version: 66.04
glider: 165
mission: 2
dive: 110
start: 6 6 109 16 49 26
data:
$ID,165
$MISSION,2
$DIVE,110
$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,-119082.11
$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,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
$GPS1,164337,2527.088,12253.920,37,1.7,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-72.1
$GPS2,164920,2527.225,12254.048,11,1.8,11,-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,329.1,24604,-18.3,-12.000
$D_GRID,917
$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,-51.17,0.000,2,0.000,0.000,155,2052,1970
$GC,66,-0.96,-194.7,3.2,-4.0,8,130,8.75,2.30,-45.80,0.000,4,0.222,0.065,2493,3472,3554
$GC,295,-0.33,-194.7,70.3,-33.3,49,303,0.65,2.15,0.00,0.000,6,0.146,0.037,2704,2080,3557
$GC,623,-0.61,-194.7,111.4,-7.1,110,629,0.22,2.20,0.00,0.000,4,0.049,0.046,2586,663,3559
$GC,676,-0.41,-194.7,118.5,-15.4,120,683,0.28,2.20,0.00,0.000,6,0.130,0.041,2681,2069,3559
$GC,1003,-0.69,-194.7,153.3,-9.0,181,1010,0.22,2.22,0.00,0.000,4,0.048,0.055,2564,3473,3560
$GC,1042,-0.56,-194.7,159.2,-17.0,188,1048,0.20,2.15,0.00,0.000,6,0.121,0.035,2635,2062,3560
$GC,1368,-0.70,-194.7,195.4,-10.1,249,1375,0.12,0.00,0.00,0.000,6,0.067,0.000,2564,2058,3561
$GC,1695,-0.51,-194.7,245.6,-17.0,310,1702,0.28,2.15,0.00,0.000,4,0.134,0.049,2653,677,3562
$GC,1759,-0.93,-194.7,252.0,-8.1,322,1766,0.30,2.17,0.00,0.000,6,0.036,0.041,2494,2086,3562
$GC,2082,-0.45,-194.7,321.9,-23.4,374,2087,0.55,2.20,0.00,0.000,4,0.150,0.058,2658,3471,3562
$GC,2104,-0.33,-194.7,325.2,-16.0,376,2108,0.17,2.10,0.00,0.000,6,0.107,0.037,2718,2078,3562
$GC,2425,-1.25,-194.7,349.6,-10.1,407,2429,0.80,2.20,0.00,0.000,4,0.060,0.057,2406,3476,3562
$GC,2510,-0.62,-194.7,367.7,-26.1,415,2514,0.62,2.15,0.00,0.000,6,0.153,0.038,2618,2075,3562
$GC,2830,-0.92,-194.7,405.2,-9.4,446,2835,0.28,2.20,0.00,0.000,4,0.048,0.052,2491,664,3562
$GC,2873,-0.66,-194.7,411.5,-16.6,450,2878,0.32,2.20,0.00,0.000,6,0.130,0.044,2606,2078,3562
$GC,3194,-0.89,-194.7,434.0,-7.1,481,3195,0.20,0.00,0.00,0.000,6,0.054,0.000,2508,2079,3560
$GC,3505,-0.60,-194.7,483.5,-17.9,511,3509,0.38,2.20,0.00,0.000,4,0.140,0.054,2627,667,3558
$GC,3562,-0.99,-194.7,489.7,-7.7,516,3570,0.30,2.22,0.00,0.000,6,0.037,0.045,2477,2088,3557
$GC,3876,-0.58,-194.7,550.6,-19.9,535,3880,0.45,2.22,0.00,0.000,4,0.147,0.052,2625,669,3555
$GC,3927,-0.97,-194.7,556.3,-7.1,537,3935,0.28,2.20,0.00,0.000,6,0.039,0.044,2484,2074,3555
$GC,4239,-0.66,-194.7,609.5,-19.3,553,4243,0.40,2.22,0.00,0.000,4,0.144,0.064,2602,3479,3553
$GC,4286,-1.00,-194.7,615.0,-9.2,555,4290,0.25,2.17,0.00,0.000,6,0.041,0.040,2473,2075,3552
