version: 66.04
glider: 165
mission: 2
dive: 575
start: 9 1 109 9 49 22
data:
$ID,165
$MISSION,2
$DIVE,575
$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,-132260.2
$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,46
$R_STBD_OVSHOOT,44
$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
$GPS1,094037,2438.290,12338.620,39,1.6,39,-3.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-66.1
$GPS2,094914,2438.365,12338.624,13,1.8,13,-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,256.5,154056,-16.0,-11.000
$D_GRID,1471
$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,-219.0,0.0,0.0,0,71,0.00,0.00,-55.35,0.000,2,0.000,0.000,154,2311,1889
$GC,74,-0.91,-219.0,3.0,-3.3,9,144,9.40,2.25,-51.05,0.000,4,0.227,0.063,2470,3674,3749
$GC,268,-0.49,-219.0,58.6,-33.3,43,275,0.43,2.15,0.00,0.000,6,0.126,0.035,2619,2287,3750
$GC,597,-0.55,-219.0,107.9,-10.8,104,603,0.00,2.20,0.00,0.000,4,0.000,0.045,2620,885,3752
$GC,695,-0.76,-219.0,117.9,-9.0,122,701,0.17,2.17,0.00,0.000,6,0.035,0.038,2487,2261,3753
$GC,1023,-0.43,-219.0,199.2,-23.9,183,1031,0.45,2.20,0.00,0.000,4,0.135,0.046,2633,887,3753
$GC,1091,-0.70,-219.0,207.2,-6.5,195,1098,0.22,2.15,0.00,0.000,6,0.046,0.038,2506,2272,3754
$GC,1420,-0.52,-219.0,265.1,-17.0,256,1427,0.30,2.28,0.00,0.000,4,0.124,0.054,2601,3686,3753
$GC,1443,-0.52,-219.0,268.3,-14.0,260,1449,0.00,2.20,0.00,0.000,6,0.000,0.031,2601,2238,3754
$GC,1771,-0.72,-219.0,293.6,-6.8,321,1777,0.15,2.12,0.00,0.000,4,0.053,0.044,2505,881,3753
$GC,1836,-0.64,-219.0,301.7,-14.2,332,1840,0.22,2.15,0.00,0.000,6,0.123,0.041,2573,2245,3754
$GC,2153,-0.74,-219.0,330.5,-8.8,362,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2573,2246,3753
$GC,2465,-0.88,-219.0,355.5,-7.9,392,2466,0.20,0.00,0.00,0.000,6,0.045,0.000,2452,2246,3752
$GC,2772,-0.62,-219.0,418.3,-19.6,422,2776,0.38,2.17,0.00,0.000,4,0.127,0.048,2575,891,3750
$GC,2831,-0.83,-219.0,424.7,-7.1,427,2836,0.17,2.12,0.00,0.000,6,0.048,0.040,2474,2250,3749
$GC,3153,-0.70,-219.0,473.9,-14.9,458,3156,0.22,2.17,0.00,0.000,4,0.129,0.045,2550,887,3748
$GC,3195,-0.83,-219.0,478.6,-9.0,461,3201,0.12,2.15,0.00,0.000,6,0.061,0.047,2474,2236,3748
$GC,3523,-0.70,-219.0,527.0,-16.1,485,3527,0.22,2.35,0.00,0.000,4,0.126,0.057,2550,3683,3746
$GC,3561,-0.86,-219.0,531.8,-9.0,487,3564,0.12,2.22,0.00,0.000,6,0.058,0.033,2468,2226,3745
$GC,3886,-0.73,-219.0,576.1,-13.4,503,3890,0.20,2.12,0.00,0.000,4,0.127,0.048,2537,891,3743
$GC,3939,-0.88,-219.0,581.8,-7.1,505,3945,0.12,2.15,0.00,0.000,6,0.061,0.044,2465,2230,3743
$GC,4251,-0.76,-219.0,623.9,-14.4,521,4255,0.20,2.40,0.00,0.000,4,0.130,0.057,2521,3694,3740
$GC,4299,-0.90,-219.0,629.1,-8.7,523,4302,0.00,2.25,0.00,0.000,6,0.000,0.033,2521,2223,3739
$GC,4610,-0.98,-219.0,657.8,-9.3,538,4613,0.15,2.12,0.00,0.000,4,0.057,0.048,2440,887,3736
$GC,4680,-0.82,-219.0,668.0,-16.7,541,4684,0.25,2.17,0.00,0.000,6,0.130,0.051,2513,2229,3736
$GC,4996,-0.89,-219.0,698.0,-8.7,557,5000,0.00,2.38,0.00,0.000,4,0.000,0.058,2511,3691,3733
