version: 66.04
glider: 165
mission: 2
dive: 583
start: 9 2 109 22 11 49
data:
$ID,165
$MISSION,2
$DIVE,583
$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,-132402.67
$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,60
$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
$GPS1,220437,2440.561,12319.979,33,1.0,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-66.1
$GPS2,221144,2440.802,12319.958,13,1.6,13,-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,293.1,122689,-16.0,-11.000
$D_GRID,990
$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,-219.0,0.0,0.0,0,72,0.00,0.00,-56.35,0.000,2,0.000,0.000,163,2254,1825
$GC,76,-0.91,-219.0,3.1,-2.3,9,146,9.35,2.33,-52.53,0.000,4,0.225,0.062,2471,3692,3748
$GC,253,-0.47,-219.0,49.8,-33.3,40,259,0.43,2.20,0.00,0.000,6,0.118,0.038,2626,2305,3749
$GC,581,-0.58,-219.0,83.5,-10.2,101,587,0.00,2.25,0.00,0.000,4,0.000,0.044,2626,868,3751
$GC,717,-0.78,-219.0,95.6,-9.1,126,723,0.28,2.17,0.00,0.000,6,0.040,0.038,2489,2251,3752
$GC,1045,-0.46,-219.0,168.9,-22.1,187,1052,0.43,2.22,0.00,0.000,4,0.135,0.045,2626,867,3752
$GC,1144,-0.72,-219.0,179.2,-7.0,205,1150,0.17,2.12,0.00,0.000,6,0.035,0.038,2508,2223,3753
$GC,1472,-0.50,-219.0,239.5,-18.8,266,1478,0.32,2.17,0.00,0.000,4,0.124,0.044,2613,871,3753
$GC,1516,-0.68,-219.0,244.4,-7.9,274,1522,0.15,2.12,0.00,0.000,6,0.051,0.039,2518,2227,3753
$GC,1843,-0.53,-219.0,293.8,-16.9,335,1849,0.25,2.17,0.00,0.000,4,0.122,0.044,2603,869,3753
$GC,1898,-0.76,-219.0,299.8,-7.2,345,1908,0.20,2.10,0.00,0.000,6,0.045,0.038,2493,2223,3753
$GC,2214,-0.59,-219.0,353.6,-18.2,376,2218,0.28,2.40,0.00,0.000,4,0.142,0.052,2576,3688,3753
$GC,2252,-0.74,-219.0,358.3,-9.7,379,2256,0.10,2.28,0.00,0.000,6,0.066,0.031,2503,2196,3753
$GC,2574,-0.66,-219.0,401.2,-13.5,410,2578,0.17,2.10,0.00,0.000,4,0.122,0.047,2564,875,3753
$GC,2629,-0.83,-219.0,406.5,-7.9,414,2634,0.15,2.15,0.00,0.000,6,0.054,0.046,2475,2223,3753
$GC,2946,-0.68,-219.0,455.7,-15.6,445,2950,0.25,2.38,0.00,0.000,4,0.126,0.054,2550,3688,3750
$GC,3026,-0.88,-219.0,463.4,-7.6,452,3030,0.15,2.33,0.00,0.000,6,0.054,0.037,2465,2192,3750
$GC,3352,-0.72,-219.0,514.8,-16.2,479,3356,0.22,2.10,0.00,0.000,4,0.127,0.048,2542,881,3748
$GC,3421,-0.86,-219.0,523.0,-9.9,482,3425,0.12,2.15,0.00,0.000,6,0.060,0.048,2468,2223,3748
$GC,3733,-0.73,-219.0,570.6,-15.4,497,3737,0.22,2.40,0.00,0.000,4,0.129,0.056,2537,3684,3745
$GC,3777,-0.87,-219.0,575.3,-8.0,499,3780,0.10,2.28,0.00,0.000,6,0.070,0.033,2473,2200,3744
$GC,4093,-0.75,-219.0,620.3,-13.7,515,4096,0.17,2.12,0.00,0.000,4,0.131,0.048,2533,874,3742
$GC,4179,-0.89,-219.0,627.6,-7.3,519,4183,0.12,2.12,0.00,0.000,6,0.061,0.044,2461,2210,3742
$GC,4495,-0.78,-219.0,669.9,-13.9,535,4499,0.20,2.45,0.00,0.000,4,0.130,0.058,2520,3690,3739
$GC,4528,-0.85,-219.0,673.4,-10.8,536,4533,0.00,2.35,0.00,0.000,6,0.000,0.035,2520,2193,3738
$GC,4839,-0.94,-219.0,704.4,-10.6,552,4842,0.12,2.12,0.00,0.000,4,0.062,0.050,2451,873,3736
$GC,4860,-0.94,-219.0,707.2,-12.6,553,4863,0.00,2.15,0.00,0.000,6,0.000,0.045,2451,2218,3736
