version: 66.04
glider: 165
mission: 2
dive: 129
start: 6 9 109 10 27 41
data:
$ID,165
$MISSION,2
$DIVE,129
$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,330
$T_MISSION,396
$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,175
$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,-119467.84
$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,34
$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
$GPS1,102127,2524.526,12311.211,28,2.1,47,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-69.5
$GPS2,102736,2524.575,12311.245,12,1.2,28,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_4
$TGT_LATLONG,2506.900,12323.900
$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,195.7,39012,-16.8,-10.000
$D_GRID,871
$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,-0.87,-170.3,0.0,0.0,0,58,0.00,0.00,-44.65,0.000,2,0.000,0.000,153,2064,2098
$GC,60,-0.87,-170.3,3.1,-3.7,7,112,9.23,2.25,-38.85,0.000,4,0.235,0.060,2533,658,3455
$GC,133,-0.05,-170.3,15.5,-29.9,19,139,0.85,2.22,0.00,0.000,6,0.156,0.046,2789,2067,3457
$GC,459,-0.66,-170.3,42.9,-8.2,80,466,0.50,2.22,0.00,0.000,4,0.050,0.054,2584,3472,3458
$GC,593,-0.29,-170.3,70.7,-22.6,105,601,0.38,2.10,0.00,0.000,6,0.126,0.040,2716,2100,3459
$GC,920,-0.46,-170.3,110.5,-11.0,166,927,0.15,2.20,0.00,0.000,4,0.060,0.060,2638,3477,3460
$GC,947,-0.46,-170.3,113.8,-12.1,171,954,0.00,2.10,0.00,0.000,6,0.000,0.041,2638,2091,3459
$GC,1274,-0.40,-170.3,157.8,-12.7,232,1281,0.17,2.20,0.00,0.000,4,0.127,0.061,2687,3470,3461
$GC,1381,-0.80,-170.3,165.8,-6.1,252,1388,0.30,2.05,0.00,0.000,6,0.035,0.034,2530,2109,3461
$GC,1708,-0.33,-170.3,224.0,-17.6,313,1715,0.55,2.20,0.00,0.000,4,0.137,0.049,2708,670,3462
$GC,1784,-0.88,-170.3,229.2,-4.4,327,1790,0.38,2.25,0.00,0.000,6,0.033,0.039,2510,2132,3462
$GC,2109,-0.40,-170.3,293.1,-20.4,388,2116,0.55,2.12,0.00,0.000,4,0.137,0.058,2687,3473,3462
$GC,2174,-0.92,-170.3,298.7,-5.2,400,2181,0.38,2.05,0.00,0.000,6,0.035,0.042,2494,2120,3462
$GC,2490,-0.43,-170.3,355.4,-19.0,432,2495,0.57,2.20,0.00,0.000,4,0.134,0.051,2682,679,3462
$GC,2538,-0.85,-170.3,360.0,-5.6,436,2545,0.32,2.22,0.00,0.000,6,0.038,0.040,2516,2115,3462
$GC,2854,-0.51,-170.3,408.7,-16.6,467,2858,0.43,2.12,0.00,0.000,4,0.129,0.059,2656,3480,3462
$GC,2944,-0.96,-170.3,415.8,-6.7,475,2951,0.35,2.05,0.00,0.000,6,0.035,0.035,2475,2125,3461
$GC,3259,-0.52,-170.3,473.1,-17.0,506,3264,0.55,2.25,0.00,0.000,4,0.137,0.050,2653,678,3459
$GC,3270,-0.20,-170.3,474.7,-15.7,507,3276,0.25,2.25,0.00,0.000,6,0.105,0.043,2745,2128,3459
$GC,3590,-1.05,-170.3,499.3,-8.5,538,3595,0.70,2.10,0.00,0.000,4,0.063,0.058,2473,3482,3457
$GC,3627,-0.80,-170.3,503.0,-9.7,540,3635,0.22,2.05,0.00,0.000,6,0.129,0.036,2552,2127,3456
$GC,3938,-0.74,-170.3,535.8,-10.4,556,3942,0.10,2.22,0.00,0.000,4,0.144,0.051,2582,678,3455
$GC,3964,-0.74,-170.3,538.4,-9.8,557,3968,0.00,2.28,0.00,0.000,6,0.000,0.044,2582,2135,3455
$GC,4286,-0.84,-170.3,564.3,-8.6,573,4289,0.10,2.12,0.00,0.000,4,0.077,0.061,2520,3470,3452
