version: 66.04
glider: 165
mission: 2
dive: 588
start: 9 3 109 21 12 1
data:
$ID,165
$MISSION,2
$DIVE,588
$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,-132500.27
$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,29
$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
$GPS1,210425,2444.666,12309.534,41,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-65.4
$GPS2,211156,2444.788,12309.469,11,1.2,11,-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,248.6,103717,-16.0,-11.000
$D_GRID,1477
$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,15,-0.91,-219.0,0.0,0.0,0,63,0.00,0.00,-47.25,0.000,2,0.000,0.000,147,2245,1926
$GC,67,-0.91,-219.0,3.4,-3.9,7,130,9.30,2.35,-47.90,0.000,4,0.222,0.061,2470,3692,3747
$GC,243,-0.53,-219.0,50.3,-29.5,38,249,0.45,2.15,0.00,0.000,6,0.130,0.033,2606,2292,3748
$GC,570,-0.53,-219.0,98.9,-12.7,99,576,0.00,2.25,0.00,0.000,4,0.000,0.046,2606,886,3750
$GC,664,-0.65,-219.0,109.7,-10.7,116,670,0.12,2.17,0.00,0.000,6,0.060,0.040,2534,2268,3751
$GC,992,-0.46,-219.0,177.1,-19.6,177,999,0.28,2.22,0.00,0.000,4,0.129,0.046,2626,884,3751
$GC,1075,-0.71,-219.0,186.0,-7.4,192,1081,0.20,2.15,0.00,0.000,6,0.044,0.038,2510,2250,3752
$GC,1404,-0.50,-219.0,247.2,-19.2,253,1411,0.30,2.20,0.00,0.000,4,0.128,0.045,2609,884,3752
$GC,1449,-0.65,-219.0,252.5,-8.0,261,1456,0.12,2.15,0.00,0.000,6,0.059,0.039,2532,2260,3752
$GC,1778,-0.55,-219.0,297.9,-12.6,322,1784,0.20,2.22,0.00,0.000,4,0.121,0.045,2599,884,3752
$GC,1889,-0.78,-219.0,306.5,-7.5,334,1893,0.20,2.12,0.00,0.000,6,0.046,0.039,2489,2229,3752
$GC,2211,-0.61,-219.0,361.3,-19.0,365,2215,0.28,2.15,0.00,0.000,4,0.126,0.045,2580,890,3752
$GC,2249,-0.69,-219.0,366.9,-12.3,368,2253,0.00,2.15,0.00,0.000,6,0.000,0.043,2576,2228,3751
$GC,2573,-0.87,-219.0,393.5,-7.1,399,2577,0.20,2.40,0.00,0.000,4,0.048,0.055,2463,3691,3751
$GC,2638,-0.75,-219.0,401.9,-14.2,404,2644,0.25,2.25,0.00,0.000,6,0.117,0.033,2540,2239,3750
$GC,2955,-0.80,-219.0,435.4,-10.4,435,2958,0.00,2.17,0.00,0.000,4,0.000,0.051,2539,884,3748
$GC,3003,-0.92,-219.0,440.6,-9.4,439,3009,0.15,2.17,0.00,0.000,6,0.054,0.046,2459,2246,3748
$GC,3330,-0.71,-219.0,504.9,-20.6,470,3334,0.28,2.20,0.00,0.000,4,0.133,0.047,2549,889,3746
$GC,3367,-0.76,-219.0,510.9,-13.4,472,3370,0.00,2.17,0.00,0.000,6,0.000,0.047,2548,2237,3746
$GC,3694,-0.88,-219.0,541.5,-8.1,488,3698,0.15,2.40,0.00,0.000,4,0.055,0.059,2464,3688,3743
$GC,3732,-0.81,-219.0,545.7,-12.6,490,3736,0.17,2.28,0.00,0.000,6,0.121,0.038,2516,2231,3742
$GC,4054,-0.81,-219.0,582.3,-11.3,506,4057,0.00,2.15,0.00,0.000,4,0.000,0.048,2516,882,3740
$GC,4124,-0.88,-219.0,590.2,-11.0,509,4127,0.00,2.12,0.00,0.000,6,0.000,0.043,2516,2224,3740
$GC,4445,-0.88,-219.0,627.5,-11.2,525,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2224,3737
$GC,4751,-0.91,-219.0,657.1,-9.0,540,4754,0.00,2.40,0.00,0.000,4,0.000,0.059,2510,3680,3735
