version: 66.04
glider: 165
mission: 2
dive: 571
start: 8 31 109 15 2 54
data:
$ID,165
$MISSION,2
$DIVE,571
$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,-132171.41
$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,47
$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
$GPS1,145137,2436.898,12344.095,31,1.1,31,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.3
$GPS2,150249,2436.989,12344.201,13,1.6,30,-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,262.8,163758,-16.0,-11.000
$D_GRID,1472
$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,-219.0,0.0,0.0,0,58,0.00,0.00,-42.80,0.000,2,0.000,0.000,150,2309,1846
$GC,62,-0.91,-219.0,3.1,-3.0,7,132,9.38,2.25,-53.28,0.000,4,0.225,0.064,2470,3676,3750
$GC,261,-0.51,-219.0,53.9,-31.1,42,267,0.47,2.12,0.00,0.000,6,0.125,0.034,2617,2282,3751
$GC,589,-0.51,-219.0,104.9,-11.6,103,595,0.00,2.20,0.00,0.000,4,0.000,0.044,2618,876,3752
$GC,670,-0.61,-219.0,113.9,-9.3,118,676,0.00,2.20,0.00,0.000,6,0.000,0.039,2617,2271,3753
$GC,998,-0.69,-219.0,151.2,-9.7,179,1004,0.17,2.20,0.00,0.000,4,0.051,0.044,2518,882,3754
$GC,1042,-0.51,-219.0,157.7,-16.5,187,1048,0.28,2.20,0.00,0.000,6,0.123,0.039,2611,2273,3753
$GC,1371,-0.66,-219.0,190.0,-8.0,248,1378,0.12,2.20,0.00,0.000,4,0.058,0.044,2535,883,3753
$GC,1400,-0.66,-219.0,193.3,-12.3,253,1406,0.12,2.17,0.00,0.000,6,0.133,0.040,2571,2273,3753
$GC,1728,-0.66,-219.0,235.1,-12.3,314,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2274,3753
$GC,2054,-0.66,-219.0,273.0,-12.1,375,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2274,3753
$GC,2384,-0.73,-219.0,309.0,-10.0,429,2387,0.00,2.22,0.00,0.000,4,0.000,0.048,2570,872,3752
$GC,2438,-0.86,-219.0,314.3,-9.3,434,2442,0.20,2.20,0.00,0.000,6,0.046,0.040,2465,2278,3751
$GC,2755,-0.59,-219.0,376.7,-19.8,464,2756,0.40,0.00,0.00,0.000,6,0.133,0.000,2588,2278,3751
$GC,3069,-0.80,-219.0,400.7,-7.3,494,3072,0.17,2.22,0.00,0.000,4,0.049,0.046,2472,881,3750
$GC,3090,-0.84,-219.0,403.4,-10.5,495,3096,0.15,2.22,0.00,0.000,6,0.138,0.048,2510,2277,3749
$GC,3406,-0.76,-219.0,447.5,-14.2,526,3409,0.00,2.25,0.00,0.000,4,0.000,0.051,2510,879,3748
$GC,3428,-0.71,-219.0,450.1,-12.2,528,3431,0.12,2.20,0.00,0.000,6,0.129,0.042,2548,2277,3747
$GC,3744,-0.82,-219.0,479.2,-8.7,558,3747,0.00,2.22,0.00,0.000,4,0.000,0.047,2547,877,3745
$GC,3792,-0.95,-219.0,483.6,-8.5,562,3797,0.20,2.22,0.00,0.000,6,0.048,0.044,2449,2270,3745
$GC,4107,-0.75,-219.0,534.5,-16.0,583,4109,0.30,0.00,0.00,0.000,6,0.133,0.000,2541,2270,3743
$GC,4409,-0.88,-219.0,558.7,-7.7,598,4413,0.15,2.25,0.00,0.000,4,0.054,0.054,2457,885,3741
$GC,4479,-0.77,-219.0,568.1,-15.0,601,4483,0.25,2.20,0.00,0.000,6,0.127,0.051,2530,2265,3740
$GC,4796,-0.87,-219.0,597.7,-9.2,617,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2265,3738
$GC,5101,-0.98,-219.0,624.4,-8.2,632,5105,0.17,2.33,0.00,0.000,4,0.051,0.060,2435,3682,3736
$GC,5128,-0.93,-219.0,627.4,-12.3,633,5132,0.15,2.17,0.00,0.000,6,0.133,0.034,2477,2262,3736
