version: 66.04
glider: 165
mission: 2
dive: 586
start: 9 3 109 11 50 19
data:
$ID,165
$MISSION,2
$DIVE,586
$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,-132469.44
$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,36
$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
$GPS1,114255,2443.901,12312.704,37,1.6,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-67.8
$GPS2,115014,2444.079,12312.737,14,1.9,14,-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,253.7,109354,-16.0,-11.000
$D_GRID,1466
$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,-219.0,0.0,0.0,0,58,0.00,0.00,-42.70,0.000,2,0.000,0.000,156,2252,1816
$GC,63,-0.91,-219.0,3.0,-2.3,7,133,9.12,2.33,-52.78,0.000,4,0.216,0.059,2464,3674,3750
$GC,240,-0.51,-219.0,49.6,-35.8,38,247,0.40,2.15,0.00,0.000,6,0.116,0.033,2612,2293,3751
$GC,568,-0.51,-219.0,94.7,-12.2,99,575,0.00,2.20,0.00,0.000,4,0.000,0.045,2613,889,3752
$GC,718,-0.60,-219.0,110.8,-9.4,126,724,0.00,2.17,0.00,0.000,6,0.000,0.040,2609,2272,3754
$GC,1045,-0.65,-219.0,146.7,-11.2,187,1052,0.12,0.00,0.00,0.000,6,0.061,0.000,2533,2272,3754
$GC,1373,-0.51,-219.0,207.1,-15.2,248,1379,0.22,2.22,0.00,0.000,4,0.123,0.046,2608,889,3754
$GC,1435,-0.71,-219.0,212.9,-6.3,259,1443,0.17,2.17,0.00,0.000,6,0.048,0.039,2504,2281,3754
$GC,1765,-0.52,-219.0,274.1,-19.2,320,1775,0.32,2.25,0.00,0.000,4,0.129,0.045,2608,885,3754
$GC,1829,-0.74,-219.0,281.4,-8.7,331,1837,0.20,2.17,0.00,0.000,6,0.046,0.039,2496,2272,3754
$GC,2157,-0.57,-219.0,340.2,-18.7,373,2161,0.28,2.22,0.00,0.000,4,0.127,0.045,2589,888,3754
$GC,2189,-0.64,-219.0,345.0,-12.5,375,2196,0.00,2.17,0.00,0.000,6,0.000,0.041,2588,2260,3754
$GC,2505,-0.84,-219.0,369.1,-6.4,406,2509,0.17,2.35,0.00,0.000,4,0.124,0.054,2480,3693,3754
$GC,2532,-0.84,-219.0,371.7,-11.7,408,2535,0.00,2.22,0.00,0.000,6,0.000,0.035,2480,2251,3753
$GC,2853,-0.67,-219.0,427.1,-18.0,439,2857,0.22,2.20,0.00,0.000,4,0.129,0.051,2556,892,3752
$GC,2955,-0.84,-219.0,438.0,-8.9,448,2959,0.15,2.17,0.00,0.000,6,0.052,0.041,2469,2271,3752
$GC,3276,-0.68,-219.0,493.2,-16.7,479,3280,0.28,2.30,0.00,0.000,4,0.128,0.055,2550,3681,3750
$GC,3314,-0.82,-219.0,497.4,-9.0,482,3319,0.00,2.20,0.00,0.000,6,0.000,0.038,2550,2265,3749
$GC,3636,-0.95,-219.0,521.8,-7.7,500,3640,0.20,2.22,0.00,0.000,4,0.048,0.054,2438,890,3747
$GC,3695,-0.78,-219.0,530.6,-16.6,503,3699,0.30,2.20,0.00,0.000,6,0.134,0.045,2527,2269,3747
$GC,4026,-0.84,-219.0,563.8,-9.4,519,4029,0.00,2.22,0.00,0.000,4,0.000,0.048,2527,884,3744
$GC,4058,-0.91,-219.0,567.3,-9.5,520,4062,0.12,2.22,0.00,0.000,6,0.062,0.046,2453,2265,3744
$GC,4372,-0.75,-219.0,617.1,-16.6,535,4373,0.28,0.00,0.00,0.000,6,0.132,0.000,2538,2266,3742
$GC,4674,-0.86,-219.0,645.7,-8.8,550,4677,0.10,2.25,0.00,0.000,4,0.073,0.049,2477,882,3740
$GC,4700,-0.86,-219.0,648.7,-12.4,551,4704,0.12,2.20,0.00,0.000,6,0.140,0.044,2502,2258,3740
$GC,5017,-0.86,-219.0,682.2,-9.9,567,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2258,3736
