version: 66.04
glider: 165
mission: 2
dive: 592
start: 9 4 109 15 39 20
data:
$ID,165
$MISSION,2
$DIVE,592
$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,-132561.58
$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,45
$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
$GPS1,153137,2447.944,12305.496,37,1.0,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-61.1
$GPS2,153914,2448.082,12305.632,12,1.1,12,-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,241.9,95951,-16.0,-11.000
$D_GRID,1604
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-0.91,-219.0,0.0,0.0,0,78,0.00,0.00,-63.12,0.000,2,0.000,0.000,153,2292,2003
$GC,82,-0.91,-219.0,3.4,-4.1,10,145,9.10,2.28,-46.88,0.000,4,0.214,0.064,2470,3692,3749
$GC,247,-0.50,-219.0,45.0,-33.4,39,253,0.47,2.20,0.00,0.000,6,0.120,0.037,2617,2284,3750
$GC,575,-0.47,-219.0,94.0,-16.3,100,582,0.00,2.22,0.00,0.000,4,0.000,0.047,2618,871,3752
$GC,706,-0.60,-219.0,107.8,-8.2,124,713,0.00,2.20,0.00,0.000,6,0.000,0.039,2617,2282,3752
$GC,1035,-0.69,-219.0,131.3,-9.2,185,1041,0.17,0.00,0.00,0.000,6,0.051,0.000,2517,2283,3753
$GC,1362,-0.45,-219.0,196.1,-21.9,246,1368,0.32,2.28,0.00,0.000,4,0.128,0.047,2625,877,3753
$GC,1485,-0.72,-219.0,209.3,-9.2,268,1492,0.22,2.17,0.00,0.000,6,0.043,0.039,2500,2266,3754
$GC,1817,-0.49,-219.0,277.7,-21.2,329,1822,0.35,2.25,0.00,0.000,4,0.129,0.045,2612,878,3754
$GC,1887,-0.75,-219.0,286.9,-8.0,342,1894,0.20,2.12,0.00,0.000,6,0.046,0.039,2504,2228,3753
$GC,2208,-0.61,-219.0,334.6,-11.7,381,2212,0.22,2.35,0.00,0.000,4,0.123,0.052,2576,3677,3753
$GC,2241,-0.69,-219.0,337.5,-8.1,383,2247,0.00,2.25,0.00,0.000,6,0.000,0.031,2576,2219,3753
$GC,2560,-0.83,-219.0,361.4,-9.0,414,2561,0.17,0.00,0.00,0.000,6,0.050,0.000,2466,2219,3753
$GC,2867,-0.58,-219.0,425.0,-22.6,444,2872,0.38,2.20,0.00,0.000,4,0.127,0.052,2588,870,3751
$GC,2910,-0.75,-219.0,431.0,-10.8,448,2914,0.15,2.20,0.00,0.000,6,0.054,0.046,2494,2243,3751
$GC,3226,-0.64,-219.0,478.4,-14.0,478,3230,0.22,2.38,0.00,0.000,4,0.123,0.054,2564,3680,3749
$GC,3268,-0.85,-219.0,481.9,-6.0,481,3274,0.17,2.22,0.00,0.000,6,0.048,0.032,2464,2221,3748
$GC,3595,-0.65,-219.0,532.6,-16.1,504,3599,0.30,2.20,0.00,0.000,4,0.128,0.049,2564,878,3746
$GC,3660,-0.83,-219.0,541.1,-8.8,507,3663,0.15,2.20,0.00,0.000,6,0.055,0.041,2478,2246,3746
$GC,3979,-0.72,-219.0,589.1,-16.9,523,3983,0.20,2.22,0.00,0.000,4,0.128,0.046,2543,872,3744
$GC,4017,-0.80,-219.0,595.2,-13.3,525,4020,0.00,2.17,0.00,0.000,6,0.000,0.043,2544,2234,3744
$GC,4345,-0.92,-219.0,629.2,-8.7,541,4348,0.17,2.38,0.00,0.000,4,0.050,0.056,2442,3681,3741
$GC,4382,-0.83,-219.0,633.8,-13.5,543,4386,0.25,2.25,0.00,0.000,6,0.122,0.035,2517,2231,3740
$GC,4706,-0.88,-219.0,665.0,-9.7,559,4709,0.00,2.17,0.00,0.000,4,0.000,0.049,2517,872,3737
$GC,4754,-0.96,-219.0,669.5,-7.8,561,4758,0.15,2.20,0.00,0.000,6,0.056,0.044,2441,2247,3737