$GC,4602,-0.68,-194.7,663.8,-16.0,571,4606,0.40,2.20,0.00,0.000,4,0.142,0.055,2597,663,3550
$GC,4633,-0.84,-194.7,667.8,-10.6,572,4640,0.10,2.22,0.00,0.000,6,0.056,0.048,2534,2072,3550
$GC,4943,-0.84,-194.7,713.4,-16.0,588,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2072,3547
$GC,5248,-0.84,-194.7,760.3,-14.6,603,5253,0.00,2.30,0.00,0.000,4,0.000,0.068,2534,3483,3545
$GC,5285,-0.89,-194.7,765.7,-14.5,604,5292,0.00,2.20,0.00,0.000,6,0.000,0.042,2534,2070,3544
$GC,5596,-0.89,-194.7,808.6,-12.5,620,5600,0.00,2.33,0.00,0.000,4,0.000,0.068,2534,3479,3542
$GC,5639,-0.97,-194.7,813.6,-12.0,622,5643,0.00,2.20,0.00,0.000,6,0.000,0.042,2534,2070,3541
$GC,5965,-0.97,-194.7,848.4,-10.6,638,5969,0.00,2.30,0.00,0.000,4,0.000,0.067,2534,3471,3540
$GC,6008,-1.06,-194.7,852.6,-9.7,640,6012,0.12,2.17,0.00,0.000,6,0.052,0.042,2464,2078,3539
$GC,6334,-0.76,-194.7,906.7,-17.3,656,6336,0.35,0.00,0.00,0.000,6,0.151,0.000,2569,2075,3537
$STATE,6434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6434,begin apogee
$GC,6438,-0.20,0.0,917.8,9.9,661,6600,0.55,0.00,155.55,1.323,6,0.114,0.000,2758,2534,2759
$STATE,6600,end apogee,CONTROL_FINISHED_OK
$STATE,6600,begin climb
$GC,6602,0.96,194.7,926.3,0.0,669,6773,1.02,2.50,161.48,1.286,4,0.041,0.056,3157,1125,1964
$GC,6799,0.30,194.7,904.1,23.3,678,6806,0.85,2.40,0.00,0.000,6,0.185,0.054,2922,2517,1961
$GC,7110,0.49,234.8,869.1,10.3,694,7152,0.15,2.00,34.47,1.230,4,0.067,0.067,2989,3686,1800
$GC,7209,0.30,234.8,853.3,19.5,698,7216,0.25,1.88,0.00,0.000,6,0.151,0.041,2921,2524,1798
$GC,7520,0.53,263.1,818.4,10.8,714,7550,0.20,2.35,24.62,1.206,4,0.064,0.054,3016,1114,1686
$GC,7566,0.41,263.1,811.2,17.4,716,7571,0.20,2.38,0.00,0.000,6,0.146,0.051,2954,2534,1683
$GC,7887,0.50,263.1,769.2,12.1,732,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2534,1681
$GC,8193,0.66,311.9,736.8,10.0,747,8240,0.22,2.38,42.40,1.198,4,0.064,0.054,3054,1110,1487
$GC,8265,0.43,311.9,724.9,19.0,750,8272,0.30,2.35,0.00,0.000,6,0.156,0.049,2964,2514,1484
$GC,8576,0.55,311.9,683.5,13.4,766,8580,0.10,1.92,0.00,0.000,4,0.081,0.066,3008,3696,1481
$GC,8596,0.55,311.9,680.1,16.3,767,8601,0.00,1.88,0.00,0.000,6,0.000,0.041,3016,2514,1481
$GC,8923,0.41,311.9,624.1,16.9,783,8927,0.22,2.22,0.00,0.000,4,0.158,0.053,2963,1120,1479
$GC,8954,0.52,311.9,619.0,14.5,784,8959,0.00,2.28,0.00,0.000,6,0.000,0.048,2962,2524,1478
$GC,9270,0.66,311.9,581.8,13.0,800,9275,0.20,1.88,0.00,0.000,4,0.065,0.065,3046,3686,1478
$GC,9313,0.37,311.9,573.5,22.3,802,9317,0.35,1.80,0.00,0.000,6,0.153,0.042,2943,2529,1478
$GC,9639,0.70,373.2,540.8,9.5,818,9696,0.28,2.33,52.28,1.087,4,0.055,0.053,3068,1118,1236
$GC,9744,0.50,373.2,521.0,21.9,822,9748,0.30,2.33,0.00,0.000,6,0.160,0.048,2984,2536,1234
