version: 66.04
glider: 165
mission: 2
dive: 506
start: 8 19 109 10 54 7
data:
$ID,165
$MISSION,2
$DIVE,506
$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,-130267.74
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,104707,2451.340,12212.698,84,1.1,84,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-74.0
$GPS2,105402,2451.395,12212.753,12,1.1,12,-3.5
$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,339.4,16592,-16.0,-11.000
$D_GRID,719
$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,-219.0,0.0,0.0,0,46,0.00,0.00,-31.27,0.000,2,0.000,0.000,162,2273,1661
$GC,50,-0.91,-219.0,3.1,-2.6,5,129,9.45,2.28,-63.28,0.000,4,0.233,0.064,2469,3695,3748
$GC,349,-0.64,-219.0,68.5,-18.4,58,356,0.28,2.17,0.00,0.000,6,0.124,0.034,2570,2284,3751
$GC,677,-0.68,-219.0,95.4,-10.8,119,683,0.00,2.17,0.00,0.000,4,0.000,0.046,2571,880,3752
$GC,737,-0.81,-219.0,100.9,-8.0,130,745,0.15,2.17,0.00,0.000,6,0.056,0.038,2483,2296,3753
$GC,1067,-0.58,-219.0,156.7,-20.7,191,1073,0.32,2.22,0.00,0.000,4,0.136,0.042,2587,885,3753
$GC,1105,-0.69,-219.0,162.2,-11.5,198,1112,0.00,2.17,0.00,0.000,6,0.000,0.039,2588,2291,3753
$GC,1435,-0.85,-219.0,186.6,-5.4,259,1440,0.20,0.00,0.00,0.000,6,0.085,0.000,2465,2291,3754
$GC,1762,-0.59,-219.0,246.7,-20.1,320,1768,0.38,2.22,0.00,0.000,4,0.152,0.044,2582,883,3754
$GC,1794,-0.66,-219.0,251.5,-11.4,326,1802,0.00,2.20,0.00,0.000,6,0.000,0.044,2582,2288,3754
$GC,2123,-0.85,-219.0,271.7,-4.6,387,2128,0.17,2.22,0.00,0.000,4,0.051,0.054,2468,3682,3753
$GC,2145,-0.89,-219.0,273.5,-7.9,391,2150,0.00,2.12,0.00,0.000,6,0.000,0.034,2468,2274,3753
$GC,2472,-0.69,-219.0,318.9,-14.0,440,2475,0.25,2.15,0.00,0.000,4,0.137,0.044,2549,890,3753
$GC,2597,-0.83,-219.0,328.3,-6.1,451,2603,0.12,2.17,0.00,0.000,6,0.062,0.046,2474,2270,3752
$GC,2913,-0.67,-219.0,373.4,-14.9,482,2917,0.25,2.20,0.00,0.000,4,0.136,0.045,2557,884,3751
$GC,2945,-0.74,-219.0,376.8,-9.4,484,2951,0.00,2.17,0.00,0.000,6,0.000,0.048,2556,2268,3751
$GC,3264,-0.89,-219.0,399.2,-7.2,515,3267,0.17,2.17,0.00,0.000,4,0.050,0.044,2452,890,3750
$GC,3291,-0.83,-219.0,402.4,-12.5,517,3295,0.20,2.17,0.00,0.000,6,0.138,0.043,2510,2269,3750
$GC,3607,-0.83,-219.0,439.5,-11.2,547,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2269,3749
$GC,3921,-0.83,-219.0,468.2,-9.4,577,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2269,3748
$GC,4230,-0.83,-219.0,495.5,-10.2,607,4233,0.00,2.20,0.00,0.000,4,0.000,0.049,2510,889,3746
$GC,4299,-0.88,-219.0,502.3,-9.9,613,4302,0.00,2.17,0.00,0.000,6,0.000,0.046,2510,2261,3746
$GC,4620,-0.88,-219.0,534.4,-9.6,629,4623,0.00,2.17,0.00,0.000,4,0.000,0.048,2510,890,3745
$GC,4647,-0.92,-219.0,537.0,-10.0,630,4650,0.00,2.17,0.00,0.000,6,0.000,0.044,2510,2266,3744
$GC,4968,-0.95,-219.0,559.9,-6.8,646,4970,0.12,0.00,0.00,0.000,6,0.063,0.000,2441,2266,3743
$GC,5273,-0.76,-219.0,613.4,-19.2,661,5276,0.28,2.22,0.00,0.000,4,0.135,0.051,2531,887,3741
$GC,5305,-0.76,-219.0,618.9,-15.8,662,5308,0.00,2.17,0.00,0.000,6,0.000,0.046,2531,2251,3741
$GC,5621,-0.90,-219.0,659.1,-11.3,678,5622,0.12,0.00,0.00,0.000,6,0.060,0.000,2460,2251,3739
$GC,5927,-0.80,-219.0,704.2,-13.9,693,5928,0.20,0.00,0.00,0.000,6,0.133,0.000,2520,2250,3738
$STATE,6086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6086,begin apogee
$GC,6092,-0.20,0.0,719.7,9.2,701,6273,0.57,0.00,178.50,1.164,6,0.102,0.000,2717,2303,2854
