version: 66.04
glider: 165
mission: 2
dive: 191
start: 6 20 109 15 33 6
data:
$ID,165
$MISSION,2
$DIVE,191
$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,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,475
$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,-120643.82
$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,2854
$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
$GPS1,152707,2526.353,12343.766,27,1.2,27,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-67.8
$GPS2,153301,2526.454,12344.078,8,1.6,13,-3.8
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,245.3,24056,-16.4,-12.000
$D_GRID,1565
$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,-243.4,0.0,0.0,0,73,0.00,0.00,-59.05,0.000,2,0.000,0.000,162,2039,1878
$GC,75,-0.94,-243.4,3.2,-3.2,9,144,9.12,2.17,-52.22,0.000,4,0.232,0.059,2510,676,3850
$GC,175,-0.07,-243.4,26.7,-38.8,26,182,0.90,2.22,0.00,0.000,6,0.160,0.047,2791,2076,3851
$GC,502,-0.84,-243.4,66.8,-11.7,87,509,0.68,2.20,0.00,0.000,4,0.064,0.051,2535,3482,3853
$GC,604,-0.48,-243.4,84.6,-20.2,106,611,0.35,2.15,0.00,0.000,6,0.120,0.040,2657,2081,3853
$GC,931,-0.72,-243.4,115.4,-8.2,167,937,0.20,2.22,0.00,0.000,4,0.050,0.053,2551,3473,3855
$GC,1027,-0.56,-243.4,128.9,-15.3,185,1035,0.22,2.08,0.00,0.000,6,0.114,0.041,2633,2105,3856
$GC,1356,-0.71,-243.4,163.6,-9.6,246,1362,0.12,2.17,0.00,0.000,4,0.064,0.061,2560,3479,3856
$GC,1409,-0.66,-243.4,170.7,-13.8,256,1415,0.10,2.05,0.00,0.000,6,0.117,0.040,2599,2131,3856
$GC,1736,-0.66,-243.4,211.3,-10.6,317,1742,0.00,2.15,0.00,0.000,4,0.000,0.056,2590,3488,3856
$GC,1800,-0.80,-243.4,218.4,-10.5,329,1807,0.00,2.03,0.00,0.000,6,0.000,0.035,2590,2154,3856
$GC,2127,-0.86,-243.4,254.0,-10.5,390,2133,0.15,0.00,0.00,0.000,6,0.061,0.000,2509,2150,3856
$GC,2456,-0.52,-243.4,313.7,-17.9,445,2460,0.45,2.12,0.00,0.000,4,0.129,0.059,2647,3470,3856
$GC,2504,-0.99,-243.4,317.9,-5.2,449,2512,0.35,2.00,0.00,0.000,6,0.035,0.036,2468,2159,3856
$GC,2819,-0.47,-243.4,385.7,-22.9,480,2823,0.62,2.33,0.00,0.000,4,0.135,0.052,2668,681,3854
$GC,2856,-0.87,-243.4,390.2,-7.6,483,2862,0.30,2.30,0.00,0.000,6,0.051,0.041,2520,2159,3855
$GC,3171,-0.66,-243.4,437.2,-15.4,514,3176,0.28,2.10,0.00,0.000,4,0.124,0.059,2603,3473,3853
$GC,3225,-1.01,-243.4,442.0,-7.1,519,3229,0.30,1.98,0.00,0.000,6,0.044,0.036,2458,2154,3853
$GC,3545,-0.55,-243.4,509.5,-21.7,548,3546,0.57,0.00,0.00,0.000,6,0.138,0.000,2641,2148,3851
$GC,3851,-1.37,-243.4,539.9,-10.7,563,3855,0.68,2.12,0.00,0.000,4,0.063,0.061,2375,3473,3850
$GC,3946,-0.72,-243.4,559.1,-24.8,567,3954,0.65,2.00,0.00,0.000,6,0.146,0.039,2584,2176,3848
$GC,4257,-0.93,-243.4,585.3,-7.1,583,4259,0.17,0.00,0.00,0.000,6,0.058,0.000,2498,2171,3846
$GC,4562,-0.70,-243.4,631.7,-16.0,598,4563,0.30,0.00,0.00,0.000,6,0.129,0.000,2592,2171,3844
$GC,4868,-0.99,-243.4,656.5,-7.7,613,4871,0.22,2.12,0.00,0.000,4,0.051,0.065,2478,3480,3841
$GC,4914,-0.82,-243.4,662.8,-14.5,615,4919,0.20,2.03,0.00,0.000,6,0.123,0.041,2549,2177,3840
