version: 66.04
glider: 165
mission: 2
dive: 610
start: 9 8 109 2 16 42
data:
$ID,165
$MISSION,2
$DIVE,610
$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,-132947.47
$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,33
$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
$GPS1,020707,2452.915,12306.793,28,0.8,28,-3.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-69.7
$GPS2,021636,2452.950,12306.867,12,1.2,28,-3.6
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,268.9,91804,-16.0,-11.000
$D_GRID,1768
$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,-219.0,0.0,0.0,0,71,0.00,0.00,-55.67,0.000,2,0.000,0.000,158,2313,1913
$GC,74,-0.91,-219.0,3.3,-4.4,9,138,9.02,2.28,-50.45,0.000,4,0.217,0.061,2472,3692,3749
$GC,289,-0.44,-219.0,67.2,-35.1,47,296,0.52,2.17,0.00,0.000,6,0.127,0.033,2632,2279,3750
$GC,618,-0.44,-219.0,112.5,-12.6,108,624,0.00,2.22,0.00,0.000,4,0.000,0.043,2633,869,3752
$GC,658,-0.61,-219.0,117.0,-10.7,115,665,0.15,2.20,0.00,0.000,6,0.051,0.038,2545,2277,3752
$GC,987,-0.49,-219.0,179.2,-18.3,176,993,0.22,2.28,0.00,0.000,4,0.126,0.051,2616,3679,3753
$GC,1026,-0.68,-219.0,184.6,-11.2,183,1034,0.15,2.15,0.00,0.000,6,0.049,0.031,2520,2263,3753
$GC,1356,-0.50,-219.0,242.7,-17.0,244,1362,0.30,2.20,0.00,0.000,4,0.120,0.045,2618,890,3753
$GC,1455,-0.76,-219.0,250.2,-6.3,262,1461,0.22,2.17,0.00,0.000,6,0.044,0.039,2495,2272,3753
$GC,1787,-0.53,-219.0,313.4,-24.3,319,1791,0.32,2.30,0.00,0.000,4,0.127,0.052,2601,3679,3753
$GC,1824,-0.71,-219.0,320.0,-13.1,322,1828,0.15,2.17,0.00,0.000,6,0.052,0.032,2505,2265,3753
$GC,2141,-0.56,-219.0,379.1,-16.2,352,2145,0.28,2.22,0.00,0.000,4,0.119,0.047,2596,881,3753
$GC,2205,-0.79,-219.0,383.7,-4.0,357,2211,0.20,2.25,0.00,0.000,6,0.045,0.041,2490,2283,3753
$GC,2521,-0.64,-219.0,427.7,-16.6,388,2525,0.22,2.30,0.00,0.000,4,0.123,0.050,2567,887,3752
$GC,2542,-0.60,-219.0,430.9,-15.2,389,2549,0.00,2.22,0.00,0.000,6,0.000,0.045,2564,2269,3751
$GC,2859,-0.71,-219.0,463.3,-10.5,420,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2269,3748
$GC,3172,-0.86,-219.0,489.8,-8.1,450,3175,0.17,2.25,0.00,0.000,4,0.051,0.045,2453,881,3746
$GC,3199,-0.77,-219.0,492.9,-12.7,452,3202,0.28,2.28,0.00,0.000,6,0.120,0.044,2535,2276,3746
$GC,3514,-0.82,-219.0,522.5,-9.5,470,3517,0.00,2.28,0.00,0.000,4,0.000,0.051,2535,892,3743
$GC,3589,-0.91,-219.0,530.4,-10.1,473,3593,0.15,2.25,0.00,0.000,6,0.056,0.045,2458,2272,3743
$GC,3901,-0.73,-219.0,581.7,-16.2,488,3902,0.28,0.00,0.00,0.000,6,0.131,0.000,2542,2272,3741
$GC,4205,-0.83,-219.0,609.6,-9.0,503,4208,0.00,2.25,0.00,0.000,4,0.000,0.049,2542,891,3738
$GC,4233,-0.95,-219.0,612.2,-9.4,504,4237,0.20,2.20,0.00,0.000,6,0.048,0.043,2448,2264,3739
$GC,4557,-0.76,-219.0,668.2,-18.7,520,4561,0.25,2.25,0.00,0.000,4,0.137,0.048,2529,891,3734
