version: 66.04
glider: 165
mission: 2
dive: 323
start: 7 19 109 6 42 6
data:
$ID,165
$MISSION,2
$DIVE,323
$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,-123930.47
$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,53
$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
$GPS1,063107,2545.304,12525.226,38,1.1,38,-4.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-66.0
$GPS2,064201,2545.510,12525.482,20,1.4,33,-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,208.3,42191,-16.4,-12.000
$D_GRID,2052
$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,-243.4,0.0,0.0,0,75,0.00,0.00,-60.05,0.000,2,0.000,0.000,155,2100,1966
$GC,78,-1.08,-243.4,3.4,-4.4,9,143,8.98,2.20,-51.97,0.000,4,0.220,0.056,2453,729,3848
$GC,164,-0.57,-243.4,16.3,-25.7,23,171,0.50,2.22,0.00,0.000,6,0.130,0.041,2626,2138,3849
$GC,491,-0.73,-243.4,59.6,-11.1,84,497,0.15,2.22,0.00,0.000,4,0.052,0.054,2533,3549,3849
$GC,567,-0.63,-243.4,69.9,-13.8,98,573,0.17,2.12,0.00,0.000,6,0.118,0.039,2612,2146,3849
$GC,893,-0.96,-243.4,106.8,-9.7,159,899,0.28,2.20,0.00,0.000,4,0.041,0.051,2455,3541,3849
$GC,985,-0.68,-243.4,121.3,-17.1,176,991,0.38,2.03,0.00,0.000,6,0.115,0.038,2595,2207,3850
$GC,1313,-0.94,-243.4,157.5,-10.0,237,1320,0.20,2.12,0.00,0.000,4,0.046,0.053,2468,3547,3850
$GC,1432,-0.75,-243.4,175.2,-13.6,259,1438,0.28,1.95,0.00,0.000,6,0.116,0.033,2564,2247,3850
$GC,1758,-0.96,-243.4,206.1,-10.0,320,1764,0.17,2.10,0.00,0.000,4,0.051,0.061,2463,3542,3851
$GC,1829,-0.81,-243.4,214.7,-13.1,333,1836,0.28,1.85,0.00,0.000,6,0.120,0.033,2550,2284,3851
$GC,2157,-1.08,-243.4,242.7,-8.4,394,2163,0.22,2.00,0.00,0.000,4,0.095,0.054,2424,3541,3851
$GC,2281,-0.83,-243.4,260.9,-16.4,417,2288,0.38,1.75,0.00,0.000,6,0.127,0.033,2544,2349,3851
$GC,2608,-1.04,-243.4,296.1,-9.5,478,2614,0.20,1.92,0.00,0.000,4,0.048,0.060,2438,3539,3850
$GC,2699,-0.82,-243.4,308.0,-13.8,490,2705,0.30,1.73,0.00,0.000,6,0.120,0.041,2542,2393,3850
$GC,3015,-1.09,-243.4,339.0,-9.9,521,3018,0.20,1.83,0.00,0.000,4,0.048,0.056,2422,3547,3849
$GC,3063,-0.97,-243.4,345.1,-13.8,525,3070,0.20,1.67,0.00,0.000,6,0.123,0.034,2502,2415,3848
$GC,3378,-1.16,-243.4,379.3,-10.5,556,3382,0.17,1.80,0.00,0.000,4,0.051,0.059,2404,3538,3847
$GC,3426,-0.89,-243.4,385.8,-14.8,560,3433,0.32,1.62,0.00,0.000,6,0.133,0.039,2513,2455,3846
$GC,3742,-1.13,-243.4,417.9,-9.3,591,3746,0.20,2.65,0.00,0.000,4,0.048,0.045,2404,759,3844
$GC,3757,-1.23,-243.4,419.7,-10.2,592,3761,0.00,2.72,0.00,0.000,6,0.000,0.045,2398,2493,3844
$GC,4072,-0.93,-243.4,469.5,-15.6,622,4074,0.35,0.00,0.00,0.000,6,0.140,0.000,2506,2493,3842
