version: 66.04
glider: 165
mission: 2
dive: 580
start: 9 2 109 8 52 24
data:
$ID,165
$MISSION,2
$DIVE,580
$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,-132355.72
$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,35
$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
$GPS1,084431,2438.663,12328.617,39,1.7,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-67.8
$GPS2,085219,2438.710,12328.632,9,1.7,14,-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,293.0,137746,-16.0,-11.000
$D_GRID,1475
$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,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,74,0.00,0.00,-55.47,0.000,2,0.000,0.000,131,2285,1848
$GC,77,-0.91,-219.0,3.1,-4.0,8,147,9.25,2.30,-51.88,0.000,4,0.216,0.066,2469,3677,3749
$GC,276,-0.52,-219.0,56.4,-29.2,43,282,0.45,2.15,0.00,0.000,6,0.123,0.034,2608,2276,3749
$GC,603,-0.52,-219.0,109.5,-12.7,104,609,0.00,2.20,0.00,0.000,4,0.000,0.047,2609,874,3752
$GC,763,-0.64,-219.0,125.1,-9.3,133,768,0.00,2.17,0.00,0.000,6,0.000,0.039,2608,2262,3752
$GC,1090,-0.68,-219.0,167.6,-12.8,194,1097,0.15,2.20,0.00,0.000,4,0.055,0.045,2524,878,3752
$GC,1151,-0.59,-219.0,177.1,-15.3,205,1158,0.17,2.20,0.00,0.000,6,0.114,0.041,2581,2254,3752
$GC,1480,-0.59,-219.0,215.9,-11.3,266,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2254,3752
$GC,1808,-0.67,-219.0,247.8,-9.4,327,1814,0.00,2.20,0.00,0.000,4,0.000,0.048,2582,874,3752
$GC,1846,-0.81,-219.0,251.2,-8.6,334,1854,0.17,2.20,0.00,0.000,6,0.049,0.041,2480,2272,3752
$GC,2180,-0.57,-219.0,310.5,-18.7,391,2184,0.35,2.22,0.00,0.000,4,0.132,0.047,2591,883,3752
$GC,2256,-0.78,-219.0,317.9,-6.8,398,2259,0.17,2.15,0.00,0.000,6,0.048,0.039,2487,2249,3752
$GC,2578,-0.64,-219.0,369.3,-14.7,429,2582,0.25,2.33,0.00,0.000,4,0.123,0.053,2564,3686,3752
$GC,2600,-0.64,-219.0,371.8,-11.2,430,2607,0.00,2.22,0.00,0.000,6,0.000,0.035,2564,2240,3751
$GC,2916,-0.77,-219.0,394.6,-8.0,461,2919,0.00,2.12,0.00,0.000,4,0.000,0.047,2563,887,3749
$GC,3014,-0.96,-219.0,402.6,-8.7,470,3017,0.25,2.15,0.00,0.000,6,0.041,0.045,2442,2239,3749
$GC,3329,-0.71,-219.0,462.8,-19.7,500,3333,0.32,2.17,0.00,0.000,4,0.134,0.048,2547,891,3747
$GC,3421,-0.86,-219.0,473.0,-8.0,508,3425,0.12,2.12,0.00,0.000,6,0.059,0.044,2468,2226,3746
$GC,3753,-0.72,-219.0,523.1,-15.6,533,3756,0.22,2.17,0.00,0.000,4,0.128,0.051,2543,892,3744
$GC,3818,-0.87,-219.0,530.3,-8.2,536,3822,0.12,2.12,0.00,0.000,6,0.059,0.047,2468,2219,3744
$GC,4142,-0.74,-219.0,579.2,-15.6,552,4146,0.20,2.42,0.00,0.000,4,0.130,0.061,2534,3677,3741
$GC,4175,-0.82,-219.0,583.3,-10.4,553,4180,0.00,2.30,0.00,0.000,6,0.000,0.033,2534,2199,3740
$GC,4486,-0.92,-219.0,611.1,-9.4,569,4489,0.15,2.45,0.00,0.000,4,0.056,0.055,2450,3685,3738
$GC,4518,-0.86,-219.0,615.4,-14.3,570,4525,0.17,2.30,0.00,0.000,6,0.123,0.035,2502,2218,3736
$GC,4829,-0.86,-219.0,654.9,-12.0,586,4832,0.00,2.12,0.00,0.000,4,0.000,0.049,2502,883,3734
$GC,4920,-0.93,-219.0,666.0,-11.7,590,4923,0.00,2.10,0.00,0.000,6,0.000,0.042,2500,2208,3734
