version: 66.04
glider: 165
mission: 2
dive: 13
start: 5 23 109 12 14 15
data:
$ID,165
$MISSION,2
$DIVE,13
$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,-116184.15
$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,54
$R_STBD_OVSHOOT,23
$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
$GPS1,120654,2447.178,12301.755,22,1.1,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-69.4
$GPS2,121410,2447.210,12301.912,9,2.2,28,-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,234.3,57869,-15.7,-10.000
$D_GRID,1544
$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,-194.7,0.0,0.0,0,70,0.00,0.00,-56.60,0.000,2,0.000,0.000,164,1990,2045
$GC,72,-0.80,-194.7,3.2,-3.7,9,130,10.02,2.20,-43.17,0.000,4,0.253,0.065,2620,636,3555
$GC,160,-0.80,-194.7,15.7,-23.3,24,167,0.00,2.22,0.00,0.000,6,0.000,0.044,2613,2032,3556
$GC,486,-0.80,-194.7,103.8,-27.7,85,493,0.00,2.25,0.00,0.000,4,0.000,0.056,2602,3437,3556
$GC,567,-0.80,-194.7,120.1,-18.6,100,574,0.00,2.15,0.00,0.000,6,0.000,0.037,2602,2042,3557
$GC,893,-0.80,-194.7,187.8,-18.2,161,900,0.00,2.25,0.00,0.000,4,0.000,0.058,2601,3440,3558
$GC,919,-0.80,-194.7,192.8,-18.9,166,927,0.00,2.17,0.00,0.000,6,0.000,0.038,2600,2024,3558
$GC,1246,-0.80,-194.7,237.9,-11.1,227,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2021,3559
$GC,1567,-0.80,-194.7,273.5,-12.6,287,1574,0.00,2.20,0.00,0.000,4,0.000,0.053,2601,619,3559
$GC,1701,-0.80,-194.7,290.9,-13.8,312,1708,0.00,2.20,0.00,0.000,6,0.000,0.044,2601,2028,3559
$GC,2019,-0.80,-194.7,332.5,-13.2,350,2024,0.00,2.22,0.00,0.000,4,0.000,0.061,2601,3426,3559
$GC,2073,-0.80,-194.7,339.0,-12.0,355,2077,0.00,2.15,0.00,0.000,6,0.000,0.039,2600,2022,3559
$GC,2393,-0.80,-194.7,373.9,-10.5,386,2398,0.00,2.25,0.00,0.000,4,0.000,0.061,2600,3423,3559
$GC,2425,-0.80,-194.7,377.1,-10.1,389,2429,0.00,2.15,0.00,0.000,6,0.000,0.040,2601,2023,3558
$GC,2746,-0.80,-194.7,410.3,-11.1,420,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2021,3557
$GC,3056,-0.80,-194.7,444.9,-10.1,450,3061,0.00,2.28,0.00,0.000,4,0.000,0.062,2600,3433,3555
$GC,3099,-0.80,-194.7,448.9,-9.4,454,3103,0.00,2.17,0.00,0.000,6,0.000,0.041,2601,2016,3555
$GC,3422,-0.80,-194.7,475.1,-7.7,485,3425,0.00,2.25,0.00,0.000,4,0.000,0.064,2601,3429,3553
$GC,3473,-0.80,-194.7,479.3,-7.7,489,3480,0.00,2.15,0.00,0.000,6,0.000,0.041,2600,2032,3553
$GC,3789,-0.80,-194.7,505.6,-8.5,517,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2028,3551
$GC,4093,-0.80,-194.7,532.5,-9.5,532,4097,0.00,2.25,0.00,0.000,4,0.000,0.064,2601,3425,3549
$GC,4157,-0.80,-194.7,538.0,-8.3,535,4161,0.00,2.15,0.00,0.000,6,0.000,0.042,2600,2028,3548
$GC,4483,-0.80,-194.7,566.6,-9.7,551,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2600,2026,3547
$GC,4788,-0.80,-194.7,594.2,-8.5,566,4793,0.00,2.28,0.00,0.000,4,0.000,0.066,2600,3430,3545
