version: 66.04
glider: 165
mission: 2
dive: 541
start: 8 25 109 19 1 38
data:
$ID,165
$MISSION,2
$DIVE,541
$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,-131611.09
$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,55
$R_STBD_OVSHOOT,30
$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
$GPS1,185336,2510.150,12306.339,27,1.0,27,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-73.3
$GPS2,190132,2510.373,12306.620,8,1.4,8,-3.7
$SPEED_LIMITS,0.191,0.322
$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,250.0,74704,-16.0,-11.000
$D_GRID,1587
$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,16,-0.91,-219.0,0.0,0.0,0,56,0.00,0.00,-38.00,0.000,2,0.000,0.000,148,2261,1785
$GC,59,-0.91,-219.0,3.1,-3.0,6,129,9.32,2.17,-54.45,0.000,4,0.221,0.054,2481,881,3748
$GC,301,-0.57,-219.0,72.2,-25.8,49,307,0.32,2.22,0.00,0.000,6,0.135,0.039,2592,2287,3750
$GC,628,-0.57,-219.0,121.7,-8.8,110,634,0.00,2.17,0.00,0.000,4,0.000,0.040,2592,884,3751
$GC,683,-0.67,-219.0,125.7,-6.7,120,690,0.00,2.15,0.00,0.000,6,0.000,0.037,2590,2281,3752
$GC,1012,-0.75,-219.0,151.6,-8.5,181,1018,0.15,2.15,0.00,0.000,4,0.055,0.039,2500,892,3753
$GC,1040,-0.69,-219.0,155.1,-12.9,186,1046,0.20,2.15,0.00,0.000,6,0.125,0.038,2556,2293,3753
$GC,1369,-0.69,-219.0,189.2,-10.4,247,1374,0.00,2.20,0.00,0.000,4,0.000,0.041,2555,883,3753
$GC,1407,-0.74,-219.0,193.0,-10.1,254,1413,0.00,2.15,0.00,0.000,6,0.000,0.038,2550,2276,3753
$GC,1734,-0.74,-219.0,229.8,-11.9,315,1739,0.00,2.15,0.00,0.000,4,0.000,0.042,2550,896,3753
$GC,1798,-0.85,-219.0,237.8,-12.1,327,1804,0.12,2.10,0.00,0.000,6,0.061,0.038,2476,2249,3753
$GC,2125,-0.67,-219.0,296.4,-16.7,388,2132,0.25,2.35,0.00,0.000,4,0.130,0.058,2559,3694,3752
$GC,2160,-0.77,-219.0,300.5,-10.6,394,2163,0.00,2.20,0.00,0.000,6,0.000,0.038,2559,2249,3752
$GC,2484,-0.89,-219.0,330.7,-10.1,425,2485,0.17,0.00,0.00,0.000,6,0.048,0.000,2451,2243,3751
$GC,2791,-0.65,-219.0,391.5,-19.7,455,2795,0.35,2.12,0.00,0.000,4,0.127,0.044,2566,896,3750
$GC,2850,-0.86,-219.0,397.5,-6.7,460,2853,0.17,2.12,0.00,0.000,6,0.049,0.041,2466,2254,3750
$GC,3165,-0.71,-219.0,440.1,-13.4,490,3167,0.28,0.00,0.00,0.000,6,0.125,0.000,2551,2254,3748
$GC,3479,-0.87,-219.0,462.4,-8.1,520,3480,0.15,0.00,0.00,0.000,6,0.054,0.000,2465,2254,3746
$GC,3798,-0.74,-219.0,509.6,-15.6,548,3799,0.25,0.00,0.00,0.000,6,0.127,0.000,2542,2254,3744
$GC,4103,-0.89,-219.0,535.8,-7.1,563,4106,0.15,2.20,0.00,0.000,4,0.055,0.051,2458,889,3741
$GC,4140,-0.82,-219.0,540.1,-12.5,565,4144,0.20,2.17,0.00,0.000,6,0.133,0.048,2514,2245,3742
$GC,4465,-0.87,-219.0,570.3,-9.6,581,4468,0.00,2.38,0.00,0.000,4,0.000,0.061,2511,3697,3739
$GC,4486,-0.95,-219.0,572.9,-10.0,582,4490,0.12,2.20,0.00,0.000,6,0.061,0.035,2441,2245,3739
$GC,4810,-0.79,-219.0,622.7,-15.4,598,4813,0.25,2.17,0.00,0.000,4,0.133,0.050,2523,886,3736
$GC,4848,-0.88,-219.0,627.2,-9.1,599,4853,0.00,2.17,0.00,0.000,6,0.000,0.048,2522,2236,3736
$GC,5159,-0.99,-219.0,650.3,-7.1,615,5163,0.17,2.40,0.00,0.000,4,0.053,0.061,2426,3694,3734
