version: 66.04
glider: 165
mission: 2
dive: 104
start: 6 5 109 15 49 43
data:
$ID,165
$MISSION,2
$DIVE,104
$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,-118973.32
$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,54
$R_STBD_OVSHOOT,26
$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
$GPS1,154337,2512.026,12257.342,35,1.1,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-73.7
$GPS2,154938,2512.051,12257.417,13,1.1,13,-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,196.8,2178,-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,-194.7,0.0,0.0,0,56,0.00,0.00,-42.60,0.000,2,0.000,0.000,159,2058,2030
$GC,58,-0.96,-194.7,3.2,-3.8,7,115,8.85,2.28,-42.80,0.000,4,0.224,0.067,2498,3479,3553
$GC,344,-0.12,-194.7,89.8,-36.9,59,351,0.85,2.17,0.00,0.000,6,0.146,0.041,2771,2083,3556
$GC,671,-1.02,-194.7,119.5,-9.4,120,678,0.75,2.20,0.00,0.000,4,0.065,0.052,2485,3489,3558
$GC,746,-0.48,-194.7,133.9,-26.2,134,754,0.50,2.15,0.00,0.000,6,0.131,0.036,2655,2082,3558
$GC,1074,-0.68,-194.7,175.2,-9.9,195,1080,0.15,0.00,0.00,0.000,6,0.061,0.000,2574,2078,3560
$GC,1399,-0.52,-194.7,224.5,-14.3,256,1405,0.25,0.00,0.00,0.000,6,0.133,0.000,2654,2078,3560
$GC,1726,-0.85,-194.7,250.2,-8.0,317,1731,0.25,2.22,0.00,0.000,4,0.049,0.057,2523,3489,3560
$GC,1762,-0.65,-194.7,255.7,-16.4,324,1769,0.22,2.12,0.00,0.000,6,0.133,0.036,2601,2089,3561
$GC,2089,-0.71,-194.7,299.6,-10.8,385,2095,0.00,2.22,0.00,0.000,4,0.000,0.061,2601,3471,3561
$GC,2142,-0.89,-194.7,304.3,-8.7,391,2146,0.15,2.08,0.00,0.000,6,0.044,0.037,2514,2109,3561
$GC,2462,-0.55,-194.7,355.5,-16.3,422,2467,0.40,2.22,0.00,0.000,4,0.143,0.052,2641,681,3560
$GC,2538,-0.96,-194.7,361.3,-5.0,429,2542,0.28,2.22,0.00,0.000,6,0.038,0.043,2482,2110,3560
$GC,2858,-0.52,-194.7,422.7,-23.2,460,2862,0.52,2.17,0.00,0.000,4,0.150,0.063,2643,3472,3561
$GC,2895,-0.85,-194.7,427.4,-8.4,463,2902,0.22,2.08,0.00,0.000,6,0.038,0.038,2517,2116,3560
$GC,3210,-0.64,-194.7,481.3,-17.0,494,3215,0.30,2.25,0.00,0.000,4,0.136,0.053,2612,676,3559
$GC,3248,-0.91,-194.7,485.8,-10.0,497,3254,0.20,2.25,0.00,0.000,6,0.044,0.045,2500,2113,3559
$GC,3570,-0.70,-194.7,533.5,-14.2,518,3572,0.30,0.00,0.00,0.000,6,0.139,0.000,2593,2114,3557
$GC,3875,-0.92,-194.7,559.1,-8.6,533,3879,0.20,2.20,0.00,0.000,4,0.058,0.065,2500,3481,3555
$GC,3933,-0.76,-194.7,566.5,-14.7,535,3940,0.20,2.08,0.00,0.000,6,0.130,0.041,2569,2137,3554
$GC,4243,-0.89,-194.7,599.6,-10.9,551,4245,0.12,0.00,0.00,0.000,6,0.073,0.000,2509,2131,3552
$GC,4549,-0.77,-194.7,641.7,-14.2,566,4553,0.20,2.20,0.00,0.000,4,0.143,0.067,2563,3480,3549
$GC,4634,-0.95,-194.7,650.6,-9.9,570,4638,0.12,2.08,0.00,0.000,6,0.054,0.042,2489,2147,3549
