version: 66.04
glider: 165
mission: 2
dive: 605
start: 9 7 109 3 21 38
data:
$ID,165
$MISSION,2
$DIVE,605
$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,-132836.16
$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,42
$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
$GPS1,031036,2451.344,12305.825,35,0.9,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-67.3
$GPS2,032132,2451.400,12305.935,11,1.2,11,-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,238.2,95227,-16.0,-11.000
$D_GRID,1657
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,13,-0.91,-219.0,0.0,0.0,0,72,0.00,0.00,-56.75,0.000,2,0.000,0.000,159,2255,1853
$GC,75,-0.91,-219.0,3.3,-4.1,9,145,9.18,2.33,-51.50,0.000,4,0.222,0.059,2470,3680,3749
$GC,240,-0.46,-219.0,44.1,-34.1,37,246,0.52,2.17,0.00,0.000,6,0.130,0.034,2629,2280,3749
$GC,568,-0.51,-219.0,106.2,-13.0,98,574,0.00,2.20,0.00,0.000,4,0.000,0.045,2630,881,3751
$GC,759,-0.68,-219.0,123.2,-7.4,133,765,0.20,2.17,0.00,0.000,6,0.045,0.039,2521,2259,3752
$GC,1087,-0.47,-219.0,179.8,-18.0,194,1093,0.30,2.22,0.00,0.000,4,0.127,0.045,2620,872,3752
$GC,1170,-0.70,-219.0,188.5,-7.7,209,1176,0.20,2.22,0.00,0.000,6,0.044,0.038,2505,2284,3753
$GC,1501,-0.49,-219.0,254.6,-21.8,270,1507,0.35,2.28,0.00,0.000,4,0.125,0.052,2616,3676,3753
$GC,1534,-0.65,-219.0,260.3,-11.7,276,1540,0.12,2.17,0.00,0.000,6,0.058,0.031,2524,2253,3753
$GC,1864,-0.51,-219.0,318.1,-16.6,328,1868,0.25,2.20,0.00,0.000,4,0.120,0.046,2606,885,3753
$GC,1944,-0.75,-219.0,326.4,-8.4,335,1948,0.20,2.15,0.00,0.000,6,0.044,0.039,2493,2255,3752
$GC,2261,-0.57,-219.0,376.8,-15.3,365,2262,0.32,0.00,0.00,0.000,6,0.124,0.000,2595,2254,3751
$GC,2575,-0.78,-219.0,400.2,-8.0,395,2579,0.17,2.33,0.00,0.000,4,0.050,0.054,2481,3685,3749
$GC,2623,-0.71,-219.0,407.2,-15.5,399,2627,0.22,2.20,0.00,0.000,6,0.117,0.034,2551,2260,3748
$GC,2945,-0.77,-219.0,443.3,-9.3,430,2946,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2260,3747
$GC,3258,-0.83,-219.0,467.3,-7.9,460,3262,0.12,2.20,0.00,0.000,4,0.064,0.048,2478,886,3744
$GC,3302,-0.72,-219.0,472.2,-11.9,463,3309,0.22,2.22,0.00,0.000,6,0.126,0.048,2544,2264,3744
$GC,3618,-0.79,-219.0,500.0,-9.4,494,3622,0.00,2.22,0.00,0.000,4,0.000,0.047,2544,881,3742
$GC,3652,-0.88,-219.0,503.2,-9.6,495,3655,0.15,2.20,0.00,0.000,6,0.054,0.047,2462,2244,3742
$GC,3963,-0.70,-219.0,552.6,-16.5,510,3965,0.30,0.00,0.00,0.000,6,0.131,0.000,2553,2244,3740
$GC,4269,-0.84,-219.0,579.7,-8.6,525,4270,0.12,0.00,0.00,0.000,6,0.061,0.000,2476,2245,3738
$GC,4574,-0.71,-219.0,626.6,-16.2,540,4575,0.25,0.00,0.00,0.000,6,0.125,0.000,2553,2245,3735
$GC,4879,-0.87,-219.0,651.3,-6.9,555,4883,0.15,2.40,0.00,0.000,4,0.056,0.058,2468,3688,3733
$GC,4912,-0.87,-219.0,654.7,-11.2,556,4917,0.12,2.30,0.00,0.000,6,0.130,0.038,2502,2240,3732
