version: 66.04
glider: 165
mission: 2
dive: 612
start: 9 8 109 11 39 3
data:
$ID,165
$MISSION,2
$DIVE,612
$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,-133019.09
$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,48
$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
$GPS1,112655,2455.712,12305.976,40,1.6,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-65.7
$GPS2,113858,2455.872,12306.154,12,2.1,31,-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,266.7,87460,-16.0,-11.000
$D_GRID,1789
$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,-219.0,0.0,0.0,0,70,0.00,0.00,-54.42,0.000,2,0.000,0.000,146,2285,1983
$GC,74,-0.91,-219.0,3.4,-4.9,9,131,9.05,2.30,-43.65,0.000,4,0.216,0.062,2473,3674,3749
$GC,226,-0.43,-219.0,46.0,-36.8,35,233,0.47,2.17,0.00,0.000,6,0.126,0.039,2637,2291,3750
$GC,555,-0.43,-219.0,104.3,-10.2,96,561,0.00,2.25,0.00,0.000,4,0.000,0.051,2633,3679,3752
$GC,704,-0.62,-219.0,116.4,-7.1,123,712,0.10,2.22,0.00,0.000,6,0.044,0.032,2539,2252,3752
$GC,1034,-0.45,-219.0,182.0,-20.7,184,1040,0.28,2.20,0.00,0.000,4,0.126,0.048,2628,888,3754
$GC,1143,-0.71,-219.0,194.3,-9.0,204,1149,0.22,2.10,0.00,0.000,6,0.041,0.038,2506,2224,3754
$GC,1475,-0.51,-219.0,253.5,-18.1,265,1481,0.32,2.38,0.00,0.000,4,0.123,0.051,2602,3677,3754
$GC,1540,-0.75,-219.0,260.0,-5.2,277,1546,0.20,2.20,0.00,0.000,6,0.044,0.031,2482,2237,3754
$GC,1866,-0.51,-219.0,313.0,-19.2,332,1870,0.40,2.20,0.00,0.000,4,0.127,0.047,2610,878,3754
$GC,1942,-0.76,-219.0,321.3,-8.9,338,1947,0.20,2.10,0.00,0.000,6,0.046,0.038,2499,2204,3754
$GC,2258,-0.60,-219.0,381.7,-18.4,369,2259,0.28,0.00,0.00,0.000,6,0.122,0.000,2584,2205,3753
$GC,2572,-0.78,-219.0,399.2,-1.8,399,2576,0.15,2.45,0.00,0.000,4,0.054,0.054,2494,3682,3751
$GC,2599,-0.78,-219.0,400.5,-5.4,401,2603,0.12,2.30,0.00,0.000,6,0.122,0.038,2530,2211,3751
$GC,2915,-0.78,-219.0,431.5,-13.1,431,2918,0.00,2.12,0.00,0.000,4,0.000,0.048,2531,882,3748
$GC,2963,-0.82,-219.0,438.2,-14.3,435,2970,0.00,2.12,0.00,0.000,6,0.000,0.046,2530,2203,3748
$GC,3279,-0.82,-219.0,483.9,-14.4,466,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2203,3746
$GC,3597,-0.82,-219.0,515.8,-7.7,488,3600,0.00,2.45,0.00,0.000,4,0.000,0.061,2526,3673,3743
$GC,3624,-0.89,-219.0,517.8,-7.1,489,3627,0.00,2.30,0.00,0.000,6,0.000,0.034,2526,2214,3743
$GC,3936,-0.93,-219.0,543.7,-8.9,504,3939,0.12,2.17,0.00,0.000,4,0.062,0.054,2455,886,3741
$GC,4021,-0.79,-219.0,556.6,-16.2,508,4025,0.25,2.12,0.00,0.000,6,0.126,0.044,2528,2184,3740
$GC,4341,-0.84,-219.0,592.2,-10.8,524,4345,0.00,2.45,0.00,0.000,4,0.000,0.056,2521,3674,3737
$GC,4395,-0.96,-219.0,598.0,-9.5,526,4400,0.15,2.35,0.00,0.000,6,0.055,0.036,2441,2192,3736
$GC,4710,-0.77,-219.0,652.4,-17.1,542,4714,0.28,2.12,0.00,0.000,4,0.129,0.048,2530,887,3734
$GC,4775,-0.89,-219.0,660.5,-9.4,545,4778,0.10,2.08,0.00,0.000,6,0.069,0.041,2475,2183,3733
$GC,5100,-0.80,-219.0,705.4,-14.4,561,5104,0.15,2.47,0.00,0.000,4,0.134,0.057,2517,3667,3731
