version: 66.04
glider: 165
mission: 2
dive: 584
start: 9 3 109 2 43 7
data:
$ID,165
$MISSION,2
$DIVE,584
$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,-132417.11
$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,62
$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
$GPS1,023501,2441.216,12317.277,36,1.6,36,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-67.6
$GPS2,024302,2441.327,12317.456,12,1.2,12,-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,294.3,118387,-16.0,-11.000
$D_GRID,1061
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,57,0.00,0.00,-38.22,0.000,2,0.000,0.000,140,2258,1813
$GC,61,-0.91,-219.0,3.2,-4.3,6,132,9.23,2.38,-56.30,0.000,4,0.217,0.059,2468,3695,3749
$GC,220,-0.61,-219.0,41.0,-29.9,33,227,0.38,2.15,0.00,0.000,6,0.118,0.034,2584,2300,3751
$GC,548,-0.54,-219.0,100.8,-14.9,94,554,0.00,2.22,0.00,0.000,4,0.000,0.046,2585,885,3752
$GC,647,-0.61,-219.0,113.3,-10.6,112,653,0.00,2.17,0.00,0.000,6,0.000,0.040,2585,2276,3753
$GC,975,-0.61,-219.0,153.1,-10.9,173,981,0.00,2.22,0.00,0.000,4,0.000,0.046,2585,884,3754
$GC,1041,-0.72,-219.0,159.7,-8.7,185,1047,0.08,2.20,0.00,0.000,6,0.050,0.041,2521,2253,3754
$GC,1369,-0.53,-219.0,216.2,-19.1,246,1375,0.25,2.22,0.00,0.000,4,0.126,0.048,2602,881,3754
$GC,1408,-0.64,-219.0,221.5,-11.0,253,1413,0.00,2.15,0.00,0.000,6,0.000,0.041,2602,2248,3754
$GC,1735,-0.78,-219.0,250.5,-8.0,314,1741,0.17,0.00,0.00,0.000,6,0.050,0.000,2482,2248,3754
$GC,2065,-0.53,-219.0,317.7,-21.3,368,2069,0.38,2.20,0.00,0.000,4,0.130,0.046,2601,882,3754
$GC,2108,-0.67,-219.0,323.9,-10.8,371,2114,0.10,2.15,0.00,0.000,6,0.065,0.040,2534,2246,3754
$GC,2423,-0.67,-219.0,365.3,-12.4,402,2427,0.12,2.35,0.00,0.000,4,0.132,0.054,2563,3677,3753
$GC,2472,-0.84,-219.0,369.8,-7.6,406,2476,0.15,2.22,0.00,0.000,6,0.053,0.035,2477,2230,3752
$GC,2788,-0.68,-219.0,421.2,-18.2,436,2789,0.28,0.00,0.00,0.000,6,0.125,0.000,2562,2226,3752
$GC,3098,-0.83,-219.0,452.0,-8.9,466,3102,0.15,2.17,0.00,0.000,4,0.058,0.048,2476,883,3751
$GC,3130,-0.78,-219.0,456.2,-14.2,468,3137,0.20,2.20,0.00,0.000,6,0.127,0.044,2528,2248,3751
$GC,3446,-0.82,-219.0,493.0,-10.6,499,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2248,3748
$GC,3763,-0.87,-219.0,522.4,-8.8,518,3766,0.00,2.38,0.00,0.000,4,0.000,0.063,2521,3683,3746
$GC,3796,-0.96,-219.0,525.0,-8.3,519,3800,0.15,2.22,0.00,0.000,6,0.056,0.034,2443,2232,3746
$GC,4113,-0.75,-219.0,575.8,-17.0,535,4117,0.28,2.17,0.00,0.000,4,0.131,0.049,2533,884,3743
$GC,4226,-0.89,-219.0,586.7,-7.7,540,4230,0.12,2.17,0.00,0.000,6,0.061,0.048,2464,2232,3743
$GC,4545,-0.76,-219.0,628.9,-12.7,556,4549,0.20,2.20,0.00,0.000,4,0.131,0.048,2530,881,3740
$GC,4567,-0.73,-219.0,631.6,-11.1,557,4570,0.00,2.17,0.00,0.000,6,0.000,0.043,2530,2245,3740
$GC,4889,-0.83,-219.0,658.0,-8.7,573,4893,0.00,2.38,0.00,0.000,4,0.000,0.058,2521,3695,3737
