version: 66.04
glider: 165
mission: 2
dive: 615
start: 9 9 109 5 13 12
data:
$ID,165
$MISSION,2
$DIVE,615
$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,330
$T_MISSION,396
$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,-133483.42
$T_RSLEEP,10
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,050906,2507.961,12310.106,7,2.0,23,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.4
$GPS2,051308,2508.053,12310.200,11,1.5,11,-3.7
$SPEED_LIMITS,0.173,0.311
$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,296.2,81864,-14.7,-10.000
$D_GRID,1647
$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,-0.86,-219.0,0.0,0.0,0,79,0.00,0.00,-63.28,0.000,2,0.000,0.000,174,2289,2009
$GC,84,-0.86,-219.0,3.0,-4.9,10,147,9.15,2.22,-48.35,0.000,4,0.219,0.061,2484,3694,3748
$GC,270,-0.42,-219.0,54.1,-33.8,43,277,0.45,2.17,0.00,0.000,6,0.134,0.033,2642,2282,3748
$GC,599,-0.42,-219.0,114.9,-12.7,104,605,0.00,2.20,0.00,0.000,4,0.000,0.048,2642,871,3748
$GC,749,-0.58,-219.0,126.3,-6.9,131,755,0.15,2.10,0.00,0.000,6,0.051,0.039,2549,2237,3748
$GC,1077,-0.45,-219.0,175.2,-16.0,192,1084,0.25,2.30,0.00,0.000,4,0.121,0.051,2630,3691,3748
$GC,1101,-0.48,-219.0,178.3,-12.6,196,1108,0.00,2.22,0.00,0.000,6,0.000,0.031,2630,2216,3748
$GC,1432,-0.69,-219.0,202.4,-4.5,257,1437,0.17,0.00,0.00,0.000,6,0.050,0.000,2516,2216,3748
$GC,1760,-0.51,-219.0,259.5,-15.7,318,1765,0.28,2.10,0.00,0.000,4,0.123,0.048,2608,881,3747
$GC,1846,-0.69,-219.0,266.8,-6.1,334,1852,0.15,2.08,0.00,0.000,6,0.052,0.040,2515,2221,3746
$GC,2176,-0.52,-219.0,313.6,-15.0,388,2178,0.30,0.00,0.00,0.000,6,0.119,0.000,2610,2221,3743
$GC,2491,-0.73,-219.0,334.6,-5.1,418,2494,0.17,2.35,0.00,0.000,4,0.050,0.053,2497,3690,3741
$GC,2517,-0.73,-219.0,336.9,-8.8,420,2521,0.17,2.30,0.00,0.000,6,0.117,0.034,2552,2182,3740
$GC,2833,-0.73,-219.0,363.2,-8.6,450,2836,0.00,2.05,0.00,0.000,4,0.000,0.048,2552,874,3738
$GC,2860,-0.73,-219.0,365.6,-9.2,452,2869,0.00,2.08,0.00,0.000,6,0.000,0.041,2551,2201,3738
$GC,3179,-0.73,-219.0,395.5,-9.6,483,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2201,3735
$GC,3491,-0.73,-219.0,425.0,-8.8,513,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2201,3733
$GC,3811,-0.77,-219.0,446.4,-6.0,544,3814,0.00,2.42,0.00,0.000,4,0.000,0.062,2550,3683,3730
$GC,3843,-0.87,-219.0,448.6,-5.7,546,3849,0.15,2.33,0.00,0.000,6,0.054,0.040,2464,2184,3730
$GC,4160,-0.61,-219.0,497.9,-18.9,577,4164,0.35,2.08,0.00,0.000,4,0.131,0.048,2578,881,3726
$GC,4230,-0.78,-219.0,505.8,-7.8,581,4234,0.15,2.10,0.00,0.000,6,0.054,0.044,2488,2204,3726
$GC,4550,-0.65,-219.0,551.1,-15.3,597,4554,0.22,2.40,0.00,0.000,4,0.126,0.056,2564,3677,3723
$GC,4572,-0.65,-219.0,554.5,-13.9,598,4575,0.00,2.30,0.00,0.000,6,0.000,0.037,2563,2195,3722
$GC,4888,-0.79,-219.0,582.7,-8.5,614,4892,0.10,2.08,0.00,0.000,4,0.073,0.048,2494,882,3721
$GC,4932,-0.74,-219.0,587.5,-11.7,616,4936,0.15,2.10,0.00,0.000,6,0.130,0.043,2538,2206,3720
$GC,5257,-0.80,-219.0,613.4,-7.3,632,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2206,3717
