version: 66.04
glider: 165
mission: 2
dive: 577
start: 9 1 109 19 1 16
data:
$ID,165
$MISSION,2
$DIVE,577
$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,-132293.52
$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,40
$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
$GPS1,184955,2438.358,12335.297,41,1.2,41,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.4
$GPS2,190108,2438.431,12335.386,13,1.6,13,-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,273.7,148781,-16.0,-11.000
$D_GRID,1318
$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,-219.0,0.0,0.0,0,66,0.00,0.00,-50.58,0.000,2,0.000,0.000,146,2327,1911
$GC,70,-0.91,-219.0,3.1,-4.0,8,139,9.40,2.22,-51.88,0.000,4,0.225,0.063,2470,3686,3748
$GC,233,-0.54,-219.0,44.2,-28.1,36,239,0.38,2.17,0.00,0.000,6,0.128,0.035,2602,2284,3749
$GC,561,-0.54,-219.0,107.4,-12.6,97,566,0.00,2.20,0.00,0.000,4,0.000,0.046,2603,882,3750
$GC,669,-0.67,-219.0,118.8,-9.0,117,675,0.12,2.17,0.00,0.000,6,0.060,0.038,2530,2277,3751
$GC,996,-0.45,-219.0,183.0,-19.2,178,1002,0.30,0.00,0.00,0.000,6,0.130,0.000,2629,2278,3751
$GC,1324,-0.68,-219.0,205.8,-6.6,239,1331,0.17,2.22,0.00,0.000,4,0.049,0.045,2516,878,3752
$GC,1386,-0.55,-219.0,214.1,-16.0,250,1392,0.30,2.20,0.00,0.000,6,0.127,0.041,2602,2280,3752
$GC,1714,-0.71,-219.0,241.4,-6.8,311,1721,0.15,2.25,0.00,0.000,4,0.053,0.053,2500,3688,3752
$GC,1738,-0.74,-219.0,243.8,-10.0,315,1745,0.15,2.15,0.00,0.000,6,0.124,0.031,2545,2263,3752
$GC,2067,-0.70,-219.0,286.4,-13.4,376,2073,0.00,2.20,0.00,0.000,4,0.000,0.047,2546,887,3751
$GC,2138,-0.78,-219.0,294.5,-9.7,389,2143,0.00,2.17,0.00,0.000,6,0.000,0.041,2546,2281,3751
$GC,2461,-0.75,-219.0,333.4,-13.1,425,2464,0.00,2.22,0.00,0.000,4,0.000,0.047,2545,881,3750
$GC,2541,-0.84,-219.0,342.3,-9.2,432,2547,0.10,2.17,0.00,0.000,6,0.068,0.041,2480,2250,3750
$GC,2857,-0.69,-219.0,394.3,-15.6,463,2860,0.22,2.17,0.00,0.000,4,0.127,0.046,2555,890,3748
$GC,2932,-0.86,-219.0,401.8,-8.2,469,2938,0.15,2.15,0.00,0.000,6,0.054,0.043,2468,2244,3747
$GC,3248,-0.69,-219.0,451.6,-16.3,500,3249,0.28,0.00,0.00,0.000,6,0.126,0.000,2554,2244,3746
$GC,3562,-0.83,-219.0,477.6,-7.8,530,3566,0.12,2.17,0.00,0.000,4,0.061,0.048,2477,888,3745
$GC,3589,-0.83,-219.0,480.7,-11.4,532,3592,0.12,2.15,0.00,0.000,6,0.137,0.048,2512,2226,3744
$GC,3916,-0.83,-219.0,515.9,-10.9,556,3920,0.00,2.40,0.00,0.000,4,0.000,0.060,2510,3688,3741
$GC,3954,-0.91,-219.0,520.3,-10.3,558,3957,0.00,2.28,0.00,0.000,6,0.000,0.036,2510,2221,3740
$GC,4275,-0.91,-219.0,556.0,-11.1,574,4278,0.00,2.12,0.00,0.000,4,0.000,0.050,2510,892,3738
$GC,4345,-0.96,-219.0,563.8,-11.0,577,4349,0.12,2.12,0.00,0.000,6,0.061,0.046,2446,2221,3738
$GC,4661,-0.78,-219.0,616.0,-16.8,593,4665,0.25,2.40,0.00,0.000,4,0.133,0.058,2520,3680,3735
$GC,4705,-0.90,-219.0,620.8,-8.8,595,4708,0.00,2.25,0.00,0.000,6,0.000,0.035,2520,2219,3735
$GC,5021,-0.98,-219.0,649.4,-9.4,611,5022,0.17,0.00,0.00,0.000,6,0.053,0.000,2435,2219,3732
