version: 66.04
glider: 165
mission: 2
dive: 321
start: 7 18 109 20 46 35
data:
$ID,165
$MISSION,2
$DIVE,321
$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,250
$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,-123861.98
$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,33
$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
$GPS1,203807,2544.992,12521.376,36,1.3,36,-4.0
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-62.4
$GPS2,204628,2545.128,12521.479,11,99.0,30,-4.0
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2524.200,12534.400
$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,199.9,44379,-16.4,-12.000
$D_GRID,2027
$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,-1.08,-243.4,0.0,0.0,0,79,0.00,0.00,-64.50,0.000,2,0.000,0.000,148,2122,2071
$GC,81,-1.08,-243.4,3.4,-4.4,10,145,8.98,2.20,-47.88,0.000,4,0.222,0.057,2457,723,3847
$GC,155,-0.46,-243.4,14.2,-27.1,22,161,0.60,2.25,0.00,0.000,6,0.141,0.039,2658,2147,3848
$GC,482,-0.83,-243.4,51.8,-9.3,83,488,0.28,2.20,0.00,0.000,4,0.081,0.052,2511,3539,3848
$GC,589,-0.60,-243.4,68.7,-18.5,103,596,0.32,2.10,0.00,0.000,6,0.116,0.039,2616,2148,3849
$GC,917,-0.90,-243.4,105.6,-9.6,164,924,0.22,2.22,0.00,0.000,4,0.047,0.051,2492,3554,3849
$GC,1020,-0.67,-243.4,120.9,-17.4,183,1026,0.28,2.00,0.00,0.000,6,0.111,0.039,2588,2236,3850
$GC,1347,-0.87,-243.4,158.2,-10.8,244,1355,0.17,2.08,0.00,0.000,4,0.049,0.052,2482,3554,3850
$GC,1382,-0.77,-243.4,162.6,-13.6,250,1387,0.20,1.95,0.00,0.000,6,0.110,0.032,2566,2247,3850
$GC,1708,-1.04,-243.4,195.9,-10.4,311,1714,0.25,2.08,0.00,0.000,4,0.043,0.054,2435,3533,3851
$GC,1778,-0.76,-243.4,206.9,-18.3,324,1785,0.35,1.83,0.00,0.000,6,0.119,0.033,2565,2316,3851
$GC,2106,-1.05,-243.4,242.5,-9.3,385,2112,0.22,1.95,0.00,0.000,4,0.046,0.054,2435,3547,3851
$GC,2128,-1.12,-243.4,244.9,-11.2,389,2133,0.00,1.77,0.00,0.000,6,0.000,0.033,2435,2344,3851
$GC,2453,-0.86,-243.4,295.0,-14.8,450,2459,0.30,2.50,0.00,0.000,4,0.128,0.051,2530,744,3851
$GC,2474,-0.79,-243.4,297.8,-13.2,454,2481,0.08,2.53,0.00,0.000,6,0.114,0.043,2554,2346,3851
$GC,2792,-1.09,-243.4,324.2,-8.6,487,2795,0.25,1.88,0.00,0.000,4,0.044,0.056,2417,3543,3851
$GC,2932,-0.84,-243.4,344.2,-15.1,500,2936,0.38,1.73,0.00,0.000,6,0.125,0.035,2537,2370,3850
$GC,3253,-1.08,-243.4,376.5,-10.3,531,3256,0.20,1.85,0.00,0.000,4,0.048,0.058,2428,3537,3849
$GC,3306,-0.92,-243.4,383.7,-14.3,536,3309,0.20,1.67,0.00,0.000,6,0.120,0.035,2510,2414,3848
