version: 66.04
glider: 165
mission: 2
dive: 591
start: 9 4 109 11 10 34
data:
$ID,165
$MISSION,2
$DIVE,591
$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,-132546.91
$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,51
$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
$GPS1,105531,2446.476,12305.992,36,1.2,36,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-63.9
$GPS2,111026,2446.786,12305.905,15,1.3,15,-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,243.2,96975,-16.0,-11.000
$D_GRID,1584
$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,-219.0,0.0,0.0,0,77,0.00,0.00,-61.38,0.000,2,0.000,0.000,147,2252,2128
$GC,81,-0.91,-219.0,3.3,-3.9,9,138,9.20,2.35,-40.33,0.000,4,0.219,0.063,2468,3680,3749
$GC,331,-0.57,-219.0,76.2,-26.2,54,338,0.43,2.12,0.00,0.000,6,0.119,0.033,2600,2285,3750
$GC,660,-0.60,-219.0,118.7,-8.4,115,666,0.00,2.22,0.00,0.000,4,0.000,0.047,2601,882,3751
$GC,768,-0.73,-219.0,128.0,-8.3,135,774,0.17,2.20,0.00,0.000,6,0.049,0.039,2498,2279,3751
$GC,1096,-0.45,-219.0,199.0,-22.9,196,1103,0.40,2.25,0.00,0.000,4,0.133,0.046,2627,885,3751
$GC,1136,-0.59,-219.0,205.1,-10.8,203,1142,0.10,2.15,0.00,0.000,6,0.065,0.038,2550,2266,3751
$GC,1465,-0.54,-219.0,249.7,-13.1,264,1472,0.17,2.30,0.00,0.000,4,0.119,0.052,2603,3683,3751
$GC,1511,-0.75,-219.0,254.0,-7.5,272,1517,0.17,2.20,0.00,0.000,6,0.046,0.031,2496,2240,3751
$GC,1836,-0.56,-219.0,312.2,-15.5,326,1840,0.30,2.17,0.00,0.000,4,0.124,0.047,2593,884,3751
$GC,1943,-0.78,-219.0,320.7,-5.8,335,1949,0.17,2.12,0.00,0.000,6,0.049,0.038,2491,2230,3750
$GC,2259,-0.62,-219.0,369.5,-16.4,366,2263,0.25,2.38,0.00,0.000,4,0.145,0.052,2564,3676,3749
$GC,2286,-0.62,-219.0,372.9,-11.4,368,2289,0.00,2.20,0.00,0.000,6,0.000,0.031,2564,2237,3749
$GC,2608,-0.72,-219.0,400.8,-8.2,399,2611,0.00,2.15,0.00,0.000,4,0.000,0.048,2563,881,3747
$GC,2630,-0.85,-219.0,402.7,-8.5,401,2634,0.17,2.15,0.00,0.000,6,0.049,0.041,2467,2243,3747
$GC,2946,-0.65,-219.0,459.3,-19.6,431,2950,0.30,2.35,0.00,0.000,4,0.127,0.054,2563,3679,3745
$GC,2967,-0.60,-219.0,462.7,-15.8,432,2973,0.00,2.25,0.00,0.000,6,0.000,0.035,2563,2237,3745
$GC,3287,-0.74,-219.0,492.8,-8.1,463,3290,0.00,2.15,0.00,0.000,4,0.000,0.048,2563,885,3743
$GC,3309,-0.89,-219.0,494.8,-7.9,465,3313,0.20,2.15,0.00,0.000,6,0.046,0.041,2461,2245,3743
$GC,3624,-0.71,-219.0,538.3,-14.5,482,3628,0.25,2.25,0.00,0.000,4,0.130,0.048,2544,884,3740
$GC,3683,-0.86,-219.0,544.5,-7.6,485,3687,0.12,2.15,0.00,0.000,6,0.060,0.042,2468,2243,3740
$GC,4013,-0.73,-219.0,591.5,-15.7,501,4014,0.25,0.00,0.00,0.000,6,0.123,0.000,2546,2244,3737
$GC,4316,-0.88,-219.0,621.4,-9.0,516,4317,0.15,0.00,0.00,0.000,6,0.055,0.000,2460,2245,3735
$GC,4620,-0.75,-219.0,668.5,-15.0,531,4622,0.25,0.00,0.00,0.000,6,0.127,0.000,2537,2245,3733
$GC,4927,-0.87,-219.0,693.5,-7.5,546,4928,0.10,0.00,0.00,0.000,6,0.071,0.000,2478,2245,3730
