version: 66.04
glider: 165
mission: 2
dive: 616
start: 9 9 109 12 17 48
data:
$ID,165
$MISSION,2
$DIVE,616
$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,330
$T_MISSION,396
$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,-133725.34
$T_RSLEEP,10
$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,41
$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
$GPS1,121332,2515.184,12313.099,9,1.7,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-64.0
$GPS2,121744,2515.316,12313.193,15,1.7,16,-3.7
$SPEED_LIMITS,0.173,0.311
$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,286.2,82586,-14.7,-10.000
$D_GRID,1374
$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,15,-0.86,-219.0,0.0,0.0,0,85,0.00,0.00,-68.12,0.000,2,0.000,0.000,171,2274,2183
$GC,89,-0.86,-219.0,3.2,-5.6,11,141,9.12,2.30,-38.60,0.000,4,0.216,0.060,2484,3682,3748
$GC,252,-0.42,-219.0,47.2,-31.3,39,259,0.50,2.15,0.00,0.000,6,0.131,0.034,2637,2277,3749
$GC,581,-0.48,-219.0,109.0,-8.5,100,586,0.00,2.20,0.00,0.000,4,0.000,0.046,2637,871,3749
$GC,669,-0.65,-219.0,114.2,-5.8,116,675,0.17,2.20,0.00,0.000,6,0.048,0.038,2535,2290,3749
$GC,997,-0.46,-219.0,169.9,-14.5,177,1003,0.28,0.00,0.00,0.000,6,0.125,0.000,2625,2291,3749
$GC,1325,-0.63,-219.0,193.5,-9.5,238,1331,0.15,2.22,0.00,0.000,4,0.051,0.044,2531,879,3749
$GC,1365,-0.55,-219.0,198.8,-14.2,245,1371,0.22,2.17,0.00,0.000,6,0.112,0.039,2600,2263,3749
$GC,1696,-0.66,-219.0,221.0,-6.8,306,1702,0.00,2.22,0.00,0.000,4,0.000,0.044,2600,878,3749
$GC,1752,-0.81,-219.0,225.2,-8.0,316,1758,0.22,2.15,0.00,0.000,6,0.042,0.040,2474,2266,3748
$GC,2080,-0.53,-219.0,294.0,-20.2,377,2086,0.40,2.20,0.00,0.000,4,0.130,0.044,2604,882,3746
$GC,2137,-0.71,-219.0,300.4,-8.7,387,2140,0.15,2.15,0.00,0.000,6,0.054,0.039,2510,2267,3746
$GC,2458,-0.57,-219.0,344.7,-11.7,418,2459,0.28,0.00,0.00,0.000,6,0.122,0.000,2594,2268,3743
$GC,2772,-0.74,-219.0,368.3,-8.0,448,2778,0.15,0.00,0.00,0.000,6,0.054,0.000,2503,2268,3740
$GC,3088,-0.60,-219.0,405.6,-12.2,479,3092,0.22,2.22,0.00,0.000,4,0.125,0.046,2579,881,3737
$GC,3131,-0.73,-219.0,409.5,-7.6,482,3137,0.00,2.20,0.00,0.000,6,0.000,0.042,2578,2263,3738
$GC,3452,-0.87,-219.0,436.4,-9.0,513,3455,0.17,2.20,0.00,0.000,4,0.053,0.044,2468,882,3735
$GC,3484,-0.73,-219.0,441.3,-15.5,516,3488,0.25,2.20,0.00,0.000,6,0.125,0.043,2544,2270,3735
$GC,3801,-0.78,-219.0,480.0,-11.6,546,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2544,2270,3731
$GC,4108,-0.83,-219.0,512.5,-9.9,570,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2270,3728
$GC,4415,-0.91,-219.0,539.4,-8.5,585,4416,0.15,0.00,0.00,0.000,6,0.055,0.000,2459,2270,3726
$GC,4719,-0.70,-219.0,590.7,-17.9,600,4723,0.28,2.28,0.00,0.000,4,0.133,0.048,2549,876,3723
$GC,4810,-0.84,-219.0,601.1,-9.8,604,4814,0.12,2.22,0.00,0.000,6,0.061,0.044,2475,2263,3722
$GC,5122,-0.70,-219.0,645.1,-14.0,619,5125,0.22,2.25,0.00,0.000,4,0.130,0.045,2549,874,3718
$GC,5181,-0.83,-219.0,651.0,-8.2,622,5185,0.12,2.17,0.00,0.000,6,0.061,0.041,2477,2240,3718
$GC,5506,-0.70,-219.0,694.4,-13.9,638,5510,0.20,2.40,0.00,0.000,4,0.130,0.058,2546,3692,3715
