version: 66.04
glider: 165
mission: 2
dive: 603
start: 9 6 109 18 12 24
data:
$ID,165
$MISSION,2
$DIVE,603
$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,-132809.03
$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,61
$R_STBD_OVSHOOT,34
$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
$GPS1,180355,2450.927,12305.325,37,1.1,37,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-69.3
$GPS2,181219,2451.069,12305.438,14,1.1,31,-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,242.4,94509,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,75,0.00,0.00,-56.85,0.000,2,0.000,0.000,153,2246,1849
$GC,79,-0.91,-219.0,3.2,-3.3,9,144,9.10,2.40,-50.42,0.000,4,0.219,0.061,2470,3695,3749
$GC,289,-0.51,-219.0,60.7,-29.0,46,297,0.47,2.12,0.00,0.000,6,0.123,0.031,2616,2292,3750
$GC,618,-0.59,-219.0,99.9,-10.1,107,624,0.00,2.22,0.00,0.000,4,0.000,0.044,2616,887,3753
$GC,721,-0.75,-219.0,110.2,-9.8,126,728,0.22,2.20,0.00,0.000,6,0.045,0.039,2500,2290,3752
$GC,1051,-0.50,-219.0,187.2,-21.6,187,1057,0.35,2.28,0.00,0.000,4,0.133,0.044,2610,888,3753
$GC,1106,-0.63,-219.0,195.1,-10.5,197,1111,0.00,2.17,0.00,0.000,6,0.000,0.039,2609,2256,3753
$GC,1434,-0.80,-219.0,216.2,-5.1,258,1441,0.20,0.00,0.00,0.000,6,0.044,0.000,2479,2257,3753
$GC,1762,-0.56,-219.0,281.1,-20.9,319,1768,0.35,2.22,0.00,0.000,4,0.130,0.046,2593,890,3753
$GC,1811,-0.72,-219.0,287.9,-10.0,328,1818,0.10,2.20,0.00,0.000,6,0.044,0.040,2508,2248,3753
$GC,2131,-0.58,-219.0,344.5,-17.6,366,2135,0.25,2.38,0.00,0.000,4,0.144,0.053,2587,3686,3753
$GC,2170,-0.74,-219.0,349.0,-8.8,369,2173,0.15,2.20,0.00,0.000,6,0.051,0.031,2493,2243,3752
$GC,2491,-0.59,-219.0,393.6,-13.1,400,2494,0.28,2.20,0.00,0.000,4,0.123,0.048,2585,884,3752
$GC,2535,-0.77,-219.0,396.8,-4.7,404,2538,0.15,2.17,0.00,0.000,6,0.052,0.040,2493,2264,3752
$GC,2851,-0.65,-219.0,431.7,-12.6,434,2854,0.20,2.33,0.00,0.000,4,0.126,0.054,2561,3685,3749
$GC,2911,-0.85,-219.0,436.3,-6.4,439,2914,0.15,2.22,0.00,0.000,6,0.052,0.035,2472,2247,3749
$GC,3227,-0.70,-219.0,490.1,-17.3,469,3231,0.22,2.17,0.00,0.000,4,0.127,0.048,2547,894,3747
$GC,3292,-0.85,-219.0,498.1,-9.9,474,3299,0.12,2.17,0.00,0.000,6,0.060,0.044,2473,2246,3747
$GC,3607,-0.71,-219.0,551.3,-18.0,491,3610,0.22,2.35,0.00,0.000,4,0.130,0.054,2546,3682,3744
$GC,3672,-0.88,-219.0,558.7,-8.5,494,3676,0.15,2.22,0.00,0.000,6,0.053,0.036,2463,2262,3744
$GC,3996,-0.73,-219.0,608.3,-14.9,510,4000,0.22,2.25,0.00,0.000,4,0.127,0.052,2538,890,3742
$GC,4104,-0.85,-219.0,618.3,-7.5,515,4107,0.00,2.20,0.00,0.000,6,0.000,0.048,2537,2248,3741
$GC,4420,-0.95,-219.0,640.0,-6.2,531,4424,0.17,2.38,0.00,0.000,4,0.051,0.054,2442,3695,3738
$GC,4453,-0.86,-219.0,643.3,-11.0,532,4459,0.20,2.30,0.00,0.000,6,0.125,0.038,2500,2238,3736