$GC,5231,-0.81,-219.0,728.8,-11.5,561,5234,0.15,2.22,0.00,0.000,4,0.129,0.051,2522,888,3727
$GC,5264,-0.87,-219.0,732.0,-9.2,562,5267,0.00,2.15,0.00,0.000,6,0.000,0.044,2521,2227,3727
$GC,5580,-0.95,-219.0,755.2,-7.5,578,5584,0.12,2.40,0.00,0.000,4,0.063,0.058,2441,3679,3724
$GC,5606,-0.91,-219.0,758.0,-11.6,579,5610,0.15,2.28,0.00,0.000,6,0.130,0.035,2484,2218,3723
$GC,5918,-0.91,-219.0,789.5,-9.7,594,5921,0.00,2.15,0.00,0.000,4,0.000,0.051,2485,884,3721
$GC,5950,-0.91,-219.0,792.8,-10.1,595,5953,0.00,2.17,0.00,0.000,6,0.000,0.044,2481,2233,3721
$GC,6268,-0.87,-219.0,825.5,-11.0,611,6272,0.00,2.40,0.00,0.000,4,0.000,0.061,2481,3679,3719
$GC,6322,-0.91,-219.0,831.4,-10.0,613,6327,0.00,2.25,0.00,0.000,6,0.000,0.035,2482,2232,3718
$GC,6632,-0.91,-219.0,867.4,-11.9,629,6635,0.00,2.17,0.00,0.000,4,0.000,0.051,2481,887,3717
$GC,6664,-0.91,-219.0,871.3,-12.6,630,6667,0.00,2.17,0.00,0.000,6,0.000,0.046,2481,2234,3716
$GC,6981,-0.91,-219.0,907.9,-11.9,646,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,2234,3715
$GC,7285,-0.91,-219.0,943.1,-11.3,661,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2235,3713
$GC,7592,-0.91,-219.0,976.1,-10.5,676,7595,0.00,2.42,0.00,0.000,4,0.000,0.064,2482,3683,3711
$GC,7619,-0.91,-219.0,979.1,-10.7,677,7622,0.00,2.28,0.00,0.000,6,0.000,0.036,2481,2237,3710
$STATE,7748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7748,begin apogee
$GC,7756,-0.20,0.0,992.1,10.3,684,7936,0.73,0.00,177.48,1.340,6,0.111,0.000,2716,2294,2854
$STATE,7936,end apogee,CONTROL_FINISHED_OK
$STATE,7936,begin climb
$GC,7941,0.91,219.0,1000.0,0.0,693,8139,0.98,2.47,189.18,1.302,4,0.045,0.058,3083,3688,1959
$GC,8380,0.48,219.0,933.6,22.8,713,8386,0.55,2.20,0.00,0.000,6,0.154,0.038,2936,2298,1952
$GC,8690,0.48,219.0,893.2,12.8,729,8694,0.00,2.30,0.00,0.000,4,0.000,0.055,2936,3687,1950
$GC,8782,0.41,219.0,880.1,13.9,733,8786,0.12,2.17,0.00,0.000,6,0.150,0.036,2911,2290,1949
$GC,9098,0.46,219.0,842.5,11.7,749,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2290,1948
$GC,9404,0.55,253.9,810.5,9.8,764,9438,0.12,2.35,29.88,1.198,4,0.070,0.055,2979,3695,1816
$GC,9487,0.39,253.9,798.6,17.1,767,9491,0.28,2.20,0.00,0.000,6,0.143,0.036,2910,2301,1814
$GC,9808,0.51,281.3,765.2,10.1,783,9839,0.00,2.38,24.42,1.161,4,0.000,0.055,2910,3692,1707
$GC,9885,0.57,281.3,757.0,11.1,786,9888,0.12,2.17,0.00,0.000,6,0.067,0.035,2983,2306,1705
$GC,10195,0.48,281.3,710.1,14.8,801,10199,0.17,2.28,0.00,0.000,4,0.139,0.052,2927,3686,1702
$GC,10255,0.48,281.3,702.3,12.3,804,10258,0.00,2.12,0.00,0.000,6,0.000,0.035,2935,2327,1702
$GC,10581,0.58,326.8,668.0,9.5,820,10626,0.00,2.28,40.92,1.130,4,0.000,0.054,2935,3689,1520
$GC,10660,0.66,355.6,660.8,10.0,824,10692,0.15,2.15,26.90,1.088,6,0.058,0.034,3021,2329,1403
$GC,11008,0.54,355.6,610.7,14.6,841,11012,0.20,2.25,0.00,0.000,4,0.136,0.051,2958,3699,1399
$GC,11094,0.54,355.6,600.8,11.9,845,11097,0.00,2.10,0.00,0.000,6,0.000,0.033,2965,2351,1398
