version: 66.04
glider: 165
mission: 2
dive: 600
start: 9 6 109 4 10 50
data:
$ID,165
$MISSION,2
$DIVE,600
$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,-132748.73
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,040307,2450.202,12305.622,30,1.2,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-64.5
$GPS2,041044,2450.267,12305.695,10,1.5,10,-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,239.5,95206,-16.0,-11.000
$D_GRID,1614
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,75,0.00,0.00,-56.30,0.000,2,0.000,0.000,147,2321,1896
$GC,78,-0.91,-219.0,3.1,-2.2,9,148,9.07,2.25,-50.75,0.000,4,0.214,0.061,2471,3677,3749
$GC,277,-0.64,-219.0,51.0,-21.3,44,283,0.32,2.17,0.00,0.000,6,0.121,0.032,2571,2265,3750
$GC,605,-0.55,-219.0,105.4,-13.6,105,611,0.10,2.20,0.00,0.000,4,0.137,0.045,2603,876,3753
$GC,749,-0.70,-219.0,119.9,-10.0,131,756,0.15,2.15,0.00,0.000,6,0.054,0.040,2512,2232,3753
$GC,1078,-0.46,-219.0,190.1,-21.2,192,1084,0.35,2.35,0.00,0.000,4,0.129,0.051,2616,3679,3753
$GC,1112,-0.53,-219.0,195.3,-12.3,198,1118,0.00,2.20,0.00,0.000,6,0.000,0.032,2616,2238,3753
$GC,1440,-0.72,-219.0,216.0,-4.4,259,1447,0.17,2.15,0.00,0.000,4,0.049,0.046,2505,884,3754
$GC,1522,-0.56,-219.0,226.1,-14.3,274,1528,0.35,2.12,0.00,0.000,6,0.126,0.044,2600,2223,3754
$GC,1850,-0.71,-219.0,251.9,-8.7,335,1856,0.15,0.00,0.00,0.000,6,0.052,0.000,2506,2223,3753
$GC,2175,-0.55,-219.0,310.5,-15.9,390,2179,0.28,2.20,0.00,0.000,4,0.136,0.046,2595,879,3753
$GC,2208,-0.64,-219.0,313.9,-8.8,392,2214,0.00,2.12,0.00,0.000,6,0.000,0.041,2595,2220,3753
$GC,2527,-0.82,-219.0,330.8,-5.1,423,2531,0.20,2.40,0.00,0.000,4,0.046,0.054,2468,3682,3752
$GC,2560,-0.72,-219.0,334.3,-12.5,425,2566,0.25,2.30,0.00,0.000,6,0.120,0.036,2545,2216,3752
$GC,2876,-0.72,-219.0,370.7,-12.0,456,2879,0.00,2.12,0.00,0.000,4,0.000,0.053,2545,888,3750
$GC,2909,-0.77,-219.0,374.8,-12.7,459,2916,0.00,2.08,0.00,0.000,6,0.000,0.040,2545,2205,3750
$GC,3233,-0.82,-219.0,413.6,-11.1,490,3236,0.00,2.40,0.00,0.000,4,0.000,0.054,2545,3681,3748
$GC,3260,-0.90,-219.0,416.5,-10.5,492,3263,0.15,2.28,0.00,0.000,6,0.052,0.038,2459,2221,3748
$GC,3581,-0.70,-219.0,469.2,-16.5,523,3585,0.28,2.40,0.00,0.000,4,0.130,0.054,2548,3669,3747
$GC,3608,-0.70,-219.0,472.6,-12.3,525,3611,0.00,2.22,0.00,0.000,6,0.000,0.032,2548,2218,3746
$GC,3933,-0.78,-219.0,493.6,-6.3,556,3936,0.00,2.40,0.00,0.000,4,0.000,0.054,2548,3677,3744
$GC,3960,-0.90,-219.0,495.6,-6.5,558,3964,0.17,2.28,0.00,0.000,6,0.050,0.035,2454,2220,3744
$GC,4275,-0.73,-219.0,546.9,-17.7,575,4279,0.25,2.20,0.00,0.000,4,0.128,0.051,2538,883,3742
$GC,4339,-0.84,-219.0,555.6,-10.9,578,4342,0.00,2.12,0.00,0.000,6,0.000,0.044,2538,2203,3742
$GC,4667,-0.93,-219.0,589.5,-10.2,594,4671,0.17,2.42,0.00,0.000,4,0.054,0.055,2439,3677,3740
$GC,4731,-0.82,-219.0,599.0,-15.5,597,4735,0.25,2.28,0.00,0.000,6,0.120,0.038,2514,2221,3740
$GC,5057,-0.86,-219.0,635.3,-11.2,613,5060,0.00,2.12,0.00,0.000,4,0.000,0.048,2514,889,3738
