version: 66.04
glider: 165
mission: 2
dive: 609
start: 9 7 109 21 30 32
data:
$ID,165
$MISSION,2
$DIVE,609
$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,-132916.98
$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,38
$R_STBD_OVSHOOT,40
$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
$GPS1,212101,2452.725,12306.438,40,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-70.4
$GPS2,213026,2452.721,12306.630,13,1.4,13,-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,241.7,96003,-16.0,-11.000
$D_GRID,1753
$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,-219.0,0.0,0.0,0,72,0.00,0.00,-56.67,0.000,2,0.000,0.000,151,2323,1829
$GC,76,-0.91,-219.0,3.1,-2.7,9,146,9.12,2.20,-51.90,0.000,4,0.219,0.060,2473,3673,3749
$GC,318,-0.47,-219.0,76.5,-36.7,52,324,0.45,2.17,0.00,0.000,6,0.127,0.031,2627,2272,3749
$GC,646,-0.59,-219.0,118.6,-11.5,113,653,0.12,2.28,0.00,0.000,4,0.060,0.048,2549,3676,3752
$GC,665,-0.66,-219.0,121.2,-12.7,116,671,0.00,2.15,0.00,0.000,6,0.000,0.031,2550,2273,3753
$GC,993,-0.56,-219.0,179.5,-16.2,177,999,0.17,2.20,0.00,0.000,4,0.127,0.044,2608,894,3753
$GC,1090,-0.76,-219.0,190.6,-9.8,195,1098,0.20,2.17,0.00,0.000,6,0.046,0.039,2494,2269,3753
$GC,1423,-0.52,-219.0,260.8,-19.6,256,1428,0.35,0.00,0.00,0.000,6,0.125,0.000,2605,2270,3753
$GC,1750,-0.72,-219.0,286.2,-6.5,317,1756,0.17,2.20,0.00,0.000,4,0.050,0.045,2492,899,3753
$GC,1800,-0.59,-219.0,292.6,-15.6,326,1806,0.32,2.20,0.00,0.000,6,0.125,0.042,2589,2269,3753
$GC,2119,-0.75,-219.0,321.1,-7.5,363,2120,0.15,0.00,0.00,0.000,6,0.054,0.000,2490,2271,3752
$GC,2431,-0.60,-219.0,372.7,-17.4,393,2432,0.30,0.00,0.00,0.000,6,0.121,0.000,2583,2271,3751
$GC,2740,-0.78,-219.0,402.1,-9.0,423,2741,0.15,0.00,0.00,0.000,6,0.054,0.000,2493,2271,3749
$GC,3051,-0.64,-219.0,452.9,-18.0,453,3054,0.22,2.25,0.00,0.000,4,0.125,0.049,2569,903,3747
$GC,3083,-0.69,-219.0,457.7,-13.1,455,3090,0.00,2.22,0.00,0.000,6,0.000,0.048,2569,2272,3747
$GC,3402,-0.84,-219.0,486.4,-8.4,486,3406,0.17,2.22,0.00,0.000,4,0.050,0.046,2464,895,3744
$GC,3425,-0.84,-219.0,489.1,-11.2,487,3432,0.15,2.22,0.00,0.000,6,0.133,0.044,2506,2282,3744
$GC,3740,-0.79,-219.0,529.9,-12.4,507,3743,0.00,2.28,0.00,0.000,4,0.000,0.048,2506,896,3742
$GC,3761,-0.79,-219.0,532.7,-11.5,508,3764,0.00,2.25,0.00,0.000,6,0.000,0.044,2507,2280,3742
$GC,4083,-0.75,-219.0,569.2,-11.3,524,4085,0.10,0.00,0.00,0.000,6,0.143,0.000,2536,2280,3740
$GC,4388,-0.83,-219.0,595.5,-8.4,539,4391,0.00,2.25,0.00,0.000,4,0.000,0.048,2536,895,3737
$GC,4437,-0.95,-219.0,599.7,-8.1,541,4442,0.17,2.20,0.00,0.000,6,0.051,0.043,2451,2269,3737
$GC,4762,-0.75,-219.0,651.6,-17.6,557,4765,0.25,2.35,0.00,0.000,4,0.136,0.053,2521,3694,3734
$GC,4788,-0.71,-219.0,656.1,-14.6,558,4791,0.00,2.17,0.00,0.000,6,0.000,0.033,2521,2286,3733
$GC,5111,-0.77,-219.0,685.4,-9.3,574,5114,0.00,2.25,0.00,0.000,4,0.000,0.049,2521,889,3732
$GC,5186,-0.85,-219.0,692.5,-8.9,577,5189,0.00,2.22,0.00,0.000,6,0.000,0.042,2521,2272,3732
