version: 66.04
glider: 165
mission: 2
dive: 585
start: 9 3 109 7 14 3
data:
$ID,165
$MISSION,2
$DIVE,585
$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,-132452.08
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,070555,2442.149,12314.851,40,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-67.0
$GPS2,071358,2442.202,12314.909,12,4.6,31,-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,286.6,113826,-16.0,-11.000
$D_GRID,1296
$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,-219.0,0.0,0.0,0,72,0.00,0.00,-53.10,0.000,2,0.000,0.000,133,2265,1865
$GC,75,-0.91,-219.0,3.3,-4.0,8,145,9.32,2.35,-50.40,0.000,4,0.219,0.062,2470,3680,3749
$GC,223,-0.65,-219.0,40.3,-29.2,33,229,0.28,2.17,0.00,0.000,6,0.116,0.035,2572,2285,3749
$GC,551,-0.55,-219.0,105.2,-15.5,94,558,0.00,2.20,0.00,0.000,4,0.000,0.047,2573,884,3752
$GC,661,-0.55,-219.0,119.3,-11.7,114,668,0.00,2.15,0.00,0.000,6,0.000,0.039,2573,2263,3752
$GC,989,-0.50,-219.0,165.4,-15.3,175,995,0.15,2.30,0.00,0.000,4,0.123,0.053,2617,3685,3752
$GC,1050,-0.76,-219.0,171.1,-7.3,186,1058,0.22,2.15,0.00,0.000,6,0.043,0.031,2490,2261,3752
$GC,1381,-0.51,-219.0,237.9,-20.1,247,1387,0.35,2.20,0.00,0.000,4,0.130,0.047,2606,883,3752
$GC,1504,-0.75,-219.0,250.2,-8.4,269,1509,0.20,2.15,0.00,0.000,6,0.045,0.039,2494,2260,3752
$GC,1835,-0.54,-219.0,311.7,-17.7,325,1836,0.35,0.00,0.00,0.000,6,0.129,0.000,2602,2260,3752
$GC,2149,-0.74,-219.0,334.2,-7.0,355,2152,0.17,2.35,0.00,0.000,4,0.051,0.055,2491,3690,3752
$GC,2186,-0.69,-219.0,338.8,-12.7,358,2190,0.22,2.20,0.00,0.000,6,0.112,0.032,2562,2242,3752
$GC,2502,-0.77,-219.0,370.1,-8.9,388,2505,0.00,2.17,0.00,0.000,4,0.000,0.054,2562,887,3751
$GC,2545,-0.94,-219.0,373.8,-8.5,392,2549,0.25,2.17,0.00,0.000,6,0.041,0.047,2441,2248,3751
$GC,2861,-0.66,-219.0,437.4,-20.2,422,2865,0.38,2.38,0.00,0.000,4,0.139,0.058,2559,3688,3749
$GC,2942,-0.88,-219.0,446.4,-8.6,429,2946,0.17,2.20,0.00,0.000,6,0.048,0.032,2461,2241,3748
$GC,3268,-0.68,-219.0,504.7,-18.1,459,3271,0.28,2.17,0.00,0.000,4,0.130,0.048,2553,887,3747
$GC,3327,-0.84,-219.0,511.2,-8.3,462,3331,0.12,2.20,0.00,0.000,6,0.061,0.044,2474,2254,3747
$GC,3657,-0.71,-219.0,559.5,-15.0,478,3661,0.22,2.40,0.00,0.000,4,0.130,0.060,2548,3694,3744
$GC,3684,-0.74,-219.0,562.8,-10.4,479,3687,0.00,2.25,0.00,0.000,6,0.000,0.038,2548,2244,3744
$GC,3996,-0.87,-219.0,580.5,-5.6,494,3999,0.15,2.20,0.00,0.000,4,0.055,0.049,2461,883,3741
$GC,4060,-0.76,-219.0,588.0,-12.9,497,4064,0.28,2.17,0.00,0.000,6,0.121,0.044,2539,2244,3741
$GC,4385,-0.87,-219.0,615.3,-9.0,513,4386,0.12,0.00,0.00,0.000,6,0.063,0.000,2465,2245,3739
$GC,4687,-0.73,-219.0,661.5,-15.1,528,4688,0.25,0.00,0.00,0.000,6,0.128,0.000,2541,2246,3735
$GC,4992,-0.86,-219.0,685.2,-6.8,543,4996,0.12,2.20,0.00,0.000,4,0.062,0.050,2467,893,3733
$GC,5040,-0.80,-219.0,690.5,-12.5,545,5044,0.20,2.20,0.00,0.000,6,0.128,0.047,2526,2256,3733
$GC,5355,-0.89,-219.0,718.1,-8.5,560,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2526,2256,3731
