version: 66.04
glider: 165
mission: 2
dive: 225
start: 6 26 109 18 39 13
data:
$ID,165
$MISSION,2
$DIVE,225
$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,413
$T_MISSION,495
$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,200
$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,-121430.1
$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,63
$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,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
$GPS1,183107,2452.494,12412.853,28,1.4,28,-3.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-67.7
$GPS2,183908,2452.495,12412.917,13,1.3,13,-3.7
$SPEED_LIMITS,0.138,0.273
$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,169.3,13008,-12.7,-7.990
$D_GRID,1902
$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,13,-0.91,-194.7,0.0,0.0,0,80,0.00,0.00,-65.20,0.000,2,0.000,0.000,150,2126,2071
$GC,82,-0.91,-194.7,3.5,-2.9,10,140,9.10,0.00,-43.67,0.000,6,0.222,0.000,2525,2124,3649
$GC,459,-0.13,-194.7,108.8,-25.5,79,466,0.80,2.28,0.00,0.000,4,0.144,0.054,2767,3547,3650
$GC,706,-0.72,-194.7,131.7,-9.4,125,713,0.45,2.12,0.00,0.000,6,0.050,0.033,2573,2139,3651
$GC,1033,-0.29,-194.7,185.1,-16.8,186,1039,0.43,2.25,0.00,0.000,4,0.151,0.055,2713,3552,3652
$GC,1209,-0.82,-194.7,199.8,-9.1,219,1217,0.38,2.12,0.00,0.000,6,0.064,0.033,2543,2150,3652
$GC,1538,-0.41,-194.7,250.9,-13.9,280,1544,0.40,2.22,0.00,0.000,4,0.118,0.056,2680,3542,3653
$GC,1587,-0.76,-194.7,253.9,-4.3,289,1593,0.28,2.10,0.00,0.000,6,0.052,0.035,2554,2139,3653
$GC,1913,-0.44,-194.7,287.4,-11.6,350,1920,0.38,0.00,0.00,0.000,6,0.114,0.000,2679,2134,3653
$GC,2241,-1.10,-194.7,312.2,-8.8,399,2245,0.55,2.25,0.00,0.000,4,0.066,0.056,2462,3550,3653
$GC,2309,-0.54,-194.7,320.6,-15.3,405,2313,0.50,2.12,0.00,0.000,6,0.123,0.036,2643,2157,3653
$GC,2630,-1.04,-194.7,340.4,-7.4,436,2634,0.43,2.20,0.00,0.000,4,0.051,0.058,2467,3540,3652
$GC,2770,-0.52,-194.7,361.7,-17.7,449,2774,0.57,2.05,0.00,0.000,6,0.124,0.035,2655,2176,3652
$GC,3085,-1.20,-194.7,394.2,-12.1,479,3089,0.60,2.15,0.00,0.000,4,0.066,0.058,2425,3540,3651
$GC,3116,-0.84,-194.7,398.8,-14.8,482,3120,0.35,2.05,0.00,0.000,6,0.135,0.035,2541,2196,3650
$GC,3438,-0.59,-194.7,443.8,-11.1,513,3441,0.28,2.15,0.00,0.000,4,0.117,0.060,2632,3539,3648
$GC,3506,-0.90,-194.7,447.5,-4.5,519,3513,0.25,2.03,0.00,0.000,6,0.043,0.035,2506,2212,3649
$GC,3822,-0.50,-194.7,482.2,-12.7,550,3824,0.45,0.00,0.00,0.000,6,0.122,0.000,2655,2212,3646
