version: 66.04
glider: 165
mission: 2
dive: 96
start: 6 4 109 5 0 14
data:
$ID,165
$MISSION,2
$DIVE,96
$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,-118819.65
$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,48
$R_STBD_OVSHOOT,32
$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,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,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
$GPS1,045301,2514.726,12254.743,37,1.2,37,-3.7
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.2
$GPS2,050008,2514.915,12254.751,9,1.3,9,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,191.8,9067,-18.3,-12.000
$D_GRID,1430
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.96,-194.7,0.0,0.0,0,58,0.00,0.00,-45.33,0.000,2,0.000,0.000,172,2056,2092
$GC,60,-0.96,-194.7,3.2,-4.7,7,117,8.88,2.30,-41.35,0.000,4,0.226,0.067,2492,3467,3555
$GC,228,-0.22,-194.7,49.7,-34.3,37,235,0.77,2.17,0.00,0.000,6,0.151,0.038,2739,2080,3556
$GC,555,-0.67,-194.7,79.3,-6.4,98,561,0.38,2.20,0.00,0.000,4,0.040,0.048,2561,670,3559
$GC,597,-0.34,-194.7,86.4,-19.6,106,604,0.43,2.20,0.00,0.000,6,0.144,0.043,2701,2068,3558
$GC,924,-0.68,-194.7,122.1,-9.9,167,931,0.28,2.22,0.00,0.000,4,0.045,0.058,2567,3471,3560
$GC,967,-0.48,-194.7,128.8,-17.6,175,974,0.25,2.15,0.00,0.000,6,0.130,0.036,2655,2064,3560
$GC,1294,-0.64,-194.7,162.0,-7.3,236,1302,0.12,2.28,0.00,0.000,4,0.070,0.058,2587,3485,3561
$GC,1328,-0.58,-194.7,165.7,-11.8,242,1334,0.10,2.15,0.00,0.000,6,0.133,0.036,2625,2078,3561
$GC,1653,-0.58,-194.7,205.7,-12.0,303,1660,0.00,2.20,0.00,0.000,4,0.000,0.051,2626,675,3561
$GC,1685,-0.66,-194.7,209.7,-12.3,309,1691,0.00,2.20,0.00,0.000,6,0.000,0.043,2626,2087,3561
$GC,2011,-0.77,-194.7,247.0,-11.3,370,2018,0.15,2.20,0.00,0.000,4,0.061,0.059,2547,3473,3561
$GC,2053,-0.60,-194.7,253.7,-16.5,378,2061,0.20,2.10,0.00,0.000,6,0.128,0.037,2618,2097,3561
$GC,2380,-0.72,-194.7,286.4,-9.2,439,2386,0.00,2.20,0.00,0.000,4,0.000,0.060,2616,3467,3561
$GC,2412,-0.92,-194.7,289.2,-8.9,445,2418,0.22,2.08,0.00,0.000,6,0.041,0.036,2497,2103,3561
$GC,2729,-0.45,-194.7,357.5,-22.2,482,2731,0.55,0.00,0.00,0.000,6,0.145,0.000,2671,2101,3561
$GC,3041,-1.22,-194.7,386.4,-11.0,512,3045,0.65,2.15,0.00,0.000,4,0.058,0.058,2414,3480,3561
$GC,3146,-0.64,-194.7,412.3,-28.3,522,3151,0.60,2.10,0.00,0.000,6,0.153,0.040,2608,2116,3560
$GC,3468,-0.85,-194.7,447.0,-7.9,553,3472,0.17,2.17,0.00,0.000,4,0.058,0.062,2521,3490,3560
$GC,3500,-0.75,-194.7,450.5,-11.7,556,3503,0.15,2.10,0.00,0.000,6,0.130,0.038,2574,2113,3559
$GC,3820,-0.80,-194.7,479.8,-8.3,587,3824,0.00,2.20,0.00,0.000,4,0.000,0.063,2574,3470,3558
$GC,3884,-0.98,-194.7,484.3,-6.9,593,3888,0.17,2.05,0.00,0.000,6,0.045,0.039,2478,2131,3557
$GC,4202,-0.64,-194.7,536.9,-18.1,614,4206,0.43,2.25,0.00,0.000,4,0.143,0.056,2611,667,3556
$GC,4270,-0.98,-194.7,544.0,-8.3,617,4275,0.25,2.25,0.00,0.000,6,0.042,0.044,2481,2108,3555
$GC,4592,-0.71,-194.7,595.4,-17.0,633,4596,0.35,2.25,0.00,0.000,4,0.147,0.054,2588,672,3553