$GC,4778,-0.97,-219.0,659.1,-7.5,541,4782,0.12,2.25,0.00,0.000,6,0.061,0.034,2440,2223,3734
$GC,5090,-0.78,-219.0,705.8,-16.1,556,5093,0.25,2.17,0.00,0.000,4,0.137,0.050,2522,887,3732
$GC,5182,-0.89,-219.0,715.8,-8.9,560,5185,0.00,2.12,0.00,0.000,6,0.000,0.044,2522,2217,3732
$GC,5498,-0.98,-219.0,749.1,-11.2,576,5499,0.15,0.00,0.00,0.000,6,0.059,0.000,2444,2218,3730
$GC,5803,-0.82,-219.0,799.3,-16.2,591,5804,0.22,0.00,0.00,0.000,6,0.131,0.000,2511,2218,3728
$GC,6109,-0.90,-219.0,831.4,-10.1,606,6112,0.00,2.17,0.00,0.000,4,0.000,0.052,2511,890,3726
$GC,6146,-1.01,-219.0,835.5,-11.0,607,6152,0.17,2.12,0.00,0.000,6,0.054,0.045,2426,2211,3725
$GC,6458,-0.82,-219.0,888.8,-18.5,623,6459,0.30,0.00,0.00,0.000,6,0.137,0.000,2516,2211,3723
$GC,6762,-0.92,-219.0,919.6,-9.1,638,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2210,3721
$GC,7068,-1.02,-219.0,944.7,-7.8,653,7070,0.17,0.00,0.00,0.000,6,0.055,0.000,2433,2211,3719
$GC,7373,-0.86,-219.0,986.3,-14.1,668,7376,0.20,2.20,0.00,0.000,4,0.137,0.054,2497,897,3718
$GC,7394,-0.79,-219.0,988.9,-12.8,669,7398,0.12,2.12,0.00,0.000,6,0.133,0.048,2529,2202,3718
$STATE,7423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7423,begin apogee
$GC,7431,-0.20,0.0,991.1,7.2,671,7612,0.55,0.00,178.43,1.329,6,0.096,0.000,2717,2305,2854
$STATE,7612,end apogee,CONTROL_FINISHED_OK
$STATE,7612,begin climb
$GC,7616,0.91,219.0,998.0,0.0,680,7814,0.95,2.45,187.77,1.294,4,0.036,0.055,3106,914,1960
$GC,7841,0.53,219.0,980.7,20.0,690,7848,0.55,2.33,0.00,0.000,6,0.163,0.047,2958,2297,1955
$GC,8151,0.45,219.0,943.0,11.1,706,8155,0.12,2.30,0.00,0.000,4,0.160,0.057,2923,3699,1951
$GC,8305,0.41,219.0,927.1,11.2,713,8308,0.00,2.15,0.00,0.000,6,0.000,0.035,2932,2317,1950
$GC,8626,0.47,265.2,896.9,9.4,729,8677,0.00,2.33,42.17,1.190,4,0.000,0.057,2932,3689,1772
$GC,8760,0.47,265.2,882.6,11.6,735,8763,0.00,2.15,0.00,0.000,6,0.000,0.035,2941,2323,1769
$GC,9076,0.47,265.2,845.3,12.4,751,9079,0.00,2.25,0.00,0.000,4,0.000,0.054,2941,3693,1766
$GC,9119,0.42,265.2,839.5,14.0,753,9123,0.12,2.12,0.00,0.000,6,0.154,0.035,2917,2330,1766
$GC,9436,0.48,272.7,804.2,10.7,769,9448,0.00,2.30,6.82,0.983,4,0.000,0.054,2917,3698,1741
$GC,9515,0.51,272.7,794.7,12.4,772,9520,0.00,2.10,0.00,0.000,6,0.000,0.039,2925,2352,1741
$GC,9826,0.55,272.7,757.8,11.6,788,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2352,1740
$GC,10131,0.60,272.7,723.9,11.2,803,10134,0.15,2.22,0.00,0.000,4,0.061,0.054,3010,3697,1739
$GC,10189,0.40,272.7,714.2,17.9,806,10193,0.38,2.10,0.00,0.000,6,0.140,0.035,2912,2355,1739
$GC,10512,0.58,339.2,682.6,8.8,822,10574,0.15,0.00,60.28,1.144,6,0.061,0.000,3001,2350,1471
$GC,10876,0.50,339.2,626.7,15.7,840,10880,0.17,2.20,0.00,0.000,4,0.136,0.053,2945,3689,1466
$GC,10968,0.55,339.2,614.9,12.3,844,10971,0.00,2.08,0.00,0.000,6,0.000,0.035,2952,2357,1466
$GC,11284,0.61,339.2,577.3,11.8,860,11287,0.00,2.35,0.00,0.000,4,0.000,0.049,2957,899,1464