$GC,5498,-0.93,-219.0,718.7,-8.1,592,5501,0.12,2.28,0.00,0.000,4,0.064,0.048,2452,884,3729
$GC,5552,-0.83,-219.0,725.3,-13.1,594,5556,0.22,2.25,0.00,0.000,6,0.130,0.045,2516,2268,3729
$GC,5864,-0.89,-219.0,751.7,-7.7,609,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2268,3726
$GC,6168,-0.97,-219.0,774.6,-7.5,624,6172,0.15,2.28,0.00,0.000,4,0.058,0.048,2441,887,3724
$GC,6190,-0.93,-219.0,777.0,-11.2,625,6193,0.15,2.25,0.00,0.000,6,0.142,0.045,2479,2269,3723
$GC,6507,-0.88,-219.0,814.5,-12.2,641,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2269,3721
$GC,6812,-0.82,-219.0,851.4,-12.3,656,6816,0.12,2.30,0.00,0.000,4,0.145,0.050,2516,884,3719
$GC,6851,-0.90,-219.0,855.7,-9.7,658,6854,0.00,2.25,0.00,0.000,6,0.000,0.045,2516,2266,3719
$GC,7172,-0.99,-219.0,884.1,-8.9,674,7173,0.15,0.00,0.00,0.000,6,0.058,0.000,2439,2267,3717
$GC,7477,-0.83,-219.0,931.2,-15.6,689,7481,0.20,2.30,0.00,0.000,4,0.137,0.051,2505,890,3715
$GC,7569,-0.91,-219.0,941.2,-9.1,693,7573,0.00,2.22,0.00,0.000,6,0.000,0.045,2504,2252,3715
$GC,7885,-0.97,-219.0,970.2,-9.2,709,7889,0.12,2.42,0.00,0.000,4,0.061,0.058,2439,3695,3713
$GC,7913,-0.92,-219.0,973.3,-12.3,710,7916,0.15,2.28,0.00,0.000,6,0.132,0.035,2480,2243,3713
$STATE,8057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8057,begin apogee
$GC,8064,-0.20,0.0,990.5,11.6,717,8245,0.73,0.00,177.70,1.340,6,0.112,0.000,2714,2299,2854
$STATE,8245,end apogee,CONTROL_FINISHED_OK
$STATE,8245,begin climb
$GC,8248,0.91,219.0,1000.6,0.0,726,8458,1.05,2.58,196.62,1.299,4,0.047,0.057,3090,3689,1961
$GC,8698,0.47,219.0,938.4,22.5,747,8703,0.57,2.20,0.00,0.000,6,0.145,0.037,2932,2301,1955
$GC,9015,0.50,243.8,904.3,10.2,763,9040,0.00,2.30,21.83,1.208,4,0.000,0.055,2932,3689,1859
$GC,9108,0.50,243.8,893.5,13.0,767,9111,0.00,2.17,0.00,0.000,6,0.000,0.035,2941,2299,1857
$GC,9429,0.50,243.8,855.7,11.4,783,9432,0.00,2.30,0.00,0.000,4,0.000,0.054,2941,3701,1854
$GC,9483,0.45,243.8,848.9,12.7,785,9486,0.00,2.17,0.00,0.000,6,0.000,0.035,2951,2307,1854
$GC,9800,0.41,243.8,812.1,11.8,801,9803,0.12,2.30,0.00,0.000,4,0.142,0.052,2914,3692,1853
$GC,9869,0.41,243.8,804.0,11.6,804,9872,0.00,2.15,0.00,0.000,6,0.000,0.034,2923,2312,1853
$GC,10185,0.47,265.5,771.2,10.3,820,10209,0.00,2.30,19.35,1.160,4,0.000,0.054,2923,3683,1771
$GC,10314,0.47,265.5,756.2,12.0,826,10317,0.00,2.10,0.00,0.000,6,0.000,0.035,2931,2346,1769
$GC,10640,0.51,265.5,717.9,11.7,842,10643,0.00,2.22,0.00,0.000,4,0.000,0.053,2931,3695,1766
$GC,10695,0.51,265.5,711.4,12.4,844,10698,0.00,2.12,0.00,0.000,6,0.000,0.035,2941,2336,1766
$GC,11011,0.52,271.6,676.4,10.8,860,11018,0.00,0.00,6.07,0.904,6,0.000,0.000,2940,2336,1746
$GC,11316,0.53,283.5,644.6,10.6,875,11337,0.00,2.30,12.00,1.041,4,0.000,0.054,2941,3698,1698
$GC,11429,0.54,286.6,632.4,10.9,880,11437,0.00,2.08,4.38,0.744,6,0.000,0.034,2950,2357,1685
$GC,11750,0.56,305.7,598.8,10.4,896,11774,0.00,2.28,18.23,1.052,4,0.000,0.054,2950,3711,1606
$GC,11841,0.56,310.2,589.0,10.8,900,11850,0.00,2.10,5.32,0.801,6,0.000,0.035,2958,2361,1589