$GC,5328,-0.80,-219.0,700.3,-17.5,626,5331,0.25,2.15,0.00,0.000,4,0.130,0.050,2517,887,3730
$GC,5403,-0.93,-219.0,709.7,-10.9,629,5408,0.10,2.15,0.00,0.000,6,0.068,0.044,2462,2220,3729
$GC,5715,-0.85,-219.0,753.6,-14.1,645,5718,0.15,2.17,0.00,0.000,4,0.135,0.049,2505,884,3727
$GC,5741,-0.85,-219.0,757.2,-13.1,646,5744,0.00,2.12,0.00,0.000,6,0.000,0.044,2505,2212,3726
$GC,6057,-0.92,-219.0,788.4,-9.7,662,6061,0.00,2.42,0.00,0.000,4,0.000,0.061,2505,3679,3724
$GC,6106,-1.06,-219.0,792.8,-9.3,664,6110,0.20,2.28,0.00,0.000,6,0.049,0.035,2411,2214,3723
$GC,6417,-0.83,-219.0,846.5,-18.5,679,6421,0.30,2.15,0.00,0.000,4,0.137,0.052,2507,896,3720
$GC,6449,-0.83,-219.0,851.2,-12.3,680,6454,0.00,2.17,0.00,0.000,6,0.000,0.053,2507,2221,3720
$GC,6760,-0.92,-219.0,879.3,-9.3,696,6763,0.00,2.17,0.00,0.000,4,0.000,0.051,2507,885,3719
$GC,6787,-1.01,-219.0,882.0,-10.2,697,6791,0.15,2.12,0.00,0.000,6,0.059,0.045,2435,2208,3719
$GC,7104,-0.89,-219.0,928.2,-14.8,713,7105,0.20,0.00,0.00,0.000,6,0.137,0.000,2493,2208,3716
$GC,7409,-0.94,-219.0,957.4,-8.8,728,7412,0.00,2.45,0.00,0.000,4,0.000,0.064,2493,3676,3714
$GC,7446,-1.05,-219.0,960.3,-8.0,729,7453,0.15,2.28,0.00,0.000,6,0.058,0.036,2422,2214,3714
$STATE,7672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7672,begin apogee
$GC,7680,-0.20,0.0,991.9,14.6,741,7860,0.93,0.00,176.90,1.337,6,0.127,0.000,2710,2296,2854
$STATE,7860,end apogee,CONTROL_FINISHED_OK
$STATE,7860,begin climb
$GC,7863,0.91,219.0,1000.7,0.0,750,8060,0.98,2.42,185.40,1.299,4,0.045,0.061,3084,3680,1959
$GC,8300,0.46,219.0,935.9,22.6,770,8305,0.57,2.17,0.00,0.000,6,0.156,0.039,2929,2302,1953
$GC,8612,0.49,241.5,900.9,10.2,785,8635,0.00,2.33,19.70,1.187,4,0.000,0.058,2928,3695,1868
$GC,8702,0.43,241.5,890.5,12.5,789,8706,0.00,2.20,0.00,0.000,6,0.000,0.037,2938,2293,1867
$GC,9019,0.40,241.5,854.8,11.3,805,9022,0.00,2.25,0.00,0.000,4,0.000,0.052,2948,897,1863
$GC,9045,0.40,241.5,851.6,11.3,806,9049,0.12,2.25,0.00,0.000,6,0.135,0.041,2913,2309,1862
$GC,9362,0.50,288.9,821.5,9.4,822,9408,0.00,2.30,41.80,1.211,4,0.000,0.057,2912,3683,1676
$GC,9470,0.56,298.3,810.4,10.7,827,9484,0.12,2.20,9.85,1.054,6,0.069,0.038,2983,2296,1637
$GC,9793,0.46,298.3,764.3,14.4,842,9797,0.17,2.30,0.00,0.000,4,0.140,0.054,2925,3692,1633
$GC,9911,0.46,298.3,749.5,11.6,847,9918,0.00,2.15,0.00,0.000,6,0.000,0.036,2934,2312,1633
$GC,10222,0.47,307.6,716.7,10.7,863,10235,0.00,2.33,8.93,1.017,4,0.000,0.051,2944,894,1598
$GC,10286,0.55,310.8,710.0,10.9,866,10294,0.00,2.25,4.18,0.739,6,0.000,0.038,2944,2318,1586
$GC,10613,0.55,310.8,672.8,11.2,882,10616,0.00,2.22,0.00,0.000,4,0.000,0.055,2944,3688,1585
$GC,10787,0.55,310.8,652.1,13.0,890,10790,0.00,2.12,0.00,0.000,6,0.000,0.035,2952,2330,1585
$GC,11113,0.55,310.8,613.6,12.1,906,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2330,1585
$GC,11419,0.55,310.8,578.0,11.5,921,11422,0.00,2.33,0.00,0.000,4,0.000,0.049,2960,886,1584
$GC,11451,0.59,310.8,574.2,12.3,922,11455,0.00,2.30,0.00,0.000,6,0.000,0.038,2960,2337,1582
