version: 66.04
glider: 165
mission: 2
dive: 12
start: 5 23 109 7 21 55
data:
$ID,165
$MISSION,2
$DIVE,12
$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,390
$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,200
$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,519.11206
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-116152.92
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2881
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2141
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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,1
$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
$GPS1,071815,2445.997,12302.386,7,1.9,8,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-70.0
$GPS2,072150,2446.028,12302.452,13,1.4,13,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$TGT_RADIUS,2000.000
$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,266.3,58446,-15.7,-10.000
$D_GRID,1550
$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,12,-0.80,-194.7,0.0,0.0,0,80,0.00,0.00,-66.82,0.000,2,0.000,0.000,168,2022,2335
$GC,82,-0.80,-194.7,3.1,-5.6,10,128,9.75,2.28,-31.00,0.000,4,0.253,0.068,2609,3434,3554
$GC,313,-0.80,-194.7,58.7,-21.7,52,321,0.00,2.15,0.00,0.000,6,0.000,0.037,2609,2023,3555
$GC,641,-0.80,-194.7,126.5,-20.2,113,648,0.00,2.22,0.00,0.000,4,0.000,0.058,2601,3427,3556
$GC,678,-0.80,-194.7,133.3,-16.8,120,687,0.00,2.12,0.00,0.000,6,0.000,0.036,2601,2026,3556
$GC,1006,-0.80,-194.7,186.2,-13.1,181,1013,0.00,2.17,0.00,0.000,4,0.000,0.050,2601,620,3556
$GC,1043,-0.80,-194.7,191.6,-14.1,188,1051,0.00,2.17,0.00,0.000,6,0.000,0.048,2600,2026,3556
$GC,1371,-0.80,-194.7,239.5,-15.7,249,1377,0.00,2.22,0.00,0.000,4,0.000,0.058,2600,3440,3556
$GC,1434,-0.80,-194.7,247.6,-11.8,261,1441,0.00,2.15,0.00,0.000,6,0.000,0.038,2600,2022,3556
$GC,1760,-0.80,-194.7,287.0,-10.9,322,1767,0.00,2.17,0.00,0.000,4,0.000,0.051,2601,620,3556
$GC,1781,-0.80,-194.7,289.6,-12.9,326,1788,0.00,2.17,0.00,0.000,6,0.000,0.042,2600,2031,3556
$GC,2105,-0.80,-194.7,330.9,-12.4,365,2109,0.00,2.20,0.00,0.000,4,0.000,0.060,2600,3428,3554
$GC,2179,-0.80,-194.7,338.8,-10.0,372,2184,0.00,2.12,0.00,0.000,6,0.000,0.038,2601,2028,3554
$GC,2500,-0.80,-194.7,368.9,-7.6,403,2504,0.00,2.25,0.00,0.000,4,0.000,0.062,2600,3432,3552
$GC,2532,-0.80,-194.7,371.6,-8.5,406,2536,0.00,2.15,0.00,0.000,6,0.000,0.044,2601,2017,3551
$GC,2853,-0.80,-194.7,397.1,-8.9,437,2857,0.00,2.25,0.00,0.000,4,0.000,0.061,2601,3423,3549
$GC,2911,-0.80,-194.7,401.8,-7.7,442,2919,0.00,2.12,0.00,0.000,6,0.000,0.038,2600,2026,3548
$GC,3228,-0.80,-194.7,430.8,-10.2,473,3231,0.00,2.17,0.00,0.000,4,0.000,0.054,2601,633,3547
$GC,3291,-0.80,-194.7,437.9,-11.1,479,3295,0.00,2.17,0.00,0.000,6,0.000,0.044,2601,2031,3546
$GC,3612,-0.80,-194.7,472.7,-10.6,510,3616,0.00,2.20,0.00,0.000,4,0.000,0.063,2601,3431,3543
$GC,3675,-0.80,-194.7,478.6,-8.8,516,3680,0.00,2.15,0.00,0.000,6,0.000,0.040,2601,2026,3542
$GC,3998,-0.80,-194.7,500.6,-6.5,547,4001,0.00,2.22,0.00,0.000,4,0.000,0.064,2601,3428,3540
$GC,4114,-0.80,-194.7,508.0,-5.8,552,4118,0.00,2.15,0.00,0.000,6,0.000,0.041,2600,2028,3539