$GC,4764,-0.86,-219.0,673.5,-8.9,548,4767,0.00,2.17,0.00,0.000,4,0.000,0.049,2500,883,3734
$GC,4790,-0.86,-219.0,676.2,-10.3,549,4793,0.00,2.17,0.00,0.000,6,0.000,0.043,2500,2239,3734
$GC,5113,-0.86,-219.0,708.3,-11.2,565,5116,0.00,2.40,0.00,0.000,4,0.000,0.058,2500,3693,3733
$GC,5171,-0.94,-219.0,715.0,-11.2,568,5175,0.00,2.25,0.00,0.000,6,0.000,0.033,2500,2243,3731
$GC,5494,-0.94,-219.0,754.0,-12.1,584,5497,0.00,2.17,0.00,0.000,4,0.000,0.048,2500,887,3729
$GC,5595,-1.00,-219.0,766.7,-12.7,588,5601,0.12,2.22,0.00,0.000,6,0.062,0.048,2441,2237,3728
$GC,5906,-0.86,-219.0,817.4,-16.7,604,5907,0.20,0.00,0.00,0.000,6,0.138,0.000,2499,2237,3726
$GC,6213,-0.90,-219.0,850.7,-10.6,619,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2237,3724
$GC,6516,-0.93,-219.0,882.7,-10.7,634,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2237,3721
$GC,6822,-0.97,-219.0,914.0,-10.5,649,6825,0.00,2.22,0.00,0.000,4,0.000,0.051,2499,887,3720
$GC,6866,-1.03,-219.0,918.8,-10.5,651,6869,0.15,2.22,0.00,0.000,6,0.059,0.045,2431,2248,3720
$GC,7190,-0.88,-219.0,973.2,-17.3,667,7191,0.22,0.00,0.00,0.000,6,0.140,0.000,2497,2249,3718
$STATE,7326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7326,begin apogee
$GC,7334,-0.20,0.0,991.2,11.9,674,7515,0.68,0.00,177.98,1.333,6,0.105,0.000,2719,2318,2854
$STATE,7515,end apogee,CONTROL_FINISHED_OK
$STATE,7515,begin climb
$GC,7519,0.91,219.0,1004.9,0.0,683,7724,1.00,2.50,192.62,1.298,4,0.041,0.059,3093,3681,1960
$GC,7964,0.47,219.0,949.2,22.0,704,7969,0.57,2.17,0.00,0.000,6,0.147,0.038,2936,2306,1954
$GC,8281,0.47,219.0,912.6,11.3,720,8284,0.00,2.28,0.00,0.000,4,0.000,0.054,2936,3689,1952
$GC,8425,0.41,219.0,893.9,13.3,726,8432,0.12,2.22,0.00,0.000,6,0.143,0.041,2910,2282,1951
$GC,8737,0.49,242.5,862.4,10.2,742,8758,0.00,0.00,20.30,1.192,6,0.000,0.000,2910,2283,1865
$GC,9061,0.64,315.8,832.0,8.5,758,9132,0.17,2.42,64.22,1.223,4,0.058,0.054,3016,3682,1566
$GC,9231,0.46,315.8,805.0,17.5,766,9235,0.32,2.17,0.00,0.000,6,0.137,0.038,2931,2309,1562
$GC,9552,0.67,423.2,779.3,7.4,782,9658,0.17,2.42,94.85,1.190,4,0.054,0.051,3044,901,1126
$GC,9672,0.53,423.2,761.5,17.9,787,9676,0.32,2.30,0.00,0.000,6,0.123,0.040,2948,2315,1125
$GC,9983,0.65,423.2,723.9,13.5,802,9984,0.12,0.00,0.00,0.000,6,0.061,0.000,3023,2316,1120
$GC,10289,0.58,423.2,656.9,22.9,817,10293,0.17,2.25,0.00,0.000,4,0.131,0.052,2966,3693,1118
$GC,10359,0.66,423.2,643.1,18.3,820,10362,0.00,2.20,0.00,0.000,6,0.000,0.035,2972,2287,1118
$GC,10670,0.73,423.2,596.7,13.1,835,10674,0.12,2.25,0.00,0.000,4,0.063,0.049,3047,902,1118
$GC,10708,0.67,423.2,590.9,17.4,837,10711,0.17,2.22,0.00,0.000,6,0.127,0.040,2997,2295,1116