$GC,11416,0.59,365.8,567.3,10.7,861,11429,0.00,2.35,9.15,0.941,4,0.000,0.048,2973,895,1362
$GC,11495,0.69,365.8,558.0,12.7,864,11501,0.00,2.33,0.00,0.000,6,0.000,0.044,2973,2352,1360
$GC,11807,0.73,365.8,513.0,14.8,880,11811,0.12,2.17,0.00,0.000,4,0.061,0.053,3046,3692,1361
$GC,11944,0.56,365.8,487.0,20.0,889,11948,0.32,2.08,0.00,0.000,6,0.137,0.035,2961,2357,1360
$GC,12265,0.75,453.3,452.8,8.0,920,12353,0.17,2.50,77.07,0.979,4,0.049,0.049,3060,889,1005
$GC,12364,0.64,453.3,436.9,18.6,929,12368,0.25,2.40,0.00,0.000,6,0.130,0.038,2988,2366,1004
$GC,12680,0.74,453.3,398.3,11.8,959,12681,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2366,1000
$GC,12994,0.84,453.3,358.0,14.1,989,12998,0.17,2.40,0.00,0.000,4,0.053,0.048,3088,895,1000
$GC,13016,0.84,453.3,353.5,16.7,991,13020,0.15,2.35,0.00,0.000,6,0.140,0.038,3047,2369,999
$GC,13334,0.80,453.3,289.3,19.2,1026,13340,0.00,2.17,0.00,0.000,4,0.000,0.055,3046,3699,999
$GC,13398,0.80,453.3,277.1,17.5,1038,13404,0.00,2.12,0.00,0.000,6,0.000,0.035,3054,2355,999
$GC,13727,0.75,453.3,228.7,14.1,1099,13733,0.12,2.35,0.00,0.000,4,0.146,0.047,3028,895,999
$GC,13798,0.86,472.6,220.8,10.3,1112,13822,0.00,2.33,16.33,0.759,6,0.000,0.041,3029,2356,927
$GC,14146,0.94,472.6,179.4,14.1,1176,14152,0.15,2.17,0.00,0.000,4,0.056,0.051,3114,3700,926
$GC,14186,0.77,472.6,171.5,21.8,1183,14193,0.32,2.12,0.00,0.000,6,0.132,0.035,3026,2334,926
$GC,14515,0.89,472.6,120.1,11.5,1244,14521,0.12,2.35,0.00,0.000,4,0.063,0.047,3120,880,926
$GC,14618,0.83,472.6,104.4,16.3,1263,14626,0.25,2.28,0.00,0.000,6,0.120,0.036,3044,2336,925
$GC,14950,0.99,487.7,71.7,10.5,1324,14969,0.15,2.20,14.02,0.620,4,0.055,0.048,3132,3678,864
$GC,15051,0.95,487.7,53.9,19.9,1342,15057,0.20,2.12,0.00,0.000,6,0.122,0.040,3080,2303,863
$GC,15379,1.23,582.8,25.1,7.8,1403,15469,0.22,2.33,84.62,0.604,4,0.042,0.044,3217,891,481
$STATE,15507,end climb,SURFACE_DEPTH_REACHED
$STATE,15507,begin surface coast
$FINISH,2.0,0.998606
$STATE,15520,end surface coast,CONTROL_FINISHED_OK
$STATE,15520,begin surface
$SM_CCo,15601,0.00,0.000,0,0,466,585.78
$SM_GC,2.56,8.00,0.00,0.00,0.038,0.000,0.000,165,2290,466,-8.09,0.14,585.78
$IRIDIUM_FIX,2439.44,12305.21,291198,111122
$TT8_MAMPS,0.049088
$HUMID,1784
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.50
$XPDR_PINGS,737
$24V_AH,22.8,134.067
$10V_AH,10.2,85.505
$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,27.775,148.275,689.975,0.000,0.000,89.215,112.611,383.037,192.250,0.000,0.000,17.118,0.000,11320.205,764.376,3277.719,1099.965,0.000,2065.673,0.000,2728.787,0.000,54.028,0.000
$DEVICE_MAMPS,219.362,67.496,1339.949,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,964.174,973.061,1157.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79032,1427
$CAP_FILE_SIZE,172351,0
$CFSIZE,260165632,205844480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.364, 32.6,1
$GPS,040909,153137,2447.944,12305.496,37,1.0,37,-3.6