version: 66.04
glider: 165
mission: 2
dive: 119
start: 6 7 109 23 40 24
data:
$ID,165
$MISSION,2
$DIVE,119
$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,-2
$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,-119266.22
$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,38
$R_STBD_OVSHOOT,34
$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
$GPS1,233337,2535.580,12255.831,25,1.4,25,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-71.9
$GPS2,234019,2535.705,12255.888,12,1.4,29,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,151.1,53201,-18.3,-12.000
$D_GRID,829
$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,-50.15,0.000,2,0.000,0.000,160,2058,2104
$GC,66,-0.96,-194.7,3.3,-4.3,8,117,8.88,0.00,-38.83,0.000,6,0.227,0.000,2504,2058,3555
$GC,437,-0.26,-194.7,128.4,-29.8,76,444,0.73,2.25,0.00,0.000,4,0.148,0.058,2722,3476,3558
$GC,469,-0.48,-194.7,132.8,-9.7,82,476,0.12,2.17,0.00,0.000,6,0.044,0.038,2633,2069,3559
$GC,796,-0.57,-194.7,168.0,-10.3,143,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2067,3561
$GC,1121,-0.70,-194.7,205.1,-10.5,204,1128,0.12,2.25,0.00,0.000,4,0.069,0.064,2562,3465,3562
$GC,1174,-0.64,-194.7,212.8,-15.0,214,1181,0.12,2.15,0.00,0.000,6,0.123,0.037,2607,2064,3561
$GC,1502,-0.71,-194.7,252.2,-11.3,275,1507,0.00,2.25,0.00,0.000,4,0.000,0.059,2603,3476,3561
$GC,1555,-0.91,-194.7,257.6,-9.7,285,1562,0.17,2.12,0.00,0.000,6,0.042,0.038,2504,2088,3561
$GC,1884,-0.57,-194.7,320.7,-19.3,337,1888,0.40,2.17,0.00,0.000,4,0.137,0.053,2631,676,3561
$GC,1927,-0.83,-194.7,326.0,-10.0,341,1930,0.22,2.15,0.00,0.000,6,0.051,0.043,2519,2080,3561
$GC,2247,-0.60,-194.7,382.0,-19.0,372,2251,0.35,2.22,0.00,0.000,4,0.133,0.061,2630,3473,3561
$GC,2267,-0.65,-194.7,384.9,-14.1,374,2272,0.00,2.12,0.00,0.000,6,0.000,0.038,2630,2085,3561
$GC,2590,-1.02,-194.7,405.2,-5.0,405,2593,0.35,2.22,0.00,0.000,4,0.043,0.061,2462,3479,3561
$GC,2620,-0.75,-194.7,408.6,-13.5,407,2627,0.32,2.12,0.00,0.000,6,0.139,0.039,2570,2096,3560
$GC,2936,-0.83,-194.7,438.6,-9.7,438,2940,0.00,2.22,0.00,0.000,4,0.000,0.063,2569,3470,3559
$GC,3000,-0.99,-194.7,444.5,-9.3,444,3004,0.15,2.10,0.00,0.000,6,0.048,0.039,2480,2102,3558
$GC,3320,-0.69,-194.7,498.0,-17.1,475,3322,0.38,0.00,0.00,0.000,6,0.143,0.000,2596,2097,3556
$GC,3626,-0.94,-194.7,524.9,-7.9,491,3631,0.22,2.22,0.00,0.000,4,0.055,0.066,2493,3468,3553
$GC,3694,-0.83,-194.7,534.5,-15.3,494,3699,0.15,2.10,0.00,0.000,6,0.129,0.041,2546,2106,3553
$GC,4016,-0.83,-194.7,569.4,-9.9,510,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2103,3551
$GC,4321,-0.83,-194.7,602.6,-11.6,525,4325,0.00,2.28,0.00,0.000,4,0.000,0.058,2547,674,3548
