version: 66.04
glider: 165
mission: 2
dive: 606
start: 9 7 109 7 47 58
data:
$ID,165
$MISSION,2
$DIVE,606
$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,-132872.7
$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,35
$R_STBD_OVSHOOT,42
$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
$GPS1,074007,2451.163,12306.098,40,0.9,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.1
$GPS2,074753,2451.226,12306.163,14,2.3,33,-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,244.6,95659,-16.0,-11.000
$D_GRID,1658
$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,-219.0,0.0,0.0,0,72,0.00,0.00,-56.38,0.000,2,0.000,0.000,145,2298,1829
$GC,76,-0.91,-219.0,3.3,-3.8,9,147,9.07,2.20,-54.72,0.000,4,0.216,0.059,2472,3676,3748
$GC,291,-0.47,-219.0,65.2,-40.0,47,299,0.50,2.15,0.00,0.000,6,0.123,0.033,2627,2269,3749
$GC,621,-0.55,-219.0,108.7,-10.0,108,626,0.00,2.20,0.00,0.000,4,0.000,0.044,2628,881,3751
$GC,692,-0.73,-219.0,115.7,-9.5,121,698,0.22,2.17,0.00,0.000,6,0.043,0.038,2511,2271,3752
$GC,1020,-0.48,-219.0,185.7,-19.2,182,1027,0.35,2.28,0.00,0.000,4,0.131,0.045,2621,874,3752
$GC,1092,-0.69,-219.0,193.5,-7.4,195,1099,0.17,2.20,0.00,0.000,6,0.048,0.038,2521,2272,3753
$GC,1422,-0.53,-219.0,248.5,-17.2,256,1428,0.25,2.30,0.00,0.000,4,0.127,0.052,2601,3682,3753
$GC,1462,-0.69,-219.0,253.2,-9.1,263,1469,0.12,2.17,0.00,0.000,6,0.054,0.032,2516,2250,3753
$GC,1789,-0.52,-219.0,308.0,-17.3,320,1793,0.28,2.17,0.00,0.000,4,0.121,0.047,2607,882,3753
$GC,1865,-0.77,-219.0,314.9,-6.9,326,1870,0.20,2.17,0.00,0.000,6,0.044,0.039,2494,2252,3753
$GC,2181,-0.60,-219.0,359.7,-14.1,357,2185,0.25,2.35,0.00,0.000,4,0.127,0.053,2576,3691,3752
$GC,2220,-0.75,-219.0,363.0,-6.6,360,2224,0.12,2.22,0.00,0.000,6,0.058,0.038,2491,2257,3752
$GC,2536,-0.59,-219.0,408.3,-15.9,390,2539,0.28,2.22,0.00,0.000,4,0.123,0.048,2581,891,3751
$GC,2574,-0.74,-219.0,412.5,-8.1,393,2578,0.12,2.17,0.00,0.000,6,0.058,0.041,2500,2266,3750
$GC,2896,-0.64,-219.0,457.1,-14.7,424,2900,0.20,2.35,0.00,0.000,4,0.125,0.054,2564,3686,3748
$GC,2917,-0.64,-219.0,460.1,-13.3,426,2921,0.00,2.22,0.00,0.000,6,0.000,0.035,2564,2263,3748
$GC,3233,-0.80,-219.0,486.8,-9.4,456,3237,0.12,2.25,0.00,0.000,4,0.060,0.050,2483,881,3746
$GC,3309,-0.75,-219.0,498.2,-16.3,462,3315,0.20,2.22,0.00,0.000,6,0.123,0.043,2541,2245,3745
$GC,3633,-0.83,-219.0,534.9,-10.2,479,3637,0.00,2.40,0.00,0.000,4,0.000,0.055,2538,3694,3742
$GC,3682,-0.99,-219.0,539.6,-8.4,481,3686,0.22,2.28,0.00,0.000,6,0.044,0.037,2430,2240,3742
$GC,3996,-0.73,-219.0,599.6,-20.0,496,4003,0.32,2.22,0.00,0.000,4,0.134,0.054,2536,890,3740
$GC,4096,-0.84,-219.0,610.9,-8.6,500,4099,0.00,2.20,0.00,0.000,6,0.000,0.045,2536,2246,3739
$GC,4412,-0.95,-219.0,636.4,-8.1,516,4413,0.17,0.00,0.00,0.000,6,0.051,0.000,2446,2246,3737
$GC,4718,-0.76,-219.0,686.7,-17.5,531,4719,0.28,0.00,0.00,0.000,6,0.131,0.000,2530,2246,3733
