version: 66.04
glider: 165
mission: 2
dive: 309
start: 7 16 109 10 6 3
data:
$ID,165
$MISSION,2
$DIVE,309
$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,-123555.71
$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,58
$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
$GPS1,095637,2546.758,12444.219,38,1.3,38,-4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.3
$GPS2,100556,2546.868,12444.583,11,1.7,11,-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,180.6,73249,-18.3,-12.000
$D_GRID,1975
$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,-1.11,-194.7,0.0,0.0,0,67,0.00,0.00,-52.38,0.000,2,0.000,0.000,145,2186,1797
$GC,69,-1.11,-194.7,3.0,-3.5,8,140,9.05,2.28,-53.42,0.000,4,0.225,0.056,2447,744,3649
$GC,216,-0.59,-194.7,33.9,-28.8,33,223,0.55,2.20,0.00,0.000,6,0.145,0.038,2621,2138,3651
$GC,543,-0.59,-194.7,77.7,-13.6,94,550,0.00,2.25,0.00,0.000,4,0.000,0.053,2619,3545,3651
$GC,657,-0.65,-194.7,91.3,-11.1,115,663,0.00,2.08,0.00,0.000,6,0.000,0.038,2619,2183,3651
$GC,984,-0.99,-194.7,125.9,-9.2,176,990,0.30,2.20,0.00,0.000,4,0.041,0.041,2453,731,3652
$GC,1016,-0.76,-194.7,130.4,-15.7,182,1024,0.38,2.20,0.00,0.000,6,0.136,0.040,2567,2162,3652
$GC,1345,-0.81,-194.7,169.7,-11.5,243,1351,0.00,2.20,0.00,0.000,4,0.000,0.059,2563,3539,3653
$GC,1409,-0.81,-194.7,176.5,-10.4,255,1415,0.00,2.05,0.00,0.000,6,0.000,0.034,2563,2190,3653
$GC,1735,-1.06,-194.7,207.7,-9.9,316,1742,0.25,2.15,0.00,0.000,4,0.043,0.058,2437,3545,3654
$GC,1885,-0.80,-194.7,230.4,-15.8,344,1892,0.32,1.95,0.00,0.000,6,0.129,0.035,2547,2259,3654
$GC,2213,-1.07,-194.7,261.7,-10.2,405,2218,0.20,2.35,0.00,0.000,4,0.048,0.045,2435,742,3653
$GC,2228,-1.19,-194.7,263.7,-11.0,408,2234,0.00,2.35,0.00,0.000,6,0.000,0.046,2424,2237,3653
$GC,2551,-0.92,-194.7,316.8,-17.6,460,2555,0.30,2.05,0.00,0.000,4,0.141,0.056,2508,3543,3654
$GC,2658,-0.92,-194.7,330.4,-11.4,470,2661,0.00,1.92,0.00,0.000,6,0.000,0.035,2508,2260,3654
$GC,2980,-0.92,-194.7,363.4,-9.6,501,2983,0.00,2.05,0.00,0.000,4,0.000,0.059,2508,3540,3652
$GC,3044,-0.92,-194.7,369.9,-9.8,507,3047,0.00,1.88,0.00,0.000,6,0.000,0.035,2507,2285,3652
$GC,3364,-0.92,-194.7,403.1,-10.3,538,3368,0.00,2.05,0.00,0.000,4,0.000,0.059,2507,3541,3650
$GC,3396,-0.92,-194.7,406.5,-10.7,541,3400,0.00,1.90,0.00,0.000,6,0.000,0.035,2507,2290,3649
$GC,3719,-0.95,-194.7,440.5,-10.1,572,3722,0.00,2.00,0.00,0.000,4,0.000,0.060,2507,3538,3647
$GC,3777,-0.95,-194.7,446.9,-10.8,577,3783,0.00,1.88,0.00,0.000,6,0.000,0.035,2507,2306,3646
$GC,4093,-1.00,-194.7,479.5,-10.0,608,4096,0.00,2.00,0.00,0.000,4,0.000,0.060,2507,3531,3645
$GC,4156,-1.04,-194.7,485.9,-9.8,614,4160,0.00,1.85,0.00,0.000,6,0.000,0.036,2507,2314,3644
$GC,4487,-1.21,-194.7,514.9,-8.7,638,4491,0.20,2.47,0.00,0.000,4,0.052,0.049,2400,738,3642
$GC,4700,-0.96,-194.7,547.3,-15.2,648,4704,0.35,2.58,0.00,0.000,6,0.153,0.049,2501,2358,3639
$GC,5021,-0.96,-194.7,580.7,-10.1,664,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2358,3637
$GC,5326,-0.96,-194.7,612.3,-10.5,679,5329,0.00,1.90,0.00,0.000,4,0.000,0.064,2494,3541,3634
$GC,5395,-0.96,-194.7,619.7,-10.3,682,5398,0.00,1.77,0.00,0.000,6,0.000,0.038,2494,2384,3634
$GC,5716,-0.96,-194.7,654.9,-11.3,698,5720,0.00,2.60,0.00,0.000,4,0.000,0.051,2494,743,3631