$GC,5231,-0.87,-243.4,698.5,-11.2,631,5234,0.00,2.10,0.00,0.000,4,0.000,0.066,2549,3472,3838
$GC,5256,-0.97,-243.4,701.6,-11.1,632,5261,0.10,2.00,0.00,0.000,6,0.054,0.039,2484,2182,3838
$GC,5578,-0.68,-243.4,754.6,-16.8,648,5582,0.32,2.38,0.00,0.000,4,0.136,0.057,2589,681,3835
$GC,5620,-0.96,-243.4,759.3,-8.3,650,5624,0.17,2.35,0.00,0.000,6,0.045,0.046,2479,2162,3835
$GC,5942,-0.67,-243.4,809.0,-16.8,666,5946,0.38,2.12,0.00,0.000,4,0.137,0.063,2590,3482,3833
$GC,5978,-0.97,-243.4,812.8,-7.6,668,5982,0.20,2.00,0.00,0.000,6,0.042,0.039,2482,2194,3832
$GC,6305,-0.70,-243.4,865.1,-16.9,684,6309,0.32,2.38,0.00,0.000,4,0.132,0.055,2589,684,3829
$GC,6331,-0.75,-243.4,868.5,-11.9,685,6335,0.00,2.38,0.00,0.000,6,0.000,0.047,2589,2170,3829
$GC,6647,-1.08,-243.4,887.3,-5.3,701,6651,0.32,2.10,0.00,0.000,4,0.048,0.064,2448,3478,3827
$GC,6737,-0.82,-243.4,899.8,-16.8,705,6742,0.30,2.00,0.00,0.000,6,0.135,0.041,2549,2195,3826
$GC,7060,-0.94,-243.4,928.0,-8.0,721,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2193,3824
$GC,7364,-1.06,-243.4,953.4,-8.7,736,7367,0.20,2.08,0.00,0.000,4,0.061,0.067,2455,3470,3822
$GC,7395,-0.86,-243.4,957.4,-14.4,737,7399,0.25,1.98,0.00,0.000,6,0.133,0.041,2539,2205,3822
$GC,7710,-0.93,-243.4,989.1,-9.2,753,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2202,3821
$STATE,7729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7729,begin apogee
$GC,7733,-0.20,0.0,991.0,9.1,754,7934,0.65,0.00,197.05,1.378,6,0.113,0.000,2755,2517,2854
$STATE,7934,end apogee,CONTROL_FINISHED_OK
$STATE,7934,begin climb
$GC,7936,0.94,243.4,1000.7,0.0,764,8150,1.00,2.05,206.57,1.333,4,0.040,0.067,3137,3695,1860
$GC,8154,0.22,243.4,980.1,22.1,774,8161,0.90,1.92,0.00,0.000,6,0.176,0.041,2897,2551,1858
$GC,8466,0.55,369.1,952.5,7.8,790,8580,0.28,1.98,109.15,1.295,4,0.053,0.066,3013,3690,1349
$GC,8664,0.41,369.1,920.7,17.7,799,8672,0.20,1.92,0.00,0.000,6,0.134,0.041,2957,2505,1346
$GC,8975,0.57,406.6,884.8,10.8,815,9013,0.12,2.30,33.62,1.248,4,0.069,0.054,3025,1113,1195
$GC,9109,0.50,406.6,864.7,15.2,820,9113,0.15,2.28,0.00,0.000,6,0.142,0.050,2985,2505,1190
$GC,9419,0.50,406.6,825.5,12.9,835,9422,0.00,2.25,0.00,0.000,4,0.000,0.051,2993,1120,1190
$GC,9455,0.56,406.6,820.8,12.8,836,9462,0.00,2.20,0.00,0.000,6,0.000,0.048,2993,2478,1188
$GC,9766,0.56,406.6,777.5,14.4,852,9770,0.00,2.17,0.00,0.000,4,0.000,0.052,3002,1116,1188
$GC,9824,0.61,406.6,768.9,14.2,854,9830,0.00,2.17,0.00,0.000,6,0.000,0.048,3002,2466,1187
$GC,10135,0.61,406.6,720.8,15.8,870,10138,0.00,2.17,0.00,0.000,4,0.000,0.051,3011,1117,1187
$GC,10182,0.61,406.6,713.3,15.8,872,10186,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2457,1185
$GC,10503,0.56,406.6,660.1,16.4,888,10507,0.00,2.15,0.00,0.000,4,0.000,0.051,3021,1124,1185
$GC,10529,0.51,406.6,655.8,16.7,889,10534,0.10,2.10,0.00,0.000,6,0.136,0.047,2987,2439,1185
$GC,10851,0.57,406.6,611.4,13.4,905,10855,0.00,2.12,0.00,0.000,4,0.000,0.051,2995,1118,1185