$GC,4132,-1.16,-194.7,510.9,-12.2,576,4134,0.57,0.00,0.00,0.000,6,0.067,0.000,2437,2212,3645
$GC,4437,-0.50,-194.7,575.2,-21.7,591,4442,0.68,2.15,0.00,0.000,4,0.144,0.062,2644,3538,3642
$GC,4517,-0.95,-194.7,582.6,-7.7,595,4521,0.35,2.00,0.00,0.000,6,0.063,0.037,2505,2218,3642
$GC,4843,-0.61,-194.7,618.3,-11.1,611,4847,0.38,2.33,0.00,0.000,4,0.120,0.052,2628,732,3639
$GC,4880,-0.81,-194.7,621.0,-5.2,612,4887,0.15,2.38,0.00,0.000,6,0.041,0.045,2534,2226,3639
$GC,5191,-0.61,-194.7,652.3,-10.0,628,5195,0.28,2.12,0.00,0.000,4,0.117,0.062,2630,3548,3637
$GC,5286,-1.22,-194.7,658.0,-6.7,632,5292,0.52,2.00,0.00,0.000,6,0.068,0.037,2424,2238,3636
$GC,5597,-0.56,-194.7,712.4,-18.7,648,5601,0.68,2.12,0.00,0.000,4,0.144,0.062,2630,3546,3634
$GC,5649,-0.93,-194.7,716.9,-5.2,650,5656,0.25,1.98,0.00,0.000,6,0.042,0.038,2502,2260,3633
$GC,5960,-0.59,-194.7,757.8,-13.9,666,5962,0.38,0.00,0.00,0.000,6,0.122,0.000,2624,2260,3631
$GC,6265,-1.25,-194.7,781.2,-8.3,681,6269,0.57,2.08,0.00,0.000,4,0.064,0.064,2405,3539,3628
$GC,6318,-0.62,-194.7,788.4,-16.8,683,6322,0.65,1.98,0.00,0.000,6,0.139,0.039,2614,2260,3628
$GC,6634,-1.14,-194.7,811.8,-7.7,699,6638,0.45,2.08,0.00,0.000,4,0.061,0.061,2441,3539,3626
$GC,6735,-0.66,-194.7,826.5,-18.0,703,6742,0.47,1.92,0.00,0.000,6,0.127,0.039,2598,2294,3624
$GC,7045,-0.83,-194.7,852.4,-8.5,719,7047,0.15,0.00,0.00,0.000,6,0.061,0.000,2517,2289,3623
$GC,7350,-0.60,-194.7,889.9,-12.8,734,7354,0.32,2.08,0.00,0.000,4,0.120,0.068,2619,3538,3621
$GC,7388,-0.92,-194.7,892.8,-6.3,735,7396,0.22,1.92,0.00,0.000,6,0.044,0.039,2505,2295,3621
$GC,7699,-0.64,-194.7,932.5,-13.0,751,7703,0.30,2.50,0.00,0.000,4,0.124,0.054,2608,739,3619
$GC,7729,-0.77,-194.7,935.4,-7.9,752,7736,0.08,2.50,0.00,0.000,6,0.057,0.048,2549,2293,3619
$GC,8040,-0.71,-194.7,965.5,-10.2,768,8044,0.12,2.03,0.00,0.000,4,0.125,0.066,2587,3542,3617
$GC,8077,-0.90,-194.7,968.4,-7.9,769,8083,0.12,1.92,0.00,0.000,6,0.044,0.038,2506,2298,3617
$STATE,8263,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8264,begin apogee
$GC,8268,-0.26,0.0,991.4,12.8,779,8428,0.70,0.00,156.43,1.391,6,0.121,0.000,2734,2459,2854
$STATE,8428,end apogee,CONTROL_FINISHED_OK
$STATE,8428,begin climb
$GC,8430,0.91,194.7,1001.8,0.0,787,8603,1.02,2.50,165.18,1.352,4,0.045,0.054,3132,1058,2058
$GC,8624,0.05,194.7,992.5,17.0,796,8629,1.08,2.35,0.00,0.000,6,0.175,0.050,2836,2445,2055
$GC,8945,0.46,382.6,980.4,2.8,812,9116,0.32,2.45,163.27,1.332,4,0.043,0.053,3003,1059,1293
$GC,9174,0.29,382.6,952.6,12.5,822,9181,0.28,2.30,0.00,0.000,6,0.127,0.047,2914,2430,1288
