version: 66.04
glider: 165
mission: 2
dive: 307
start: 7 16 109 0 1 32
data:
$ID,165
$MISSION,2
$DIVE,307
$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,-3
$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,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,-123524.63
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2810
$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,0.034000002
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,235502,2547.434,12433.284,36,1.8,37,-4.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-68.4
$GPS2,000126,2547.587,12433.586,10,1.4,10,-4.0
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_5
$TGT_LATLONG,2520.600,12517.300
$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,173.3,88608,-18.3,-12.000
$D_GRID,1291
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-1.11,-194.7,0.0,0.0,0,71,0.00,0.00,-57.38,0.000,2,0.000,0.000,160,2122,1937
$GC,74,-1.11,-194.7,3.3,-3.8,9,137,8.85,2.20,-46.75,0.000,4,0.222,0.056,2447,736,3650
$GC,153,-0.54,-194.7,16.1,-27.8,22,159,0.60,2.20,0.00,0.000,6,0.150,0.040,2634,2134,3650
$GC,480,-0.60,-194.7,61.2,-12.0,83,487,0.00,2.22,0.00,0.000,4,0.000,0.056,2633,3540,3652
$GC,556,-0.70,-194.7,70.0,-11.6,97,562,0.10,2.10,0.00,0.000,6,0.048,0.034,2561,2155,3652
$GC,882,-0.65,-194.7,115.3,-15.0,158,888,0.12,2.22,0.00,0.000,4,0.135,0.053,2590,3540,3653
$GC,1040,-0.70,-194.7,135.6,-12.0,187,1046,0.00,1.98,0.00,0.000,6,0.000,0.035,2590,2238,3654
$GC,1368,-1.02,-194.7,165.3,-8.3,248,1374,0.25,2.08,0.00,0.000,4,0.042,0.054,2442,3546,3655
$GC,1448,-0.75,-194.7,177.1,-15.4,263,1456,0.35,1.95,0.00,0.000,6,0.131,0.035,2559,2260,3655
$GC,1777,-0.96,-194.7,212.6,-9.6,324,1784,0.17,2.08,0.00,0.000,4,0.051,0.056,2454,3539,3656
$GC,2018,-0.77,-194.7,248.3,-13.9,369,2024,0.28,1.85,0.00,0.000,6,0.123,0.034,2559,2308,3656
$GC,2346,-0.90,-194.7,278.6,-9.6,430,2352,0.12,2.45,0.00,0.000,4,0.062,0.048,2481,742,3656
$GC,2384,-0.82,-194.7,283.5,-13.7,437,2390,0.20,2.40,0.00,0.000,6,0.130,0.043,2542,2288,3656
$GC,2709,-1.09,-194.7,317.3,-9.4,482,2713,0.22,1.98,0.00,0.000,4,0.045,0.058,2428,3550,3656
$GC,2735,-1.01,-194.7,320.3,-12.2,484,2742,0.15,1.95,0.00,0.000,6,0.140,0.035,2478,2263,3655
$GC,3052,-0.91,-194.7,357.5,-11.1,515,3055,0.12,2.03,0.00,0.000,4,0.146,0.058,2510,3543,3654
$GC,3203,-0.95,-194.7,371.9,-9.1,529,3206,0.00,1.80,0.00,0.000,6,0.000,0.035,2510,2333,3653
$GC,3525,-0.95,-194.7,399.3,-11.1,560,3528,0.00,1.95,0.00,0.000,4,0.000,0.060,2510,3547,3652
