version: 66.04
glider: 165
mission: 2
dive: 223
start: 6 26 109 9 4 7
data:
$ID,165
$MISSION,2
$DIVE,223
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,450
$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,-121382.28
$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,19
$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,2135
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,27
$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
$GPS1,085637,2456.136,12411.293,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-67.1
$GPS2,090402,2456.291,12411.426,12,1.3,12,-3.7
$SPEED_LIMITS,0.173,0.311
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,173.8,20141,-14.7,-10.000
$D_GRID,1774
$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,-1.04,-219.0,0.0,0.0,0,80,0.00,0.00,-65.88,0.000,2,0.000,0.000,154,2121,2094
$GC,82,-1.04,-219.0,3.5,-4.5,10,139,8.93,2.30,-42.30,0.000,4,0.224,0.064,2467,3559,3748
$GC,165,-0.01,-219.0,21.8,-37.3,24,172,1.08,2.22,0.00,0.000,6,0.149,0.040,2812,2125,3749
$GC,492,-0.71,-219.0,59.1,-10.4,85,499,0.60,2.25,0.00,0.000,4,0.058,0.049,2577,3561,3750
$GC,600,-0.39,-219.0,73.5,-18.0,105,606,0.30,2.12,0.00,0.000,6,0.116,0.033,2684,2155,3750
$GC,927,-0.57,-219.0,106.9,-9.1,166,933,0.15,2.20,0.00,0.000,4,0.057,0.054,2591,3550,3751
$GC,1067,-0.46,-219.0,127.4,-14.6,192,1073,0.20,2.08,0.00,0.000,6,0.105,0.039,2665,2179,3751
$GC,1394,-0.61,-219.0,157.5,-9.4,253,1400,0.12,2.17,0.00,0.000,4,0.063,0.054,2587,3538,3752
$GC,1420,-0.56,-219.0,160.7,-12.7,258,1427,0.12,2.03,0.00,0.000,6,0.108,0.033,2636,2199,3752
$GC,1747,-0.65,-219.0,192.6,-8.6,319,1754,0.00,2.15,0.00,0.000,4,0.000,0.054,2633,3540,3752
$GC,1850,-0.85,-219.0,200.7,-8.1,338,1856,0.20,1.98,0.00,0.000,6,0.035,0.033,2519,2232,3752
$GC,2176,-0.48,-219.0,259.0,-15.5,399,2183,0.40,2.10,0.00,0.000,4,0.124,0.054,2646,3554,3752
$GC,2246,-0.82,-219.0,265.0,-7.5,412,2253,0.20,2.00,0.00,0.000,6,0.035,0.039,2522,2234,3752
$GC,2575,-0.51,-219.0,312.7,-14.4,466,2579,0.40,2.30,0.00,0.000,4,0.121,0.048,2654,746,3752
$GC,2623,-0.92,-219.0,316.8,-6.1,470,2630,0.30,2.33,0.00,0.000,6,0.035,0.039,2491,2248,3752
$GC,2939,-0.51,-219.0,366.6,-16.1,501,2943,0.50,2.05,0.00,0.000,4,0.130,0.058,2644,3551,3752
$GC,2971,-0.74,-219.0,369.4,-5.9,504,2974,0.12,1.95,0.00,0.000,6,0.042,0.035,2533,2261,3752
$GC,3292,-0.54,-219.0,409.0,-13.2,535,3296,0.32,2.08,0.00,0.000,4,0.116,0.058,2632,3545,3750
$GC,3356,-0.93,-219.0,414.3,-7.9,541,3359,0.25,1.92,0.00,0.000,6,0.035,0.035,2474,2274,3749
$GC,3676,-0.49,-219.0,472.7,-19.0,572,3680,0.57,2.38,0.00,0.000,4,0.127,0.050,2661,740,3747
$GC,3724,-0.97,-219.0,477.5,-7.3,576,3731,0.40,2.40,0.00,0.000,6,0.045,0.042,2484,2288,3747
$GC,4038,-0.59,-219.0,526.7,-16.4,599,4042,0.43,2.00,0.00,0.000,4,0.132,0.059,2617,3546,3744
$GC,4117,-0.94,-219.0,533.4,-7.6,602,4123,0.22,1.92,0.00,0.000,6,0.041,0.036,2493,2279,3744
$GC,4428,-0.61,-219.0,578.4,-17.1,618,4432,0.40,2.40,0.00,0.000,4,0.127,0.049,2626,750,3741
$GC,4459,-0.84,-219.0,582.0,-9.1,619,4467,0.15,2.42,0.00,0.000,6,0.043,0.043,2526,2291,3741
$GC,4769,-0.69,-219.0,621.7,-12.7,635,4771,0.22,0.00,0.00,0.000,6,0.123,0.000,2597,2291,3739