$GC,4365,-0.74,-170.3,573.9,-12.9,576,4372,0.15,2.03,0.00,0.000,6,0.124,0.038,2575,2141,3450
$GC,4677,-0.82,-170.3,602.5,-8.9,592,4680,0.00,2.12,0.00,0.000,4,0.000,0.064,2575,3473,3449
$GC,4712,-0.97,-170.3,605.9,-9.1,593,4719,0.15,2.03,0.00,0.000,6,0.048,0.038,2490,2150,3448
$GC,5024,-0.67,-170.3,651.0,-15.3,609,5028,0.38,2.28,0.00,0.000,4,0.137,0.054,2609,680,3445
$GC,5049,-0.67,-170.3,654.3,-11.6,610,5053,0.00,2.33,0.00,0.000,6,0.000,0.045,2608,2157,3445
$GC,5365,-0.93,-170.3,674.2,-5.4,626,5369,0.25,2.10,0.00,0.000,4,0.052,0.063,2493,3469,3442
$GC,5455,-0.74,-170.3,683.8,-11.2,630,5460,0.22,2.00,0.00,0.000,6,0.128,0.039,2571,2164,3440
$GC,5778,-0.83,-170.3,705.1,-6.4,646,5781,0.00,2.10,0.00,0.000,4,0.000,0.064,2572,3469,3439
$GC,5819,-0.98,-170.3,707.8,-6.0,648,5824,0.15,1.98,0.00,0.000,6,0.048,0.040,2488,2184,3439
$GC,6146,-0.71,-170.3,747.3,-12.4,664,6148,0.32,0.00,0.00,0.000,6,0.136,0.000,2589,2179,3436
$GC,6451,-0.90,-170.3,764.9,-6.6,679,6453,0.17,0.00,0.00,0.000,6,0.063,0.000,2508,2178,3435
$GC,6756,-0.72,-170.3,797.5,-11.7,694,6761,0.25,2.38,0.00,0.000,4,0.137,0.057,2586,682,3433
$GC,6782,-0.78,-170.3,799.8,-8.9,695,6786,0.00,2.35,0.00,0.000,6,0.000,0.049,2586,2160,3433
$GC,7103,-0.94,-170.3,820.0,-6.7,711,7108,0.20,2.10,0.00,0.000,4,0.059,0.066,2494,3462,3430
$GC,7145,-0.77,-170.3,824.5,-12.1,713,7150,0.20,2.00,0.00,0.000,6,0.130,0.041,2564,2173,3429
$GC,7473,-0.85,-170.3,849.9,-7.3,729,7480,0.00,2.10,0.00,0.000,4,0.000,0.067,2563,3469,3427
$GC,7505,-0.98,-170.3,852.2,-6.9,730,7510,0.12,1.98,0.00,0.000,6,0.055,0.041,2492,2197,3427
$STATE,7678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7678,begin apogee
$GC,7682,-0.20,0.0,872.4,12.5,739,7821,0.80,0.00,133.52,1.300,6,0.140,0.000,2750,2516,2760
$STATE,7821,end apogee,CONTROL_FINISHED_OK
$STATE,7821,begin climb
$GC,7822,0.87,170.3,876.4,0.0,746,7971,0.95,2.03,141.15,1.261,4,0.048,0.067,3113,3693,2063
$GC,8121,0.15,170.3,830.7,22.2,760,8125,0.80,1.85,0.00,0.000,6,0.166,0.042,2873,2541,2057
$GC,8447,0.49,260.0,806.2,6.5,776,8527,0.30,2.40,75.22,1.220,4,0.052,0.054,3010,1113,1698
$GC,8600,0.37,260.0,785.4,15.2,782,8605,0.22,2.35,0.00,0.000,6,0.144,0.051,2940,2513,1693
$GC,8917,0.46,260.0,749.5,11.2,798,8920,0.00,2.28,0.00,0.000,4,0.000,0.053,2949,1117,1691
$GC,8948,0.55,260.0,745.7,12.0,799,8952,0.10,2.25,0.00,0.000,6,0.058,0.050,3006,2501,1689
$GC,9264,0.36,260.0,690.4,18.1,815,9268,0.25,1.92,0.00,0.000,4,0.146,0.064,2933,3690,1689
$GC,9317,0.45,260.0,682.2,14.5,817,9321,0.00,1.85,0.00,0.000,6,0.000,0.041,2941,2503,1689
$GC,9632,0.55,260.0,640.8,13.0,833,9637,0.15,2.20,0.00,0.000,4,0.069,0.052,3020,1121,1687
$GC,9696,0.40,260.0,630.0,18.0,836,9701,0.20,2.20,0.00,0.000,6,0.143,0.048,2954,2495,1686
$GC,10023,0.46,260.0,588.4,12.0,852,10027,0.00,2.20,0.00,0.000,4,0.000,0.051,2963,1125,1686
$GC,10065,0.54,260.0,583.3,12.0,854,10069,0.00,2.17,0.00,0.000,6,0.000,0.049,2963,2486,1685
$GC,10391,0.54,260.0,543.0,11.3,870,10395,0.00,1.92,0.00,0.000,4,0.000,0.064,2963,3681,1685