$GC,5222,-0.87,-219.0,688.1,-11.2,572,5225,0.00,2.20,0.00,0.000,4,0.000,0.051,2503,878,3730
$GC,5265,-0.87,-219.0,692.9,-10.8,574,5268,0.00,2.20,0.00,0.000,6,0.000,0.044,2503,2242,3729
$GC,5593,-0.87,-219.0,728.2,-10.8,590,5596,0.00,2.40,0.00,0.000,4,0.000,0.058,2500,3695,3727
$GC,5631,-0.93,-219.0,732.2,-10.4,592,5634,0.00,2.28,0.00,0.000,6,0.000,0.035,2500,2238,3727
$GC,5953,-0.93,-219.0,766.1,-10.5,608,5956,0.00,2.17,0.00,0.000,4,0.000,0.049,2500,887,3724
$GC,5996,-0.96,-219.0,770.9,-11.1,610,5999,0.00,2.20,0.00,0.000,6,0.000,0.044,2500,2246,3724
$GC,6322,-0.96,-219.0,805.1,-10.6,626,6326,0.00,2.40,0.00,0.000,4,0.000,0.059,2500,3694,3722
$GC,6356,-1.03,-219.0,808.5,-10.7,627,6363,0.15,2.28,0.00,0.000,6,0.056,0.034,2426,2234,3721
$GC,6666,-0.83,-219.0,862.8,-18.4,643,6670,0.25,2.22,0.00,0.000,4,0.137,0.050,2507,884,3719
$GC,6737,-0.91,-219.0,871.8,-11.2,646,6740,0.00,2.20,0.00,0.000,6,0.000,0.044,2507,2243,3720
$GC,7053,-0.97,-219.0,905.3,-10.6,662,7057,0.12,2.42,0.00,0.000,4,0.064,0.058,2442,3697,3717
$GC,7074,-0.97,-219.0,907.8,-11.8,663,7078,0.00,2.30,0.00,0.000,6,0.000,0.035,2442,2235,3716
$GC,7397,-0.83,-219.0,955.3,-14.8,679,7398,0.22,0.00,0.00,0.000,6,0.133,0.000,2509,2232,3714
$GC,7701,-0.90,-219.0,981.3,-7.9,694,7702,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,2232,3713
$STATE,7819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7819,begin apogee
$GC,7828,-0.20,0.0,991.2,8.1,700,8007,0.62,0.00,176.48,1.338,6,0.104,0.000,2716,2308,2854
$STATE,8007,end apogee,CONTROL_FINISHED_OK
$STATE,8007,begin climb
$GC,8011,0.91,219.0,999.6,0.0,709,8213,0.98,2.55,192.57,1.299,4,0.044,0.059,3080,3689,1960
$GC,8454,0.50,219.0,936.3,22.2,730,8458,0.50,2.20,0.00,0.000,6,0.146,0.038,2946,2297,1953
$GC,8776,0.46,220.5,898.9,11.0,746,8780,0.00,2.28,0.00,0.000,4,0.000,0.054,2946,3682,1951
$GC,8950,0.37,220.5,878.1,12.6,754,8954,0.20,2.17,0.00,0.000,6,0.134,0.038,2894,2300,1950
$GC,9267,0.62,345.9,855.1,6.8,770,9383,0.20,2.42,109.28,1.239,4,0.053,0.054,3010,3686,1442
$GC,9417,0.47,345.9,834.2,16.9,777,9421,0.30,2.20,0.00,0.000,6,0.131,0.037,2933,2308,1440
$GC,9734,0.59,364.1,801.2,10.4,793,9753,0.10,0.00,15.98,1.125,6,0.072,0.000,2998,2305,1369
$GC,10058,0.52,364.1,749.7,16.6,809,10060,0.17,0.00,0.00,0.000,6,0.131,0.000,2948,2305,1366
$GC,10365,0.59,364.1,709.7,13.4,824,10368,0.00,2.28,0.00,0.000,4,0.000,0.053,2948,3688,1365
$GC,10429,0.66,364.1,700.1,14.5,827,10433,0.12,2.15,0.00,0.000,6,0.066,0.035,3019,2311,1364
$GC,10746,0.56,364.1,635.9,20.8,843,10747,0.20,0.00,0.00,0.000,6,0.128,0.000,2962,2311,1363
$GC,11050,0.61,364.1,590.1,13.5,858,11053,0.00,2.28,0.00,0.000,4,0.000,0.052,2962,3690,1363
$GC,11077,0.66,364.1,586.4,14.9,859,11080,0.00,2.15,0.00,0.000,6,0.000,0.035,2965,2309,1363
$GC,11399,0.78,420.9,552.3,9.1,875,11455,0.17,2.38,49.97,1.054,4,0.054,0.050,3071,894,1138
