version: 66.04
glider: 165
mission: 2
dive: 579
start: 9 2 109 4 13 42
data:
$ID,165
$MISSION,2
$DIVE,579
$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,-132338.77
$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,64
$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
$GPS1,040607,2438.760,12331.220,33,1.3,33,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-65.8
$GPS2,041337,2438.760,12331.279,11,1.3,11,-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,283.7,141984,-16.0,-11.000
$D_GRID,1382
$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,-219.0,0.0,0.0,0,65,0.00,0.00,-48.90,0.000,2,0.000,0.000,157,2270,1909
$GC,69,-0.91,-219.0,3.4,-4.5,8,133,9.12,2.30,-48.83,0.000,4,0.216,0.062,2468,3690,3748
$GC,193,-0.54,-219.0,32.7,-30.7,29,200,0.40,2.15,0.00,0.000,6,0.122,0.035,2608,2306,3749
$GC,522,-0.48,-219.0,98.1,-14.6,90,527,0.00,2.25,0.00,0.000,4,0.000,0.045,2609,878,3750
$GC,697,-0.58,-219.0,119.3,-10.9,122,703,0.00,2.15,0.00,0.000,6,0.000,0.039,2606,2249,3752
$GC,1025,-0.58,-219.0,164.8,-12.9,183,1031,0.00,2.15,0.00,0.000,4,0.000,0.045,2606,885,3753
$GC,1080,-0.71,-219.0,170.9,-9.6,193,1087,0.15,2.15,0.00,0.000,6,0.054,0.039,2519,2270,3753
$GC,1410,-0.54,-219.0,229.2,-16.1,254,1416,0.25,2.22,0.00,0.000,4,0.127,0.045,2601,881,3753
$GC,1486,-0.75,-219.0,236.1,-6.1,268,1492,0.15,2.15,0.00,0.000,6,0.035,0.038,2490,2243,3753
$GC,1814,-0.54,-219.0,292.5,-18.0,329,1821,0.32,2.17,0.00,0.000,4,0.125,0.045,2598,882,3753
$GC,1849,-0.65,-219.0,296.8,-9.8,335,1855,0.00,2.10,0.00,0.000,6,0.000,0.038,2598,2233,3753
$GC,2172,-0.86,-219.0,320.4,-7.6,370,2175,0.22,2.15,0.00,0.000,4,0.045,0.044,2462,878,3753
$GC,2199,-0.79,-219.0,324.0,-15.2,372,2204,0.25,2.12,0.00,0.000,6,0.133,0.041,2529,2227,3753
$GC,2520,-0.79,-219.0,369.4,-12.2,403,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2227,3752
$GC,2834,-0.79,-219.0,405.2,-10.4,433,2838,0.00,2.17,0.00,0.000,4,0.000,0.049,2529,883,3751
$GC,2888,-0.85,-219.0,411.2,-9.9,438,2891,0.00,2.12,0.00,0.000,6,0.000,0.044,2523,2227,3751
$GC,3213,-0.85,-219.0,446.2,-11.0,469,3216,0.00,2.12,0.00,0.000,4,0.000,0.047,2523,886,3748
$GC,3250,-0.88,-219.0,450.9,-11.6,472,3256,0.00,2.12,0.00,0.000,6,0.000,0.047,2523,2223,3748
$GC,3570,-0.88,-219.0,482.8,-9.6,503,3573,0.00,2.35,0.00,0.000,4,0.000,0.057,2523,3674,3745
$GC,3602,-0.95,-219.0,486.2,-8.7,505,3609,0.15,2.25,0.00,0.000,6,0.054,0.038,2440,2221,3745
$GC,3927,-0.73,-219.0,541.5,-18.3,526,3931,0.30,2.15,0.00,0.000,4,0.130,0.051,2538,887,3742
$GC,4024,-0.88,-219.0,552.4,-8.7,530,4029,0.12,2.12,0.00,0.000,6,0.061,0.044,2465,2215,3742
$GC,4335,-0.74,-219.0,601.4,-16.1,546,4339,0.22,2.40,0.00,0.000,4,0.130,0.058,2534,3673,3740
$GC,4362,-0.74,-219.0,604.8,-11.2,547,4366,0.00,2.25,0.00,0.000,6,0.000,0.034,2533,2208,3739
$GC,4673,-0.84,-219.0,632.9,-9.3,562,4676,0.00,2.10,0.00,0.000,4,0.000,0.051,2534,888,3736
$GC,4705,-0.97,-219.0,635.9,-9.5,563,4709,0.17,2.08,0.00,0.000,6,0.050,0.043,2443,2205,3736