$GC,4961,-0.76,-194.7,699.1,-14.6,586,4965,0.28,2.15,0.00,0.000,4,0.143,0.069,2573,3476,3546
$GC,5024,-1.01,-194.7,704.9,-7.3,589,5029,0.20,2.08,0.00,0.000,6,0.048,0.042,2471,2146,3545
$GC,5351,-0.74,-194.7,756.4,-16.1,605,5352,0.35,0.00,0.00,0.000,6,0.146,0.000,2578,2141,3543
$GC,5656,-0.97,-194.7,782.1,-8.3,620,5657,0.20,0.00,0.00,0.000,6,0.061,0.000,2489,2141,3541
$GC,5962,-0.83,-194.7,825.7,-14.7,635,5963,0.22,0.00,0.00,0.000,6,0.144,0.000,2557,2141,3538
$GC,6266,-0.97,-194.7,858.0,-10.4,650,6270,0.15,2.20,0.00,0.000,4,0.071,0.071,2482,3478,3536
$GC,6319,-0.83,-194.7,865.7,-15.8,652,6324,0.17,2.08,0.00,0.000,6,0.139,0.045,2542,2151,3536
$GC,6636,-0.91,-194.7,902.0,-11.3,668,6640,0.00,2.35,0.00,0.000,4,0.000,0.061,2542,666,3535
$GC,6677,-1.01,-194.7,907.1,-12.0,670,6682,0.10,2.38,0.00,0.000,6,0.060,0.051,2481,2152,3535
$GC,6999,-0.84,-194.7,953.8,-14.4,686,7003,0.22,2.35,0.00,0.000,4,0.152,0.059,2547,667,3533
$GC,7084,-0.97,-194.7,963.4,-10.4,690,7088,0.08,2.35,0.00,0.000,6,0.064,0.052,2497,2136,3533
$STATE,7287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7287,begin apogee
$GC,7291,-0.20,0.0,990.1,13.3,700,7451,0.80,0.00,156.85,1.381,6,0.139,0.000,2755,2530,2759
$STATE,7452,end apogee,CONTROL_FINISHED_OK
$STATE,7452,begin climb
$GC,7453,0.96,194.7,998.0,0.0,708,7626,1.00,2.05,164.77,1.338,4,0.042,0.068,3137,3678,1964
$GC,7770,0.22,194.7,944.1,25.7,723,7774,0.85,1.85,0.00,0.000,6,0.182,0.044,2901,2546,1959
$GC,8097,0.54,288.0,915.7,8.1,739,8183,0.25,2.47,80.80,1.290,4,0.058,0.056,3019,1119,1584
$GC,8283,0.47,288.0,886.9,16.5,747,8291,0.12,2.33,0.00,0.000,6,0.143,0.051,2979,2504,1579
$GC,8593,0.47,288.0,843.0,14.1,763,8597,0.00,1.95,0.00,0.000,4,0.000,0.067,2978,3684,1577
$GC,8641,0.47,288.0,835.6,15.7,765,8645,0.00,1.88,0.00,0.000,6,0.000,0.044,2986,2503,1577
$GC,8962,0.47,288.0,787.2,15.3,781,8966,0.00,2.22,0.00,0.000,4,0.000,0.054,2996,1121,1575
$GC,8999,0.47,288.0,781.4,14.7,782,9006,0.00,2.25,0.00,0.000,6,0.000,0.050,2996,2513,1574
$GC,9309,0.42,288.0,731.3,15.7,798,9314,0.15,2.25,0.00,0.000,4,0.151,0.054,2964,1117,1574
$GC,9341,0.54,288.0,727.2,12.8,799,9345,0.00,2.28,0.00,0.000,6,0.000,0.051,2964,2522,1573
$GC,9657,0.63,288.0,687.2,12.6,815,9661,0.17,1.90,0.00,0.000,4,0.067,0.067,3038,3695,1573
$GC,9678,0.53,288.0,684.0,16.3,816,9682,0.15,1.83,0.00,0.000,6,0.152,0.044,2997,2528,1573
$GC,10004,0.53,288.0,633.6,14.9,832,10008,0.00,1.90,0.00,0.000,4,0.000,0.065,2996,3690,1573
$GC,10069,0.43,288.0,623.1,16.7,835,10072,0.12,1.80,0.00,0.000,6,0.146,0.044,2963,2531,1573
$GC,10395,0.53,288.6,585.7,12.0,851,10398,0.00,2.22,0.00,0.000,4,0.000,0.054,2972,1111,1572
$GC,10490,0.75,338.5,575.7,9.9,855,10538,0.20,2.28,42.50,1.112,6,0.055,0.048,3064,2532,1379