$GC,4393,-1.17,-243.4,502.0,-9.9,652,4398,0.20,2.72,0.00,0.000,4,0.048,0.047,2400,761,3839
$GC,4499,-0.92,-243.4,518.4,-16.2,657,4504,0.38,2.72,0.00,0.000,6,0.137,0.047,2514,2486,3838
$GC,4818,-1.16,-243.4,553.1,-10.7,673,4822,0.17,2.72,0.00,0.000,4,0.051,0.045,2412,759,3837
$GC,4859,-0.91,-243.4,559.4,-15.9,675,4864,0.32,2.72,0.00,0.000,6,0.136,0.047,2511,2488,3836
$GC,5178,-1.17,-243.4,592.4,-9.9,691,5182,0.20,2.75,0.00,0.000,4,0.050,0.045,2399,748,3833
$GC,5209,-0.99,-243.4,596.6,-13.6,692,5215,0.30,2.72,0.00,0.000,6,0.143,0.047,2489,2469,3833
$GC,5522,-1.20,-243.4,626.4,-9.0,708,5526,0.17,2.70,0.00,0.000,4,0.051,0.045,2386,760,3830
$GC,5574,-0.91,-243.4,633.7,-15.5,710,5581,0.43,2.67,0.00,0.000,6,0.139,0.048,2516,2444,3830
$GC,5885,-1.16,-243.4,661.0,-8.6,726,5890,0.20,2.67,0.00,0.000,4,0.048,0.046,2407,753,3828
$GC,5959,-0.97,-243.4,671.0,-14.7,729,5967,0.22,2.62,0.00,0.000,6,0.130,0.048,2494,2384,3827
$GC,6272,-1.20,-243.4,702.0,-9.7,745,6275,0.17,1.85,0.00,0.000,4,0.055,0.061,2397,3540,3825
$GC,6485,-0.94,-243.4,734.4,-16.1,755,6488,0.32,1.65,0.00,0.000,6,0.133,0.037,2504,2449,3823
$GC,6814,-1.19,-243.4,767.7,-10.2,771,6818,0.20,2.67,0.00,0.000,4,0.051,0.048,2395,761,3821
$GC,6877,-0.95,-243.4,777.6,-17.0,774,6881,0.32,2.67,0.00,0.000,6,0.135,0.049,2502,2415,3820
$GC,7201,-0.99,-243.4,813.5,-10.5,790,7204,0.00,1.80,0.00,0.000,4,0.000,0.064,2497,3538,3819
$GC,7259,-1.05,-243.4,819.9,-10.5,792,7265,0.00,1.67,0.00,0.000,6,0.000,0.038,2497,2433,3818
$GC,7570,-1.05,-243.4,851.3,-9.9,808,7574,0.00,2.67,0.00,0.000,4,0.000,0.050,2497,753,3817
$GC,7613,-1.12,-243.4,855.6,-10.0,810,7617,0.15,2.65,0.00,0.000,6,0.062,0.046,2421,2421,3816
$GC,7931,-0.91,-243.4,900.6,-14.3,826,7934,0.28,1.83,0.00,0.000,4,0.140,0.065,2507,3546,3814
$GC,7962,-0.96,-243.4,904.5,-9.5,827,7965,0.00,1.70,0.00,0.000,6,0.000,0.040,2507,2420,3814
$GC,8277,-1.03,-243.4,933.3,-9.1,843,8281,0.00,2.65,0.00,0.000,4,0.000,0.053,2507,762,3812
$GC,8304,-1.11,-243.4,935.8,-9.7,844,8308,0.15,2.65,0.00,0.000,6,0.061,0.050,2429,2415,3812
$GC,8627,-0.93,-243.4,979.8,-13.9,860,8630,0.22,1.83,0.00,0.000,4,0.140,0.065,2495,3536,3810
$GC,8674,-0.99,-243.4,985.3,-9.3,862,8677,0.00,1.70,0.00,0.000,6,0.000,0.040,2496,2433,3809
$STATE,8728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8729,begin apogee
$GC,8734,-0.24,0.0,990.8,10.1,865,8936,0.70,0.00,198.93,1.379,6,0.113,0.000,2730,2430,2854
$STATE,8936,end apogee,CONTROL_FINISHED_OK
$STATE,8936,begin climb
$GC,8938,1.08,243.4,1004.3,0.0,875,9155,1.15,2.35,207.75,1.336,4,0.041,0.055,3184,1084,1860
