version: 66.04
glider: 165
mission: 2
dive: 158
start: 6 15 109 2 33 19
data:
$ID,165
$MISSION,2
$DIVE,158
$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,-4
$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,-119994.23
$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,47
$R_STBD_OVSHOOT,30
$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
$GPS1,022655,2522.131,12322.216,41,1.3,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.8
$GPS2,023314,2522.182,12322.266,13,1.5,13,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$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,313.9,37821,-16.8,-10.000
$D_GRID,1380
$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,-44.60,0.000,2,0.000,0.000,159,2051,1905
$GC,60,-0.87,-170.3,3.1,-3.2,7,123,8.98,2.33,-45.55,0.000,4,0.222,0.064,2525,3478,3457
$GC,277,-0.27,-170.3,56.7,-26.8,46,284,0.60,2.17,0.00,0.000,6,0.136,0.035,2723,2071,3458
$GC,604,-0.62,-170.3,84.6,-6.5,107,610,0.28,2.25,0.00,0.000,4,0.044,0.054,2582,3473,3460
$GC,679,-0.37,-170.3,95.7,-16.4,121,686,0.32,2.12,0.00,0.000,6,0.123,0.037,2695,2080,3460
$GC,1007,-0.61,-170.3,126.4,-8.6,182,1013,0.20,2.22,0.00,0.000,4,0.052,0.056,2589,3473,3461
$GC,1108,-0.45,-170.3,140.1,-13.9,201,1116,0.22,2.10,0.00,0.000,6,0.119,0.038,2670,2084,3461
$GC,1436,-0.61,-170.3,170.6,-9.4,262,1443,0.15,2.20,0.00,0.000,4,0.061,0.053,2587,3470,3461
$GC,1474,-0.46,-170.3,175.2,-13.0,269,1482,0.20,2.05,0.00,0.000,6,0.117,0.037,2661,2107,3462
$GC,1801,-0.68,-170.3,206.5,-9.3,330,1808,0.17,2.17,0.00,0.000,4,0.055,0.060,2566,3470,3462
$GC,1839,-0.56,-170.3,210.9,-12.7,337,1846,0.20,2.05,0.00,0.000,6,0.120,0.034,2638,2108,3462
$GC,2166,-0.70,-170.3,237.4,-10.2,398,2172,0.12,0.00,0.00,0.000,6,0.066,0.000,2567,2105,3462
$GC,2492,-0.54,-170.3,280.0,-10.8,459,2498,0.25,2.17,0.00,0.000,4,0.127,0.058,2646,3483,3462
$GC,2593,-0.87,-170.3,286.3,-6.2,478,2600,0.25,2.10,0.00,0.000,6,0.037,0.035,2514,2103,3462
$GC,2912,-0.50,-170.3,335.8,-16.6,518,2916,0.45,2.22,0.00,0.000,4,0.134,0.051,2659,678,3462
$GC,2960,-0.89,-170.3,340.3,-7.2,522,2967,0.30,2.17,0.00,0.000,6,0.034,0.040,2494,2089,3462
$GC,3276,-0.50,-170.3,392.7,-16.9,553,3280,0.50,2.17,0.00,0.000,4,0.139,0.058,2644,3473,3461
$GC,3372,-0.88,-170.3,400.1,-6.1,562,3376,0.30,2.08,0.00,0.000,6,0.042,0.036,2494,2087,3460
$GC,3692,-0.51,-170.3,449.2,-16.1,593,3696,0.50,2.17,0.00,0.000,4,0.133,0.052,2656,678,3459
$GC,3751,-0.93,-170.3,454.0,-6.5,598,3758,0.32,2.17,0.00,0.000,6,0.035,0.041,2482,2076,3458
$GC,4076,-0.54,-170.3,503.7,-16.2,629,4080,0.50,2.22,0.00,0.000,4,0.139,0.060,2630,3470,3457
$GC,4156,-0.91,-170.3,509.7,-5.7,632,4162,0.25,2.12,0.00,0.000,6,0.038,0.037,2499,2084,3456
$GC,4466,-0.59,-170.3,555.8,-15.9,648,4470,0.40,2.17,0.00,0.000,4,0.133,0.053,2627,679,3454
$GC,4493,-0.65,-170.3,558.6,-10.6,649,4497,0.00,2.20,0.00,0.000,6,0.000,0.044,2627,2084,3454
$GC,4814,-0.97,-170.3,577.3,-5.3,665,4818,0.32,2.22,0.00,0.000,4,0.044,0.061,2474,3471,3451
$GC,4909,-0.63,-170.3,589.3,-14.1,669,4914,0.40,2.10,0.00,0.000,6,0.134,0.038,2608,2103,3450
$GC,5226,-0.84,-170.3,610.4,-6.6,685,5230,0.17,2.20,0.00,0.000,4,0.058,0.060,2523,3480,3448