$GC,5094,-0.94,-219.0,640.2,-11.4,614,5099,0.00,2.15,0.00,0.000,6,0.000,0.048,2511,2210,3737
$GC,5406,-0.98,-219.0,677.0,-11.3,630,5410,0.15,2.42,0.00,0.000,4,0.057,0.057,2428,3677,3735
$GC,5444,-0.87,-219.0,682.5,-16.8,632,5448,0.25,2.28,0.00,0.000,6,0.123,0.035,2503,2218,3734
$GC,5768,-0.91,-219.0,717.0,-10.0,648,5772,0.00,2.12,0.00,0.000,4,0.000,0.049,2504,890,3733
$GC,5818,-0.99,-219.0,721.8,-9.6,650,5821,0.12,2.12,0.00,0.000,6,0.061,0.044,2441,2217,3732
$GC,6136,-0.86,-219.0,767.0,-14.8,666,6140,0.20,2.42,0.00,0.000,4,0.136,0.056,2495,3674,3729
$GC,6212,-0.94,-219.0,775.8,-10.3,669,6217,0.00,2.25,0.00,0.000,6,0.000,0.033,2495,2223,3729
$GC,6522,-0.94,-219.0,808.6,-10.8,685,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2224,3726
$GC,6828,-0.94,-219.0,839.7,-10.2,700,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2223,3725
$GC,7134,-0.97,-219.0,871.3,-10.3,715,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2223,3723
$GC,7438,-1.00,-219.0,903.3,-10.6,730,7442,0.12,2.20,0.00,0.000,4,0.066,0.053,2432,883,3721
$GC,7493,-0.90,-219.0,910.8,-15.6,732,7498,0.22,2.20,0.00,0.000,6,0.137,0.051,2491,2206,3720
$GC,7804,-0.93,-219.0,944.7,-10.0,748,7807,0.00,2.45,0.00,0.000,4,0.000,0.061,2491,3670,3719
$GC,7846,-1.02,-219.0,949.0,-9.8,750,7850,0.12,2.28,0.00,0.000,6,0.061,0.035,2428,2218,3719
$STATE,8139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8139,begin apogee
$GC,8147,-0.20,0.0,990.9,13.7,765,8328,0.93,0.00,178.10,1.332,6,0.124,0.000,2715,2286,2854
$STATE,8328,end apogee,CONTROL_FINISHED_OK
$STATE,8328,begin climb
$GC,8332,0.91,219.0,997.6,0.0,774,8534,0.98,2.55,191.45,1.290,4,0.043,0.057,3083,3692,1960
$GC,8747,0.49,219.0,937.3,20.6,793,8752,0.52,2.20,0.00,0.000,6,0.151,0.038,2942,2308,1954
$GC,9059,0.51,274.4,905.0,9.1,808,9113,0.00,2.38,47.85,1.234,4,0.000,0.054,2942,3685,1734
$GC,9163,0.51,274.4,893.9,11.3,813,9167,0.00,2.20,0.00,0.000,6,0.000,0.036,2951,2299,1732
$GC,9491,0.54,298.1,859.9,10.2,829,9514,0.00,0.00,21.40,1.180,6,0.000,0.000,2951,2300,1638
$GC,9815,0.54,298.1,823.1,12.2,845,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2300,1634
$GC,10120,0.54,298.1,782.9,13.4,860,10124,0.00,2.30,0.00,0.000,4,0.000,0.054,2950,3693,1633
$GC,10207,0.54,298.1,770.2,14.9,864,10210,0.00,2.17,0.00,0.000,6,0.000,0.035,2959,2305,1632
$GC,10528,0.54,298.1,726.6,12.7,880,10532,0.00,2.28,0.00,0.000,4,0.000,0.053,2960,3686,1631
$GC,10620,0.51,298.1,713.9,13.8,884,10623,0.00,2.12,0.00,0.000,6,0.000,0.037,2967,2323,1631
$GC,10936,0.47,298.1,673.7,12.9,900,10937,0.12,0.00,0.00,0.000,6,0.148,0.000,2933,2323,1630
$GC,11241,0.54,298.1,640.0,11.4,915,11244,0.00,2.28,0.00,0.000,4,0.000,0.054,2933,3697,1630
$GC,11290,0.58,298.1,633.9,13.4,917,11293,0.00,2.15,0.00,0.000,6,0.000,0.035,2940,2321,1630
$GC,11612,0.63,298.1,592.9,12.1,933,11616,0.12,2.28,0.00,0.000,4,0.065,0.052,3024,3689,1630
$GC,11682,0.44,298.1,580.5,20.0,936,11686,0.38,2.10,0.00,0.000,6,0.133,0.035,2923,2352,1630
