version: 66.04
glider: 165
mission: 2
dive: 587
start: 9 3 109 16 34 25
data:
$ID,165
$MISSION,2
$DIVE,587
$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,-132486.69
$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,46
$R_STBD_OVSHOOT,30
$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
$GPS1,162607,2444.267,12310.916,30,1.0,30,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-68.5
$GPS2,163419,2444.384,12310.979,9,1.4,14,-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,256.9,106361,-16.0,-11.000
$D_GRID,1459
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,55,0.00,0.00,-37.25,0.000,2,0.000,0.000,150,2255,1846
$GC,59,-0.91,-219.0,3.2,-4.1,6,130,9.20,2.25,-57.75,0.000,4,0.219,0.056,2483,882,3750
$GC,275,-0.53,-219.0,58.9,-25.0,44,283,0.43,2.22,0.00,0.000,6,0.137,0.041,2606,2294,3751
$GC,604,-0.48,-219.0,112.4,-16.0,105,610,0.00,2.25,0.00,0.000,4,0.000,0.045,2606,889,3754
$GC,665,-0.48,-219.0,120.8,-13.9,116,672,0.00,2.20,0.00,0.000,6,0.000,0.040,2606,2294,3754
$GC,994,-0.54,-219.0,159.4,-10.8,177,1001,0.00,2.25,0.00,0.000,4,0.000,0.054,2606,3688,3754
$GC,1039,-0.75,-219.0,163.9,-9.3,185,1045,0.15,2.12,0.00,0.000,6,0.037,0.031,2506,2305,3754
$GC,1368,-0.55,-219.0,222.0,-15.9,246,1374,0.28,2.28,0.00,0.000,4,0.126,0.047,2596,884,3754
$GC,1506,-0.74,-219.0,232.8,-6.9,271,1511,0.17,2.22,0.00,0.000,6,0.049,0.043,2493,2292,3755
$GC,1833,-0.52,-219.0,293.1,-21.3,332,1840,0.35,2.28,0.00,0.000,4,0.131,0.052,2601,3687,3755
$GC,1857,-0.46,-219.0,297.0,-16.8,336,1864,0.10,2.15,0.00,0.000,6,0.108,0.031,2635,2275,3755
$GC,2181,-0.99,-219.0,327.6,-12.7,371,2185,0.45,2.20,0.00,0.000,4,0.072,0.044,2462,887,3754
$GC,2236,-0.82,-219.0,335.4,-16.9,375,2241,0.20,2.22,0.00,0.000,6,0.135,0.041,2513,2290,3754
$GC,2552,-0.72,-219.0,384.4,-14.4,406,2553,0.12,0.00,0.00,0.000,6,0.140,0.000,2551,2290,3753
$GC,2865,-0.79,-219.0,413.3,-9.5,436,2868,0.00,2.28,0.00,0.000,4,0.000,0.054,2551,891,3752
$GC,2951,-0.92,-219.0,420.8,-8.7,444,2955,0.20,2.20,0.00,0.000,6,0.048,0.041,2451,2285,3751
$GC,3267,-0.70,-219.0,480.3,-18.7,474,3268,0.32,0.00,0.00,0.000,6,0.133,0.000,2550,2286,3749
$GC,3579,-0.80,-219.0,512.7,-9.8,498,3582,0.00,2.28,0.00,0.000,4,0.000,0.050,2550,894,3747
$GC,3606,-0.93,-219.0,515.8,-10.8,499,3610,0.20,2.22,0.00,0.000,6,0.048,0.047,2451,2278,3747
$GC,3925,-0.74,-219.0,572.1,-17.6,515,3926,0.30,0.00,0.00,0.000,6,0.130,0.000,2543,2278,3745
$GC,4227,-0.85,-219.0,598.9,-7.3,530,4228,0.12,0.00,0.00,0.000,6,0.061,0.000,2466,2278,3742
$GC,4532,-0.72,-219.0,639.8,-14.0,545,4536,0.25,2.28,0.00,0.000,4,0.126,0.050,2547,891,3740
$GC,4603,-0.89,-219.0,645.9,-6.5,548,4607,0.15,2.22,0.00,0.000,6,0.055,0.044,2465,2289,3740
$GC,4914,-0.76,-219.0,690.0,-15.3,563,4917,0.20,2.28,0.00,0.000,4,0.131,0.048,2529,891,3736
$GC,4973,-0.89,-219.0,696.6,-9.1,566,4977,0.00,2.20,0.00,0.000,6,0.000,0.044,2523,2266,3736
$GC,5300,-0.97,-219.0,721.8,-7.4,582,5304,0.15,2.33,0.00,0.000,4,0.058,0.057,2442,3685,3734