$GC,4606,-0.57,-194.7,597.6,-16.2,633,4614,0.12,2.28,0.00,0.000,6,0.122,0.047,2636,2112,3553
$GC,4918,-1.18,-194.7,616.8,-6.3,649,4922,0.52,2.15,0.00,0.000,4,0.051,0.063,2421,3482,3551
$GC,5046,-0.80,-194.7,637.8,-18.6,655,5050,0.40,2.05,0.00,0.000,6,0.154,0.041,2564,2154,3549
$GC,5372,-0.93,-194.7,669.1,-9.1,671,5374,0.15,0.00,0.00,0.000,6,0.069,0.000,2493,2149,3547
$GC,5677,-0.75,-194.7,713.2,-14.8,686,5678,0.28,0.00,0.00,0.000,6,0.144,0.000,2576,2149,3545
$GC,5982,-0.96,-194.7,738.9,-7.9,701,5986,0.20,2.17,0.00,0.000,4,0.061,0.068,2484,3482,3542
$GC,6008,-0.87,-194.7,741.9,-12.4,702,6013,0.15,2.08,0.00,0.000,6,0.139,0.042,2534,2150,3541
$GC,6331,-0.87,-194.7,776.0,-10.1,718,6334,0.00,2.33,0.00,0.000,4,0.000,0.059,2535,673,3539
$GC,6388,-0.87,-194.7,782.1,-10.2,721,6392,0.00,2.35,0.00,0.000,6,0.000,0.051,2534,2150,3539
$GC,6714,-0.87,-194.7,812.8,-9.3,737,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2150,3537
$GC,7019,-0.87,-194.7,841.6,-9.6,752,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2150,3536
$GC,7324,-0.87,-194.7,871.5,-10.1,767,7329,0.00,2.17,0.00,0.000,4,0.000,0.071,2535,3475,3534
$GC,7351,-0.93,-194.7,874.1,-10.6,768,7355,0.00,2.08,0.00,0.000,6,0.000,0.044,2535,2149,3533
$GC,7672,-0.98,-194.7,906.3,-9.8,784,7676,0.00,2.35,0.00,0.000,4,0.000,0.061,2535,681,3532
$GC,7703,-1.03,-194.7,909.4,-10.4,785,7708,0.10,2.35,0.00,0.000,6,0.063,0.051,2478,2155,3531
$GC,8020,-0.84,-194.7,951.8,-13.4,801,8024,0.25,2.35,0.00,0.000,4,0.153,0.059,2552,677,3529
$GC,8067,-0.96,-194.7,956.7,-9.0,803,8072,0.08,2.33,0.00,0.000,6,0.069,0.051,2501,2134,3530
$STATE,8366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8366,begin apogee
$GC,8370,-0.20,0.0,992.1,12.1,818,8530,0.77,0.00,156.10,1.378,6,0.137,0.000,2750,2529,2759
$STATE,8531,end apogee,CONTROL_FINISHED_OK
$STATE,8531,begin climb
$GC,8532,0.96,194.7,997.4,0.0,826,8705,1.02,2.08,164.45,1.336,4,0.043,0.070,3142,3689,1964
$GC,8827,0.22,194.7,948.1,25.1,840,8832,0.90,1.88,0.00,0.000,6,0.183,0.044,2895,2545,1959
$GC,9154,0.60,319.1,922.0,6.9,856,9269,0.32,2.50,107.80,1.290,4,0.054,0.058,3038,1116,1458
$GC,9333,0.51,319.1,892.3,17.8,864,9338,0.15,2.35,0.00,0.000,6,0.147,0.052,2991,2502,1453
$GC,9649,0.51,319.1,844.6,15.1,880,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2502,1451
$GC,9955,0.51,319.1,798.0,15.3,895,9956,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2503,1449
$GC,10260,0.51,319.1,753.1,14.7,910,10264,0.00,2.25,0.00,0.000,4,0.000,0.055,2999,1120,1448
$GC,10296,0.56,319.1,747.6,14.7,911,10303,0.00,2.25,0.00,0.000,6,0.000,0.051,3000,2511,1447
$GC,10607,0.56,319.1,697.9,16.4,927,10611,0.00,1.90,0.00,0.000,4,0.000,0.066,2999,3683,1447
$GC,10644,0.49,319.1,691.4,18.0,928,10652,0.08,1.85,0.00,0.000,6,0.151,0.044,2982,2504,1447
$GC,10954,0.54,319.1,642.8,16.3,944,10958,0.00,2.20,0.00,0.000,4,0.000,0.054,2991,1127,1446
$GC,10986,0.63,319.1,637.4,16.5,945,10991,0.00,2.22,0.00,0.000,6,0.000,0.051,2991,2511,1446
