version: 66.04
glider: 165
mission: 2
dive: 597
start: 9 5 109 14 29 27
data:
$ID,165
$MISSION,2
$DIVE,597
$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,-132683.17
$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,41
$R_STBD_OVSHOOT,28
$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
$GPS1,142107,2449.753,12305.541,33,1.1,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-67.6
$GPS2,142922,2449.855,12305.684,15,2.4,34,-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,240.0,95334,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.91,-219.0,0.0,0.0,0,62,0.00,0.00,-43.12,0.000,2,0.000,0.000,150,2264,1940
$GC,66,-0.91,-219.0,3.2,-3.8,7,131,9.12,2.30,-49.70,0.000,4,0.216,0.062,2466,3688,3748
$GC,281,-0.54,-219.0,62.6,-31.3,45,287,0.45,2.15,0.00,0.000,6,0.125,0.033,2604,2283,3749
$GC,608,-0.54,-219.0,128.1,-18.8,106,614,0.00,2.25,0.00,0.000,4,0.000,0.048,2605,874,3751
$GC,701,-0.62,-219.0,143.4,-15.4,123,708,0.00,2.22,0.00,0.000,6,0.000,0.041,2603,2290,3752
$GC,1030,-0.68,-219.0,173.0,-6.4,184,1036,0.12,2.25,0.00,0.000,4,0.061,0.051,2534,3683,3753
$GC,1058,-0.63,-219.0,176.0,-11.0,189,1065,0.10,2.17,0.00,0.000,6,0.117,0.032,2571,2271,3753
$GC,1387,-0.63,-219.0,221.3,-15.0,250,1393,0.00,2.20,0.00,0.000,4,0.000,0.048,2571,888,3753
$GC,1516,-0.74,-219.0,238.7,-12.2,274,1522,0.00,2.20,0.00,0.000,6,0.000,0.041,2571,2254,3753
$GC,1844,-0.80,-219.0,272.1,-7.2,335,1850,0.15,0.00,0.00,0.000,6,0.054,0.000,2481,2255,3753
$GC,2172,-0.56,-219.0,325.2,-17.1,382,2173,0.38,0.00,0.00,0.000,6,0.128,0.000,2596,2255,3753
$GC,2485,-0.77,-219.0,354.1,-10.4,412,2489,0.17,2.25,0.00,0.000,4,0.093,0.048,2493,884,3752
$GC,2517,-0.74,-219.0,359.1,-16.4,414,2523,0.17,2.22,0.00,0.000,6,0.126,0.048,2544,2262,3752
$GC,2834,-0.77,-219.0,397.1,-11.1,445,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2262,3751
$GC,3146,-0.83,-219.0,428.1,-8.7,475,3150,0.00,2.33,0.00,0.000,4,0.000,0.057,2544,3688,3750
$GC,3190,-0.97,-219.0,431.7,-7.0,478,3196,0.22,2.25,0.00,0.000,6,0.044,0.035,2435,2244,3749
$GC,3506,-0.68,-219.0,487.5,-18.8,509,3510,0.38,2.20,0.00,0.000,4,0.133,0.048,2556,884,3747
$GC,3593,-0.85,-219.0,496.1,-7.4,516,3599,0.10,2.20,0.00,0.000,6,0.044,0.046,2480,2235,3747
$GC,3907,-0.73,-219.0,541.7,-15.3,534,3911,0.17,2.42,0.00,0.000,4,0.132,0.056,2536,3685,3744
$GC,3929,-0.73,-219.0,545.2,-14.8,535,3932,0.00,2.25,0.00,0.000,6,0.000,0.038,2536,2244,3744
$GC,4245,-0.81,-219.0,578.9,-10.2,551,4248,0.00,2.17,0.00,0.000,4,0.000,0.048,2536,883,3742
$GC,4304,-0.94,-219.0,584.3,-8.9,553,4310,0.17,2.20,0.00,0.000,6,0.051,0.047,2449,2244,3741
$GC,4616,-0.75,-219.0,633.1,-15.5,569,4617,0.30,0.00,0.00,0.000,6,0.130,0.000,2540,2244,3740
$GC,4920,-0.88,-219.0,655.4,-6.8,584,4922,0.12,0.00,0.00,0.000,6,0.061,0.000,2468,2245,3737
$GC,5226,-0.77,-219.0,696.2,-13.9,599,5230,0.17,2.40,0.00,0.000,4,0.131,0.058,2520,3682,3734
$GC,5252,-0.77,-219.0,699.7,-12.2,600,5257,0.00,2.25,0.00,0.000,6,0.000,0.035,2520,2238,3734