$GC,5559,-0.87,-219.0,637.3,-8.4,647,5560,0.12,0.00,0.00,0.000,6,0.063,0.000,2466,2206,3714
$GC,5865,-0.70,-219.0,683.7,-15.5,662,5866,0.28,0.00,0.00,0.000,6,0.128,0.000,2552,2206,3712
$GC,6170,-0.83,-219.0,710.2,-7.6,677,6173,0.12,2.17,0.00,0.000,4,0.063,0.051,2479,874,3709
$GC,6192,-0.86,-219.0,712.3,-9.8,678,6195,0.00,2.12,0.00,0.000,6,0.000,0.046,2478,2201,3709
$GC,6514,-0.75,-219.0,753.8,-13.4,694,6518,0.17,2.42,0.00,0.000,4,0.136,0.059,2534,3676,3707
$GC,6535,-0.75,-219.0,756.5,-12.5,695,6538,0.00,2.30,0.00,0.000,6,0.000,0.035,2534,2194,3706
$GC,6852,-0.83,-219.0,787.6,-10.2,711,6855,0.00,2.10,0.00,0.000,4,0.000,0.051,2534,884,3704
$GC,6932,-0.93,-219.0,795.8,-10.0,714,6938,0.15,2.12,0.00,0.000,6,0.057,0.044,2455,2188,3703
$GC,7244,-0.77,-219.0,840.9,-13.7,730,7245,0.25,0.00,0.00,0.000,6,0.132,0.000,2531,2188,3701
$GC,7548,-0.85,-219.0,864.9,-7.6,745,7552,0.00,2.47,0.00,0.000,4,0.000,0.060,2531,3681,3699
$GC,7591,-1.00,-219.0,868.2,-7.6,747,7595,0.20,2.33,0.00,0.000,6,0.047,0.036,2436,2194,3698
$GC,7911,-0.78,-219.0,916.1,-15.6,763,7915,0.28,2.15,0.00,0.000,4,0.135,0.051,2525,881,3697
$GC,7949,-0.83,-219.0,921.0,-9.7,765,7952,0.00,2.12,0.00,0.000,6,0.000,0.045,2523,2198,3697
$GC,8277,-0.90,-219.0,948.3,-8.3,781,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2198,3695
$GC,8581,-0.97,-219.0,971.7,-7.3,796,8583,0.17,0.00,0.00,0.000,6,0.054,0.000,2437,2199,3694
$STATE,8720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8720,begin apogee
$GC,8729,-0.20,0.0,991.6,15.5,803,8904,0.88,0.00,170.73,1.344,6,0.128,0.000,2708,2300,2854
$STATE,8904,end apogee,CONTROL_FINISHED_OK
$STATE,8904,begin climb
$GC,8908,0.86,219.0,1001.9,0.0,812,9103,0.93,2.45,183.62,1.309,4,0.049,0.059,3061,3682,1960
$GC,9211,0.45,219.0,972.8,20.6,826,9215,0.50,2.17,0.00,0.000,6,0.145,0.039,2925,2305,1955
$GC,9532,0.46,231.6,939.9,9.6,842,9544,0.00,0.00,11.32,1.132,6,0.000,0.000,2925,2305,1908
$GC,9838,0.48,244.7,910.1,9.6,857,9858,0.00,2.35,12.23,1.148,4,0.000,0.054,2930,892,1855
$GC,9885,0.51,268.1,905.6,9.3,859,9910,0.00,2.28,21.52,1.207,6,0.000,0.044,2930,2310,1762
$GC,10222,0.51,268.1,868.5,11.6,876,10225,0.00,2.25,0.00,0.000,4,0.000,0.057,2930,3692,1757
$GC,10401,0.47,268.1,844.6,14.4,884,10405,0.00,2.17,0.00,0.000,6,0.000,0.038,2939,2306,1756
$GC,10723,0.47,268.1,803.2,12.2,900,10726,0.00,2.28,0.00,0.000,4,0.000,0.054,2939,3685,1755
$GC,10799,0.41,268.1,793.2,14.5,903,10805,0.12,2.12,0.00,0.000,6,0.146,0.037,2914,2330,1755
$GC,11110,0.46,268.1,760.9,10.2,919,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2330,1754
$GC,11416,0.55,294.4,731.9,9.2,934,11444,0.12,2.28,23.27,1.152,4,0.069,0.055,2985,3677,1653
$GC,11489,0.39,294.4,721.9,15.7,937,11493,0.30,2.12,0.00,0.000,6,0.137,0.036,2907,2322,1652
$GC,11801,0.58,375.1,697.2,7.5,952,11881,0.17,2.35,70.70,1.156,4,0.053,0.055,3007,3683,1325
$GC,11908,0.45,375.1,681.4,18.2,957,11912,0.30,2.15,0.00,0.000,6,0.131,0.037,2929,2331,1322