$GC,10444,0.54,260.0,536.7,11.3,872,10449,0.00,1.85,0.00,0.000,6,0.000,0.042,2971,2498,1685
$GC,10760,0.54,260.0,499.3,12.5,888,10764,0.00,2.17,0.00,0.000,4,0.000,0.052,2981,1127,1685
$GC,10850,0.54,260.0,487.5,12.7,896,10858,0.00,2.15,0.00,0.000,6,0.000,0.048,2981,2474,1683
$GC,11167,0.54,260.0,448.4,11.5,927,11170,0.00,1.92,0.00,0.000,4,0.000,0.064,2981,3692,1683
$GC,11289,0.48,260.0,432.3,14.0,938,11297,0.00,1.88,0.00,0.000,6,0.000,0.041,2989,2475,1683
$GC,11606,0.48,260.0,391.3,13.1,969,11609,0.00,2.10,0.00,0.000,4,0.000,0.051,2999,1124,1683
$GC,11679,0.48,260.0,381.0,13.6,976,11683,0.00,2.15,0.00,0.000,6,0.000,0.048,2999,2481,1683
$GC,12001,0.48,260.0,336.2,12.6,1007,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2481,1683
$GC,12310,0.48,260.0,299.1,10.9,1037,12316,0.00,2.15,0.00,0.000,4,0.000,0.049,3009,1128,1683
$GC,12427,0.48,260.5,286.8,10.0,1059,12434,0.10,2.10,0.00,0.000,6,0.131,0.046,2974,2465,1683
$GC,12753,0.64,274.4,258.7,9.5,1120,12774,0.15,2.15,10.85,0.810,4,0.064,0.049,3054,1120,1639
$GC,12820,0.51,274.4,249.4,14.9,1132,12828,0.20,2.12,0.00,0.000,6,0.139,0.045,2988,2465,1639
$GC,13148,0.62,274.4,214.0,10.9,1193,13154,0.00,2.12,0.00,0.000,4,0.000,0.048,2997,1123,1638
$GC,13179,0.74,274.4,210.5,11.0,1199,13185,0.12,2.10,0.00,0.000,6,0.051,0.044,3074,2454,1638
$GC,13505,0.50,274.4,161.5,14.2,1260,13512,0.30,2.08,0.00,0.000,4,0.138,0.048,2991,1129,1638
$GC,13538,0.63,300.4,158.4,9.0,1266,13564,0.00,2.05,22.92,0.759,6,0.000,0.044,2991,2438,1534
$GC,13885,0.95,370.3,135.4,7.2,1330,13949,0.32,2.15,57.05,0.740,4,0.045,0.048,3151,1129,1248
$GC,14008,0.67,370.3,115.9,15.8,1351,14014,0.35,2.08,0.00,0.000,6,0.145,0.042,3028,2423,1245
$GC,14334,1.07,476.7,89.8,5.8,1412,14429,0.38,2.10,85.93,0.690,4,0.041,0.054,3195,3688,813
$GC,14519,0.80,476.7,52.8,21.4,1444,14526,0.38,1.98,0.00,0.000,6,0.131,0.036,3082,2436,811
$GC,14845,1.17,511.1,21.9,8.6,1505,14885,0.30,2.10,30.48,0.622,4,0.041,0.048,3232,1127,670
$STATE,14947,end climb,SURFACE_DEPTH_REACHED
$STATE,14947,begin surface coast
$FINISH,1.7,1.020277
$STATE,14958,end surface coast,CONTROL_FINISHED_OK
$STATE,14958,begin surface
$SM_CCo,15032,0.00,0.000,0,0,663,514.15
$SM_GC,2.37,7.90,0.00,0.00,0.035,0.000,0.000,160,2092,663,-8.21,0.59,514.15
$IRIDIUM_FIX,2515.12,12308.33,030998,060641
$TT8_MAMPS,0.048321
$HUMID,1538
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.60
$XPDR_PINGS,167
$24V_AH,23.9,27.943
$10V_AH,10.7,20.180
$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,33.875,152.900,557.125,0.000,0.000,29.621,30.988,195.291,48.500,0.000,0.000,30.273,0.000,10640.262,709.911,3566.117,460.459,0.000,2052.074,0.000,2999.558,0.000,46.561,0.000
$DEVICE_MAMPS,234.702,67.496,1300.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.411,1087.077,1723.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88449,1525
$CAP_FILE_SIZE,171039,0
$CFSIZE,260165632,247771136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.281, 40.8,1
$GPS,090609,143907,2524.160,12311.990,36,0.8,36,-3.7