$GC,4836,-0.80,-194.7,598.2,-7.8,568,4841,0.00,2.17,0.00,0.000,6,0.000,0.044,2600,2023,3544
$GC,5157,-0.80,-194.7,624.9,-8.2,584,5162,0.00,2.28,0.00,0.000,4,0.000,0.066,2600,3425,3542
$GC,5247,-0.80,-194.7,631.5,-7.4,588,5252,0.00,2.17,0.00,0.000,6,0.000,0.044,2600,2019,3541
$GC,5568,-0.80,-194.7,656.5,-8.0,604,5573,0.00,2.28,0.00,0.000,4,0.000,0.066,2601,3422,3540
$GC,5638,-0.80,-194.7,661.6,-7.1,607,5642,0.00,2.17,0.00,0.000,6,0.000,0.044,2600,2016,3540
$GC,5959,-0.80,-194.7,684.9,-7.2,623,5963,0.00,2.30,0.00,0.000,4,0.000,0.066,2600,3431,3538
$GC,6065,-0.80,-194.7,692.4,-7.1,628,6070,0.00,2.17,0.00,0.000,6,0.000,0.044,2600,2027,3537
$GC,6392,-0.80,-194.7,714.8,-6.8,644,6396,0.00,2.28,0.00,0.000,4,0.000,0.067,2601,3424,3535
$GC,6503,-0.80,-194.7,721.9,-6.5,649,6508,0.00,2.17,0.00,0.000,6,0.000,0.045,2601,2026,3534
$GC,6825,-0.80,-194.7,744.4,-7.5,665,6829,0.00,2.28,0.00,0.000,4,0.000,0.068,2601,3422,3533
$GC,6947,-0.80,-194.7,753.6,-7.7,670,6955,0.00,2.17,0.00,0.000,6,0.000,0.045,2601,2023,3532
$GC,7257,-0.80,-194.7,774.7,-6.1,686,7262,0.00,2.30,0.00,0.000,4,0.000,0.068,2600,3431,3531
$GC,7300,-0.80,-194.7,777.2,-5.6,688,7304,0.00,2.20,0.00,0.000,6,0.000,0.046,2601,2022,3530
$GC,7626,-0.80,-194.7,797.0,-6.2,704,7631,0.00,2.30,0.00,0.000,4,0.000,0.068,2600,3428,3528
$GC,7685,-0.80,-194.7,800.6,-6.0,706,7692,0.00,2.20,0.00,0.000,6,0.000,0.046,2601,2015,3528
$GC,7995,-0.80,-194.7,821.5,-6.9,722,7999,0.00,2.30,0.00,0.000,4,0.000,0.067,2601,3422,3526
$GC,8117,-0.80,-194.7,830.3,-7.5,727,8126,0.00,2.17,0.00,0.000,6,0.000,0.046,2600,2026,3526
$GC,8428,-0.80,-194.7,853.7,-7.4,743,8432,0.00,2.30,0.00,0.000,4,0.000,0.069,2600,3431,3525
$GC,8518,-0.80,-194.7,860.2,-7.0,747,8523,0.00,2.20,0.00,0.000,6,0.000,0.047,2600,2027,3524
$GC,8840,-0.80,-194.7,882.7,-6.9,763,8844,0.00,2.30,0.00,0.000,4,0.000,0.070,2601,3426,3523
$GC,8935,-0.80,-194.7,889.2,-7.2,767,8940,0.00,2.20,0.00,0.000,6,0.000,0.047,2601,2020,3522
$GC,9252,-0.80,-194.7,910.8,-7.0,783,9255,0.00,2.30,0.00,0.000,4,0.000,0.070,2600,3443,3521
$GC,9358,-0.80,-194.7,918.7,-8.4,788,9362,0.00,2.22,0.00,0.000,6,0.000,0.048,2601,2025,3521
$GC,9684,-0.80,-194.7,942.8,-7.4,804,9688,0.00,2.30,0.00,0.000,4,0.000,0.071,2600,3423,3520
$GC,9769,-0.80,-194.7,948.8,-7.2,808,9774,0.00,2.20,0.00,0.000,6,0.000,0.048,2601,2014,3520
$GC,10095,-0.80,-194.7,971.2,-6.5,824,10100,0.00,2.33,0.00,0.000,4,0.000,0.070,2601,3429,3519
$GC,10186,-0.80,-194.7,976.8,-6.8,828,10190,0.00,2.20,0.00,0.000,6,0.000,0.048,2600,2026,3518
$STATE,10404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10404,begin apogee
$GC,10408,-0.18,0.0,990.3,6.2,839,10568,0.65,0.00,154.25,1.368,6,0.113,0.000,2823,2147,2760
$STATE,10568,end apogee,CONTROL_FINISHED_OK
$STATE,10568,begin climb
$GC,10570,0.80,194.7,996.7,0.0,847,10743,0.85,2.50,164.85,1.326,4,0.058,0.066,3147,737,1963
