version: 66.04
glider: 165
mission: 2
dive: 146
start: 6 12 109 22 31 7
data:
$ID,165
$MISSION,2
$DIVE,146
$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,250
$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,-119786.02
$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,50
$R_STBD_OVSHOOT,29
$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
$GPS1,222506,2511.535,12321.753,27,0.9,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-71.8
$GPS2,223102,2511.653,12321.730,11,1.4,11,-3.7
$SPEED_LIMITS,0.208,0.348
$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,206.2,9525,-16.4,-12.000
$D_GRID,1753
$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,-0.94,-243.4,0.0,0.0,0,78,0.00,0.00,-64.00,0.000,2,0.000,0.000,158,2058,2005
$GC,80,-0.94,-243.4,3.3,-4.7,10,143,8.90,2.15,-48.33,0.000,4,0.225,0.058,2512,672,3752
$GC,207,-0.23,-243.4,34.9,-34.6,32,214,0.73,2.20,0.00,0.000,6,0.157,0.039,2740,2071,3754
$GC,534,-0.58,-243.4,65.7,-7.2,93,541,0.30,2.22,0.00,0.000,4,0.041,0.052,2587,3480,3755
$GC,587,-0.38,-243.4,74.4,-18.3,103,594,0.30,2.12,0.00,0.000,6,0.116,0.035,2693,2084,3755
$GC,914,-0.63,-243.4,104.8,-8.8,164,922,0.22,2.15,0.00,0.000,4,0.048,0.044,2575,682,3756
$GC,932,-0.72,-243.4,106.8,-11.1,167,938,0.00,2.20,0.00,0.000,6,0.000,0.041,2575,2105,3756
$GC,1258,-0.46,-243.4,173.6,-18.4,228,1266,0.28,2.15,0.00,0.000,4,0.126,0.054,2660,3473,3757
$GC,1313,-0.80,-243.4,180.2,-8.7,238,1319,0.22,2.05,0.00,0.000,6,0.035,0.032,2528,2106,3758
$GC,1639,-0.42,-243.4,245.2,-19.6,299,1645,0.47,0.00,0.00,0.000,6,0.130,0.000,2683,2100,3758
$GC,1965,-1.10,-243.4,274.7,-9.7,360,1976,0.57,2.17,0.00,0.000,4,0.055,0.053,2453,3474,3759
$GC,2087,-0.61,-243.4,296.5,-20.4,382,2094,0.47,2.05,0.00,0.000,6,0.133,0.036,2612,2122,3759
$GC,2409,-0.78,-243.4,322.5,-8.6,415,2413,0.12,2.12,0.00,0.000,4,0.064,0.058,2545,3473,3759
$GC,2445,-0.73,-243.4,326.9,-13.0,418,2453,0.10,2.03,0.00,0.000,6,0.120,0.035,2582,2130,3759
$GC,2761,-0.73,-243.4,369.5,-13.9,449,2765,0.00,2.15,0.00,0.000,4,0.000,0.058,2582,3468,3758
$GC,2830,-0.87,-243.4,378.5,-13.0,455,2837,0.10,2.00,0.00,0.000,6,0.049,0.035,2512,2150,3758
$GC,3146,-0.58,-243.4,440.2,-18.9,486,3150,0.38,2.12,0.00,0.000,4,0.129,0.060,2632,3467,3757
$GC,3193,-0.97,-243.4,445.5,-7.7,490,3201,0.30,2.00,0.00,0.000,6,0.036,0.035,2471,2154,3757
$GC,3509,-0.54,-243.4,503.9,-17.7,520,3513,0.52,2.10,0.00,0.000,4,0.138,0.061,2630,3473,3755
$GC,3573,-1.01,-243.4,508.6,-4.1,523,3577,0.30,2.03,0.00,0.000,6,0.037,0.037,2457,2149,3754
$GC,3900,-0.54,-243.4,571.6,-20.9,539,3902,0.57,0.00,0.00,0.000,6,0.140,0.000,2642,2144,3753
$GC,4204,-1.37,-243.4,598.5,-10.9,554,4208,0.73,2.10,0.00,0.000,4,0.067,0.060,2366,3473,3749
$GC,4278,-0.69,-243.4,614.0,-24.9,557,4283,0.70,2.00,0.00,0.000,6,0.150,0.038,2590,2164,3749
$GC,4594,-0.90,-243.4,645.6,-9.0,573,4598,0.17,2.10,0.00,0.000,4,0.058,0.063,2506,3464,3746
