version: 66.04
glider: 165
mission: 2
dive: 596
start: 9 5 109 9 45 43
data:
$ID,165
$MISSION,2
$DIVE,596
$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,-132645.52
$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,50
$R_STBD_OVSHOOT,33
$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
$GPS1,093331,2448.458,12305.699,40,1.3,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-64.3
$GPS2,094538,2448.650,12305.925,11,1.1,11,-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,241.9,96194,-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,-219.0,0.0,0.0,0,57,0.00,0.00,-41.12,0.000,2,0.000,0.000,145,2256,1846
$GC,61,-0.91,-219.0,3.1,-3.4,6,132,9.15,2.33,-55.90,0.000,4,0.216,0.059,2472,3698,3747
$GC,261,-0.56,-219.0,51.1,-25.2,41,267,0.40,2.15,0.00,0.000,6,0.123,0.032,2595,2288,3748
$GC,589,-0.52,-219.0,101.2,-11.6,102,594,0.00,2.22,0.00,0.000,4,0.000,0.047,2595,888,3749
$GC,666,-0.60,-219.0,109.7,-10.0,116,672,0.00,2.20,0.00,0.000,6,0.000,0.040,2593,2283,3749
$GC,994,-0.60,-219.0,149.5,-12.6,177,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2284,3750
$GC,1323,-0.66,-219.0,181.1,-9.1,238,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2284,3750
$GC,1650,-0.73,-219.0,218.0,-11.7,299,1657,0.15,2.25,0.00,0.000,4,0.056,0.048,2508,887,3750
$GC,1717,-0.57,-219.0,229.0,-16.8,311,1724,0.30,2.20,0.00,0.000,6,0.126,0.043,2598,2271,3749
$GC,2046,-0.71,-219.0,256.3,-6.6,372,2052,0.15,2.22,0.00,0.000,4,0.053,0.045,2511,887,3749
$GC,2074,-0.71,-219.0,259.1,-11.4,377,2080,0.15,2.20,0.00,0.000,6,0.130,0.042,2554,2277,3749
$GC,2402,-0.71,-219.0,295.6,-11.9,438,2408,0.00,2.33,0.00,0.000,4,0.000,0.056,2550,3691,3748
$GC,2462,-0.81,-219.0,302.1,-9.6,447,2469,0.00,2.20,0.00,0.000,6,0.000,0.035,2550,2266,3748
$GC,2778,-0.81,-219.0,337.0,-10.1,478,2781,0.00,2.20,0.00,0.000,4,0.000,0.052,2549,893,3748
$GC,2853,-0.89,-219.0,343.7,-7.7,485,2857,0.15,2.17,0.00,0.000,6,0.054,0.041,2463,2269,3748
$GC,3169,-0.64,-219.0,398.8,-18.4,515,3173,0.32,2.22,0.00,0.000,4,0.130,0.046,2567,896,3745
$GC,3217,-0.77,-219.0,404.9,-9.8,519,3220,0.00,2.15,0.00,0.000,6,0.000,0.041,2564,2251,3745
$GC,3539,-0.91,-219.0,435.8,-8.3,550,3542,0.17,2.35,0.00,0.000,4,0.051,0.054,2455,3695,3744
$GC,3592,-0.78,-219.0,443.2,-15.4,554,3598,0.25,2.25,0.00,0.000,6,0.120,0.035,2530,2245,3743
$GC,3909,-0.78,-219.0,478.4,-10.4,585,3912,0.00,2.15,0.00,0.000,4,0.000,0.048,2531,891,3741
$GC,3984,-0.86,-219.0,486.2,-9.3,592,3987,0.00,2.20,0.00,0.000,6,0.000,0.046,2531,2250,3741
$GC,4306,-0.90,-219.0,521.4,-9.3,614,4307,0.12,0.00,0.00,0.000,6,0.061,0.000,2461,2250,3739
$GC,4608,-0.70,-219.0,577.8,-19.7,629,4612,0.28,2.22,0.00,0.000,4,0.131,0.048,2551,893,3737
$GC,4679,-0.85,-219.0,587.0,-9.7,632,4682,0.12,2.17,0.00,0.000,6,0.061,0.048,2477,2237,3736
$GC,4989,-0.75,-219.0,630.1,-13.5,647,4993,0.17,2.38,0.00,0.000,4,0.129,0.057,2534,3682,3734
$GC,5022,-0.86,-219.0,633.1,-8.6,648,5028,0.00,2.28,0.00,0.000,6,0.000,0.038,2534,2234,3734
