version: 66.04
glider: 165
mission: 2
dive: 611
start: 9 8 109 6 50 33
data:
$ID,165
$MISSION,2
$DIVE,611
$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,-132984.25
$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,46
$R_STBD_OVSHOOT,37
$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
$GPS1,063807,2453.953,12306.179,30,1.3,30,-3.6
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-64.9
$GPS2,065028,2454.108,12306.342,14,3.6,33,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,268.2,89752,-16.0,-11.000
$D_GRID,1768
$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,-58.72,0.000,2,0.000,0.000,153,2326,1894
$GC,78,-0.91,-219.0,3.2,-4.1,9,142,8.98,2.20,-48.28,0.000,4,0.214,0.064,2473,3686,3747
$GC,237,-0.48,-219.0,45.9,-35.1,36,243,0.50,2.17,0.00,0.000,6,0.125,0.035,2626,2286,3748
$GC,566,-0.48,-219.0,98.3,-10.1,97,571,0.00,2.22,0.00,0.000,4,0.000,0.045,2626,878,3750
$GC,706,-0.65,-219.0,108.5,-6.3,123,712,0.17,2.15,0.00,0.000,6,0.049,0.039,2530,2247,3750
$GC,1034,-0.52,-219.0,172.7,-12.5,184,1040,0.22,2.33,0.00,0.000,4,0.124,0.051,2603,3685,3751
$GC,1063,-0.58,-219.0,175.1,-7.8,189,1069,0.00,2.25,0.00,0.000,6,0.000,0.031,2603,2231,3751
$GC,1392,-0.72,-219.0,200.7,-11.2,250,1399,0.15,2.15,0.00,0.000,4,0.052,0.047,2510,878,3751
$GC,1438,-0.61,-219.0,208.1,-18.2,258,1445,0.25,2.15,0.00,0.000,6,0.123,0.041,2583,2237,3752
$GC,1771,-0.70,-219.0,254.7,-9.1,319,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2237,3751
$GC,2097,-0.77,-219.0,278.4,-8.7,380,2103,0.15,2.20,0.00,0.000,4,0.054,0.046,2500,881,3751
$GC,2130,-0.67,-219.0,282.6,-14.0,386,2138,0.22,2.15,0.00,0.000,6,0.123,0.042,2561,2223,3750
$GC,2453,-0.71,-219.0,317.5,-10.5,431,2456,0.00,2.15,0.00,0.000,4,0.000,0.046,2562,882,3748
$GC,2491,-0.82,-219.0,321.3,-9.8,434,2498,0.15,2.15,0.00,0.000,6,0.054,0.042,2477,2221,3748
$GC,2808,-0.62,-219.0,380.4,-18.0,465,2809,0.32,0.00,0.00,0.000,6,0.127,0.000,2577,2221,3747
$GC,3121,-0.77,-219.0,400.3,-4.7,495,3125,0.15,2.40,0.00,0.000,4,0.054,0.054,2482,3691,3745
$GC,3170,-0.72,-219.0,404.9,-9.5,499,3174,0.22,2.30,0.00,0.000,6,0.120,0.033,2550,2206,3744
$GC,3492,-0.78,-219.0,430.8,-9.1,530,3495,0.00,2.12,0.00,0.000,4,0.000,0.052,2550,882,3743
$GC,3530,-0.89,-219.0,434.3,-9.3,533,3536,0.17,2.15,0.00,0.000,6,0.051,0.043,2460,2221,3742
$GC,3846,-0.69,-219.0,491.5,-18.0,564,3848,0.32,0.00,0.00,0.000,6,0.133,0.000,2559,2221,3740
$GC,4164,-0.82,-219.0,520.6,-7.8,583,4165,0.12,0.00,0.00,0.000,6,0.061,0.000,2479,2221,3738
$GC,4468,-0.68,-219.0,567.5,-15.6,598,4472,0.22,2.42,0.00,0.000,4,0.127,0.057,2549,3691,3734
$GC,4495,-0.72,-219.0,570.6,-11.5,599,4499,0.00,2.35,0.00,0.000,6,0.000,0.038,2549,2203,3734
$GC,4807,-0.83,-219.0,593.0,-6.8,614,4810,0.10,2.12,0.00,0.000,4,0.071,0.050,2483,880,3732
$GC,4839,-0.83,-219.0,596.1,-9.5,615,4842,0.12,2.12,0.00,0.000,6,0.134,0.043,2516,2216,3732
$GC,5156,-0.83,-219.0,627.3,-10.0,631,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2216,3730