$GC,5022,-0.86,-219.0,715.3,-8.8,546,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2247,3732
$GC,5327,-0.97,-219.0,744.2,-9.3,561,5329,0.17,0.00,0.00,0.000,6,0.054,0.000,2444,2247,3729
$GC,5633,-0.80,-219.0,793.3,-16.2,576,5637,0.22,2.42,0.00,0.000,4,0.133,0.059,2507,3685,3726
$GC,5660,-0.80,-219.0,797.0,-13.3,577,5663,0.00,2.28,0.00,0.000,6,0.000,0.035,2507,2238,3726
$GC,5973,-0.85,-219.0,826.7,-8.8,592,5976,0.00,2.22,0.00,0.000,4,0.000,0.052,2507,875,3724
$GC,6042,-0.92,-219.0,833.1,-8.5,595,6046,0.00,2.20,0.00,0.000,6,0.000,0.045,2507,2230,3723
$GC,6364,-0.97,-219.0,860.4,-8.2,611,6368,0.12,2.22,0.00,0.000,4,0.063,0.049,2442,880,3721
$GC,6403,-0.86,-219.0,864.8,-13.0,613,6406,0.22,2.20,0.00,0.000,6,0.133,0.046,2502,2225,3721
$GC,6727,-0.90,-219.0,892.7,-8.4,629,6730,0.00,2.42,0.00,0.000,4,0.000,0.058,2500,3682,3719
$GC,6765,-0.99,-219.0,895.9,-8.1,631,6769,0.12,2.30,0.00,0.000,6,0.061,0.035,2436,2219,3718
$GC,7090,-0.83,-219.0,940.5,-14.5,647,7093,0.22,2.20,0.00,0.000,4,0.135,0.050,2509,874,3716
$GC,7122,-0.83,-219.0,944.6,-9.7,648,7125,0.00,2.20,0.00,0.000,6,0.000,0.045,2509,2226,3717
$GC,7439,-0.91,-219.0,967.7,-7.0,664,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2226,3715
$GC,7743,-0.98,-219.0,988.9,-7.0,679,7747,0.15,2.25,0.00,0.000,4,0.060,0.051,2437,872,3713
$STATE,7756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7756,begin apogee
$GC,7766,-0.20,0.0,990.3,7.5,680,7946,0.88,0.00,177.30,1.340,6,0.122,0.000,2709,2303,2854
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7950,0.91,219.0,998.4,0.0,689,8157,1.02,2.58,194.68,1.299,4,0.048,0.056,3083,3682,1960
$GC,8253,0.48,219.0,963.9,23.4,703,8258,0.55,2.25,0.00,0.000,6,0.142,0.038,2937,2307,1955
$GC,8569,0.48,219.0,926.2,11.1,719,8573,0.00,2.28,0.00,0.000,4,0.000,0.054,2937,3686,1952
$GC,8618,0.40,219.0,920.2,13.3,721,8622,0.12,2.20,0.00,0.000,6,0.143,0.036,2911,2285,1952
$GC,8929,0.51,262.1,889.9,9.5,736,8979,0.00,2.42,38.92,1.189,4,0.000,0.054,2911,3697,1784
$GC,9036,0.55,267.1,879.0,10.8,741,9046,0.12,2.20,5.70,0.916,6,0.067,0.035,2983,2296,1764
$GC,9360,0.44,267.1,834.5,13.9,757,9363,0.20,2.30,0.00,0.000,4,0.134,0.052,2918,3695,1760
$GC,9403,0.44,267.1,829.0,11.4,759,9406,0.00,2.15,0.00,0.000,6,0.000,0.035,2926,2312,1760
$GC,9725,0.59,353.4,800.9,8.1,775,9808,0.12,2.35,76.40,1.214,4,0.069,0.058,3009,3693,1412
$GC,9851,0.46,353.4,783.2,15.6,781,9855,0.30,2.15,0.00,0.000,6,0.133,0.035,2930,2335,1410
$GC,10173,0.64,410.8,754.3,9.1,797,10226,0.17,0.00,51.05,1.172,6,0.053,0.000,3032,2331,1178
$GC,10517,0.52,410.8,690.5,19.6,814,10521,0.25,2.22,0.00,0.000,4,0.128,0.051,2950,3689,1172
$GC,10588,0.64,410.8,680.3,12.4,817,10591,0.00,2.12,0.00,0.000,6,0.000,0.035,2954,2330,1171
$GC,10904,0.74,410.8,637.7,13.6,833,10908,0.17,2.33,0.00,0.000,4,0.052,0.048,3046,896,1170
$GC,10937,0.67,410.8,632.4,17.9,834,10942,0.17,2.30,0.00,0.000,6,0.130,0.038,2996,2339,1170
$GC,11247,0.67,410.8,583.1,14.6,850,11250,0.00,2.17,0.00,0.000,4,0.000,0.053,2996,3686,1170