$GC,5764,-1.00,-194.7,660.4,-11.1,700,5767,0.00,2.60,0.00,0.000,6,0.000,0.048,2494,2372,3630
$GC,6080,-1.00,-194.7,695.8,-11.4,716,6083,0.00,1.88,0.00,0.000,4,0.000,0.065,2494,3536,3628
$GC,6122,-1.04,-194.7,700.6,-10.8,718,6125,0.00,1.75,0.00,0.000,6,0.000,0.038,2494,2394,3628
$GC,6449,-1.04,-194.7,736.3,-10.8,734,6452,0.00,2.62,0.00,0.000,4,0.000,0.051,2494,742,3626
$GC,6491,-1.09,-194.7,740.9,-9.5,736,6495,0.10,2.60,0.00,0.000,6,0.075,0.050,2448,2368,3626
$GC,6814,-0.95,-194.7,782.2,-13.0,752,6817,0.17,1.90,0.00,0.000,4,0.151,0.064,2496,3541,3624
$GC,6888,-1.00,-194.7,790.3,-10.5,755,6891,0.00,1.75,0.00,0.000,6,0.000,0.039,2496,2401,3623
$GC,7203,-1.00,-194.7,822.8,-10.7,771,7207,0.00,2.62,0.00,0.000,4,0.000,0.052,2496,755,3620
$GC,7246,-1.06,-194.7,827.5,-10.8,773,7250,0.00,2.60,0.00,0.000,6,0.000,0.050,2494,2375,3621
$GC,7567,-1.06,-194.7,862.0,-10.9,789,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2375,3619
$GC,7872,-1.06,-194.7,894.4,-10.7,804,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2375,3617
$GC,8178,-1.06,-194.7,925.1,-10.0,819,8182,0.00,2.62,0.00,0.000,4,0.000,0.054,2494,754,3616
$GC,8198,-1.06,-194.7,927.4,-10.8,820,8202,0.00,2.65,0.00,0.000,6,0.000,0.051,2494,2375,3616
$GC,8520,-1.06,-194.7,958.9,-9.9,836,8524,0.00,2.62,0.00,0.000,4,0.000,0.053,2494,749,3614
$GC,8546,-1.10,-194.7,961.6,-10.5,837,8550,0.12,2.60,0.00,0.000,6,0.069,0.051,2438,2363,3614
$STATE,8778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8778,begin apogee
$GC,8783,-0.24,0.0,990.7,12.5,849,8944,0.93,0.00,158.50,1.386,6,0.139,0.000,2727,2462,2854
$STATE,8944,end apogee,CONTROL_FINISHED_OK
$STATE,8944,begin climb
$GC,8947,1.11,194.7,999.2,0.0,857,9121,1.20,2.45,167.38,1.343,4,0.049,0.054,3184,1064,2059
$GC,9164,0.57,194.7,983.0,19.8,867,9169,0.62,2.35,0.00,0.000,6,0.168,0.050,2996,2445,2054
$GC,9481,0.53,233.9,949.4,10.4,883,9522,0.00,2.33,34.20,1.286,4,0.000,0.052,3004,1074,1898
$GC,9564,0.47,233.9,939.8,13.1,887,9568,0.12,2.25,0.00,0.000,6,0.136,0.048,2965,2435,1895
$GC,9891,0.56,272.2,906.3,10.4,903,9937,0.00,2.28,36.10,1.226,4,0.000,0.052,2973,1070,1744
$GC,10013,0.66,280.1,892.4,11.7,909,10027,0.15,2.20,8.05,1.085,6,0.064,0.047,3039,2425,1711
$GC,10341,0.54,280.1,845.2,14.2,925,10344,0.17,2.17,0.00,0.000,4,0.145,0.049,2992,1069,1708
$GC,10371,0.54,280.1,841.0,12.3,926,10380,0.00,2.15,0.00,0.000,6,0.000,0.046,2992,2402,1706
$GC,10682,0.60,326.2,808.1,10.1,942,10735,0.00,2.22,43.70,1.207,4,0.000,0.051,3002,1061,1523
$GC,10767,0.70,354.2,799.2,10.8,946,10797,0.00,2.20,26.27,1.206,6,0.000,0.044,3002,2398,1410
$GC,11112,0.78,368.0,761.5,11.4,963,11133,0.17,2.20,13.30,1.148,4,0.061,0.051,3100,1071,1352
$GC,11175,0.60,368.0,750.5,19.0,966,11178,0.28,2.15,0.00,0.000,6,0.150,0.046,3005,2383,1350
$GC,11501,0.67,368.0,707.5,13.1,982,11504,0.00,2.10,0.00,0.000,4,0.000,0.050,3013,1067,1350
$GC,11560,0.73,368.0,699.5,13.5,984,11566,0.00,2.08,0.00,0.000,6,0.000,0.045,3013,2357,1348
$GC,11870,0.78,368.0,657.9,12.6,1000,11871,0.15,0.00,0.00,0.000,6,0.065,0.000,3086,2357,1348
$GC,12176,0.63,368.0,606.6,16.8,1015,12180,0.22,2.08,0.00,0.000,4,0.152,0.050,3025,1058,1348
$GC,12212,0.66,368.0,601.3,12.0,1017,12216,0.00,2.10,0.00,0.000,6,0.000,0.045,3025,2366,1347