$GC,5570,-0.86,-219.0,730.3,-9.9,616,5573,0.00,2.20,0.00,0.000,4,0.000,0.051,2520,877,3733
$GC,5666,-0.97,-219.0,740.3,-10.4,620,5670,0.15,2.17,0.00,0.000,6,0.056,0.044,2445,2230,3731
$GC,5977,-0.81,-219.0,792.5,-17.1,635,5980,0.20,2.22,0.00,0.000,4,0.137,0.049,2511,881,3728
$GC,6031,-0.90,-219.0,799.5,-10.5,637,6041,0.00,2.20,0.00,0.000,6,0.000,0.048,2511,2223,3728
$GC,6342,-0.97,-219.0,828.2,-8.3,653,6346,0.12,2.42,0.00,0.000,4,0.063,0.058,2442,3682,3726
$GC,6380,-0.88,-219.0,832.4,-13.2,655,6384,0.17,2.33,0.00,0.000,6,0.127,0.035,2492,2201,3725
$GC,6702,-0.88,-219.0,863.3,-9.6,671,6705,0.00,2.15,0.00,0.000,4,0.000,0.051,2493,875,3723
$GC,6728,-0.88,-219.0,865.9,-10.3,672,6731,0.00,2.17,0.00,0.000,6,0.000,0.045,2492,2221,3722
$GC,7051,-0.88,-219.0,897.5,-9.9,688,7054,0.00,2.20,0.00,0.000,4,0.000,0.049,2492,875,3721
$GC,7088,-0.92,-219.0,901.5,-9.9,689,7093,0.00,2.15,0.00,0.000,6,0.000,0.045,2492,2205,3721
$GC,7400,-0.95,-219.0,932.9,-10.2,705,7403,0.00,2.17,0.00,0.000,4,0.000,0.050,2492,876,3719
$GC,7459,-1.01,-219.0,939.0,-10.0,707,7466,0.12,2.20,0.00,0.000,6,0.064,0.047,2436,2206,3719
$GC,7769,-0.86,-219.0,985.0,-14.8,723,7771,0.22,0.00,0.00,0.000,6,0.138,0.000,2502,2206,3717
$STATE,7827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7827,begin apogee
$GC,7835,-0.20,0.0,991.4,11.5,726,8016,0.65,0.00,178.50,1.338,6,0.104,0.000,2718,2312,2854
$STATE,8017,end apogee,CONTROL_FINISHED_OK
$STATE,8017,begin climb
$GC,8020,0.91,219.0,1001.2,0.0,735,8223,0.95,2.53,191.20,1.299,4,0.039,0.058,3088,3682,1959
$GC,8330,0.47,219.0,967.5,22.2,749,8335,0.57,2.22,0.00,0.000,6,0.154,0.038,2936,2290,1955
$GC,8641,0.54,273.1,935.8,9.2,764,8702,0.00,2.38,49.15,1.210,4,0.000,0.056,2935,3671,1739
$GC,8730,0.54,273.1,927.1,11.2,768,8733,0.00,2.17,0.00,0.000,6,0.000,0.036,2944,2303,1738
$GC,9046,0.58,304.1,893.9,10.0,784,9080,0.00,2.38,27.77,1.219,4,0.000,0.054,2953,899,1613
$GC,9110,0.64,322.5,887.2,10.4,787,9133,0.10,2.25,17.73,1.167,6,0.075,0.041,3018,2293,1539
$GC,9438,0.48,322.5,833.7,17.0,803,9442,0.25,2.28,0.00,0.000,4,0.135,0.054,2938,3687,1534
$GC,9591,0.48,322.5,812.4,13.9,810,9594,0.00,2.17,0.00,0.000,6,0.000,0.037,2947,2301,1534
$GC,9912,0.48,322.5,770.7,12.5,826,9916,0.00,2.28,0.00,0.000,4,0.000,0.051,2956,896,1533
$GC,9939,0.53,322.5,767.4,11.7,827,9942,0.00,2.28,0.00,0.000,6,0.000,0.040,2956,2326,1531
$GC,10255,0.53,322.5,727.7,12.3,843,10259,0.00,2.22,0.00,0.000,4,0.000,0.054,2956,3690,1531
$GC,10314,0.49,322.5,719.3,14.8,845,10320,0.00,2.17,0.00,0.000,6,0.000,0.035,2964,2305,1531
$GC,10625,0.49,322.5,675.7,13.4,861,10628,0.00,2.28,0.00,0.000,4,0.000,0.053,2965,3680,1531
$GC,10679,0.46,322.5,668.2,14.2,863,10683,0.17,2.15,0.00,0.000,6,0.141,0.037,2924,2309,1531
$GC,10995,0.60,350.5,635.5,10.1,879,11026,0.15,2.35,25.02,1.095,4,0.061,0.051,3026,898,1425
$GC,11050,0.50,350.5,627.2,17.4,881,11054,0.30,2.28,0.00,0.000,6,0.129,0.041,2938,2316,1423
$GC,11361,0.63,376.0,594.3,10.1,896,11390,0.12,2.28,23.60,1.056,4,0.065,0.054,3020,3682,1320
