version: 66.04
glider: 165
mission: 2
dive: 569
start: 8 31 109 5 43 47
data:
$ID,165
$MISSION,2
$DIVE,569
$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,-132119.94
$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,43
$R_STBD_OVSHOOT,37
$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
$GPS1,053507,2436.583,12346.424,34,0.9,34,-3.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-68.6
$GPS2,054338,2436.607,12346.475,12,1.0,12,-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,263.4,167626,-16.0,-11.000
$D_GRID,1550
$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,13,-0.91,-219.0,0.0,0.0,0,65,0.00,0.00,-50.03,0.000,2,0.000,0.000,155,2309,1823
$GC,68,-0.91,-219.0,3.1,-3.8,8,138,9.35,2.25,-53.00,0.000,4,0.225,0.067,2470,3673,3748
$GC,268,-0.52,-219.0,53.7,-30.8,43,274,0.45,2.12,0.00,0.000,6,0.125,0.033,2609,2275,3749
$GC,595,-0.52,-219.0,108.7,-13.8,104,601,0.00,2.17,0.00,0.000,4,0.000,0.041,2609,874,3751
$GC,650,-0.62,-219.0,115.3,-10.8,114,657,0.00,2.20,0.00,0.000,6,0.000,0.038,2609,2291,3751
$GC,979,-0.69,-219.0,152.1,-10.7,175,986,0.15,0.00,0.00,0.000,6,0.054,0.000,2522,2291,3752
$GC,1306,-0.51,-219.0,213.3,-17.2,236,1312,0.28,2.25,0.00,0.000,4,0.124,0.044,2612,878,3752
$GC,1394,-0.75,-219.0,221.5,-6.9,252,1400,0.20,2.17,0.00,0.000,6,0.044,0.038,2500,2275,3753
$GC,1725,-0.55,-219.0,279.7,-17.8,313,1731,0.30,2.25,0.00,0.000,4,0.128,0.046,2600,884,3753
$GC,1769,-0.70,-219.0,285.2,-8.1,321,1776,0.12,2.15,0.00,0.000,6,0.056,0.038,2518,2271,3753
$GC,2091,-0.60,-219.0,329.2,-14.5,362,2092,0.22,0.00,0.00,0.000,6,0.125,0.000,2588,2271,3753
$GC,2404,-0.79,-219.0,351.7,-5.9,392,2410,0.17,0.00,0.00,0.000,6,0.048,0.000,2481,2271,3752
$GC,2720,-0.61,-219.0,402.3,-16.8,423,2722,0.32,0.00,0.00,0.000,6,0.124,0.000,2583,2271,3750
$GC,3035,-0.82,-219.0,421.2,-4.8,453,3039,0.17,2.22,0.00,0.000,4,0.050,0.047,2476,881,3748
$GC,3062,-0.82,-219.0,423.9,-10.7,455,3066,0.17,2.15,0.00,0.000,6,0.129,0.041,2520,2247,3748
$GC,3379,-0.82,-219.0,460.6,-10.7,485,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2247,3746
$GC,3688,-0.82,-219.0,494.1,-11.1,515,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2248,3744
$GC,3996,-0.82,-219.0,525.2,-10.6,533,3999,0.00,2.20,0.00,0.000,4,0.000,0.050,2519,878,3742
$GC,4028,-0.89,-219.0,528.8,-10.5,534,4032,0.00,2.22,0.00,0.000,6,0.000,0.049,2520,2264,3741
$GC,4345,-0.94,-219.0,563.2,-10.6,550,4349,0.12,2.33,0.00,0.000,4,0.061,0.057,2439,3694,3739
$GC,4377,-0.83,-219.0,567.8,-15.2,551,4383,0.22,2.22,0.00,0.000,6,0.123,0.034,2507,2243,3738
$GC,4689,-0.83,-219.0,601.4,-9.8,567,4692,0.00,2.15,0.00,0.000,4,0.000,0.048,2507,887,3736
$GC,4721,-0.87,-219.0,604.8,-10.8,568,4724,0.00,2.17,0.00,0.000,6,0.000,0.043,2507,2261,3736
$GC,5038,-0.91,-219.0,635.8,-9.7,584,5041,0.00,2.20,0.00,0.000,4,0.000,0.047,2507,885,3734