$GC,11762,0.59,310.8,537.6,11.0,937,11765,0.00,2.20,0.00,0.000,4,0.000,0.054,2961,3692,1582
$GC,11820,0.56,310.8,530.3,13.2,939,11827,0.00,2.12,0.00,0.000,6,0.000,0.035,2968,2330,1582
$GC,12133,0.56,310.8,494.7,11.5,957,12136,0.00,2.22,0.00,0.000,4,0.000,0.052,2969,3688,1582
$GC,12202,0.52,310.8,485.7,12.3,963,12209,0.00,2.08,0.00,0.000,6,0.000,0.035,2976,2351,1582
$GC,12522,0.52,310.8,446.7,12.8,994,12527,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2350,1582
$GC,12840,0.52,310.8,409.3,11.2,1025,12844,0.00,2.20,0.00,0.000,4,0.000,0.053,2977,3695,1582
$GC,12900,0.52,310.8,401.5,13.6,1030,12905,0.15,2.10,0.00,0.000,6,0.133,0.039,2942,2360,1582
$GC,13216,0.69,374.6,371.0,8.8,1061,13281,0.17,2.47,56.03,0.907,4,0.054,0.048,3046,891,1326
$GC,13366,0.63,374.6,348.0,15.8,1075,13370,0.22,2.35,0.00,0.000,6,0.126,0.038,2981,2361,1322
$GC,13683,0.69,374.6,312.2,11.2,1105,13686,0.00,2.12,0.00,0.000,4,0.000,0.053,2981,3683,1321
$GC,13737,0.75,374.6,305.6,12.3,1110,13740,0.00,2.08,0.00,0.000,6,0.000,0.034,2988,2346,1321
$GC,14063,0.85,415.6,268.8,9.6,1166,14106,0.17,2.40,35.78,0.808,4,0.051,0.049,3106,891,1158
$GC,14178,0.70,415.6,250.1,15.9,1186,14185,0.28,2.35,0.00,0.000,6,0.135,0.043,3006,2344,1156
$GC,14506,0.78,415.6,209.9,12.1,1247,14512,0.00,2.15,0.00,0.000,4,0.000,0.052,3005,3686,1156
$GC,14573,0.84,415.6,201.7,13.0,1259,14579,0.10,2.08,0.00,0.000,6,0.071,0.035,3072,2349,1153
$GC,14902,0.75,415.6,150.3,15.4,1320,14908,0.17,2.35,0.00,0.000,4,0.135,0.050,3023,885,1153
$GC,14946,0.91,460.7,145.2,9.5,1328,14990,0.08,2.35,38.25,0.705,6,0.030,0.036,3112,2355,975
$GC,15315,0.81,460.7,83.1,15.2,1395,15322,0.20,2.15,0.00,0.000,4,0.126,0.053,3044,3695,971
$GC,15392,0.96,483.3,73.1,10.2,1409,15418,0.12,2.03,19.48,0.626,6,0.062,0.036,3115,2366,882
$GC,15743,0.96,483.3,28.1,11.3,1473,15749,0.00,2.38,0.00,0.000,4,0.000,0.047,3126,881,880
$GC,15873,1.06,527.8,14.3,9.5,1497,15917,0.00,2.35,37.15,0.586,6,0.000,0.038,3126,2381,701
$STATE,15973,end climb,SURFACE_DEPTH_REACHED
$STATE,15973,begin surface coast
$FINISH,2.3,1.021275
$STATE,16003,end surface coast,CONTROL_FINISHED_OK
$STATE,16003,begin surface
$SM_CCo,16082,0.00,0.000,0,0,698,528.62
$SM_GC,2.51,7.65,0.00,0.00,0.032,0.000,0.000,160,2245,698,-8.10,-1.16,528.62
$IRIDIUM_FIX,2427.58,12333.52,261198,191939
$TT8_MAMPS,0.049088
$HUMID,1774
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,25.80
$XPDR_PINGS,795
$24V_AH,23.1,130.571
$10V_AH,10.3,83.754
$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,26.250,156.225,633.425,0.000,0.000,53.705,77.563,298.638,206.750,0.000,0.000,15.006,0.000,11518.562,734.746,3509.466,958.305,0.000,2120.704,0.000,2941.691,0.000,57.473,0.000
$DEVICE_MAMPS,225.498,65.962,1336.881,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.219,1025.825,1236.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85291,1520
$CAP_FILE_SIZE,177667,0
$CFSIZE,260165632,207069184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.165, 31.3,1
$GPS,010909,233007,2439.342,12333.416,25,1.1,25,-3.6