$GC,11284,0.67,410.8,577.7,15.4,851,11290,0.00,2.12,0.00,0.000,6,0.000,0.035,3003,2330,1169
$GC,11596,0.67,410.8,533.1,14.7,867,11599,0.00,2.35,0.00,0.000,4,0.000,0.049,3014,887,1169
$GC,11660,0.67,410.8,523.8,14.3,870,11663,0.00,2.30,0.00,0.000,6,0.000,0.039,3014,2328,1166
$GC,11982,0.67,410.8,473.6,14.9,894,11985,0.00,2.35,0.00,0.000,4,0.000,0.048,3024,885,1166
$GC,12008,0.67,410.8,469.0,15.3,896,12016,0.00,2.35,0.00,0.000,6,0.000,0.039,3024,2338,1166
$GC,12327,0.63,410.8,420.8,15.3,927,12331,0.15,2.22,0.00,0.000,4,0.127,0.051,2979,3695,1166
$GC,12443,0.76,449.3,407.4,9.7,937,12485,0.12,2.12,32.58,0.940,6,0.059,0.033,3052,2332,1021
$GC,12795,0.70,449.3,349.6,16.3,971,12799,0.17,2.30,0.00,0.000,4,0.130,0.044,3009,895,1018
$GC,12854,0.79,449.3,341.4,12.3,976,12857,0.00,2.28,0.00,0.000,6,0.000,0.037,3009,2338,1018
$GC,13175,0.84,449.3,301.3,13.1,1007,13179,0.12,2.17,0.00,0.000,4,0.063,0.050,3086,3683,1018
$GC,13277,0.68,449.3,280.7,21.3,1024,13284,0.32,2.12,0.00,0.000,6,0.126,0.041,2997,2337,1018
$GC,13605,0.79,449.3,241.0,11.1,1085,13611,0.12,2.33,0.00,0.000,4,0.061,0.047,3085,895,1018
$GC,13698,0.71,449.3,225.4,18.9,1102,13704,0.25,2.33,0.00,0.000,6,0.130,0.039,3012,2340,1018
$GC,14029,0.83,472.4,188.5,10.2,1163,14055,0.10,2.17,20.52,0.739,4,0.072,0.054,3075,3690,926
$GC,14088,0.76,472.4,180.3,15.3,1173,14094,0.20,2.12,0.00,0.000,6,0.130,0.033,3026,2318,926
$GC,14416,0.87,472.4,142.9,11.1,1234,14422,0.00,2.30,0.00,0.000,4,0.000,0.048,3034,886,926
$GC,14497,1.05,492.0,134.4,10.3,1249,14523,0.17,2.28,17.50,0.681,6,0.034,0.035,3146,2319,847
$GC,14848,0.94,492.0,67.3,17.6,1313,14854,0.17,2.20,0.00,0.000,4,0.133,0.049,3086,3682,845
$GC,14952,1.09,492.0,52.0,15.5,1332,14960,0.08,2.15,0.00,0.000,6,0.048,0.038,3155,2319,844
$GC,15282,1.05,492.0,4.7,13.6,1393,15288,0.15,2.25,0.00,0.000,4,0.135,0.041,3119,901,844
$STATE,15296,end climb,SURFACE_DEPTH_REACHED
$STATE,15296,begin surface coast
$FINISH,2.0,1.019660
$STATE,15307,end surface coast,CONTROL_FINISHED_OK
$STATE,15307,begin surface
$SM_CCo,15387,0.00,0.000,0,0,843,493.30
$SM_GC,2.84,7.62,0.00,0.00,0.031,0.000,0.000,155,2294,843,-8.08,0.25,493.30
$IRIDIUM_FIX,2441.81,12307.81,021298,030343
$TT8_MAMPS,0.049855
$HUMID,1834
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,25.10
$XPDR_PINGS,691
$24V_AH,21.9,137.922
$10V_AH,10.2,87.391
$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,28.600,157.550,614.650,0.000,0.000,27.828,37.288,209.894,180.750,0.000,0.000,35.915,0.000,11068.713,745.888,3225.870,777.912,0.000,2006.763,0.000,2659.798,0.000,53.999,0.000
$DEVICE_MAMPS,216.294,59.059,1339.949,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,945.967,950.079,1117.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78994,1398
$CAP_FILE_SIZE,168201,0
$CFSIZE,260165632,204509184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.329, 38.0,1
$GPS,070909,120531,2451.861,12305.737,41,1.0,41,-3.6