version: 66.04
glider: 165
mission: 2
dive: 598
start: 9 5 109 19 6 9
data:
$ID,165
$MISSION,2
$DIVE,598
$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,-132718.12
$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,40
$R_STBD_OVSHOOT,40
$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
$GPS1,185424,2450.037,12305.583,24,1.9,41,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-62.5
$GPS2,190604,2450.350,12305.640,12,2.9,31,-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,239.4,95085,-16.0,-11.000
$D_GRID,1614
$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,-219.0,0.0,0.0,0,73,0.00,0.00,-57.28,0.000,2,0.000,0.000,142,2291,1878
$GC,77,-0.91,-219.0,3.0,-2.9,9,146,9.20,2.28,-51.85,0.000,4,0.219,0.067,2470,3673,3748
$GC,275,-0.57,-219.0,50.0,-24.8,44,282,0.40,2.12,0.00,0.000,6,0.128,0.033,2591,2283,3749
$GC,604,-0.52,-219.0,100.1,-12.7,105,610,0.00,2.22,0.00,0.000,4,0.000,0.047,2591,884,3751
$GC,723,-0.64,-219.0,115.4,-10.4,127,729,0.00,2.17,0.00,0.000,6,0.000,0.039,2590,2262,3752
$GC,1051,-0.67,-219.0,156.7,-10.8,188,1058,0.00,2.20,0.00,0.000,4,0.000,0.046,2590,883,3752
$GC,1112,-0.79,-219.0,162.8,-9.4,199,1118,0.20,2.20,0.00,0.000,6,0.048,0.040,2481,2272,3752
$GC,1440,-0.52,-219.0,231.2,-20.7,260,1447,0.40,2.25,0.00,0.000,4,0.131,0.046,2606,885,3752
$GC,1465,-0.43,-219.0,235.0,-16.7,264,1472,0.12,2.17,0.00,0.000,6,0.110,0.041,2648,2254,3752
$GC,1794,-1.02,-219.0,267.3,-12.2,325,1800,0.50,2.20,0.00,0.000,4,0.065,0.045,2452,884,3751
$GC,1817,-1.30,-219.0,270.5,-14.1,329,1823,0.25,2.17,0.00,0.000,6,0.047,0.043,2343,2248,3752
$GC,2137,-0.69,-219.0,372.1,-33.4,369,2139,0.75,0.00,0.00,0.000,6,0.158,0.000,2557,2249,3751
$GC,2450,-0.78,-219.0,398.0,-5.7,399,2451,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2249,3750
$GC,2762,-0.88,-219.0,416.0,-6.1,429,2765,0.17,2.25,0.00,0.000,4,0.050,0.053,2452,880,3748
$GC,2805,-0.69,-219.0,421.9,-15.4,433,2809,0.35,2.20,0.00,0.000,6,0.127,0.044,2557,2251,3747
$GC,3121,-0.82,-219.0,449.5,-8.9,463,3122,0.12,0.00,0.00,0.000,6,0.060,0.000,2467,2251,3744
$GC,3431,-0.64,-219.0,509.1,-20.9,491,3432,0.32,0.00,0.00,0.000,6,0.126,0.000,2568,2251,3742
$GC,3736,-0.82,-219.0,541.5,-8.4,506,3737,0.15,0.00,0.00,0.000,6,0.054,0.000,2478,2252,3740
$GC,4042,-0.71,-219.0,579.7,-10.9,521,4044,0.25,0.00,0.00,0.000,6,0.123,0.000,2556,2252,3736
$GC,4347,-0.86,-219.0,595.9,-4.8,536,4350,0.15,2.22,0.00,0.000,4,0.054,0.050,2468,887,3734
$GC,4427,-0.75,-219.0,604.4,-12.1,539,4432,0.22,2.25,0.00,0.000,6,0.127,0.049,2534,2253,3734
$GC,4738,-0.86,-219.0,623.5,-5.4,555,4742,0.00,2.38,0.00,0.000,4,0.000,0.058,2534,3694,3731
$GC,4766,-0.99,-219.0,625.1,-5.6,556,4770,0.22,2.25,0.00,0.000,6,0.045,0.033,2427,2238,3731
$GC,5082,-0.75,-219.0,676.7,-18.2,571,5083,0.38,0.00,0.00,0.000,6,0.133,0.000,2542,2234,3728
