version: 66.04
glider: 165
mission: 2
dive: 232
start: 6 28 109 6 8 50
data:
$ID,165
$MISSION,2
$DIVE,232
$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,-121627.24
$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,67
$R_STBD_OVSHOOT,31
$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
$GPS1,055755,2447.625,12416.805,37,1.5,37,-3.7
$_CALLS,1
$_XMS_NAKs,46
$_XMS_TOUTs,1
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-70.4
$GPS2,060843,2447.650,12416.903,12,2.0,29,-3.7
$SPEED_LIMITS,0.138,0.273
$TGT_NAME,RET_1
$TGT_LATLONG,2435.000,12317.000
$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,275.0,103570,-12.7,-7.990
$D_GRID,999
$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,-194.7,0.0,0.0,0,58,0.00,0.00,-44.15,0.000,2,0.000,0.000,150,2103,2070
$GC,60,-0.91,-194.7,3.2,-3.0,7,118,9.23,2.08,-42.55,0.000,4,0.226,0.054,2522,753,3646
$GC,144,-0.04,-194.7,17.5,-26.4,21,152,0.88,2.17,0.00,0.000,6,0.146,0.040,2803,2132,3647
$GC,472,-0.68,-194.7,56.3,-13.2,82,479,0.55,2.20,0.00,0.000,4,0.058,0.055,2588,3540,3648
$GC,607,-0.22,-194.7,77.5,-17.6,107,613,0.43,2.10,0.00,0.000,6,0.112,0.032,2749,2152,3648
$GC,933,-0.81,-194.7,113.8,-12.1,168,940,0.50,2.17,0.00,0.000,4,0.107,0.048,2562,3550,3648
$GC,950,-1.29,-194.7,115.6,-11.1,171,957,0.38,2.10,0.00,0.000,6,0.030,0.031,2372,2141,3649
$GC,1278,-0.15,-194.7,219.2,-31.8,232,1284,1.27,2.20,0.00,0.000,4,0.166,0.051,2747,3539,3649
$GC,1524,-0.71,-194.7,245.6,-9.3,278,1531,0.38,2.03,0.00,0.000,6,0.053,0.035,2583,2193,3651
$GC,1852,-0.81,-194.7,268.2,-6.6,339,1857,0.00,2.10,0.00,0.000,4,0.000,0.054,2583,3539,3651
$GC,1947,-0.91,-194.7,275.5,-8.5,357,1953,0.12,1.90,0.00,0.000,6,0.038,0.032,2489,2270,3651
$GC,2272,-0.35,-194.7,331.5,-16.8,402,2276,0.68,2.33,0.00,0.000,4,0.127,0.046,2708,759,3651
$GC,2336,-0.92,-194.7,335.8,-6.1,408,2340,0.45,2.33,0.00,0.000,6,0.069,0.038,2517,2262,3650
$GC,2657,-0.52,-194.7,373.4,-14.0,439,2661,0.40,2.00,0.00,0.000,4,0.123,0.056,2647,3540,3649
$GC,2747,-1.01,-194.7,380.3,-7.3,447,2754,0.38,1.90,0.00,0.000,6,0.055,0.032,2486,2263,3648
$GC,3063,-0.50,-194.7,429.8,-15.7,478,3065,0.52,0.00,0.00,0.000,6,0.127,0.000,2656,2262,3646
$GC,3375,-1.14,-194.7,448.0,-6.0,508,3377,0.55,0.00,0.00,0.000,6,0.060,0.000,2442,2262,3645
$GC,3684,-0.48,-194.7,498.4,-19.1,538,3688,0.70,2.05,0.00,0.000,4,0.138,0.061,2661,3545,3643
$GC,3721,-0.81,-194.7,502.1,-5.9,540,3728,0.25,1.90,0.00,0.000,6,0.047,0.035,2540,2292,3642
$GC,4032,-0.60,-194.7,535.4,-10.9,556,4035,0.25,2.40,0.00,0.000,4,0.112,0.048,2623,756,3640
$GC,4068,-0.82,-194.7,538.4,-6.6,557,4076,0.15,2.40,0.00,0.000,6,0.038,0.042,2521,2278,3639
