version: 66.04
glider: 165
mission: 2
dive: 105
start: 6 5 109 19 53 50
data:
$ID,165
$MISSION,2
$DIVE,105
$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,-118987.03
$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,39
$R_STBD_OVSHOOT,31
$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
$GPS1,194755,2511.571,12258.133,41,1.3,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-73.5
$GPS2,195344,2511.577,12258.205,10,1.4,10,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,304.1,54392,-18.3,-12.000
$D_GRID,1559
$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,-194.7,0.0,0.0,0,57,0.00,0.00,-44.25,0.000,2,0.000,0.000,165,2068,2037
$GC,59,-0.96,-194.7,3.1,-3.9,7,116,8.82,2.25,-42.62,0.000,4,0.226,0.065,2493,3484,3553
$GC,184,-0.23,-194.7,36.1,-34.9,29,192,0.75,2.20,0.00,0.000,6,0.150,0.038,2734,2073,3556
$GC,512,-0.53,-194.7,74.7,-10.2,90,519,0.22,2.25,0.00,0.000,4,0.050,0.061,2621,3472,3557
$GC,565,-0.38,-194.7,84.1,-19.2,100,572,0.20,2.15,0.00,0.000,6,0.140,0.035,2690,2070,3557
$GC,892,-0.58,-194.7,128.0,-9.5,161,900,0.17,2.25,0.00,0.000,4,0.057,0.055,2591,3473,3560
$GC,926,-0.18,-194.7,133.4,-18.7,167,932,0.45,2.10,0.00,0.000,6,0.120,0.037,2760,2102,3559
$GC,1252,-1.07,-194.7,163.5,-10.7,228,1259,0.75,2.17,0.00,0.000,4,0.061,0.054,2461,3485,3560
$GC,1322,-0.55,-194.7,176.5,-24.5,241,1330,0.52,2.12,0.00,0.000,6,0.138,0.037,2636,2097,3560
$GC,1650,-0.72,-194.7,216.8,-11.3,302,1655,0.15,0.00,0.00,0.000,6,0.061,0.000,2558,2093,3561
$GC,1976,-0.51,-194.7,275.4,-18.7,363,1981,0.28,0.00,0.00,0.000,6,0.134,0.000,2652,2093,3561
$GC,2304,-0.86,-194.7,303.8,-6.8,420,2306,0.30,0.00,0.00,0.000,6,0.045,0.000,2510,2093,3561
$GC,2614,-0.53,-194.7,358.5,-19.2,450,2619,0.43,2.22,0.00,0.000,4,0.140,0.054,2646,677,3561
$GC,2679,-0.91,-194.7,365.2,-7.8,456,2683,0.28,2.22,0.00,0.000,6,0.038,0.042,2501,2109,3561
$GC,3000,-0.62,-194.7,420.8,-16.9,487,3001,0.38,0.00,0.00,0.000,6,0.139,0.000,2619,2110,3561
$GC,3311,-0.91,-194.7,447.9,-9.0,517,3312,0.25,0.00,0.00,0.000,6,0.051,0.000,2504,2110,3561
$GC,3620,-0.69,-194.7,497.8,-14.7,547,3624,0.30,2.17,0.00,0.000,4,0.134,0.063,2589,3471,3558
$GC,3657,-0.91,-194.7,501.3,-7.6,549,3666,0.15,2.08,0.00,0.000,6,0.046,0.039,2502,2124,3558
$GC,3968,-0.70,-194.7,546.7,-16.5,565,3972,0.30,2.25,0.00,0.000,4,0.136,0.056,2595,672,3556
$GC,4068,-0.95,-194.7,557.7,-9.8,569,4077,0.17,2.25,0.00,0.000,6,0.047,0.047,2497,2104,3555
$GC,4379,-0.76,-194.7,606.3,-15.4,585,4383,0.25,2.28,0.00,0.000,4,0.140,0.054,2574,672,3553
$GC,4421,-0.92,-194.7,611.5,-10.8,587,4426,0.10,2.28,0.00,0.000,6,0.056,0.048,2510,2109,3553
$GC,4748,-0.79,-194.7,657.0,-13.9,603,4750,0.17,0.00,0.00,0.000,6,0.140,0.000,2563,2110,3549