$GC,5382,-0.89,-219.0,705.6,-9.2,586,5386,0.15,2.17,0.00,0.000,4,0.055,0.050,2461,889,3727
$GC,5409,-0.89,-219.0,709.0,-13.8,587,5413,0.15,2.20,0.00,0.000,6,0.137,0.044,2496,2255,3726
$GC,5726,-0.89,-219.0,746.2,-10.8,603,5729,0.00,2.22,0.00,0.000,4,0.000,0.049,2496,890,3724
$GC,5769,-0.92,-219.0,751.1,-11.1,605,5772,0.00,2.20,0.00,0.000,6,0.000,0.045,2497,2247,3724
$GC,6096,-0.92,-219.0,781.1,-8.8,621,6099,0.00,2.22,0.00,0.000,4,0.000,0.049,2496,884,3721
$GC,6128,-0.92,-219.0,783.9,-8.7,622,6131,0.00,2.20,0.00,0.000,6,0.000,0.044,2496,2244,3721
$GC,6444,-0.92,-219.0,809.2,-8.0,638,6448,0.00,2.40,0.00,0.000,4,0.000,0.058,2496,3694,3719
$GC,6499,-1.00,-219.0,813.3,-7.5,640,6506,0.12,2.33,0.00,0.000,6,0.061,0.034,2433,2231,3719
$GC,6809,-0.82,-219.0,859.2,-16.2,656,6813,0.22,2.20,0.00,0.000,4,0.138,0.050,2506,891,3717
$GC,6885,-0.91,-219.0,867.9,-10.0,659,6891,0.00,2.22,0.00,0.000,6,0.000,0.049,2506,2238,3717
$GC,7197,-0.97,-219.0,901.0,-11.4,675,7198,0.12,0.00,0.00,0.000,6,0.062,0.000,2441,2239,3714
$GC,7502,-0.82,-219.0,952.8,-17.6,690,7503,0.25,0.00,0.00,0.000,6,0.130,0.000,2517,2239,3712
$GC,7808,-0.93,-219.0,985.6,-10.1,705,7812,0.12,2.25,0.00,0.000,4,0.063,0.051,2453,885,3711
$GC,7834,-0.93,-219.0,989.1,-13.6,706,7838,0.00,2.20,0.00,0.000,6,0.000,0.047,2453,2234,3710
$STATE,7842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7842,begin apogee
$GC,7850,-0.20,0.0,990.4,13.1,707,8030,0.82,0.00,177.65,1.338,6,0.118,0.000,2713,2320,2854
$STATE,8031,end apogee,CONTROL_FINISHED_OK
$STATE,8031,begin climb
$GC,8034,0.91,219.0,1002.8,0.0,716,8237,0.98,2.60,192.52,1.301,4,0.044,0.054,3089,913,1959
$GC,8275,0.57,219.0,986.5,18.3,727,8279,0.47,2.35,0.00,0.000,6,0.155,0.044,2964,2293,1955
$GC,8586,0.47,219.0,946.6,12.3,742,8589,0.12,2.30,0.00,0.000,4,0.156,0.054,2928,3698,1950
$GC,8800,0.42,226.4,922.3,10.8,752,8809,0.00,2.15,6.18,0.969,6,0.000,0.035,2937,2318,1931
$GC,9115,0.45,250.7,890.5,10.2,767,9144,0.00,2.35,22.73,1.216,4,0.000,0.055,2937,3695,1831
$GC,9251,0.40,250.7,875.7,11.8,773,9255,0.12,2.15,0.00,0.000,6,0.148,0.035,2912,2321,1829
$GC,9573,0.58,342.2,849.5,7.9,789,9660,0.15,2.38,81.45,1.238,4,0.063,0.055,3000,3687,1458
$GC,9721,0.45,342.2,827.2,18.8,796,9724,0.30,2.12,0.00,0.000,6,0.132,0.036,2922,2352,1455
$GC,10042,0.56,342.2,791.1,11.9,812,10043,0.12,0.00,0.00,0.000,6,0.066,0.000,3004,2348,1452
$GC,10348,0.46,342.2,730.6,21.0,827,10352,0.22,2.22,0.00,0.000,4,0.130,0.053,2933,3695,1450
$GC,10423,0.54,342.2,717.1,17.5,830,10428,0.00,2.12,0.00,0.000,6,0.000,0.040,2941,2348,1450
$GC,10734,0.61,342.2,669.3,14.5,846,10738,0.10,2.38,0.00,0.000,4,0.075,0.049,3017,890,1449
$GC,10793,0.54,342.2,659.9,16.2,849,10797,0.22,2.35,0.00,0.000,6,0.129,0.041,2954,2348,1447
$GC,11123,0.68,417.6,627.3,8.5,865,11194,0.15,2.25,66.12,1.107,4,0.059,0.054,3035,3695,1150
$GC,11301,0.55,417.6,600.4,15.7,873,11307,0.30,2.12,0.00,0.000,6,0.127,0.037,2955,2352,1148