$GC,5075,-0.90,-219.0,644.5,-7.4,650,5079,0.20,2.03,0.00,0.000,4,0.050,0.062,2491,3545,3736
$GC,5112,-0.69,-219.0,649.0,-13.9,651,5120,0.30,1.92,0.00,0.000,6,0.120,0.037,2593,2284,3735
$GC,5423,-0.89,-219.0,672.6,-6.8,667,5426,0.17,2.03,0.00,0.000,4,0.053,0.061,2504,3540,3733
$GC,5475,-0.76,-219.0,678.2,-11.1,669,5479,0.17,1.90,0.00,0.000,6,0.116,0.037,2567,2301,3732
$GC,5791,-0.85,-219.0,702.5,-7.7,685,5795,0.00,2.45,0.00,0.000,4,0.000,0.052,2568,744,3730
$GC,5812,-0.96,-219.0,704.2,-8.8,686,5816,0.12,2.47,0.00,0.000,6,0.030,0.046,2472,2300,3730
$GC,6140,-0.61,-219.0,755.1,-16.9,702,6143,0.45,2.00,0.00,0.000,4,0.134,0.064,2617,3541,3728
$GC,6181,-1.01,-219.0,759.5,-6.7,704,6185,0.30,1.88,0.00,0.000,6,0.040,0.037,2468,2318,3727
$GC,6503,-0.65,-219.0,814.0,-18.0,720,6508,0.40,2.50,0.00,0.000,4,0.133,0.052,2600,744,3725
$GC,6555,-0.99,-219.0,819.9,-8.4,722,6562,0.22,2.47,0.00,0.000,6,0.041,0.047,2465,2294,3724
$GC,6866,-0.64,-219.0,871.9,-16.9,738,6870,0.47,2.03,0.00,0.000,4,0.133,0.066,2614,3551,3722
$GC,6914,-1.08,-219.0,876.0,-5.9,740,6918,0.35,1.92,0.00,0.000,6,0.044,0.038,2457,2297,3722
$GC,7235,-0.69,-219.0,931.4,-18.6,756,7236,0.45,0.00,0.00,0.000,6,0.137,0.000,2596,2292,3719
$GC,7540,-1.31,-219.0,961.4,-10.8,771,7544,0.55,2.45,0.00,0.000,4,0.061,0.053,2386,747,3718
$GC,7555,-1.60,-219.0,963.3,-10.7,771,7564,0.20,2.47,0.00,0.000,6,0.058,0.051,2297,2281,3716
$STATE,7660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7660,begin apogee
$GC,7665,-0.26,0.0,994.0,31.4,777,7845,1.50,0.00,176.02,1.385,6,0.178,0.000,2727,2452,2854
$STATE,7845,end apogee,CONTROL_FINISHED_OK
$STATE,7845,begin climb
$GC,7847,1.04,219.0,1010.1,0.0,786,8041,1.17,2.40,184.85,1.348,4,0.048,0.054,3174,1066,1959
$GC,8104,0.20,219.0,986.0,21.4,798,8109,0.98,2.33,0.00,0.000,6,0.179,0.051,2889,2445,1953
$GC,8426,0.50,372.7,966.2,5.3,814,8565,0.25,2.38,133.00,1.323,4,0.051,0.052,3022,1077,1333
$GC,8603,0.33,372.7,943.1,15.0,822,8607,0.28,2.30,0.00,0.000,6,0.131,0.047,2934,2447,1329
$GC,8919,0.50,391.7,914.1,9.4,838,8941,0.12,2.25,16.60,1.231,4,0.063,0.051,3016,1070,1256
$GC,8999,0.39,391.7,902.7,15.2,841,9005,0.20,2.22,0.00,0.000,6,0.127,0.048,2951,2426,1255
$GC,9309,0.54,427.4,872.8,8.9,857,9351,0.12,2.30,32.97,1.272,4,0.066,0.051,3024,1070,1110
$GC,9393,0.44,427.4,861.3,14.8,861,9397,0.15,2.20,0.00,0.000,6,0.119,0.047,2964,2405,1107
$GC,9719,0.57,449.6,829.6,9.3,877,9744,0.12,2.20,20.35,1.235,4,0.066,0.051,3033,1066,1020
$GC,9809,0.47,449.6,816.5,15.9,881,9813,0.17,2.17,0.00,0.000,6,0.124,0.045,2976,2401,1018
$GC,10129,0.55,449.6,779.1,11.9,897,10133,0.00,2.15,0.00,0.000,4,0.000,0.050,2983,1074,1017
$GC,10194,0.65,449.6,771.2,12.5,900,10197,0.10,2.10,0.00,0.000,6,0.050,0.045,3050,2376,1016
$GC,10520,0.41,449.6,711.1,18.9,916,10524,0.32,2.08,0.00,0.000,4,0.135,0.051,2960,1069,1016
$GC,10551,0.51,449.6,706.8,11.5,917,10555,0.00,2.10,0.00,0.000,6,0.000,0.044,2960,2376,1014
$GC,10867,0.70,456.0,676.1,9.8,933,10878,0.22,2.10,6.55,1.004,4,0.051,0.051,3070,1061,993
$GC,10903,0.49,456.0,670.4,17.2,935,10907,0.28,2.10,0.00,0.000,6,0.137,0.045,2980,2364,993