$GC,4620,-0.90,-243.4,648.4,-12.6,574,4625,0.00,1.98,0.00,0.000,6,0.000,0.038,2506,2177,3746
$GC,4941,-0.70,-243.4,692.5,-13.2,590,4946,0.28,2.10,0.00,0.000,4,0.130,0.064,2590,3467,3744
$GC,5081,-1.05,-243.4,700.3,-4.6,596,5085,0.30,1.92,0.00,0.000,6,0.048,0.038,2453,2194,3743
$GC,5396,-0.65,-243.4,749.3,-16.4,612,5400,0.50,2.05,0.00,0.000,4,0.140,0.064,2602,3469,3740
$GC,5433,-0.92,-243.4,752.4,-5.5,613,5439,0.17,1.95,0.00,0.000,6,0.042,0.038,2505,2201,3739
$GC,5744,-0.76,-243.4,785.2,-11.4,629,5747,0.22,2.08,0.00,0.000,4,0.129,0.066,2575,3467,3736
$GC,5775,-0.93,-243.4,787.9,-7.3,630,5780,0.12,1.92,0.00,0.000,6,0.048,0.038,2501,2218,3736
$GC,6092,-0.76,-243.4,827.0,-13.5,646,6095,0.20,2.00,0.00,0.000,4,0.134,0.064,2563,3467,3734
$GC,6170,-0.98,-243.4,834.2,-8.0,649,6177,0.12,1.92,0.00,0.000,6,0.051,0.038,2488,2220,3734
$GC,6481,-0.77,-243.4,880.6,-15.4,665,6485,0.25,2.05,0.00,0.000,4,0.135,0.066,2563,3469,3732
$GC,6507,-0.83,-243.4,883.6,-11.3,666,6511,0.00,1.92,0.00,0.000,6,0.000,0.039,2563,2225,3732
$GC,6829,-1.00,-243.4,908.2,-7.3,682,6831,0.20,0.00,0.00,0.000,6,0.058,0.000,2472,2224,3730
$GC,7134,-0.73,-243.4,952.0,-14.9,697,7136,0.35,0.00,0.00,0.000,6,0.137,0.000,2581,2220,3727
$GC,7439,-0.99,-243.4,974.5,-7.1,712,7443,0.22,2.05,0.00,0.000,4,0.057,0.069,2479,3467,3725
$GC,7518,-0.85,-243.4,984.7,-14.7,715,7525,0.17,1.90,0.00,0.000,6,0.129,0.041,2540,2243,3724
$STATE,7563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7563,begin apogee
$GC,7567,-0.20,0.0,990.3,12.4,718,7766,0.65,0.00,195.75,1.374,6,0.117,0.000,2757,2516,2758
$STATE,7767,end apogee,CONTROL_FINISHED_OK
$STATE,7767,begin climb
$GC,7769,0.94,243.4,1002.2,0.0,728,7983,0.98,2.05,206.88,1.332,4,0.041,0.065,3132,3695,1765
$GC,8200,0.23,243.4,921.2,28.2,748,8207,0.80,1.83,0.00,0.000,6,0.170,0.042,2902,2551,1758
$GC,8511,0.53,332.8,890.5,9.0,764,8596,0.25,2.45,77.38,1.264,4,0.055,0.054,3021,1118,1401
$GC,8739,0.39,332.8,850.6,18.9,774,8748,0.22,2.30,0.00,0.000,6,0.140,0.049,2950,2510,1394
$GC,9050,0.49,332.8,809.3,12.8,790,9054,0.00,2.25,0.00,0.000,4,0.000,0.052,2958,1126,1393
$GC,9092,0.61,332.8,803.9,12.3,792,9096,0.12,2.22,0.00,0.000,6,0.053,0.048,3024,2499,1392
$GC,9419,0.40,332.8,742.2,19.3,808,9423,0.25,2.20,0.00,0.000,4,0.143,0.052,2960,1114,1391
$GC,9450,0.40,332.8,737.2,14.6,809,9455,0.00,2.20,0.00,0.000,6,0.000,0.047,2960,2488,1390
$GC,9766,0.47,332.8,696.2,12.7,825,9770,0.00,2.20,0.00,0.000,4,0.000,0.051,2969,1120,1390
$GC,9792,0.55,332.8,692.9,12.4,826,9796,0.00,2.15,0.00,0.000,6,0.000,0.046,2969,2468,1389
$GC,10113,0.61,343.9,654.3,11.6,842,10128,0.12,2.17,8.88,1.048,4,0.073,0.051,3036,1126,1356
$GC,10181,0.46,343.9,644.1,15.5,845,10186,0.20,2.15,0.00,0.000,6,0.140,0.046,2971,2465,1355
$GC,10503,0.54,357.3,605.9,11.6,861,10524,0.00,2.03,13.27,1.075,4,0.000,0.062,2972,3690,1301
