version: 66.04
glider: 165
mission: 2
dive: 595
start: 9 5 109 5 8 33
data:
$ID,165
$MISSION,2
$DIVE,595
$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,-132631.84
$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,32
$R_STBD_OVSHOOT,45
$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
$GPS1,050037,2448.420,12305.814,25,1.6,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-66.2
$GPS2,050828,2448.457,12305.828,15,4.0,34,-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,241.5,96115,-16.0,-11.000
$D_GRID,1594
$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,-219.0,0.0,0.0,0,65,0.00,0.00,-49.58,0.000,2,0.000,0.000,149,2319,1956
$GC,70,-0.91,-219.0,3.2,-3.1,8,134,9.12,2.20,-49.25,0.000,4,0.216,0.064,2465,3673,3748
$GC,295,-0.53,-219.0,56.5,-24.8,48,302,0.40,2.17,0.00,0.000,6,0.120,0.033,2606,2267,3749
$GC,624,-0.53,-219.0,101.5,-12.5,109,630,0.00,2.20,0.00,0.000,4,0.000,0.046,2607,881,3751
$GC,738,-0.68,-219.0,113.8,-9.0,130,745,0.10,2.20,0.00,0.000,6,0.044,0.039,2534,2265,3752
$GC,1067,-0.45,-219.0,168.5,-18.4,191,1072,0.30,0.00,0.00,0.000,6,0.131,0.000,2630,2266,3752
$GC,1395,-0.64,-219.0,189.8,-5.3,252,1402,0.17,0.00,0.00,0.000,6,0.049,0.000,2519,2266,3753
$GC,1724,-0.47,-219.0,245.4,-16.4,313,1730,0.30,2.25,0.00,0.000,4,0.123,0.048,2619,882,3753
$GC,1795,-0.74,-219.0,252.4,-7.7,326,1801,0.22,2.20,0.00,0.000,6,0.046,0.039,2494,2274,3752
$GC,2126,-0.50,-219.0,317.4,-23.1,381,2130,0.35,2.30,0.00,0.000,4,0.128,0.052,2602,3685,3753
$GC,2169,-0.72,-219.0,323.6,-9.8,384,2177,0.15,2.17,0.00,0.000,6,0.053,0.031,2506,2264,3752
$GC,2485,-0.59,-219.0,380.7,-18.4,415,2488,0.22,2.20,0.00,0.000,4,0.121,0.048,2583,890,3752
$GC,2555,-0.82,-219.0,388.9,-9.7,421,2559,0.17,2.17,0.00,0.000,6,0.049,0.041,2491,2272,3752
$GC,2871,-0.67,-219.0,439.2,-15.5,451,2872,0.22,0.00,0.00,0.000,6,0.124,0.000,2560,2272,3751
$GC,3186,-0.79,-219.0,462.8,-7.5,481,3191,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2272,3749
$GC,3505,-0.92,-219.0,488.8,-9.3,512,3506,0.22,0.00,0.00,0.000,6,0.045,0.000,2448,2273,3746
$GC,3819,-0.68,-219.0,548.0,-18.1,531,3823,0.32,2.28,0.00,0.000,4,0.129,0.050,2554,890,3744
$GC,3888,-0.84,-219.0,555.1,-6.8,534,3892,0.12,2.22,0.00,0.000,6,0.061,0.049,2480,2268,3744
$GC,4205,-0.71,-219.0,595.7,-13.0,550,4209,0.20,2.33,0.00,0.000,4,0.130,0.054,2534,3684,3741
$GC,4227,-0.68,-219.0,598.2,-11.2,551,4230,0.00,2.17,0.00,0.000,6,0.000,0.033,2534,2265,3741
$GC,4548,-0.77,-219.0,622.1,-7.6,567,4551,0.00,2.20,0.00,0.000,4,0.000,0.048,2534,889,3739
$GC,4571,-0.87,-219.0,623.7,-7.4,568,4574,0.10,2.20,0.00,0.000,6,0.068,0.043,2471,2266,3739
$GC,4900,-0.77,-219.0,669.5,-14.9,584,4901,0.20,0.00,0.00,0.000,6,0.130,0.000,2531,2266,3736
$GC,5204,-0.87,-219.0,699.4,-9.5,599,5207,0.00,2.25,0.00,0.000,4,0.000,0.050,2531,885,3734