$GC,5333,-0.97,-219.0,654.2,-6.8,664,5337,0.17,2.15,0.00,0.000,4,0.051,0.048,2435,893,3732
$GC,5397,-0.81,-219.0,662.5,-15.2,667,5401,0.32,2.15,0.00,0.000,6,0.131,0.044,2522,2233,3731
$GC,5717,-0.88,-219.0,692.3,-9.6,683,5721,0.00,2.40,0.00,0.000,4,0.000,0.058,2520,3687,3729
$GC,5760,-1.02,-219.0,696.3,-8.5,685,5764,0.20,2.25,0.00,0.000,6,0.048,0.034,2425,2234,3728
$GC,6080,-0.78,-219.0,752.7,-18.2,701,6084,0.30,2.20,0.00,0.000,4,0.138,0.050,2522,888,3726
$GC,6198,-0.90,-219.0,765.0,-8.2,706,6201,0.00,2.12,0.00,0.000,6,0.000,0.043,2521,2217,3725
$GC,6515,-1.00,-219.0,788.4,-7.0,722,6517,0.17,0.00,0.00,0.000,6,0.054,0.000,2436,2217,3722
$GC,6819,-0.81,-219.0,831.0,-14.4,737,6821,0.28,0.00,0.00,0.000,6,0.133,0.000,2519,2218,3720
$GC,7126,-0.91,-219.0,851.2,-5.8,752,7129,0.00,2.17,0.00,0.000,4,0.000,0.053,2519,897,3719
$GC,7164,-1.03,-219.0,853.7,-6.6,753,7169,0.20,2.17,0.00,0.000,6,0.051,0.051,2425,2209,3719
$GC,7474,-0.82,-219.0,897.1,-14.7,769,7478,0.28,2.20,0.00,0.000,4,0.140,0.051,2513,891,3717
$GC,7513,-0.86,-219.0,901.2,-9.0,771,7516,0.00,2.15,0.00,0.000,6,0.000,0.047,2510,2212,3717
$GC,7840,-0.93,-219.0,923.5,-7.3,787,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2212,3715
$GC,8146,-1.02,-219.0,946.6,-7.8,802,8150,0.17,2.20,0.00,0.000,4,0.056,0.052,2418,887,3713
$GC,8189,-0.87,-219.0,951.8,-14.0,804,8192,0.30,2.15,0.00,0.000,6,0.137,0.047,2498,2205,3712
$GC,8507,-0.92,-219.0,980.1,-8.7,820,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2205,3711
$STATE,8623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8623,begin apogee
$GC,8632,-0.20,0.0,990.8,8.7,826,8811,0.65,0.00,177.55,1.342,6,0.105,0.000,2712,2309,2854
$STATE,8812,end apogee,CONTROL_FINISHED_OK
$STATE,8812,begin climb
$GC,8815,0.91,219.0,999.1,0.0,835,9011,1.00,0.00,192.55,1.302,6,0.043,0.000,3089,2309,1961
$GC,9302,0.53,219.0,928.5,20.2,859,9306,0.45,2.28,0.00,0.000,4,0.152,0.058,2955,3682,1952
$GC,9549,0.40,219.0,894.8,12.5,870,9555,0.20,2.17,0.00,0.000,6,0.150,0.044,2906,2311,1951
$GC,9860,0.55,303.0,868.1,8.2,886,9943,0.15,2.40,72.88,1.243,4,0.061,0.057,2997,3682,1618
$GC,10000,0.40,303.0,847.9,16.7,892,10004,0.32,2.20,0.00,0.000,6,0.140,0.038,2913,2305,1615
$GC,10311,0.55,340.0,815.7,9.8,907,10350,0.12,0.00,33.22,1.193,6,0.064,0.000,2996,2301,1468
$GC,10656,0.45,340.0,760.0,17.1,924,10660,0.20,2.28,0.00,0.000,4,0.133,0.055,2931,3676,1463
$GC,10821,0.52,340.0,736.6,13.3,932,10824,0.00,2.12,0.00,0.000,6,0.000,0.036,2940,2321,1463
$GC,11149,0.59,340.0,698.2,11.4,948,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2321,1462
$GC,11453,0.67,340.0,663.0,11.6,963,11457,0.15,2.25,0.00,0.000,4,0.058,0.054,3027,3675,1462
$GC,11485,0.51,340.0,657.4,19.6,964,11491,0.32,2.15,0.00,0.000,6,0.137,0.037,2941,2331,1461
$GC,11797,0.59,340.0,616.5,13.0,980,11800,0.00,2.35,0.00,0.000,4,0.000,0.049,2951,885,1460
$GC,11845,0.71,340.0,610.3,12.3,982,11849,0.17,2.33,0.00,0.000,6,0.053,0.039,3032,2338,1458
$GC,12156,0.56,340.0,555.4,17.3,997,12160,0.20,2.22,0.00,0.000,4,0.137,0.054,2967,3691,1457
