version: 66.04
glider: 165
mission: 2
dive: 582
start: 9 2 109 17 57 13
data:
$ID,165
$MISSION,2
$DIVE,582
$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,-132387.03
$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,36
$R_STBD_OVSHOOT,37
$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
$GPS1,174937,2439.187,12322.745,38,0.9,38,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-67.6
$GPS2,175708,2439.229,12322.788,14,1.2,14,-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,310.4,128087,-16.0,-11.000
$D_GRID,1080
$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,-219.0,0.0,0.0,0,69,0.00,0.00,-53.88,0.000,2,0.000,0.000,151,2318,1922
$GC,74,-0.91,-219.0,3.2,-3.5,8,137,9.35,2.20,-47.83,0.000,4,0.225,0.062,2468,3682,3747
$GC,220,-0.52,-219.0,40.8,-31.9,33,226,0.47,2.17,0.00,0.000,6,0.129,0.034,2613,2269,3748
$GC,547,-0.52,-219.0,100.8,-11.5,94,554,0.00,2.17,0.00,0.000,4,0.000,0.046,2613,882,3749
$GC,674,-0.69,-219.0,111.9,-8.0,117,680,0.15,2.17,0.00,0.000,6,0.052,0.040,2522,2269,3750
$GC,1001,-0.47,-219.0,172.0,-19.5,178,1008,0.30,2.22,0.00,0.000,4,0.131,0.046,2622,884,3751
$GC,1135,-0.71,-219.0,184.9,-8.6,202,1143,0.20,2.12,0.00,0.000,6,0.045,0.039,2511,2234,3752
$GC,1465,-0.51,-219.0,247.3,-19.2,263,1470,0.30,2.17,0.00,0.000,4,0.127,0.045,2610,875,3752
$GC,1498,-0.56,-219.0,252.3,-13.6,269,1503,0.00,2.10,0.00,0.000,6,0.000,0.041,2609,2223,3752
$GC,1825,-0.76,-219.0,280.3,-7.9,330,1832,0.17,2.35,0.00,0.000,4,0.051,0.053,2495,3677,3752
$GC,1866,-0.70,-219.0,285.3,-14.1,337,1871,0.20,2.22,0.00,0.000,6,0.117,0.031,2557,2217,3752
$GC,2190,-0.76,-219.0,320.7,-8.7,378,2193,0.00,2.12,0.00,0.000,4,0.000,0.048,2557,884,3752
$GC,2234,-0.85,-219.0,324.7,-9.1,382,2239,0.15,2.12,0.00,0.000,6,0.053,0.047,2468,2223,3752
$GC,2555,-0.65,-219.0,382.2,-16.8,413,2557,0.32,0.00,0.00,0.000,6,0.128,0.000,2568,2222,3751
$GC,2869,-0.82,-219.0,403.9,-6.2,443,2875,0.15,0.00,0.00,0.000,6,0.054,0.000,2475,2223,3750
$GC,3185,-0.66,-219.0,453.5,-17.7,474,3189,0.25,2.17,0.00,0.000,4,0.126,0.050,2559,883,3748
$GC,3245,-0.83,-219.0,460.4,-9.3,479,3248,0.15,2.10,0.00,0.000,6,0.052,0.041,2470,2220,3747
$GC,3559,-0.68,-219.0,511.2,-17.2,506,3563,0.25,2.20,0.00,0.000,4,0.127,0.048,2552,883,3745
$GC,3602,-0.80,-219.0,516.7,-10.9,508,3605,0.00,2.12,0.00,0.000,6,0.000,0.044,2552,2208,3744
$GC,3924,-0.96,-219.0,544.5,-8.2,524,3927,0.20,2.45,0.00,0.000,4,0.049,0.063,2439,3685,3742
$GC,3951,-0.91,-219.0,547.5,-12.9,525,3955,0.17,2.33,0.00,0.000,6,0.127,0.036,2490,2194,3741
$GC,4267,-0.84,-219.0,590.4,-13.8,541,4270,0.00,2.10,0.00,0.000,4,0.000,0.051,2490,878,3739
$GC,4300,-0.79,-219.0,595.1,-14.2,542,4303,0.12,2.12,0.00,0.000,6,0.131,0.046,2527,2198,3739
$GC,4613,-0.87,-219.0,628.6,-10.3,557,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,2198,3735