$GC,4429,-0.80,-194.7,536.0,-10.1,568,4434,0.00,2.28,0.00,0.000,4,0.000,0.064,2601,3435,3537
$GC,4461,-0.80,-194.7,539.3,-10.3,569,4465,0.00,2.17,0.00,0.000,6,0.000,0.041,2600,2022,3537
$GC,4777,-0.80,-194.7,568.1,-7.1,585,4781,0.00,2.20,0.00,0.000,4,0.000,0.057,2600,627,3534
$GC,4819,-0.80,-194.7,571.2,-7.1,587,4823,0.00,2.17,0.00,0.000,6,0.000,0.047,2600,2021,3534
$GC,5146,-0.80,-194.7,596.4,-8.7,603,5150,0.00,2.22,0.00,0.000,4,0.000,0.064,2600,3437,3532
$GC,5198,-0.80,-194.7,600.9,-8.4,605,5203,0.00,2.17,0.00,0.000,6,0.000,0.041,2600,2028,3531
$GC,5515,-0.80,-194.7,628.1,-8.6,621,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2026,3529
$GC,5819,-0.80,-194.7,651.6,-7.6,636,5824,0.00,2.28,0.00,0.000,4,0.000,0.067,2600,3426,3527
$GC,5888,-0.80,-194.7,656.5,-7.0,639,5893,0.00,2.17,0.00,0.000,6,0.000,0.043,2600,2017,3527
$GC,6210,-0.80,-194.7,680.1,-7.0,655,6214,0.00,2.30,0.00,0.000,4,0.000,0.067,2601,3431,3525
$GC,6268,-0.80,-194.7,683.8,-6.6,657,6275,0.00,2.17,0.00,0.000,6,0.000,0.044,2600,2027,3524
$GC,6579,-0.80,-194.7,703.0,-6.6,673,6583,0.00,2.28,0.00,0.000,4,0.000,0.067,2600,3425,3522
$GC,6642,-0.80,-194.7,707.2,-7.0,676,6646,0.00,2.17,0.00,0.000,6,0.000,0.044,2600,2025,3522
$GC,6968,-0.80,-194.7,730.2,-7.0,692,6973,0.00,2.28,0.00,0.000,4,0.000,0.067,2601,3425,3520
$GC,7101,-0.80,-194.7,739.0,-6.8,698,7106,0.00,2.17,0.00,0.000,6,0.000,0.044,2600,2026,3518
$GC,7423,-0.80,-194.7,756.9,-4.9,714,7427,0.00,2.28,0.00,0.000,4,0.000,0.067,2600,3422,3517
$GC,7518,-0.80,-194.7,760.8,-3.9,718,7523,0.00,2.17,0.00,0.000,6,0.000,0.045,2601,2024,3516
$GC,7834,-0.80,-194.7,777.5,-6.1,734,7839,0.00,2.30,0.00,0.000,4,0.000,0.067,2600,3434,3514
$GC,7930,-0.80,-194.7,783.5,-6.1,738,7935,0.00,2.20,0.00,0.000,6,0.000,0.045,2601,2021,3513
$GC,8246,-0.80,-194.7,804.7,-6.8,754,8250,0.00,2.30,0.00,0.000,4,0.000,0.068,2600,3428,3512
$GC,8336,-0.80,-194.7,810.3,-6.1,758,8341,0.00,2.20,0.00,0.000,6,0.000,0.046,2601,2015,3512
$GC,8657,-0.80,-194.7,830.3,-6.0,774,8662,0.00,2.30,0.00,0.000,4,0.000,0.068,2601,3423,3510
$GC,8775,-0.80,-194.7,837.1,-6.0,779,8779,0.00,2.17,0.00,0.000,6,0.000,0.046,2601,2032,3510
$GC,9091,-0.80,-194.7,854.3,-5.0,795,9095,0.00,2.28,0.00,0.000,4,0.000,0.069,2600,3421,3509
$GC,9170,-0.80,-194.7,858.1,-4.4,798,9178,0.00,2.17,0.00,0.000,6,0.000,0.046,2601,2026,3508
$GC,9482,-0.80,-194.7,876.3,-6.6,814,9485,0.00,2.28,0.00,0.000,4,0.000,0.070,2601,3434,3507
$GC,9565,-0.80,-194.7,882.4,-7.4,818,9570,0.00,2.20,0.00,0.000,6,0.000,0.047,2601,2026,3507
$GC,9892,-0.80,-194.7,906.0,-7.1,834,9896,0.00,2.30,0.00,0.000,4,0.000,0.070,2600,3426,3506
$GC,9982,-0.80,-194.7,912.0,-6.5,838,9987,0.00,2.20,0.00,0.000,6,0.000,0.047,2600,2020,3506
$GC,10304,-0.80,-194.7,932.6,-6.5,854,10308,0.00,2.30,0.00,0.000,4,0.000,0.069,2601,3423,3504
$GC,10394,-0.80,-194.7,938.5,-6.6,858,10398,0.00,2.20,0.00,0.000,6,0.000,0.047,2601,2016,3504
$GC,10715,-0.80,-194.7,961.3,-7.1,874,10719,0.00,2.33,0.00,0.000,4,0.000,0.070,2600,3426,3504
$GC,10795,-0.80,-194.7,967.0,-7.8,877,10802,0.00,2.20,0.00,0.000,6,0.000,0.047,2601,2023,3503
$GC,11106,-0.80,-194.7,988.3,-6.4,893,11110,0.00,2.30,0.00,0.000,4,0.000,0.070,2601,3420,3502