$GC,5092,-0.98,-219.0,640.9,-9.4,586,5095,0.12,2.15,0.00,0.000,6,0.064,0.043,2443,2242,3734
$GC,5402,-0.83,-219.0,687.6,-15.7,601,5406,0.20,2.38,0.00,0.000,4,0.138,0.060,2506,3681,3731
$GC,5445,-0.93,-219.0,692.2,-9.1,603,5448,0.00,2.22,0.00,0.000,6,0.000,0.034,2506,2235,3731
$GC,5762,-0.99,-219.0,718.4,-8.9,619,5763,0.12,0.00,0.00,0.000,6,0.061,0.000,2439,2235,3728
$GC,6066,-0.85,-219.0,763.3,-14.5,634,6067,0.22,0.00,0.00,0.000,6,0.130,0.000,2507,2231,3725
$GC,6372,-0.92,-219.0,790.9,-8.6,649,6376,0.00,2.42,0.00,0.000,4,0.000,0.064,2507,3679,3724
$GC,6399,-1.04,-219.0,793.3,-8.9,650,6403,0.17,2.22,0.00,0.000,6,0.054,0.036,2424,2243,3723
$GC,6710,-0.86,-219.0,844.9,-17.9,665,6714,0.22,2.20,0.00,0.000,4,0.136,0.051,2498,889,3721
$GC,6758,-0.93,-219.0,851.8,-11.8,667,6761,0.00,2.17,0.00,0.000,6,0.000,0.046,2497,2243,3720
$GC,7074,-0.99,-219.0,886.1,-10.8,683,7078,0.10,2.40,0.00,0.000,4,0.072,0.062,2441,3683,3719
$GC,7107,-0.95,-219.0,890.3,-14.1,684,7113,0.12,2.28,0.00,0.000,6,0.133,0.042,2476,2245,3718
$GC,7418,-0.95,-219.0,927.1,-11.4,700,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2245,3716
$GC,7723,-0.95,-219.0,960.8,-10.8,715,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2245,3715
$STATE,7984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7984,begin apogee
$GC,7991,-0.20,0.0,990.2,11.1,728,8171,0.73,0.00,177.48,1.344,6,0.111,0.000,2714,2296,2854
$STATE,8172,end apogee,CONTROL_FINISHED_OK
$STATE,8172,begin climb
$GC,8175,0.91,219.0,1000.5,0.0,737,8371,0.95,2.47,185.75,1.309,4,0.041,0.062,3088,3695,1959
$GC,8612,0.45,219.0,937.0,23.2,757,8616,0.62,2.20,0.00,0.000,6,0.170,0.038,2924,2302,1953
$GC,8929,0.48,245.1,903.2,10.1,773,8963,0.00,2.35,24.90,1.127,4,0.000,0.057,2924,3686,1853
$GC,9081,0.44,245.1,885.6,12.5,780,9084,0.00,2.17,0.00,0.000,6,0.000,0.038,2933,2300,1850
$GC,9408,0.46,258.9,849.7,10.5,796,9428,0.00,2.35,12.80,1.140,4,0.000,0.061,2933,3696,1798
$GC,9482,0.41,258.9,841.0,12.5,799,9485,0.12,2.15,0.00,0.000,6,0.151,0.037,2908,2314,1796
$GC,9799,0.55,319.7,811.9,9.0,815,9859,0.15,0.00,55.15,1.216,6,0.061,0.000,2988,2308,1549
$GC,10163,0.46,319.7,759.1,14.7,833,10167,0.17,2.28,0.00,0.000,4,0.141,0.054,2932,3695,1544
$GC,10271,0.50,319.7,745.4,11.5,838,10274,0.00,2.15,0.00,0.000,6,0.000,0.035,2940,2311,1543
$GC,10592,0.56,336.1,710.0,10.4,854,10612,0.00,0.00,14.88,1.095,6,0.000,0.000,2940,2311,1482
$GC,10918,0.61,336.1,672.3,11.8,870,10922,0.10,2.28,0.00,0.000,4,0.074,0.054,3006,3696,1480
$GC,10982,0.46,336.1,661.5,19.0,873,10986,0.30,2.15,0.00,0.000,6,0.142,0.036,2929,2315,1479
$GC,11300,0.57,344.7,627.1,10.7,889,11314,0.10,2.33,8.60,0.972,4,0.071,0.050,3004,895,1447
$GC,11408,0.57,344.7,611.0,15.8,894,11412,0.15,2.28,0.00,0.000,6,0.135,0.039,2963,2331,1446
$GC,11729,0.57,344.7,568.6,12.5,910,11732,0.00,2.20,0.00,0.000,4,0.000,0.055,2964,3687,1445
$GC,11820,0.57,344.7,556.1,14.0,914,11823,0.00,2.15,0.00,0.000,6,0.000,0.036,2968,2306,1445