$GC,11612,0.70,444.8,573.2,10.1,889,11641,0.15,2.40,24.20,1.039,4,0.056,0.051,3050,889,1039
$GC,11720,0.66,444.8,554.4,18.7,894,11724,0.20,2.33,0.00,0.000,6,0.125,0.040,2991,2340,1036
$GC,12042,0.72,444.8,500.3,16.9,910,12045,0.00,2.20,0.00,0.000,4,0.000,0.054,2991,3693,1035
$GC,12090,0.75,444.8,491.6,17.0,913,12096,0.00,2.12,0.00,0.000,6,0.000,0.036,2996,2336,1035
$GC,12410,0.80,444.8,440.5,13.9,944,12414,0.12,2.35,0.00,0.000,4,0.064,0.049,3070,887,1034
$GC,12453,0.71,444.8,432.8,18.5,947,12459,0.22,2.33,0.00,0.000,6,0.134,0.039,3005,2344,1034
$GC,12770,0.83,509.7,397.2,8.8,978,12835,0.12,2.25,56.62,0.937,4,0.067,0.053,3069,3681,775
$GC,12896,0.75,509.7,378.9,15.0,989,12902,0.20,2.12,0.00,0.000,6,0.138,0.037,3020,2337,772
$GC,13212,0.81,509.7,330.5,18.4,1020,13216,0.00,2.33,0.00,0.000,4,0.000,0.050,3029,891,771
$GC,13340,0.91,509.7,306.9,18.6,1031,13346,0.12,2.28,0.00,0.000,6,0.064,0.043,3108,2315,771
$GC,13666,0.75,509.7,227.0,23.5,1089,13672,0.25,2.22,0.00,0.000,4,0.131,0.049,3027,3687,770
$GC,13743,0.86,509.7,214.2,12.4,1103,13748,0.00,2.12,0.00,0.000,6,0.000,0.035,3033,2331,769
$GC,14070,0.95,509.7,171.0,11.6,1164,14077,0.15,2.35,0.00,0.000,4,0.058,0.050,3129,882,769
$GC,14132,0.87,509.7,160.2,19.0,1175,14138,0.22,2.28,0.00,0.000,6,0.125,0.037,3064,2329,769
$GC,14460,0.93,509.7,117.7,13.6,1236,14467,0.00,2.17,0.00,0.000,4,0.000,0.050,3063,3676,769
$GC,14489,0.98,509.7,113.5,14.3,1241,14495,0.00,2.15,0.00,0.000,6,0.000,0.033,3067,2309,769
$GC,14817,1.09,509.7,69.8,12.2,1302,14823,0.17,2.28,0.00,0.000,4,0.051,0.048,3172,892,769
$GC,14872,0.98,509.7,60.0,19.3,1312,14880,0.28,2.22,0.00,0.000,6,0.126,0.039,3090,2307,769
$GC,15205,1.27,616.5,22.7,7.4,1373,15276,0.22,2.28,66.28,0.609,4,0.077,0.048,3202,3686,481
$STATE,15321,end climb,SURFACE_DEPTH_REACHED
$STATE,15324,begin surface coast
$FINISH,1.9,1.015669
$STATE,15337,end surface coast,CONTROL_FINISHED_OK
$STATE,15337,begin surface
$SM_CCo,15418,0.00,0.000,0,0,467,585.53
$SM_GC,2.56,7.90,0.00,0.00,0.034,0.000,0.000,147,2277,467,-8.09,-0.23,585.53
$IRIDIUM_FIX,2439.44,12303.22,301198,191912
$TT8_MAMPS,0.049088
$HUMID,1817
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.10
$XPDR_PINGS,698
$24V_AH,22.3,135.840
$10V_AH,10.2,86.395
$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,29.775,139.350,693.750,0.000,0.000,53.908,83.082,299.060,182.500,0.000,0.000,34.336,0.000,11084.307,774.785,3271.088,951.294,0.000,2070.193,0.000,2717.524,0.000,57.608,0.000
$DEVICE_MAMPS,219.362,82.069,1337.648,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,943.877,974.657,1155.326,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78975,1396
$CAP_FILE_SIZE,167722,0
$CFSIZE,260165632,205221888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.305, 50.1,1
$GPS,050909,232407,2450.230,12305.578,36,1.0,36,-3.6