$GC,3627,-1.08,-243.4,420.6,-11.2,567,3631,0.15,1.80,0.00,0.000,4,0.058,0.059,2428,3533,3846
$GC,3675,-0.98,-243.4,426.7,-13.3,571,3680,0.17,1.58,0.00,0.000,6,0.125,0.035,2489,2481,3845
$GC,3990,-1.11,-243.4,459.5,-9.8,602,3994,0.12,2.72,0.00,0.000,4,0.062,0.048,2422,745,3843
$GC,4033,-0.88,-243.4,464.7,-12.9,605,4039,0.35,2.75,0.00,0.000,6,0.137,0.045,2520,2494,3843
$GC,4348,-1.09,-243.4,493.1,-8.8,636,4352,0.17,2.75,0.00,0.000,4,0.051,0.046,2426,746,3841
$GC,4412,-0.90,-243.4,501.4,-14.0,641,4416,0.30,2.75,0.00,0.000,6,0.131,0.046,2518,2488,3840
$GC,4729,-1.12,-243.4,531.5,-9.5,657,4733,0.17,2.75,0.00,0.000,4,0.051,0.045,2417,747,3838
$GC,4792,-0.93,-243.4,540.0,-13.7,660,4797,0.32,2.75,0.00,0.000,6,0.133,0.046,2513,2491,3837
$GC,5110,-1.17,-243.4,571.3,-9.9,676,5114,0.20,2.78,0.00,0.000,4,0.050,0.045,2401,734,3835
$GC,5194,-0.96,-243.4,583.5,-14.8,680,5199,0.32,2.78,0.00,0.000,6,0.135,0.048,2499,2486,3834
$GC,5511,-1.14,-243.4,616.1,-9.9,696,5516,0.17,2.78,0.00,0.000,4,0.054,0.047,2404,737,3832
$GC,5581,-0.94,-243.4,625.8,-14.3,699,5586,0.35,2.78,0.00,0.000,6,0.135,0.048,2509,2486,3831
$GC,5891,-1.19,-243.4,654.0,-8.5,714,5895,0.22,2.78,0.00,0.000,4,0.049,0.046,2400,735,3829
$GC,5987,-0.99,-243.4,666.1,-13.4,718,5993,0.30,2.80,0.00,0.000,6,0.138,0.048,2490,2494,3828
$GC,6297,-1.19,-243.4,695.6,-9.8,734,6301,0.17,2.78,0.00,0.000,4,0.052,0.048,2399,742,3827
$GC,6317,-1.19,-243.4,698.2,-12.5,735,6321,0.00,2.78,0.00,0.000,6,0.000,0.048,2399,2489,3826
$GC,6640,-0.89,-243.4,751.2,-16.9,751,6645,0.35,2.78,0.00,0.000,4,0.142,0.049,2514,748,3823
$GC,6699,-1.01,-243.4,758.5,-10.9,754,6702,0.00,2.78,0.00,0.000,6,0.000,0.046,2511,2495,3823
$GC,7020,-1.26,-243.4,788.4,-9.1,770,7024,0.25,2.80,0.00,0.000,4,0.048,0.048,2382,738,3821
$GC,7088,-1.06,-243.4,798.1,-14.5,773,7092,0.30,2.80,0.00,0.000,6,0.142,0.050,2472,2485,3820
$GC,7401,-1.00,-243.4,833.3,-11.1,788,7404,0.00,2.78,0.00,0.000,4,0.000,0.050,2472,751,3818
$GC,7490,-1.00,-243.4,843.1,-10.1,792,7494,0.00,2.78,0.00,0.000,6,0.000,0.048,2468,2489,3818
$GC,7807,-0.93,-243.4,878.7,-11.4,808,7811,0.15,2.80,0.00,0.000,4,0.138,0.049,2514,747,3816
$GC,7913,-1.01,-243.4,888.8,-8.8,813,7916,0.00,2.78,0.00,0.000,6,0.000,0.048,2511,2491,3816
$GC,8234,-1.28,-243.4,915.6,-8.0,829,8239,0.28,2.80,0.00,0.000,4,0.048,0.048,2373,742,3813
$GC,8303,-1.05,-243.4,924.8,-14.0,832,8308,0.32,2.83,0.00,0.000,6,0.144,0.052,2475,2492,3813
$GC,8620,-1.01,-243.4,958.6,-10.5,848,8623,0.00,1.67,0.00,0.000,4,0.000,0.067,2468,3534,3811