$GC,4353,-0.88,-194.7,606.4,-11.8,526,4357,0.00,2.25,0.00,0.000,6,0.000,0.050,2546,2093,3547
$GC,4668,-0.93,-194.7,643.8,-11.7,542,4672,0.00,2.25,0.00,0.000,4,0.000,0.067,2546,3474,3545
$GC,4711,-1.04,-194.7,648.2,-10.1,544,4715,0.15,2.12,0.00,0.000,6,0.049,0.042,2465,2103,3544
$GC,5038,-0.76,-194.7,702.8,-17.1,560,5040,0.35,0.00,0.00,0.000,6,0.146,0.000,2572,2099,3542
$GC,5342,-0.94,-194.7,728.2,-7.2,575,5346,0.17,2.25,0.00,0.000,4,0.064,0.069,2492,3473,3540
$GC,5374,-0.85,-194.7,731.6,-12.1,576,5379,0.12,2.12,0.00,0.000,6,0.137,0.042,2536,2104,3539
$GC,5690,-0.85,-194.7,758.6,-8.1,592,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2102,3538
$GC,5995,-0.85,-194.7,784.7,-8.8,607,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2101,3536
$GC,6300,-0.85,-194.7,813.4,-9.9,622,6304,0.00,2.28,0.00,0.000,4,0.000,0.071,2536,3481,3535
$GC,6331,-0.93,-194.7,816.3,-9.5,623,6336,0.00,2.15,0.00,0.000,6,0.000,0.043,2536,2105,3534
$STATE,6462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6463,begin apogee
$GC,6466,-0.20,0.0,829.3,10.0,630,6626,0.65,0.00,153.18,1.266,6,0.126,0.000,2751,2533,2758
$STATE,6627,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6628,0.96,194.7,835.2,0.0,638,6798,1.00,2.00,160.00,1.225,4,0.043,0.067,3140,3696,1963
$GC,6833,0.24,194.7,811.4,24.2,647,6840,0.85,1.92,0.00,0.000,6,0.177,0.042,2907,2531,1960
$GC,7144,0.53,258.7,781.5,9.4,663,7208,0.22,2.42,54.05,1.185,4,0.059,0.054,3012,1113,1702
$GC,7222,0.44,258.7,769.7,16.4,666,7230,0.15,2.38,0.00,0.000,6,0.141,0.051,2966,2516,1700
$GC,7533,0.50,258.7,726.1,14.0,682,7537,0.00,1.92,0.00,0.000,4,0.000,0.065,2966,3689,1696
$GC,7575,0.50,258.7,719.7,15.9,684,7580,0.00,1.88,0.00,0.000,6,0.000,0.041,2973,2500,1696
$GC,7902,0.50,258.7,673.8,13.6,700,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2498,1695
$GC,8207,0.50,258.7,632.9,12.8,715,8211,0.00,1.95,0.00,0.000,4,0.000,0.066,2973,3687,1694
$GC,8265,0.50,258.7,625.2,13.6,717,8273,0.00,1.83,0.00,0.000,6,0.000,0.043,2981,2526,1694
$GC,8576,0.51,266.7,589.3,11.7,733,8586,0.00,2.22,6.50,0.943,4,0.000,0.052,2991,1120,1670
$GC,8644,0.60,298.6,581.4,10.7,736,8678,0.00,2.28,28.80,1.091,6,0.000,0.049,2992,2529,1541
$GC,8980,0.60,298.6,536.7,13.9,753,8984,0.00,2.30,0.00,0.000,4,0.000,0.052,3001,1118,1537
$GC,9028,0.66,298.6,530.1,13.6,755,9032,0.00,2.28,0.00,0.000,6,0.000,0.049,3001,2516,1535
$GC,9340,0.66,298.6,487.5,12.8,775,9345,0.00,1.90,0.00,0.000,4,0.000,0.064,3001,3685,1535
$GC,9420,0.59,298.6,475.8,15.4,782,9427,0.00,1.77,0.00,0.000,6,0.000,0.042,3010,2540,1536
