version: 66.04
glider: 165
mission: 2
dive: 604
start: 9 6 109 22 30 9
data:
$ID,165
$MISSION,2
$DIVE,604
$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,-132821.91
$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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,221900,2450.849,12305.614,35,0.9,40,-3.6
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-69.1
$GPS2,223001,2450.876,12305.863,10,1.5,10,-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,243.1,95277,-16.0,-11.000
$D_GRID,1640
$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,-219.0,0.0,0.0,0,75,0.00,0.00,-59.90,0.000,2,0.000,0.000,156,2299,1928
$GC,79,-0.91,-219.0,3.4,-3.9,9,144,9.10,2.28,-47.15,0.000,4,0.216,0.064,2463,3675,3749
$GC,251,-0.49,-219.0,49.3,-29.2,39,258,0.45,2.17,0.00,0.000,6,0.126,0.034,2619,2284,3750
$GC,580,-0.52,-219.0,92.7,-11.0,100,585,0.00,2.28,0.00,0.000,4,0.000,0.049,2619,3687,3752
$GC,624,-0.67,-219.0,97.4,-9.8,108,630,0.17,2.17,0.00,0.000,6,0.048,0.031,2524,2261,3752
$GC,951,-0.45,-219.0,165.8,-18.5,169,959,0.30,2.17,0.00,0.000,4,0.128,0.044,2624,892,3753
$GC,1051,-0.70,-219.0,174.7,-6.0,187,1057,0.20,2.15,0.00,0.000,6,0.044,0.038,2507,2268,3754
$GC,1381,-0.50,-219.0,238.0,-19.7,248,1386,0.32,0.00,0.00,0.000,6,0.127,0.000,2611,2269,3754
$GC,1709,-0.70,-219.0,259.4,-4.3,309,1715,0.17,2.22,0.00,0.000,4,0.049,0.045,2496,882,3754
$GC,1764,-0.60,-219.0,265.7,-13.7,319,1770,0.30,2.17,0.00,0.000,6,0.123,0.041,2585,2258,3754
$GC,2091,-0.73,-219.0,295.7,-10.8,380,2097,0.12,2.33,0.00,0.000,4,0.057,0.052,2507,3688,3753
$GC,2150,-0.73,-219.0,303.8,-14.2,388,2156,0.12,2.17,0.00,0.000,6,0.124,0.031,2544,2269,3753
$GC,2466,-0.73,-219.0,340.9,-10.0,419,2469,0.00,2.20,0.00,0.000,4,0.000,0.048,2543,884,3752
$GC,2525,-0.80,-219.0,347.2,-9.9,424,2531,0.00,2.22,0.00,0.000,6,0.000,0.045,2544,2265,3752
$GC,2841,-0.80,-219.0,380.9,-10.3,455,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2266,3749
$GC,3152,-0.80,-219.0,414.0,-11.4,485,3155,0.00,2.30,0.00,0.000,4,0.000,0.055,2544,3682,3747
$GC,3180,-0.87,-219.0,416.9,-10.3,487,3184,0.12,2.17,0.00,0.000,6,0.058,0.034,2468,2265,3748
$GC,3501,-0.67,-219.0,473.6,-18.0,518,3505,0.28,2.20,0.00,0.000,4,0.131,0.047,2558,888,3745
$GC,3561,-0.83,-219.0,480.6,-8.6,523,3567,0.12,2.22,0.00,0.000,6,0.058,0.043,2480,2269,3744
$GC,3888,-0.71,-219.0,527.0,-14.5,546,3892,0.20,2.25,0.00,0.000,4,0.128,0.045,2547,882,3742
$GC,3926,-0.80,-219.0,531.9,-9.8,548,3930,0.00,2.22,0.00,0.000,6,0.000,0.044,2547,2256,3743
$GC,4248,-0.90,-219.0,561.2,-9.3,564,4252,0.17,2.38,0.00,0.000,4,0.052,0.054,2441,3683,3740
$GC,4286,-0.78,-219.0,566.5,-15.9,566,4290,0.30,2.25,0.00,0.000,6,0.120,0.036,2531,2246,3739
$GC,4611,-0.85,-219.0,599.4,-9.2,582,4615,0.00,2.20,0.00,0.000,4,0.000,0.054,2531,891,3737
$GC,4659,-0.96,-219.0,603.8,-7.6,584,4663,0.17,2.22,0.00,0.000,6,0.051,0.043,2446,2262,3737
$GC,4976,-0.77,-219.0,649.1,-14.2,600,4977,0.28,0.00,0.00,0.000,6,0.134,0.000,2528,2262,3735
$GC,5280,-0.86,-219.0,670.8,-7.1,615,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2262,3733