$GC,11230,0.60,456.0,632.3,10.9,951,11233,0.00,2.10,0.00,0.000,4,0.000,0.051,2987,1064,992
$GC,11261,0.73,456.0,628.7,11.5,952,11266,0.15,2.08,0.00,0.000,6,0.044,0.044,3077,2358,992
$GC,11577,0.43,456.0,566.5,21.2,968,11581,0.40,2.05,0.00,0.000,4,0.139,0.051,2963,1061,992
$GC,11625,0.66,456.0,559.9,10.8,970,11629,0.15,2.05,0.00,0.000,6,0.041,0.043,3051,2345,991
$GC,11946,0.49,456.0,505.2,16.0,986,11950,0.25,2.05,0.00,0.000,4,0.133,0.051,2983,1066,991
$GC,11983,0.62,456.0,500.7,10.3,987,11990,0.08,2.03,0.00,0.000,6,0.060,0.043,3049,2338,991
$GC,12299,0.49,456.0,452.1,16.2,1017,12302,0.25,2.00,0.00,0.000,4,0.130,0.050,2980,1064,991
$GC,12330,0.63,456.0,448.1,11.6,1020,12334,0.08,2.00,0.00,0.000,6,0.057,0.042,3049,2322,991
$GC,12651,0.50,456.0,396.8,16.3,1051,12652,0.22,0.00,0.00,0.000,6,0.132,0.000,2980,2323,991
$GC,12963,0.81,527.2,367.8,7.8,1081,13031,0.25,2.08,61.90,0.966,4,0.049,0.051,3115,1061,703
$GC,13085,0.54,527.2,346.3,19.0,1092,13089,0.40,2.05,0.00,0.000,6,0.141,0.042,2997,2337,701
$GC,13399,0.81,527.2,316.9,10.1,1122,13403,0.22,2.05,0.00,0.000,4,0.046,0.048,3117,1064,699
$GC,13453,0.58,527.2,307.6,20.0,1127,13457,0.32,2.03,0.00,0.000,6,0.133,0.041,3011,2335,699
$GC,13777,1.04,690.9,279.0,5.0,1182,13838,0.38,2.08,55.28,0.880,4,0.038,0.048,3191,1065,480
$GC,13875,0.63,690.9,259.8,22.8,1199,13881,0.55,2.03,0.00,0.000,6,0.142,0.041,3029,2328,468
$GC,14201,0.95,690.9,227.7,10.2,1260,14209,0.28,2.03,0.00,0.000,4,0.041,0.048,3165,1069,459
$GC,14234,0.78,690.9,222.2,19.8,1266,14241,0.28,1.98,0.00,0.000,6,0.127,0.041,3074,2314,459
$GC,14561,0.96,690.9,180.5,10.0,1327,14567,0.15,1.98,0.00,0.000,4,0.054,0.046,3159,1068,456
$GC,14588,0.90,690.9,176.6,14.7,1332,14596,0.15,1.95,0.00,0.000,6,0.127,0.040,3108,2314,455
$GC,14916,0.98,690.9,131.5,12.2,1393,14922,0.00,1.98,0.00,0.000,4,0.000,0.045,3115,1066,454
$GC,14991,1.07,690.9,121.9,11.8,1407,14998,0.10,1.88,0.00,0.000,6,0.051,0.038,3187,2271,454
$GC,15318,0.86,690.9,58.5,19.5,1468,15325,0.30,2.22,0.00,0.000,4,0.137,0.054,3096,3685,454
$GC,15378,1.21,741.4,51.6,8.4,1479,15384,0.25,2.12,0.00,0.000,6,0.035,0.035,3237,2299,454
$STATE,15622,end climb,SURFACE_DEPTH_REACHED
$STATE,15622,begin surface coast
$FINISH,1.9,1.021405
$STATE,15633,end surface coast,CONTROL_FINISHED_OK
$STATE,15633,begin surface
$SM_CCo,15708,0.00,0.000,0,0,452,588.97
$SM_GC,2.50,7.82,0.00,0.00,0.035,0.000,0.000,158,2124,452,-8.22,-0.34,588.97
$IRIDIUM_FIX,2451.31,12410.42,200998,040445
$TT8_MAMPS,0.047554
$HUMID,1609
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.60
$XPDR_PINGS,232
$24V_AH,23.6,49.950
$10V_AH,10.7,33.103
$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,40.000,162.925,687.525,0.000,0.000,32.988,39.892,251.595,66.000,0.000,0.000,13.839,0.000,11098.526,815.387,3602.335,604.521,0.000,2203.617,0.000,3026.683,0.000,55.188,0.000
$DEVICE_MAMPS,223.964,67.496,1385.202,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.568,1070.574,1681.750,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88470,1527
$CAP_FILE_SIZE,183746,0
$CFSIZE,260165632,239271936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 33.9,1
$GPS,260609,132654,2454.307,12411.788,22,1.7,39,-3.7