$GC,5657,-0.99,-219.0,743.9,-7.7,575,5661,0.17,2.25,0.00,0.000,4,0.053,0.050,2432,884,3729
$GC,5689,-0.88,-219.0,748.3,-14.0,576,5694,0.22,2.25,0.00,0.000,6,0.135,0.045,2492,2255,3728
$GC,6000,-0.88,-219.0,782.6,-10.3,592,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2255,3726
$GC,6305,-0.88,-219.0,812.4,-10.1,607,6308,0.00,2.25,0.00,0.000,4,0.000,0.051,2492,884,3724
$GC,6363,-0.95,-219.0,818.4,-9.9,609,6369,0.00,2.20,0.00,0.000,6,0.000,0.044,2493,2249,3724
$GC,6675,-0.95,-219.0,851.6,-11.1,625,6679,0.00,2.40,0.00,0.000,4,0.000,0.061,2493,3695,3721
$GC,6697,-0.99,-219.0,854.1,-11.1,626,6700,0.00,2.25,0.00,0.000,6,0.000,0.034,2493,2240,3721
$GC,7013,-1.02,-219.0,886.7,-10.2,642,7015,0.12,0.00,0.00,0.000,6,0.066,0.000,2429,2240,3720
$GC,7318,-0.87,-219.0,932.1,-14.5,657,7321,0.20,2.20,0.00,0.000,4,0.138,0.052,2494,890,3718
$GC,7366,-0.93,-219.0,937.3,-8.4,659,7369,0.00,2.17,0.00,0.000,6,0.000,0.046,2494,2232,3718
$GC,7689,-0.97,-219.0,964.8,-8.8,675,7692,0.00,2.42,0.00,0.000,4,0.000,0.062,2494,3683,3715
$GC,7731,-1.08,-219.0,968.4,-8.7,677,7735,0.17,2.28,0.00,0.000,6,0.055,0.035,2413,2227,3714
$STATE,7881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7881,begin apogee
$GC,7889,-0.20,0.0,991.4,16.4,685,8070,0.98,0.00,178.07,1.336,6,0.131,0.000,2712,2316,2854
$STATE,8071,end apogee,CONTROL_FINISHED_OK
$STATE,8071,begin climb
$GC,8074,0.91,219.0,1002.4,0.0,694,8271,0.98,2.38,187.30,1.302,4,0.048,0.059,3079,3677,1960
$GC,8512,0.49,219.0,947.0,19.1,714,8518,0.52,2.17,0.00,0.000,6,0.160,0.042,2941,2306,1954
$GC,8823,0.47,246.6,915.9,10.1,730,8851,0.00,2.33,24.33,1.213,4,0.000,0.057,2941,3674,1847
$GC,9062,0.41,246.6,888.3,12.6,741,9066,0.12,2.15,0.00,0.000,6,0.142,0.035,2915,2298,1844
$GC,9379,0.50,286.9,857.9,9.6,757,9420,0.00,2.33,35.85,1.222,4,0.000,0.060,2915,3680,1683
$GC,9514,0.55,286.9,843.7,11.2,763,9518,0.10,2.15,0.00,0.000,6,0.075,0.036,2974,2308,1680
$GC,9831,0.48,286.9,800.4,14.0,779,9835,0.15,2.28,0.00,0.000,4,0.141,0.054,2931,3686,1678
$GC,9905,0.48,286.9,790.8,11.8,782,9911,0.00,2.15,0.00,0.000,6,0.000,0.041,2939,2322,1678
$GC,10217,0.48,289.2,756.8,10.9,798,10220,0.00,2.30,0.00,0.000,4,0.000,0.051,2950,897,1677
$GC,10249,0.53,289.2,752.8,11.5,799,10256,0.00,2.28,0.00,0.000,6,0.000,0.040,2950,2324,1674
$GC,10559,0.53,289.2,713.2,13.3,815,10562,0.00,2.22,0.00,0.000,4,0.000,0.057,2950,3685,1674
$GC,10656,0.53,289.2,698.8,15.0,819,10660,0.00,2.15,0.00,0.000,6,0.000,0.036,2959,2309,1674
$GC,10972,0.53,289.2,659.5,11.9,835,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2310,1674
$GC,11277,0.53,289.2,620.8,13.0,850,11281,0.00,2.28,0.00,0.000,4,0.000,0.054,2959,3686,1674
$GC,11321,0.48,289.2,614.5,16.0,852,11325,0.12,2.12,0.00,0.000,6,0.152,0.037,2933,2331,1673
$GC,11648,0.59,323.9,577.9,9.8,868,11688,0.10,2.38,32.10,1.059,4,0.076,0.048,3007,903,1532
$GC,11705,0.51,323.9,570.4,14.4,870,11711,0.22,2.33,0.00,0.000,6,0.129,0.044,2942,2339,1531