$GC,4959,-0.99,-219.0,664.5,-9.6,576,4963,0.17,2.25,0.00,0.000,6,0.053,0.034,2437,2235,3736
$GC,5273,-0.81,-219.0,720.1,-17.8,591,5277,0.22,2.20,0.00,0.000,4,0.134,0.051,2512,882,3734
$GC,5388,-0.91,-219.0,734.1,-9.3,596,5391,0.00,2.15,0.00,0.000,6,0.000,0.044,2511,2225,3733
$GC,5705,-0.99,-219.0,764.1,-8.7,612,5709,0.15,2.17,0.00,0.000,4,0.059,0.049,2436,888,3732
$GC,5726,-0.99,-219.0,766.3,-10.4,613,5729,0.00,2.15,0.00,0.000,6,0.000,0.045,2436,2225,3732
$GC,6048,-0.85,-219.0,808.5,-13.2,629,6052,0.20,2.42,0.00,0.000,4,0.134,0.058,2494,3682,3729
$GC,6086,-0.92,-219.0,812.3,-9.4,631,6090,0.00,2.28,0.00,0.000,6,0.000,0.035,2494,2224,3728
$GC,6408,-0.96,-219.0,846.6,-11.8,647,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2224,3726
$GC,6714,-1.01,-219.0,884.8,-12.7,662,6715,0.12,0.00,0.00,0.000,6,0.067,0.000,2431,2224,3724
$GC,7018,-0.87,-219.0,933.7,-15.1,677,7022,0.20,2.20,0.00,0.000,4,0.134,0.054,2498,890,3722
$GC,7061,-0.94,-219.0,938.7,-10.0,679,7064,0.00,2.17,0.00,0.000,6,0.000,0.047,2497,2229,3722
$GC,7383,-1.00,-219.0,969.0,-9.7,695,7387,0.12,2.45,0.00,0.000,4,0.065,0.061,2425,3692,3719
$GC,7421,-0.92,-219.0,973.8,-13.9,697,7425,0.20,2.30,0.00,0.000,6,0.128,0.036,2484,2228,3718
$STATE,7576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7576,begin apogee
$GC,7584,-0.20,0.0,991.4,10.7,705,7766,0.70,0.00,179.02,1.338,6,0.107,0.000,2715,2296,2854
$STATE,7766,end apogee,CONTROL_FINISHED_OK
$STATE,7766,begin climb
$GC,7769,0.91,219.0,1002.5,0.0,714,7967,0.98,2.42,187.07,1.303,4,0.046,0.055,3093,909,1960
$GC,8052,0.56,219.0,981.2,17.3,727,8057,0.47,2.28,0.00,0.000,6,0.160,0.045,2962,2305,1954
$GC,8368,0.51,262.3,949.7,9.5,743,8419,0.00,2.38,39.70,1.193,4,0.000,0.058,2963,3687,1783
$GC,8624,0.40,262.3,916.4,14.6,755,8628,0.22,2.15,0.00,0.000,6,0.147,0.038,2906,2324,1780
$GC,8947,0.51,297.4,883.8,9.8,771,8991,0.12,2.35,33.53,1.167,4,0.067,0.057,2976,3689,1640
$GC,9063,0.40,297.4,866.6,17.0,776,9067,0.28,2.17,0.00,0.000,6,0.139,0.036,2905,2307,1639
$GC,9380,0.60,379.8,837.5,8.2,792,9463,0.17,2.40,74.30,1.224,4,0.054,0.055,3009,3681,1304
$GC,9522,0.48,379.8,814.4,19.2,798,9528,0.30,2.17,0.00,0.000,6,0.135,0.041,2932,2321,1302
$GC,9834,0.59,379.8,777.0,11.6,814,9835,0.12,0.00,0.00,0.000,6,0.064,0.000,3010,2316,1297
$GC,10138,0.51,379.8,728.9,15.4,829,10140,0.22,0.00,0.00,0.000,6,0.130,0.000,2943,2316,1296
$GC,10444,0.63,413.0,699.0,9.9,844,10475,0.12,0.00,29.40,1.131,6,0.066,0.000,3014,2316,1170
$GC,10770,0.57,413.0,645.4,17.3,860,10774,0.17,2.28,0.00,0.000,4,0.133,0.054,2959,3695,1166
$GC,10862,0.65,413.0,631.9,14.4,864,10865,0.00,2.15,0.00,0.000,6,0.000,0.036,2964,2325,1166
$GC,11178,0.72,413.0,589.1,13.0,880,11182,0.15,2.33,0.00,0.000,4,0.058,0.050,3048,889,1165
$GC,11253,0.66,413.0,576.6,16.9,883,11259,0.20,2.28,0.00,0.000,6,0.131,0.041,2991,2319,1164