$GC,4584,-0.71,-219.0,672.9,-15.2,521,4587,0.00,2.17,0.00,0.000,6,0.000,0.044,2529,2241,3734
$GC,4906,-0.80,-219.0,703.5,-8.8,537,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,2241,3733
$GC,5211,-0.90,-219.0,730.7,-8.3,552,5214,0.12,2.40,0.00,0.000,4,0.062,0.058,2455,3682,3730
$GC,5238,-0.90,-219.0,733.7,-12.0,553,5242,0.12,2.25,0.00,0.000,6,0.131,0.035,2489,2238,3729
$GC,5549,-0.90,-219.0,771.7,-11.4,568,5550,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2238,3728
$GC,5855,-0.87,-219.0,804.6,-10.8,583,5858,0.00,2.20,0.00,0.000,4,0.000,0.051,2489,887,3725
$GC,5925,-0.87,-219.0,812.3,-10.3,586,5928,0.00,2.20,0.00,0.000,6,0.000,0.044,2490,2245,3724
$GC,6246,-0.87,-219.0,847.4,-11.2,602,6249,0.00,2.40,0.00,0.000,4,0.000,0.058,2487,3689,3722
$GC,6274,-0.87,-219.0,850.6,-12.3,603,6278,0.00,2.25,0.00,0.000,6,0.000,0.034,2487,2246,3721
$GC,6585,-0.87,-219.0,885.5,-10.7,618,6588,0.00,2.20,0.00,0.000,4,0.000,0.051,2487,889,3720
$GC,6617,-0.87,-219.0,888.9,-10.9,619,6620,0.00,2.22,0.00,0.000,6,0.000,0.044,2481,2260,3720
$GC,6929,-0.83,-219.0,924.2,-11.6,634,6930,0.12,0.00,0.00,0.000,6,0.141,0.000,2518,2261,3718
$GC,7233,-0.93,-219.0,950.2,-8.1,649,7235,0.12,0.00,0.00,0.000,6,0.062,0.000,2452,2261,3716
$STATE,7534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7534,begin apogee
$GC,7543,-0.20,0.0,991.2,14.3,664,7723,0.85,0.00,177.30,1.335,6,0.120,0.000,2716,2306,2853
$STATE,7723,end apogee,CONTROL_FINISHED_OK
$STATE,7723,begin climb
$GC,7727,0.91,219.0,1002.3,0.0,673,7933,1.00,2.60,195.80,1.296,4,0.047,0.058,3082,3680,1960
$GC,8174,0.49,219.0,946.6,20.3,694,8178,0.52,2.17,0.00,0.000,6,0.146,0.039,2941,2310,1954
$GC,8496,0.52,239.6,914.3,10.3,710,8517,0.00,0.00,17.95,1.188,6,0.000,0.000,2941,2309,1877
$GC,8822,0.53,249.3,878.7,10.7,726,8835,0.00,2.30,9.62,1.088,4,0.000,0.057,2940,3697,1836
$GC,8924,0.48,249.3,867.3,11.8,730,8929,0.00,2.20,0.00,0.000,6,0.000,0.036,2950,2299,1835
$GC,9234,0.55,300.2,836.7,9.3,746,9285,0.00,2.38,45.12,1.221,4,0.000,0.054,2950,3689,1629
$GC,9386,0.59,334.1,821.6,9.9,753,9421,0.00,2.17,30.80,1.186,6,0.000,0.035,2959,2308,1491
$GC,9728,0.59,334.1,785.3,11.7,769,9732,0.00,2.28,0.00,0.000,4,0.000,0.051,2967,898,1485
$GC,9761,0.64,334.1,781.4,12.2,770,9766,0.00,2.30,0.00,0.000,6,0.000,0.041,2967,2327,1483
$GC,10072,0.64,334.1,741.5,12.9,786,10075,0.00,2.22,0.00,0.000,4,0.000,0.053,2968,3690,1483
$GC,10189,0.64,334.1,725.9,12.9,791,10193,0.00,2.12,0.00,0.000,6,0.000,0.035,2976,2330,1483
$GC,10506,0.67,365.5,691.8,9.9,807,10534,0.00,0.00,27.52,1.126,6,0.000,0.000,2976,2330,1364
$GC,10831,0.67,365.5,654.2,13.0,823,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2330,1360
$GC,11136,0.67,365.5,613.3,14.4,838,11139,0.00,2.33,0.00,0.000,4,0.000,0.049,2986,896,1360
$GC,11162,0.67,365.5,609.4,15.0,839,11166,0.00,2.30,0.00,0.000,6,0.000,0.039,2986,2335,1358