$GC,8865,-1.01,-243.4,986.0,-11.0,859,8869,0.00,1.60,0.00,0.000,6,0.000,0.040,2468,2493,3809
$STATE,8914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8914,begin apogee
$GC,8919,-0.24,0.0,991.8,11.6,862,9122,0.80,0.00,199.73,1.380,6,0.119,0.000,2731,2492,2854
$STATE,9122,end apogee,CONTROL_FINISHED_OK
$STATE,9122,begin climb
$GC,9124,1.08,243.4,1005.4,0.0,872,9343,1.17,2.50,208.50,1.335,4,0.050,0.055,3178,1069,1860
$GC,9428,0.51,243.4,974.2,19.9,886,9433,0.70,2.28,0.00,0.000,6,0.166,0.051,2978,2446,1855
$GC,9743,0.54,310.2,942.3,9.8,902,9808,0.00,2.40,58.22,1.295,4,0.000,0.052,2986,1060,1588
$GC,9884,0.58,347.4,927.6,10.8,908,9930,0.00,2.22,35.90,1.208,6,0.000,0.047,2986,2433,1438
$GC,10243,0.60,362.8,886.4,11.5,926,10264,0.00,2.25,14.88,1.205,4,0.000,0.052,2996,1064,1373
$GC,10338,0.64,362.8,875.3,12.4,930,10342,0.00,2.17,0.00,0.000,6,0.000,0.046,2996,2420,1371
$GC,10654,0.68,396.2,840.1,10.9,946,10689,0.00,2.25,30.95,1.256,4,0.000,0.051,3004,1061,1238
$GC,10761,0.74,406.8,828.3,11.6,950,10777,0.12,2.12,10.88,1.134,6,0.069,0.044,3065,2381,1195
$GC,11082,0.62,406.8,779.5,15.4,966,11086,0.17,2.12,0.00,0.000,4,0.138,0.049,3016,1060,1192
$GC,11118,0.62,406.8,774.2,13.6,968,11122,0.00,2.12,0.00,0.000,6,0.000,0.044,3016,2378,1191
$GC,11445,0.62,406.8,734.2,12.0,984,11449,0.00,2.12,0.00,0.000,4,0.000,0.050,3026,1041,1189
$GC,11530,0.62,406.8,723.1,12.7,988,11534,0.00,2.08,0.00,0.000,6,0.000,0.044,3025,2338,1189
$GC,11857,0.62,406.8,681.0,13.3,1004,11860,0.00,2.03,0.00,0.000,4,0.000,0.050,3034,1062,1189
$GC,11893,0.62,406.8,676.0,14.2,1005,11900,0.00,2.03,0.00,0.000,6,0.000,0.044,3034,2332,1188
$GC,12204,0.64,418.4,637.2,11.6,1021,12219,0.00,2.03,11.00,1.083,4,0.000,0.051,3043,1061,1148
$GC,12256,0.64,418.4,631.0,12.1,1022,12262,0.00,2.03,0.00,0.000,6,0.000,0.044,3043,2322,1148
$GC,12567,0.64,418.4,593.5,12.9,1038,12570,0.00,2.00,0.00,0.000,4,0.000,0.052,3051,1065,1146
$GC,12588,0.64,418.4,590.8,12.7,1039,12592,0.10,2.00,0.00,0.000,6,0.130,0.045,3017,2314,1147
$GC,12914,0.71,418.4,552.5,12.0,1055,12918,0.00,2.00,0.00,0.000,4,0.000,0.051,3025,1054,1147
$GC,12962,0.76,419.6,546.6,12.0,1057,12965,0.00,1.98,0.00,0.000,6,0.000,0.043,3025,2295,1145
$GC,13283,0.79,419.6,505.8,12.2,1073,13286,0.12,1.95,0.00,0.000,4,0.068,0.051,3102,1060,1146
$GC,13326,0.62,419.6,499.5,16.2,1075,13330,0.32,1.92,0.00,0.000,6,0.138,0.044,3005,2292,1145
$GC,13642,0.92,486.9,467.3,9.8,1105,13708,0.25,2.40,61.42,1.038,4,0.047,0.059,3133,3693,868