$GC,12225,0.56,375.1,644.3,12.5,973,12228,0.00,2.33,0.00,0.000,4,0.000,0.050,2938,889,1318
$GC,12273,0.68,375.1,638.2,12.4,975,12277,0.17,2.33,0.00,0.000,6,0.053,0.041,3023,2340,1317
$GC,12584,0.55,375.1,577.9,19.7,990,12585,0.22,0.00,0.00,0.000,6,0.133,0.000,2957,2341,1317
$GC,12890,0.59,375.1,532.8,14.5,1005,12893,0.00,2.40,0.00,0.000,4,0.000,0.051,2964,886,1315
$GC,12917,0.66,375.1,529.1,12.9,1006,12920,0.00,2.35,0.00,0.000,6,0.000,0.040,2964,2352,1314
$GC,13235,0.70,375.1,485.0,13.8,1027,13239,0.12,2.20,0.00,0.000,4,0.065,0.054,3028,3690,1314
$GC,13306,0.55,375.1,471.7,21.1,1033,13310,0.28,2.12,0.00,0.000,6,0.137,0.037,2957,2350,1314
$GC,13623,0.61,375.1,436.6,10.5,1063,13626,0.00,2.40,0.00,0.000,4,0.000,0.049,2964,881,1314
$GC,13681,0.72,375.1,430.3,10.3,1068,13685,0.12,2.35,0.00,0.000,6,0.063,0.039,3027,2340,1313
$GC,14004,0.60,375.1,380.9,16.5,1099,14007,0.17,2.22,0.00,0.000,4,0.135,0.052,2971,3689,1313
$GC,14062,0.60,375.1,371.9,14.8,1104,14069,0.00,2.17,0.00,0.000,6,0.000,0.036,2979,2327,1313
$GC,14382,0.60,375.1,328.3,14.4,1135,14385,0.00,2.25,0.00,0.000,4,0.000,0.052,2979,3686,1313
$GC,14404,0.60,375.1,324.5,14.9,1137,14407,0.00,2.12,0.00,0.000,6,0.000,0.035,2986,2330,1313
$GC,14726,0.69,420.6,285.5,8.6,1181,14774,0.00,2.38,37.92,0.858,4,0.000,0.051,2995,898,1138
$GC,14847,0.84,460.4,275.7,8.8,1202,14890,0.08,2.33,34.62,0.834,6,0.028,0.044,3090,2328,976
$GC,15211,0.65,460.4,202.6,19.3,1269,15217,0.30,0.00,0.00,0.000,6,0.125,0.000,2992,2329,972
$GC,15539,0.82,478.6,169.8,9.4,1330,15559,0.15,0.00,15.65,0.720,6,0.057,0.000,3078,2329,902
$GC,15880,0.82,478.6,115.3,12.2,1393,15886,0.12,2.35,0.00,0.000,4,0.129,0.047,3047,885,900
$GC,15941,0.97,478.6,108.3,11.2,1404,15948,0.05,2.30,0.00,0.000,6,0.028,0.037,3128,2329,899
$GC,16271,0.97,478.6,64.2,12.5,1465,16277,0.12,2.17,0.00,0.000,4,0.130,0.048,3091,3677,899
$GC,16434,1.16,578.7,49.6,6.9,1495,16529,0.12,2.10,88.28,0.628,6,0.042,0.038,3178,2350,490
$STATE,16741,end climb,SURFACE_DEPTH_REACHED
$STATE,16741,begin surface coast
$FINISH,2.3,1.021323
$STATE,16760,end surface coast,CONTROL_FINISHED_OK
$STATE,16760,begin surface
$SM_CCo,16839,0.00,0.000,0,0,473,584.06
$SM_GC,2.94,7.80,0.00,0.00,0.035,0.000,0.000,166,2276,473,-8.08,-0.25,584.06
$IRIDIUM_FIX,2500.82,12304.43,041298,050555
$TT8_MAMPS,0.049855
$HUMID,1918
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,25.70
$XPDR_PINGS,1164
$24V_AH,23.3,140.445
$10V_AH,10.1,88.575
$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,27.300,134.375,669.875,0.000,0.000,0.000,0.000,0.000,299.000,0.000,0.000,14.210,0.000,12210.599,763.825,3464.459,443.021,0.000,2121.592,0.000,2896.641,0.000,54.020,0.000
$DEVICE_MAMPS,219.362,79.768,1343.784,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.489,1063.574,1264.031,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88409,1553
$CAP_FILE_SIZE,220585,0
$CFSIZE,260165632,203624448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.391, 54.0,1
$GPS,090909,095455,2511.132,12310.415,39,1.2,39,-3.7