version: 66.04
glider: 165
mission: 2
dive: 589
start: 9 4 109 1 39 30
data:
$ID,165
$MISSION,2
$DIVE,589
$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,-132517
$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,37
$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
$GPS1,013207,2445.139,12308.101,33,1.1,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-65.1
$GPS2,013925,2445.273,12307.998,8,1.5,14,-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,245.4,101097,-16.0,-11.000
$D_GRID,1555
$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,-219.0,0.0,0.0,0,78,0.00,0.00,-62.50,0.000,2,0.000,0.000,148,2298,1994
$GC,83,-0.91,-219.0,3.4,-4.4,10,147,9.15,2.28,-44.85,0.000,4,0.217,0.063,2469,3681,3749
$GC,174,-0.27,-219.0,23.8,-37.7,25,180,0.68,2.17,0.00,0.000,6,0.148,0.031,2689,2259,3749
$GC,502,-0.47,-219.0,59.6,-8.5,86,508,0.17,2.33,0.00,0.000,4,0.050,0.051,2579,3690,3752
$GC,678,-0.47,-219.0,85.1,-12.3,118,684,0.17,2.15,0.00,0.000,6,0.115,0.031,2634,2277,3752
$GC,1005,-0.60,-219.0,115.9,-8.7,179,1012,0.15,2.20,0.00,0.000,4,0.056,0.046,2550,883,3753
$GC,1099,-0.45,-219.0,131.2,-18.1,196,1106,0.22,2.20,0.00,0.000,6,0.118,0.041,2626,2253,3753
$GC,1429,-0.59,-219.0,163.6,-7.9,257,1435,0.12,2.20,0.00,0.000,4,0.056,0.047,2550,885,3754
$GC,1467,-0.59,-219.0,168.2,-12.7,264,1473,0.15,2.15,0.00,0.000,6,0.130,0.038,2593,2267,3754
$GC,1796,-0.70,-219.0,201.2,-10.3,325,1801,0.12,0.00,0.00,0.000,6,0.060,0.000,2516,2268,3754
$GC,2122,-0.49,-219.0,260.8,-18.2,386,2128,0.30,2.22,0.00,0.000,4,0.127,0.047,2615,894,3753
$GC,2188,-0.76,-219.0,267.6,-5.9,398,2194,0.22,2.12,0.00,0.000,6,0.046,0.041,2491,2240,3754
$GC,2510,-0.54,-219.0,322.0,-16.1,447,2514,0.32,2.17,0.00,0.000,4,0.128,0.044,2598,885,3753
$GC,2610,-0.77,-219.0,329.0,-5.9,455,2617,0.20,2.12,0.00,0.000,6,0.046,0.040,2488,2228,3753
$GC,2926,-0.57,-219.0,383.3,-19.8,486,2928,0.35,0.00,0.00,0.000,6,0.125,0.000,2598,2229,3753
$GC,3239,-0.80,-219.0,410.6,-7.4,516,3243,0.17,2.40,0.00,0.000,4,0.051,0.058,2487,3681,3750
$GC,3282,-0.76,-219.0,415.6,-12.6,519,3289,0.17,2.30,0.00,0.000,6,0.119,0.034,2541,2200,3750
$GC,3598,-0.79,-219.0,447.7,-9.8,550,3602,0.00,2.42,0.00,0.000,4,0.000,0.055,2536,3679,3748
$GC,3663,-0.90,-219.0,453.5,-8.4,555,3671,0.15,2.28,0.00,0.000,6,0.055,0.035,2454,2218,3748
$GC,3979,-0.67,-219.0,509.5,-19.6,584,3982,0.32,2.17,0.00,0.000,4,0.133,0.049,2559,887,3746
$GC,4017,-0.73,-219.0,514.9,-11.3,586,4020,0.00,2.15,0.00,0.000,6,0.000,0.043,2559,2224,3745
$GC,4344,-0.86,-219.0,542.7,-8.5,602,4348,0.17,2.42,0.00,0.000,4,0.050,0.060,2455,3685,3743
$GC,4381,-0.76,-219.0,547.4,-14.2,604,4385,0.28,2.28,0.00,0.000,6,0.120,0.035,2539,2231,3743
$GC,4707,-0.84,-219.0,575.9,-7.9,620,4710,0.00,2.12,0.00,0.000,4,0.000,0.048,2540,894,3741
$GC,4739,-0.95,-219.0,578.9,-7.8,621,4743,0.17,2.12,0.00,0.000,6,0.051,0.042,2451,2231,3741
$GC,5051,-0.77,-219.0,629.3,-17.4,636,5055,0.22,2.40,0.00,0.000,4,0.138,0.058,2520,3677,3737
$GC,5083,-0.77,-219.0,633.9,-12.6,637,5088,0.00,2.28,0.00,0.000,6,0.000,0.038,2520,2230,3737