$GC,5207,-0.93,-219.0,718.1,-10.6,566,5211,0.12,2.28,0.00,0.000,6,0.060,0.033,2451,2202,3730
$GC,5524,-0.79,-219.0,771.0,-16.4,582,5528,0.20,2.15,0.00,0.000,4,0.133,0.049,2518,886,3727
$GC,5583,-0.88,-219.0,778.4,-10.1,585,5586,0.00,2.12,0.00,0.000,6,0.000,0.042,2517,2203,3727
$GC,5911,-0.96,-219.0,810.5,-9.7,601,5912,0.15,0.00,0.00,0.000,6,0.056,0.000,2440,2204,3724
$GC,6215,-0.79,-219.0,858.2,-16.1,616,6219,0.25,2.47,0.00,0.000,4,0.130,0.058,2521,3669,3722
$GC,6253,-0.89,-219.0,862.2,-8.9,618,6256,0.00,2.28,0.00,0.000,6,0.000,0.035,2520,2218,3721
$GC,6581,-0.99,-219.0,889.1,-8.3,634,6584,0.17,2.17,0.00,0.000,4,0.054,0.050,2425,884,3720
$GC,6656,-0.84,-219.0,900.2,-16.7,637,6660,0.30,2.15,0.00,0.000,6,0.130,0.046,2513,2202,3719
$GC,6968,-0.91,-219.0,930.9,-9.4,652,6972,0.00,2.45,0.00,0.000,4,0.000,0.058,2510,3676,3717
$GC,7017,-1.03,-219.0,935.3,-8.6,654,7020,0.17,2.30,0.00,0.000,6,0.052,0.034,2426,2206,3717
$GC,7328,-0.85,-219.0,983.6,-15.6,669,7332,0.22,2.17,0.00,0.000,4,0.136,0.050,2500,890,3715
$GC,7371,-0.89,-219.0,989.2,-10.6,671,7374,0.00,2.12,0.00,0.000,6,0.000,0.044,2500,2201,3715
$STATE,7379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7379,begin apogee
$GC,7386,-0.20,0.0,990.1,9.9,671,7566,0.62,0.00,177.15,1.332,6,0.107,0.000,2711,2309,2854
$STATE,7566,end apogee,CONTROL_FINISHED_OK
$STATE,7566,begin climb
$GC,7571,0.91,219.0,998.7,0.0,680,7778,1.00,2.65,195.70,1.293,4,0.045,0.051,3090,909,1960
$GC,7794,0.53,219.0,985.9,18.3,690,7799,0.55,2.47,0.00,0.000,6,0.153,0.041,2953,2290,1957
$GC,8106,0.48,219.0,948.6,11.5,705,8109,0.00,2.30,0.00,0.000,4,0.000,0.054,2952,3698,1952
$GC,8253,0.37,219.0,929.6,13.2,712,8257,0.20,2.15,0.00,0.000,6,0.148,0.033,2903,2308,1951
$GC,8581,0.55,311.0,900.6,7.9,728,8666,0.15,2.40,78.75,1.259,4,0.061,0.054,2994,3691,1586
$GC,8757,0.43,311.0,875.6,15.6,736,8761,0.30,2.15,0.00,0.000,6,0.135,0.033,2916,2317,1582
$GC,9074,0.66,413.7,849.5,7.5,752,9169,0.22,2.33,90.95,1.228,4,0.046,0.052,3031,3689,1166
$GC,9211,0.54,413.7,827.8,19.0,757,9217,0.30,2.15,0.00,0.000,6,0.127,0.034,2952,2332,1164
$GC,9522,0.64,413.7,792.0,11.3,773,9526,0.10,2.33,0.00,0.000,4,0.073,0.047,3027,889,1159
$GC,9597,0.64,413.7,780.5,15.1,776,9602,0.15,2.30,0.00,0.000,6,0.129,0.039,2985,2334,1158
$GC,9908,0.64,413.7,736.3,13.3,792,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2334,1157
$GC,10212,0.64,413.7,697.0,12.4,807,10216,0.00,2.20,0.00,0.000,4,0.000,0.052,2985,3685,1157
$GC,10266,0.64,413.7,690.1,13.6,809,10269,0.00,2.15,0.00,0.000,6,0.000,0.035,2992,2310,1157
$GC,10582,0.64,413.7,649.4,13.4,825,10586,0.00,2.30,0.00,0.000,4,0.000,0.047,3003,889,1156
$GC,10652,0.68,413.7,639.8,13.9,828,10655,0.00,2.28,0.00,0.000,6,0.000,0.038,3003,2324,1156
$GC,10973,0.68,413.7,587.1,17.4,844,10976,0.00,2.22,0.00,0.000,4,0.000,0.052,3003,3685,1155
$GC,11022,0.64,413.7,578.5,17.8,846,11025,0.00,2.12,0.00,0.000,6,0.000,0.034,3012,2330,1155