$GC,5182,-0.81,-219.0,760.8,-16.1,569,5186,0.20,2.20,0.00,0.000,4,0.130,0.049,2516,872,3734
$GC,5214,-0.85,-219.0,765.1,-11.7,570,5220,0.00,2.17,0.00,0.000,6,0.000,0.047,2516,2205,3733
$GC,5526,-0.96,-219.0,791.6,-8.1,586,5530,0.12,2.15,0.00,0.000,4,0.061,0.048,2450,881,3731
$GC,5552,-0.96,-219.0,794.5,-11.2,587,5555,0.00,2.10,0.00,0.000,6,0.000,0.045,2442,2188,3731
$GC,5868,-0.84,-219.0,839.1,-13.9,603,5872,0.20,2.50,0.00,0.000,4,0.133,0.060,2507,3682,3728
$GC,5917,-0.98,-219.0,843.8,-8.5,605,5921,0.12,2.33,0.00,0.000,6,0.062,0.035,2442,2185,3728
$GC,6228,-0.85,-219.0,886.3,-13.6,620,6229,0.22,0.00,0.00,0.000,6,0.130,0.000,2509,2181,3725
$GC,6534,-0.96,-219.0,909.2,-7.2,635,6538,0.12,2.12,0.00,0.000,4,0.066,0.052,2448,880,3724
$GC,6561,-0.96,-219.0,911.9,-10.4,636,6564,0.10,2.15,0.00,0.000,6,0.148,0.048,2467,2206,3723
$GC,6878,-0.92,-219.0,942.8,-10.0,652,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,2206,3721
$GC,7182,-0.89,-219.0,973.4,-10.9,667,7186,0.00,2.47,0.00,0.000,4,0.000,0.064,2467,3678,3720
$GC,7204,-0.89,-219.0,975.6,-10.6,668,7207,0.00,2.33,0.00,0.000,6,0.000,0.036,2467,2189,3719
$STATE,7338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7338,begin apogee
$GC,7347,-0.20,0.0,990.1,10.8,675,7528,0.77,0.00,178.60,1.335,6,0.115,0.000,2717,2313,2854
$STATE,7528,end apogee,CONTROL_FINISHED_OK
$STATE,7528,begin climb
$GC,7531,0.91,219.0,998.7,0.0,684,7729,0.95,2.40,187.05,1.300,4,0.039,0.061,3092,3683,1960
$GC,7804,0.45,219.0,970.7,23.2,697,7808,0.62,2.22,0.00,0.000,6,0.156,0.038,2925,2289,1955
$GC,8125,0.45,219.0,931.3,12.0,713,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2289,1952
$GC,8431,0.45,219.0,895.7,11.4,728,8434,0.00,2.30,0.00,0.000,4,0.000,0.057,2925,3676,1951
$GC,8484,0.40,219.0,888.9,12.8,730,8490,0.00,2.17,0.00,0.000,6,0.000,0.041,2933,2298,1951
$GC,8795,0.37,224.8,854.5,10.8,746,8804,0.12,2.30,4.55,0.831,4,0.147,0.057,2897,3687,1937
$GC,8897,0.37,224.8,843.5,12.2,750,8902,0.00,2.17,0.00,0.000,6,0.000,0.041,2905,2304,1936
$GC,9208,0.46,257.7,812.9,9.9,766,9242,0.00,2.30,30.42,1.206,4,0.000,0.056,2905,3677,1802
$GC,9314,0.49,257.7,801.5,12.0,770,9317,0.00,2.10,0.00,0.000,6,0.000,0.035,2915,2332,1800
$GC,9636,0.62,322.9,771.1,8.8,786,9699,0.17,2.30,57.95,1.193,4,0.056,0.055,3019,3685,1537
$GC,9773,0.43,322.9,749.2,18.4,792,9777,0.38,2.12,0.00,0.000,6,0.139,0.037,2919,2344,1534
$GC,10089,0.58,359.3,717.0,9.8,808,10130,0.15,2.42,32.65,1.139,4,0.061,0.051,3016,892,1387
$GC,10147,0.49,359.3,709.0,14.6,810,10153,0.25,2.33,0.00,0.000,6,0.127,0.043,2942,2329,1386
$GC,10458,0.57,360.5,674.1,11.0,826,10461,0.00,2.20,0.00,0.000,4,0.000,0.054,2942,3686,1383
$GC,10572,0.66,376.5,661.2,10.5,831,10592,0.12,2.12,15.60,1.061,6,0.064,0.037,3017,2328,1319
$GC,10918,0.57,376.5,609.7,15.0,848,10922,0.17,2.25,0.00,0.000,4,0.135,0.053,2961,3695,1316
$GC,10967,0.61,376.5,603.2,12.1,850,10970,0.00,2.12,0.00,0.000,6,0.000,0.035,2966,2332,1316
$GC,11283,0.65,376.5,565.8,11.9,866,11286,0.00,2.30,0.00,0.000,4,0.000,0.048,2977,896,1315