$GC,11302,0.63,319.1,586.0,16.5,961,11306,0.00,1.90,0.00,0.000,4,0.000,0.066,2991,3684,1446
$GC,11338,0.63,319.1,579.4,19.6,962,11345,0.00,1.88,0.00,0.000,6,0.000,0.044,2999,2489,1446
$GC,11649,0.63,319.1,528.6,15.7,978,11653,0.00,2.17,0.00,0.000,4,0.000,0.054,3010,1125,1446
$GC,11723,0.70,319.1,518.3,12.6,981,11728,0.00,2.20,0.00,0.000,6,0.000,0.050,3010,2497,1444
$GC,12042,0.70,319.1,473.0,14.2,1006,12047,0.10,2.20,0.00,0.000,4,0.084,0.054,3067,1127,1444
$GC,12069,0.56,319.1,468.6,17.2,1008,12077,0.20,2.22,0.00,0.000,6,0.156,0.051,3003,2512,1444
$GC,12384,0.56,319.1,422.1,14.6,1039,12388,0.00,1.90,0.00,0.000,4,0.000,0.064,3003,3691,1444
$GC,12427,0.56,319.1,415.4,16.9,1043,12431,0.00,1.85,0.00,0.000,6,0.000,0.042,3011,2500,1444
$GC,12747,0.56,319.1,366.7,14.1,1074,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2495,1444
$GC,13058,0.56,319.1,325.3,13.8,1104,13062,0.00,2.17,0.00,0.000,4,0.000,0.051,3021,1126,1444
$GC,13084,0.56,319.1,321.9,12.5,1106,13091,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,2512,1444
$GC,13405,0.56,319.1,276.2,14.9,1152,13406,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2512,1444
$GC,13725,0.59,338.3,235.7,11.2,1212,13745,0.00,2.20,15.48,0.808,4,0.000,0.050,3030,1112,1378
$GC,13792,0.71,376.7,228.2,10.4,1224,13830,0.00,2.22,32.67,0.815,6,0.000,0.046,3031,2505,1222
$GC,14151,0.85,376.7,184.4,12.5,1290,14157,0.17,2.20,0.00,0.000,4,0.061,0.048,3119,1128,1219
$GC,14215,0.66,376.7,172.8,19.0,1302,14222,0.25,2.17,0.00,0.000,6,0.149,0.044,3039,2492,1218
$GC,14542,0.81,376.7,129.0,12.5,1363,14549,0.12,2.17,0.00,0.000,4,0.069,0.048,3110,1121,1218
$GC,14606,0.72,376.7,118.5,17.5,1375,14613,0.17,2.15,0.00,0.000,6,0.137,0.044,3052,2482,1218
$GC,14933,1.01,447.5,80.1,9.1,1436,14997,0.25,0.00,57.65,0.689,6,0.052,0.000,3163,2483,933
$GC,15318,0.91,447.5,17.9,15.8,1506,15324,0.17,2.15,0.00,0.000,4,0.144,0.045,3116,1114,930
$STATE,15434,end climb,SURFACE_DEPTH_REACHED
$STATE,15434,begin surface coast
$FINISH,1.6,1.010368
$STATE,15450,end surface coast,CONTROL_FINISHED_OK
$STATE,15450,begin surface
$SM_CCo,15524,0.00,0.000,0,0,926,449.63
$SM_GC,2.30,7.57,0.00,0.00,0.040,0.000,0.000,172,2070,926,-8.20,-0.03,449.63
$IRIDIUM_FIX,2505.59,12255.14,290898,000032
$TT8_MAMPS,0.048321
$HUMID,1543
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.20
$XPDR_PINGS,133
$24V_AH,23.6,21.584
$10V_AH,10.7,16.166
$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,29.625,138.825,534.150,0.000,0.000,30.642,31.069,268.184,41.250,0.000,0.000,12.545,0.000,11212.270,679.650,3505.646,525.738,0.000,1992.929,0.000,2960.790,0.000,55.722,0.000
$DEVICE_MAMPS,226.265,70.564,1378.299,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.529,1069.200,1680.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88466,1531
$CAP_FILE_SIZE,168503,0
$CFSIZE,260165632,250474496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.291, 18.7,1
$GPS,040609,091955,2514.742,12255.052,39,1.2,39,-3.7