$GC,11564,0.66,413.0,536.4,12.2,899,11567,0.00,2.20,0.00,0.000,4,0.000,0.054,2991,3681,1163
$GC,11607,0.66,413.0,530.8,13.0,901,11610,0.00,2.15,0.00,0.000,6,0.000,0.038,2997,2312,1163
$GC,11925,0.66,413.0,487.6,15.2,920,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2313,1163
$GC,12235,0.66,413.0,441.0,14.1,950,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2312,1163
$GC,12546,0.66,413.0,398.7,12.9,980,12549,0.00,2.25,0.00,0.000,4,0.000,0.052,2997,3682,1163
$GC,12600,0.66,413.0,391.2,13.8,985,12603,0.00,2.12,0.00,0.000,6,0.000,0.036,3006,2329,1163
$GC,12921,0.66,413.0,347.9,14.6,1016,12921,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2328,1163
$GC,13235,0.70,413.0,302.2,13.7,1046,13238,0.00,2.22,0.00,0.000,4,0.000,0.052,3007,3689,1163
$GC,13304,0.70,413.0,292.1,13.3,1057,13310,0.00,2.15,0.00,0.000,6,0.000,0.035,3016,2308,1163
$GC,13631,0.70,413.0,250.7,11.9,1118,13637,0.00,2.28,0.00,0.000,4,0.000,0.047,3026,901,1163
$GC,13692,0.75,413.0,243.6,11.1,1129,13697,0.00,2.25,0.00,0.000,6,0.000,0.038,3027,2331,1163
$GC,14018,0.75,413.0,198.7,12.8,1190,14023,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2331,1163
$GC,14345,0.75,413.0,154.9,12.3,1251,14351,0.00,2.17,0.00,0.000,4,0.000,0.051,3027,3683,1162
$GC,14427,0.75,413.0,144.2,13.1,1266,14432,0.00,2.15,0.00,0.000,6,0.000,0.037,3033,2315,1163
$GC,14755,0.84,441.1,104.1,10.1,1327,14787,0.00,2.25,24.10,0.659,4,0.000,0.049,3033,3676,1054
$GC,14803,0.91,460.9,99.0,10.3,1335,14828,0.00,2.10,18.33,0.634,6,0.000,0.038,3042,2315,974
$GC,15153,1.16,558.2,63.0,7.7,1399,15243,0.25,2.30,85.18,0.630,4,0.043,0.048,3178,3683,576
$GC,15285,1.04,558.2,39.6,21.6,1420,15292,0.25,2.10,0.00,0.000,6,0.136,0.039,3115,2342,568
$STATE,15594,end climb,SURFACE_DEPTH_REACHED
$STATE,15594,begin surface coast
$FINISH,2.0,1.021056
$STATE,15625,end surface coast,CONTROL_FINISHED_OK
$STATE,15625,begin surface
$SM_CCo,15704,0.00,0.000,0,0,559,562.96
$SM_GC,2.68,7.68,0.00,0.00,0.035,0.000,0.000,149,2270,559,-8.10,-0.45,562.96
$IRIDIUM_FIX,2429.95,12317.73,271198,222206
$TT8_MAMPS,0.049088
$HUMID,1776
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,25.60
$XPDR_PINGS,735
$24V_AH,23.0,132.329
$10V_AH,10.3,84.619
$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,26.050,129.725,670.625,0.000,0.000,30.862,33.600,243.439,191.750,0.000,0.000,13.805,0.000,11218.859,733.035,3397.922,799.474,0.000,2065.141,0.000,2843.711,0.000,57.543,0.000
$DEVICE_MAMPS,217.061,85.904,1338.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.697,1026.197,1251.034,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82141,1483
$CAP_FILE_SIZE,165463,0
$CFSIZE,260165632,206462976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.030, 59.9,1
$GPS,030909,070555,2442.149,12314.851,40,1.1,40,-3.6