$GC,4917,-0.97,-219.0,659.9,-10.1,572,4918,0.17,0.00,0.00,0.000,6,0.051,0.000,2439,2198,3734
$GC,5221,-0.80,-219.0,711.0,-16.4,587,5225,0.25,2.47,0.00,0.000,4,0.133,0.063,2520,3677,3731
$GC,5269,-0.95,-219.0,716.7,-8.9,589,5273,0.12,2.30,0.00,0.000,6,0.060,0.035,2446,2193,3731
$GC,5581,-0.82,-219.0,759.6,-13.4,604,5585,0.20,2.12,0.00,0.000,4,0.133,0.052,2513,886,3729
$GC,5661,-0.93,-219.0,767.4,-8.4,608,5665,0.00,2.10,0.00,0.000,6,0.000,0.044,2510,2202,3729
$GC,5989,-1.01,-219.0,796.8,-9.8,624,5993,0.17,2.15,0.00,0.000,4,0.055,0.049,2419,881,3726
$GC,6017,-0.92,-219.0,800.4,-14.7,625,6021,0.25,2.10,0.00,0.000,6,0.136,0.045,2485,2185,3726
$GC,6328,-0.92,-219.0,838.1,-11.5,640,6332,0.00,2.47,0.00,0.000,4,0.000,0.062,2482,3674,3723
$GC,6414,-0.99,-219.0,847.6,-10.3,644,6418,0.00,2.30,0.00,0.000,6,0.000,0.035,2482,2199,3722
$GC,6735,-0.99,-219.0,883.1,-12.0,660,6739,0.00,2.50,0.00,0.000,4,0.000,0.061,2482,3683,3720
$GC,6763,-0.99,-219.0,886.2,-11.9,661,6766,0.00,2.30,0.00,0.000,6,0.000,0.036,2481,2211,3719
$GC,7073,-0.99,-219.0,920.6,-12.0,676,7076,0.00,2.15,0.00,0.000,4,0.000,0.051,2482,880,3718
$GC,7169,-0.99,-219.0,932.7,-11.4,680,7172,0.00,2.15,0.00,0.000,6,0.000,0.048,2482,2205,3718
$GC,7486,-0.99,-219.0,967.4,-10.0,696,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2205,3715
$STATE,7705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7705,begin apogee
$GC,7713,-0.20,0.0,990.4,10.6,707,7893,0.70,0.00,177.57,1.339,6,0.109,0.000,2711,2306,2854
$STATE,7893,end apogee,CONTROL_FINISHED_OK
$STATE,7893,begin climb
$GC,7897,0.91,219.0,1001.7,0.0,716,8094,0.98,2.42,186.32,1.304,4,0.045,0.063,3082,3674,1960
$GC,8334,0.47,219.0,937.2,22.6,736,8338,0.57,2.17,0.00,0.000,6,0.158,0.038,2929,2295,1953
$GC,8645,0.47,223.4,900.4,10.9,751,8648,0.00,2.30,0.00,0.000,4,0.000,0.058,2929,3683,1951
$GC,8715,0.40,223.4,891.6,14.0,754,8718,0.00,2.17,0.00,0.000,6,0.000,0.038,2938,2293,1951
$GC,9036,0.39,255.6,854.6,9.9,770,9072,0.12,2.35,31.52,1.215,4,0.146,0.058,2902,3682,1810
$GC,9192,0.50,306.2,841.3,9.3,776,9245,0.00,2.15,45.55,1.214,6,0.000,0.037,2911,2310,1605
$GC,9551,0.81,487.6,819.0,4.9,794,9723,0.32,2.42,161.57,1.206,4,0.041,0.056,3074,3684,864
$GC,9819,0.65,487.6,760.9,26.3,806,9823,0.32,2.15,0.00,0.000,6,0.137,0.039,2988,2332,858
$GC,10130,0.70,487.6,710.5,15.2,821,10131,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2331,857
$GC,10435,0.77,487.6,662.9,16.0,836,10439,0.12,2.33,0.00,0.000,4,0.061,0.051,3062,892,856
$GC,10483,0.72,487.6,653.4,20.6,838,10487,0.17,2.30,0.00,0.000,6,0.133,0.040,3012,2338,856
$GC,10795,0.72,487.6,602.6,15.4,853,10798,0.00,2.20,0.00,0.000,4,0.000,0.055,3011,3690,855
$GC,10821,0.72,487.6,598.3,16.4,854,10824,0.00,2.12,0.00,0.000,6,0.000,0.035,3020,2324,854