$STATE,6274,end apogee,CONTROL_FINISHED_OK
$STATE,6274,begin climb
$GC,6277,0.91,219.0,732.3,0.0,710,6470,0.95,2.38,181.05,1.141,4,0.050,0.059,3090,914,1959
$GC,6518,0.55,219.0,721.3,15.5,721,6522,0.47,2.28,0.00,0.000,6,0.166,0.048,2958,2304,1955
$GC,6835,0.46,219.0,688.2,11.6,737,6838,0.00,2.25,0.00,0.000,4,0.000,0.060,2959,3686,1951
$GC,7075,0.32,219.0,654.4,14.5,748,7079,0.28,2.10,0.00,0.000,6,0.152,0.038,2886,2331,1950
$GC,7392,0.49,279.6,625.6,9.0,764,7453,0.15,2.35,51.83,1.095,4,0.059,0.057,2961,3695,1713
$GC,7480,0.41,279.6,614.6,13.9,768,7484,0.20,2.17,0.00,0.000,6,0.150,0.037,2915,2321,1712
$GC,7797,0.65,398.7,589.4,7.0,784,7908,0.20,2.38,104.55,1.078,4,0.052,0.056,3024,3686,1227
$GC,7969,0.51,398.7,563.9,16.8,792,7973,0.30,2.15,0.00,0.000,6,0.144,0.038,2949,2331,1225
$GC,8285,0.67,434.0,531.3,9.8,808,8318,0.12,0.00,31.55,1.023,6,0.061,0.000,3021,2325,1083
$GC,8614,0.62,434.0,472.2,18.5,830,8618,0.15,2.22,0.00,0.000,4,0.140,0.055,2977,3693,1078
$GC,8652,0.66,434.0,465.5,16.1,833,8656,0.00,2.15,0.00,0.000,6,0.000,0.037,2985,2311,1079
$GC,8975,0.70,434.0,419.9,15.4,864,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2305,1078
$GC,9287,0.75,439.0,379.6,10.8,894,9299,0.10,2.28,4.60,0.674,4,0.069,0.056,3045,3693,1063
$GC,9379,0.65,439.0,364.3,17.7,902,9386,0.22,2.10,0.00,0.000,6,0.143,0.038,2989,2355,1063
$GC,9697,0.71,439.0,324.6,13.7,933,9700,0.00,2.30,0.00,0.000,4,0.000,0.048,2999,897,1063
$GC,9783,0.82,439.0,313.2,13.2,941,9787,0.12,2.28,0.00,0.000,6,0.064,0.039,3074,2339,1062
$GC,10107,0.67,439.0,249.4,20.5,994,10114,0.25,2.17,0.00,0.000,4,0.154,0.054,2996,3691,1062
$GC,10157,0.74,439.0,241.2,14.5,1003,10162,0.00,2.08,0.00,0.000,6,0.000,0.036,3004,2337,1062
$GC,10484,0.80,439.0,201.7,11.3,1064,10489,0.10,2.30,0.00,0.000,4,0.074,0.048,3073,884,1062
$GC,10523,0.73,439.0,195.9,15.3,1071,10529,0.20,2.28,0.00,0.000,6,0.136,0.038,3015,2351,1062
$GC,10851,0.78,439.0,151.5,14.2,1132,10857,0.00,2.12,0.00,0.000,4,0.000,0.054,3015,3696,1062
$GC,10916,0.83,439.0,142.4,13.9,1144,10923,0.00,2.05,0.00,0.000,6,0.000,0.035,3022,2350,1062
$GC,11244,0.88,439.0,97.7,18.9,1205,11250,0.12,2.30,0.00,0.000,4,0.066,0.046,3109,893,1062
$GC,11304,0.76,439.0,84.5,24.5,1216,11310,0.28,2.28,0.00,0.000,6,0.136,0.039,3028,2359,1062
$GC,11631,0.99,502.3,39.1,8.9,1277,11688,0.20,0.00,54.10,0.693,6,0.047,0.000,3145,2360,805
$STATE,11851,end climb,SURFACE_DEPTH_REACHED
$STATE,11851,begin surface coast
$FINISH,1.9,1.007902
$STATE,11878,end surface coast,CONTROL_FINISHED_OK
$STATE,11878,begin surface
$SM_CCo,11956,0.00,0.000,0,0,801,503.60
$SM_GC,3.14,7.78,0.00,0.00,0.038,0.000,0.000,149,2260,801,-8.10,-0.71,503.60
$IRIDIUM_FIX,2444.18,12211.15,131198,070701
$TT8_MAMPS,0.049088
$HUMID,1842
$INTERNAL_PRESSURE,8.77963
$TCM_TEMP,22.90
$XPDR_PINGS,614
$24V_AH,23.1,112.549
$10V_AH,10.3,74.752
$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,25.450,97.300,606.175,0.000,0.000,24.126,34.164,205.832,158.750,0.000,0.000,14.511,0.000,8064.504,685.326,2949.960,641.259,0.000,1808.511,0.000,2491.482,0.000,35.766,0.000
$DEVICE_MAMPS,233.168,98.176,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,895.954,949.061,1282.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75915,1322
$CAP_FILE_SIZE,134932,0
$CFSIZE,260165632,213438464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,213.5,1
$GPS,190809,141507,2452.697,12211.275,81,1.7,81,-3.5