$GC,4379,-0.54,-194.7,572.8,-10.7,573,4383,0.38,2.00,0.00,0.000,4,0.118,0.061,2644,3536,3637
$GC,4426,-0.94,-194.7,575.3,-3.6,575,4430,0.30,1.90,0.00,0.000,6,0.047,0.035,2503,2284,3636
$GC,4748,-0.58,-194.7,614.2,-14.3,591,4749,0.40,0.00,0.00,0.000,6,0.122,0.000,2633,2278,3634
$GC,5052,-1.24,-194.7,640.6,-9.2,606,5057,0.57,2.38,0.00,0.000,4,0.064,0.050,2413,757,3631
$GC,5127,-0.57,-194.7,651.9,-20.6,609,5132,0.68,2.38,0.00,0.000,6,0.142,0.048,2637,2234,3630
$GC,5437,-1.26,-194.7,677.9,-9.0,624,5441,0.60,2.08,0.00,0.000,4,0.065,0.059,2410,3542,3628
$GC,5463,-1.14,-194.7,680.7,-11.4,625,5468,0.10,1.98,0.00,0.000,6,0.152,0.036,2444,2253,3627
$GC,5787,-0.54,-194.7,737.7,-18.0,641,5788,0.62,0.00,0.00,0.000,6,0.137,0.000,2642,2252,3625
$GC,6090,-1.22,-194.7,761.8,-8.2,656,6094,0.60,2.35,0.00,0.000,4,0.069,0.051,2417,757,3624
$GC,6122,-0.83,-194.7,765.1,-10.9,657,6126,0.40,2.35,0.00,0.000,6,0.137,0.048,2551,2225,3623
$GC,6438,-0.74,-194.7,788.3,-7.2,673,6441,0.10,2.10,0.00,0.000,4,0.139,0.061,2577,3537,3621
$GC,6507,-0.88,-194.7,792.2,-5.1,676,6511,0.08,1.98,0.00,0.000,6,0.054,0.037,2515,2257,3620
$GC,6827,-0.60,-194.7,822.3,-10.6,692,6829,0.32,0.00,0.00,0.000,6,0.120,0.000,2620,2252,3618
$GC,7133,-1.16,-194.7,840.4,-6.5,707,7134,0.47,0.00,0.00,0.000,6,0.058,0.000,2436,2251,3617
$GC,7438,-0.58,-194.7,888.8,-17.0,722,7442,0.62,2.12,0.00,0.000,4,0.143,0.067,2629,3542,3614
$GC,7512,-1.05,-194.7,893.7,-5.7,725,7516,0.38,1.98,0.00,0.000,6,0.062,0.038,2476,2266,3615
$GC,7828,-0.64,-194.7,932.2,-13.1,741,7833,0.43,2.40,0.00,0.000,4,0.129,0.054,2610,755,3612
$GC,7887,-0.89,-194.7,936.5,-6.4,744,7891,0.22,2.40,0.00,0.000,6,0.049,0.047,2500,2249,3612
$GC,8216,-0.60,-194.7,976.8,-13.2,760,8219,0.35,2.10,0.00,0.000,4,0.126,0.064,2617,3533,3610
$GC,8263,-0.94,-194.7,980.8,-6.7,762,8266,0.25,1.95,0.00,0.000,6,0.044,0.038,2493,2270,3609
$STATE,8357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8357,begin apogee
$GC,8362,-0.26,0.0,992.6,12.9,767,8522,0.75,0.00,155.10,1.389,6,0.127,0.000,2734,2456,2854
$STATE,8522,end apogee,CONTROL_FINISHED_OK
$STATE,8522,begin climb
$GC,8524,0.91,194.7,1002.2,0.0,775,8696,1.00,2.45,165.10,1.349,4,0.042,0.053,3130,1075,2058
$GC,8765,0.07,194.7,983.2,16.9,786,8770,0.95,2.30,0.00,0.000,6,0.173,0.049,2845,2446,2054
$GC,9083,0.39,335.7,968.6,4.1,802,9212,0.25,2.38,122.70,1.324,4,0.048,0.051,2980,1080,1484
$GC,9309,0.25,335.7,944.4,11.5,812,9315,0.22,2.25,0.00,0.000,6,0.127,0.046,2906,2444,1478
$GC,9619,0.37,335.7,918.5,8.7,828,9623,0.10,2.22,0.00,0.000,4,0.071,0.050,2968,1078,1477