$GC,9485,0.51,443.2,931.6,6.3,838,9548,0.20,2.38,54.15,1.301,4,0.051,0.054,3024,1063,1045
$GC,9623,0.34,443.2,912.2,14.9,844,9627,0.32,2.20,0.00,0.000,6,0.128,0.046,2926,2419,1042
$GC,9933,0.54,443.2,887.1,8.2,859,9937,0.20,2.17,0.00,0.000,4,0.051,0.051,3027,1060,1040
$GC,10023,0.35,443.2,873.4,15.9,863,10027,0.28,2.15,0.00,0.000,6,0.127,0.045,2936,2384,1038
$GC,10344,0.51,443.2,841.8,9.1,879,10348,0.15,2.15,0.00,0.000,4,0.056,0.051,3022,1057,1037
$GC,10424,0.35,443.2,830.4,15.0,882,10431,0.25,2.10,0.00,0.000,6,0.123,0.047,2938,2361,1037
$GC,10735,0.50,443.2,800.6,9.4,898,10738,0.12,2.08,0.00,0.000,4,0.063,0.051,3010,1053,1037
$GC,10793,0.39,443.2,792.9,15.3,900,10799,0.17,2.08,0.00,0.000,6,0.120,0.045,2950,2347,1036
$GC,11103,0.50,443.2,760.8,10.3,916,11107,0.00,2.08,0.00,0.000,4,0.000,0.052,2957,1045,1036
$GC,11129,0.62,443.2,758.1,10.4,917,11133,0.12,2.08,0.00,0.000,6,0.043,0.044,3037,2341,1036
$GC,11451,0.35,443.2,703.7,17.5,933,11452,0.35,0.00,0.00,0.000,6,0.133,0.000,2930,2340,1036
$GC,11756,0.59,464.6,678.5,7.4,948,11786,0.22,2.08,20.83,1.085,4,0.048,0.053,3045,1060,959
$GC,11819,0.37,464.6,669.6,16.5,951,11822,0.30,2.08,0.00,0.000,6,0.129,0.044,2937,2338,958
$GC,12145,0.58,473.8,643.5,7.7,967,12159,0.20,2.10,9.50,1.069,4,0.050,0.052,3040,1060,922
$GC,12186,0.42,473.8,637.8,16.3,969,12191,0.25,2.05,0.00,0.000,6,0.124,0.044,2958,2328,921
$GC,12514,0.58,473.8,604.5,9.2,985,12517,0.15,2.03,0.00,0.000,4,0.056,0.052,3039,1054,920
$GC,12587,0.44,473.8,594.3,14.6,988,12592,0.22,2.00,0.00,0.000,6,0.122,0.044,2964,2304,920
$GC,12903,0.58,473.8,565.9,8.7,1004,12907,0.12,1.98,0.00,0.000,4,0.063,0.051,3035,1059,919
$GC,12929,0.53,473.8,562.7,12.4,1005,12933,0.12,1.98,0.00,0.000,6,0.122,0.043,2992,2298,919
$GC,13251,0.53,473.8,528.7,10.2,1021,13252,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2297,920
$GC,13556,0.53,473.8,497.5,10.6,1037,13560,0.00,2.00,0.00,0.000,4,0.000,0.051,2999,1057,919
$GC,13577,0.53,473.8,495.1,10.4,1039,13581,0.00,1.98,0.00,0.000,6,0.000,0.044,2999,2298,920
$GC,13899,0.53,473.8,460.1,11.9,1070,13902,0.00,1.98,0.00,0.000,4,0.000,0.051,3007,1049,919
$GC,13940,0.53,473.8,454.4,13.3,1074,13944,0.00,1.95,0.00,0.000,6,0.000,0.042,3007,2277,920
$GC,14263,0.53,473.8,411.0,12.2,1105,14264,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2277,919
$GC,14572,0.53,473.8,376.7,10.2,1135,14576,0.00,1.92,0.00,0.000,4,0.000,0.051,3011,1056,920
$GC,14608,0.53,473.8,372.6,11.0,1138,14615,0.00,1.92,0.00,0.000,6,0.000,0.041,3011,2271,919