$GC,5460,-0.83,-219.0,657.5,-9.6,646,5463,0.00,2.42,0.00,0.000,4,0.000,0.058,2510,3685,3727
$GC,5498,-0.90,-219.0,660.9,-8.7,648,5502,0.00,2.33,0.00,0.000,6,0.000,0.035,2510,2194,3727
$GC,5820,-0.90,-219.0,689.8,-8.7,664,5823,0.00,2.12,0.00,0.000,4,0.000,0.050,2510,877,3724
$GC,5900,-0.97,-219.0,696.9,-8.6,667,5906,0.12,2.12,0.00,0.000,6,0.062,0.043,2449,2201,3724
$GC,6212,-0.82,-219.0,739.1,-13.4,683,6216,0.20,2.47,0.00,0.000,4,0.137,0.056,2509,3681,3721
$GC,6276,-0.92,-219.0,744.8,-6.8,686,6280,0.00,2.33,0.00,0.000,6,0.000,0.035,2510,2197,3721
$GC,6593,-0.96,-219.0,767.1,-7.3,702,6597,0.12,2.15,0.00,0.000,4,0.065,0.050,2443,875,3720
$GC,6669,-0.84,-219.0,775.5,-11.7,705,6675,0.22,2.12,0.00,0.000,6,0.131,0.046,2506,2183,3719
$GC,6981,-0.87,-219.0,802.9,-9.1,721,6984,0.00,2.50,0.00,0.000,4,0.000,0.058,2506,3687,3717
$GC,7024,-0.97,-219.0,806.9,-8.8,723,7028,0.12,2.35,0.00,0.000,6,0.061,0.035,2441,2183,3716
$GC,7344,-0.81,-219.0,853.9,-15.3,739,7345,0.25,0.00,0.00,0.000,6,0.133,0.000,2516,2183,3714
$GC,7645,-0.90,-219.0,882.8,-8.8,754,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2184,3713
$GC,7950,-0.98,-219.0,908.8,-8.4,769,7952,0.15,0.00,0.00,0.000,6,0.060,0.000,2445,2183,3711
$GC,8256,-0.85,-219.0,953.4,-15.7,784,8258,0.20,0.00,0.00,0.000,6,0.135,0.000,2504,2183,3709
$GC,8561,-0.91,-219.0,988.4,-11.2,799,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2184,3708
$STATE,8577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8577,begin apogee
$GC,8586,-0.20,0.0,990.7,11.1,800,8765,0.62,0.00,176.50,1.340,6,0.104,0.000,2711,2296,2854
$STATE,8765,end apogee,CONTROL_FINISHED_OK
$STATE,8765,begin climb
$GC,8769,0.91,219.0,1004.3,0.0,809,8975,1.05,2.67,196.82,1.302,4,0.045,0.060,3089,3692,1960
$GC,9187,0.48,219.0,955.5,20.2,828,9193,0.57,2.22,0.00,0.000,6,0.146,0.040,2933,2307,1954
$GC,9498,0.53,261.0,924.1,9.6,844,9539,0.00,2.33,36.17,1.247,4,0.000,0.055,2933,3696,1789
$GC,9605,0.53,261.0,913.1,11.3,849,9608,0.00,2.20,0.00,0.000,6,0.000,0.035,2942,2302,1786
$GC,9926,0.55,280.9,878.8,10.3,865,9950,0.00,2.35,17.98,1.188,4,0.000,0.054,2942,3692,1708
$GC,10022,0.55,280.9,867.9,11.8,869,10025,0.00,2.15,0.00,0.000,6,0.000,0.035,2952,2317,1706
$GC,10338,0.55,280.9,832.6,11.2,885,10341,0.00,2.25,0.00,0.000,4,0.000,0.054,2952,3687,1704
$GC,10403,0.51,280.9,824.7,13.2,888,10406,0.00,2.15,0.00,0.000,6,0.000,0.036,2959,2325,1703
$GC,10730,0.48,280.9,786.3,11.7,904,10733,0.00,2.25,0.00,0.000,4,0.000,0.053,2960,3689,1702
$GC,10795,0.41,280.9,778.1,13.0,907,10798,0.20,2.15,0.00,0.000,6,0.137,0.035,2910,2323,1702
$GC,11120,0.64,379.5,752.0,7.7,923,11224,0.17,2.38,89.05,1.169,4,0.054,0.051,3024,900,1303
$GC,11257,0.58,379.5,733.1,14.1,929,11261,0.20,2.33,0.00,0.000,6,0.126,0.040,2968,2336,1299
$GC,11568,0.61,379.5,693.3,13.5,944,11571,0.00,2.20,0.00,0.000,4,0.000,0.054,2967,3691,1296
$GC,11648,0.61,379.5,681.3,14.5,947,11656,0.00,2.12,0.00,0.000,6,0.000,0.035,2974,2331,1295
$GC,11959,0.61,379.5,631.7,16.4,963,11962,0.00,2.33,0.00,0.000,4,0.000,0.049,2985,898,1295
