version: 66.04
glider: 165
mission: 2
dive: 17
start: 5 24 109 4 54 16
data:
$ID,165
$MISSION,2
$DIVE,17
$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,275
$T_MISSION,330
$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,435
$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,-116281.87
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2853
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$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,2071
$C_ROLL_CLIMB,2343
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,22
$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
$GPS1,044831,2446.967,12301.815,39,0.9,39,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-65.9
$GPS2,045410,2446.976,12301.812,10,3.5,29,-3.6
$SPEED_LIMITS,0.208,0.315
$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,257.5,57633,-18.3,-12.000
$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,11,-0.92,-194.7,0.0,0.0,0,58,0.00,0.00,-44.95,0.000,2,0.000,0.000,169,2064,2121
$GC,59,-0.92,-194.7,3.1,-4.3,6,117,9.60,2.30,-41.33,0.000,4,0.249,0.070,2541,3488,3553
$GC,270,-0.92,-194.7,62.1,-35.7,44,277,0.00,2.20,0.00,0.000,6,0.000,0.039,2541,2082,3554
$GC,596,-0.92,-194.7,163.6,-30.2,105,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2078,3556
$GC,917,-0.92,-194.7,235.2,-19.1,165,925,0.00,2.22,0.00,0.000,4,0.000,0.053,2541,669,3558
$GC,1094,-0.92,-194.7,266.9,-15.9,198,1101,0.00,2.20,0.00,0.000,6,0.000,0.045,2533,2069,3559
$GC,1421,-0.92,-194.7,321.1,-17.7,248,1426,0.00,2.22,0.00,0.000,4,0.000,0.053,2537,663,3559
$GC,1485,-0.92,-194.7,332.8,-17.2,254,1490,0.00,2.20,0.00,0.000,6,0.000,0.045,2533,2067,3558
$GC,1806,-0.92,-194.7,389.9,-17.1,285,1811,0.00,2.22,0.00,0.000,4,0.000,0.054,2534,661,3559
$GC,1849,-0.92,-194.7,397.5,-17.4,289,1853,0.00,2.20,0.00,0.000,6,0.000,0.046,2533,2068,3559
$GC,2169,-0.92,-194.7,449.2,-13.5,320,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2068,3559
$GC,2480,-0.92,-194.7,491.0,-13.0,350,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2069,3559
$GC,2797,-0.92,-194.7,531.9,-12.5,369,2801,0.00,2.22,0.00,0.000,4,0.000,0.056,2533,667,3556
$GC,2897,-0.92,-194.7,545.0,-12.6,373,2906,0.00,2.20,0.00,0.000,6,0.000,0.048,2533,2067,3555
$GC,3208,-0.92,-194.7,582.2,-12.5,389,3212,0.00,2.22,0.00,0.000,4,0.000,0.055,2533,664,3553
$GC,3255,-0.92,-194.7,588.6,-13.4,391,3260,0.00,2.20,0.00,0.000,6,0.000,0.048,2533,2067,3553
$GC,3577,-0.92,-194.7,628.7,-12.7,407,3581,0.00,2.22,0.00,0.000,4,0.000,0.056,2533,669,3551
$GC,3608,-0.92,-194.7,632.8,-13.4,408,3613,0.00,2.20,0.00,0.000,6,0.000,0.048,2533,2067,3550
$GC,3924,-0.92,-194.7,672.6,-12.0,424,3928,0.00,2.28,0.00,0.000,4,0.000,0.068,2533,3472,3548
$GC,3966,-0.92,-194.7,677.2,-10.6,426,3971,0.00,2.17,0.00,0.000,6,0.000,0.044,2533,2065,3547
$GC,4293,-0.92,-194.7,714.8,-11.3,442,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2062,3545
$GC,4599,-0.92,-194.7,746.1,-9.7,457,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2060,3542
$GC,4904,-0.92,-194.7,775.4,-9.3,472,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2060,3541
$GC,5209,-0.92,-194.7,802.7,-9.3,487,5213,0.00,2.30,0.00,0.000,4,0.000,0.073,2533,3477,3538
$GC,5240,-0.92,-194.7,805.7,-9.1,488,5245,0.00,2.20,0.00,0.000,6,0.000,0.046,2533,2070,3537
$GC,5556,-0.92,-194.7,836.7,-10.2,504,5556,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2067,3536
$GC,5861,-0.92,-194.7,867.3,-10.3,519,5866,0.00,2.33,0.00,0.000,4,0.000,0.074,2533,3474,3534
$GC,5892,-0.92,-194.7,870.4,-10.5,520,5897,0.00,2.20,0.00,0.000,6,0.000,0.048,2533,2073,3533