$GC,5328,-0.93,-219.0,724.4,-11.5,583,5335,0.15,2.20,0.00,0.000,6,0.130,0.034,2485,2260,3733
$GC,5651,-0.93,-219.0,764.4,-12.5,599,5655,0.00,2.20,0.00,0.000,4,0.000,0.050,2485,885,3731
$GC,5715,-0.93,-219.0,772.2,-12.3,602,5719,0.00,2.20,0.00,0.000,6,0.000,0.044,2481,2249,3731
$GC,6042,-0.93,-219.0,811.2,-11.1,618,6045,0.00,2.40,0.00,0.000,4,0.000,0.061,2482,3696,3728
$GC,6069,-0.93,-219.0,813.8,-9.9,619,6072,0.00,2.22,0.00,0.000,6,0.000,0.034,2481,2259,3728
$GC,6379,-0.93,-219.0,847.8,-11.5,634,6382,0.00,2.20,0.00,0.000,4,0.000,0.051,2482,890,3727
$GC,6438,-0.93,-219.0,854.7,-11.6,636,6445,0.00,2.28,0.00,0.000,6,0.000,0.051,2482,2268,3726
$GC,6749,-0.93,-219.0,890.4,-11.3,652,6750,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2268,3724
$GC,7055,-0.93,-219.0,922.1,-10.4,667,7056,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2268,3721
$GC,7359,-0.93,-219.0,954.0,-10.5,682,7360,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2268,3720
$GC,7665,-0.93,-219.0,985.8,-10.5,697,7668,0.00,2.30,0.00,0.000,4,0.000,0.054,2482,881,3718
$GC,7703,-0.93,-219.0,989.9,-10.3,698,7708,0.00,2.28,0.00,0.000,6,0.000,0.052,2482,2255,3718
$STATE,7725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7725,begin apogee
$GC,7733,-0.20,0.0,992.8,11.0,700,7914,0.73,0.00,178.65,1.336,6,0.110,0.000,2718,2313,2854
$STATE,7914,end apogee,CONTROL_FINISHED_OK
$STATE,7914,begin climb
$GC,7917,0.91,219.0,1003.5,0.0,709,8115,0.98,2.40,187.50,1.302,4,0.035,0.060,3105,3682,1960
$GC,8356,0.44,219.0,942.4,21.1,730,8360,0.68,2.17,0.00,0.000,6,0.162,0.039,2925,2307,1955
$GC,8678,0.49,265.7,910.9,9.4,746,8723,0.00,2.33,40.95,1.235,4,0.000,0.056,2924,3683,1769
$GC,8841,0.49,265.7,892.6,11.9,754,8845,0.00,2.17,0.00,0.000,6,0.000,0.036,2933,2302,1765
$GC,9169,0.49,265.7,855.7,11.1,770,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2302,1762
$GC,9473,0.51,281.7,823.0,10.5,785,9494,0.00,2.30,14.10,1.141,4,0.000,0.056,2932,3686,1704
$GC,9580,0.51,281.7,810.9,11.5,790,9583,0.00,2.15,0.00,0.000,6,0.000,0.037,2942,2319,1704
$GC,9907,0.56,318.4,777.3,9.8,806,9948,0.00,2.33,33.78,1.183,4,0.000,0.054,2942,3684,1554
$GC,9996,0.56,320.0,768.2,10.9,810,9999,0.00,2.15,0.00,0.000,6,0.000,0.036,2951,2319,1553
$GC,10318,0.56,320.0,731.4,11.8,826,10321,0.00,2.25,0.00,0.000,4,0.000,0.054,2952,3692,1551
$GC,10355,0.56,320.0,726.3,14.1,827,10360,0.00,2.15,0.00,0.000,6,0.000,0.035,2960,2320,1550
$GC,10665,0.56,320.0,687.4,12.1,843,10668,0.00,2.25,0.00,0.000,4,0.000,0.053,2960,3691,1550
$GC,10746,0.56,320.0,676.1,14.8,846,10752,0.00,2.10,0.00,0.000,6,0.000,0.035,2968,2349,1550
$GC,11057,0.56,320.0,633.5,14.3,862,11060,0.00,2.35,0.00,0.000,4,0.000,0.048,2978,891,1549
$GC,11094,0.56,320.0,628.4,13.5,864,11097,0.00,2.33,0.00,0.000,6,0.000,0.039,2979,2346,1548
$GC,11416,0.56,320.0,582.5,13.7,880,11419,0.00,2.20,0.00,0.000,4,0.000,0.055,2978,3694,1547
$GC,11480,0.50,320.0,572.9,14.9,883,11484,0.17,2.10,0.00,0.000,6,0.143,0.036,2939,2352,1547