$GC,5247,-1.00,-219.0,703.5,-9.3,601,5250,0.22,2.20,0.00,0.000,6,0.046,0.044,2428,2249,3734
$GC,5571,-0.78,-219.0,759.7,-17.5,617,5575,0.30,2.40,0.00,0.000,4,0.134,0.058,2520,3685,3731
$GC,5631,-0.93,-219.0,766.5,-8.4,620,5634,0.12,2.20,0.00,0.000,6,0.061,0.034,2450,2265,3730
$GC,5955,-0.77,-219.0,815.0,-15.5,636,5958,0.22,2.25,0.00,0.000,4,0.132,0.050,2526,887,3728
$GC,6009,-0.90,-219.0,821.1,-8.3,638,6015,0.10,2.25,0.00,0.000,6,0.070,0.046,2466,2257,3728
$GC,6320,-0.83,-219.0,860.7,-13.3,654,6321,0.17,0.00,0.00,0.000,6,0.133,0.000,2517,2257,3725
$GC,6626,-0.92,-219.0,886.7,-8.2,669,6629,0.00,2.25,0.00,0.000,4,0.000,0.051,2517,889,3723
$GC,6658,-1.03,-219.0,889.6,-8.6,670,6662,0.20,2.20,0.00,0.000,6,0.049,0.045,2425,2248,3723
$GC,6973,-0.82,-219.0,938.7,-16.6,685,6974,0.30,0.00,0.00,0.000,6,0.137,0.000,2514,2248,3720
$GC,7274,-0.91,-219.0,965.7,-8.0,700,7278,0.00,2.42,0.00,0.000,4,0.000,0.061,2514,3695,3719
$GC,7328,-1.07,-219.0,969.7,-7.6,702,7333,0.22,2.30,0.00,0.000,6,0.048,0.036,2413,2246,3719
$STATE,7472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7472,begin apogee
$GC,7481,-0.20,0.0,993.1,17.7,710,7662,0.98,0.00,178.38,1.331,6,0.132,0.000,2710,2298,2854
$STATE,7662,end apogee,CONTROL_FINISHED_OK
$STATE,7662,begin climb
$GC,7665,0.91,219.0,1004.1,0.0,719,7866,1.00,2.55,188.93,1.295,4,0.048,0.059,3080,3698,1960
$GC,7942,0.49,219.0,979.0,21.3,732,7946,0.55,2.22,0.00,0.000,6,0.155,0.037,2936,2309,1956
$GC,8263,0.54,263.3,946.3,9.5,748,8313,0.00,2.38,40.70,1.190,4,0.000,0.056,2935,3692,1780
$GC,8421,0.51,263.3,929.5,11.6,755,8424,0.00,2.17,0.00,0.000,6,0.000,0.036,2944,2308,1776
$GC,8742,0.51,263.3,893.7,11.2,771,8745,0.00,2.28,0.00,0.000,4,0.000,0.054,2944,3695,1773
$GC,8823,0.45,263.3,883.7,13.0,775,8826,0.00,2.15,0.00,0.000,6,0.000,0.035,2954,2317,1773
$GC,9150,0.41,263.3,845.3,11.8,791,9153,0.15,2.28,0.00,0.000,4,0.139,0.054,2908,3692,1772
$GC,9236,0.46,263.3,835.9,11.1,795,9239,0.00,2.12,0.00,0.000,6,0.000,0.035,2917,2331,1772
$GC,9557,0.55,281.7,802.9,10.4,811,9577,0.12,0.00,16.23,1.154,6,0.065,0.000,3003,2327,1705
$GC,9883,0.40,281.7,752.7,16.4,827,9887,0.28,2.25,0.00,0.000,4,0.134,0.053,2915,3701,1702
$GC,10036,0.44,281.7,733.8,13.4,834,10039,0.00,2.10,0.00,0.000,6,0.000,0.034,2923,2351,1702
$GC,10359,0.51,281.7,697.1,11.8,850,10362,0.00,2.20,0.00,0.000,4,0.000,0.053,2923,3691,1701
$GC,10433,0.55,281.7,687.6,13.1,853,10436,0.00,2.05,0.00,0.000,6,0.000,0.034,2931,2367,1701
$GC,10750,0.63,302.5,652.7,10.3,869,10773,0.15,2.42,19.23,1.088,4,0.058,0.051,3031,886,1620
$GC,10808,0.49,302.5,644.0,17.4,871,10814,0.32,2.40,0.00,0.000,6,0.134,0.041,2937,2380,1618
$GC,11119,0.56,312.2,609.0,10.7,887,11131,0.00,0.00,9.45,0.972,6,0.000,0.000,2936,2381,1581
$GC,11445,0.71,368.1,578.4,9.1,903,11501,0.17,2.22,50.88,1.066,4,0.052,0.055,3037,3697,1353
