version: 66.04
glider: 165
mission: 2
dive: 590
start: 9 4 109 6 25 1
data:
$ID,165
$MISSION,2
$DIVE,590
$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,-132529.16
$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,45
$R_STBD_OVSHOOT,28
$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
$GPS1,061707,2445.279,12306.921,35,1.5,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-69.2
$GPS2,062456,2445.297,12306.858,9,1.6,9,-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,254.0,99244,-16.0,-11.000
$D_GRID,1521
$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,14,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,64,0.00,0.00,-44.67,0.000,2,0.000,0.000,156,2268,1992
$GC,67,-0.91,-219.0,3.5,-4.2,7,130,9.23,2.35,-46.03,0.000,4,0.222,0.068,2469,3685,3748
$GC,317,-0.56,-219.0,69.9,-24.9,52,323,0.38,2.17,0.00,0.000,6,0.126,0.033,2600,2285,3750
$GC,645,-0.56,-219.0,116.0,-13.2,113,652,0.00,2.20,0.00,0.000,4,0.000,0.047,2601,888,3752
$GC,685,-0.59,-219.0,120.6,-11.5,120,691,0.00,2.22,0.00,0.000,6,0.000,0.040,2601,2294,3752
$GC,1013,-0.68,-219.0,153.2,-9.6,181,1020,0.12,2.25,0.00,0.000,4,0.058,0.044,2525,882,3752
$GC,1101,-0.55,-219.0,168.2,-18.2,197,1108,0.28,2.20,0.00,0.000,6,0.123,0.041,2604,2277,3752
$GC,1431,-0.68,-219.0,201.7,-10.4,258,1437,0.12,2.22,0.00,0.000,4,0.059,0.045,2533,890,3752
$GC,1453,-0.68,-219.0,204.7,-12.9,262,1459,0.00,2.17,0.00,0.000,6,0.000,0.041,2533,2261,3752
$GC,1780,-0.56,-219.0,259.4,-14.4,323,1786,0.17,2.33,0.00,0.000,4,0.134,0.057,2589,3679,3753
$GC,1820,-0.70,-219.0,263.7,-8.6,330,1826,0.10,2.17,0.00,0.000,6,0.064,0.032,2517,2263,3752
$GC,2149,-0.52,-219.0,316.3,-16.1,383,2153,0.28,2.20,0.00,0.000,4,0.126,0.046,2609,884,3752
$GC,2230,-0.76,-219.0,322.7,-6.1,390,2234,0.20,2.17,0.00,0.000,6,0.045,0.039,2494,2257,3752
$GC,2548,-0.57,-219.0,375.1,-17.7,420,2552,0.30,2.22,0.00,0.000,4,0.127,0.045,2591,880,3751
$GC,2596,-0.75,-219.0,381.1,-8.1,424,2600,0.15,2.20,0.00,0.000,6,0.054,0.041,2498,2250,3751
$GC,2919,-0.62,-219.0,426.1,-15.0,455,2923,0.22,2.35,0.00,0.000,4,0.127,0.054,2573,3685,3750
$GC,2989,-0.86,-219.0,432.1,-5.8,461,2993,0.20,2.20,0.00,0.000,6,0.044,0.031,2461,2239,3750
$GC,3305,-0.64,-219.0,485.9,-18.3,491,3306,0.35,0.00,0.00,0.000,6,0.127,0.000,2570,2235,3749
$GC,3626,-0.79,-219.0,508.3,-5.7,515,3627,0.12,0.00,0.00,0.000,6,0.060,0.000,2494,2235,3747
$GC,3929,-0.71,-219.0,546.1,-12.5,530,3933,0.17,2.22,0.00,0.000,4,0.127,0.051,2554,882,3744
$GC,3972,-0.83,-219.0,550.6,-8.7,532,3976,0.12,2.20,0.00,0.000,6,0.061,0.043,2479,2247,3744
$GC,4289,-0.72,-219.0,594.7,-14.1,548,4293,0.20,2.38,0.00,0.000,4,0.129,0.057,2545,3685,3742
$GC,4305,-0.68,-219.0,597.0,-14.2,549,4309,0.00,2.22,0.00,0.000,6,0.000,0.033,2546,2242,3741
$GC,4630,-0.81,-219.0,626.8,-9.0,565,4633,0.00,2.15,0.00,0.000,4,0.000,0.049,2546,892,3740
$GC,4674,-0.96,-219.0,630.9,-8.6,567,4678,0.22,2.17,0.00,0.000,6,0.044,0.042,2438,2252,3739
$GC,4998,-0.76,-219.0,684.5,-17.2,583,5002,0.28,2.25,0.00,0.000,4,0.137,0.048,2527,882,3737