$GC,5073,-0.78,-219.0,716.3,-16.2,577,5077,0.25,2.40,0.00,0.000,4,0.137,0.058,2520,3689,3734
$GC,5138,-0.92,-219.0,724.5,-10.4,580,5143,0.12,2.25,0.00,0.000,6,0.060,0.033,2449,2229,3733
$GC,5462,-0.77,-219.0,778.5,-16.7,596,5466,0.25,2.20,0.00,0.000,4,0.131,0.051,2528,881,3731
$GC,5578,-0.91,-219.0,790.8,-9.4,601,5582,0.10,2.17,0.00,0.000,6,0.070,0.043,2466,2239,3731
$GC,5889,-0.83,-219.0,831.1,-12.5,616,5893,0.15,2.40,0.00,0.000,4,0.136,0.058,2507,3682,3728
$GC,5960,-0.96,-219.0,837.3,-7.2,619,5964,0.10,2.25,0.00,0.000,6,0.069,0.035,2448,2237,3727
$GC,6273,-0.83,-219.0,879.7,-14.3,634,6277,0.20,2.20,0.00,0.000,4,0.133,0.050,2513,887,3725
$GC,6333,-0.94,-219.0,886.2,-8.9,637,6337,0.00,2.20,0.00,0.000,6,0.000,0.044,2510,2246,3724
$GC,6660,-1.01,-219.0,916.6,-9.6,653,6662,0.17,0.00,0.00,0.000,6,0.054,0.000,2424,2247,3722
$GC,6966,-0.83,-219.0,964.0,-15.9,668,6968,0.28,0.00,0.00,0.000,6,0.131,0.000,2509,2247,3720
$STATE,7267,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7267,begin apogee
$GC,7275,-0.20,0.0,991.2,8.4,683,7455,0.62,0.00,178.32,1.335,6,0.102,0.000,2718,2303,2854
$STATE,7456,end apogee,CONTROL_FINISHED_OK
$STATE,7456,begin climb
$GC,7459,0.91,219.0,1000.3,0.0,692,7657,0.98,2.45,188.05,1.299,4,0.044,0.061,3088,3682,1960
$GC,7899,0.47,219.0,939.6,21.2,712,7903,0.57,2.17,0.00,0.000,6,0.153,0.039,2932,2307,1953
$GC,8211,0.53,267.2,907.8,9.4,727,8256,0.00,2.35,41.65,1.235,4,0.000,0.056,2932,3695,1764
$GC,8345,0.54,277.9,894.3,10.6,733,8361,0.00,2.20,10.48,1.084,6,0.000,0.035,2942,2299,1721
$GC,8666,0.56,293.6,860.9,10.5,749,8686,0.00,2.30,14.65,1.144,4,0.000,0.054,2941,3686,1657
$GC,8729,0.56,293.6,853.8,12.3,752,8732,0.00,2.17,0.00,0.000,6,0.000,0.036,2951,2304,1656
$GC,9056,0.56,293.6,816.9,11.1,768,9060,0.00,2.28,0.00,0.000,4,0.000,0.053,2951,3694,1654
$GC,9137,0.53,293.6,806.1,14.1,772,9140,0.00,2.15,0.00,0.000,6,0.000,0.035,2959,2327,1654
$GC,9464,0.53,293.6,767.6,11.1,788,9467,0.00,2.25,0.00,0.000,4,0.000,0.054,2959,3697,1653
$GC,9491,0.48,293.6,764.4,11.1,789,9494,0.12,2.15,0.00,0.000,6,0.153,0.035,2934,2323,1652
$GC,9812,0.61,350.9,735.7,9.1,805,9869,0.12,2.38,51.65,1.175,4,0.066,0.051,3022,895,1422
$GC,9920,0.54,350.9,721.1,14.7,809,9924,0.22,2.30,0.00,0.000,6,0.130,0.040,2958,2335,1418
$GC,10236,0.58,350.9,683.3,12.1,825,10239,0.00,2.20,0.00,0.000,4,0.000,0.054,2958,3690,1416
$GC,10360,0.62,350.9,666.1,14.6,830,10365,0.00,2.15,0.00,0.000,6,0.000,0.041,2964,2330,1416
$GC,10670,0.62,350.9,625.1,12.9,846,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2330,1415
$GC,10976,0.65,350.9,588.4,11.8,861,10976,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2330,1414
$GC,11282,0.68,350.9,553.5,11.6,876,11285,0.10,2.25,0.00,0.000,4,0.074,0.053,3027,3690,1413
$GC,11330,0.52,350.9,545.6,18.2,878,11334,0.30,2.15,0.00,0.000,6,0.138,0.035,2950,2316,1413