$GC,3643,-1.00,-194.7,412.3,-10.8,571,3646,0.00,1.80,0.00,0.000,6,0.000,0.036,2510,2348,3651
$GC,3965,-1.03,-194.7,445.0,-9.2,602,3968,0.00,1.92,0.00,0.000,4,0.000,0.063,2510,3540,3650
$GC,4056,-1.09,-194.7,453.3,-9.1,610,4062,0.10,1.77,0.00,0.000,6,0.044,0.044,2442,2378,3649
$GC,4371,-0.92,-194.7,497.7,-14.3,641,4374,0.22,1.88,0.00,0.000,4,0.140,0.064,2507,3539,3647
$GC,4414,-0.97,-194.7,502.5,-10.7,644,4417,0.00,1.75,0.00,0.000,6,0.000,0.037,2507,2394,3645
$GC,4739,-0.97,-194.7,534.8,-9.8,660,4743,0.00,2.60,0.00,0.000,4,0.000,0.051,2507,747,3643
$GC,4804,-1.05,-194.7,541.2,-9.8,663,4808,0.10,2.55,0.00,0.000,6,0.072,0.048,2455,2356,3642
$GC,5126,-0.92,-194.7,581.4,-12.5,679,5129,0.17,1.90,0.00,0.000,4,0.148,0.063,2507,3536,3639
$GC,5256,-1.00,-194.7,593.7,-9.5,685,5259,0.00,1.75,0.00,0.000,6,0.000,0.038,2507,2376,3638
$GC,5582,-1.04,-194.7,623.2,-9.0,701,5585,0.00,2.58,0.00,0.000,4,0.000,0.051,2507,747,3634
$GC,5604,-1.09,-194.7,625.2,-9.8,702,5608,0.15,2.58,0.00,0.000,6,0.061,0.048,2438,2362,3635
$GC,5925,-0.90,-194.7,668.3,-14.4,718,5928,0.22,1.88,0.00,0.000,4,0.151,0.064,2507,3532,3632
$GC,5977,-0.98,-194.7,674.4,-9.9,720,5981,0.00,1.77,0.00,0.000,6,0.000,0.038,2507,2378,3632
$GC,6294,-1.02,-194.7,706.1,-10.3,736,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2374,3630
$GC,6599,-1.06,-194.7,735.1,-9.4,751,6603,0.12,2.58,0.00,0.000,4,0.066,0.053,2445,759,3628
$GC,6641,-0.94,-194.7,740.2,-12.8,753,6645,0.22,2.58,0.00,0.000,6,0.143,0.051,2507,2361,3627
$GC,6957,-1.00,-194.7,769.9,-9.3,769,6960,0.00,1.90,0.00,0.000,4,0.000,0.067,2507,3533,3626
$GC,6983,-1.06,-194.7,772.3,-9.5,770,6987,0.08,1.77,0.00,0.000,6,0.054,0.039,2454,2382,3625
$GC,7306,-0.95,-194.7,811.1,-12.4,786,7310,0.17,2.62,0.00,0.000,4,0.146,0.052,2511,747,3624
$GC,7348,-1.05,-194.7,815.8,-10.2,788,7352,0.12,2.60,0.00,0.000,6,0.067,0.049,2451,2367,3624
$GC,7671,-0.93,-194.7,858.1,-13.5,804,7674,0.17,1.90,0.00,0.000,4,0.150,0.066,2506,3530,3622
$GC,7712,-1.02,-194.7,863.2,-10.3,806,7716,0.00,1.77,0.00,0.000,6,0.000,0.040,2506,2384,3621
$GC,8039,-1.08,-194.7,898.8,-11.2,822,8043,0.12,2.62,0.00,0.000,4,0.065,0.054,2445,748,3620
$GC,8059,-1.04,-194.7,901.7,-14.2,823,8064,0.12,2.60,0.00,0.000,6,0.159,0.051,2474,2359,3620
$GC,8381,-1.00,-194.7,944.0,-13.0,839,8384,0.00,1.95,0.00,0.000,4,0.000,0.068,2468,3536,3618
$GC,8450,-1.00,-194.7,953.3,-13.3,842,8453,0.00,1.77,0.00,0.000,6,0.000,0.040,2468,2394,3617
$STATE,8748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8748,begin apogee
