version: 66.04
glider: 165
mission: 2
dive: 253
start: 7 3 109 9 0 51
data:
$ID,165
$MISSION,2
$DIVE,253
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-122085.88
$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,21
$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,51
$R_STBD_OVSHOOT,40
$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
$GPS1,084825,2458.196,12349.474,40,1.3,40,-3.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-71.3
$GPS2,090046,2458.251,12349.640,11,2.8,30,-3.7
$SPEED_LIMITS,0.138,0.241
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,291.5,74335,-14.9,-7.990
$D_GRID,1916
$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,-0.89,-146.0,0.0,0.0,0,58,0.00,0.00,-44.03,0.000,2,0.000,0.000,149,2156,1982
$GC,61,-0.89,-146.0,3.1,-2.5,7,120,9.27,2.22,-41.12,0.000,4,0.225,0.064,2509,3531,3452
$GC,253,-0.12,-146.0,47.8,-26.0,41,259,0.80,2.15,0.00,0.000,6,0.141,0.034,2777,2128,3452
$GC,579,-0.88,-146.0,79.9,-10.8,102,586,0.65,2.22,0.00,0.000,4,0.067,0.049,2531,3535,3453
$GC,645,-0.41,-146.0,89.8,-18.2,114,651,0.47,2.08,0.00,0.000,6,0.127,0.032,2683,2150,3453
$GC,972,-0.46,-146.0,120.9,-8.7,175,978,0.00,2.20,0.00,0.000,4,0.000,0.052,2683,3543,3454
$GC,1063,-0.64,-146.0,128.5,-8.3,192,1069,0.17,2.05,0.00,0.000,6,0.038,0.038,2573,2193,3454
$GC,1390,-0.40,-146.0,174.8,-11.6,253,1397,0.35,2.25,0.00,0.000,4,0.117,0.044,2688,742,3455
$GC,1424,-0.52,-146.0,177.5,-7.8,259,1430,0.08,2.28,0.00,0.000,6,0.050,0.038,2614,2209,3455
$GC,1750,-0.81,-146.0,202.5,-7.7,320,1756,0.15,2.30,0.00,0.000,4,0.051,0.045,2517,746,3455
$GC,1841,-0.44,-146.0,215.0,-15.8,337,1849,0.52,2.38,0.00,0.000,6,0.125,0.041,2677,2288,3455
$GC,2169,-1.06,-146.0,240.7,-7.0,398,2175,0.50,0.00,0.00,0.000,6,0.082,0.000,2477,2288,3455
$GC,2496,-0.56,-146.0,286.8,-14.3,459,2502,0.47,0.00,0.00,0.000,6,0.135,0.000,2632,2288,3455
$GC,2817,-0.98,-146.0,312.2,-8.8,506,2821,0.35,1.95,0.00,0.000,4,0.039,0.058,2462,3530,3454
$GC,3009,-0.48,-146.0,343.9,-16.7,524,3013,0.60,1.90,0.00,0.000,6,0.130,0.035,2660,2280,3453
$GC,3331,-1.02,-146.0,369.3,-7.8,555,3334,0.45,2.00,0.00,0.000,4,0.048,0.056,2469,3541,3451
$GC,3346,-1.25,-146.0,370.7,-8.5,556,3353,0.12,1.92,0.00,0.000,6,0.054,0.035,2402,2269,3451
$GC,3662,-0.50,-146.0,431.4,-20.0,587,3667,0.80,2.38,0.00,0.000,4,0.153,0.048,2650,747,3449
$GC,3693,-0.63,-146.0,434.7,-7.4,589,3699,0.08,2.40,0.00,0.000,6,0.054,0.042,2577,2276,3449
$GC,4008,-0.63,-146.0,461.1,-8.9,620,4012,0.12,2.03,0.00,0.000,4,0.123,0.060,2616,3535,3447
$GC,4051,-0.87,-146.0,464.1,-6.6,624,4055,0.17,1.90,0.00,0.000,6,0.035,0.035,2510,2285,3446
$GC,4382,-0.59,-146.0,503.1,-11.2,655,4386,0.38,2.00,0.00,0.000,4,0.123,0.060,2630,3533,3444