$GC,11803,0.63,350.9,539.6,10.0,899,11833,0.12,0.00,29.05,1.027,6,0.066,0.000,3019,2348,1423
$GC,12128,0.52,350.9,485.8,17.7,918,12131,0.20,2.20,0.00,0.000,4,0.133,0.052,2954,3690,1420
$GC,12249,0.58,350.9,468.9,13.2,928,12256,0.00,2.15,0.00,0.000,6,0.000,0.038,2960,2350,1419
$GC,12567,0.65,350.9,429.6,11.5,959,12571,0.00,2.35,0.00,0.000,4,0.000,0.048,2970,887,1420
$GC,12589,0.73,350.9,426.9,11.4,960,12597,0.15,2.35,0.00,0.000,6,0.059,0.042,3041,2355,1418
$GC,12905,0.61,350.9,376.9,14.7,991,12909,0.20,2.17,0.00,0.000,4,0.139,0.053,2977,3684,1417
$GC,12986,0.61,350.9,366.6,12.0,998,12989,0.00,2.08,0.00,0.000,6,0.000,0.035,2983,2354,1417
$GC,13311,0.64,350.9,331.9,11.7,1029,13314,0.00,2.17,0.00,0.000,4,0.000,0.052,2984,3685,1417
$GC,13337,0.64,350.9,328.4,12.5,1031,13343,0.00,2.10,0.00,0.000,6,0.000,0.040,2993,2352,1418
$GC,13655,0.66,368.3,295.3,10.4,1066,13674,0.00,2.40,15.65,0.806,4,0.000,0.047,3003,891,1351
$GC,13739,0.74,368.3,286.4,11.7,1081,13745,0.00,2.33,0.00,0.000,6,0.000,0.037,3004,2364,1350
$GC,14066,0.74,368.3,243.0,11.7,1142,14072,0.00,2.15,0.00,0.000,4,0.000,0.058,3004,3693,1350
$GC,14174,0.74,368.3,229.5,11.7,1162,14180,0.00,2.08,0.00,0.000,6,0.000,0.035,3012,2360,1350
$GC,14502,0.74,368.3,192.6,11.6,1223,14507,0.00,2.35,0.00,0.000,4,0.000,0.046,3022,885,1350
$GC,14562,0.82,374.1,185.7,10.8,1234,14574,0.00,2.40,6.43,0.603,6,0.000,0.038,3022,2390,1328
$GC,14895,0.83,379.4,150.5,10.8,1296,14908,0.00,2.12,6.22,0.575,4,0.000,0.052,3023,3692,1306
$GC,14978,0.83,379.4,140.0,12.3,1311,14984,0.00,2.05,0.00,0.000,6,0.000,0.033,3031,2353,1306
$GC,15306,0.87,381.8,98.8,10.9,1372,15314,0.00,2.38,4.05,0.442,4,0.000,0.044,3040,889,1297
$GC,15364,0.98,422.4,92.7,9.6,1382,15408,0.15,2.33,35.40,0.657,6,0.054,0.040,3124,2366,1130
$GC,15733,0.91,422.4,36.8,14.3,1449,15739,0.17,2.15,0.00,0.000,4,0.190,0.049,3067,3698,1128
$GC,15901,1.13,512.8,20.8,8.0,1480,15984,0.17,2.03,73.90,0.597,6,0.040,0.031,3170,2377,761
$STATE,16043,end climb,SURFACE_DEPTH_REACHED
$STATE,16043,begin surface coast
$FINISH,1.8,1.009894
$STATE,16056,end surface coast,CONTROL_FINISHED_OK
$STATE,16056,begin surface
$SM_CCo,16135,0.00,0.000,0,0,757,514.39
$SM_GC,2.48,7.82,0.00,0.00,0.035,0.000,0.000,161,2244,757,-8.09,-1.16,514.39
$IRIDIUM_FIX,2434.69,12313.77,281198,111127
$TT8_MAMPS,0.048321
$HUMID,1797
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.10
$XPDR_PINGS,735
$24V_AH,23.0,133.042
$10V_AH,10.2,85.000
$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,25.050,147.475,625.675,0.000,0.000,30.928,34.411,249.539,191.750,0.000,0.000,16.619,0.000,11595.120,731.244,3441.833,823.297,0.000,2075.480,0.000,2879.297,0.000,54.003,0.000
$DEVICE_MAMPS,218.595,98.943,1336.114,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.991,1036.133,1251.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85219,1507
$CAP_FILE_SIZE,167889,0
$CFSIZE,260165632,206200832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220, 32.8,1
$GPS,030909,210425,2444.666,12309.534,41,1.1,41,-3.6