$GC,5022,-0.81,-219.0,685.5,-14.5,579,5026,0.22,2.15,0.00,0.000,4,0.136,0.048,2516,884,3733
$GC,5076,-0.93,-219.0,691.0,-7.7,581,5079,0.10,2.10,0.00,0.000,6,0.069,0.043,2460,2205,3734
$GC,5393,-0.84,-219.0,731.2,-14.5,597,5397,0.17,2.42,0.00,0.000,4,0.133,0.058,2507,3673,3731
$GC,5446,-0.98,-219.0,736.7,-8.9,599,5452,0.12,2.28,0.00,0.000,6,0.061,0.034,2439,2200,3730
$GC,5757,-0.84,-219.0,782.6,-14.9,615,5761,0.20,2.12,0.00,0.000,4,0.133,0.051,2505,887,3728
$GC,5848,-0.94,-219.0,791.2,-7.9,619,5851,0.00,2.08,0.00,0.000,6,0.000,0.044,2505,2186,3728
$GC,6165,-1.02,-219.0,817.3,-8.7,635,6166,0.15,0.00,0.00,0.000,6,0.058,0.000,2430,2186,3725
$GC,6469,-0.87,-219.0,861.5,-15.2,650,6471,0.22,0.00,0.00,0.000,6,0.132,0.000,2497,2186,3722
$GC,6775,-0.93,-219.0,889.3,-9.0,665,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2186,3720
$GC,7080,-0.98,-219.0,916.9,-9.2,680,7083,0.10,2.15,0.00,0.000,4,0.074,0.055,2446,882,3719
$GC,7123,-0.92,-219.0,921.8,-12.3,682,7126,0.15,2.10,0.00,0.000,6,0.138,0.047,2483,2185,3718
$GC,7453,-0.92,-219.0,953.6,-10.0,698,7457,0.00,2.50,0.00,0.000,4,0.000,0.063,2483,3681,3716
$GC,7512,-1.01,-219.0,959.5,-9.1,701,7516,0.00,2.33,0.00,0.000,6,0.000,0.036,2483,2200,3715
$GC,7834,-1.01,-219.0,990.0,-9.3,717,7837,0.00,2.12,0.00,0.000,4,0.000,0.053,2483,888,3713
$STATE,7842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7842,begin apogee
$GC,7851,-0.20,0.0,991.2,9.2,717,8031,0.68,0.00,177.50,1.336,6,0.110,0.000,2710,2291,2854
$STATE,8031,end apogee,CONTROL_FINISHED_OK
$STATE,8031,begin climb
$GC,8035,0.91,219.0,999.8,0.0,726,8233,0.98,2.45,186.18,1.302,4,0.048,0.054,3089,907,1959
$GC,8361,0.56,219.0,964.0,19.4,741,8365,0.45,2.28,0.00,0.000,6,0.159,0.046,2963,2306,1953
$GC,8678,0.45,219.0,923.5,11.8,757,8682,0.12,2.28,0.00,0.000,4,0.159,0.058,2928,3692,1950
$GC,8870,0.38,219.0,899.3,12.2,766,8874,0.12,2.15,0.00,0.000,6,0.153,0.037,2903,2314,1949
$GC,9192,0.47,258.3,867.9,9.7,782,9231,0.00,0.00,33.97,1.226,6,0.000,0.000,2903,2314,1799
$GC,9537,0.61,309.9,834.4,9.3,799,9590,0.17,2.40,46.58,1.217,4,0.058,0.058,3007,3695,1589
$GC,9614,0.42,309.9,822.8,18.3,802,9620,0.35,2.20,0.00,0.000,6,0.142,0.040,2916,2321,1587
$GC,9925,0.51,319.9,789.0,10.7,818,9938,0.00,2.33,9.45,1.050,4,0.000,0.052,2924,894,1549
$GC,9967,0.62,319.9,784.6,11.1,820,9971,0.17,2.28,0.00,0.000,6,0.056,0.040,3023,2321,1548
$GC,10288,0.45,319.9,727.2,18.4,836,10292,0.30,2.25,0.00,0.000,4,0.134,0.056,2928,3694,1547
$GC,10368,0.48,319.9,716.7,12.3,840,10371,0.00,2.17,0.00,0.000,6,0.000,0.036,2937,2304,1547
$GC,10696,0.51,319.9,679.3,11.9,856,10699,0.00,2.28,0.00,0.000,4,0.000,0.054,2937,3688,1546
$GC,10834,0.51,319.9,661.0,12.7,862,10840,0.00,2.12,0.00,0.000,6,0.000,0.038,2945,2337,1546
$GC,11146,0.56,325.4,627.4,10.8,878,11156,0.00,2.33,5.88,0.874,4,0.000,0.050,2952,896,1526
$GC,11188,0.66,343.3,622.7,10.4,880,11212,0.12,2.28,17.65,1.059,6,0.063,0.039,3020,2335,1454
$GC,11533,0.53,343.3,566.5,17.4,897,11537,0.20,2.17,0.00,0.000,4,0.136,0.053,2955,3683,1450