$GC,5321,-0.86,-219.0,710.2,-9.5,582,5324,0.00,2.22,0.00,0.000,4,0.000,0.051,2502,891,3734
$GC,5370,-0.93,-219.0,714.6,-8.7,584,5373,0.00,2.17,0.00,0.000,6,0.000,0.044,2502,2246,3734
$GC,5692,-0.97,-219.0,746.6,-10.4,600,5693,0.10,0.00,0.00,0.000,6,0.071,0.000,2446,2247,3732
$GC,5997,-0.84,-219.0,790.9,-14.3,615,6000,0.17,2.22,0.00,0.000,4,0.137,0.051,2504,893,3729
$GC,6056,-0.93,-219.0,797.4,-9.6,618,6059,0.00,2.17,0.00,0.000,6,0.000,0.045,2504,2239,3730
$GC,6383,-0.99,-219.0,829.0,-10.0,634,6384,0.12,0.00,0.00,0.000,6,0.061,0.000,2438,2240,3727
$GC,6689,-0.85,-219.0,875.0,-15.0,649,6691,0.22,0.00,0.00,0.000,6,0.131,0.000,2506,2240,3725
$GC,6993,-0.93,-219.0,902.7,-8.7,664,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2240,3723
$GC,7299,-1.01,-219.0,930.6,-9.2,679,7303,0.15,2.22,0.00,0.000,4,0.059,0.052,2433,894,3721
$GC,7320,-1.01,-219.0,933.4,-12.4,680,7323,0.00,2.20,0.00,0.000,6,0.000,0.048,2428,2244,3721
$GC,7642,-0.86,-219.0,982.6,-15.4,696,7645,0.22,2.25,0.00,0.000,4,0.140,0.050,2501,887,3719
$GC,7674,-0.86,-219.0,986.7,-11.6,697,7680,0.00,2.25,0.00,0.000,6,0.000,0.051,2500,2242,3719
$STATE,7717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7717,begin apogee
$GC,7724,-0.20,0.0,991.1,9.4,700,7906,0.65,0.00,178.73,1.337,6,0.105,0.000,2715,2313,2854
$STATE,7906,end apogee,CONTROL_FINISHED_OK
$STATE,7906,begin climb
$GC,7909,0.91,219.0,1000.8,0.0,709,8107,1.00,2.40,187.55,1.300,4,0.044,0.059,3089,3685,1960
$GC,8349,0.46,219.0,937.6,22.1,730,8353,0.60,2.17,0.00,0.000,6,0.160,0.038,2929,2306,1954
$GC,8670,0.50,253.7,903.4,9.8,746,8713,0.00,2.38,32.30,1.158,4,0.000,0.056,2929,3684,1818
$GC,8868,0.50,253.7,880.7,11.5,755,8871,0.00,2.20,0.00,0.000,6,0.000,0.037,2937,2285,1815
$GC,9189,0.52,270.9,845.4,10.4,771,9216,0.00,2.33,17.77,1.048,4,0.000,0.054,2937,3690,1747
$GC,9270,0.49,270.9,836.1,12.5,775,9273,0.00,2.15,0.00,0.000,6,0.000,0.035,2947,2303,1747
$GC,9597,0.49,270.9,798.9,11.9,791,9600,0.00,2.28,0.00,0.000,4,0.000,0.054,2947,3689,1744
$GC,9677,0.44,270.9,788.0,14.6,795,9681,0.12,2.15,0.00,0.000,6,0.151,0.035,2922,2313,1744
$GC,10000,0.53,299.3,754.1,10.0,811,10030,0.00,2.30,25.92,1.164,4,0.000,0.054,2922,3676,1633
$GC,10126,0.59,299.3,740.2,11.7,816,10131,0.12,2.10,0.00,0.000,6,0.067,0.037,2997,2340,1630
$GC,10437,0.48,299.3,694.8,14.7,832,10441,0.20,2.22,0.00,0.000,4,0.140,0.053,2935,3686,1629
$GC,10538,0.48,299.3,682.2,11.5,837,10541,0.00,2.10,0.00,0.000,6,0.000,0.036,2942,2350,1628
$GC,10866,0.52,299.3,643.5,12.5,853,10869,0.00,2.35,0.00,0.000,4,0.000,0.048,2951,892,1628
$GC,10892,0.58,299.3,640.0,13.0,854,10896,0.00,2.33,0.00,0.000,6,0.000,0.039,2951,2350,1625
$GC,11208,0.58,299.3,601.4,11.5,870,11211,0.00,2.17,0.00,0.000,4,0.000,0.054,2951,3683,1625
$GC,11267,0.58,299.3,593.9,13.7,872,11273,0.00,2.12,0.00,0.000,6,0.000,0.036,2958,2350,1625
$GC,11578,0.58,299.3,557.4,11.3,888,11581,0.00,2.20,0.00,0.000,4,0.000,0.053,2958,3689,1625
$GC,11621,0.58,299.3,552.2,12.1,890,11624,0.00,2.10,0.00,0.000,6,0.000,0.035,2966,2346,1625