$GC,10533,0.64,388.2,602.5,11.0,862,10568,0.10,1.95,28.83,1.094,6,0.057,0.038,3034,2436,1175
$GC,10872,0.50,388.2,545.5,18.3,879,10876,0.17,2.10,0.00,0.000,4,0.144,0.050,2992,1114,1170
$GC,10967,0.61,388.2,531.5,13.8,883,10973,0.00,2.15,0.00,0.000,6,0.000,0.047,2992,2445,1169
$GC,11279,0.68,388.2,484.3,16.1,903,11283,0.15,2.12,0.00,0.000,4,0.066,0.050,3069,1120,1168
$GC,11332,0.50,388.2,473.9,21.1,908,11336,0.25,2.08,0.00,0.000,6,0.143,0.045,2987,2421,1168
$GC,11653,0.62,388.2,429.6,12.8,939,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2421,1168
$GC,11964,0.75,388.2,390.2,12.0,969,11968,0.20,2.05,0.00,0.000,4,0.058,0.049,3091,1118,1168
$GC,12011,0.52,388.2,381.9,19.6,973,12018,0.30,2.05,0.00,0.000,6,0.146,0.045,2994,2411,1168
$GC,12326,0.65,394.6,341.7,11.8,1004,12338,0.10,0.00,5.68,0.759,6,0.076,0.000,3045,2411,1149
$GC,12648,0.59,394.6,291.4,14.8,1040,12655,0.12,2.05,0.00,0.000,4,0.142,0.049,3017,1119,1149
$GC,12708,0.73,397.2,284.0,11.9,1051,12720,0.12,2.03,4.00,0.601,6,0.069,0.044,3087,2424,1138
$GC,13041,0.53,397.2,219.0,21.1,1113,13047,0.28,1.98,0.00,0.000,4,0.140,0.057,2996,3681,1139
$GC,13077,0.66,397.2,213.3,13.5,1120,13084,0.00,1.98,0.00,0.000,6,0.000,0.038,3004,2398,1139
$GC,13404,1.08,546.7,183.5,7.0,1181,13544,0.43,2.08,131.57,0.775,4,0.040,0.046,3203,1118,524
$GC,13564,0.74,546.7,145.8,26.2,1207,13571,0.47,2.10,0.00,0.000,6,0.147,0.042,3059,2399,515
$GC,13891,1.09,546.7,103.5,13.6,1268,13898,0.30,2.05,0.00,0.000,4,0.042,0.047,3203,1117,506
$GC,14015,0.89,546.7,75.8,22.4,1291,14021,0.28,1.98,0.00,0.000,6,0.136,0.041,3113,2362,503
$GC,14342,1.19,601.2,34.7,10.2,1352,14355,0.22,1.95,7.07,0.557,4,0.048,0.044,3239,1108,482
$GC,14418,0.98,601.2,20.4,20.8,1366,14426,0.30,1.92,0.00,0.000,6,0.133,0.040,3140,2341,478
$STATE,14551,end climb,SURFACE_DEPTH_REACHED
$STATE,14552,begin surface coast
$FINISH,1.7,1.008898
$STATE,14578,end surface coast,CONTROL_FINISHED_OK
$STATE,14578,begin surface
$SM_CCo,14652,0.00,0.000,0,0,474,560.51
$SM_GC,2.35,7.53,0.00,0.00,0.033,0.000,0.000,167,2050,474,-8.21,-0.59,560.51
$IRIDIUM_FIX,2503.20,12319.60,060998,181854
$TT8_MAMPS,0.047554
$HUMID,1575
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.30
$XPDR_PINGS,151
$24V_AH,23.6,31.483
$10V_AH,10.7,22.698
$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,34.525,133.775,679.300,0.000,0.000,29.190,35.937,189.377,45.750,0.000,0.000,13.346,0.000,10358.997,816.999,3329.922,475.968,0.000,2111.817,0.000,2811.290,0.000,53.999,0.000
$DEVICE_MAMPS,225.498,69.030,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,941.801,976.185,1527.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79022,1396
$CAP_FILE_SIZE,165341,0
$CFSIZE,260165632,246124544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.269, 31.8,1
$GPS,130609,023606,2511.402,12321.371,28,1.0,28,-3.7