version: 66.04
glider: 165
mission: 2
dive: 607
start: 9 7 109 12 13 2
data:
$ID,165
$MISSION,2
$DIVE,607
$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,-132886.83
$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,43
$R_STBD_OVSHOOT,39
$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
$GPS1,120531,2451.861,12305.737,41,1.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-71.0
$GPS2,121256,2451.962,12305.775,11,1.2,11,-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,237.6,94795,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-0.91,-219.0,0.0,0.0,0,57,0.00,0.00,-42.70,0.000,2,0.000,0.000,145,2294,1889
$GC,62,-0.91,-219.0,3.2,-2.9,7,126,9.20,2.22,-49.03,0.000,4,0.222,0.061,2470,3689,3748
$GC,287,-0.48,-219.0,70.5,-29.5,47,293,0.43,2.20,0.00,0.000,6,0.121,0.033,2619,2280,3750
$GC,615,-0.57,-219.0,111.5,-11.1,108,622,0.00,2.20,0.00,0.000,4,0.000,0.047,2619,890,3752
$GC,667,-0.72,-219.0,117.6,-11.2,117,673,0.15,2.22,0.00,0.000,6,0.038,0.040,2503,2274,3752
$GC,995,-0.42,-219.0,195.0,-21.3,178,1001,0.43,0.00,0.00,0.000,6,0.134,0.000,2639,2274,3753
$GC,1322,-0.69,-219.0,221.5,-8.3,239,1327,0.20,0.00,0.00,0.000,6,0.047,0.000,2518,2274,3754
$GC,1650,-0.51,-219.0,278.1,-16.6,300,1657,0.28,2.28,0.00,0.000,4,0.123,0.049,2607,892,3754
$GC,1696,-0.67,-219.0,282.9,-7.6,308,1704,0.12,2.22,0.00,0.000,6,0.058,0.041,2525,2288,3754
$GC,2026,-0.56,-219.0,324.7,-13.8,353,2030,0.20,2.28,0.00,0.000,4,0.127,0.052,2590,3687,3754
$GC,2079,-0.78,-219.0,329.6,-6.3,358,2083,0.17,2.15,0.00,0.000,6,0.048,0.032,2485,2281,3754
$GC,2396,-0.58,-219.0,381.3,-17.3,388,2400,0.32,2.28,0.00,0.000,4,0.156,0.048,2586,887,3753
$GC,2466,-0.78,-219.0,388.6,-7.4,394,2469,0.17,2.25,0.00,0.000,6,0.048,0.044,2485,2275,3753
$GC,2781,-0.62,-219.0,437.2,-14.0,424,2785,0.28,2.30,0.00,0.000,4,0.125,0.050,2576,888,3751
$GC,2819,-0.72,-219.0,441.3,-8.0,427,2823,0.00,2.22,0.00,0.000,6,0.000,0.042,2576,2284,3751
$GC,3136,-0.90,-219.0,459.3,-6.3,457,3139,0.20,2.28,0.00,0.000,4,0.048,0.053,2455,3680,3750
$GC,3162,-0.85,-219.0,462.2,-11.8,459,3166,0.17,2.17,0.00,0.000,6,0.125,0.034,2506,2265,3749
$GC,3478,-0.79,-219.0,502.9,-11.8,488,3481,0.00,2.22,0.00,0.000,4,0.000,0.053,2506,893,3747
$GC,3526,-0.79,-219.0,508.8,-11.4,490,3529,0.00,2.25,0.00,0.000,6,0.000,0.044,2507,2277,3747
$GC,3842,-0.76,-219.0,544.1,-11.1,506,3845,0.00,2.30,0.00,0.000,4,0.000,0.051,2507,882,3745
$GC,3880,-0.76,-219.0,548.3,-11.2,508,3884,0.00,2.25,0.00,0.000,6,0.000,0.044,2507,2266,3745
$GC,4202,-0.76,-219.0,582.3,-10.5,524,4205,0.00,2.22,0.00,0.000,4,0.000,0.047,2506,891,3742
$GC,4234,-0.76,-219.0,585.9,-10.4,525,4237,0.00,2.20,0.00,0.000,6,0.000,0.043,2507,2266,3742
$GC,4545,-0.76,-219.0,621.6,-12.3,540,4548,0.00,2.33,0.00,0.000,4,0.000,0.057,2507,3685,3739
$GC,4599,-0.84,-219.0,627.9,-11.0,542,4602,0.00,2.22,0.00,0.000,6,0.000,0.034,2507,2244,3739
$GC,4911,-0.84,-219.0,665.2,-12.6,557,4914,0.00,2.17,0.00,0.000,4,0.000,0.049,2507,891,3737