$GC,11699,0.53,343.3,540.7,15.5,905,11702,0.00,2.10,0.00,0.000,6,0.000,0.037,2962,2346,1450
$GC,12017,0.53,343.3,498.3,12.3,921,12020,0.00,2.35,0.00,0.000,4,0.000,0.050,2971,889,1450
$GC,12054,0.59,343.3,493.6,11.2,924,12058,0.00,2.35,0.00,0.000,6,0.000,0.039,2971,2361,1449
$GC,12373,0.59,343.3,454.5,11.8,954,12376,0.00,2.15,0.00,0.000,4,0.000,0.054,2971,3688,1449
$GC,12442,0.59,343.3,445.1,12.0,960,12448,0.00,2.12,0.00,0.000,6,0.000,0.038,2980,2350,1449
$GC,12761,0.59,343.3,408.0,11.7,991,12764,0.00,2.35,0.00,0.000,4,0.000,0.048,2990,886,1449
$GC,12804,0.63,343.3,402.8,11.4,994,12810,0.00,2.35,0.00,0.000,6,0.000,0.039,2990,2346,1449
$GC,13123,0.63,343.3,365.2,13.1,1025,13127,0.00,2.35,0.00,0.000,4,0.000,0.048,2999,894,1449
$GC,13162,0.63,343.3,359.5,14.9,1028,13165,0.00,2.30,0.00,0.000,6,0.000,0.038,2999,2341,1449
$GC,13478,0.63,343.3,317.3,12.6,1058,13481,0.00,2.17,0.00,0.000,4,0.000,0.053,2999,3684,1449
$GC,13597,0.59,343.3,301.1,14.2,1069,13601,0.15,2.10,0.00,0.000,6,0.127,0.036,2967,2334,1449
$GC,13926,0.77,416.1,269.2,8.5,1128,13995,0.17,2.42,62.88,0.824,4,0.051,0.048,3076,888,1156
$GC,14047,0.67,416.1,250.1,17.7,1148,14053,0.28,2.33,0.00,0.000,6,0.130,0.038,2995,2337,1154
$GC,14377,0.82,448.7,213.6,9.9,1209,14410,0.15,2.25,28.17,0.755,4,0.058,0.051,3076,3693,1023
$GC,14459,0.72,448.7,199.4,18.9,1223,14466,0.25,2.12,0.00,0.000,6,0.133,0.035,3011,2329,1022
$GC,14788,0.90,491.1,160.5,9.6,1284,14833,0.17,2.38,36.25,0.716,4,0.050,0.046,3134,886,850
$GC,14927,0.79,491.1,135.8,18.6,1308,14934,0.28,2.30,0.00,0.000,6,0.123,0.041,3030,2322,848
$GC,15258,1.02,539.7,103.1,9.4,1369,15310,0.17,2.35,43.65,0.664,4,0.051,0.046,3143,898,649
$GC,15333,0.93,539.7,91.5,18.4,1381,15340,0.22,2.22,0.00,0.000,6,0.121,0.035,3076,2320,645
$GC,15662,1.15,576.6,58.9,9.8,1442,15724,0.17,2.30,40.08,0.545,4,0.049,0.045,3189,889,499
$GC,15820,1.10,576.6,33.0,15.6,1470,15826,0.20,2.17,0.00,0.000,6,0.129,0.038,3131,2283,489
$STATE,16075,end climb,SURFACE_DEPTH_REACHED
$STATE,16075,begin surface coast
$FINISH,1.6,1.009955
$STATE,16108,end surface coast,CONTROL_FINISHED_OK
$STATE,16108,begin surface
$SM_CCo,16186,0.00,0.000,0,0,486,580.87
$SM_GC,2.48,7.55,0.00,0.00,0.027,0.000,0.000,150,2288,486,-8.09,0.08,580.87
$IRIDIUM_FIX,2429.95,12329.57,261198,232327
$TT8_MAMPS,0.049088
$HUMID,1732
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.30
$XPDR_PINGS,747
$24V_AH,23.0,131.071
$10V_AH,10.3,84.002
$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,26.750,160.500,688.225,0.000,0.000,28.791,34.338,217.950,194.750,0.000,0.000,13.173,0.000,11491.788,781.769,3528.626,798.705,0.000,2181.408,0.000,2959.280,0.000,54.005,0.000
$DEVICE_MAMPS,216.294,62.894,1336.114,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.858,1047.500,1272.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85360,1524
$CAP_FILE_SIZE,176100,0
$CFSIZE,260165632,206893056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.029,139.8,1
$GPS,020909,084431,2438.663,12328.617,39,1.7,39,-3.6