version: 66.04
glider: 165
mission: 2
dive: 102
start: 6 5 109 7 6 25
data:
$ID,165
$MISSION,2
$DIVE,102
$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,-118941.05
$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,51
$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
$GPS1,070025,2512.148,12258.017,37,1.0,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-68.7
$GPS2,070620,2512.105,12258.061,11,1.0,11,-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,223.0,2049,-18.3,-12.000
$D_GRID,1589
$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,-194.7,0.0,0.0,0,64,0.00,0.00,-50.20,0.000,2,0.000,0.000,159,2034,2050
$GC,66,-0.96,-194.7,3.0,-3.9,8,123,8.90,2.38,-43.67,0.000,4,0.226,0.067,2495,3476,3555
$GC,277,-0.19,-194.7,64.9,-36.6,46,285,0.77,2.17,0.00,0.000,6,0.139,0.039,2748,2084,3557
$GC,605,-0.67,-194.7,95.0,-5.1,107,612,0.38,2.22,0.00,0.000,4,0.041,0.051,2570,666,3559
$GC,643,-0.39,-194.7,100.4,-17.7,114,651,0.35,2.20,0.00,0.000,6,0.137,0.043,2682,2066,3558
$GC,971,-0.60,-194.7,131.7,-8.7,175,977,0.17,2.25,0.00,0.000,4,0.057,0.062,2590,3480,3560
$GC,1067,-0.50,-194.7,148.2,-18.2,193,1074,0.17,2.15,0.00,0.000,6,0.125,0.036,2654,2078,3559
$GC,1394,-0.68,-194.7,187.4,-10.0,254,1401,0.15,2.25,0.00,0.000,4,0.064,0.058,2574,3482,3561
$GC,1432,-0.60,-194.7,192.3,-13.8,261,1439,0.15,2.12,0.00,0.000,6,0.125,0.036,2629,2088,3561
$GC,1759,-0.73,-194.7,224.8,-8.7,322,1768,0.12,2.22,0.00,0.000,4,0.067,0.058,2559,3474,3561
$GC,1782,-0.73,-194.7,227.7,-12.4,326,1791,0.00,2.08,0.00,0.000,6,0.000,0.037,2559,2117,3561
$GC,2110,-0.52,-194.7,281.8,-16.2,387,2117,0.28,2.25,0.00,0.000,4,0.133,0.051,2647,656,3561
$GC,2164,-0.85,-194.7,287.8,-8.9,397,2170,0.20,2.28,0.00,0.000,6,0.039,0.042,2517,2119,3561
$GC,2487,-0.55,-194.7,348.8,-17.7,435,2491,0.40,2.12,0.00,0.000,4,0.145,0.061,2643,3473,3561
$GC,2561,-0.97,-194.7,355.7,-7.2,442,2565,0.32,2.05,0.00,0.000,6,0.035,0.037,2469,2126,3561
$GC,2882,-0.49,-194.7,428.0,-22.6,473,2887,0.60,2.25,0.00,0.000,4,0.150,0.052,2658,678,3561
$GC,2961,-0.97,-194.7,436.1,-7.4,480,2969,0.35,2.22,0.00,0.000,6,0.034,0.042,2480,2110,3561
$GC,3277,-0.59,-194.7,497.1,-18.3,511,3279,0.47,0.00,0.00,0.000,6,0.147,0.000,2628,2109,3559
$GC,3593,-0.95,-194.7,517.8,-6.4,528,3597,0.30,2.17,0.00,0.000,4,0.045,0.063,2487,3472,3557
$GC,3684,-0.73,-194.7,530.9,-16.5,532,3688,0.28,2.10,0.00,0.000,6,0.132,0.040,2580,2103,3556
$GC,4005,-0.88,-194.7,565.9,-10.0,548,4006,0.12,0.00,0.00,0.000,6,0.071,0.000,2519,2099,3554
$GC,4310,-0.77,-194.7,606.0,-13.5,563,4314,0.17,2.22,0.00,0.000,4,0.143,0.064,2564,3472,3552
$GC,4353,-0.93,-194.7,610.8,-9.8,565,4357,0.10,2.12,0.00,0.000,6,0.056,0.041,2498,2096,3552
$GC,4679,-0.76,-194.7,658.0,-14.4,581,4683,0.25,2.22,0.00,0.000,4,0.140,0.057,2574,670,3548
$GC,4715,-0.91,-194.7,662.2,-10.2,582,4724,0.10,2.25,0.00,0.000,6,0.056,0.048,2512,2092,3548
$GC,5027,-0.83,-194.7,700.6,-12.2,598,5031,0.15,2.25,0.00,0.000,4,0.145,0.054,2556,663,3546