$GC,5549,-0.86,-219.0,699.2,-8.1,640,5553,0.12,2.22,0.00,0.000,6,0.060,0.034,2468,2242,3714
$GC,5874,-0.71,-219.0,745.4,-14.9,656,5878,0.22,2.20,0.00,0.000,4,0.128,0.048,2545,881,3712
$GC,5923,-0.83,-219.0,750.9,-8.8,658,5926,0.00,2.17,0.00,0.000,6,0.000,0.043,2544,2243,3712
$GC,6245,-0.95,-219.0,776.6,-7.6,674,6249,0.20,2.20,0.00,0.000,4,0.050,0.047,2438,886,3708
$GC,6283,-0.78,-219.0,781.4,-14.5,676,6287,0.30,2.17,0.00,0.000,6,0.130,0.044,2527,2235,3708
$GC,6608,-0.85,-219.0,809.7,-8.5,692,6612,0.00,2.40,0.00,0.000,4,0.000,0.058,2521,3695,3706
$GC,6635,-0.94,-219.0,812.2,-8.2,693,6639,0.12,2.28,0.00,0.000,6,0.063,0.035,2453,2233,3706
$GC,6946,-0.76,-219.0,857.2,-14.8,708,6947,0.28,0.00,0.00,0.000,6,0.130,0.000,2537,2229,3703
$GC,7252,-0.87,-219.0,881.6,-7.4,723,7253,0.12,0.00,0.00,0.000,6,0.065,0.000,2468,2229,3701
$GC,7556,-0.75,-219.0,920.7,-13.1,738,7560,0.20,2.20,0.00,0.000,4,0.130,0.051,2532,887,3699
$GC,7616,-0.86,-219.0,926.4,-7.9,741,7620,0.00,2.17,0.00,0.000,6,0.000,0.044,2533,2241,3699
$GC,7943,-0.96,-219.0,952.3,-7.5,757,7945,0.17,0.00,0.00,0.000,6,0.054,0.000,2444,2241,3697
$STATE,8204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8204,begin apogee
$GC,8213,-0.20,0.0,990.8,15.6,770,8388,0.88,0.00,171.95,1.341,6,0.128,0.000,2714,2315,2854
$STATE,8389,end apogee,CONTROL_FINISHED_OK
$STATE,8389,begin climb
$GC,8392,0.86,219.0,1003.5,0.0,779,8590,0.93,2.42,187.98,1.305,4,0.041,0.058,3075,3674,1960
$GC,8781,0.42,219.0,960.2,20.3,797,8785,0.57,2.15,0.00,0.000,6,0.143,0.038,2916,2310,1953
$GC,9097,0.48,268.5,931.4,8.5,813,9143,0.00,2.30,42.28,1.254,4,0.000,0.056,2915,3685,1759
$GC,9178,0.48,268.5,923.8,10.5,817,9181,0.00,2.20,0.00,0.000,6,0.000,0.037,2923,2302,1756
$GC,9504,0.48,268.5,890.3,10.2,833,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2301,1752
$GC,9811,0.52,299.6,862.1,9.0,848,9844,0.00,2.35,27.12,1.216,4,0.000,0.056,2924,3682,1632
$GC,9942,0.52,299.6,848.6,11.8,854,9945,0.00,2.15,0.00,0.000,6,0.000,0.038,2932,2311,1630
$GC,10263,0.52,299.6,815.4,11.3,870,10266,0.00,2.25,0.00,0.000,4,0.000,0.054,2932,3677,1627
$GC,10398,0.52,299.6,798.6,13.0,876,10401,0.00,2.10,0.00,0.000,6,0.000,0.037,2941,2337,1627
$GC,10719,0.52,299.6,762.6,10.3,892,10722,0.00,2.35,0.00,0.000,4,0.000,0.050,2950,887,1626
$GC,10751,0.52,299.6,759.4,10.8,893,10758,0.00,2.33,0.00,0.000,6,0.000,0.041,2950,2335,1624
$GC,11062,0.52,299.6,723.9,11.5,909,11065,0.00,2.22,0.00,0.000,4,0.000,0.055,2950,3689,1624
$GC,11226,0.48,299.6,703.9,12.6,916,11229,0.00,2.10,0.00,0.000,6,0.000,0.036,2958,2354,1623
$GC,11542,0.44,299.6,662.7,13.3,932,11546,0.12,2.22,0.00,0.000,4,0.142,0.053,2922,3690,1624
$GC,11601,0.48,299.6,655.3,12.3,935,11604,0.00,2.10,0.00,0.000,6,0.000,0.035,2929,2354,1623
$GC,11929,0.54,312.1,620.3,9.6,951,11941,0.00,0.00,11.10,1.015,6,0.000,0.000,2929,2354,1580
$GC,12233,0.59,312.1,590.5,10.0,966,12237,0.12,2.38,0.00,0.000,4,0.069,0.048,3014,897,1579
$GC,12266,0.49,312.1,586.3,15.3,967,12272,0.25,2.35,0.00,0.000,6,0.127,0.041,2942,2357,1578
$GC,12577,0.49,312.1,548.6,12.3,983,12580,0.00,2.17,0.00,0.000,4,0.000,0.054,2941,3685,1578
$GC,12625,0.49,312.1,542.1,14.0,985,12628,0.00,2.10,0.00,0.000,6,0.000,0.035,2949,2351,1578
