version: 66.04
glider: 165
mission: 2
dive: 33
start: 5 26 109 20 38 25
data:
$ID,165
$MISSION,2
$DIVE,33
$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,-116527.77
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,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,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
$GPS1,202937,2448.262,12247.425,38,1.5,38,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.3
$GPS2,203820,2448.337,12247.353,10,1.5,10,-3.5
$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,220.2,34612,-18.3,-12.000
$D_GRID,1241
$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,-0.96,-194.7,0.0,0.0,0,65,0.00,0.00,-51.20,0.000,2,0.000,0.000,167,2052,2220
$GC,66,-0.96,-194.7,3.3,-4.2,8,118,9.27,2.17,-35.42,0.000,4,0.244,0.062,2501,668,3555
$GC,325,-0.18,-194.7,90.8,-40.3,55,332,0.85,2.22,0.00,0.000,6,0.172,0.041,2751,2083,3557
$GC,651,-0.95,-194.7,120.7,-7.4,116,659,0.62,2.20,0.00,0.000,4,0.054,0.057,2502,3489,3560
$GC,711,-0.44,-194.7,129.2,-20.4,127,718,0.50,2.17,0.00,0.000,6,0.146,0.037,2666,2077,3559
$GC,1038,-0.66,-194.7,161.7,-8.9,188,1045,0.17,0.00,0.00,0.000,6,0.059,0.000,2576,2075,3561
$GC,1365,-0.49,-194.7,215.1,-13.9,249,1371,0.28,2.17,0.00,0.000,4,0.133,0.051,2665,660,3561
$GC,1397,-0.69,-194.7,218.2,-8.1,255,1403,0.15,2.22,0.00,0.000,6,0.044,0.042,2568,2091,3561
$GC,1722,-0.57,-194.7,262.5,-14.8,316,1730,0.22,2.22,0.00,0.000,4,0.136,0.051,2640,674,3561
$GC,1794,-0.87,-194.7,269.4,-9.1,329,1800,0.22,2.17,0.00,0.000,6,0.041,0.042,2518,2077,3562
$GC,2119,-0.60,-194.7,329.0,-18.0,376,2124,0.35,2.22,0.00,0.000,4,0.142,0.061,2629,3473,3562
$GC,2146,-0.69,-194.7,332.3,-11.7,378,2153,0.00,2.12,0.00,0.000,6,0.000,0.038,2629,2081,3561
$GC,2461,-0.99,-194.7,355.4,-6.6,409,2463,0.35,0.00,0.00,0.000,6,0.045,0.000,2470,2077,3562
$GC,2772,-0.56,-194.7,418.9,-22.1,439,2776,0.52,2.17,0.00,0.000,4,0.150,0.055,2639,669,3561
$GC,2825,-0.93,-194.7,425.3,-8.3,444,2829,0.28,2.20,0.00,0.000,6,0.039,0.044,2495,2088,3561
$GC,3146,-0.69,-194.7,478.5,-16.7,475,3150,0.32,2.22,0.00,0.000,4,0.142,0.053,2596,672,3559
$GC,3231,-0.96,-194.7,487.1,-8.8,483,3235,0.20,2.17,0.00,0.000,6,0.045,0.044,2490,2064,3559
$GC,3548,-0.73,-194.7,531.0,-14.2,503,3552,0.30,2.22,0.00,0.000,4,0.139,0.064,2576,3470,3558
$GC,3606,-0.94,-194.7,537.5,-9.6,505,3613,0.12,2.15,0.00,0.000,6,0.052,0.040,2502,2069,3557
$GC,3917,-0.76,-194.7,576.3,-12.2,521,3921,0.22,2.22,0.00,0.000,4,0.146,0.064,2563,3471,3554
$GC,3948,-0.86,-194.7,580.0,-10.5,522,3952,0.00,2.15,0.00,0.000,6,0.000,0.040,2563,2074,3553
$GC,4264,-0.97,-194.7,609.2,-10.2,538,4268,0.15,2.20,0.00,0.000,4,0.071,0.056,2491,667,3552
$GC,4343,-0.81,-194.7,621.5,-14.9,541,4350,0.20,2.17,0.00,0.000,6,0.143,0.046,2550,2051,3550
$GC,4654,-0.87,-194.7,659.5,-12.7,557,4658,0.00,2.33,0.00,0.000,4,0.000,0.067,2549,3482,3548