$GC,6208,-0.92,-194.7,902.9,-10.5,536,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2070,3532
$GC,6514,-0.92,-194.7,936.1,-11.2,551,6518,0.00,2.33,0.00,0.000,4,0.000,0.075,2533,3474,3530
$GC,6534,-0.92,-194.7,938.5,-12.1,552,6539,0.00,2.20,0.00,0.000,6,0.000,0.048,2533,2073,3530
$GC,6862,-0.92,-194.7,975.6,-11.2,568,6865,0.00,2.28,0.00,0.000,4,0.000,0.064,2533,658,3528
$GC,6908,-0.92,-194.7,981.1,-11.7,570,6913,0.00,2.25,0.00,0.000,6,0.000,0.054,2533,2067,3528
$STATE,7005,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7005,begin apogee
$GC,7008,-0.19,0.0,991.4,10.8,575,7171,0.77,0.00,155.80,1.351,6,0.126,0.000,2792,2355,2759
$STATE,7172,end apogee,CONTROL_FINISHED_OK
$STATE,7172,begin climb
$GC,7173,0.92,194.7,999.7,0.0,583,7345,0.98,2.55,164.38,1.316,4,0.049,0.061,3169,934,1964
$GC,7573,0.92,194.7,934.3,22.2,601,7579,0.00,2.35,0.00,0.000,6,0.000,0.056,3169,2336,1955
$GC,7883,0.92,194.7,864.3,22.4,617,7887,0.00,2.25,0.00,0.000,4,0.000,0.071,3169,3684,1953
$GC,8128,0.92,194.7,798.3,27.3,628,8134,0.08,2.15,0.00,0.000,6,0.211,0.048,3158,2343,1952
$GC,8444,0.92,194.7,725.1,22.9,644,8449,0.00,2.22,0.00,0.000,4,0.000,0.068,3158,3684,1951
$GC,8689,0.92,194.7,661.8,24.9,655,8694,0.00,2.15,0.00,0.000,6,0.000,0.048,3167,2336,1950
$GC,9006,0.92,194.7,589.8,22.3,671,9010,0.00,2.22,0.00,0.000,4,0.000,0.068,3167,3683,1949
$GC,9251,0.92,194.7,536.3,23.3,682,9255,0.00,2.12,0.00,0.000,6,0.000,0.048,3177,2335,1948
$GC,9569,0.92,194.7,469.7,20.9,705,9574,0.00,2.22,0.00,0.000,4,0.000,0.058,3187,945,1948
$GC,9814,0.92,194.7,422.5,19.2,728,9819,0.10,2.25,0.00,0.000,6,0.196,0.053,3158,2345,1947
$GC,10136,0.92,194.7,365.9,17.9,759,10140,0.00,2.28,0.00,0.000,4,0.000,0.057,3167,935,1947
$GC,10162,0.92,194.7,361.0,18.7,761,10169,0.00,2.25,0.00,0.000,6,0.000,0.051,3167,2341,1947
$GC,10478,0.92,194.7,300.1,20.1,792,10482,0.00,2.17,0.00,0.000,4,0.000,0.066,3168,3686,1947
$GC,10724,0.92,194.7,245.9,21.0,837,10730,0.00,2.10,0.00,0.000,6,0.000,0.044,3178,2334,1947
$GC,11049,0.92,194.7,190.0,15.3,898,11057,0.00,2.20,0.00,0.000,4,0.000,0.063,3177,3690,1947
$GC,11296,0.92,194.7,151.0,15.8,944,11304,0.10,2.08,0.00,0.000,6,0.193,0.043,3157,2350,1948
$GC,11623,0.92,194.7,112.0,13.7,1005,11630,0.00,2.15,0.00,0.000,4,0.000,0.060,3157,3687,1949
$GC,11869,0.99,249.6,85.1,9.7,1051,11920,0.00,2.08,41.45,0.675,6,0.000,0.041,3166,2335,1739
$GC,12241,1.11,350.6,50.6,7.8,1119,12323,0.12,0.00,78.78,0.630,6,0.081,0.000,3216,2330,1329
$STATE,12534,end climb,SURFACE_DEPTH_REACHED
$STATE,12534,begin surface coast
$FINISH,1.6,1.019028
$STATE,12550,end surface coast,CONTROL_FINISHED_OK
$STATE,12550,begin surface
$SM_CCo,12564,66.95,0.561,2,0,984,435.16
$SM_GC,2.18,0.00,0.00,66.95,0.000,0.000,0.561,169,2057,984,-8.38,-0.40,435.16
$IRIDIUM_FIX,2437.06,12303.22,180898,010117
$TT8_MAMPS,0.048321
$HUMID,1508
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.50
$XPDR_PINGS,53
$24V_AH,23.6,7.719
$10V_AH,10.7,6.965
$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,19.725,94.225,440.400,66.950,0.000,27.580,34.682,175.081,21.250,0.000,0.000,33.029,0.000,9065.516,628.876,2885.931,383.349,0.000,1698.885,0.000,2447.969,0.000,53.967,0.000
$DEVICE_MAMPS,248.508,75.166,1350.687,561.444,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,795.385,818.067,1370.349,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66505,1175
$CAP_FILE_SIZE,119265,0
$CFSIZE,260165632,256417792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.123, 56.1,1
$GPS,240509,082554,2446.763,12301.475,37,1.0,37,-3.6