$GC,5587,-0.96,-219.0,696.1,-8.8,630,5590,0.17,2.25,0.00,0.000,4,0.052,0.049,2436,890,3730
$GC,5619,-0.83,-219.0,700.5,-14.9,631,5625,0.28,2.20,0.00,0.000,6,0.131,0.044,2506,2251,3730
$GC,5931,-0.83,-219.0,735.7,-11.0,647,5934,0.00,2.22,0.00,0.000,4,0.000,0.048,2506,885,3728
$GC,5968,-0.89,-219.0,740.1,-11.1,648,5974,0.00,2.25,0.00,0.000,6,0.000,0.045,2506,2247,3727
$GC,6279,-0.93,-219.0,773.4,-10.8,664,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2248,3725
$GC,6585,-0.97,-219.0,805.1,-10.2,679,6589,0.12,2.22,0.00,0.000,4,0.064,0.049,2443,888,3723
$GC,6617,-0.88,-219.0,809.3,-14.1,680,6621,0.20,2.22,0.00,0.000,6,0.132,0.046,2498,2254,3722
$GC,6929,-0.88,-219.0,839.9,-9.2,695,6932,0.00,2.38,0.00,0.000,4,0.000,0.058,2494,3689,3720
$GC,6966,-0.94,-219.0,843.4,-9.5,697,6970,0.00,2.25,0.00,0.000,6,0.000,0.033,2494,2243,3720
$GC,7288,-0.94,-219.0,870.6,-8.5,713,7291,0.00,2.20,0.00,0.000,4,0.000,0.050,2494,887,3718
$GC,7342,-1.00,-219.0,875.6,-10.2,715,7346,0.12,2.20,0.00,0.000,6,0.064,0.044,2434,2243,3718
$GC,7653,-0.85,-219.0,917.4,-13.9,730,7657,0.20,2.45,0.00,0.000,4,0.139,0.058,2494,3695,3716
$GC,7692,-0.90,-219.0,921.5,-10.1,732,7695,0.00,2.28,0.00,0.000,6,0.000,0.034,2494,2241,3716
$GC,8017,-0.93,-219.0,951.3,-9.9,748,8020,0.00,2.20,0.00,0.000,4,0.000,0.051,2494,889,3715
$GC,8086,-0.99,-219.0,958.8,-9.7,751,8090,0.00,2.20,0.00,0.000,6,0.000,0.044,2494,2243,3714
$STATE,8404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8404,begin apogee
$GC,8413,-0.20,0.0,990.3,9.6,767,8593,0.68,0.00,177.62,1.341,6,0.107,0.000,2715,2315,2854
$STATE,8593,end apogee,CONTROL_FINISHED_OK
$STATE,8593,begin climb
$GC,8597,0.91,219.0,999.4,0.0,776,8804,1.00,2.58,194.57,1.304,4,0.045,0.056,3084,3683,1960
$GC,8900,0.48,219.0,968.7,22.0,790,8905,0.55,2.25,0.00,0.000,6,0.146,0.043,2939,2308,1955
$GC,9217,0.48,221.4,933.6,10.9,806,9220,0.00,2.25,0.00,0.000,4,0.000,0.054,2939,3677,1952
$GC,9303,0.41,221.4,922.5,13.3,810,9307,0.12,2.15,0.00,0.000,6,0.143,0.035,2912,2298,1952
$GC,9625,0.48,241.7,889.1,10.3,826,9649,0.00,2.35,19.73,1.208,4,0.000,0.054,2912,3683,1867
$GC,9702,0.48,241.7,880.2,12.7,829,9705,0.00,2.12,0.00,0.000,6,0.000,0.036,2920,2323,1865
$GC,10018,0.53,247.3,845.2,10.8,845,10028,0.00,2.22,5.85,0.948,4,0.000,0.054,2920,3679,1844
$GC,10136,0.53,247.3,830.6,12.8,850,10143,0.00,2.12,0.00,0.000,6,0.000,0.037,2929,2328,1844
$GC,10447,0.56,275.6,797.5,10.0,866,10477,0.00,2.28,26.02,1.195,4,0.000,0.054,2929,3674,1730
$GC,10550,0.56,275.6,786.3,11.8,870,10556,0.00,2.08,0.00,0.000,6,0.000,0.035,2938,2350,1726
$GC,10861,0.64,337.9,756.3,8.9,886,10920,0.12,0.00,55.55,1.191,6,0.067,0.000,3017,2346,1475
$GC,11227,0.52,337.9,699.3,16.0,904,11230,0.20,2.20,0.00,0.000,4,0.131,0.053,2950,3680,1470
$GC,11323,0.55,337.9,687.0,11.9,908,11328,0.00,2.12,0.00,0.000,6,0.000,0.041,2955,2341,1469
$GC,11634,0.59,337.9,652.5,11.0,924,11634,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2340,1467
$GC,11940,0.67,365.8,621.7,10.1,939,11970,0.12,2.40,24.30,1.086,4,0.066,0.051,3039,894,1361
$GC,11983,0.53,365.8,615.4,16.0,941,11987,0.30,2.35,0.00,0.000,6,0.127,0.040,2950,2349,1360