$GC,4424,-0.89,-146.0,505.9,-4.7,657,4428,0.22,1.88,0.00,0.000,6,0.035,0.035,2505,2297,3444
$GC,4751,-0.59,-146.0,542.2,-11.5,673,4755,0.35,2.42,0.00,0.000,4,0.123,0.048,2624,749,3442
$GC,4782,-0.77,-146.0,544.8,-6.7,674,4788,0.12,2.42,0.00,0.000,6,0.041,0.044,2538,2285,3442
$GC,5093,-0.64,-146.0,574.1,-9.2,690,5096,0.22,2.00,0.00,0.000,4,0.124,0.060,2604,3536,3439
$GC,5140,-0.85,-146.0,577.4,-6.4,692,5144,0.12,1.88,0.00,0.000,6,0.043,0.035,2520,2306,3438
$GC,5461,-0.64,-146.0,610.6,-10.2,708,5465,0.30,2.00,0.00,0.000,4,0.122,0.062,2616,3548,3436
$GC,5509,-0.93,-146.0,613.7,-5.1,710,5513,0.20,1.90,0.00,0.000,6,0.036,0.037,2487,2309,3436
$GC,5832,-0.59,-146.0,651.8,-12.3,726,5836,0.40,2.47,0.00,0.000,4,0.130,0.050,2622,741,3434
$GC,5852,-0.59,-146.0,653.8,-9.3,727,5855,0.00,2.47,0.00,0.000,6,0.000,0.044,2622,2316,3434
$GC,6174,-1.07,-146.0,675.5,-7.1,743,6177,0.38,1.95,0.00,0.000,4,0.045,0.060,2451,3536,3432
$GC,6418,-0.65,-146.0,706.6,-13.7,754,6424,0.45,1.77,0.00,0.000,6,0.127,0.037,2600,2371,3430
$GC,6729,-1.06,-146.0,726.4,-6.1,770,6732,0.32,1.88,0.00,0.000,4,0.044,0.061,2449,3539,3428
$GC,6910,-0.65,-146.0,749.0,-13.6,778,6914,0.47,1.75,0.00,0.000,6,0.131,0.038,2604,2397,3426
$GC,7226,-1.10,-146.0,767.5,-6.3,794,7229,0.38,1.85,0.00,0.000,4,0.049,0.063,2443,3549,3424
$GC,7316,-0.66,-146.0,778.3,-15.0,798,7320,0.47,1.73,0.00,0.000,6,0.135,0.039,2606,2423,3423
$GC,7638,-1.10,-146.0,797.3,-6.1,814,7641,0.35,1.80,0.00,0.000,4,0.048,0.063,2446,3535,3422
$GC,7883,-0.69,-146.0,830.5,-14.0,825,7887,0.45,1.80,0.00,0.000,6,0.137,0.039,2590,2366,3420
$GC,8201,-0.85,-146.0,851.0,-6.1,841,8205,0.15,2.60,0.00,0.000,4,0.063,0.052,2515,744,3419
$GC,8226,-0.76,-146.0,853.5,-10.4,842,8230,0.20,2.55,0.00,0.000,6,0.133,0.049,2571,2338,3418
$GC,8542,-0.84,-146.0,876.1,-7.2,858,8545,0.00,1.95,0.00,0.000,4,0.000,0.066,2571,3538,3417
$GC,8584,-0.97,-146.0,879.2,-8.4,860,8588,0.15,1.80,0.00,0.000,6,0.044,0.038,2481,2366,3416
$GC,8910,-0.66,-146.0,920.5,-13.2,876,8915,0.40,2.60,0.00,0.000,4,0.132,0.053,2606,744,3415
$GC,8953,-0.93,-146.0,924.2,-7.2,878,8957,0.25,2.55,0.00,0.000,6,0.047,0.048,2491,2338,3415
$GC,9270,-0.68,-146.0,961.3,-12.0,894,9271,0.35,0.00,0.00,0.000,6,0.131,0.000,2600,2338,3413
$GC,9574,-1.11,-146.0,980.9,-6.3,909,9578,0.38,1.95,0.00,0.000,4,0.046,0.067,2436,3539,3412
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9652,begin apogee
$GC,9658,-0.24,0.0,990.6,13.8,912,9776,0.93,0.00,116.32,1.394,6,0.138,0.000,2732,2441,2854
$STATE,9777,end apogee,CONTROL_FINISHED_OK
$STATE,9777,begin climb
$GC,9779,0.89,146.0,995.4,0.0,918,9907,1.00,0.00,125.90,1.353,6,0.037,0.000,3130,2441,2258