$GC,11414,0.52,376.0,586.6,17.3,898,11418,0.28,2.17,0.00,0.000,6,0.135,0.037,2950,2306,1320
$GC,11725,0.66,405.3,553.8,10.0,913,11758,0.12,2.38,26.92,1.031,4,0.064,0.051,3042,887,1200
$GC,11782,0.58,405.3,545.4,15.9,915,11789,0.25,2.28,0.00,0.000,6,0.126,0.040,2968,2310,1199
$GC,12093,0.66,405.3,508.3,12.6,931,12096,0.00,2.22,0.00,0.000,4,0.000,0.054,2969,3682,1196
$GC,12158,0.73,405.3,499.2,13.2,934,12161,0.12,2.15,0.00,0.000,6,0.061,0.034,3039,2302,1197
$GC,12474,0.63,405.3,436.6,20.4,964,12475,0.20,0.00,0.00,0.000,6,0.130,0.000,2980,2302,1196
$GC,12788,0.71,405.3,395.1,12.2,994,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2299,1196
$GC,13107,0.82,427.2,359.3,10.3,1025,13131,0.17,2.30,19.58,0.881,4,0.052,0.053,3067,3675,1111
$GC,13204,0.67,427.2,342.8,16.6,1034,13208,0.28,2.12,0.00,0.000,6,0.139,0.035,2994,2314,1111
$GC,13520,0.76,427.2,305.5,11.7,1064,13523,0.00,2.28,0.00,0.000,4,0.000,0.048,3004,896,1111
$GC,13601,0.88,432.2,296.0,10.8,1074,13614,0.17,2.25,5.55,0.659,6,0.054,0.040,3108,2303,1091
$GC,13938,0.68,432.2,218.7,22.4,1136,13944,0.32,2.25,0.00,0.000,4,0.131,0.052,3003,3681,1091
$GC,14065,0.77,432.2,200.3,12.7,1159,14072,0.00,2.12,0.00,0.000,6,0.000,0.035,3011,2318,1091
$GC,14394,0.86,432.2,160.1,11.7,1220,14400,0.12,2.30,0.00,0.000,4,0.063,0.050,3102,895,1091
$GC,14455,0.77,432.2,150.2,16.2,1231,14462,0.20,2.25,0.00,0.000,6,0.126,0.038,3027,2309,1091
$GC,14785,0.90,472.1,115.3,9.7,1292,14828,0.12,2.25,34.97,0.695,4,0.064,0.050,3112,3675,928
$GC,14850,0.80,472.1,104.7,19.2,1303,14858,0.28,2.12,0.00,0.000,6,0.128,0.033,3039,2311,927
$GC,15180,0.94,472.1,70.2,11.1,1364,15186,0.12,2.28,0.00,0.000,4,0.061,0.050,3131,891,926
$GC,15272,0.88,472.1,55.5,15.8,1381,15278,0.20,2.25,0.00,0.000,6,0.116,0.037,3064,2313,926
$GC,15603,1.23,575.8,24.9,7.5,1442,15704,0.28,2.38,91.85,0.607,4,0.083,0.045,3214,891,499
$STATE,15737,end climb,SURFACE_DEPTH_REACHED
$STATE,15737,begin surface coast
$FINISH,1.9,1.010242
$STATE,15751,end surface coast,CONTROL_FINISHED_OK
$STATE,15751,begin surface
$SM_CCo,15832,0.00,0.000,0,0,487,580.63
$SM_GC,2.67,7.95,0.00,0.00,0.034,0.000,0.000,157,2290,487,-8.10,0.14,580.63
$IRIDIUM_FIX,2439.44,12306.51,301198,090938
$TT8_MAMPS,0.049088
$HUMID,1776
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.10
$XPDR_PINGS,730
$24V_AH,22.4,135.566
$10V_AH,10.2,86.272
$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,27.800,152.900,691.850,0.000,0.000,28.374,37.224,227.191,190.500,0.000,0.000,37.030,0.000,11305.921,775.178,3387.603,819.066,0.000,2120.069,0.000,2812.679,0.000,54.018,0.000
$DEVICE_MAMPS,215.527,76.700,1337.648,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,990.859,1023.811,1235.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82337,1467
$CAP_FILE_SIZE,171457,0
$CFSIZE,260165632,205303808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.308, 46.6,1
$GPS,050909,185424,2450.037,12305.583,24,1.9,41,-3.6