$GC,11626,0.54,368.1,546.4,19.3,911,11630,0.30,2.05,0.00,0.000,6,0.133,0.035,2958,2393,1350
$GC,11938,0.63,369.8,511.0,10.9,926,11942,0.00,2.42,0.00,0.000,4,0.000,0.048,2966,890,1348
$GC,12034,0.76,369.8,498.9,11.6,930,12040,0.17,2.40,0.00,0.000,6,0.054,0.044,3047,2380,1346
$GC,12351,0.61,369.8,439.8,18.5,961,12354,0.20,2.15,0.00,0.000,4,0.140,0.052,2982,3698,1345
$GC,12425,0.61,369.8,428.3,14.6,967,12430,0.00,2.05,0.00,0.000,6,0.000,0.034,2989,2371,1346
$GC,12745,0.61,369.8,386.2,12.6,998,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2372,1345
$GC,13064,0.68,391.3,348.3,10.3,1029,13088,0.00,2.17,20.08,0.874,4,0.000,0.053,2989,3693,1258
$GC,13108,0.76,436.4,343.9,9.5,1033,13152,0.00,2.08,40.42,0.877,6,0.000,0.035,2998,2359,1074
$GC,13460,0.87,451.9,307.4,10.5,1067,13483,0.17,2.42,14.18,0.804,4,0.052,0.053,3113,888,1010
$GC,13543,0.71,451.9,293.2,18.1,1077,13549,0.35,2.35,0.00,0.000,6,0.135,0.039,3010,2368,1009
$GC,13870,0.79,451.9,252.2,11.6,1138,13876,0.00,2.15,0.00,0.000,4,0.000,0.058,3010,3696,1008
$GC,13941,0.87,451.9,243.8,11.6,1151,13947,0.12,2.08,0.00,0.000,6,0.065,0.033,3088,2355,1007
$GC,14268,0.74,451.9,185.0,18.6,1212,14276,0.20,2.38,0.00,0.000,4,0.137,0.051,3032,887,1007
$GC,14320,0.83,451.9,177.9,11.9,1221,14326,0.00,2.35,0.00,0.000,6,0.000,0.037,3032,2379,1006
$GC,14648,0.97,497.6,142.2,9.5,1282,14694,0.17,2.47,38.97,0.713,4,0.052,0.046,3142,894,823
$GC,14727,0.83,497.6,129.1,20.5,1295,14733,0.32,2.35,0.00,0.000,6,0.127,0.040,3045,2377,822
$GC,15055,0.97,497.6,87.3,11.1,1356,15061,0.12,0.00,0.00,0.000,6,0.062,0.000,3124,2378,820
$GC,15383,0.93,497.6,36.2,16.5,1417,15389,0.15,2.42,0.00,0.000,4,0.123,0.044,3088,888,821
$GC,15422,1.05,497.6,31.0,12.0,1424,15429,0.00,2.28,0.00,0.000,6,0.000,0.035,3089,2341,821
$STATE,15721,end climb,SURFACE_DEPTH_REACHED
$STATE,15721,begin surface coast
$FINISH,1.7,1.021293
$STATE,15754,end surface coast,CONTROL_FINISHED_OK
$STATE,15754,begin surface
$SM_CCo,15833,0.00,0.000,0,0,819,499.19
$SM_GC,2.50,7.62,0.00,0.00,0.036,0.000,0.000,165,2254,819,-8.10,-0.88,499.19
$IRIDIUM_FIX,2439.44,12303.22,301198,000039
$TT8_MAMPS,0.049088
$HUMID,1801
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.10
$XPDR_PINGS,738
$24V_AH,22.7,135.053
$10V_AH,10.2,86.011
$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,28.450,130.775,617.425,0.000,0.000,23.828,43.044,212.625,192.500,0.000,0.000,37.492,0.000,11326.106,714.190,3461.361,767.804,0.000,2046.790,0.000,2876.894,0.000,57.593,0.000
$DEVICE_MAMPS,215.527,63.661,1330.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.382,1042.326,1272.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82037,1486
$CAP_FILE_SIZE,168140,0
$CFSIZE,260165632,205488128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.286, 50.8,1
$GPS,050909,093331,2448.458,12305.699,40,1.3,40,-3.6