$GC,5029,-1.01,-219.0,700.8,-8.9,558,5033,0.17,2.28,0.00,0.000,6,0.052,0.033,2423,2211,3733
$GC,5345,-0.81,-219.0,754.3,-17.6,574,5346,0.30,0.00,0.00,0.000,6,0.130,0.000,2516,2207,3730
$GC,5651,-0.92,-219.0,781.9,-8.0,589,5655,0.00,2.47,0.00,0.000,4,0.000,0.062,2516,3690,3728
$GC,5678,-1.06,-219.0,784.3,-8.5,590,5682,0.22,2.28,0.00,0.000,6,0.047,0.035,2410,2220,3727
$GC,5989,-0.84,-219.0,835.9,-17.1,605,5993,0.28,2.15,0.00,0.000,4,0.136,0.050,2500,894,3725
$GC,6011,-0.74,-219.0,839.0,-14.8,606,6015,0.15,2.15,0.00,0.000,6,0.123,0.046,2545,2233,3725
$GC,6335,-0.96,-219.0,861.2,-7.0,622,6339,0.17,2.40,0.00,0.000,4,0.053,0.060,2442,3682,3723
$GC,6385,-0.91,-219.0,866.8,-12.5,624,6388,0.15,2.25,0.00,0.000,6,0.124,0.036,2485,2238,3722
$GC,6703,-0.91,-219.0,902.4,-11.0,640,6706,0.00,2.17,0.00,0.000,4,0.000,0.051,2485,885,3720
$GC,6767,-0.98,-219.0,909.9,-11.1,643,6770,0.00,2.17,0.00,0.000,6,0.000,0.045,2481,2234,3720
$GC,7095,-0.98,-219.0,946.0,-11.0,659,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2234,3717
$GC,7399,-0.98,-219.0,978.9,-10.2,674,7402,0.00,2.22,0.00,0.000,4,0.000,0.053,2481,878,3715
$GC,7431,-0.98,-219.0,982.2,-9.7,675,7434,0.00,2.17,0.00,0.000,6,0.000,0.048,2481,2223,3715
$STATE,7520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7520,begin apogee
$GC,7528,-0.20,0.0,991.1,9.7,680,7709,0.70,0.00,177.88,1.338,6,0.108,0.000,2712,2312,2854
$STATE,7709,end apogee,CONTROL_FINISHED_OK
$STATE,7709,begin climb
$GC,7712,0.91,219.0,999.7,0.0,689,7909,0.98,2.47,185.93,1.302,4,0.039,0.054,3105,900,1960
$GC,7989,0.53,219.0,971.4,21.2,702,7993,0.52,2.28,0.00,0.000,6,0.159,0.044,2958,2301,1953
$GC,8310,0.44,219.0,930.3,11.8,718,8314,0.12,2.28,0.00,0.000,4,0.158,0.058,2922,3690,1950
$GC,8458,0.38,219.0,913.2,11.9,725,8461,0.00,2.15,0.00,0.000,6,0.000,0.037,2931,2312,1949
$GC,8785,0.36,229.4,878.0,10.6,741,8797,0.12,0.00,8.68,1.071,6,0.150,0.000,2895,2311,1918
$GC,9111,0.48,267.6,848.0,9.7,757,9152,0.12,2.33,34.90,1.226,4,0.064,0.061,2964,3693,1761
$GC,9189,0.36,267.6,837.2,15.2,760,9195,0.28,2.17,0.00,0.000,6,0.143,0.041,2894,2318,1759
$GC,9501,0.57,359.7,810.2,7.9,776,9588,0.17,2.35,82.15,1.214,4,0.054,0.055,2997,3692,1386
$GC,9659,0.46,359.7,786.7,16.2,783,9663,0.28,2.15,0.00,0.000,6,0.136,0.036,2928,2331,1384
$GC,9971,0.56,369.9,753.7,10.7,798,9984,0.10,2.33,9.27,1.025,4,0.074,0.049,3009,891,1346
$GC,10034,0.56,369.9,744.7,15.2,801,10038,0.17,2.28,0.00,0.000,6,0.129,0.039,2959,2335,1344
$GC,10361,0.56,369.9,701.5,12.4,817,10364,0.00,2.17,0.00,0.000,4,0.000,0.054,2959,3680,1343
$GC,10414,0.56,369.9,694.3,14.1,819,10417,0.00,2.12,0.00,0.000,6,0.000,0.035,2964,2317,1343
$GC,10730,0.56,369.9,652.9,13.3,835,10734,0.00,2.30,0.00,0.000,4,0.000,0.050,2973,886,1343
$GC,10768,0.63,369.9,648.3,13.3,837,10772,0.00,2.28,0.00,0.000,6,0.000,0.038,2973,2321,1340
$GC,11090,0.63,369.9,604.8,13.3,853,11093,0.00,2.22,0.00,0.000,4,0.000,0.055,2974,3691,1340
$GC,11143,0.63,369.9,597.2,14.3,855,11146,0.00,2.12,0.00,0.000,6,0.000,0.035,2981,2326,1340