$GC,9737,0.52,298.6,426.6,17.1,813,9740,0.00,2.22,0.00,0.000,4,0.000,0.052,3020,1127,1534
$GC,9757,0.47,298.6,422.9,17.9,815,9761,0.15,2.30,0.00,0.000,6,0.139,0.050,2971,2555,1534
$GC,10077,0.63,309.4,381.6,11.6,846,10091,0.15,1.88,9.68,0.913,4,0.069,0.065,3034,3695,1496
$GC,10121,0.46,309.4,374.5,19.4,850,10126,0.20,1.77,0.00,0.000,6,0.137,0.041,2976,2551,1496
$GC,10443,0.63,324.4,333.5,11.4,881,10461,0.15,2.25,14.23,0.911,4,0.068,0.051,3052,1130,1435
$GC,10540,0.58,324.4,318.0,16.9,889,10548,0.10,2.28,0.00,0.000,6,0.144,0.048,3008,2533,1433
$GC,10861,0.65,324.4,277.3,12.0,937,10869,0.00,1.88,0.00,0.000,4,0.000,0.064,3008,3696,1433
$GC,10910,0.70,324.4,270.6,14.0,946,10917,0.00,1.80,0.00,0.000,6,0.000,0.040,3015,2532,1433
$GC,11237,0.82,352.8,232.3,10.8,1007,11268,0.20,2.22,24.75,0.844,4,0.060,0.049,3115,1130,1320
$GC,11320,0.66,352.8,217.1,19.1,1022,11327,0.25,2.25,0.00,0.000,6,0.149,0.047,3036,2517,1317
$GC,11646,0.70,352.8,172.9,13.5,1083,11653,0.00,1.88,0.00,0.000,4,0.000,0.061,3035,3684,1315
$GC,11753,0.77,352.8,158.3,12.1,1103,11760,0.00,1.77,0.00,0.000,6,0.000,0.038,3043,2532,1315
$GC,12080,1.03,436.6,125.2,8.5,1164,12156,0.30,2.30,68.62,0.739,4,0.049,0.048,3184,1131,978
$GC,12209,0.83,436.6,102.1,17.0,1186,12216,0.28,2.25,0.00,0.000,6,0.146,0.044,3088,2516,975
$GC,12536,1.05,456.9,63.0,11.2,1247,12557,0.20,2.28,17.05,0.654,4,0.056,0.047,3191,1124,896
$GC,12572,0.91,456.9,57.3,16.9,1253,12580,0.22,2.25,0.00,0.000,6,0.143,0.042,3104,2526,895
$GC,12901,1.20,492.4,18.5,10.5,1314,12938,0.25,2.28,30.10,0.630,4,0.049,0.046,3234,1126,749
$STATE,12978,end climb,SURFACE_DEPTH_REACHED
$STATE,12978,begin surface coast
$FINISH,1.9,1.021783
$STATE,12990,end surface coast,CONTROL_FINISHED_OK
$STATE,12990,begin surface
$SM_CCo,13064,0.00,0.000,0,0,745,494.03
$SM_GC,2.49,7.95,0.00,0.00,0.037,0.000,0.000,156,2110,745,-8.22,1.10,494.03
$IRIDIUM_FIX,2524.66,12255.02,010998,202022
$TT8_MAMPS,0.048321
$HUMID,1555
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.20
$XPDR_PINGS,102
$24V_AH,23.8,26.053
$10V_AH,10.7,18.998
$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,26.775,119.725,566.950,0.000,0.000,23.139,39.564,225.832,32.000,0.000,0.000,31.276,0.000,9242.529,687.397,3046.954,464.173,0.000,1839.999,0.000,2549.276,0.000,44.076,0.000
$DEVICE_MAMPS,227.032,70.564,1266.317,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,900.077,924.894,1471.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75868,1330
$CAP_FILE_SIZE,147017,0
$CFSIZE,260165632,248598528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082,345.9,1
$GPS,080609,031907,2534.417,12256.901,41,0.9,41,-3.7