$GC,5063,-0.87,-219.0,691.9,-9.1,586,5066,0.00,2.17,0.00,0.000,6,0.000,0.043,2523,2244,3737
$GC,5385,-0.94,-219.0,720.9,-9.2,602,5386,0.15,0.00,0.00,0.000,6,0.057,0.000,2443,2245,3735
$GC,5690,-0.77,-219.0,767.3,-16.5,617,5694,0.25,2.22,0.00,0.000,4,0.131,0.049,2525,892,3732
$GC,5733,-0.87,-219.0,772.6,-9.6,619,5736,0.00,2.17,0.00,0.000,6,0.000,0.044,2523,2243,3732
$GC,6055,-0.97,-219.0,800.6,-8.1,635,6059,0.17,2.40,0.00,0.000,4,0.052,0.058,2425,3691,3729
$GC,6083,-0.91,-219.0,803.9,-13.0,636,6087,0.20,2.28,0.00,0.000,6,0.130,0.034,2484,2226,3729
$GC,6393,-0.91,-219.0,843.9,-13.2,651,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2226,3727
$GC,6700,-0.91,-219.0,883.3,-12.6,666,6703,0.00,2.15,0.00,0.000,4,0.000,0.051,2484,894,3725
$GC,6747,-0.91,-219.0,889.4,-12.0,668,6751,0.00,2.15,0.00,0.000,6,0.000,0.045,2482,2235,3725
$GC,7069,-0.91,-219.0,927.3,-11.0,684,7072,0.00,2.42,0.00,0.000,4,0.000,0.061,2481,3685,3723
$GC,7107,-0.95,-219.0,931.2,-9.9,685,7114,0.00,2.25,0.00,0.000,6,0.000,0.035,2481,2242,3722
$GC,7418,-0.95,-219.0,962.0,-9.8,701,7420,0.00,2.20,0.00,0.000,4,0.000,0.051,2481,887,3721
$GC,7444,-0.95,-219.0,964.7,-9.9,702,7447,0.00,2.20,0.00,0.000,6,0.000,0.046,2482,2243,3721
$STATE,7701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7701,begin apogee
$GC,7709,-0.20,0.0,990.7,10.6,715,7891,0.73,0.00,178.98,1.335,6,0.111,0.000,2716,2315,2854
$STATE,7891,end apogee,CONTROL_FINISHED_OK
$STATE,7891,begin climb
$GC,7894,0.91,219.0,1000.1,0.0,724,8093,1.00,2.40,188.43,1.299,4,0.037,0.058,3104,3677,1960
$GC,8179,0.44,219.0,971.2,22.2,737,8183,0.68,2.17,0.00,0.000,6,0.159,0.037,2924,2308,1955
$GC,8500,0.48,248.2,937.8,10.0,753,8542,0.00,2.35,27.55,1.144,4,0.000,0.055,2924,3677,1840
$GC,8591,0.48,248.2,927.8,13.3,757,8594,0.00,2.15,0.00,0.000,6,0.000,0.035,2932,2305,1840
$GC,8912,0.48,248.2,890.6,11.3,773,8915,0.00,2.28,0.00,0.000,4,0.000,0.054,2932,3689,1837
$GC,8982,0.48,248.2,882.2,12.7,776,8985,0.00,2.15,0.00,0.000,6,0.000,0.035,2942,2307,1837
$GC,9298,0.52,285.6,849.9,9.7,792,9337,0.00,0.00,33.80,1.220,6,0.000,0.000,2942,2307,1688
$GC,9643,0.58,332.5,817.3,9.4,809,9688,0.00,2.33,42.10,1.208,4,0.000,0.054,2942,3683,1498
$GC,9766,0.61,332.5,804.9,11.1,814,9773,0.00,2.17,0.00,0.000,6,0.000,0.041,2951,2309,1496
$GC,10077,0.61,332.5,769.8,11.8,830,10080,0.00,2.25,0.00,0.000,4,0.000,0.053,2952,3685,1494
$GC,10103,0.61,332.5,766.4,13.4,831,10107,0.00,2.12,0.00,0.000,6,0.000,0.035,2960,2320,1493
$GC,10426,0.61,332.5,721.2,15.6,847,10429,0.00,2.25,0.00,0.000,4,0.000,0.053,2960,3692,1492
$GC,10506,0.61,332.5,707.6,16.2,850,10512,0.00,2.15,0.00,0.000,6,0.000,0.041,2969,2333,1492
$GC,10817,0.61,332.5,662.8,13.2,866,10820,0.00,2.33,0.00,0.000,4,0.000,0.048,2979,888,1491
$GC,10860,0.65,332.5,657.2,12.7,868,10864,0.00,2.33,0.00,0.000,6,0.000,0.039,2979,2347,1489
$GC,11176,0.65,332.5,615.5,13.0,884,11180,0.00,2.17,0.00,0.000,4,0.000,0.054,2979,3683,1488
$GC,11252,0.60,332.5,604.9,13.0,887,11255,0.00,2.10,0.00,0.000,6,0.000,0.035,2987,2339,1489