$GC,4718,-0.98,-194.7,667.4,-12.3,560,4722,0.10,2.20,0.00,0.000,6,0.061,0.043,2486,2070,3547
$GC,5045,-0.78,-194.7,716.7,-14.1,576,5049,0.28,2.20,0.00,0.000,4,0.146,0.058,2570,658,3545
$GC,5081,-0.94,-194.7,720.7,-9.3,577,5088,0.12,2.22,0.00,0.000,6,0.057,0.048,2501,2067,3545
$GC,5392,-0.82,-194.7,757.8,-11.9,593,5396,0.17,2.25,0.00,0.000,4,0.150,0.067,2550,3481,3542
$GC,5482,-0.97,-194.7,766.1,-8.2,597,5487,0.10,2.20,0.00,0.000,6,0.061,0.042,2489,2062,3541
$GC,5804,-0.81,-194.7,807.8,-12.1,613,5805,0.22,0.00,0.00,0.000,6,0.150,0.000,2556,2058,3539
$GC,6109,-0.95,-194.7,828.5,-6.2,628,6110,0.12,0.00,0.00,0.000,6,0.077,0.000,2499,2058,3537
$GC,6414,-0.85,-194.7,859.9,-10.6,643,6418,0.17,2.33,0.00,0.000,4,0.153,0.070,2549,3497,3536
$GC,6461,-1.01,-194.7,863.8,-7.1,645,6466,0.12,2.22,0.00,0.000,6,0.059,0.044,2479,2072,3535
$GC,6784,-0.82,-194.7,904.7,-13.4,661,6787,0.22,2.22,0.00,0.000,4,0.151,0.061,2553,659,3534
$GC,6814,-0.88,-194.7,908.3,-9.9,662,6820,0.00,2.22,0.00,0.000,6,0.000,0.051,2551,2057,3534
$GC,7124,-1.00,-194.7,933.5,-7.5,678,7126,0.15,0.00,0.00,0.000,6,0.073,0.000,2483,2058,3532
$GC,7429,-0.85,-194.7,971.5,-12.5,693,7434,0.22,2.30,0.00,0.000,4,0.153,0.071,2549,3471,3531
$GC,7477,-1.03,-194.7,975.5,-7.4,695,7482,0.15,2.22,0.00,0.000,6,0.057,0.044,2470,2055,3531
$STATE,7613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7613,begin apogee
$GC,7618,-0.20,0.0,991.6,12.4,702,7777,0.90,0.00,155.95,1.372,6,0.152,0.000,2755,2526,2759
$STATE,7778,end apogee,CONTROL_FINISHED_OK
$STATE,7778,begin climb
$GC,7779,0.96,194.7,995.2,0.0,710,7950,1.00,2.10,164.02,1.328,4,0.045,0.071,3134,3691,1965
$GC,8098,0.22,194.7,932.5,28.7,725,8103,0.85,1.90,0.00,0.000,6,0.173,0.045,2894,2528,1959
$GC,8425,0.50,231.7,897.7,10.5,741,8461,0.25,2.35,31.88,1.259,4,0.060,0.055,3010,1114,1812
$GC,8492,0.38,231.7,887.0,17.9,743,8497,0.20,2.35,0.00,0.000,6,0.152,0.051,2949,2511,1809
$GC,8808,0.46,231.7,841.5,13.6,759,8809,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2511,1807
$GC,9113,0.57,256.2,805.8,11.0,774,9139,0.15,1.98,21.12,1.213,4,0.077,0.070,3009,3681,1713
$GC,9199,0.37,256.2,792.5,17.2,778,9203,0.25,1.88,0.00,0.000,6,0.148,0.044,2939,2508,1711
$GC,9525,0.55,290.4,758.0,10.6,794,9560,0.17,2.33,29.98,1.203,4,0.071,0.055,3021,1123,1574
$GC,9603,0.50,290.4,746.1,16.1,797,9610,0.12,2.33,0.00,0.000,6,0.147,0.051,2982,2512,1571
$GC,9913,0.50,290.4,700.7,14.8,813,9917,0.00,1.95,0.00,0.000,4,0.000,0.068,2982,3693,1569
$GC,9966,0.50,290.4,691.4,17.9,815,9970,0.00,1.88,0.00,0.000,6,0.000,0.042,2989,2515,1568
$GC,10282,0.50,290.4,641.6,16.5,831,10286,0.00,1.95,0.00,0.000,4,0.000,0.067,2989,3691,1568
$GC,10330,0.45,290.4,633.1,18.3,833,10334,0.10,1.83,0.00,0.000,6,0.154,0.043,2965,2530,1567
$GC,10651,0.57,290.4,588.1,13.6,849,10655,0.12,2.25,0.00,0.000,4,0.081,0.056,3027,1126,1567