$GC,8753,-0.24,0.0,992.3,13.0,857,8915,0.82,0.00,158.95,1.393,6,0.130,0.000,2732,2440,2854
$STATE,8915,end apogee,CONTROL_FINISHED_OK
$STATE,8915,begin climb
$GC,8918,1.11,194.7,1003.4,0.0,865,9094,1.20,2.22,166.40,1.348,4,0.048,0.067,3179,3683,2059
$GC,9119,0.49,194.7,992.4,20.1,874,9123,0.73,2.00,0.00,0.000,6,0.176,0.042,2976,2480,2055
$GC,9436,0.55,270.4,963.1,8.9,890,9513,0.00,2.42,67.93,1.283,4,0.000,0.054,2985,1036,1750
$GC,9595,0.68,336.9,947.9,9.3,897,9660,0.12,2.33,59.45,1.298,6,0.067,0.048,3044,2462,1480
$GC,9970,0.60,336.9,894.7,14.3,916,9973,0.15,2.30,0.00,0.000,4,0.144,0.051,3010,1039,1472
$GC,10034,0.60,336.9,886.5,13.3,919,10037,0.00,2.22,0.00,0.000,6,0.000,0.048,3010,2429,1471
$GC,10360,0.60,336.9,845.5,12.7,935,10363,0.00,2.22,0.00,0.000,4,0.000,0.051,3019,1041,1472
$GC,10444,0.60,336.9,834.1,13.0,939,10448,0.00,2.20,0.00,0.000,6,0.000,0.047,3019,2403,1469
$GC,10771,0.60,336.9,790.0,13.8,955,10775,0.00,2.17,0.00,0.000,4,0.000,0.051,3029,1040,1469
$GC,10846,0.60,336.9,779.4,14.6,958,10849,0.00,2.15,0.00,0.000,6,0.000,0.046,3029,2377,1468
$GC,11161,0.60,336.9,733.1,14.6,974,11165,0.00,2.15,0.00,0.000,4,0.000,0.051,3038,1045,1468
$GC,11215,0.56,336.9,725.0,15.7,976,11218,0.12,2.10,0.00,0.000,6,0.140,0.046,2996,2354,1467
$GC,11530,0.63,336.9,685.3,12.2,992,11533,0.00,2.10,0.00,0.000,4,0.000,0.050,3005,1032,1467
$GC,11583,0.69,336.9,678.6,12.2,994,11587,0.00,2.10,0.00,0.000,6,0.000,0.045,3005,2342,1466
$GC,11899,0.75,344.6,640.2,11.7,1010,11909,0.15,2.08,6.10,0.958,4,0.065,0.051,3087,1034,1448
$GC,11930,0.61,344.6,635.7,15.9,1011,11937,0.22,2.08,0.00,0.000,6,0.151,0.046,3015,2326,1448
$GC,12241,0.65,372.6,599.7,10.8,1027,12272,0.00,2.10,27.02,1.131,4,0.000,0.052,3024,1032,1333
$GC,12299,0.70,372.6,593.0,12.2,1029,12306,0.00,2.10,0.00,0.000,6,0.000,0.044,3024,2317,1331
$GC,12610,0.78,403.0,559.5,10.7,1045,12644,0.12,2.15,27.85,1.099,4,0.073,0.051,3096,1041,1210
$GC,12666,0.65,403.0,551.3,16.0,1047,12674,0.22,2.08,0.00,0.000,6,0.144,0.045,3026,2302,1208
$GC,12977,0.73,411.2,514.2,11.7,1063,12990,0.00,2.08,8.48,0.965,4,0.000,0.052,3034,1044,1177
$GC,13035,0.80,413.7,507.6,11.9,1065,13042,0.00,2.03,3.88,0.680,6,0.000,0.044,3034,2295,1166
$GC,13351,0.86,421.4,469.4,11.7,1093,13365,0.15,2.30,8.60,0.944,4,0.061,0.061,3107,3681,1136
$GC,13430,0.66,421.4,456.4,17.3,1100,13437,0.28,2.20,0.00,0.000,6,0.141,0.041,3028,2309,1135
$GC,13746,0.76,421.4,420.1,12.1,1131,13749,0.00,2.25,0.00,0.000,4,0.000,0.060,3028,3685,1134