$GC,11474,0.67,365.5,564.8,13.8,854,11477,0.00,2.20,0.00,0.000,4,0.000,0.052,2987,3685,1357
$GC,11538,0.67,365.5,555.0,15.5,857,11541,0.00,2.12,0.00,0.000,6,0.000,0.035,2995,2336,1357
$GC,11865,0.67,365.5,510.4,13.3,873,11868,0.00,2.35,0.00,0.000,4,0.000,0.048,3006,889,1357
$GC,11946,0.67,365.5,500.4,12.0,877,11949,0.00,2.33,0.00,0.000,6,0.000,0.039,3006,2335,1356
$GC,12262,0.65,370.3,463.1,10.8,907,12273,0.00,2.20,4.62,0.696,4,0.000,0.052,3006,3689,1343
$GC,12366,0.60,370.3,451.7,11.3,916,12372,0.15,2.15,0.00,0.000,6,0.122,0.035,2973,2325,1343
$GC,12683,0.76,445.6,430.2,8.5,947,12754,0.15,2.28,66.70,0.952,4,0.056,0.051,3063,3693,1037
$GC,12811,0.64,445.6,407.3,21.9,958,12815,0.30,2.12,0.00,0.000,6,0.130,0.035,2982,2346,1035
$GC,13127,0.76,445.6,359.0,13.8,988,13131,0.12,2.35,0.00,0.000,4,0.059,0.046,3065,883,1033
$GC,13253,0.70,445.6,336.1,17.7,999,13257,0.20,2.30,0.00,0.000,6,0.127,0.038,3005,2335,1031
$GC,13570,0.80,466.5,298.7,10.3,1030,13593,0.00,0.00,18.17,0.814,6,0.000,0.000,3005,2335,951
$GC,13915,0.90,466.5,256.3,13.8,1094,13921,0.17,2.38,0.00,0.000,4,0.054,0.047,3120,882,950
$GC,13959,0.74,466.5,247.0,23.9,1102,13965,0.35,2.33,0.00,0.000,6,0.134,0.042,3017,2338,951
$GC,14287,0.82,466.5,198.2,11.7,1163,14294,0.00,2.35,0.00,0.000,4,0.000,0.047,3026,888,949
$GC,14312,0.92,466.5,195.2,12.8,1167,14319,0.15,2.28,0.00,0.000,6,0.057,0.036,3119,2334,949
$GC,14641,0.78,466.5,132.2,15.6,1228,14647,0.25,2.15,0.00,0.000,4,0.129,0.048,3036,3677,949
$GC,14774,1.08,630.5,121.5,5.5,1252,14887,0.22,2.15,104.43,0.695,6,0.047,0.035,3152,2293,477
$GC,15209,1.13,630.5,49.7,13.7,1330,15215,0.00,2.20,0.00,0.000,4,0.000,0.047,3162,906,457
$GC,15297,1.20,630.5,37.7,13.9,1346,15302,0.00,2.20,0.00,0.000,6,0.000,0.035,3162,2319,455
$STATE,15529,end climb,SURFACE_DEPTH_REACHED
$STATE,15529,begin surface coast
$FINISH,1.8,1.008216
$STATE,15551,end surface coast,CONTROL_FINISHED_OK
$STATE,15551,begin surface
$SM_CCo,15631,0.00,0.000,0,0,452,589.21
$SM_GC,2.51,7.80,0.00,0.00,0.034,0.000,0.000,161,2325,452,-8.10,1.13,589.21
$IRIDIUM_FIX,2441.81,12307.81,021298,212151
$TT8_MAMPS,0.049855
$HUMID,1811
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.60
$XPDR_PINGS,683
$24V_AH,21.8,138.990
$10V_AH,10.2,87.889
$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,25.850,135.050,698.050,0.000,0.000,27.941,48.956,292.010,178.750,0.000,0.000,29.860,0.000,11304.477,756.537,3232.806,869.351,0.000,2048.848,0.000,2684.507,0.000,53.980,0.000
$DEVICE_MAMPS,217.061,118.118,1335.347,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,941.492,933.036,1078.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78996,1394
$CAP_FILE_SIZE,161004,0
$CFSIZE,260165632,204161024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288, 53.3,1
$GPS,080909,063807,2453.953,12306.179,30,1.3,30,-3.6