$GC,5394,-0.82,-219.0,664.8,-10.0,653,5397,0.00,2.15,0.00,0.000,4,0.000,0.050,2521,888,3735
$GC,5437,-0.92,-219.0,669.2,-10.2,655,5441,0.10,2.15,0.00,0.000,6,0.070,0.044,2464,2226,3736
$GC,5761,-0.81,-219.0,715.9,-14.3,671,5763,0.17,0.00,0.00,0.000,6,0.133,0.000,2515,2226,3733
$GC,6065,-0.88,-219.0,746.4,-9.5,686,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2226,3731
$GC,6369,-0.95,-219.0,773.7,-9.0,701,6373,0.12,2.20,0.00,0.000,4,0.063,0.051,2451,889,3729
$GC,6402,-0.88,-219.0,777.7,-13.3,702,6408,0.17,2.22,0.00,0.000,6,0.134,0.048,2500,2232,3728
$GC,6713,-0.88,-219.0,807.8,-9.2,718,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2232,3726
$GC,7018,-0.92,-219.0,834.0,-8.3,733,7021,0.00,2.17,0.00,0.000,4,0.000,0.053,2500,898,3724
$GC,7056,-0.97,-219.0,837.5,-9.1,734,7061,0.00,2.20,0.00,0.000,6,0.000,0.053,2500,2224,3723
$GC,7366,-1.01,-219.0,863.8,-8.2,750,7368,0.15,0.00,0.00,0.000,6,0.058,0.000,2426,2225,3721
$GC,7672,-0.83,-219.0,908.8,-15.6,765,7676,0.25,2.22,0.00,0.000,4,0.137,0.053,2507,892,3719
$GC,7720,-0.92,-219.0,914.5,-9.5,767,7723,0.00,2.17,0.00,0.000,6,0.000,0.048,2507,2228,3719
$GC,8037,-0.99,-219.0,940.7,-8.4,783,8038,0.15,0.00,0.00,0.000,6,0.059,0.000,2432,2227,3717
$GC,8342,-0.84,-219.0,985.8,-15.4,798,8346,0.22,2.22,0.00,0.000,4,0.134,0.052,2506,894,3716
$STATE,8377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8377,begin apogee
$GC,8386,-0.20,0.0,990.2,10.0,800,8567,0.62,0.00,178.35,1.340,6,0.101,0.000,2714,2296,2854
$STATE,8567,end apogee,CONTROL_FINISHED_OK
$STATE,8567,begin climb
$GC,8571,0.91,219.0,1000.1,0.0,809,8771,0.98,2.53,188.57,1.304,4,0.043,0.061,3087,3695,1959
$GC,8916,0.48,219.0,961.7,20.3,825,8920,0.57,2.20,0.00,0.000,6,0.157,0.038,2933,2308,1955
$GC,9232,0.53,262.0,929.8,9.6,841,9274,0.00,2.40,37.20,1.246,4,0.000,0.057,2933,3697,1785
$GC,9322,0.55,279.0,920.8,10.4,845,9342,0.00,2.20,16.52,1.167,6,0.000,0.036,2942,2302,1716
$GC,9659,0.57,294.2,885.7,10.5,862,9679,0.00,2.33,14.07,1.153,4,0.000,0.058,2942,3695,1654
$GC,9701,0.57,294.2,881.0,11.2,864,9704,0.00,2.20,0.00,0.000,6,0.000,0.036,2951,2301,1653
$GC,10023,0.57,294.2,844.4,11.1,880,10026,0.00,2.28,0.00,0.000,4,0.000,0.054,2952,3689,1651
$GC,10055,0.54,294.2,840.4,12.2,881,10061,0.00,2.17,0.00,0.000,6,0.000,0.036,2959,2303,1651
$GC,10366,0.54,294.2,803.6,11.9,897,10369,0.00,2.28,0.00,0.000,4,0.000,0.054,2959,3689,1650
$GC,10424,0.47,294.2,795.8,14.5,899,10432,0.12,2.15,0.00,0.000,6,0.156,0.036,2935,2311,1649
$GC,10735,0.57,333.0,764.4,9.7,915,10775,0.00,0.00,35.17,1.187,6,0.000,0.000,2935,2311,1497
$GC,11081,0.67,348.2,730.3,10.5,932,11102,0.17,2.30,14.95,1.102,4,0.055,0.057,3033,3701,1433
$GC,11135,0.48,348.2,721.1,20.2,934,11139,0.38,2.15,0.00,0.000,6,0.136,0.036,2932,2333,1432
$GC,11445,0.62,376.0,688.7,10.1,949,11475,0.15,2.35,25.67,1.123,4,0.058,0.049,3029,886,1320
$GC,11524,0.56,376.0,676.5,16.8,953,11528,0.22,2.30,0.00,0.000,6,0.130,0.039,2964,2329,1317
$GC,11851,0.60,376.0,635.3,12.4,969,11854,0.00,2.20,0.00,0.000,4,0.000,0.054,2964,3686,1316
$GC,11873,0.63,376.0,632.3,12.9,970,11876,0.00,2.15,0.00,0.000,6,0.000,0.035,2970,2314,1316