$GC,5242,-0.93,-219.0,706.4,-11.8,606,5245,0.00,2.42,0.00,0.000,4,0.000,0.060,2500,3682,3732
$GC,5301,-1.03,-219.0,712.6,-10.5,609,5304,0.15,2.28,0.00,0.000,6,0.056,0.035,2425,2207,3730
$GC,5631,-0.84,-219.0,766.2,-16.1,625,5635,0.22,2.12,0.00,0.000,4,0.135,0.051,2500,894,3728
$GC,5679,-0.91,-219.0,772.5,-9.4,627,5682,0.00,2.10,0.00,0.000,6,0.000,0.044,2500,2209,3728
$GC,5996,-0.96,-219.0,802.7,-10.1,643,6000,0.00,2.42,0.00,0.000,4,0.000,0.061,2500,3677,3725
$GC,6034,-1.07,-219.0,806.4,-9.0,645,6038,0.20,2.28,0.00,0.000,6,0.050,0.035,2406,2215,3725
$GC,6358,-0.85,-219.0,859.1,-16.3,661,6362,0.30,2.15,0.00,0.000,4,0.136,0.051,2503,894,3722
$GC,6423,-0.95,-219.0,866.4,-8.8,664,6426,0.00,2.08,0.00,0.000,6,0.000,0.044,2503,2195,3722
$GC,6744,-1.03,-219.0,896.9,-9.6,680,6746,0.15,0.00,0.00,0.000,6,0.058,0.000,2429,2195,3720
$GC,7050,-0.89,-219.0,943.1,-15.3,695,7054,0.20,2.15,0.00,0.000,4,0.135,0.051,2493,893,3718
$GC,7104,-0.97,-219.0,948.8,-9.2,697,7109,0.00,2.10,0.00,0.000,6,0.000,0.046,2493,2197,3718
$GC,7416,-1.03,-219.0,974.6,-7.9,713,7417,0.12,0.00,0.00,0.000,6,0.064,0.000,2431,2197,3715
$STATE,7533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7533,begin apogee
$GC,7541,-0.20,0.0,990.1,13.5,719,7720,0.90,0.00,177.12,1.335,6,0.123,0.000,2713,2315,2854
$STATE,7721,end apogee,CONTROL_FINISHED_OK
$STATE,7721,begin climb
$GC,7724,0.91,219.0,998.8,0.0,728,7920,0.98,2.47,185.35,1.300,4,0.044,0.054,3097,913,1960
$GC,8043,0.55,219.0,962.2,20.2,742,8050,0.47,2.28,0.00,0.000,6,0.154,0.048,2962,2301,1952
$GC,8355,0.43,219.0,923.6,11.8,758,8358,0.15,2.28,0.00,0.000,4,0.152,0.058,2918,3685,1950
$GC,8478,0.39,223.9,910.9,10.8,763,8486,0.00,2.15,3.97,0.752,6,0.000,0.044,2927,2328,1940
$GC,8811,0.45,268.4,877.7,9.5,780,8855,0.00,2.28,40.42,1.237,4,0.000,0.056,2927,3683,1759
$GC,8931,0.45,268.4,865.0,12.3,785,8937,0.00,2.15,0.00,0.000,6,0.000,0.037,2937,2322,1756
$GC,9242,0.51,318.6,834.3,9.3,801,9288,0.00,0.00,44.88,1.220,6,0.000,0.000,2936,2322,1555
$GC,9588,0.52,324.5,800.3,10.8,818,9598,0.00,2.25,5.90,0.923,4,0.000,0.055,2937,3686,1530
$GC,9673,0.52,324.5,789.4,14.1,822,9676,0.00,2.12,0.00,0.000,6,0.000,0.038,2946,2331,1530
$GC,9995,0.52,324.5,751.4,12.5,838,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2331,1529
$GC,10299,0.52,324.5,713.1,12.1,853,10302,0.00,2.22,0.00,0.000,4,0.000,0.055,2946,3683,1528
$GC,10484,0.52,324.5,688.8,12.2,861,10487,0.00,2.10,0.00,0.000,6,0.000,0.038,2954,2339,1528
$GC,10800,0.52,324.5,652.9,11.2,877,10803,0.00,2.35,0.00,0.000,4,0.000,0.049,2964,884,1527
$GC,10837,0.58,333.9,648.6,10.7,879,10851,0.00,2.35,9.48,1.002,6,0.000,0.039,2964,2358,1491
$GC,11164,0.58,334.0,611.8,11.0,895,11167,0.00,2.15,0.00,0.000,4,0.000,0.054,2964,3686,1490
$GC,11223,0.58,334.0,604.6,12.3,897,11228,0.00,2.10,0.00,0.000,6,0.000,0.036,2971,2342,1490
$GC,11533,0.58,334.0,567.1,12.3,913,11536,0.00,2.20,0.00,0.000,4,0.000,0.054,2972,3685,1490