$GC,11142,0.72,487.6,549.7,15.4,870,11146,0.00,2.33,0.00,0.000,4,0.000,0.050,3030,886,854
$GC,11159,0.72,487.6,547.2,15.7,871,11162,0.00,2.33,0.00,0.000,6,0.000,0.039,3030,2346,854
$GC,11480,0.72,487.6,498.2,15.9,887,11483,0.00,2.17,0.00,0.000,4,0.000,0.054,3030,3683,854
$GC,11513,0.69,487.6,492.7,17.0,890,11516,0.12,2.12,0.00,0.000,6,0.140,0.037,3001,2331,853
$GC,11828,0.74,487.6,447.4,13.5,920,11832,0.00,2.33,0.00,0.000,4,0.000,0.050,3011,888,853
$GC,11876,0.83,487.6,441.0,12.8,924,11880,0.10,2.30,0.00,0.000,6,0.074,0.038,3075,2339,853
$GC,12198,0.71,487.6,373.0,21.2,955,12201,0.20,2.20,0.00,0.000,4,0.135,0.053,3010,3685,853
$GC,12278,0.79,487.6,360.2,14.2,962,12281,0.00,2.10,0.00,0.000,6,0.000,0.036,3018,2339,853
$GC,12599,0.85,487.6,315.6,13.9,993,12603,0.10,2.33,0.00,0.000,4,0.074,0.048,3095,894,853
$GC,12642,0.77,487.6,308.3,17.6,996,12648,0.22,2.35,0.00,0.000,6,0.132,0.039,3030,2338,853
$GC,12967,0.81,487.6,260.4,14.8,1052,12973,0.00,2.20,0.00,0.000,4,0.000,0.052,3030,3683,853
$GC,12999,0.86,487.6,255.5,14.5,1058,13006,0.00,2.12,0.00,0.000,6,0.000,0.040,3035,2337,853
$GC,13328,0.89,487.6,209.6,12.6,1119,13333,0.00,2.33,0.00,0.000,4,0.000,0.048,3046,890,853
$GC,13399,0.98,487.6,200.9,11.4,1132,13405,0.15,2.30,0.00,0.000,6,0.054,0.038,3123,2335,853
$GC,13727,0.82,487.6,131.9,23.2,1193,13733,0.25,2.35,0.00,0.000,4,0.134,0.045,3052,886,853
$GC,13755,0.82,487.6,126.5,16.5,1198,13762,0.00,2.25,0.00,0.000,6,0.000,0.036,3052,2322,853
$GC,14084,0.88,487.6,83.5,12.3,1259,14089,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2322,853
$GC,14412,1.25,608.1,49.6,6.9,1320,14508,0.30,2.38,85.07,0.630,4,0.040,0.046,3219,897,476
$GC,14559,1.11,608.1,22.4,21.2,1344,14566,0.28,2.28,0.00,0.000,6,0.132,0.038,3139,2335,466
$STATE,14686,end climb,SURFACE_DEPTH_REACHED
$STATE,14689,begin surface coast
$FINISH,2.0,1.012215
$STATE,14708,end surface coast,CONTROL_FINISHED_OK
$STATE,14708,begin surface
$SM_CCo,14787,0.00,0.000,0,0,460,587.25
$SM_GC,2.74,7.65,0.00,0.00,0.031,0.000,0.000,170,2256,460,-8.08,-0.82,587.25
$IRIDIUM_FIX,2429.95,12324.30,271198,131319
$TT8_MAMPS,0.049088
$HUMID,1802
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.10
$XPDR_PINGS,678
$24V_AH,23.0,131.834
$10V_AH,10.2,84.368
$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,26.800,138.975,687.625,0.000,0.000,25.587,35.489,223.480,177.500,0.000,0.000,15.774,0.000,10495.967,744.323,3210.125,753.010,0.000,2027.529,0.000,2677.810,0.000,57.523,0.000
$DEVICE_MAMPS,225.498,79.768,1339.182,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,926.263,934.229,1125.988,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75866,1372
$CAP_FILE_SIZE,159037,0
$CFSIZE,260165632,206651392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,259.5,1
$GPS,020909,220437,2440.561,12319.979,33,1.0,33,-3.6