$GC,5197,-0.87,-219.0,654.7,-13.0,617,5201,0.25,2.28,0.00,0.000,6,0.130,0.036,2501,2227,3733
$GC,5521,-0.92,-219.0,684.4,-8.5,633,5524,0.00,2.12,0.00,0.000,4,0.000,0.051,2502,891,3731
$GC,5586,-1.00,-219.0,689.9,-8.4,636,5589,0.12,2.12,0.00,0.000,6,0.063,0.044,2437,2233,3730
$GC,5915,-0.85,-219.0,732.0,-12.7,652,5919,0.20,2.40,0.00,0.000,4,0.141,0.060,2494,3684,3728
$GC,5968,-0.94,-219.0,736.9,-6.9,654,5974,0.00,2.28,0.00,0.000,6,0.000,0.039,2494,2234,3727
$GC,6280,-0.94,-219.0,762.2,-8.6,670,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2234,3725
$GC,6584,-0.98,-219.0,790.4,-9.2,685,6588,0.00,2.42,0.00,0.000,4,0.000,0.063,2494,3685,3723
$GC,6638,-1.08,-219.0,795.2,-8.2,687,6644,0.17,2.25,0.00,0.000,6,0.054,0.037,2412,2238,3723
$GC,6949,-0.86,-219.0,844.8,-16.4,703,6952,0.25,2.20,0.00,0.000,4,0.143,0.051,2492,881,3721
$GC,6981,-0.86,-219.0,849.0,-10.9,704,6984,0.00,2.17,0.00,0.000,6,0.000,0.048,2492,2228,3721
$GC,7298,-0.90,-219.0,877.9,-9.3,720,7301,0.00,2.42,0.00,0.000,4,0.000,0.064,2492,3690,3720
$GC,7335,-1.00,-219.0,881.2,-8.6,722,7338,0.00,2.28,0.00,0.000,6,0.000,0.036,2492,2231,3719
$GC,7657,-1.05,-219.0,910.3,-9.4,738,7658,0.15,0.00,0.00,0.000,6,0.060,0.000,2422,2225,3718
$GC,7961,-0.87,-219.0,957.3,-16.4,753,7963,0.25,0.00,0.00,0.000,6,0.139,0.000,2496,2225,3716
$GC,8267,-0.94,-219.0,987.2,-9.2,768,8268,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2225,3715
$STATE,8304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8304,begin apogee
$GC,8311,-0.20,0.0,991.2,9.6,770,8494,0.65,0.00,180.23,1.364,6,0.107,0.000,2713,2297,2854
$STATE,8494,end apogee,CONTROL_FINISHED_OK
$STATE,8494,begin climb
$GC,8497,0.91,219.0,1001.2,0.0,779,8700,1.00,2.47,188.85,1.325,4,0.040,0.063,3098,3689,1959
$GC,8941,0.42,219.0,937.6,20.5,800,8945,0.70,2.20,0.00,0.000,6,0.178,0.041,2917,2299,1954
$GC,9258,0.47,256.3,904.8,9.7,816,9301,0.00,2.40,34.67,1.191,4,0.000,0.057,2916,3693,1809
$GC,9416,0.48,268.2,888.6,10.6,823,9432,0.00,2.20,12.10,1.141,6,0.000,0.038,2925,2297,1760
$GC,9737,0.52,293.0,855.4,10.2,839,9765,0.00,2.35,23.23,1.216,4,0.000,0.057,2925,3681,1658
$GC,9793,0.52,293.0,849.5,11.8,841,9800,0.00,2.17,0.00,0.000,6,0.000,0.038,2935,2306,1657
$GC,10105,0.53,308.3,816.4,10.5,857,10125,0.00,0.00,14.77,1.163,6,0.000,0.000,2935,2306,1596
$GC,10429,0.55,318.8,782.0,10.6,873,10443,0.00,2.28,10.65,1.101,4,0.000,0.056,2935,3687,1554
$GC,10492,0.55,318.8,774.4,12.4,875,10495,0.00,2.15,0.00,0.000,6,0.000,0.037,2944,2315,1553
$GC,10814,0.55,318.8,736.3,11.8,891,10817,0.00,2.25,0.00,0.000,4,0.000,0.055,2945,3693,1553
$GC,10889,0.55,318.8,726.9,12.0,894,10892,0.00,2.12,0.00,0.000,6,0.000,0.037,2953,2329,1552
$GC,11205,0.58,347.7,692.8,10.0,910,11238,0.00,2.33,27.48,1.158,4,0.000,0.055,2953,3695,1436
$GC,11268,0.59,352.7,686.5,10.8,913,11278,0.00,2.17,6.20,0.904,6,0.000,0.036,2962,2313,1416
$GC,11588,0.59,352.7,650.7,11.4,929,11591,0.00,2.28,0.00,0.000,4,0.000,0.051,2972,897,1414
$GC,11626,0.62,352.7,646.4,11.7,931,11630,0.00,2.28,0.00,0.000,6,0.000,0.040,2973,2334,1411