$GC,5439,-0.86,-219.0,664.2,-11.3,648,5442,0.00,2.20,0.00,0.000,4,0.000,0.049,2478,880,3733
$GC,5461,-0.79,-219.0,666.5,-10.7,649,5465,0.15,2.25,0.00,0.000,6,0.134,0.045,2521,2291,3733
$GC,5790,-0.89,-219.0,690.5,-7.5,665,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2292,3730
$GC,6094,-0.99,-219.0,714.3,-8.4,680,6095,0.17,0.00,0.00,0.000,6,0.052,0.000,2436,2291,3728
$GC,6399,-0.83,-219.0,763.2,-16.9,695,6403,0.22,2.30,0.00,0.000,4,0.135,0.050,2510,884,3725
$GC,6447,-0.94,-219.0,769.6,-11.1,697,6451,0.00,2.22,0.00,0.000,6,0.000,0.045,2510,2272,3725
$GC,6760,-1.03,-219.0,801.0,-9.9,712,6761,0.17,0.00,0.00,0.000,6,0.054,0.000,2425,2272,3722
$GC,7064,-0.85,-219.0,852.0,-16.6,727,7067,0.22,2.28,0.00,0.000,4,0.136,0.051,2499,884,3720
$GC,7139,-0.94,-219.0,860.3,-9.6,730,7143,0.00,2.22,0.00,0.000,6,0.000,0.046,2499,2268,3720
$GC,7450,-1.00,-219.0,887.8,-9.0,745,7451,0.12,0.00,0.00,0.000,6,0.063,0.000,2437,2268,3718
$GC,7755,-0.87,-219.0,930.5,-14.2,760,7759,0.17,2.35,0.00,0.000,4,0.137,0.062,2494,3680,3716
$GC,7777,-0.82,-219.0,933.4,-13.4,761,7781,0.00,2.20,0.00,0.000,6,0.000,0.035,2494,2265,3715
$GC,8104,-0.88,-219.0,963.6,-9.3,777,8107,0.00,2.22,0.00,0.000,4,0.000,0.051,2493,884,3714
$GC,8169,-0.96,-219.0,969.5,-9.1,780,8173,0.00,2.22,0.00,0.000,6,0.000,0.046,2494,2272,3714
$STATE,8391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8391,begin apogee
$GC,8398,-0.20,0.0,990.2,9.2,791,8577,0.68,0.00,177.10,1.342,6,0.105,0.000,2718,2272,2854
$STATE,8578,end apogee,CONTROL_FINISHED_OK
$STATE,8578,begin climb
$GC,8581,0.91,219.0,999.4,0.0,800,8778,0.95,2.38,185.65,1.307,4,0.038,0.055,3107,913,1959
$GC,8958,0.52,219.0,951.6,19.5,817,8962,0.55,2.25,0.00,0.000,6,0.160,0.046,2952,2305,1952
$GC,9269,0.44,219.0,911.3,12.4,832,9273,0.12,2.25,0.00,0.000,4,0.156,0.057,2917,3692,1950
$GC,9416,0.39,219.0,894.4,11.6,838,9422,0.00,2.17,0.00,0.000,6,0.000,0.039,2925,2311,1949
$GC,9727,0.39,219.0,860.9,11.3,854,9730,0.00,2.28,0.00,0.000,4,0.000,0.055,2925,3692,1948
$GC,9770,0.33,219.0,855.2,13.4,856,9774,0.17,2.15,0.00,0.000,6,0.140,0.035,2884,2309,1948
$GC,10095,0.52,296.1,826.6,8.4,872,10163,0.17,0.00,67.22,1.230,6,0.059,0.000,2972,2303,1646
$GC,10456,0.44,296.1,772.9,15.4,890,10460,0.17,2.28,0.00,0.000,4,0.140,0.055,2921,3685,1639
$GC,10627,0.47,296.1,750.1,13.7,898,10630,0.00,2.12,0.00,0.000,6,0.000,0.037,2929,2326,1638
$GC,10948,0.52,296.1,711.7,11.2,914,10952,0.00,2.30,0.00,0.000,4,0.000,0.049,2939,897,1637
$GC,11008,0.60,306.3,705.2,10.7,917,11021,0.00,2.25,8.43,1.002,6,0.000,0.038,2939,2317,1606
$GC,11337,0.64,318.5,669.0,10.6,933,11357,0.12,2.25,12.68,1.058,4,0.064,0.055,3012,3674,1554
$GC,11468,0.47,318.5,647.5,17.2,939,11472,0.32,2.12,0.00,0.000,6,0.140,0.036,2927,2314,1554
$GC,11791,0.60,358.8,614.8,9.6,955,11830,0.12,0.00,37.30,1.090,6,0.067,0.000,3009,2308,1391
$GC,12135,0.50,358.8,559.3,16.4,972,12139,0.20,2.25,0.00,0.000,4,0.133,0.054,2944,3680,1387
$GC,12178,0.56,358.8,553.2,12.3,974,12181,0.00,2.12,0.00,0.000,6,0.000,0.037,2951,2321,1386