$GC,13774,0.72,486.9,445.1,17.8,1117,13778,0.35,2.38,0.00,0.000,6,0.142,0.040,3041,2211,866
$GC,14089,0.80,486.9,404.9,12.5,1147,14092,0.00,1.80,0.00,0.000,4,0.000,0.051,3049,1064,864
$GC,14169,0.85,486.9,394.9,12.1,1154,14175,0.00,1.77,0.00,0.000,6,0.000,0.041,3050,2181,863
$GC,14487,1.06,486.9,356.0,12.3,1185,14490,0.25,1.77,0.00,0.000,4,0.048,0.049,3178,1061,862
$GC,14627,0.72,486.9,328.0,21.0,1198,14630,0.45,1.62,0.00,0.000,6,0.150,0.042,3045,2111,863
$GC,14945,1.06,555.8,292.8,9.7,1235,15018,0.25,1.77,64.28,0.896,4,0.044,0.051,3179,1057,583
$GC,15082,0.81,555.8,268.0,20.5,1259,15088,0.38,1.65,0.00,0.000,6,0.140,0.041,3069,2101,574
$GC,15408,1.34,622.3,226.9,9.8,1320,15452,0.43,1.73,28.70,0.736,4,0.040,0.051,3277,1064,482
$GC,15489,0.85,622.3,209.4,28.1,1334,15495,0.62,1.67,0.00,0.000,6,0.162,0.042,3088,2107,474
$GC,15816,1.58,657.2,172.3,10.8,1395,15823,0.57,1.67,0.00,0.000,4,0.036,0.051,3353,1054,466
$GC,15999,1.02,657.2,119.3,27.3,1429,16006,0.68,1.77,0.00,0.000,6,0.166,0.042,3137,2183,465
$GC,16328,1.42,742.9,82.9,9.2,1490,16335,0.30,2.40,0.00,0.000,4,0.041,0.057,3288,3687,463
$GC,16436,1.09,742.9,62.8,21.2,1510,16442,0.40,2.45,0.00,0.000,6,0.147,0.038,3161,2123,463
$GC,16763,1.32,742.9,26.4,12.7,1571,16769,0.20,1.67,0.00,0.000,4,0.046,0.049,3270,1057,462
$GC,16888,1.11,742.9,6.5,15.8,1594,16894,0.30,1.62,0.00,0.000,6,0.140,0.040,3173,2092,461
$STATE,16907,end climb,SURFACE_DEPTH_REACHED
$STATE,16907,begin surface coast
$FINISH,1.9,1.009765
$STATE,16929,end surface coast,CONTROL_FINISHED_OK
$STATE,16929,begin surface
$SM_CCo,17005,0.00,0.000,0,0,461,587.00
$SM_GC,2.58,7.55,0.00,0.00,0.028,0.000,0.000,150,2145,461,-8.20,0.28,587.00
$IRIDIUM_FIX,2534.22,12522.25,121098,161608
$TT8_MAMPS,0.047554
$HUMID,1656
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.00
$XPDR_PINGS,347
$24V_AH,23.2,71.915
$10V_AH,10.6,49.874
$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,34.950,186.850,724.450,0.000,0.000,24.078,35.875,279.349,94.750,0.000,0.000,33.040,0.000,11926.241,851.914,3960.578,734.453,0.000,2383.968,0.000,3331.773,0.000,56.029,0.000
$DEVICE_MAMPS,222.430,110.448,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.003,1113.117,1739.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91668,1602
$CAP_FILE_SIZE,195868,0
$CFSIZE,260165632,228597760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.303, 62.2,1
$GPS,190709,013104,2545.141,12523.021,40,1.9,43,-4.0