$GC,10205,0.07,146.0,948.7,15.1,939,10210,0.95,2.25,0.00,0.000,4,0.173,0.053,2860,1056,2251
$GC,10284,0.36,234.4,943.7,4.7,943,10369,0.20,2.22,76.05,1.312,6,0.052,0.050,2955,2439,1897
$GC,10673,0.27,234.4,906.2,10.0,962,10674,0.17,0.00,0.00,0.000,6,0.137,0.000,2903,2439,1889
$GC,10978,0.40,246.7,883.4,7.5,977,10993,0.12,2.25,10.75,1.181,4,0.068,0.051,2978,1050,1848
$GC,11068,0.29,246.7,874.1,11.3,980,11072,0.22,2.25,0.00,0.000,6,0.137,0.048,2912,2445,1845
$GC,11384,0.40,262.3,850.1,7.4,996,11406,0.10,2.30,14.95,1.226,4,0.077,0.051,2975,1036,1783
$GC,11458,0.32,262.3,842.4,11.1,999,11462,0.15,2.28,0.00,0.000,6,0.130,0.047,2926,2424,1781
$GC,11774,0.40,271.8,816.8,7.6,1015,11788,0.00,2.25,9.62,1.151,4,0.000,0.051,2930,1060,1745
$GC,11843,0.49,271.8,811.1,8.8,1018,11847,0.15,2.17,0.00,0.000,6,0.061,0.046,3008,2419,1743
$GC,12163,0.25,271.8,771.7,12.6,1034,12167,0.35,2.15,0.00,0.000,4,0.137,0.049,2912,1058,1742
$GC,12211,0.45,271.8,767.5,8.1,1036,12215,0.10,2.17,0.00,0.000,6,0.054,0.045,2985,2405,1741
$GC,12532,0.30,271.8,731.6,11.2,1052,12533,0.22,0.00,0.00,0.000,6,0.136,0.000,2918,2405,1741
$GC,12838,0.44,281.4,708.0,7.6,1067,12851,0.12,2.17,9.57,1.106,4,0.068,0.051,2992,1051,1705
$GC,12879,0.32,281.4,703.7,11.4,1069,12883,0.25,2.17,0.00,0.000,6,0.136,0.046,2920,2417,1704
$GC,13205,0.46,281.4,676.9,8.1,1085,13209,0.15,2.17,0.00,0.000,4,0.061,0.049,3009,1051,1703
$GC,13238,0.29,281.4,673.5,11.9,1086,13241,0.32,2.12,0.00,0.000,6,0.137,0.045,2911,2388,1702
$GC,13553,0.50,294.6,648.3,7.5,1102,13568,0.20,0.00,13.12,1.114,6,0.054,0.000,3012,2388,1652
$GC,13859,0.32,294.6,611.3,12.0,1117,13862,0.28,2.10,0.00,0.000,4,0.133,0.061,2924,3681,1650
$GC,13879,0.32,294.6,609.2,10.3,1118,13883,0.00,2.05,0.00,0.000,6,0.000,0.040,2932,2382,1650
$GC,14205,0.46,294.6,583.3,8.1,1134,14209,0.10,2.10,0.00,0.000,4,0.071,0.050,3001,1064,1649
$GC,14264,0.35,294.6,576.9,11.5,1136,14270,0.17,2.10,0.00,0.000,6,0.129,0.045,2932,2372,1648
$GC,14575,0.51,294.6,550.0,8.5,1152,14578,0.15,2.08,0.00,0.000,4,0.060,0.049,3022,1060,1648
$GC,14601,0.41,294.6,547.2,11.1,1153,14605,0.25,2.08,0.00,0.000,6,0.133,0.044,2949,2375,1648
$GC,14922,0.51,294.6,519.3,8.3,1169,14925,0.10,2.10,0.00,0.000,4,0.072,0.048,3016,1064,1648
$GC,14964,0.36,294.6,514.8,10.6,1171,14968,0.22,2.08,0.00,0.000,6,0.126,0.044,2932,2359,1648
$GC,15284,0.54,307.3,491.1,7.5,1192,15300,0.17,2.05,11.93,0.996,4,0.054,0.048,3039,1060,1601
$GC,15352,0.33,307.3,482.6,13.7,1198,15356,0.35,2.08,0.00,0.000,6,0.133,0.044,2927,2352,1600
$GC,15674,0.71,307.3,456.1,8.1,1229,15677,0.32,2.05,0.00,0.000,4,0.041,0.048,3083,1054,1600
$GC,15825,0.35,307.3,434.7,13.0,1243,15828,0.50,1.98,0.00,0.000,6,0.146,0.044,2934,2314,1600