$GC,11503,0.66,420.9,535.8,16.9,879,11510,0.28,2.28,0.00,0.000,6,0.133,0.039,2991,2316,1134
$GC,11816,0.70,420.9,493.6,15.5,897,11819,0.00,2.20,0.00,0.000,4,0.000,0.052,2992,3680,1132
$GC,11896,0.75,420.9,480.5,15.6,904,11902,0.00,2.17,0.00,0.000,6,0.000,0.035,2998,2301,1132
$GC,12216,0.78,420.9,430.7,14.6,935,12219,0.00,2.28,0.00,0.000,4,0.000,0.049,3009,888,1131
$GC,12302,0.85,420.9,419.1,11.6,943,12305,0.12,2.25,0.00,0.000,6,0.068,0.038,3088,2300,1129
$GC,12619,0.65,420.9,356.7,19.9,973,12622,0.30,2.28,0.00,0.000,4,0.131,0.050,2991,3686,1129
$GC,12737,0.73,420.9,340.7,11.6,984,12740,0.00,2.15,0.00,0.000,6,0.000,0.035,2998,2314,1129
$GC,13061,0.81,420.9,304.8,11.8,1015,13065,0.12,2.30,0.00,0.000,4,0.062,0.047,3084,894,1129
$GC,13152,0.72,420.9,288.6,18.6,1028,13159,0.25,2.30,0.00,0.000,6,0.130,0.038,3011,2316,1128
$GC,13481,0.78,420.9,237.1,13.2,1089,13486,0.00,2.25,0.00,0.000,4,0.000,0.053,3011,3685,1127
$GC,13520,0.83,420.9,231.5,15.7,1096,13525,0.00,2.17,0.00,0.000,6,0.000,0.034,3018,2307,1127
$GC,13847,0.88,420.9,190.1,12.5,1157,13853,0.12,2.25,0.00,0.000,4,0.066,0.048,3106,3683,1127
$GC,13914,0.67,420.9,177.1,21.6,1169,13920,0.40,2.10,0.00,0.000,6,0.127,0.034,2995,2332,1127
$GC,14245,0.95,520.9,150.4,7.6,1230,14335,0.22,2.35,82.70,0.721,4,0.044,0.047,3132,885,728
$GC,14421,0.87,520.9,113.3,23.8,1260,14427,0.25,2.25,0.00,0.000,6,0.121,0.041,3057,2311,726
$GC,14751,1.13,619.6,72.9,7.7,1321,14815,0.20,2.38,58.12,0.647,4,0.046,0.047,3177,888,479
$GC,14872,1.10,619.6,54.5,16.2,1341,14878,0.17,2.22,0.00,0.000,6,0.128,0.037,3126,2306,467
$GC,15202,1.25,638.3,22.1,10.4,1402,15208,0.17,2.30,0.00,0.000,4,0.073,0.044,3228,882,459
$GC,15241,1.15,638.3,15.7,17.1,1409,15247,0.28,2.17,0.00,0.000,6,0.129,0.034,3146,2292,459
$STATE,15335,end climb,SURFACE_DEPTH_REACHED
$STATE,15336,begin surface coast
$FINISH,1.8,1.010301
$STATE,15366,end surface coast,CONTROL_FINISHED_OK
$STATE,15366,begin surface
$SM_CCo,15445,0.00,0.000,0,0,457,587.98
$SM_GC,2.63,7.70,0.00,0.00,0.031,0.000,0.000,151,2298,457,-8.10,0.37,587.98
$IRIDIUM_FIX,2444.18,12305.82,021298,030322
$TT8_MAMPS,0.049088
$HUMID,1793
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.60
$XPDR_PINGS,721
$24V_AH,22.1,137.673
$10V_AH,10.2,87.273
$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,28.425,135.300,685.100,0.000,0.000,55.555,63.986,291.914,188.250,0.000,0.000,13.626,0.000,11103.269,748.783,3288.198,924.504,0.000,2050.724,0.000,2748.042,0.000,57.652,0.000
$DEVICE_MAMPS,222.430,82.836,1338.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,966.880,993.774,1195.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79075,1432
$CAP_FILE_SIZE,166705,0
$CFSIZE,260165632,204599296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.292, 56.1,1
$GPS,070909,074007,2451.163,12306.098,40,0.9,40,-3.6