$GC,12539,0.66,368.0,559.6,12.7,1033,12542,0.00,2.08,0.00,0.000,4,0.000,0.051,3033,1064,1347
$GC,12560,0.66,368.0,556.9,12.7,1034,12564,0.00,2.08,0.00,0.000,6,0.000,0.045,3034,2359,1347
$GC,12886,0.66,368.0,515.0,12.2,1050,12889,0.00,2.15,0.00,0.000,4,0.000,0.061,3034,3681,1347
$GC,12950,0.62,368.0,506.0,15.1,1053,12954,0.08,2.05,0.00,0.000,6,0.149,0.040,3016,2371,1347
$GC,13271,0.73,393.1,469.3,11.0,1081,13297,0.00,2.10,22.38,1.039,4,0.000,0.051,3024,1063,1250
$GC,13373,0.84,408.6,457.4,11.4,1090,13392,0.12,2.03,15.45,0.991,6,0.050,0.043,3098,2322,1188
$GC,13700,0.75,408.6,407.6,15.1,1122,13704,0.17,2.03,0.00,0.000,4,0.148,0.051,3058,1058,1184
$GC,13744,0.75,409.4,401.8,12.0,1126,13747,0.00,1.98,0.00,0.000,6,0.000,0.044,3058,2313,1183
$GC,14066,0.75,409.4,360.3,13.1,1157,14069,0.00,1.98,0.00,0.000,4,0.000,0.049,3066,1065,1183
$GC,14102,0.75,409.4,355.3,13.4,1160,14108,0.00,1.95,0.00,0.000,6,0.000,0.041,3067,2295,1183
$GC,14420,0.78,433.2,317.1,11.0,1191,14446,0.00,2.03,22.42,0.913,4,0.000,0.049,3075,1065,1087
$GC,14483,0.79,437.7,309.6,11.8,1196,14492,0.00,1.95,5.43,0.700,6,0.000,0.041,3075,2285,1068
$GC,14812,0.81,453.7,271.6,11.3,1250,14832,0.00,2.33,15.45,0.851,4,0.000,0.057,3075,3687,1003
$GC,14853,0.81,453.7,266.4,13.3,1257,14859,0.00,2.20,0.00,0.000,6,0.000,0.038,3085,2294,1003
$GC,15178,0.87,453.7,225.6,14.1,1318,15186,0.00,1.95,0.00,0.000,4,0.000,0.048,3094,1065,1002
$GC,15250,0.87,453.7,215.9,13.2,1331,15255,0.00,1.88,0.00,0.000,6,0.000,0.041,3094,2273,1001
$GC,15576,1.00,483.9,173.5,10.8,1392,15609,0.10,2.28,26.75,0.791,4,0.072,0.055,3147,3691,879
$GC,15635,0.91,483.9,165.4,15.6,1402,15642,0.15,2.22,0.00,0.000,6,0.133,0.037,3108,2285,879
$GC,15963,1.06,508.2,128.0,11.0,1463,15990,0.12,2.35,21.45,0.737,4,0.066,0.054,3176,3698,781
$GC,16077,0.99,508.2,111.8,15.9,1483,16083,0.22,2.28,0.00,0.000,6,0.150,0.041,3123,2239,779
$GC,16404,1.27,588.1,79.6,8.7,1544,16480,0.22,1.88,69.05,0.694,4,0.046,0.047,3247,1063,478
$GC,16607,1.15,588.1,46.4,15.6,1580,16613,0.20,1.88,0.00,0.000,6,0.135,0.040,3183,2243,464
$GC,16934,1.34,636.8,9.5,10.0,1641,16940,0.17,1.88,0.00,0.000,4,0.057,0.046,3272,1060,460
$STATE,16980,end climb,SURFACE_DEPTH_REACHED
$STATE,16980,begin surface coast
$FINISH,1.8,1.021139
$STATE,16996,end surface coast,CONTROL_FINISHED_OK
$STATE,16996,begin surface
$SM_CCo,17074,0.00,0.000,0,0,458,587.74
$SM_GC,2.43,7.90,0.00,0.00,0.033,0.000,0.000,152,2160,458,-8.18,0.68,587.74
$IRIDIUM_FIX,2536.61,12442.47,101098,050534
$TT8_MAMPS,0.049088
$HUMID,1604
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,26.20
$XPDR_PINGS,315
$24V_AH,23.1,68.651
$10V_AH,10.6,48.077
$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,25.800,172.625,685.875,0.000,0.000,60.496,70.070,228.748,86.750,0.000,0.000,13.225,0.000,12185.104,793.692,3879.636,739.972,0.000,2285.329,0.000,3287.662,0.000,53.971,0.000
$DEVICE_MAMPS,225.498,82.069,1385.969,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.654,1156.521,1812.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94687,1653
$CAP_FILE_SIZE,186893,0
$CFSIZE,260165632,229769216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.502, 68.3,1
$GPS,160709,145137,2546.457,12448.990,39,1.5,39,-4.0