$GC,9699,0.28,335.7,909.3,12.0,831,9706,0.15,2.15,0.00,0.000,6,0.126,0.047,2916,2413,1475
$GC,10010,0.37,335.7,880.0,9.2,847,10014,0.00,2.17,0.00,0.000,4,0.000,0.051,2916,1074,1475
$GC,10063,0.49,335.7,874.9,9.2,849,10067,0.12,2.12,0.00,0.000,6,0.047,0.045,3002,2402,1474
$GC,10379,0.20,335.7,827.1,15.7,865,10382,0.38,2.05,0.00,0.000,4,0.133,0.061,2887,3684,1474
$GC,10404,0.26,335.7,823.9,11.4,866,10409,0.00,1.95,0.00,0.000,6,0.000,0.038,2894,2422,1474
$GC,10726,0.43,339.4,797.2,7.9,882,10730,0.17,2.15,0.00,0.000,4,0.054,0.050,2994,1050,1473
$GC,10843,0.26,339.4,781.4,15.0,887,10847,0.28,2.12,0.00,0.000,6,0.131,0.045,2903,2374,1472
$GC,11159,0.42,340.2,754.2,8.0,903,11163,0.15,2.10,0.00,0.000,4,0.058,0.050,2991,1045,1472
$GC,11196,0.25,340.2,749.9,12.3,904,11202,0.25,2.12,0.00,0.000,6,0.128,0.044,2908,2370,1472
$GC,11506,0.54,449.3,731.0,5.0,920,11612,0.22,2.22,99.30,1.221,4,0.051,0.051,3024,1058,1021
$GC,11670,0.37,449.3,710.9,13.8,927,11676,0.25,2.12,0.00,0.000,6,0.124,0.044,2943,2342,1017
$GC,11981,0.53,449.3,684.0,8.6,943,11985,0.12,2.05,0.00,0.000,4,0.063,0.050,3018,1061,1015
$GC,12023,0.39,449.3,678.8,13.7,945,12027,0.20,2.08,0.00,0.000,6,0.117,0.044,2950,2345,1015
$GC,12350,0.53,449.3,652.4,8.2,961,12353,0.12,2.05,0.00,0.000,4,0.063,0.051,3025,1060,1013
$GC,12386,0.40,449.3,648.3,12.9,962,12393,0.22,2.05,0.00,0.000,6,0.122,0.044,2950,2338,1013
$GC,12697,0.56,449.3,620.9,9.4,978,12700,0.15,2.03,0.00,0.000,4,0.058,0.049,3034,1060,1013
$GC,12771,0.39,449.3,610.1,16.6,981,12775,0.25,2.00,0.00,0.000,6,0.123,0.043,2950,2316,1013
$GC,13088,0.58,463.0,582.6,7.6,997,13110,0.15,2.08,11.93,1.059,4,0.056,0.050,3035,1048,966
$GC,13130,0.44,463.0,577.3,13.8,999,13134,0.22,2.03,0.00,0.000,6,0.120,0.043,2960,2314,965
$GC,13458,0.62,463.0,544.0,9.1,1015,13461,0.17,2.00,0.00,0.000,4,0.052,0.048,3053,1058,963
$GC,13521,0.41,463.0,535.2,14.7,1018,13525,0.28,1.98,0.00,0.000,6,0.129,0.043,2952,2295,963
$GC,13848,0.62,463.0,506.6,9.7,1034,13851,0.20,1.95,0.00,0.000,4,0.054,0.048,3053,1058,963
$GC,13884,0.54,463.0,501.7,13.9,1035,13891,0.17,1.95,0.00,0.000,6,0.132,0.041,2994,2293,963
$GC,14201,0.59,463.0,464.6,10.8,1065,14204,0.00,1.95,0.00,0.000,4,0.000,0.048,3001,1051,963
$GC,14253,0.59,463.0,458.6,12.2,1070,14257,0.00,1.92,0.00,0.000,6,0.000,0.041,3001,2266,963
$GC,14575,0.59,463.0,421.8,11.6,1101,14579,0.00,2.28,0.00,0.000,4,0.000,0.058,3001,3687,963
$GC,14633,0.59,463.0,414.7,12.1,1106,14637,0.00,2.22,0.00,0.000,6,0.000,0.038,3009,2266,963
$GC,14955,0.59,463.0,380.5,10.1,1137,14958,0.00,1.88,0.00,0.000,4,0.000,0.049,3018,1058,963