$GC,12308,0.68,405.8,582.8,9.7,957,12351,0.15,2.20,36.00,1.070,4,0.057,0.053,3035,3690,1197
$GC,12367,0.55,405.8,574.1,15.8,959,12373,0.30,2.12,0.00,0.000,6,0.124,0.035,2956,2340,1196
$GC,12679,0.67,405.8,540.8,11.5,975,12683,0.12,2.35,0.00,0.000,4,0.062,0.049,3039,888,1194
$GC,12764,0.67,405.8,527.2,16.7,979,12768,0.15,2.30,0.00,0.000,6,0.127,0.039,2997,2332,1192
$GC,13080,0.67,405.8,482.9,13.1,1000,13083,0.00,2.20,0.00,0.000,4,0.000,0.052,2997,3687,1192
$GC,13129,0.67,405.8,475.7,14.2,1004,13135,0.00,2.17,0.00,0.000,6,0.000,0.040,3004,2309,1192
$GC,13447,0.67,405.8,434.1,14.4,1035,13451,0.00,2.28,0.00,0.000,4,0.000,0.048,3014,902,1192
$GC,13534,0.71,405.8,421.4,14.1,1042,13540,0.00,2.28,0.00,0.000,6,0.000,0.039,3015,2312,1190
$GC,13853,0.71,405.8,374.4,15.3,1073,13856,0.00,2.22,0.00,0.000,4,0.000,0.052,3015,3677,1190
$GC,13971,0.71,405.8,354.9,15.1,1084,13974,0.00,2.12,0.00,0.000,6,0.000,0.035,3023,2323,1189
$GC,14292,0.71,405.8,312.3,14.4,1115,14296,0.00,2.33,0.00,0.000,4,0.000,0.048,3033,888,1189
$GC,14363,0.71,405.8,302.3,13.8,1121,14366,0.00,2.30,0.00,0.000,6,0.000,0.038,3033,2332,1189
$GC,14689,0.71,405.8,249.9,16.3,1180,14695,0.00,2.22,0.00,0.000,4,0.000,0.056,3034,3674,1189
$GC,14728,0.66,405.8,243.0,17.8,1187,14734,0.17,2.12,0.00,0.000,6,0.124,0.034,2991,2311,1190
$GC,15056,0.78,405.8,206.0,11.3,1248,15062,0.12,2.30,0.00,0.000,4,0.061,0.048,3074,898,1189
$GC,15111,0.73,405.8,197.0,18.1,1258,15118,0.20,2.28,0.00,0.000,6,0.127,0.042,3016,2313,1189
$GC,15443,0.93,515.5,162.2,7.3,1319,15543,0.17,2.25,90.90,0.739,4,0.054,0.053,3122,3670,750
$GC,15574,0.81,515.5,141.3,19.0,1340,15580,0.30,2.12,0.00,0.000,6,0.127,0.034,3041,2323,748
$GC,15903,0.97,515.5,94.6,12.5,1401,15909,0.15,2.30,0.00,0.000,4,0.053,0.046,3140,880,746
$GC,16011,0.92,515.5,77.1,13.3,1421,16017,0.20,2.20,0.00,0.000,6,0.119,0.035,3080,2298,747
$GC,16339,1.33,670.6,51.9,5.8,1482,16410,0.30,2.25,61.65,0.627,4,0.039,0.048,3231,3669,478
$GC,16433,1.14,670.6,35.8,23.7,1497,16439,0.32,2.17,0.00,0.000,6,0.141,0.034,3147,2266,472
$STATE,16662,end climb,SURFACE_DEPTH_REACHED
$STATE,16662,begin surface coast
$FINISH,1.8,0.999194
$STATE,16682,end surface coast,CONTROL_FINISHED_OK
$STATE,16682,begin surface
$SM_CCo,16762,0.00,0.000,0,0,462,586.76
$SM_GC,2.59,7.68,0.00,0.00,0.033,0.000,0.000,164,2260,462,-8.08,-0.71,586.76
$IRIDIUM_FIX,2439.44,12304.52,011298,222241
$TT8_MAMPS,0.049088
$HUMID,1782
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.60
$XPDR_PINGS,750
$24V_AH,21.9,137.407
$10V_AH,10.2,87.149
$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,27.475,161.175,692.200,0.000,0.000,59.552,70.160,298.946,195.500,0.000,0.000,12.245,0.000,12102.821,796.597,3533.033,960.651,0.000,2199.893,0.000,2953.222,0.000,56.709,0.000
$DEVICE_MAMPS,216.294,92.040,1341.483,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.061,1046.339,1246.790,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88425,1544
$CAP_FILE_SIZE,181488,0
$CFSIZE,260165632,204664832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.321, 48.4,1
$GPS,070909,031036,2451.344,12305.825,35,0.9,40,-3.6