$GC,13772,0.84,421.4,416.7,13.2,1133,13778,0.12,2.20,0.00,0.000,6,0.071,0.039,3099,2273,1134
$GC,14087,0.77,421.4,365.5,16.6,1164,14089,0.15,0.00,0.00,0.000,6,0.146,0.000,3058,2268,1133
$GC,14400,0.85,437.0,326.0,11.4,1194,14422,0.00,2.00,15.07,0.917,4,0.000,0.051,3066,1032,1071
$GC,14480,0.91,450.2,316.6,11.5,1201,14498,0.08,2.05,13.20,0.884,6,0.059,0.042,3118,2311,1017
$GC,14813,0.86,450.2,265.1,15.2,1253,14819,0.12,2.03,0.00,0.000,4,0.143,0.048,3092,1035,1015
$GC,14910,0.86,450.2,251.7,14.0,1271,14916,0.00,1.98,0.00,0.000,6,0.000,0.041,3092,2294,1015
$GC,15237,0.92,465.2,210.8,11.4,1332,15256,0.00,2.05,14.23,0.812,4,0.000,0.048,3101,1039,955
$GC,15314,0.92,465.2,201.2,12.8,1346,15320,0.00,1.92,0.00,0.000,6,0.000,0.040,3101,2249,954
$GC,15641,0.99,465.2,160.2,12.7,1407,15648,0.00,1.92,0.00,0.000,4,0.000,0.048,3109,1042,954
$GC,15669,1.05,465.2,156.7,12.4,1412,15675,0.08,1.83,0.00,0.000,6,0.058,0.041,3162,2203,954
$GC,15995,1.05,465.2,115.0,12.0,1473,16001,0.00,2.40,0.00,0.000,4,0.000,0.055,3162,3692,954
$GC,16038,0.98,465.2,108.9,14.6,1481,16045,0.10,2.33,0.00,0.000,6,0.125,0.037,3129,2216,954
$GC,16365,1.18,536.2,80.5,9.1,1542,16430,0.17,1.92,60.83,0.706,4,0.056,0.047,3225,1035,666
$GC,16481,1.07,536.2,64.8,12.9,1561,16487,0.20,1.85,0.00,0.000,6,0.133,0.044,3151,2192,660
$GC,16807,1.28,569.1,30.8,10.6,1622,16863,0.20,2.47,36.38,0.562,4,0.050,0.051,3244,3698,531
$GC,16918,1.16,569.1,14.9,14.6,1641,16925,0.25,2.38,0.00,0.000,6,0.147,0.039,3184,2170,525
$STATE,17023,end climb,SURFACE_DEPTH_REACHED
$STATE,17023,begin surface coast
$FINISH,1.7,1.013865
$STATE,17051,end surface coast,CONTROL_FINISHED_OK
$STATE,17051,begin surface
$SM_CCo,17126,0.00,0.000,0,0,520,572.28
$SM_GC,2.47,7.75,0.00,0.00,0.035,0.000,0.000,152,2166,520,-8.18,0.85,572.28
$IRIDIUM_FIX,2536.61,12430.51,091098,202028
$TT8_MAMPS,0.049088
$HUMID,1624
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,26.30
$XPDR_PINGS,327
$24V_AH,23.2,68.134
$10V_AH,10.6,47.765
$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,27.200,174.350,674.350,0.000,0.000,30.572,43.518,187.793,89.750,0.000,0.000,13.543,0.000,12111.432,789.865,3942.514,639.942,0.000,2311.427,0.000,3338.592,0.000,56.025,0.000
$DEVICE_MAMPS,222.430,99.710,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1127.066,1171.947,1837.629,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94782,1666
$CAP_FILE_SIZE,191929,0
$CFSIZE,260165632,229969920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.540, 66.8,1
$GPS,160709,044800,2547.221,12438.711,36,1.0,41,-4.0