$GC,10057,0.64,373.2,477.1,12.8,846,10061,0.12,2.28,0.00,0.000,4,0.074,0.053,3046,1113,1230
$GC,10099,0.55,373.2,470.1,17.9,850,10104,0.15,2.25,0.00,0.000,6,0.145,0.049,2997,2501,1229
$GC,10420,0.62,373.2,422.1,15.4,881,10424,0.00,2.22,0.00,0.000,4,0.000,0.052,3006,1127,1228
$GC,10478,0.74,373.2,413.2,14.9,886,10486,0.10,2.17,0.00,0.000,6,0.060,0.048,3066,2486,1228
$GC,10794,0.57,373.2,350.1,20.1,917,10798,0.22,1.92,0.00,0.000,4,0.150,0.062,3000,3681,1228
$GC,10880,0.67,373.2,336.7,14.4,925,10883,0.00,1.88,0.00,0.000,6,0.000,0.041,3008,2472,1228
$GC,11196,0.79,373.2,294.7,14.0,959,11203,0.17,2.12,0.00,0.000,4,0.061,0.051,3101,1126,1228
$GC,11261,0.59,373.2,282.5,20.9,971,11267,0.28,2.15,0.00,0.000,6,0.152,0.048,3001,2482,1227
$GC,11587,0.81,373.2,243.3,14.9,1032,11593,0.22,2.17,0.00,0.000,4,0.055,0.051,3116,1114,1227
$GC,11672,0.60,373.2,223.5,25.5,1048,11679,0.30,2.12,0.00,0.000,6,0.147,0.046,3018,2461,1227
$GC,11999,0.89,435.3,178.9,9.4,1109,12057,0.25,2.17,50.60,0.798,4,0.050,0.049,3142,1117,983
$GC,12116,0.74,435.3,156.4,21.9,1129,12123,0.25,2.12,0.00,0.000,6,0.140,0.044,3062,2432,979
$GC,12443,0.98,455.9,114.5,11.1,1190,12469,0.20,2.03,17.35,0.716,4,0.055,0.058,3152,3675,899
$GC,12495,0.88,455.9,105.9,17.9,1199,12502,0.17,1.98,0.00,0.000,6,0.137,0.038,3104,2418,899
$GC,12822,1.07,457.1,60.1,11.9,1260,12828,0.17,2.03,0.00,0.000,4,0.057,0.048,3197,1119,898
$GC,12880,0.96,457.1,51.2,16.9,1271,12887,0.20,2.05,0.00,0.000,6,0.140,0.042,3131,2423,898
$GC,13207,1.09,467.5,6.7,11.6,1332,13222,0.10,2.10,10.85,0.594,4,0.074,0.046,3194,1112,852
$STATE,13230,end climb,SURFACE_DEPTH_REACHED
$STATE,13230,begin surface coast
$FINISH,1.6,1.020785
$STATE,13246,end surface coast,CONTROL_FINISHED_OK
$STATE,13246,begin surface
$SM_CCo,13321,0.00,0.000,0,0,848,468.77
$SM_GC,2.33,7.70,0.00,0.00,0.035,0.000,0.000,167,2081,848,-8.20,0.28,468.77
$IRIDIUM_FIX,2512.73,12256.43,310898,131303
$TT8_MAMPS,0.048321
$HUMID,1547
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.50
$XPDR_PINGS,114
$24V_AH,23.7,24.438
$10V_AH,10.7,17.945
$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,32.825,134.700,549.600,0.000,0.000,27.846,33.442,184.651,35.750,0.000,0.000,13.811,0.000,9408.408,699.190,3090.115,444.606,0.000,1876.500,0.000,2604.231,0.000,49.016,0.000
$DEVICE_MAMPS,222.430,68.263,1323.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,905.259,953.084,1505.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75934,1339
$CAP_FILE_SIZE,153687,0
$CFSIZE,260165632,249286656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052, 18.6,1
$GPS,060609,203225,2529.719,12252.893,40,1.1,40,-3.7