77,-219.0,645.8,-16.0,520,4552,0.25,2.15,0.00,0.000,4,0.129,0.051,2530,893,3734
$GC,4645,-0.92,-219.0,655.4,-8.3,524,4650,0.12,2.15,0.00,0.000,6,0.060,0.044,2461,2223,3734
$GC,4956,-0.82,-219.0,696.9,-13.5,540,4960,0.17,2.40,0.00,0.000,4,0.133,0.057,2519,3681,3732
$GC,5004,-1.00,-219.0,701.7,-7.9,542,5008,0.17,2.28,0.00,0.000,6,0.051,0.035,2434,2206,3731
$GC,5315,-0.84,-219.0,748.1,-15.9,557,5319,0.22,2.12,0.00,0.000,4,0.133,0.051,2508,892,3729
$GC,5401,-0.96,-219.0,757.3,-9.6,561,5404,0.10,2.10,0.00,0.000,6,0.072,0.045,2454,2205,3729
$GC,5726,-0.87,-219.0,801.3,-14.6,577,5730,0.15,2.45,0.00,0.000,4,0.135,0.060,2494,3686,3726
$GC,5764,-0.96,-219.0,806.5,-11.3,579,5767,0.00,2.33,0.00,0.000,6,0.000,0.035,2494,2193,3726
$GC,6086,-1.02,-219.0,842.1,-11.1,595,6089,0.12,2.10,0.00,0.000,4,0.067,0.051,2432,892,3723
$GC,6145,-0.93,-219.0,850.6,-14.9,597,6152,0.17,2.10,0.00,0.000,6,0.137,0.047,2478,2197,3723
$GC,6456,-0.93,-219.0,886.8,-11.2,613,6459,0.00,2.47,0.00,0.000,4,0.000,0.062,2478,3686,3721
$GC,6478,-0.93,-219.0,888.9,-10.2,614,6481,0.00,2.33,0.00,0.000,6,0.000,0.035,2478,2199,3720
$GC,6799,-0.93,-219.0,923.7,-11.1,630,6802,0.00,2.10,0.00,0.000,4,0.000,0.053,2478,895,3719
$GC,6874,-0.97,-219.0,932.0,-10.5,633,6877,0.00,2.08,0.00,0.000,6,0.000,0.047,2478,2180,3719
$GC,7191,-0.97,-219.0,966.1,-10.7,649,7194,0.00,2.50,0.00,0.000,4,0.000,0.062,2478,3679,3716
$GC,7217,-1.02,-219.0,969.0,-11.0,650,7220,0.00,2.33,0.00,0.000,6,0.000,0.036,2478,2188,3715
$STATE,7428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7428,begin apogee
$GC,7436,-0.20,0.0,990.6,10.2,661,7617,0.73,0.00,177.57,1.334,6,0.109,0.000,2716,2314,2854
$STATE,7617,end apogee,CONTROL_FINISHED_OK
$STATE,7617,begin climb
$GC,7620,0.91,219.0,1000.2,0.0,670,7816,0.95,2.45,186.12,1.302,4,0.035,0.055,3113,919,1960
$GC,7859,0.51,219.0,981.8,20.1,681,7864,0.60,2.28,0.00,0.000,6,0.162,0.047,2946,2301,1955
$GC,8176,0.48,259.0,946.1,9.7,697,8221,0.00,2.33,36.83,1.183,4,0.000,0.061,2946,3686,1797
$GC,8339,0.39,259.0,927.0,12.8,704,8343,0.17,2.15,0.00,0.000,6,0.148,0.038,2904,2321,1794
$GC,8650,0.52,316.5,898.9,9.1,719,8713,0.12,0.00,53.88,1.206,6,0.067,0.000,2973,2316,1562
$GC,9016,0.45,316.5,848.6,13.9,737,9020,0.15,2.28,0.00,0.000,4,0.141,0.056,2929,3698,1557
$GC,9134,0.45,316.5,833.0,13.3,742,9139,0.00,2.15,0.00,0.000,6,0.000,0.036,2938,2322,1556
$GC,9445,0.45,316.5,795.8,11.7,758,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2322,1555
$GC,9749,0.45,316.5,761.0,11.1,773,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2322,1554
$GC,10055,0.50,324.3,728.8,10.7,788,10067,0.00,2.30,6.88,0.969,4,0.000,0.055,2938,3686,1531
$GC,10196,0.50,324.3,711.8,12.5,794,10199,0.00,2.15,0.00,0.000,6,0.000,0.038,2946,2311,1530
$GC,10512,0.50,324.3,672.5,12.4,810,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2311,1530
$GC,10818,0.56,339.8,638.7,10.5,825,10839,0.00,0.00,15.48,1.066,6,0.000,0.000,2946,2311,1466
$GC,11144,0.61,339.8,602.7,11.5,841,11147,0.00,2.28,0.00,0.000,4,0.000,0.054,2947,3698,1465
$GC,11192,0.64,339.8,596.8,13.2,843,11195,0.00,2.15,0.00,0.000,6,0.000,0.036,2953,2319,1465