$GC,10849,0.48,338.5,499.0,23.3,873,10853,0.30,1.88,0.00,0.000,4,0.151,0.064,2976,3684,1373
$GC,10892,0.55,338.5,491.5,15.9,877,10896,0.00,1.80,0.00,0.000,6,0.000,0.042,2982,2540,1374
$GC,11213,0.68,338.5,447.4,12.8,908,11217,0.15,2.22,0.00,0.000,4,0.070,0.054,3058,1127,1373
$GC,11287,0.54,338.5,434.2,21.2,915,11291,0.17,2.28,0.00,0.000,6,0.156,0.051,2991,2531,1371
$GC,11608,0.64,338.5,388.6,14.8,946,11612,0.00,2.28,0.00,0.000,4,0.000,0.052,3000,1123,1371
$GC,11628,0.76,338.5,385.8,14.1,948,11633,0.15,2.28,0.00,0.000,6,0.054,0.048,3080,2535,1370
$GC,11950,0.53,338.5,319.8,21.6,979,11954,0.30,2.22,0.00,0.000,4,0.153,0.052,3000,1126,1370
$GC,12002,0.68,338.5,311.2,15.0,984,12007,0.08,2.22,0.00,0.000,6,0.064,0.048,3051,2517,1370
$GC,12326,0.61,338.5,255.8,17.0,1038,12334,0.12,2.22,0.00,0.000,4,0.153,0.051,3026,1119,1370
$GC,12365,0.68,338.5,250.5,13.3,1045,12371,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2510,1370
$GC,12690,0.74,338.5,206.8,13.8,1106,12697,0.00,2.20,0.00,0.000,4,0.000,0.050,3035,1126,1370
$GC,12728,0.82,338.5,201.7,13.8,1113,12734,0.10,2.15,0.00,0.000,6,0.057,0.046,3097,2490,1370
$GC,13054,0.70,338.5,142.8,14.8,1174,13061,0.17,2.15,0.00,0.000,4,0.147,0.050,3056,1126,1370
$GC,13097,0.85,383.6,138.0,10.1,1182,13143,0.08,2.08,36.83,0.768,6,0.060,0.044,3108,2450,1194
$GC,13463,0.90,416.9,84.6,10.6,1249,13494,0.00,0.00,27.95,0.706,6,0.000,0.000,3108,2450,1058
$GC,13814,1.04,441.0,43.4,11.0,1314,13840,0.12,2.12,20.98,0.658,4,0.070,0.047,3178,1114,959
$GC,13866,0.93,441.0,35.9,16.2,1323,13874,0.17,2.15,0.00,0.000,6,0.140,0.042,3122,2464,957
$STATE,14133,end climb,SURFACE_DEPTH_REACHED
$STATE,14133,begin surface coast
$FINISH,1.5,1.009582
$STATE,14160,end surface coast,CONTROL_FINISHED_OK
$STATE,14160,begin surface
$SM_CCo,14233,0.00,0.000,0,0,954,442.77
$SM_GC,2.39,7.55,0.00,0.00,0.036,0.000,0.000,166,2071,954,-8.21,0.00,442.77
$IRIDIUM_FIX,2505.59,12259.14,300898,111138
$TT8_MAMPS,0.049088
$HUMID,1538
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.40
$XPDR_PINGS,105
$24V_AH,23.6,23.200
$10V_AH,10.7,17.191
$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,30.325,126.275,530.675,0.000,0.000,28.507,37.021,194.955,34.250,0.000,0.000,15.662,0.000,10219.143,652.382,3249.211,445.522,0.000,1876.128,0.000,2739.194,0.000,53.970,0.000
$DEVICE_MAMPS,223.964,71.331,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,933.497,954.657,1493.562,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78982,1378
$CAP_FILE_SIZE,157534,0
$CFSIZE,260165632,249790464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.312, 34.3,1
$GPS,050609,194755,2511.571,12258.133,41,1.3,41,-3.7