$GC,11306,0.69,339.2,574.7,12.8,861,11310,0.12,2.33,0.00,0.000,6,0.062,0.038,3022,2361,1464
$GC,11622,0.57,339.2,523.5,16.3,877,11626,0.20,2.17,0.00,0.000,4,0.137,0.052,2959,3694,1463
$GC,11708,0.61,339.2,512.1,12.4,881,11711,0.00,2.08,0.00,0.000,6,0.000,0.034,2965,2353,1464
$GC,12026,0.69,366.6,480.3,10.1,906,12059,0.12,2.42,24.10,0.977,4,0.065,0.048,3045,897,1358
$GC,12092,0.60,366.6,471.2,14.8,912,12096,0.25,2.38,0.00,0.000,6,0.132,0.038,2973,2382,1357
$GC,12408,0.69,399.3,438.1,9.9,942,12441,0.00,2.12,29.10,0.944,4,0.000,0.050,2973,3692,1227
$GC,12557,0.75,399.3,420.3,13.1,955,12563,0.12,2.05,0.00,0.000,6,0.061,0.034,3045,2371,1226
$GC,12873,0.65,399.3,363.8,17.4,986,12877,0.20,2.38,0.00,0.000,4,0.133,0.046,2992,897,1226
$GC,12901,0.65,399.3,359.8,14.2,988,12904,0.00,2.38,0.00,0.000,6,0.000,0.038,2992,2394,1224
$GC,13220,0.71,399.3,318.8,13.6,1018,13223,0.00,2.42,0.00,0.000,4,0.000,0.045,3002,895,1223
$GC,13263,0.79,399.3,312.8,13.2,1021,13269,0.00,2.38,0.00,0.000,6,0.000,0.039,3002,2379,1222
$GC,13586,0.88,440.6,277.3,9.6,1071,13628,0.17,2.50,36.55,0.822,4,0.054,0.045,3117,885,1056
$GC,13656,0.68,440.6,265.4,19.2,1083,13662,0.40,2.38,0.00,0.000,6,0.140,0.036,3000,2378,1055
$GC,13985,0.78,440.6,229.7,11.2,1144,13991,0.00,2.42,0.00,0.000,4,0.000,0.046,3010,886,1052
$GC,14050,1.01,502.4,222.4,8.9,1156,14110,0.28,2.35,52.95,0.772,6,0.042,0.036,3137,2363,804
$GC,14432,0.83,502.4,134.9,20.5,1226,14439,0.28,2.15,0.00,0.000,4,0.137,0.054,3049,3696,800
$GC,14462,0.83,502.4,129.6,17.6,1231,14468,0.00,2.10,0.00,0.000,6,0.000,0.033,3056,2359,800
$GC,14790,0.98,530.4,87.9,10.1,1292,14821,0.12,2.35,25.38,0.653,4,0.061,0.048,3141,892,688
$GC,15025,0.98,530.4,54.4,15.1,1335,15031,0.10,2.33,0.00,0.000,6,0.120,0.038,3095,2351,683
$GC,15353,1.24,623.6,18.2,7.9,1396,15434,0.20,2.38,54.75,0.529,4,0.048,0.048,3215,885,480
$STATE,15447,end climb,SURFACE_DEPTH_REACHED
$STATE,15447,begin surface coast
$FINISH,1.9,1.021465
$STATE,15467,end surface coast,CONTROL_FINISHED_OK
$STATE,15468,begin surface
$SM_CCo,15549,0.00,0.000,0,0,471,584.55
$SM_GC,2.50,7.97,0.00,0.00,0.040,0.000,0.000,160,2296,471,-8.08,0.31,584.55
$IRIDIUM_FIX,2434.69,12310.48,281198,161653
$TT8_MAMPS,0.049088
$HUMID,1778
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.40
$XPDR_PINGS,703
$24V_AH,22.9,133.297
$10V_AH,10.2,85.118
$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,28.075,148.100,698.300,0.000,0.000,30.093,31.976,215.600,183.750,0.000,0.000,12.946,0.000,11170.865,788.972,3236.943,766.980,0.000,2079.583,0.000,2697.802,0.000,53.973,0.000
$DEVICE_MAMPS,222.430,79.768,1329.211,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,954.688,953.352,1115.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79037,1415
$CAP_FILE_SIZE,166518,0
$CFSIZE,260165632,206114816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.234, 32.9,1
$GPS,040909,013207,2445.139,12308.101,33,1.1,33,-3.6