$GC,11993,0.65,384.9,551.6,8.1,951,12074,0.20,2.33,76.07,1.052,4,0.051,0.052,3029,3698,1283
$GC,12096,0.53,384.9,536.5,17.4,956,12100,0.30,2.15,0.00,0.000,6,0.130,0.034,2950,2353,1282
$GC,12418,0.71,445.9,506.5,8.9,972,12480,0.17,2.45,53.08,1.003,4,0.052,0.052,3050,896,1036
$GC,12520,0.66,445.9,491.1,15.2,978,12526,0.20,2.35,0.00,0.000,6,0.123,0.040,2992,2352,1033
$GC,12836,0.72,445.9,448.2,12.9,1009,12840,0.00,2.35,0.00,0.000,4,0.000,0.047,3001,898,1029
$GC,12879,0.80,445.9,442.5,12.9,1012,12885,0.10,2.35,0.00,0.000,6,0.074,0.041,3057,2361,1029
$GC,13195,0.69,445.9,380.3,19.1,1043,13199,0.20,2.15,0.00,0.000,4,0.130,0.051,2991,3688,1029
$GC,13316,0.77,445.9,362.8,13.5,1053,13322,0.00,2.10,0.00,0.000,6,0.000,0.034,2998,2342,1029
$GC,13635,0.83,445.9,324.5,11.5,1084,13638,0.15,2.35,0.00,0.000,4,0.057,0.047,3098,888,1028
$GC,13688,0.72,445.9,314.3,19.5,1088,13695,0.30,2.35,0.00,0.000,6,0.134,0.039,3012,2346,1027
$GC,14013,0.78,445.9,258.6,17.7,1141,14018,0.00,2.38,0.00,0.000,4,0.000,0.048,3021,888,1027
$GC,14036,0.84,445.9,255.0,16.0,1145,14041,0.00,2.30,0.00,0.000,6,0.000,0.037,3021,2341,1027
$GC,14363,0.90,445.9,210.3,11.6,1206,14369,0.12,2.20,0.00,0.000,4,0.063,0.055,3102,3690,1027
$GC,14401,0.73,445.9,204.0,18.3,1213,14407,0.32,2.10,0.00,0.000,6,0.129,0.033,3014,2339,1027
$GC,14729,0.82,445.9,170.0,11.4,1274,14735,0.00,2.35,0.00,0.000,4,0.000,0.051,3024,887,1027
$GC,14794,0.98,467.3,162.4,10.3,1286,14820,0.20,2.33,18.23,0.712,6,0.047,0.041,3138,2343,948
$GC,15145,0.84,467.3,96.1,16.5,1350,15151,0.28,2.38,0.00,0.000,4,0.126,0.047,3057,886,946
$GC,15185,0.97,490.5,90.7,10.2,1357,15211,0.05,2.30,20.17,0.657,6,0.059,0.036,3138,2335,853
$GC,15536,0.97,490.5,31.8,13.8,1421,15542,0.15,2.17,0.00,0.000,4,0.127,0.049,3093,3689,851
$GC,15639,1.16,536.0,21.2,9.5,1440,15683,0.10,2.08,39.92,0.609,6,0.046,0.037,3171,2356,668
$STATE,15775,end climb,SURFACE_DEPTH_REACHED
$STATE,15775,begin surface coast
$FINISH,1.9,1.018613
$STATE,15794,end surface coast,CONTROL_FINISHED_OK
$STATE,15794,begin surface
$SM_CCo,15873,0.00,0.000,0,0,659,538.68
$SM_GC,2.72,7.68,0.00,0.00,0.026,0.000,0.000,148,2262,659,-8.10,-0.65,538.68
$IRIDIUM_FIX,2441.81,12311.78,301198,232347
$TT8_MAMPS,0.049088
$HUMID,1831
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.00
$XPDR_PINGS,724
$24V_AH,22.3,136.350
$10V_AH,10.2,86.645
$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,27.450,153.575,646.275,0.000,0.000,27.234,31.916,223.270,189.000,0.000,0.000,11.940,0.000,11361.630,764.706,3359.804,808.355,0.000,2080.642,0.000,2800.463,0.000,54.000,0.000
$DEVICE_MAMPS,213.993,63.661,1332.279,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,992.519,984.499,1169.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82230,1468
$CAP_FILE_SIZE,170723,0
$CFSIZE,260165632,205037568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.247, 60.6,1
$GPS,060909,083625,2449.693,12305.379,38,1.0,38,-3.6