$GC,5053,-0.92,-194.7,687.9,-9.4,618,5054,0.12,0.00,0.00,0.000,6,0.074,0.000,2501,2110,3547
$GC,5358,-0.78,-194.7,729.0,-14.1,633,5362,0.22,2.22,0.00,0.000,4,0.140,0.068,2563,3480,3544
$GC,5401,-0.97,-194.7,733.7,-9.7,635,5405,0.12,2.12,0.00,0.000,6,0.053,0.043,2490,2109,3544
$GC,5727,-0.81,-194.7,783.8,-15.4,651,5731,0.22,2.20,0.00,0.000,4,0.143,0.067,2550,3476,3541
$GC,5764,-0.94,-194.7,788.6,-11.7,652,5771,0.08,2.10,0.00,0.000,6,0.062,0.042,2496,2125,3541
$GC,6074,-0.81,-194.7,832.9,-14.3,668,6079,0.20,2.30,0.00,0.000,4,0.142,0.058,2556,678,3539
$GC,6143,-0.98,-194.7,841.0,-11.6,671,6148,0.10,2.28,0.00,0.000,6,0.060,0.049,2494,2111,3538
$GC,6465,-0.87,-194.7,884.3,-13.3,687,6469,0.15,2.28,0.00,0.000,4,0.145,0.058,2538,668,3536
$GC,6501,-0.95,-194.7,888.9,-11.9,688,6508,0.00,2.30,0.00,0.000,6,0.000,0.050,2536,2116,3536
$GC,6812,-1.01,-194.7,921.0,-10.2,704,6816,0.12,2.20,0.00,0.000,4,0.074,0.067,2468,3473,3535
$GC,6849,-0.84,-194.7,925.8,-14.5,705,6857,0.22,2.10,0.00,0.000,6,0.138,0.043,2544,2122,3534
$GC,7160,-0.94,-194.7,955.3,-9.3,721,7163,0.00,2.30,0.00,0.000,4,0.000,0.059,2544,663,3532
$GC,7250,-1.04,-194.7,964.0,-10.1,725,7254,0.12,2.33,0.00,0.000,6,0.057,0.051,2471,2117,3532
$STATE,7447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7447,begin apogee
$GC,7451,-0.20,0.0,991.1,13.7,735,7611,0.88,0.00,156.50,1.378,6,0.143,0.000,2750,2526,2758
$STATE,7611,end apogee,CONTROL_FINISHED_OK
$STATE,7611,begin climb
$GC,7613,0.96,194.7,997.3,0.0,743,7784,1.02,2.10,164.05,1.337,4,0.043,0.069,3143,3696,1964
$GC,7948,0.22,194.7,936.7,25.7,758,7955,0.88,1.88,0.00,0.000,6,0.183,0.044,2900,2535,1959
$GC,8258,0.52,262.6,907.5,9.2,774,8322,0.25,2.38,58.17,1.283,4,0.056,0.055,3018,1114,1687
$GC,8363,0.43,262.6,890.6,17.6,779,8368,0.17,2.38,0.00,0.000,6,0.143,0.053,2965,2516,1683
$GC,8689,0.43,262.6,841.7,15.5,795,8690,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2516,1681
$GC,8995,0.48,262.6,792.8,15.9,810,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2516,1680
$GC,9300,0.53,262.6,747.8,13.8,825,9304,0.00,1.92,0.00,0.000,4,0.000,0.067,2964,3698,1678
$GC,9331,0.53,262.6,743.3,14.7,826,9336,0.00,1.90,0.00,0.000,6,0.000,0.043,2972,2491,1678
$GC,9647,0.53,262.6,697.6,15.2,842,9652,0.00,2.17,0.00,0.000,4,0.000,0.054,2982,1127,1677
$GC,9679,0.58,262.6,692.6,14.6,843,9684,0.00,2.22,0.00,0.000,6,0.000,0.051,2982,2512,1676
$GC,9995,0.58,262.6,646.6,13.5,859,9999,0.00,1.90,0.00,0.000,4,0.000,0.065,2981,3686,1676
$GC,10096,0.51,262.6,631.9,15.6,863,10103,0.00,1.83,0.00,0.000,6,0.000,0.043,2990,2512,1676
$GC,10406,0.51,262.6,588.0,13.9,879,10410,0.00,2.20,0.00,0.000,4,0.000,0.053,3000,1129,1676
$GC,10496,0.51,262.6,576.2,12.8,883,10501,0.00,2.20,0.00,0.000,6,0.000,0.049,3000,2508,1674