$GC,12157,0.57,312.9,554.3,10.9,915,12165,0.00,2.40,3.85,0.653,4,0.000,0.050,2964,901,1578
$GC,12184,0.61,312.9,551.4,11.3,916,12188,0.00,2.38,0.00,0.000,6,0.000,0.040,2965,2383,1576
$GC,12501,0.65,312.9,511.9,11.3,932,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2383,1576
$GC,12809,0.69,312.9,469.1,11.5,957,12811,0.12,0.00,0.00,0.000,6,0.064,0.000,3038,2385,1576
$GC,13123,0.55,320.0,429.4,10.8,987,13136,0.25,2.17,7.65,0.826,4,0.128,0.054,2958,3691,1549
$GC,13217,0.69,409.5,421.2,8.0,995,13300,0.12,2.05,78.07,0.955,6,0.064,0.034,3030,2371,1183
$GC,13611,0.65,409.5,364.8,16.4,1033,13614,0.15,2.40,0.00,0.000,4,0.129,0.048,2994,888,1178
$GC,13718,0.77,409.5,349.9,12.6,1042,13724,0.00,2.38,0.00,0.000,6,0.000,0.038,2995,2367,1175
$GC,14038,0.84,409.5,308.2,12.3,1073,14042,0.15,2.42,0.00,0.000,4,0.055,0.047,3089,886,1175
$GC,14076,0.73,409.5,301.9,17.5,1076,14080,0.25,2.35,0.00,0.000,6,0.139,0.038,3018,2363,1175
$GC,14404,0.73,409.5,262.2,11.2,1135,14410,0.00,2.15,0.00,0.000,4,0.000,0.051,3018,3690,1175
$GC,14438,0.73,409.5,257.6,12.6,1141,14443,0.00,2.08,0.00,0.000,6,0.000,0.033,3025,2353,1175
$GC,14765,0.73,409.5,211.4,14.4,1202,14771,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,3686,1175
$GC,14803,0.73,409.5,205.7,15.2,1209,14809,0.00,2.08,0.00,0.000,6,0.000,0.033,3033,2350,1175
$GC,15131,0.73,409.5,154.3,14.9,1270,15136,0.00,2.38,0.00,0.000,4,0.000,0.048,3044,883,1175
$GC,15202,0.77,409.5,144.3,13.8,1283,15209,0.00,2.35,0.00,0.000,6,0.000,0.036,3044,2366,1175
$GC,15530,0.95,508.9,107.7,7.6,1344,15618,0.12,2.17,80.88,0.686,4,0.061,0.051,3115,3702,778
$GC,15678,0.95,508.9,88.9,13.2,1369,15684,0.15,2.12,0.00,0.000,6,0.123,0.035,3081,2342,776
$GC,16007,1.17,532.5,56.9,10.2,1430,16034,0.17,2.30,20.73,0.608,4,0.048,0.045,3197,888,681
$GC,16045,1.05,532.5,51.2,16.5,1436,16052,0.20,2.33,0.00,0.000,6,0.119,0.035,3115,2356,679
$GC,16374,1.22,566.0,14.8,9.9,1497,16412,0.15,2.40,32.80,0.576,4,0.055,0.044,3215,895,542
$STATE,16441,end climb,SURFACE_DEPTH_REACHED
$STATE,16441,begin surface coast
$FINISH,1.8,1.021257
$STATE,16461,end surface coast,CONTROL_FINISHED_OK
$STATE,16461,begin surface
$SM_CCo,16543,0.00,0.000,0,0,531,569.83
$SM_GC,2.57,7.88,0.00,0.00,0.033,0.000,0.000,161,2307,531,-8.09,0.62,569.83
$IRIDIUM_FIX,2441.81,12301.23,021298,161647
$TT8_MAMPS,0.049855
$HUMID,1764
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,26.10
$XPDR_PINGS,730
$24V_AH,21.7,138.724
$10V_AH,10.2,87.771
$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,26.200,148.475,685.475,0.000,0.000,26.078,32.639,321.408,190.500,0.000,0.000,15.105,0.000,11925.508,768.897,3465.521,913.434,0.000,2140.563,0.000,2898.471,0.000,57.677,0.000
$DEVICE_MAMPS,218.595,61.360,1339.949,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.667,1029.115,1218.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85255,1512
$CAP_FILE_SIZE,174932,0
$CFSIZE,260165632,204234752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.336, 50.3,1
$GPS,080909,020707,2452.915,12306.793,28,0.8,28,-3.6