$GC,4954,-0.88,-219.0,670.8,-12.4,559,4957,0.00,2.20,0.00,0.000,6,0.000,0.044,2507,2249,3737
$GC,5280,-0.88,-219.0,708.8,-11.5,575,5284,0.00,2.38,0.00,0.000,4,0.000,0.058,2507,3686,3734
$GC,5329,-0.97,-219.0,714.0,-10.6,577,5333,0.12,2.22,0.00,0.000,6,0.061,0.035,2438,2251,3734
$GC,5640,-0.79,-219.0,768.6,-17.4,592,5644,0.25,2.22,0.00,0.000,4,0.131,0.049,2520,893,3732
$GC,5679,-0.84,-219.0,773.7,-12.1,594,5682,0.00,2.22,0.00,0.000,6,0.000,0.044,2520,2264,3731
$GC,6008,-0.93,-219.0,805.7,-9.6,610,6009,0.12,0.00,0.00,0.000,6,0.064,0.000,2452,2265,3729
$GC,6311,-0.80,-219.0,849.6,-14.2,625,6315,0.20,2.30,0.00,0.000,4,0.133,0.050,2518,884,3727
$GC,6355,-0.88,-219.0,854.4,-9.8,627,6358,0.00,2.22,0.00,0.000,6,0.000,0.044,2518,2251,3727
$GC,6681,-0.98,-219.0,881.6,-8.1,643,6685,0.15,2.42,0.00,0.000,4,0.058,0.058,2439,3697,3724
$GC,6704,-0.98,-219.0,884.0,-10.7,644,6707,0.00,2.25,0.00,0.000,6,0.000,0.035,2439,2263,3723
$GC,7020,-0.81,-219.0,932.5,-15.8,660,7024,0.22,2.28,0.00,0.000,4,0.135,0.051,2514,887,3721
$GC,7074,-0.91,-219.0,938.6,-9.5,662,7080,0.00,2.28,0.00,0.000,6,0.000,0.048,2513,2252,3722
$GC,7385,-0.99,-219.0,964.0,-8.2,678,7386,0.15,0.00,0.00,0.000,6,0.059,0.000,2439,2252,3720
$STATE,7585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7585,begin apogee
$GC,7593,-0.20,0.0,992.5,14.7,688,7774,0.90,0.00,178.57,1.341,6,0.126,0.000,2716,2312,2854
$STATE,7774,end apogee,CONTROL_FINISHED_OK
$STATE,7774,begin climb
$GC,7779,0.91,219.0,1002.3,0.0,697,7984,1.00,2.58,195.80,1.299,4,0.044,0.058,3085,3675,1960
$GC,8198,0.49,219.0,948.6,20.5,716,8205,0.52,2.20,0.00,0.000,6,0.147,0.039,2944,2299,1954
$GC,8509,0.50,251.1,916.2,9.9,732,8541,0.00,2.30,27.98,1.228,4,0.000,0.054,2943,3682,1829
$GC,8607,0.46,251.1,904.8,12.5,736,8614,0.00,2.20,0.00,0.000,6,0.000,0.042,2952,2298,1827
$GC,8918,0.46,251.1,867.5,12.3,752,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2298,1824
$GC,9223,0.46,251.1,829.0,12.8,767,9226,0.00,2.30,0.00,0.000,4,0.000,0.054,2952,3682,1822
$GC,9293,0.40,251.1,819.4,14.9,770,9297,0.17,2.17,0.00,0.000,6,0.140,0.037,2910,2298,1822
$GC,9604,0.57,324.1,790.4,8.5,785,9670,0.15,0.00,63.58,1.209,6,0.061,0.000,2997,2294,1532
$GC,9974,0.49,324.1,741.8,12.7,803,9978,0.20,2.30,0.00,0.000,4,0.130,0.052,2933,3691,1525
$GC,10023,0.60,361.0,736.3,9.8,805,10061,0.00,2.15,32.45,1.151,6,0.000,0.035,2942,2315,1382
$GC,10383,0.75,404.5,702.1,9.5,823,10427,0.20,2.40,38.95,1.134,4,0.050,0.052,3053,894,1203
$GC,10470,0.65,404.5,687.0,18.5,827,10474,0.22,2.30,0.00,0.000,6,0.130,0.040,2988,2321,1200
$GC,10792,0.65,404.5,641.7,14.1,843,10795,0.00,2.22,0.00,0.000,4,0.000,0.054,2988,3692,1199
$GC,10851,0.65,404.5,633.0,14.6,845,10856,0.00,2.15,0.00,0.000,6,0.000,0.036,2995,2324,1198
$GC,11161,0.65,404.5,584.4,16.6,861,11165,0.00,2.33,0.00,0.000,4,0.000,0.050,3006,888,1197
$GC,11237,0.68,404.5,571.9,16.3,864,11244,0.00,2.30,0.00,0.000,6,0.000,0.039,3006,2325,1196