$GC,12142,0.57,344.7,516.8,11.7,930,12145,0.00,2.25,0.00,0.000,4,0.000,0.048,2978,900,1445
$GC,12168,0.60,344.7,513.6,11.7,931,12172,0.00,2.25,0.00,0.000,6,0.000,0.038,2978,2328,1444
$GC,12483,0.60,344.7,475.3,11.6,956,12486,0.00,2.20,0.00,0.000,4,0.000,0.054,2978,3687,1445
$GC,12590,0.60,344.7,461.1,13.3,966,12593,0.00,2.10,0.00,0.000,6,0.000,0.035,2986,2337,1444
$GC,12915,0.60,345.4,424.1,11.0,997,12918,0.00,2.30,0.00,0.000,4,0.000,0.048,2997,898,1444
$GC,12952,0.60,345.4,419.3,11.1,1000,12958,0.00,2.33,0.00,0.000,6,0.000,0.040,2997,2342,1444
$GC,13271,0.60,345.4,381.6,11.7,1031,13274,0.00,2.17,0.00,0.000,4,0.000,0.054,2997,3686,1444
$GC,13351,0.56,345.4,370.4,13.7,1038,13357,0.17,2.12,0.00,0.000,6,0.134,0.037,2958,2342,1444
$GC,13668,0.72,389.1,341.5,9.5,1069,13709,0.15,0.00,39.38,0.877,6,0.054,0.000,3043,2335,1266
$GC,14021,0.65,389.1,287.9,14.8,1110,14027,0.17,2.22,0.00,0.000,4,0.132,0.057,2986,3695,1264
$GC,14081,0.73,389.1,280.4,11.3,1121,14087,0.00,2.10,0.00,0.000,6,0.000,0.034,2993,2340,1264
$GC,14410,0.84,410.6,245.2,10.3,1182,14435,0.15,2.38,19.52,0.770,4,0.054,0.046,3088,887,1178
$GC,14463,0.72,410.6,237.3,15.7,1191,14468,0.25,2.30,0.00,0.000,6,0.135,0.037,3016,2352,1177
$GC,14790,0.78,410.6,196.0,11.9,1252,14796,0.00,2.35,0.00,0.000,4,0.000,0.047,3025,889,1177
$GC,14814,0.83,410.6,193.1,13.5,1256,14819,0.00,2.30,0.00,0.000,6,0.000,0.041,3025,2348,1176
$GC,15142,0.93,427.8,153.9,10.4,1317,15160,0.15,0.00,15.70,0.680,6,0.056,0.000,3113,2348,1108
$GC,15484,0.80,427.8,99.2,15.0,1380,15489,0.22,0.00,0.00,0.000,6,0.134,0.000,3040,2349,1108
$GC,15811,1.17,569.2,68.6,6.2,1441,15938,0.28,2.22,122.28,0.635,4,0.041,0.048,3184,3686,529
$GC,15971,1.10,569.2,42.8,18.1,1467,15977,0.22,2.12,0.00,0.000,6,0.134,0.037,3129,2327,521
$STATE,16268,end climb,SURFACE_DEPTH_REACHED
$STATE,16269,begin surface coast
$FINISH,1.8,1.009508
$STATE,16290,end surface coast,CONTROL_FINISHED_OK
$STATE,16290,begin surface
$SM_CCo,16369,0.00,0.000,0,0,512,574.49
$SM_GC,2.56,7.55,0.00,0.00,0.029,0.000,0.000,153,2320,512,-8.08,0.99,574.49
$IRIDIUM_FIX,2427.58,12347.32,251198,010151
$TT8_MAMPS,0.048321
$HUMID,1747
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.10
$XPDR_PINGS,747
$24V_AH,23.1,128.549
$10V_AH,10.3,82.735
$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,26.300,125.225,676.425,0.000,0.000,27.359,37.941,269.611,194.750,0.000,0.000,13.771,0.000,11826.895,761.195,3428.515,832.555,0.000,2100.359,0.000,2881.344,0.000,56.595,0.000
$DEVICE_MAMPS,225.498,66.729,1343.784,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.784,1040.203,1237.577,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85454,1527
$CAP_FILE_SIZE,167179,0
$CFSIZE,260165632,207798272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.210, 47.5,1
$GPS,310809,101737,2437.125,12345.102,37,1.1,37,-3.6