$GC,5058,-0.89,-194.7,704.0,-10.5,599,5064,0.00,2.28,0.00,0.000,6,0.000,0.048,2553,2101,3546
$GC,5368,-0.99,-194.7,731.0,-8.3,615,5372,0.15,2.22,0.00,0.000,4,0.067,0.066,2480,3477,3542
$GC,5416,-0.81,-194.7,736.6,-12.8,617,5421,0.20,2.15,0.00,0.000,6,0.138,0.041,2549,2086,3541
$GC,5738,-0.89,-194.7,765.7,-8.6,633,5741,0.00,2.25,0.00,0.000,4,0.000,0.067,2549,3480,3540
$GC,5779,-1.02,-194.7,769.0,-7.7,635,5784,0.12,2.12,0.00,0.000,6,0.054,0.041,2478,2105,3539
$GC,6106,-0.80,-194.7,812.1,-13.2,651,6110,0.28,2.25,0.00,0.000,4,0.146,0.057,2561,664,3537
$GC,6132,-0.80,-194.7,814.7,-9.9,652,6136,0.00,2.30,0.00,0.000,6,0.000,0.048,2561,2111,3537
$GC,6453,-0.95,-194.7,837.4,-6.9,668,6454,0.15,0.00,0.00,0.000,6,0.068,0.000,2491,2112,3535
$GC,6758,-0.81,-194.7,873.5,-12.2,683,6759,0.22,0.00,0.00,0.000,6,0.143,0.000,2559,2111,3534
$GC,7064,-0.96,-194.7,897.1,-7.4,698,7068,0.15,2.22,0.00,0.000,4,0.070,0.069,2482,3479,3532
$GC,7101,-0.82,-194.7,901.3,-12.2,699,7108,0.20,2.15,0.00,0.000,6,0.138,0.043,2549,2100,3531
$GC,7411,-0.93,-194.7,929.3,-9.3,715,7415,0.00,2.28,0.00,0.000,4,0.000,0.070,2549,3479,3530
$GC,7459,-1.09,-194.7,933.8,-9.4,717,7463,0.20,2.12,0.00,0.000,6,0.050,0.043,2453,2114,3529
$GC,7781,-0.80,-194.7,984.1,-16.1,733,7785,0.32,2.28,0.00,0.000,4,0.154,0.059,2555,675,3527
$STATE,7831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7831,begin apogee
$GC,7838,-0.20,0.0,990.3,10.0,735,7996,0.57,0.00,156.07,1.379,6,0.126,0.000,2751,2519,2759
$STATE,7996,end apogee,CONTROL_FINISHED_OK
$STATE,7997,begin climb
$GC,7998,0.96,194.7,996.4,0.0,743,8169,1.02,2.12,164.25,1.336,4,0.043,0.069,3139,3699,1964
$GC,8344,0.22,194.7,933.2,25.9,759,8349,0.88,1.90,0.00,0.000,6,0.182,0.044,2896,2528,1959
$GC,8666,0.57,295.7,905.1,7.8,775,8759,0.30,2.42,87.15,1.282,4,0.054,0.056,3031,1123,1552
$GC,8781,0.44,295.7,886.9,17.7,780,8785,0.20,2.38,0.00,0.000,6,0.144,0.051,2969,2517,1549
$GC,9097,0.51,295.7,846.2,12.3,796,9100,0.00,2.28,0.00,0.000,4,0.000,0.054,2978,1111,1546
$GC,9117,0.59,295.7,843.7,12.1,797,9121,0.00,2.30,0.00,0.000,6,0.000,0.049,2978,2516,1544
$GC,9443,0.59,295.7,798.4,13.8,813,9448,0.00,2.28,0.00,0.000,4,0.000,0.053,2987,1117,1543
$GC,9480,0.66,295.7,793.1,14.3,814,9487,0.10,2.25,0.00,0.000,6,0.062,0.048,3044,2510,1542
$GC,9791,0.43,295.7,730.7,21.3,830,9795,0.30,1.90,0.00,0.000,4,0.153,0.065,2955,3683,1542
$GC,9865,0.54,295.7,718.5,14.2,833,9870,0.00,1.85,0.00,0.000,6,0.000,0.042,2962,2507,1542
$GC,10181,0.66,295.7,678.6,13.0,849,10185,0.20,2.20,0.00,0.000,4,0.064,0.053,3056,1125,1541
$GC,10245,0.47,295.7,667.4,18.7,852,10249,0.25,2.22,0.00,0.000,6,0.157,0.050,2977,2507,1540
$GC,10572,0.53,295.7,621.2,13.9,868,10575,0.00,2.22,0.00,0.000,4,0.000,0.052,2986,1127,1539
$GC,10640,0.65,295.7,612.1,13.0,871,10645,0.08,2.17,0.00,0.000,6,0.068,0.049,3033,2489,1540
$GC,10961,0.50,295.7,555.4,17.7,887,10966,0.17,1.92,0.00,0.000,4,0.151,0.064,2981,3684,1540
$GC,11057,0.54,295.7,541.8,12.9,891,11062,0.00,1.83,0.00,0.000,6,0.000,0.043,2988,2506,1539