$GC,11548,0.68,404.5,520.2,15.8,880,11548,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2325,1195
$GC,11857,0.68,404.5,472.2,15.6,903,11860,0.00,2.25,0.00,0.000,4,0.000,0.054,3007,3695,1195
$GC,11879,0.68,404.5,468.6,16.1,905,11882,0.00,2.20,0.00,0.000,6,0.000,0.035,3015,2296,1195
$GC,12200,0.68,404.5,420.3,13.3,936,12203,0.00,2.28,0.00,0.000,4,0.000,0.050,3026,900,1195
$GC,12286,0.68,404.5,409.5,12.1,944,12290,0.00,2.22,0.00,0.000,6,0.000,0.039,3026,2294,1194
$GC,12607,0.65,404.5,365.5,14.0,975,12611,0.12,2.28,0.00,0.000,4,0.130,0.051,2989,3680,1194
$GC,12694,0.72,404.5,354.4,12.8,982,12699,0.00,2.20,0.00,0.000,6,0.000,0.038,2996,2301,1193
$GC,13013,0.78,404.5,317.6,11.1,1013,13017,0.10,2.30,0.00,0.000,4,0.070,0.048,3068,888,1194
$GC,13051,0.71,404.5,312.1,13.8,1016,13055,0.20,2.28,0.00,0.000,6,0.132,0.038,3011,2315,1194
$GC,13376,0.75,404.5,273.1,11.6,1067,13381,0.00,2.22,0.00,0.000,4,0.000,0.051,3011,3683,1194
$GC,13414,0.79,404.5,268.5,11.5,1074,13420,0.00,2.20,0.00,0.000,6,0.000,0.038,3019,2293,1194
$GC,13742,0.82,404.5,226.7,13.6,1135,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2293,1193
$GC,14069,0.88,404.5,182.7,12.9,1196,14076,0.12,2.25,0.00,0.000,4,0.064,0.048,3112,901,1194
$GC,14120,0.73,404.5,173.1,20.8,1205,14126,0.32,2.22,0.00,0.000,6,0.130,0.038,3017,2306,1193
$GC,14451,0.96,512.9,139.3,7.3,1266,14546,0.17,2.30,89.28,0.710,4,0.051,0.048,3134,3689,761
$GC,14617,0.89,512.9,112.5,15.0,1294,14623,0.25,2.12,0.00,0.000,6,0.127,0.033,3069,2322,758
$GC,14945,1.02,512.9,72.1,13.9,1355,14951,0.12,2.30,0.00,0.000,4,0.058,0.045,3154,884,757
$GC,15027,0.99,512.9,57.2,16.8,1370,15033,0.20,2.22,0.00,0.000,6,0.120,0.035,3094,2315,757
$GC,15358,1.28,603.4,31.1,7.9,1431,15429,0.22,2.35,62.45,0.601,4,0.044,0.044,3226,893,478
$GC,15493,1.20,603.4,7.1,19.2,1453,15499,0.20,2.20,0.00,0.000,6,0.131,0.036,3169,2309,469
$STATE,15512,end climb,SURFACE_DEPTH_REACHED
$STATE,15512,begin surface coast
$FINISH,1.8,1.011878
$STATE,15528,end surface coast,CONTROL_FINISHED_OK
$STATE,15528,begin surface
$SM_CCo,15607,0.00,0.000,0,0,466,585.78
$SM_GC,2.56,7.75,0.00,0.00,0.032,0.000,0.000,147,2320,466,-8.10,0.99,585.78
$IRIDIUM_FIX,2441.81,12306.51,021298,070748
$TT8_MAMPS,0.048321
$HUMID,1764
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.60
$XPDR_PINGS,702
$24V_AH,21.9,138.180
$10V_AH,10.2,87.514
$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,26.725,148.825,689.050,0.000,0.000,30.649,32.332,214.549,183.500,0.000,0.000,13.501,0.000,11113.446,754.675,3358.498,791.730,0.000,2089.364,0.000,2806.657,0.000,57.695,0.000
$DEVICE_MAMPS,221.663,96.642,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,986.167,988.268,1189.693,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82273,1460
$CAP_FILE_SIZE,167535,0
$CFSIZE,260165632,204423168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.358, 42.8,1
$GPS,070909,163407,2452.604,12305.633,34,1.0,34,-3.6