$GC,5251,-0.84,-170.3,612.5,-9.8,686,5256,0.00,2.12,0.00,0.000,6,0.000,0.038,2523,2100,3448
$GC,5574,-0.68,-170.3,650.8,-12.7,702,5578,0.20,2.22,0.00,0.000,4,0.132,0.062,2589,3476,3446
$GC,5674,-0.90,-170.3,659.7,-8.3,707,5678,0.12,2.10,0.00,0.000,6,0.048,0.039,2516,2117,3445
$GC,6000,-0.73,-170.3,700.0,-11.1,723,6005,0.22,2.17,0.00,0.000,4,0.131,0.064,2586,3473,3442
$GC,6101,-0.95,-170.3,706.3,-5.4,727,6108,0.17,2.08,0.00,0.000,6,0.045,0.039,2494,2133,3442
$GC,6412,-0.70,-170.3,743.4,-13.0,743,6416,0.32,2.30,0.00,0.000,4,0.133,0.055,2596,664,3440
$GC,6459,-0.92,-170.3,747.5,-7.4,745,6464,0.17,2.33,0.00,0.000,6,0.045,0.047,2505,2126,3440
$GC,6781,-0.72,-170.3,787.5,-12.8,761,6785,0.28,2.17,0.00,0.000,4,0.137,0.067,2589,3479,3438
$GC,6818,-0.94,-170.3,790.8,-7.0,762,6825,0.17,2.10,0.00,0.000,6,0.045,0.040,2495,2128,3437
$GC,7128,-0.70,-170.3,829.6,-13.3,778,7132,0.30,2.30,0.00,0.000,4,0.135,0.056,2588,679,3436
$GC,7171,-0.91,-170.3,833.6,-8.2,780,7175,0.15,2.30,0.00,0.000,6,0.048,0.048,2505,2129,3436
$GC,7497,-0.75,-170.3,870.8,-11.5,796,7501,0.22,2.15,0.00,0.000,4,0.140,0.066,2573,3469,3433
$GC,7647,-0.96,-170.3,880.8,-7.1,803,7651,0.17,2.03,0.00,0.000,6,0.061,0.041,2492,2148,3432
$GC,7972,-0.73,-170.3,920.1,-12.4,819,7977,0.30,2.35,0.00,0.000,4,0.136,0.058,2585,678,3431
$GC,8032,-0.94,-170.3,925.1,-7.5,821,8039,0.20,2.30,0.00,0.000,6,0.058,0.048,2492,2141,3430
$GC,8342,-0.73,-170.3,963.4,-12.6,837,8346,0.30,2.17,0.00,0.000,4,0.140,0.067,2576,3471,3428
$GC,8459,-0.94,-170.3,973.0,-7.1,842,8463,0.15,2.05,0.00,0.000,6,0.049,0.041,2495,2157,3428
$STATE,8610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8610,begin apogee
$GC,8614,-0.20,0.0,991.2,12.4,850,8754,0.80,0.00,136.48,1.389,6,0.138,0.000,2751,2518,2759
$STATE,8754,end apogee,CONTROL_FINISHED_OK
$STATE,8754,begin climb
$GC,8756,0.87,170.3,996.6,0.0,857,8903,0.98,0.00,144.77,1.347,6,0.044,0.000,3120,2518,2064
$GC,9200,0.21,170.3,922.4,21.8,879,9204,0.80,1.95,0.00,0.000,4,0.173,0.067,2889,3695,2055
$GC,9247,0.32,170.3,916.6,10.1,881,9252,0.00,1.83,0.00,0.000,6,0.000,0.041,2896,2540,2055
$GC,9569,0.48,197.0,887.8,8.9,897,9596,0.22,2.35,22.27,1.262,4,0.058,0.056,3014,1129,1954
$GC,9694,0.25,197.0,870.9,14.0,902,9700,0.38,2.28,0.00,0.000,6,0.150,0.051,2904,2527,1951
$GC,10004,0.44,233.8,842.7,8.5,918,10041,0.17,2.00,32.53,1.265,4,0.064,0.066,2984,3697,1804
$GC,10066,0.26,233.8,834.6,15.2,920,10070,0.28,1.88,0.00,0.000,6,0.137,0.041,2904,2530,1802
$GC,10388,0.49,259.7,803.9,9.0,936,10417,0.20,2.35,22.90,1.228,4,0.060,0.053,3006,1127,1699
$GC,10529,0.36,259.7,783.5,15.4,942,10537,0.20,2.30,0.00,0.000,6,0.141,0.049,2942,2520,1694
$GC,10841,0.44,259.7,749.9,10.5,958,10844,0.00,2.28,0.00,0.000,4,0.000,0.053,2951,1126,1693
$GC,10914,0.53,259.7,742.1,10.8,961,10919,0.08,2.25,0.00,0.000,6,0.061,0.048,2999,2513,1692
$GC,11230,0.39,259.7,696.0,15.2,977,11234,0.20,2.22,0.00,0.000,4,0.145,0.051,2952,1114,1692
$GC,11359,0.48,259.7,681.3,11.0,983,11362,0.00,2.20,0.00,0.000,6,0.000,0.049,2952,2500,1690
$GC,11685,0.53,259.7,644.3,11.2,999,11686,0.12,0.00,0.00,0.000,6,0.072,0.000,3010,2500,1690