$GC,11344,0.61,413.7,522.9,16.9,862,11348,0.12,2.35,0.00,0.000,4,0.143,0.047,2987,888,1155
$GC,11409,0.70,413.7,513.7,13.3,865,11412,0.00,2.30,0.00,0.000,6,0.000,0.038,2987,2333,1153
$GC,11726,0.75,413.7,469.8,13.5,891,11730,0.10,2.20,0.00,0.000,4,0.071,0.050,3048,3680,1153
$GC,11748,0.75,413.7,466.1,15.5,892,11754,0.12,2.20,0.00,0.000,6,0.145,0.035,3023,2303,1153
$GC,12064,0.72,413.7,415.0,17.7,923,12067,0.00,2.30,0.00,0.000,4,0.000,0.048,3032,888,1153
$GC,12085,0.72,413.7,411.2,16.9,924,12091,0.00,2.33,0.00,0.000,6,0.000,0.042,3032,2319,1153
$GC,12404,0.66,413.7,356.2,17.5,955,12408,0.15,2.35,0.00,0.000,4,0.128,0.046,2996,896,1153
$GC,12436,0.73,413.7,350.9,14.0,958,12440,0.00,2.25,0.00,0.000,6,0.000,0.036,2996,2314,1153
$GC,12758,0.81,434.5,315.4,10.3,989,12780,0.12,2.28,16.62,0.834,4,0.061,0.050,3065,3689,1081
$GC,12879,0.69,434.5,293.6,21.5,1002,12886,0.20,2.17,0.00,0.000,6,0.128,0.035,3006,2328,1081
$GC,13210,0.77,434.5,244.6,14.7,1063,13216,0.00,2.30,0.00,0.000,4,0.000,0.046,3016,889,1080
$GC,13271,0.87,434.5,236.0,12.6,1074,13277,0.12,2.33,0.00,0.000,6,0.064,0.037,3098,2338,1080
$GC,13599,0.72,434.5,175.5,16.0,1135,13607,0.25,2.17,0.00,0.000,4,0.128,0.048,3017,3680,1080
$GC,13693,0.82,434.5,164.5,11.7,1152,13699,0.00,2.15,0.00,0.000,6,0.000,0.035,3024,2334,1080
$GC,14021,0.97,466.3,131.5,9.9,1213,14054,0.17,2.38,28.33,0.699,4,0.052,0.046,3139,886,951
$GC,14109,0.90,466.3,116.4,19.5,1228,14115,0.22,2.30,0.00,0.000,6,0.119,0.037,3071,2337,949
$GC,14437,1.02,466.3,74.6,11.4,1289,14443,0.10,2.33,0.00,0.000,4,0.067,0.048,3141,894,948
$GC,14481,0.99,466.3,68.7,14.7,1297,14488,0.12,2.28,0.00,0.000,6,0.117,0.035,3098,2316,948
$GC,14813,1.20,542.0,38.8,8.4,1358,14883,0.17,2.28,64.25,0.611,4,0.050,0.043,3209,891,641
$GC,14918,1.09,542.0,23.1,19.6,1375,14926,0.28,2.28,0.00,0.000,6,0.127,0.035,3127,2337,635
$STATE,15078,end climb,SURFACE_DEPTH_REACHED
$STATE,15078,begin surface coast
$FINISH,1.7,1.008661
$STATE,15105,end surface coast,CONTROL_FINISHED_OK
$STATE,15105,begin surface
$SM_CCo,15184,0.00,0.000,0,0,631,545.30
$SM_GC,2.48,7.70,0.00,0.00,0.038,0.000,0.000,174,2260,631,-8.08,-0.71,545.30
$IRIDIUM_FIX,2448.93,12305.82,031298,111144
$TT8_MAMPS,0.049088
$HUMID,1775
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.00
$XPDR_PINGS,718
$24V_AH,21.8,139.524
$10V_AH,10.1,88.145
$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,28.025,158.550,651.750,0.000,0.000,55.730,64.601,336.634,187.500,0.000,0.000,34.211,0.000,10811.586,735.647,3326.445,996.239,0.000,2043.901,0.000,2759.543,0.000,53.976,0.000
$DEVICE_MAMPS,215.527,75.933,1332.279,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,952.365,984.895,1193.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78920,1410
$CAP_FILE_SIZE,172373,0
$CFSIZE,260165632,203976704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.378, 38.4,1
$GPS,080909,155307,2457.954,12305.531,35,1.2,35,-3.6