$GC,11614,0.54,334.0,555.8,13.7,916,11619,0.00,2.10,0.00,0.000,6,0.000,0.037,2981,2355,1490
$GC,11925,0.54,334.0,513.9,13.5,932,11928,0.00,2.35,0.00,0.000,4,0.000,0.048,2991,892,1490
$GC,11956,0.54,334.0,509.4,14.0,933,11962,0.15,2.38,0.00,0.000,6,0.128,0.038,2950,2382,1488
$GC,12274,0.60,334.0,472.6,11.5,960,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2382,1488
$GC,12584,0.68,338.3,439.2,10.9,990,12596,0.15,2.45,5.07,0.716,4,0.055,0.051,3046,885,1474
$GC,12624,0.55,338.3,432.9,17.5,993,12629,0.30,2.35,0.00,0.000,6,0.132,0.038,2957,2369,1473
$GC,12939,0.62,338.3,393.0,11.7,1024,12942,0.00,2.15,0.00,0.000,4,0.000,0.054,2957,3695,1473
$GC,12978,0.68,338.3,388.4,12.2,1027,12983,0.10,2.08,0.00,0.000,6,0.071,0.035,3022,2355,1473
$GC,13293,0.59,338.3,340.6,14.1,1058,13297,0.17,2.20,0.00,0.000,4,0.132,0.050,2964,3695,1472
$GC,13343,0.64,342.5,335.0,10.9,1062,13354,0.00,2.05,5.50,0.683,6,0.000,0.034,2969,2366,1457
$GC,13664,0.77,387.2,303.5,9.5,1093,13709,0.17,2.47,39.65,0.852,4,0.048,0.048,3071,884,1274
$GC,13726,0.62,387.2,294.0,17.2,1101,13731,0.32,2.40,0.00,0.000,6,0.132,0.038,2976,2383,1273
$GC,14053,0.76,411.6,258.8,10.2,1162,14078,0.15,0.00,21.83,0.790,6,0.054,0.000,3053,2384,1176
$GC,14402,0.69,411.6,206.3,16.4,1226,14409,0.17,2.12,0.00,0.000,4,0.131,0.055,2994,3696,1174
$GC,14436,0.77,411.6,201.1,13.1,1232,14442,0.00,2.08,0.00,0.000,6,0.000,0.035,3002,2356,1174
$GC,14764,0.99,480.6,169.1,8.7,1293,14829,0.22,2.45,58.72,0.731,4,0.042,0.047,3148,884,892
$GC,14892,0.84,480.6,146.4,18.8,1314,14899,0.32,2.35,0.00,0.000,6,0.130,0.039,3051,2364,890
$GC,15221,0.94,494.8,105.9,10.5,1375,15239,0.00,2.38,12.43,0.624,4,0.000,0.049,3059,883,835
$GC,15304,1.13,537.2,97.2,9.6,1390,15349,0.22,2.30,38.15,0.655,6,0.044,0.035,3172,2358,662
$GC,15673,1.06,537.2,31.7,13.6,1457,15679,0.17,2.38,0.00,0.000,4,0.139,0.048,3124,884,654
$GC,15703,1.12,540.1,28.0,10.9,1462,15710,0.00,2.30,0.00,0.000,6,0.000,0.036,3124,2354,654
$STATE,15921,end climb,SURFACE_DEPTH_REACHED
$STATE,15921,begin surface coast
$FINISH,1.8,0.998562
$STATE,15953,end surface coast,CONTROL_FINISHED_OK
$STATE,15953,begin surface
$SM_CCo,16033,0.00,0.000,0,0,652,540.15
$SM_GC,2.47,7.70,0.00,0.00,0.037,0.000,0.000,148,2254,652,-8.08,-0.88,540.15
$IRIDIUM_FIX,2429.95,12332.85,271198,040450
$TT8_MAMPS,0.049088
$HUMID,1754
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,26.00
$XPDR_PINGS,748
$24V_AH,23.1,131.317
$10V_AH,10.3,84.130
$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,26.750,152.300,648.475,0.000,0.000,31.179,35.332,223.644,195.000,0.000,0.000,16.330,0.000,11403.376,757.734,3488.122,814.320,0.000,2126.661,0.000,2923.794,0.000,57.500,0.000
$DEVICE_MAMPS,216.294,74.399,1334.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.362,1037.607,1253.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85302,1509
$CAP_FILE_SIZE,172868,0
$CFSIZE,260165632,206802944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,190.8,1
$GPS,020909,132037,2439.016,12325.717,36,1.0,36,-3.6