$GC,11509,0.69,346.6,561.3,10.8,859,11521,0.15,2.35,6.90,0.881,4,0.058,0.049,3043,894,1440
$GC,11539,0.56,346.6,557.0,14.4,860,11543,0.28,2.28,0.00,0.000,6,0.133,0.039,2962,2335,1440
$GC,11851,0.59,346.6,521.8,11.0,875,11854,0.00,2.17,0.00,0.000,4,0.000,0.054,2962,3689,1440
$GC,11915,0.59,346.6,513.8,12.6,878,11918,0.00,2.12,0.00,0.000,6,0.000,0.036,2966,2329,1440
$GC,12238,0.59,347.8,478.1,11.0,903,12241,0.00,2.22,0.00,0.000,4,0.000,0.052,2966,3688,1439
$GC,12271,0.61,365.7,474.2,10.4,906,12294,0.00,2.12,18.52,0.961,6,0.000,0.035,2973,2324,1362
$GC,12612,0.65,365.7,435.1,11.7,939,12615,0.00,2.22,0.00,0.000,4,0.000,0.052,2973,3690,1361
$GC,12656,0.65,365.7,429.2,14.0,943,12659,0.00,2.12,0.00,0.000,6,0.000,0.035,2981,2329,1360
$GC,12977,0.65,365.7,389.0,11.5,974,12978,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2329,1360
$GC,13291,0.68,365.7,349.9,11.7,1004,13294,0.00,2.30,0.00,0.000,4,0.000,0.048,2990,892,1360
$GC,13339,0.75,367.6,344.2,10.9,1008,13345,0.00,2.33,0.00,0.000,6,0.000,0.042,2991,2341,1359
$GC,13660,0.80,382.2,309.9,10.5,1039,13677,0.12,0.00,15.43,0.822,6,0.062,0.000,3055,2341,1295
$GC,13995,0.69,382.2,253.6,15.8,1096,14001,0.17,2.17,0.00,0.000,4,0.133,0.057,3002,3686,1294
$GC,14038,0.69,382.2,247.6,12.9,1104,14044,0.00,2.12,0.00,0.000,6,0.000,0.036,3010,2324,1294
$GC,14367,0.79,433.4,211.3,9.3,1165,14416,0.00,2.38,44.53,0.771,4,0.000,0.047,3020,889,1086
$GC,14449,0.93,455.8,202.3,10.2,1179,14474,0.17,2.28,20.42,0.726,6,0.051,0.036,3127,2334,996
$GC,14799,0.75,455.8,136.0,18.2,1243,14804,0.32,2.17,0.00,0.000,4,0.130,0.053,3023,3686,993
$GC,14865,0.90,455.8,126.8,11.3,1255,14871,0.12,2.12,0.00,0.000,6,0.062,0.036,3102,2311,992
$GC,15193,0.90,455.8,79.7,12.5,1316,15198,0.12,0.00,0.00,0.000,6,0.130,0.000,3067,2309,993
$GC,15520,1.14,531.5,48.6,8.4,1377,15590,0.20,2.28,63.85,0.619,4,0.072,0.045,3182,897,683
$GC,15629,1.07,531.5,32.7,16.1,1395,15635,0.20,2.28,0.00,0.000,6,0.132,0.036,3125,2339,679
$STATE,15873,end climb,SURFACE_DEPTH_REACHED
$STATE,15873,begin surface coast
$FINISH,1.7,1.019211
$STATE,15900,end surface coast,CONTROL_FINISHED_OK
$STATE,15900,begin surface
$SM_CCo,15979,0.00,0.000,0,0,676,534.26
$SM_GC,2.38,7.62,0.00,0.00,0.031,0.000,0.000,169,2265,676,-8.10,-0.57,534.26
$IRIDIUM_FIX,2429.95,12334.83,261198,191943
$TT8_MAMPS,0.049088
$HUMID,1755
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,26.30
$XPDR_PINGS,709
$24V_AH,23.0,130.818
$10V_AH,10.3,83.874
$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,26.775,129.175,646.400,0.000,0.000,26.382,68.727,231.548,185.250,0.000,0.000,30.821,0.000,11632.705,729.827,3286.978,810.369,0.000,2015.658,0.000,2727.357,0.000,56.621,0.000
$DEVICE_MAMPS,215.527,95.108,1333.813,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,976.054,974.912,1136.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82147,1446
$CAP_FILE_SIZE,163291,0
$CFSIZE,260165632,206995456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055, 68.4,1
$GPS,020909,040607,2438.760,12331.220,33,1.3,33,-3.6