$GC,11568,0.56,332.5,559.0,15.7,903,11571,0.00,2.22,0.00,0.000,4,0.000,0.054,2987,3683,1489
$GC,11686,0.50,332.5,538.8,15.9,908,11689,0.20,2.05,0.00,0.000,6,0.135,0.035,2939,2369,1488
$GC,11998,0.64,353.2,505.5,10.3,923,12021,0.12,2.45,17.95,0.989,4,0.064,0.048,3032,889,1415
$GC,12056,0.56,353.2,496.9,15.5,926,12063,0.25,2.40,0.00,0.000,6,0.127,0.041,2959,2380,1412
$GC,12372,0.63,353.2,462.3,11.2,957,12375,0.00,2.42,0.00,0.000,4,0.000,0.047,2966,886,1412
$GC,12404,0.74,358.9,458.9,10.8,959,12414,0.15,2.35,6.28,0.789,6,0.058,0.038,3040,2364,1389
$GC,12725,0.60,358.9,404.0,17.5,990,12729,0.20,2.15,0.00,0.000,4,0.140,0.053,2976,3683,1389
$GC,12881,0.64,358.9,381.7,15.4,1004,12884,0.00,2.05,0.00,0.000,6,0.000,0.035,2983,2367,1389
$GC,13206,0.70,376.1,344.5,10.4,1035,13227,0.00,2.17,16.65,0.858,4,0.000,0.052,2983,3695,1318
$GC,13255,0.74,376.1,338.6,12.0,1039,13260,0.00,2.05,0.00,0.000,6,0.000,0.034,2991,2371,1319
$GC,13574,0.83,405.2,304.6,10.0,1070,13607,0.15,2.45,26.23,0.839,4,0.056,0.052,3083,886,1200
$GC,13675,0.71,405.2,289.9,16.7,1084,13681,0.25,2.40,0.00,0.000,6,0.132,0.044,3010,2382,1198
$GC,14004,0.76,405.2,248.1,12.1,1145,14008,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2383,1198
$GC,14330,0.84,429.7,212.7,10.2,1206,14356,0.12,2.15,21.58,0.752,4,0.064,0.051,3087,3686,1101
$GC,14426,0.69,429.7,196.2,19.7,1223,14432,0.32,2.03,0.00,0.000,6,0.133,0.035,2999,2374,1101
$GC,14754,0.81,429.7,161.9,11.1,1284,14760,0.12,2.40,0.00,0.000,4,0.060,0.050,3092,883,1100
$GC,14814,0.73,429.7,152.2,16.7,1295,14820,0.28,2.38,0.00,0.000,6,0.129,0.036,3010,2389,1100
$GC,15142,0.91,471.9,116.5,9.6,1356,15187,0.17,2.10,36.50,0.683,4,0.051,0.054,3123,3696,930
$GC,15215,0.73,471.9,103.7,20.8,1368,15221,0.32,2.10,0.00,0.000,6,0.127,0.037,3015,2370,929
$GC,15544,1.04,548.6,74.4,8.4,1429,15616,0.22,2.45,67.60,0.645,4,0.042,0.046,3152,892,614
$GC,15783,1.04,548.6,31.3,12.0,1471,15789,0.15,2.33,0.00,0.000,6,0.123,0.036,3108,2366,602
$STATE,16058,end climb,SURFACE_DEPTH_REACHED
$STATE,16058,begin surface coast
$FINISH,1.9,1.021468
$STATE,16091,end surface coast,CONTROL_FINISHED_OK
$STATE,16091,begin surface
$SM_CCo,16170,0.00,0.000,0,0,597,553.40
$SM_GC,2.54,7.53,0.00,0.00,0.029,0.000,0.000,165,2256,597,-8.09,-0.79,553.40
$IRIDIUM_FIX,2437.06,12301.93,291198,010142
$TT8_MAMPS,0.049855
$HUMID,1789
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,25.30
$XPDR_PINGS,762
$24V_AH,22.8,133.794
$10V_AH,10.2,85.381
$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,26.975,156.925,663.625,0.000,0.000,30.251,37.396,227.719,198.500,0.000,0.000,11.526,0.000,11534.306,753.743,3504.582,809.183,0.000,2125.703,0.000,2932.716,0.000,53.974,0.000
$DEVICE_MAMPS,222.430,93.574,1335.347,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.477,1068.911,1312.623,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85332,1529
$CAP_FILE_SIZE,173636,0
$CFSIZE,260165632,205926400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.321, 37.4,1
$GPS,040909,105531,2446.476,12305.992,36,1.2,36,-3.6