$GC,10811,0.80,194.7,968.2,21.8,858,10815,0.00,2.38,0.00,0.000,6,0.000,0.052,3147,2136,1958
$GC,11132,0.80,194.7,897.7,21.1,874,11136,0.00,2.38,0.00,0.000,4,0.000,0.068,3147,3548,1955
$GC,11340,0.80,194.7,850.1,22.9,883,11348,0.00,2.28,0.00,0.000,6,0.000,0.050,3157,2141,1953
$GC,11651,0.80,194.7,784.0,21.9,899,11655,0.00,2.35,0.00,0.000,4,0.000,0.068,3157,3547,1953
$GC,11896,0.80,194.7,726.4,21.9,910,11900,0.00,2.25,0.00,0.000,6,0.000,0.050,3168,2149,1952
$GC,12211,0.80,194.7,653.7,23.1,926,12216,0.00,2.33,0.00,0.000,4,0.000,0.067,3168,3550,1952
$GC,12457,0.80,194.7,594.5,23.8,937,12462,0.12,2.25,0.00,0.000,6,0.205,0.050,3143,2149,1951
$GC,12773,0.80,194.7,532.6,18.8,953,12777,0.00,2.30,0.00,0.000,4,0.000,0.065,3143,3549,1950
$GC,13018,0.80,194.7,482.5,21.7,968,13023,0.00,2.25,0.00,0.000,6,0.000,0.049,3152,2132,1950
$GC,13339,0.80,194.7,422.0,18.4,999,13344,0.00,2.33,0.00,0.000,4,0.000,0.064,3152,3552,1950
$GC,13585,0.80,194.7,370.0,23.1,1022,13589,0.00,2.22,0.00,0.000,6,0.000,0.048,3162,2138,1950
$GC,13906,0.80,194.7,312.5,19.4,1053,13910,0.00,2.30,0.00,0.000,4,0.000,0.062,3162,3552,1950
$GC,14151,0.80,194.7,262.7,21.5,1092,14159,0.10,2.22,0.00,0.000,6,0.192,0.046,3143,2132,1950
$GC,14478,0.80,194.7,210.4,12.1,1153,14484,0.00,2.30,0.00,0.000,4,0.000,0.061,3143,3555,1950
$GC,14724,0.80,194.7,177.5,14.8,1199,14732,0.00,2.20,0.00,0.000,6,0.000,0.044,3152,2148,1951
$GC,15051,0.81,199.2,124.4,9.8,1260,15058,0.00,2.25,0.00,0.000,4,0.000,0.058,3154,3555,1952
$GC,15297,0.85,234.1,97.7,8.8,1306,15336,0.00,2.20,30.38,0.688,6,0.000,0.042,3164,2136,1802
$GC,15656,0.92,291.6,54.3,8.0,1372,15708,0.00,2.38,44.92,0.637,4,0.000,0.056,3164,3558,1569
$GC,15947,0.92,291.6,14.7,15.9,1425,15954,0.00,2.22,0.00,0.000,6,0.000,0.040,3174,2131,1567
$STATE,16036,end climb,SURFACE_DEPTH_REACHED
$STATE,16036,begin surface coast
$FINISH,1.6,1.009078
$STATE,16058,end surface coast,CONTROL_FINISHED_OK
$STATE,16059,begin surface
$SM_CCo,16072,147.23,0.580,0,0,641,519.30
$SM_GC,2.23,0.00,0.00,147.23,0.000,0.000,0.580,166,2029,641,-8.49,0.11,519.30
$IRIDIUM_FIX,2434.69,12215.17,170898,070745
$TT8_MAMPS,0.048321
$HUMID,1535
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,25.40
$XPDR_PINGS,91
$24V_AH,23.5,7.031
$10V_AH,10.7,6.488
$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,19.550,148.625,394.400,147.225,0.000,22.935,32.272,257.935,30.750,0.000,0.000,30.600,0.000,11689.040,744.013,3703.523,491.250,0.000,2114.397,0.000,3146.876,0.000,53.992,0.000
$DEVICE_MAMPS,253.110,76.700,1367.561,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,980.656,969.908,1628.043,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82082,1446
$CAP_FILE_SIZE,159303,0
$CFSIZE,260165632,256679936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141, 53.1,1
$GPS,230509,164530,2446.912,12301.943,36,1.1,36,-3.6