$GC,11373,0.59,295.7,502.1,13.4,907,11377,0.00,2.20,0.00,0.000,4,0.000,0.053,2998,1119,1539
$GC,11410,0.67,295.7,497.1,13.8,909,11417,0.08,2.22,0.00,0.000,6,0.071,0.048,3046,2511,1538
$GC,11725,0.49,295.7,440.7,18.0,940,11730,0.22,1.88,0.00,0.000,4,0.150,0.063,2979,3684,1538
$GC,11780,0.56,295.7,432.7,13.7,945,11783,0.00,1.80,0.00,0.000,6,0.000,0.042,2985,2521,1538
$GC,12100,0.66,295.7,392.8,12.4,976,12104,0.12,2.17,0.00,0.000,4,0.074,0.051,3053,1121,1539
$GC,12174,0.54,295.7,381.1,15.4,983,12179,0.17,2.22,0.00,0.000,6,0.147,0.048,2995,2517,1537
$GC,12495,0.62,295.7,339.3,12.6,1014,12499,0.00,1.88,0.00,0.000,4,0.000,0.062,2995,3689,1537
$GC,12580,0.66,295.7,327.2,14.3,1022,12584,0.00,1.77,0.00,0.000,6,0.000,0.040,3002,2526,1537
$GC,12900,0.74,295.7,282.3,13.3,1064,12907,0.15,2.20,0.00,0.000,4,0.066,0.051,3083,1128,1537
$GC,12986,0.57,295.7,266.7,18.5,1080,12993,0.25,2.20,0.00,0.000,6,0.154,0.047,3003,2516,1537
$GC,13313,0.70,320.8,229.1,11.0,1141,13338,0.12,2.20,19.95,0.815,4,0.075,0.049,3070,1126,1450
$GC,13401,0.62,320.8,216.9,13.5,1157,13408,0.15,2.20,0.00,0.000,6,0.146,0.045,3021,2511,1449
$GC,13728,0.80,374.5,182.6,9.8,1218,13780,0.15,2.25,44.70,0.782,4,0.067,0.049,3102,1126,1231
$GC,13821,0.74,374.5,166.3,17.7,1234,13828,0.12,2.22,0.00,0.000,6,0.140,0.044,3061,2501,1229
$GC,14148,0.85,393.5,122.2,11.2,1295,14169,0.00,2.25,16.90,0.707,4,0.000,0.048,3071,1127,1154
$GC,14227,1.00,393.5,112.7,12.1,1309,14234,0.15,2.20,0.00,0.000,6,0.047,0.042,3151,2502,1151
$GC,14553,0.86,393.5,57.0,15.3,1370,14560,0.20,1.88,0.00,0.000,4,0.146,0.056,3093,3687,1151
$GC,14586,0.91,393.5,52.5,12.7,1376,14592,0.00,1.80,0.00,0.000,6,0.000,0.037,3100,2510,1151
$GC,14912,1.07,393.5,18.0,12.2,1437,14919,0.17,2.15,0.00,0.000,4,0.058,0.046,3197,1126,1151
$GC,14955,0.93,393.5,11.9,15.3,1445,14962,0.22,2.17,0.00,0.000,6,0.142,0.042,3124,2513,1151
$STATE,15034,end climb,SURFACE_DEPTH_REACHED
$STATE,15034,begin surface coast
$FINISH,1.4,1.008312
$STATE,15062,end surface coast,CONTROL_FINISHED_OK
$STATE,15062,begin surface
$SM_CCo,15075,32.00,0.617,0,0,985,435.16
$SM_GC,2.78,0.00,0.00,32.00,0.000,0.000,0.617,162,2057,985,-8.31,-0.40,435.16
$IRIDIUM_FIX,2500.82,12259.14,300898,020217
$TT8_MAMPS,0.048321
$HUMID,1533
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.50
$XPDR_PINGS,134
$24V_AH,23.6,22.801
$10V_AH,10.7,16.938
$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,31.150,157.025,489.025,32.000,0.000,24.417,36.386,196.094,41.500,0.000,0.000,13.356,0.000,10813.967,699.275,3456.962,465.562,0.000,1998.795,0.000,2915.808,0.000,53.993,0.000
$DEVICE_MAMPS,226.265,69.797,1379.066,616.668,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,991.674,1033.672,1615.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82007,1465
$CAP_FILE_SIZE,173259,0
$CFSIZE,260165632,249950208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.305, 25.1,1
$GPS,050609,111907,2512.596,12257.403,35,1.9,35,-3.7