$GC,11948,0.61,318.1,517.5,10.4,906,11969,0.00,2.28,16.55,0.985,4,0.000,0.054,2966,3691,1556
$GC,12039,0.61,318.1,507.4,11.6,910,12042,0.00,2.08,0.00,0.000,6,0.000,0.035,2974,2355,1556
$GC,12358,0.61,318.1,473.5,11.1,937,12361,0.00,2.17,0.00,0.000,4,0.000,0.052,2974,3688,1556
$GC,12406,0.61,318.1,466.9,12.1,941,12412,0.00,2.05,0.00,0.000,6,0.000,0.035,2982,2365,1555
$GC,12724,0.61,318.1,429.8,13.5,972,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2366,1555
$GC,13032,0.61,318.1,389.8,11.8,1002,13036,0.00,2.38,0.00,0.000,4,0.000,0.047,2993,888,1555
$GC,13053,0.61,318.1,387.3,11.1,1003,13060,0.00,2.38,0.00,0.000,6,0.000,0.038,2993,2382,1554
$GC,13373,0.68,378.7,354.6,9.0,1034,13430,0.00,2.17,53.20,0.890,4,0.000,0.054,2994,3694,1309
$GC,13555,0.68,378.7,333.4,12.4,1051,13558,0.00,2.03,0.00,0.000,6,0.000,0.035,3001,2393,1307
$GC,13873,0.72,378.7,293.2,13.8,1086,13878,0.00,2.42,0.00,0.000,4,0.000,0.048,3012,890,1306
$GC,13943,0.78,378.7,283.4,13.3,1099,13950,0.00,2.40,0.00,0.000,6,0.000,0.038,3013,2405,1305
$GC,14271,0.78,378.7,241.4,11.8,1160,14277,0.00,2.08,0.00,0.000,4,0.000,0.054,3013,3691,1305
$GC,14379,0.78,378.7,226.4,14.0,1180,14385,0.00,2.00,0.00,0.000,6,0.000,0.035,3020,2419,1304
$GC,14707,0.78,378.7,185.0,12.1,1241,14713,0.00,2.45,0.00,0.000,4,0.000,0.044,3031,883,1305
$GC,14783,0.83,378.7,174.9,13.4,1255,14790,0.00,2.42,0.00,0.000,6,0.000,0.036,3031,2432,1305
$GC,15112,0.83,378.7,135.6,12.1,1316,15119,0.00,2.03,0.00,0.000,4,0.000,0.057,3032,3692,1304
$GC,15210,0.83,378.7,123.4,12.1,1334,15216,0.00,1.95,0.00,0.000,6,0.000,0.032,3038,2428,1304
$GC,15538,0.87,378.7,88.9,13.0,1395,15544,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2424,1304
$GC,15866,0.99,420.2,58.4,9.6,1456,15910,0.15,2.50,34.95,0.625,4,0.054,0.046,3141,896,1140
$GC,16151,0.99,420.2,24.5,11.5,1508,16157,0.15,2.53,0.00,0.000,6,0.124,0.037,3097,2494,1135
$STATE,16395,end climb,SURFACE_DEPTH_REACHED
$STATE,16395,begin surface coast
$FINISH,1.8,1.021285
$STATE,16427,end surface coast,CONTROL_FINISHED_OK
$STATE,16427,begin surface
$SM_CCo,16447,43.33,0.569,0,0,916,475.15
$SM_GC,2.84,0.00,0.00,43.33,0.000,0.000,0.569,161,2255,916,-8.18,-0.88,475.15
$IRIDIUM_FIX,2434.69,12317.05,281198,070730
$TT8_MAMPS,0.049088
$HUMID,1756
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,26.00
$XPDR_PINGS,773
$24V_AH,23.0,132.802
$10V_AH,10.3,84.873
$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,24.375,147.375,546.975,43.325,0.000,25.054,31.878,211.644,201.250,0.000,0.000,16.731,0.000,11795.281,715.499,3610.245,777.240,0.000,2105.068,0.000,3026.069,0.000,53.998,0.000
$DEVICE_MAMPS,215.527,92.040,1336.881,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1054.619,1095.310,1341.826,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88260,1560
$CAP_FILE_SIZE,171185,0
$CFSIZE,260165632,206282752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.174, 23.0,1
$GPS,030909,162607,2444.267,12310.916,30,1.0,30,-3.6