$GC,12017,0.64,362.6,538.8,9.7,886,12059,0.12,2.22,35.08,1.025,4,0.064,0.055,3021,3682,1374
$GC,12108,0.51,362.6,524.2,19.3,890,12112,0.30,2.15,0.00,0.000,6,0.130,0.036,2941,2317,1373
$GC,12424,0.65,388.3,490.0,10.1,910,12452,0.15,2.33,23.60,0.972,4,0.058,0.048,3044,886,1268
$GC,12479,0.56,388.3,481.2,17.9,914,12484,0.28,2.30,0.00,0.000,6,0.126,0.044,2963,2319,1266
$GC,12795,0.66,388.3,443.6,11.2,945,12798,0.00,2.22,0.00,0.000,4,0.000,0.054,2963,3695,1263
$GC,12887,0.80,425.9,433.0,9.7,953,12926,0.20,2.15,33.47,0.941,6,0.050,0.034,3061,2309,1116
$GC,13236,0.68,425.9,372.7,16.8,987,13239,0.20,2.25,0.00,0.000,4,0.143,0.051,2999,3685,1113
$GC,13279,0.68,425.9,366.3,13.6,990,13284,0.00,2.12,0.00,0.000,6,0.000,0.037,3007,2333,1112
$GC,13598,0.71,425.9,327.8,12.5,1021,13601,0.00,2.30,0.00,0.000,4,0.000,0.048,3018,897,1111
$GC,13630,0.78,425.9,323.6,11.9,1023,13637,0.00,2.28,0.00,0.000,6,0.000,0.038,3018,2338,1110
$GC,13951,0.78,425.9,279.4,14.3,1067,13957,0.00,2.17,0.00,0.000,4,0.000,0.052,3018,3689,1110
$GC,14033,0.78,425.9,266.9,15.3,1082,14039,0.00,2.12,0.00,0.000,6,0.000,0.035,3026,2333,1110
$GC,14360,0.78,425.9,220.1,13.9,1143,14366,0.00,2.30,0.00,0.000,4,0.000,0.047,3035,892,1110
$GC,14431,0.84,425.9,210.3,13.4,1156,14437,0.00,2.30,0.00,0.000,6,0.000,0.038,3035,2337,1110
$GC,14760,0.84,425.9,166.2,13.4,1217,14765,0.00,2.33,0.00,0.000,4,0.000,0.045,3044,889,1110
$GC,14809,0.93,425.9,159.6,12.7,1226,14815,0.10,2.28,0.00,0.000,6,0.070,0.036,3113,2332,1110
$GC,15137,0.80,425.9,101.9,15.1,1287,15144,0.22,2.17,0.00,0.000,4,0.132,0.049,3040,3680,1110
$GC,15300,0.97,509.4,84.7,8.2,1317,15377,0.10,2.10,69.03,0.664,6,0.049,0.034,3113,2337,775
$GC,15698,1.01,509.4,32.2,11.6,1389,15704,0.00,2.28,0.00,0.000,4,0.000,0.045,3124,897,773
$GC,15780,1.12,509.4,23.0,11.6,1404,15785,0.00,2.28,0.00,0.000,6,0.000,0.035,3124,2357,773
$STATE,15960,end climb,SURFACE_DEPTH_REACHED
$STATE,15960,begin surface coast
$FINISH,1.8,1.009252
$STATE,15992,end surface coast,CONTROL_FINISHED_OK
$STATE,15992,begin surface
$SM_CCo,16071,0.00,0.000,0,0,771,510.96
$SM_GC,2.52,7.68,0.00,0.00,0.035,0.000,0.000,168,2252,771,-8.09,-0.90,510.96
$IRIDIUM_FIX,2429.95,12317.73,281198,020247
$TT8_MAMPS,0.048321
$HUMID,1774
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,25.60
$XPDR_PINGS,711
$24V_AH,22.9,132.572
$10V_AH,10.2,84.741
$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,27.375,152.525,618.825,0.000,0.000,23.130,38.010,235.535,185.750,0.000,0.000,34.348,0.000,11600.922,730.073,3391.069,797.211,0.000,2056.832,0.000,2811.708,0.000,57.495,0.000
$DEVICE_MAMPS,219.362,62.894,1336.114,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,975.309,987.276,1156.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82155,1444
$CAP_FILE_SIZE,170917,0
$CFSIZE,260165632,206372864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187, 12.4,1
$GPS,030909,114255,2443.901,12312.704,37,1.6,37,-3.6