$GC,11641,0.62,355.1,510.7,10.9,893,11645,0.00,2.28,0.00,0.000,4,0.000,0.050,2953,898,1414
$GC,11695,0.77,355.1,504.2,12.0,895,11699,0.22,2.28,0.00,0.000,6,0.048,0.038,3053,2332,1411
$GC,12011,0.60,355.1,444.1,16.9,923,12015,0.25,2.22,0.00,0.000,4,0.137,0.052,2974,3683,1411
$GC,12203,0.64,355.1,421.3,13.0,940,12210,0.00,2.12,0.00,0.000,6,0.000,0.038,2981,2351,1411
$GC,12522,0.68,355.1,385.5,11.0,971,12526,0.00,2.33,0.00,0.000,4,0.000,0.044,2991,894,1411
$GC,12550,0.68,358.1,382.3,10.9,973,12560,0.00,2.33,5.45,0.709,6,0.000,0.038,2991,2354,1393
$GC,12870,0.68,358.1,341.1,15.0,1004,12873,0.00,2.17,0.00,0.000,4,0.000,0.056,2992,3683,1394
$GC,12950,0.68,358.1,329.8,15.7,1011,12955,0.00,2.05,0.00,0.000,6,0.000,0.035,3000,2358,1394
$GC,13269,0.68,358.1,294.2,12.1,1046,13274,0.00,2.20,0.00,0.000,4,0.000,0.058,3000,3677,1394
$GC,13387,0.68,358.1,279.3,11.6,1068,13393,0.00,2.05,0.00,0.000,6,0.000,0.036,3010,2372,1394
$GC,13715,0.68,358.1,238.6,11.7,1129,13720,0.00,2.38,0.00,0.000,4,0.000,0.046,3021,894,1394
$GC,13763,0.68,358.1,232.9,11.2,1138,13769,0.00,2.38,0.00,0.000,6,0.000,0.038,3020,2380,1394
$GC,14090,0.68,358.1,192.3,12.0,1199,14096,0.00,2.10,0.00,0.000,4,0.000,0.050,3021,3692,1394
$GC,14150,0.68,358.1,184.1,12.3,1210,14157,0.08,2.05,0.00,0.000,6,0.133,0.033,3002,2397,1394
$GC,14479,0.79,395.7,146.5,9.7,1271,14518,0.00,2.15,33.58,0.715,4,0.000,0.050,3002,3682,1239
$GC,14540,0.86,395.7,139.9,11.6,1281,14546,0.15,2.03,0.00,0.000,6,0.058,0.038,3090,2378,1239
$GC,14868,0.75,395.7,87.5,13.8,1342,14874,0.20,0.00,0.00,0.000,6,0.139,0.000,3027,2377,1238
$GC,15196,0.94,468.1,56.4,8.6,1403,15261,0.15,2.47,60.40,0.641,4,0.055,0.047,3133,885,944
$GC,15323,0.88,468.1,38.1,13.2,1424,15330,0.22,2.38,0.00,0.000,6,0.122,0.037,3066,2397,941
$GC,15653,1.20,564.8,9.2,7.7,1485,15705,0.22,0.00,50.05,0.588,2,0.043,0.000,3197,2398,696
$STATE,15705,end climb,SURFACE_DEPTH_REACHED
$STATE,15705,begin surface coast
$FINISH,1.8,1.021071
$STATE,15724,end surface coast,CONTROL_FINISHED_OK
$STATE,15724,begin surface
$SM_CCo,15804,0.00,0.000,0,0,691,530.58
$SM_GC,2.59,7.93,0.00,0.00,0.037,0.000,0.000,164,2254,691,-8.09,-0.88,530.58
$IRIDIUM_FIX,2439.44,12303.22,291198,111114
$TT8_MAMPS,0.049088
$HUMID,1788
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.00
$XPDR_PINGS,751
$24V_AH,22.9,134.308
$10V_AH,10.2,85.634
$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,27.500,143.325,634.275,0.000,0.000,30.458,35.400,219.150,195.750,0.000,0.000,14.054,0.000,11216.896,721.305,3493.008,795.887,0.000,2089.069,0.000,2928.471,0.000,54.028,0.000
$DEVICE_MAMPS,213.993,101.244,1335.347,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.286,1050.711,1299.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85259,1497
$CAP_FILE_SIZE,170348,0
$CFSIZE,260165632,205754368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.319, 52.8,1
$GPS,040909,200337,2448.039,12306.014,29,1.3,29,-3.6