$GC,10746,0.57,290.4,574.0,12.0,853,10751,0.00,2.25,0.00,0.000,6,0.000,0.050,3026,2521,1565
$GC,11062,0.41,290.4,522.0,15.3,869,11067,0.25,1.90,0.00,0.000,4,0.153,0.067,2953,3693,1564
$GC,11115,0.53,296.9,515.1,11.7,871,11127,0.00,1.80,5.82,0.895,6,0.000,0.042,2960,2526,1547
$GC,11435,0.70,296.9,478.0,12.6,895,11438,0.22,2.20,0.00,0.000,4,0.066,0.054,3061,1122,1546
$GC,11519,0.57,296.9,460.1,23.9,903,11523,0.17,2.25,0.00,0.000,6,0.156,0.051,3005,2514,1545
$GC,11839,0.57,296.9,404.6,15.4,934,11844,0.00,2.22,0.00,0.000,4,0.000,0.052,3014,1129,1545
$GC,11887,0.63,296.9,397.6,14.2,938,11894,0.00,2.20,0.00,0.000,6,0.000,0.048,3014,2502,1544
$GC,12204,0.63,296.9,351.8,14.7,969,12207,0.00,1.88,0.00,0.000,4,0.000,0.065,3014,3687,1544
$GC,12256,0.56,296.9,342.7,18.3,974,12260,0.00,1.80,0.00,0.000,6,0.000,0.041,3022,2522,1544
$GC,12572,0.56,296.9,293.2,15.1,1008,12581,0.00,2.22,0.00,0.000,4,0.000,0.052,3033,1120,1544
$GC,12638,0.56,296.9,283.0,14.0,1020,12646,0.10,2.20,0.00,0.000,6,0.139,0.048,2998,2503,1544
$GC,12966,0.71,333.5,242.6,10.5,1081,13003,0.15,1.90,31.08,0.856,4,0.071,0.063,3063,3688,1397
$GC,13049,0.53,333.5,230.7,16.6,1096,13058,0.25,1.88,0.00,0.000,6,0.143,0.040,2991,2499,1397
$GC,13378,0.81,364.6,195.3,10.7,1157,13410,0.25,2.22,26.20,0.799,4,0.058,0.051,3109,1111,1270
$GC,13484,0.71,364.6,176.2,17.5,1176,13492,0.17,2.22,0.00,0.000,6,0.145,0.046,3053,2486,1267
$GC,13812,0.86,423.8,133.1,9.6,1237,13870,0.12,2.30,48.25,0.744,4,0.076,0.049,3117,1110,1029
$GC,13885,0.81,423.8,122.0,16.0,1249,13891,0.10,2.20,0.00,0.000,6,0.137,0.044,3084,2461,1028
$GC,14211,0.89,423.8,76.1,14.9,1310,14216,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,2461,1027
$GC,14536,1.09,436.5,36.8,11.5,1371,14551,0.25,0.00,11.23,0.623,6,0.056,0.000,3191,2461,978
$STATE,14714,end climb,SURFACE_DEPTH_REACHED
$STATE,14714,begin surface coast
$FINISH,1.6,1.000974
$STATE,14730,end surface coast,CONTROL_FINISHED_OK
$STATE,14730,begin surface
$SM_CCo,14803,0.00,0.000,0,0,973,437.86
$SM_GC,2.36,7.78,0.00,0.00,0.041,0.000,0.000,171,2056,973,-8.20,-0.42,437.86
$IRIDIUM_FIX,2439.44,12244.11,200898,161647
$TT8_MAMPS,0.048321
$HUMID,1532
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.00
$XPDR_PINGS,67
$24V_AH,23.6,10.808
$10V_AH,10.7,8.911
$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,31.450,134.875,525.525,0.000,0.000,52.496,130.291,184.837,24.750,0.000,0.000,12.517,0.000,10768.419,672.478,3310.141,548.840,0.000,1924.483,0.000,2790.318,0.000,53.970,0.000
$DEVICE_MAMPS,243.906,71.331,1372.163,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,952.572,969.255,1511.879,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82222,1407
$CAP_FILE_SIZE,164235,0
$CFSIZE,260165632,255094784
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.298, 31.9,1
$GPS,270509,004607,2448.396,12247.073,41,0.9,41,-3.5