$GC,15019,0.59,463.0,373.7,10.7,1143,15022,0.00,1.90,0.00,0.000,6,0.000,0.041,3018,2262,963
$GC,15340,0.59,463.0,341.9,10.2,1174,15341,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2262,963
$GC,15649,0.59,463.0,302.9,12.8,1204,15650,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2262,963
$GC,15970,0.59,463.0,267.3,9.5,1261,15976,0.00,1.90,0.00,0.000,4,0.000,0.048,3025,1047,963
$GC,16034,0.59,463.0,261.0,9.4,1273,16041,0.00,1.90,0.00,0.000,6,0.000,0.040,3025,2255,963
$GC,16361,0.64,463.0,232.2,10.7,1334,16367,0.00,2.30,0.00,0.000,4,0.000,0.056,3025,3686,963
$GC,16388,0.64,463.0,228.9,12.0,1339,16394,0.00,2.22,0.00,0.000,6,0.000,0.036,3033,2251,963
$GC,16714,0.64,463.0,193.3,8.2,1400,16720,0.00,1.88,0.00,0.000,4,0.000,0.047,3041,1054,963
$GC,16762,0.64,463.0,189.3,8.6,1409,16769,0.00,1.85,0.00,0.000,6,0.000,0.038,3041,2243,963
$GC,17089,0.69,463.0,161.0,10.0,1470,17096,0.00,2.30,0.00,0.000,4,0.000,0.054,3041,3684,963
$GC,17138,0.69,463.0,155.7,12.1,1479,17144,0.00,2.22,0.00,0.000,6,0.000,0.035,3049,2244,963
$GC,17465,0.81,463.0,126.0,8.6,1540,17470,0.00,1.85,0.00,0.000,4,0.000,0.046,3056,1054,963
$GC,17539,0.90,463.0,119.0,9.4,1554,17546,0.10,1.85,0.00,0.000,6,0.044,0.037,3135,2248,963
$GC,17866,0.71,463.0,73.3,12.5,1615,17872,0.28,1.85,0.00,0.000,4,0.119,0.043,3051,1053,963
$GC,17892,0.71,463.0,70.5,10.5,1620,17899,0.00,1.80,0.00,0.000,6,0.000,0.036,3051,2228,963
$GC,18219,1.20,463.0,42.9,8.1,1681,18226,0.40,1.85,0.00,0.000,4,0.040,0.043,3239,1046,963
$GC,18333,0.71,463.0,24.3,19.6,1702,18340,0.55,1.80,0.00,0.000,6,0.133,0.044,3045,2206,963
$STATE,18642,end climb,SURFACE_DEPTH_REACHED
$STATE,18642,begin surface coast
$FINISH,1.7,1.021486
$STATE,18687,end surface coast,CONTROL_FINISHED_OK
$STATE,18687,begin surface
$SM_CCo,18761,0.00,0.000,0,0,963,463.86
$SM_GC,2.23,7.20,0.00,0.00,0.028,0.000,0.000,163,2119,963,-8.20,-0.45,463.86
$IRIDIUM_FIX,2439.44,12416.95,220998,010130
$TT8_MAMPS,0.048321
$HUMID,1543
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,26.50
$XPDR_PINGS,236
$24V_AH,23.5,51.917
$10V_AH,10.7,34.495
$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,41.975,172.050,554.125,0.000,0.000,28.815,37.998,431.611,67.000,0.000,0.000,31.546,0.000,13643.472,724.283,4171.150,835.515,0.000,2273.626,0.000,3511.485,0.000,55.638,0.000
$DEVICE_MAMPS,226.265,74.399,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.098,1214.736,1888.898,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101041,1768
$CAP_FILE_SIZE,206759,0
$CFSIZE,260165632,238325760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,104.1,1
$GPS,280609,112236,2447.943,12414.929,40,1.1,45,-3.7