$GC,10882,0.64,406.6,607.2,13.0,906,10886,0.00,2.10,0.00,0.000,6,0.000,0.047,2995,2430,1184
$GC,11199,0.69,406.6,564.0,13.3,922,11202,0.12,2.08,0.00,0.000,4,0.072,0.052,3061,1117,1184
$GC,11235,0.53,406.6,557.5,18.8,923,11243,0.20,2.08,0.00,0.000,6,0.140,0.048,2995,2416,1184
$GC,11546,0.59,406.6,514.2,13.6,939,11549,0.00,2.05,0.00,0.000,4,0.000,0.063,2995,3681,1184
$GC,11572,0.65,406.6,510.5,14.4,940,11576,0.00,1.98,0.00,0.000,6,0.000,0.041,3003,2413,1184
$GC,11887,0.69,406.6,468.7,13.0,966,11890,0.12,2.03,0.00,0.000,4,0.071,0.051,3073,1108,1184
$GC,11950,0.52,406.6,457.4,18.7,972,11954,0.25,2.08,0.00,0.000,6,0.144,0.047,2992,2405,1183
$GC,12271,0.62,406.6,417.7,12.5,1003,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2405,1183
$GC,12583,0.77,420.6,381.5,11.5,1033,12599,0.17,2.10,11.57,0.919,4,0.061,0.051,3089,1111,1138
$GC,12656,0.58,420.6,368.3,19.8,1039,12664,0.25,2.08,0.00,0.000,6,0.143,0.045,3008,2409,1137
$GC,12972,0.67,420.6,326.5,12.7,1070,12976,0.00,2.05,0.00,0.000,4,0.000,0.061,3008,3681,1137
$GC,12993,0.76,420.6,323.8,12.3,1072,12997,0.10,2.00,0.00,0.000,6,0.056,0.040,3076,2395,1137
$GC,13314,0.61,420.6,265.3,18.1,1120,13321,0.20,2.00,0.00,0.000,4,0.146,0.050,3026,1118,1138
$GC,13374,0.74,428.2,257.5,11.7,1131,13387,0.00,2.03,7.90,0.772,6,0.000,0.044,3026,2401,1108
$GC,13708,0.86,428.2,218.0,12.9,1193,13713,0.20,2.03,0.00,0.000,4,0.054,0.058,3118,3687,1108
$GC,13745,0.59,428.2,211.2,20.6,1200,13751,0.35,1.98,0.00,0.000,6,0.140,0.038,3014,2414,1107
$GC,14072,0.89,511.2,174.7,9.3,1261,14148,0.25,2.10,69.65,0.781,4,0.046,0.048,3142,1109,769
$GC,14275,0.76,511.2,137.9,17.6,1297,14282,0.22,2.08,0.00,0.000,6,0.131,0.042,3069,2399,765
$GC,14602,1.02,557.9,99.3,10.5,1358,14648,0.22,2.12,42.40,0.703,4,0.048,0.047,3185,1112,576
$GC,14749,0.92,557.9,72.2,18.4,1384,14756,0.20,2.03,0.00,0.000,6,0.123,0.041,3120,2375,566
$GC,15076,1.19,589.5,33.0,11.0,1445,15113,0.22,0.00,24.52,0.555,6,0.048,0.000,3226,2375,484
$STATE,15239,end climb,SURFACE_DEPTH_REACHED
$STATE,15239,begin surface coast
$FINISH,1.7,1.021131
$STATE,15249,end surface coast,CONTROL_FINISHED_OK
$STATE,15249,begin surface
$SM_CCo,15324,0.00,0.000,0,0,472,584.06
$SM_GC,2.47,7.80,0.00,0.00,0.031,0.000,0.000,163,2051,472,-8.21,-0.57,584.06
$IRIDIUM_FIX,2517.50,12340.74,140998,111154
$TT8_MAMPS,0.048321
$HUMID,1589
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.20
$XPDR_PINGS,186
$24V_AH,23.5,41.302
$10V_AH,10.7,28.832
$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,33.825,140.350,702.450,0.000,0.000,22.965,32.068,187.979,54.500,0.000,0.000,16.055,0.000,10897.088,821.078,3444.713,487.793,0.000,2147.263,0.000,2894.926,0.000,53.999,0.000
$DEVICE_MAMPS,232.401,66.729,1377.532,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,997.702,1040.235,1630.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85263,1477
$CAP_FILE_SIZE,169691,0
$CFSIZE,260165632,242110464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.365, 81.2,1
$GPS,200609,194930,2526.161,12344.564,36,1.5,41,-3.8