$GC,11315,0.72,376.5,561.9,12.5,867,11322,0.10,2.30,0.00,0.000,6,0.071,0.038,3033,2346,1314
$GC,11626,0.60,376.5,507.4,18.3,883,11630,0.20,2.20,0.00,0.000,4,0.136,0.054,2970,3689,1314
$GC,11779,0.63,376.5,485.6,14.1,894,11782,0.00,2.08,0.00,0.000,6,0.000,0.035,2977,2353,1314
$GC,12104,0.66,376.5,444.3,12.7,925,12108,0.00,2.35,0.00,0.000,4,0.000,0.048,2986,891,1314
$GC,12131,0.71,376.5,440.3,13.4,927,12134,0.00,2.35,0.00,0.000,6,0.000,0.038,2987,2364,1313
$GC,12450,0.71,376.5,397.8,12.8,957,12454,0.00,2.12,0.00,0.000,4,0.000,0.054,2987,3685,1313
$GC,12525,0.71,376.5,387.2,12.5,964,12528,0.00,2.08,0.00,0.000,6,0.000,0.035,2996,2355,1313
$GC,12850,0.71,376.5,347.8,12.2,995,12853,0.00,2.35,0.00,0.000,4,0.000,0.046,3006,889,1313
$GC,12876,0.71,376.5,344.0,13.3,997,12880,0.00,2.38,0.00,0.000,6,0.000,0.038,3006,2380,1313
$GC,13192,0.71,376.5,302.8,13.4,1027,13195,0.00,2.12,0.00,0.000,4,0.000,0.052,3006,3695,1313
$GC,13257,0.71,376.5,293.4,15.0,1037,13263,0.00,2.05,0.00,0.000,6,0.000,0.033,3015,2364,1313
$GC,13583,0.71,376.5,249.0,11.9,1098,13589,0.00,2.38,0.00,0.000,4,0.000,0.051,3026,896,1313
$GC,13643,0.75,410.3,242.3,9.9,1109,13679,0.00,2.33,29.48,0.791,6,0.000,0.037,3026,2366,1181
$GC,14003,0.78,410.3,197.8,13.4,1175,14011,0.00,2.17,0.00,0.000,4,0.000,0.055,3026,3686,1179
$GC,14059,0.78,410.3,189.7,13.5,1185,14065,0.00,2.08,0.00,0.000,6,0.000,0.036,3032,2355,1179
$GC,14386,0.78,410.3,147.7,11.7,1246,14392,0.00,2.33,0.00,0.000,4,0.000,0.047,3042,891,1179
$GC,14436,0.84,410.3,141.5,12.5,1255,14443,0.00,2.35,0.00,0.000,6,0.000,0.041,3043,2375,1178
$GC,14765,0.84,410.3,100.4,11.9,1316,14770,0.00,2.10,0.00,0.000,4,0.000,0.051,3043,3695,1178
$GC,14863,0.87,410.3,88.0,11.4,1334,14868,0.00,2.05,0.00,0.000,6,0.000,0.032,3050,2371,1178
$GC,15191,1.08,489.1,56.9,8.3,1395,15262,0.17,2.45,65.62,0.634,4,0.050,0.045,3160,887,858
$GC,15444,1.08,489.1,24.3,13.1,1440,15451,0.12,2.35,0.00,0.000,6,0.133,0.037,3126,2377,855
$STATE,15624,end climb,SURFACE_DEPTH_REACHED
$STATE,15624,begin surface coast
$FINISH,1.9,0.996755
$STATE,15651,end surface coast,CONTROL_FINISHED_OK
$STATE,15651,begin surface
$SM_CCo,15730,0.00,0.000,0,0,853,490.85
$SM_GC,2.63,7.75,0.00,0.00,0.041,0.000,0.000,160,2256,853,-8.10,-0.82,490.85
$IRIDIUM_FIX,2429.95,12324.30,271198,181808
$TT8_MAMPS,0.049088
$HUMID,1770
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,25.70
$XPDR_PINGS,728
$24V_AH,23.0,132.072
$10V_AH,10.3,84.493
$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,27.150,165.725,601.925,0.000,0.000,23.892,29.365,208.988,190.000,0.000,0.000,15.013,0.000,11236.572,719.049,3409.706,758.815,0.000,2058.261,0.000,2845.882,0.000,56.668,0.000
$DEVICE_MAMPS,225.498,64.428,1334.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.758,1029.986,1256.138,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82228,1479
$CAP_FILE_SIZE,172482,0
$CFSIZE,260165632,206544896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021,188.9,1
$GPS,030909,023501,2441.216,12317.277,36,1.6,36,-3.6