$GC,12200,0.67,376.0,587.1,13.9,986,12203,0.00,2.25,0.00,0.000,4,0.000,0.053,2971,3685,1315
$GC,12248,0.67,376.0,580.0,14.0,988,12251,0.00,2.10,0.00,0.000,6,0.000,0.035,2978,2337,1315
$GC,12570,0.67,376.0,533.3,14.1,1004,12571,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2337,1315
$GC,12874,0.71,376.0,496.0,11.4,1020,12878,0.00,2.35,0.00,0.000,4,0.000,0.050,2988,886,1314
$GC,12924,0.83,411.0,490.4,9.8,1024,12959,0.17,2.33,31.17,0.996,6,0.054,0.039,3072,2341,1178
$GC,13271,0.64,411.0,422.7,20.3,1057,13275,0.25,2.17,0.00,0.000,4,0.137,0.052,2990,3692,1175
$GC,13393,0.68,411.0,404.5,13.4,1067,13399,0.00,2.10,0.00,0.000,6,0.000,0.041,2998,2359,1175
$GC,13711,0.72,411.0,361.9,12.5,1098,13715,0.00,2.38,0.00,0.000,4,0.000,0.048,3008,886,1174
$GC,13739,0.76,411.0,358.4,11.4,1100,13742,0.00,2.38,0.00,0.000,6,0.000,0.038,3008,2380,1173
$GC,14055,0.84,447.4,324.0,9.8,1130,14091,0.12,2.45,31.98,0.867,4,0.064,0.048,3094,893,1030
$GC,14115,0.70,447.4,315.5,16.0,1135,14119,0.30,2.38,0.00,0.000,6,0.137,0.038,3006,2380,1027
$GC,14439,0.78,447.4,281.6,11.4,1181,14444,0.00,2.40,0.00,0.000,4,0.000,0.046,3016,892,1026
$GC,14498,0.92,447.4,273.7,11.5,1192,14504,0.17,2.38,0.00,0.000,6,0.051,0.041,3119,2383,1026
$GC,14827,0.69,447.4,208.7,19.1,1253,14832,0.35,2.10,0.00,0.000,4,0.137,0.049,3008,3689,1026
$GC,14919,0.80,447.4,197.1,11.0,1270,14924,0.00,2.08,0.00,0.000,6,0.000,0.038,3016,2352,1026
$GC,15246,0.90,447.4,156.2,11.8,1331,15253,0.15,2.33,0.00,0.000,4,0.057,0.045,3120,895,1026
$GC,15314,0.77,447.4,145.4,17.7,1343,15321,0.25,2.35,0.00,0.000,6,0.130,0.036,3030,2370,1026
$GC,15643,0.87,447.4,107.9,11.0,1404,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2370,1026
$GC,15971,1.02,483.6,72.0,9.8,1465,16008,0.17,0.00,31.12,0.644,6,0.051,0.000,3138,2370,881
$GC,16330,1.02,483.6,19.6,11.4,1531,16337,0.00,2.38,0.00,0.000,4,0.000,0.045,3148,894,879
$GC,16370,1.02,483.6,14.9,12.0,1538,16376,0.15,2.30,0.00,0.000,6,0.123,0.035,3104,2363,879
$STATE,16490,end climb,SURFACE_DEPTH_REACHED
$STATE,16490,begin surface coast
$FINISH,1.9,1.007876
$STATE,16517,end surface coast,CONTROL_FINISHED_OK
$STATE,16518,begin surface
$SM_CCo,16597,0.00,0.000,0,0,876,485.20
$SM_GC,2.62,7.53,0.00,0.00,0.030,0.000,0.000,163,2271,876,-8.08,-0.40,485.20
$IRIDIUM_FIX,2437.06,12308.50,281198,212111
$TT8_MAMPS,0.048321
$HUMID,1805
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,25.30
$XPDR_PINGS,789
$24V_AH,22.9,133.542
$10V_AH,10.2,85.251
$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,28.225,153.225,604.800,0.000,0.000,28.352,29.932,212.205,205.250,0.000,0.000,16.108,0.000,11936.499,741.560,3539.972,782.335,0.000,2105.324,0.000,2959.130,0.000,53.978,0.000
$DEVICE_MAMPS,217.061,67.496,1339.949,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.806,1120.362,1384.708,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88510,1566
$CAP_FILE_SIZE,177131,0
$CFSIZE,260165632,206004224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210, 43.1,1
$GPS,040909,061707,2445.279,12306.921,35,1.5,35,-3.6