$GC,12948,0.49,312.1,503.8,11.1,1001,12951,0.00,2.20,0.00,0.000,4,0.000,0.052,2949,3683,1578
$GC,13028,0.49,312.1,494.1,11.5,1006,13033,0.00,2.10,0.00,0.000,6,0.000,0.037,2956,2373,1578
$GC,13347,0.49,314.0,460.3,9.9,1037,13351,0.00,2.42,0.00,0.000,4,0.000,0.049,2965,888,1578
$GC,13369,0.49,314.0,457.7,10.0,1038,13375,0.00,2.45,0.00,0.000,6,0.000,0.040,2965,2380,1577
$GC,13688,0.49,314.0,423.0,10.6,1069,13691,0.00,2.15,0.00,0.000,4,0.000,0.054,2966,3693,1577
$GC,13743,0.45,314.0,416.5,11.3,1074,13747,0.17,2.08,0.00,0.000,6,0.129,0.035,2924,2371,1577
$GC,14059,0.67,396.9,392.5,7.5,1104,14139,0.17,2.45,73.40,0.946,4,0.054,0.049,3031,890,1234
$GC,14180,0.62,396.9,376.4,14.9,1114,14186,0.17,2.40,0.00,0.000,6,0.122,0.043,2982,2361,1230
$GC,14496,0.65,396.9,339.6,10.7,1145,14499,0.00,2.15,0.00,0.000,4,0.000,0.053,2982,3684,1227
$GC,14556,0.65,396.9,332.7,11.6,1150,14561,0.00,2.08,0.00,0.000,6,0.000,0.035,2988,2371,1227
$GC,14876,0.69,396.9,300.1,11.0,1181,14879,0.00,2.40,0.00,0.000,4,0.000,0.048,2999,894,1226
$GC,14957,0.78,413.4,291.5,9.5,1195,14976,0.00,2.38,13.82,0.810,6,0.000,0.039,2999,2374,1168
$GC,15298,0.78,413.4,252.0,11.2,1258,15304,0.00,2.42,0.00,0.000,4,0.000,0.048,3009,896,1166
$GC,15342,0.83,413.4,246.7,11.3,1266,15348,0.12,2.35,0.00,0.000,6,0.067,0.041,3088,2357,1166
$GC,15670,0.64,413.4,175.3,21.3,1327,15676,0.30,2.42,0.00,0.000,4,0.126,0.045,2999,886,1165
$GC,15698,0.64,413.4,170.5,15.4,1332,15704,0.00,2.38,0.00,0.000,6,0.000,0.038,2999,2363,1165
$GC,16026,0.73,413.4,138.7,12.1,1393,16032,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2363,1165
$GC,16354,0.89,437.7,109.0,9.3,1454,16380,0.17,2.45,21.25,0.681,4,0.051,0.048,3115,896,1068
$GC,16558,0.89,437.7,80.1,11.5,1491,16564,0.17,2.30,0.00,0.000,6,0.114,0.038,3063,2352,1065
$GC,16886,1.14,506.6,57.4,7.9,1552,16950,0.20,2.15,56.55,0.635,4,0.047,0.054,3175,3692,787
$GC,17013,0.97,506.6,37.5,16.2,1573,17020,0.25,2.15,0.00,0.000,6,0.130,0.038,3087,2335,785
$GC,17342,1.26,606.6,6.3,6.9,1634,17374,0.25,0.00,30.50,0.565,2,0.058,0.000,3212,2328,642
$STATE,17375,end climb,SURFACE_DEPTH_REACHED
$STATE,17375,begin surface coast
$FINISH,2.1,1.010310
$STATE,17393,end surface coast,CONTROL_FINISHED_OK
$STATE,17393,begin surface
$SM_CCo,17474,0.00,0.000,0,0,636,544.08
$SM_GC,2.76,7.88,0.00,0.00,0.032,0.000,0.000,166,2259,636,-8.09,-0.74,544.08
$IRIDIUM_FIX,2505.59,12311.02,041298,121242
$TT8_MAMPS,0.049855
$HUMID,1847
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,26.20
$XPDR_PINGS,1026
$24V_AH,22.7,140.773
$10V_AH,10.1,88.744
$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,27.900,148.400,635.950,0.000,0.000,0.000,0.000,0.000,264.500,0.000,0.000,17.519,0.000,12591.738,730.627,3736.348,461.290,0.000,2177.255,0.000,3128.909,0.000,53.989,0.000
$DEVICE_MAMPS,216.294,152.633,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.122,1137.308,1380.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91558,1643
$CAP_FILE_SIZE,211137,0
$CFSIZE,260165632,203526144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.374, 44.0,1
$GPS,090909,171006,2518.357,12312.706,39,1.0,39,-3.7