$GC,14926,0.53,473.8,339.9,9.8,1169,14927,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2271,919
$GC,15235,0.53,473.8,307.2,10.8,1199,15239,0.00,2.30,0.00,0.000,4,0.000,0.058,3011,3692,919
$GC,15272,0.53,473.8,302.9,11.5,1202,15278,0.00,2.20,0.00,0.000,6,0.000,0.038,3020,2275,919
$GC,15598,0.58,473.8,267.1,10.2,1261,15603,0.00,1.92,0.00,0.000,4,0.000,0.049,3028,1048,919
$GC,15688,0.58,473.8,258.0,9.6,1278,15694,0.00,1.90,0.00,0.000,6,0.000,0.041,3028,2252,919
$GC,16015,0.64,473.8,230.8,8.7,1339,16021,0.00,2.30,0.00,0.000,4,0.000,0.057,3028,3698,920
$GC,16026,0.70,473.8,229.6,8.7,1341,16031,0.00,2.22,0.00,0.000,6,0.000,0.037,3035,2242,919
$GC,16351,0.76,473.8,192.6,11.7,1402,16358,0.00,1.85,0.00,0.000,4,0.000,0.048,3043,1060,919
$GC,16437,0.82,473.8,182.4,11.6,1418,16443,0.08,1.83,0.00,0.000,6,0.052,0.039,3114,2231,919
$GC,16763,0.63,473.8,136.2,11.8,1479,16771,0.30,2.30,0.00,0.000,4,0.123,0.054,3019,3692,919
$GC,16813,0.85,488.0,132.0,7.6,1488,16832,0.15,2.25,13.48,0.718,6,0.040,0.033,3119,2222,863
$GC,17154,0.75,488.0,96.9,10.9,1551,17161,0.17,1.83,0.00,0.000,4,0.117,0.044,3066,1038,863
$GC,17256,0.97,556.2,89.9,6.1,1570,17322,0.15,1.83,59.33,0.703,6,0.038,0.035,3162,2220,584
$GC,17642,0.83,556.2,38.1,13.4,1640,17648,0.25,2.35,0.00,0.000,4,0.120,0.053,3084,3697,575
$GC,17696,1.06,556.2,32.2,9.6,1650,17703,0.15,2.28,0.00,0.000,6,0.037,0.034,3190,2229,575
$STATE,17881,end climb,SURFACE_DEPTH_REACHED
$STATE,17882,begin surface coast
$FINISH,1.7,1.021688
$STATE,17898,end surface coast,CONTROL_FINISHED_OK
$STATE,17898,begin surface
$SM_CCo,17973,0.00,0.000,0,0,573,559.53
$SM_GC,2.25,7.68,0.00,0.00,0.031,0.000,0.000,159,2122,573,-8.21,-0.37,559.53
$IRIDIUM_FIX,2444.18,12404.46,200998,131305
$TT8_MAMPS,0.048321
$HUMID,1552
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,26.20
$XPDR_PINGS,216
$24V_AH,23.5,50.470
$10V_AH,10.7,33.406
$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,39.975,157.000,642.150,0.000,0.000,25.039,47.744,277.846,62.000,0.000,0.000,14.965,0.000,13029.016,789.040,3949.738,651.798,0.000,2290.929,0.000,3327.754,0.000,55.600,0.000
$DEVICE_MAMPS,222.430,68.263,1391.338,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1141.860,1127.348,1756.323,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97883,1688
$CAP_FILE_SIZE,193876,0
$CFSIZE,260165632,239054848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.202, 40.8,1
$GPS,260609,233937,2450.719,12413.887,31,2.0,31,-3.7