$GC,12500,0.64,362.4,517.7,10.9,990,12508,0.10,2.33,3.78,0.627,4,0.075,0.049,3029,896,1376
$GC,12548,0.55,362.4,510.8,16.4,992,12552,0.25,2.28,0.00,0.000,6,0.130,0.039,2956,2337,1375
$GC,12870,0.65,393.9,477.0,9.9,1018,12905,0.10,2.28,29.20,0.986,4,0.071,0.054,3022,3693,1247
$GC,12949,0.58,393.9,465.0,17.5,1025,12953,0.22,2.15,0.00,0.000,6,0.123,0.035,2966,2328,1246
$GC,13270,0.68,393.9,427.0,12.0,1056,13273,0.00,2.30,0.00,0.000,4,0.000,0.048,2969,889,1245
$GC,13335,0.82,393.9,419.7,11.7,1061,13341,0.20,2.28,0.00,0.000,6,0.050,0.038,3063,2334,1243
$GC,13651,0.67,393.9,357.3,19.6,1092,13655,0.20,2.17,0.00,0.000,4,0.137,0.051,2998,3678,1243
$GC,13721,0.67,393.9,346.5,13.8,1098,13724,0.00,2.12,0.00,0.000,6,0.000,0.035,3006,2308,1243
$GC,14043,0.67,393.9,303.9,12.5,1129,14046,0.00,2.25,0.00,0.000,4,0.000,0.047,3017,894,1243
$GC,14070,0.67,393.9,300.4,12.6,1131,14075,0.00,2.22,0.00,0.000,6,0.000,0.037,3017,2315,1242
$GC,14397,0.67,393.9,258.7,13.1,1192,14403,0.00,2.25,0.00,0.000,4,0.000,0.057,3017,3675,1242
$GC,14436,0.67,393.9,253.6,14.1,1199,14441,0.12,2.10,0.00,0.000,6,0.130,0.034,2989,2311,1242
$GC,14766,0.82,446.6,219.6,9.2,1260,14816,0.15,2.30,45.20,0.777,4,0.056,0.050,3076,3677,1032
$GC,14865,0.73,446.6,203.5,17.3,1277,14871,0.25,2.10,0.00,0.000,6,0.131,0.034,3011,2328,1031
$GC,15195,0.92,508.7,168.5,8.9,1338,15254,0.17,2.38,52.70,0.726,4,0.051,0.046,3134,891,779
$GC,15298,0.82,508.7,148.9,21.9,1355,15305,0.25,2.28,0.00,0.000,6,0.120,0.037,3038,2314,777
$GC,15630,1.01,553.0,113.0,9.5,1416,15681,0.17,2.33,41.95,0.673,4,0.050,0.045,3145,903,593
$GC,15698,0.91,553.0,100.8,18.6,1427,15704,0.25,2.20,0.00,0.000,6,0.120,0.035,3069,2310,588
$GC,16026,1.18,607.1,64.8,9.2,1488,16071,0.20,2.33,29.10,0.553,4,0.044,0.044,3194,892,482
$GC,16089,1.07,607.1,54.1,19.6,1498,16096,0.25,2.15,0.00,0.000,6,0.129,0.035,3119,2284,476
$GC,16421,1.22,617.1,12.5,10.7,1559,16426,0.15,0.00,0.00,0.000,6,0.055,0.000,3206,2285,470
$STATE,16477,end climb,SURFACE_DEPTH_REACHED
$STATE,16477,begin surface coast
$FINISH,1.7,0.997499
$STATE,16493,end surface coast,CONTROL_FINISHED_OK
$STATE,16493,begin surface
$SM_CCo,16572,0.00,0.000,0,0,469,585.04
$SM_GC,2.53,7.82,0.00,0.00,0.034,0.000,0.000,158,2289,469,-8.09,0.08,585.04
$IRIDIUM_FIX,2425.21,12344.03,251198,151514
$TT8_MAMPS,0.049088
$HUMID,1762
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.10
$XPDR_PINGS,787
$24V_AH,23.1,129.055
$10V_AH,10.3,82.993
$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,28.550,142.700,690.300,0.000,0.000,54.547,65.239,296.807,204.750,0.000,0.000,32.224,0.000,11886.770,782.809,3593.873,945.683,0.000,2176.271,0.000,2996.605,0.000,57.440,0.000
$DEVICE_MAMPS,224.731,63.661,1342.250,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.112,1087.142,1335.107,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88452,1573
$CAP_FILE_SIZE,180062,0
$CFSIZE,260165632,207601664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.177, 56.5,1
$GPS,310809,194007,2436.970,12342.761,37,1.1,37,-3.6