$GC,11460,0.63,369.9,551.8,14.7,871,11463,0.00,2.30,0.00,0.000,4,0.000,0.048,2991,889,1340
$GC,11486,0.63,369.9,547.8,14.6,872,11490,0.00,2.30,0.00,0.000,6,0.000,0.039,2991,2339,1340
$GC,11803,0.63,369.9,502.5,13.8,888,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2339,1340
$GC,12112,0.63,369.9,458.2,13.7,917,12115,0.00,2.20,0.00,0.000,4,0.000,0.054,2992,3694,1340
$GC,12187,0.63,369.9,447.1,13.9,924,12190,0.00,2.12,0.00,0.000,6,0.000,0.035,3000,2327,1340
$GC,12508,0.63,369.9,402.9,12.9,955,12512,0.00,2.30,0.00,0.000,4,0.000,0.047,3011,885,1340
$GC,12578,0.63,369.9,394.4,12.2,961,12581,0.00,2.28,0.00,0.000,6,0.000,0.038,3011,2324,1338
$GC,12897,0.59,369.9,353.0,12.9,991,12901,0.15,2.22,0.00,0.000,4,0.125,0.052,2968,3690,1338
$GC,12961,0.71,383.8,345.7,10.5,996,12978,0.00,2.17,12.32,0.833,6,0.000,0.035,2974,2300,1289
$GC,13288,0.84,409.4,310.6,10.1,1028,13320,0.17,2.30,23.60,0.836,4,0.049,0.051,3086,3677,1185
$GC,13358,0.65,409.4,298.4,19.5,1035,13366,0.35,2.08,0.00,0.000,6,0.133,0.033,2991,2337,1184
$GC,13687,0.75,409.4,260.2,11.1,1096,13693,0.00,2.33,0.00,0.000,4,0.000,0.048,3000,885,1183
$GC,13742,0.90,428.5,254.2,10.4,1106,13767,0.20,2.30,17.85,0.770,6,0.047,0.040,3118,2338,1106
$GC,14092,0.71,428.5,182.7,16.6,1170,14098,0.32,2.17,0.00,0.000,4,0.130,0.049,3013,3693,1105
$GC,14184,0.80,428.5,169.5,11.0,1187,14191,0.00,2.15,0.00,0.000,6,0.000,0.037,3021,2305,1105
$GC,14513,0.94,465.3,134.3,9.8,1248,14552,0.17,2.22,32.30,0.690,4,0.052,0.044,3138,893,956
$GC,14665,0.85,465.3,107.3,16.3,1275,14672,0.28,2.20,0.00,0.000,6,0.124,0.035,3056,2310,954
$GC,14997,1.07,516.5,70.5,9.3,1336,15047,0.20,2.28,43.03,0.634,4,0.045,0.049,3177,901,747
$GC,15075,0.99,516.5,58.1,16.0,1349,15081,0.20,2.20,0.00,0.000,6,0.117,0.040,3098,2288,746
$GC,15403,1.21,587.2,24.7,8.6,1410,15468,0.17,2.30,60.20,0.588,4,0.051,0.044,3209,892,481
$GC,15507,1.14,587.2,7.0,20.0,1427,15514,0.22,2.15,0.00,0.000,6,0.118,0.035,3142,2274,472
$STATE,15533,end climb,SURFACE_DEPTH_REACHED
$STATE,15533,begin surface coast
$FINISH,1.7,1.007111
$STATE,15555,end surface coast,CONTROL_FINISHED_OK
$STATE,15555,begin surface
$SM_CCo,15633,0.00,0.000,0,0,467,585.29
$SM_GC,2.45,7.60,0.00,0.00,0.027,0.000,0.000,149,2280,467,-8.10,-0.14,585.29
$IRIDIUM_FIX,2427.58,12338.78,261198,050511
$TT8_MAMPS,0.048321
$HUMID,1742
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.20
$XPDR_PINGS,707
$24V_AH,23.1,130.074
$10V_AH,10.3,83.496
$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,28.800,156.100,688.100,0.000,0.000,24.124,45.859,264.584,184.750,0.000,0.000,15.489,0.000,11200.949,764.095,3310.937,839.880,0.000,2094.238,0.000,2754.282,0.000,56.646,0.000
$DEVICE_MAMPS,227.032,87.438,1338.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,967.692,972.204,1153.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81973,1436
$CAP_FILE_SIZE,171903,0
$CFSIZE,260165632,207257600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172, 47.1,1
$GPS,010909,141055,2438.343,12337.128,36,1.8,36,-3.6