$GC,11947,0.62,352.7,607.1,12.3,947,11950,0.00,2.17,0.00,0.000,4,0.000,0.055,2972,3682,1412
$GC,12027,0.62,352.7,596.6,13.8,950,12033,0.00,2.12,0.00,0.000,6,0.000,0.044,2981,2342,1412
$GC,12339,0.59,352.7,557.3,13.3,966,12342,0.00,2.33,0.00,0.000,4,0.000,0.051,2992,888,1411
$GC,12360,0.59,352.7,554.2,13.4,967,12363,0.00,2.28,0.00,0.000,6,0.000,0.040,2991,2331,1410
$GC,12681,0.53,352.7,506.7,15.3,983,12685,0.15,2.20,0.00,0.000,4,0.143,0.054,2948,3686,1411
$GC,12789,0.59,352.7,492.0,13.3,990,12794,0.00,2.12,0.00,0.000,6,0.000,0.043,2955,2342,1410
$GC,13108,0.73,433.2,461.4,8.3,1021,13186,0.17,2.28,71.72,1.018,4,0.053,0.058,3039,3685,1087
$GC,13208,0.61,433.2,447.3,14.8,1031,13212,0.25,2.15,0.00,0.000,6,0.143,0.038,2978,2353,1087
$GC,13525,0.67,436.4,413.1,10.9,1061,13528,0.00,2.35,0.00,0.000,4,0.000,0.048,2987,885,1082
$GC,13605,0.81,458.6,404.4,10.3,1068,13632,0.15,2.33,22.80,0.945,6,0.055,0.038,3065,2355,984
$GC,13944,0.67,458.6,345.0,19.0,1100,13945,0.22,0.00,0.00,0.000,6,0.140,0.000,2999,2354,980
$GC,14257,0.73,458.6,303.6,11.9,1130,14260,0.00,2.38,0.00,0.000,4,0.000,0.049,3008,884,979
$GC,14300,0.82,458.6,298.6,11.3,1134,14306,0.10,2.33,0.00,0.000,6,0.073,0.044,3073,2342,979
$GC,14629,0.69,458.6,230.5,23.7,1195,14635,0.20,2.17,0.00,0.000,4,0.143,0.052,3005,3692,979
$GC,14667,0.73,458.6,222.9,17.2,1202,14673,0.00,2.15,0.00,0.000,6,0.000,0.039,3013,2330,979
$GC,14994,0.79,458.6,179.8,14.7,1263,15000,0.00,2.33,0.00,0.000,4,0.000,0.048,3024,885,979
$GC,15070,0.94,503.4,171.1,9.5,1277,15115,0.17,2.25,38.90,0.781,6,0.051,0.037,3122,2329,801
$GC,15436,0.88,503.4,111.0,20.3,1344,15442,0.17,2.20,0.00,0.000,4,0.133,0.051,3065,3690,797
$GC,15551,0.97,503.4,89.6,19.1,1365,15557,0.00,2.12,0.00,0.000,6,0.000,0.035,3072,2312,795
$GC,15880,1.23,563.3,52.0,9.0,1426,15943,0.22,2.28,57.62,0.667,4,0.046,0.046,3206,894,552
$GC,15999,1.15,563.3,32.9,15.9,1446,16005,0.20,2.22,0.00,0.000,6,0.135,0.035,3150,2316,538
$STATE,16233,end climb,SURFACE_DEPTH_REACHED
$STATE,16233,begin surface coast
$FINISH,2.0,1.007269
$STATE,16254,end surface coast,CONTROL_FINISHED_OK
$STATE,16254,begin surface
$SM_CCo,16332,0.00,0.000,0,0,532,569.59
$SM_GC,2.60,7.70,0.00,0.00,0.034,0.000,0.000,146,2321,532,-8.10,1.07,569.59
$IRIDIUM_FIX,2503.20,12335.46,191198,141433
$TT8_MAMPS,0.049088
$HUMID,1784
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.30
$XPDR_PINGS,684
$24V_AH,22.9,121.447
$10V_AH,10.3,79.136
$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,26.125,147.600,689.225,0.000,0.000,26.293,52.413,234.752,179.000,0.000,0.000,10.473,0.000,11791.177,777.938,3401.187,805.152,0.000,2116.111,0.000,2846.965,0.000,53.968,0.000
$DEVICE_MAMPS,220.896,82.836,1363.726,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.988,1034.573,1226.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82247,1494
$CAP_FILE_SIZE,172419,0
$CFSIZE,260165632,210345984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.420, 67.2,1
$GPS,250809,233454,2510.511,12307.903,22,1.2,40,-3.7