$GC,10818,0.45,262.6,534.8,12.7,899,10822,0.12,2.22,0.00,0.000,4,0.150,0.053,2976,1119,1674
$GC,10871,0.57,279.5,528.8,11.3,901,10888,0.00,2.20,13.65,1.046,6,0.000,0.049,2976,2496,1619
$GC,11196,0.66,279.5,488.1,12.5,922,11198,0.17,0.00,0.00,0.000,6,0.067,0.000,3048,2496,1617
$GC,11506,0.46,279.5,434.0,18.2,952,11508,0.28,0.00,0.00,0.000,6,0.149,0.000,2968,2496,1616
$GC,11817,0.66,325.8,400.2,10.1,982,11863,0.17,2.30,40.05,0.989,4,0.067,0.053,3052,1126,1430
$GC,11894,0.57,325.8,389.0,16.3,989,11898,0.15,2.25,0.00,0.000,6,0.146,0.048,3004,2494,1426
$GC,12214,0.63,325.8,344.0,13.1,1020,12215,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2494,1424
$GC,12525,0.71,325.8,307.6,12.1,1050,12529,0.12,2.17,0.00,0.000,4,0.077,0.051,3067,1116,1424
$GC,12626,0.60,325.8,291.5,18.4,1064,12633,0.15,2.20,0.00,0.000,6,0.151,0.048,3018,2490,1423
$GC,12953,0.66,325.8,243.7,13.1,1125,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2491,1422
$GC,13278,0.77,332.2,201.5,11.7,1186,13291,0.15,1.92,5.82,0.678,4,0.068,0.061,3086,3689,1404
$GC,13322,0.54,332.2,194.1,19.3,1194,13329,0.30,1.88,0.00,0.000,6,0.146,0.040,2998,2473,1404
$GC,13649,0.89,400.8,163.6,9.2,1255,13712,0.30,2.15,57.00,0.782,4,0.048,0.048,3140,1120,1124
$GC,13791,0.69,400.8,134.0,20.8,1280,13797,0.28,2.17,0.00,0.000,6,0.143,0.045,3043,2467,1120
$GC,14117,0.96,400.8,101.3,13.0,1341,14125,0.22,2.15,0.00,0.000,4,0.051,0.048,3154,1117,1119
$GC,14161,0.83,400.8,93.2,18.8,1349,14170,0.20,2.12,0.00,0.000,6,0.137,0.043,3089,2463,1119
$GC,14490,1.14,491.1,57.6,8.3,1410,14567,0.28,2.05,72.25,0.673,4,0.051,0.056,3210,3694,755
$GC,14699,0.93,491.1,15.8,20.9,1447,14706,0.30,1.92,0.00,0.000,6,0.146,0.036,3125,2463,751
$STATE,14794,end climb,SURFACE_DEPTH_REACHED
$STATE,14794,begin surface coast
$FINISH,1.5,1.014518
$STATE,14822,end surface coast,CONTROL_FINISHED_OK
$STATE,14822,begin surface
$SM_CCo,14895,0.00,0.000,0,0,750,492.81
$SM_GC,2.30,7.57,0.00,0.00,0.035,0.000,0.000,158,2053,750,-8.21,-0.51,492.81
$IRIDIUM_FIX,2503.20,12300.43,300898,151510
$TT8_MAMPS,0.048321
$HUMID,1550
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.40
$XPDR_PINGS,124
$24V_AH,23.6,23.405
$10V_AH,10.7,17.323
$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,31.075,118.050,567.500,0.000,0.000,28.601,32.609,194.242,39.000,0.000,0.000,13.077,0.000,10685.021,692.911,3397.690,443.557,0.000,1965.794,0.000,2874.087,0.000,53.970,0.000
$DEVICE_MAMPS,226.265,69.030,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.886,1036.658,1633.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85223,1470
$CAP_FILE_SIZE,160976,0
$CFSIZE,260165632,249704448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273, 31.5,1
$GPS,060609,000301,2514.782,12256.900,38,1.3,38,-3.7