$STATE,11135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11135,begin apogee
$GC,11141,-0.18,0.0,990.2,6.6,894,11294,0.62,0.00,150.77,1.368,6,0.108,0.000,2821,2121,2759
$STATE,11294,end apogee,CONTROL_FINISHED_OK
$STATE,11294,begin climb
$GC,11296,0.80,194.7,996.7,0.0,902,11466,0.88,2.47,163.43,1.325,4,0.054,0.064,3156,741,1964
$GC,11651,0.80,194.7,938.2,22.4,918,11659,0.00,2.30,0.00,0.000,6,0.000,0.053,3156,2128,1956
$GC,11962,0.80,194.7,862.6,24.3,934,11966,0.00,2.38,0.00,0.000,4,0.000,0.068,3156,3556,1954
$GC,12207,0.80,194.7,799.0,25.4,945,12212,0.00,2.28,0.00,0.000,6,0.000,0.050,3167,2149,1954
$GC,12524,0.80,194.7,725.8,23.4,961,12528,0.00,2.33,0.00,0.000,4,0.000,0.067,3166,3550,1953
$GC,12742,0.80,194.7,672.5,23.5,971,12747,0.12,2.28,0.00,0.000,6,0.207,0.050,3142,2129,1952
$GC,13063,0.80,194.7,607.8,19.3,987,13068,0.00,2.35,0.00,0.000,4,0.000,0.066,3142,3552,1952
$GC,13308,0.80,194.7,556.6,23.2,998,13313,0.00,2.25,0.00,0.000,6,0.000,0.049,3151,2135,1952
$GC,13625,0.80,194.7,495.1,18.8,1015,13629,0.00,2.33,0.00,0.000,4,0.000,0.065,3152,3554,1951
$GC,13870,0.80,194.7,443.9,23.1,1038,13875,0.00,2.22,0.00,0.000,6,0.000,0.048,3161,2149,1951
$GC,14192,0.80,194.7,384.4,16.8,1069,14196,0.00,2.30,0.00,0.000,4,0.000,0.064,3161,3559,1951
$GC,14437,0.80,194.7,337.5,19.3,1092,14442,0.10,2.25,0.00,0.000,6,0.204,0.048,3143,2130,1950
$GC,14755,0.80,194.7,285.9,16.2,1130,14762,0.00,2.30,0.00,0.000,4,0.000,0.061,3143,3545,1950
$GC,14894,0.80,194.7,259.1,19.4,1156,14903,0.00,2.20,0.00,0.000,6,0.000,0.047,3152,2141,1951
$GC,15222,0.80,194.7,208.3,14.1,1217,15228,0.00,2.28,0.00,0.000,4,0.000,0.061,3152,3546,1950
$GC,15467,0.80,194.7,171.5,14.6,1263,15474,0.00,2.20,0.00,0.000,6,0.000,0.044,3162,2127,1951
$GC,15794,0.80,194.7,137.3,10.1,1324,15802,0.00,2.30,0.00,0.000,4,0.000,0.058,3162,3562,1953
$GC,16041,0.80,194.7,106.8,11.7,1370,16048,0.10,2.20,0.00,0.000,6,0.186,0.042,3142,2134,1954
$GC,16367,0.96,328.2,87.5,5.4,1431,16476,0.15,2.35,101.85,0.666,4,0.081,0.055,3202,3559,1419
$GC,16715,0.96,328.2,30.0,18.7,1493,16722,0.00,2.22,0.00,0.000,6,0.000,0.040,3212,2150,1417
$STATE,16869,end climb,SURFACE_DEPTH_REACHED
$STATE,16869,begin surface coast
$FINISH,1.7,1.021734
$STATE,16885,end surface coast,CONTROL_FINISHED_OK
$STATE,16885,begin surface
$SM_CCo,16898,132.12,0.569,2,0,641,519.30
$SM_GC,2.35,0.00,0.00,132.12,0.000,0.000,0.569,164,1989,641,-8.49,-1.02,519.30
$IRIDIUM_FIX,2437.06,12229.00,170898,070744
$TT8_MAMPS,0.049088
$HUMID,1521
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.50
$XPDR_PINGS,905
$24V_AH,23.7,6.849
$10V_AH,10.7,6.351
$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,19.650,169.750,416.050,132.125,0.000,0.000,0.000,0.000,234.250,0.000,0.000,15.037,0.000,12255.374,770.327,3899.818,158.637,0.000,2229.443,0.000,3331.943,0.000,53.989,0.000
$DEVICE_MAMPS,253.110,69.797,1368.328,569.114,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.051,1033.889,1734.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88357,1525
$CAP_FILE_SIZE,178453,0
$CFSIZE,260165632,256733184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.201, 33.5,1
$GPS,230509,120654,2447.178,12301.755,22,1.1,39,-3.6