$GC,11990,0.36,259.7,597.8,15.7,1014,11994,0.25,1.92,0.00,0.000,4,0.143,0.064,2935,3692,1690
$GC,12021,0.43,259.7,593.6,12.8,1015,12026,0.00,1.88,0.00,0.000,6,0.000,0.041,2942,2486,1690
$GC,12337,0.55,259.7,559.9,10.1,1031,12341,0.15,2.15,0.00,0.000,4,0.066,0.051,3021,1129,1690
$GC,12390,0.40,259.7,552.9,13.7,1033,12394,0.20,2.17,0.00,0.000,6,0.140,0.048,2955,2492,1689
$GC,12706,0.49,265.3,522.4,9.8,1049,12715,0.00,2.20,4.55,0.803,4,0.000,0.051,2964,1127,1677
$GC,12813,0.60,265.3,510.8,11.6,1054,12816,0.15,2.12,0.00,0.000,6,0.064,0.048,3033,2478,1677
$GC,13132,0.38,265.3,455.7,16.3,1081,13136,0.30,1.92,0.00,0.000,4,0.142,0.063,2942,3677,1676
$GC,13158,0.38,265.3,452.4,12.5,1083,13165,0.00,1.85,0.00,0.000,6,0.000,0.040,2949,2478,1676
$GC,13476,0.57,303.4,424.9,8.5,1114,13519,0.15,2.25,33.53,1.010,4,0.063,0.051,3030,1116,1520
$GC,13609,0.47,303.4,406.5,13.9,1126,13615,0.17,2.20,0.00,0.000,6,0.135,0.048,2974,2467,1517
$GC,13924,0.59,303.4,372.3,10.5,1157,13925,0.10,0.00,0.00,0.000,6,0.077,0.000,3021,2467,1517
$GC,14236,0.50,303.4,329.4,13.5,1187,14239,0.15,2.12,0.00,0.000,4,0.137,0.048,2987,1127,1517
$GC,14299,0.63,311.2,322.4,9.7,1192,14310,0.08,2.12,7.38,0.818,6,0.062,0.046,3037,2458,1490
$GC,14625,0.53,311.2,277.0,13.2,1238,14632,0.17,2.12,0.00,0.000,4,0.135,0.048,2994,1126,1489
$GC,14690,0.67,311.2,269.6,10.9,1250,14696,0.08,2.10,0.00,0.000,6,0.061,0.045,3046,2446,1488
$GC,15016,0.56,311.2,227.6,11.1,1311,15022,0.17,2.10,0.00,0.000,4,0.135,0.048,3002,1123,1488
$GC,15118,0.74,337.2,218.7,9.0,1330,15149,0.12,2.10,22.75,0.831,6,0.051,0.045,3083,2446,1384
$GC,15470,0.61,337.2,162.8,13.8,1395,15476,0.20,2.12,0.00,0.000,4,0.139,0.047,3028,1118,1382
$GC,15523,0.82,384.1,157.7,8.1,1405,15569,0.12,2.10,39.12,0.782,6,0.045,0.044,3109,2441,1192
$GC,15890,0.69,384.1,103.1,16.0,1472,15896,0.20,2.08,0.00,0.000,4,0.136,0.045,3053,1126,1189
$GC,16014,0.93,404.1,90.1,9.2,1495,16040,0.17,2.03,17.50,0.699,6,0.052,0.042,3148,2427,1109
$GC,16361,0.81,404.1,37.6,15.2,1559,16367,0.20,0.00,0.00,0.000,6,0.132,0.000,3081,2427,1108
$GC,16687,1.16,475.0,10.3,7.2,1620,16745,0.30,0.00,56.22,0.630,2,0.042,0.000,3221,2427,822
$STATE,16746,end climb,SURFACE_DEPTH_REACHED
$STATE,16746,begin surface coast
$FINISH,1.7,0.998048
$STATE,16759,end surface coast,CONTROL_FINISHED_OK
$STATE,16759,begin surface
$SM_CCo,16833,0.00,0.000,0,0,819,475.88
$SM_GC,2.41,7.93,0.00,0.00,0.034,0.000,0.000,163,2054,819,-8.21,-0.48,475.88
$IRIDIUM_FIX,2510.35,12324.22,080998,212117
$TT8_MAMPS,0.047554
$HUMID,1543
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.70
$XPDR_PINGS,177
$24V_AH,23.6,34.455
$10V_AH,10.7,24.321
$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,35.650,160.200,540.000,0.000,0.000,24.294,32.515,209.578,52.250,0.000,0.000,15.301,0.000,12038.241,717.300,3896.305,526.989,0.000,2175.380,0.000,3296.437,0.000,53.992,0.000
$DEVICE_MAMPS,222.430,67.496,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.128,1142.293,1787.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91568,1632
$CAP_FILE_SIZE,191757,0
$CFSIZE,260165632,245006336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117, 51.8,1
$GPS,150609,071437,2524.864,12321.485,26,1.2,26,-3.8