$GC,16145,0.76,341.5,411.8,6.7,1274,16180,0.35,2.08,31.05,0.981,4,0.040,0.048,3108,1061,1460
$GC,16313,0.37,341.5,386.1,16.5,1289,16319,0.52,1.92,0.00,0.000,6,0.144,0.042,2946,2251,1457
$GC,16629,0.79,341.5,360.4,8.3,1320,16632,0.35,1.88,0.00,0.000,4,0.040,0.047,3112,1060,1456
$GC,16815,0.38,341.5,329.8,17.8,1337,16821,0.52,1.85,0.00,0.000,6,0.143,0.042,2949,2222,1455
$GC,17131,0.82,341.5,301.8,8.6,1368,17135,0.35,2.35,0.00,0.000,4,0.038,0.057,3118,3690,1456
$GC,17179,0.31,341.5,294.7,16.2,1375,17187,0.70,2.25,0.00,0.000,6,0.150,0.037,2920,2239,1456
$GC,17506,0.98,372.5,269.5,6.8,1436,17539,0.57,1.85,26.75,0.857,4,0.047,0.048,3162,1055,1335
$GC,17710,0.49,372.5,233.4,18.1,1473,17717,0.55,1.85,0.00,0.000,6,0.143,0.042,2981,2213,1331
$GC,18037,0.73,379.0,208.1,7.8,1534,18049,0.20,0.00,6.62,0.684,6,0.049,0.000,3080,2213,1307
$GC,18369,0.61,379.0,170.5,10.5,1596,18375,0.20,2.38,0.00,0.000,4,0.128,0.054,3018,3695,1307
$GC,18390,0.61,379.0,168.3,10.2,1600,18397,0.00,2.33,0.00,0.000,6,0.000,0.036,3026,2209,1307
$GC,18717,0.95,379.0,143.9,8.1,1661,18724,0.25,2.38,0.00,0.000,4,0.044,0.053,3151,3689,1307
$GC,18895,0.56,379.0,118.3,14.3,1694,18902,0.50,2.40,0.00,0.000,6,0.135,0.037,3001,2138,1307
$GC,19222,1.12,388.9,92.8,7.6,1755,19242,0.45,2.50,9.98,0.641,4,0.042,0.051,3206,3686,1267
$GC,19402,0.58,388.9,61.4,19.1,1788,19409,0.62,2.33,0.00,0.000,6,0.147,0.035,3009,2195,1267
$GC,19729,1.36,474.0,39.0,4.9,1849,19806,0.62,1.83,69.22,0.640,4,0.050,0.045,3271,1055,920
$GC,19872,0.86,474.0,17.6,17.2,1873,19878,0.52,1.77,0.00,0.000,6,0.142,0.044,3097,2177,917
$STATE,20057,end climb,SURFACE_DEPTH_REACHED
$STATE,20057,begin surface coast
$FINISH,1.6,1.021437
$STATE,20100,end surface coast,CONTROL_FINISHED_OK
$STATE,20100,begin surface
$SM_CCo,20174,0.00,0.000,0,0,915,475.88
$SM_GC,2.27,7.53,0.00,0.00,0.034,0.000,0.000,163,2184,915,-8.20,1.39,475.88
$IRIDIUM_FIX,2451.31,12332.83,270998,090930
$TT8_MAMPS,0.048321
$HUMID,1559
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.30
$XPDR_PINGS,290
$24V_AH,23.4,56.558
$10V_AH,10.7,38.154
$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,46.800,181.975,531.850,0.000,0.000,51.552,65.325,403.806,80.500,0.000,0.000,32.736,0.000,14658.755,717.192,4587.472,910.491,0.000,2398.963,0.000,3876.660,0.000,53.977,0.000
$DEVICE_MAMPS,225.498,66.729,1393.639,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1297.718,1332.574,2075.676,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110370,1916
$CAP_FILE_SIZE,227587,0
$CFSIZE,260165632,235933696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,136.1,1
$GPS,030709,143801,2458.623,12348.214,36,1.3,36,-3.7