$GC,12035,0.68,379.5,620.1,14.6,966,12040,0.00,2.33,0.00,0.000,6,0.000,0.040,2985,2335,1293
$GC,12345,0.68,379.5,575.2,13.1,982,12348,0.00,2.20,0.00,0.000,4,0.000,0.053,2985,3683,1293
$GC,12384,0.68,379.5,570.1,14.8,983,12390,0.00,2.12,0.00,0.000,6,0.000,0.036,2994,2331,1293
$GC,12694,0.68,379.5,526.4,14.5,999,12697,0.00,2.33,0.00,0.000,4,0.000,0.049,3005,900,1293
$GC,12726,0.68,379.5,521.9,14.3,1000,12729,0.00,2.30,0.00,0.000,6,0.000,0.038,3005,2337,1292
$GC,13043,0.64,379.5,473.6,15.3,1023,13046,0.00,2.20,0.00,0.000,4,0.000,0.053,3005,3680,1291
$GC,13113,0.59,379.5,462.1,16.2,1029,13119,0.15,2.10,0.00,0.000,6,0.122,0.036,2972,2336,1291
$GC,13430,0.67,379.5,421.2,13.2,1060,13433,0.00,2.35,0.00,0.000,4,0.000,0.048,2981,890,1291
$GC,13510,0.77,379.5,410.6,13.0,1067,13514,0.15,2.33,0.00,0.000,6,0.057,0.038,3056,2338,1290
$GC,13826,0.63,379.5,351.7,18.2,1097,13830,0.22,2.22,0.00,0.000,4,0.129,0.050,2983,3689,1290
$GC,13976,0.75,433.5,335.0,9.2,1110,14025,0.00,2.12,44.80,0.895,6,0.000,0.038,2990,2353,1085
$GC,14336,0.93,508.3,306.8,8.5,1145,14405,0.20,2.42,64.05,0.859,4,0.048,0.045,3119,894,780
$GC,14502,0.79,508.3,272.1,24.4,1171,14509,0.30,2.33,0.00,0.000,6,0.131,0.038,3031,2357,776
$GC,14831,0.84,508.3,223.9,12.9,1232,14837,0.00,2.38,0.00,0.000,4,0.000,0.048,3038,888,774
$GC,14864,0.91,508.3,219.1,11.8,1238,14870,0.00,2.30,0.00,0.000,6,0.000,0.038,3039,2337,774
$GC,15192,0.98,508.3,179.4,12.1,1299,15199,0.15,2.15,0.00,0.000,4,0.056,0.048,3121,3677,774
$GC,15232,0.86,508.3,172.6,18.6,1306,15238,0.25,2.12,0.00,0.000,6,0.130,0.038,3057,2321,774
$GC,15560,0.93,508.3,119.8,14.0,1367,15567,0.00,2.30,0.00,0.000,4,0.000,0.046,3066,883,774
$GC,15649,1.07,508.7,108.9,11.0,1383,15656,0.17,2.22,0.00,0.000,6,0.048,0.035,3155,2313,774
$GC,15978,1.04,508.7,67.7,11.8,1444,15984,0.15,2.20,0.00,0.000,4,0.134,0.046,3110,3674,773
$GC,16071,1.17,545.5,58.5,9.8,1461,16109,0.10,2.12,32.97,0.631,6,0.071,0.035,3174,2297,628
$STATE,16425,end climb,SURFACE_DEPTH_REACHED
$STATE,16425,begin surface coast
$FINISH,2.0,1.006083
$STATE,16438,end surface coast,CONTROL_FINISHED_OK
$STATE,16438,begin surface
$SM_CCo,16517,0.00,0.000,0,0,617,548.74
$SM_GC,2.64,7.78,0.00,0.00,0.031,0.000,0.000,163,2291,617,-8.09,0.17,548.74
$IRIDIUM_FIX,2448.93,12317.67,031298,060651
$TT8_MAMPS,0.048321
$HUMID,1807
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,25.70
$XPDR_PINGS,771
$24V_AH,21.7,139.260
$10V_AH,10.2,88.021
$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,26.425,148.625,658.350,0.000,0.000,50.233,76.748,350.798,200.750,0.000,0.000,36.157,0.000,11913.098,768.155,3526.480,1017.606,0.000,2143.483,0.000,2931.667,0.000,56.745,0.000
$DEVICE_MAMPS,213.993,69.797,1339.949,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.715,1043.789,1249.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85300,1529
$CAP_FILE_SIZE,176166,0
$CFSIZE,260165632,204058624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.329, 48.8,1
$GPS,080909,112655,2455.712,12305.976,40,1.6,40,-3.6