$GC,11029,0.70,446.1,554.3,10.2,853,11052,0.00,2.30,19.12,1.019,4,0.000,0.054,2996,3680,1035
$GC,11093,0.78,507.7,548.4,8.9,856,11156,0.00,2.17,55.78,1.041,6,0.000,0.035,3004,2299,784
$GC,11462,0.82,507.7,506.2,14.3,874,11466,0.12,2.28,0.00,0.000,4,0.064,0.051,3085,894,779
$GC,11533,0.73,507.7,491.1,23.3,879,11537,0.25,2.22,0.00,0.000,6,0.132,0.039,3011,2294,779
$GC,11854,0.79,507.7,430.0,16.7,910,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2294,778
$GC,12167,0.85,507.7,386.0,12.0,940,12171,0.12,2.28,0.00,0.000,4,0.066,0.051,3083,3692,777
$GC,12200,0.76,507.7,380.8,17.6,943,12203,0.25,2.17,0.00,0.000,6,0.133,0.035,3020,2306,777
$GC,12521,0.84,524.2,345.5,10.4,974,12543,0.00,2.33,14.52,0.858,4,0.000,0.050,3029,889,715
$GC,12624,0.95,524.2,334.1,12.2,983,12629,0.15,2.20,0.00,0.000,6,0.059,0.039,3119,2271,714
$GC,12946,0.76,524.2,247.6,28.1,1031,12952,0.28,2.30,0.00,0.000,4,0.131,0.048,3029,3695,713
$GC,13001,0.86,524.2,235.3,19.7,1041,13006,0.00,2.22,0.00,0.000,6,0.000,0.035,3034,2280,712
$GC,13329,0.93,524.2,184.6,11.4,1102,13336,0.12,2.28,0.00,0.000,4,0.065,0.052,3124,880,712
$GC,13417,0.82,524.2,170.2,17.2,1118,13424,0.28,2.22,0.00,0.000,6,0.124,0.042,3043,2278,712
$GC,13746,0.93,524.2,126.1,11.0,1179,13752,0.10,2.30,0.00,0.000,4,0.071,0.048,3120,882,712
$GC,13779,0.88,524.2,121.9,13.9,1185,13786,0.15,2.22,0.00,0.000,6,0.115,0.038,3059,2263,712
$GC,14110,1.11,589.2,85.0,8.8,1246,14217,0.17,2.33,66.03,0.593,4,0.049,0.049,3158,3675,477
$GC,14288,1.15,589.2,57.0,15.6,1276,14293,0.00,2.20,0.00,0.000,6,0.000,0.032,3168,2255,469
$GC,14615,1.15,589.2,5.6,15.7,1337,14621,0.00,2.17,0.00,0.000,4,0.000,0.049,3177,895,462
$STATE,14629,end climb,SURFACE_DEPTH_REACHED
$STATE,14629,begin surface coast
$FINISH,2.0,0.998571
$STATE,14650,end surface coast,CONTROL_FINISHED_OK
$STATE,14650,begin surface
$SM_CCo,14731,0.00,0.000,0,0,460,587.25
$SM_GC,2.61,7.75,0.00,0.00,0.030,0.000,0.000,165,2290,460,-8.09,0.14,587.25
$IRIDIUM_FIX,2441.81,12238.83,011298,131354
$TT8_MAMPS,0.049088
$HUMID,1808
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.30
$XPDR_PINGS,666
$24V_AH,22.1,137.138
$10V_AH,10.2,87.018
$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,27.725,135.200,705.425,0.000,0.000,30.534,33.865,241.460,174.500,0.000,0.000,33.451,0.000,10428.417,800.635,3177.776,790.670,0.000,2069.225,0.000,2638.710,0.000,53.973,0.000
$DEVICE_MAMPS,218.595,86.671,1333.046,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,907.509,928.081,1107.670,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75931,1344
$CAP_FILE_SIZE,159941,0
$CFSIZE,260165632,204787712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.326, 60.2,1
$GPS,060909,221900,2450.849,12305.614,35,0.9,40,-3.6