$GC,12236,0.56,340.0,544.8,12.1,1000,12242,0.00,2.12,0.00,0.000,6,0.000,0.035,2975,2333,1457
$GC,12547,0.59,366.7,510.8,10.1,1016,12576,0.00,2.38,23.20,1.011,4,0.000,0.049,2985,901,1359
$GC,12611,0.69,397.9,504.7,9.9,1019,12644,0.00,2.33,29.25,0.999,6,0.000,0.040,2985,2346,1230
$GC,12962,0.72,397.9,466.4,11.8,1050,12965,0.00,2.17,0.00,0.000,4,0.000,0.054,2985,3688,1228
$GC,12996,0.72,397.9,462.1,12.6,1053,12999,0.00,2.12,0.00,0.000,6,0.000,0.035,2994,2334,1227
$GC,13320,0.72,397.9,410.9,17.3,1084,13320,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2332,1227
$GC,13630,0.77,397.9,362.7,13.6,1114,13633,0.00,2.33,0.00,0.000,4,0.000,0.048,3005,891,1224
$GC,13699,0.85,397.9,353.6,13.0,1120,13703,0.15,2.35,0.00,0.000,6,0.058,0.039,3092,2360,1223
$GC,14016,0.65,397.9,296.1,16.3,1152,14022,0.32,2.17,0.00,0.000,4,0.163,0.050,2990,3688,1224
$GC,14097,0.70,397.9,286.9,11.0,1167,14103,0.00,2.10,0.00,0.000,6,0.000,0.034,2996,2344,1224
$GC,14424,0.78,397.9,251.4,11.9,1228,14430,0.10,2.35,0.00,0.000,4,0.071,0.047,3065,892,1224
$GC,14485,0.72,397.9,240.7,19.2,1239,14491,0.17,2.33,0.00,0.000,6,0.130,0.038,3015,2358,1224
$GC,14814,0.78,397.9,193.4,11.8,1300,14820,0.00,2.17,0.00,0.000,4,0.000,0.053,3014,3698,1224
$GC,14837,0.82,397.9,190.6,12.3,1304,14842,0.00,2.15,0.00,0.000,6,0.000,0.037,3021,2323,1223
$GC,15165,0.87,397.9,157.3,13.0,1365,15172,0.10,2.28,0.00,0.000,4,0.073,0.045,3102,900,1223
$GC,15189,0.83,397.9,153.9,13.9,1369,15196,0.20,2.30,0.00,0.000,6,0.133,0.037,3045,2357,1223
$GC,15518,0.88,411.6,113.6,10.5,1430,15536,0.00,2.15,11.88,0.640,4,0.000,0.051,3045,3695,1176
$GC,15719,1.00,462.5,95.7,9.3,1467,15770,0.15,2.08,44.00,0.665,6,0.058,0.032,3127,2339,967
$GC,16091,1.00,462.5,37.3,11.9,1535,16097,0.00,2.28,0.00,0.000,4,0.000,0.044,3138,898,966
$GC,16146,1.06,483.4,31.5,10.3,1545,16171,0.00,2.30,17.88,0.585,6,0.000,0.038,3138,2358,881
$STATE,16366,end climb,SURFACE_DEPTH_REACHED
$STATE,16366,begin surface coast
$FINISH,1.8,1.008011
$STATE,16388,end surface coast,CONTROL_FINISHED_OK
$STATE,16388,begin surface
$SM_CCo,16467,0.00,0.000,0,0,877,484.96
$SM_GC,2.49,7.65,0.00,0.00,0.031,0.000,0.000,164,2269,877,-8.08,-0.45,484.96
$IRIDIUM_FIX,2441.81,12306.51,301198,090911
$TT8_MAMPS,0.049088
$HUMID,1789
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,25.70
$XPDR_PINGS,789
$24V_AH,22.4,135.307
$10V_AH,10.2,86.147
$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,27.100,142.850,602.400,0.000,0.000,52.661,62.628,367.587,205.250,0.000,0.000,13.040,0.000,11802.981,740.996,3581.595,1032.821,0.000,2102.484,0.000,3009.072,0.000,56.680,0.000
$DEVICE_MAMPS,216.294,79.768,1342.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.436,1106.966,1371.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88394,1590
$CAP_FILE_SIZE,179609,0
$CFSIZE,260165632,205385728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.354, 30.4,1
$GPS,050909,142107,2449.753,12305.541,33,1.1,33,-3.6