$GC,9240,0.50,243.4,971.0,21.0,889,9245,0.75,2.25,0.00,0.000,6,0.167,0.051,2970,2456,1853
$GC,9556,0.52,292.2,936.8,10.4,905,9603,0.00,2.35,42.22,1.285,4,0.000,0.053,2979,1078,1662
$GC,9668,0.55,312.5,924.4,11.3,910,9692,0.00,2.22,19.15,1.225,6,0.000,0.048,2979,2447,1579
$GC,10009,0.59,348.1,886.2,10.8,927,10046,0.00,2.28,32.72,1.266,4,0.000,0.051,2984,1079,1433
$GC,10149,0.64,357.6,870.7,11.7,932,10163,0.00,2.15,9.48,1.115,6,0.000,0.046,2985,2420,1395
$GC,10482,0.73,400.0,834.7,10.6,949,10526,0.17,2.30,39.15,1.257,4,0.058,0.051,3073,1073,1222
$GC,10626,0.56,400.0,811.5,17.1,955,10633,0.25,2.12,0.00,0.000,6,0.140,0.046,2994,2367,1217
$GC,10937,0.68,439.4,776.9,10.7,971,10986,0.10,2.20,38.12,1.179,4,0.075,0.052,3053,1076,1061
$GC,11044,0.61,439.4,762.2,14.9,976,11047,0.17,2.08,0.00,0.000,6,0.139,0.045,3004,2358,1059
$GC,11364,0.72,456.4,725.2,11.4,992,11386,0.12,2.10,16.08,1.158,4,0.068,0.051,3073,1066,992
$GC,11460,0.62,456.4,710.2,16.5,996,11464,0.22,2.03,0.00,0.000,6,0.140,0.044,3008,2336,990
$GC,11776,0.74,475.9,673.6,11.4,1012,11800,0.12,2.08,18.52,1.147,4,0.067,0.051,3080,1082,913
$GC,11871,0.63,475.9,658.5,15.6,1016,11875,0.22,1.98,0.00,0.000,6,0.140,0.044,3015,2321,911
$GC,12186,0.75,475.9,619.6,12.2,1032,12190,0.10,2.03,0.00,0.000,4,0.074,0.052,3077,1071,909
$GC,12273,0.67,475.9,606.2,15.8,1036,12276,0.17,1.92,0.00,0.000,6,0.142,0.044,3027,2292,909
$GC,12599,0.76,482.2,565.9,11.8,1052,12608,0.00,1.92,6.50,0.924,4,0.000,0.050,3035,1075,887
$GC,12657,0.80,482.2,558.7,13.0,1055,12660,0.00,1.88,0.00,0.000,6,0.000,0.043,3035,2272,887
$GC,12983,0.93,515.9,521.5,10.9,1071,13033,0.20,1.98,35.88,0.984,4,0.053,0.051,3136,1065,749
$GC,13084,0.72,515.9,504.3,19.3,1075,13090,0.32,1.88,0.00,0.000,6,0.140,0.042,3040,2246,748
$GC,13398,0.86,551.7,468.2,10.8,1104,13443,0.15,1.98,36.75,1.030,4,0.059,0.051,3130,1072,601
$GC,13476,0.71,551.7,455.8,19.4,1111,13479,0.25,1.88,0.00,0.000,6,0.133,0.042,3039,2229,595
$GC,13796,1.34,642.5,420.6,9.0,1142,13854,0.55,2.42,37.50,0.862,4,0.064,0.056,3243,3679,481
$GC,13866,0.93,642.5,406.3,26.4,1148,13874,0.43,2.25,0.00,0.000,6,0.157,0.041,3109,2285,477
$GC,14182,0.93,642.5,355.8,15.0,1179,14185,0.00,1.90,0.00,0.000,4,0.000,0.051,3117,1073,465
$GC,14293,0.87,642.5,337.8,16.2,1189,14299,0.00,1.85,0.00,0.000,6,0.000,0.041,3117,2234,464
$GC,14611,0.87,642.5,291.1,13.6,1226,14618,0.00,1.85,0.00,0.000,4,0.000,0.051,3125,1076,461
$GC,14639,0.87,642.5,287.2,14.9,1231,14644,0.12,1.83,0.00,0.000,6,0.129,0.042,3090,2252,461
$GC,14965,1.03,674.2,247.5,11.0,1292,14972,0.15,1.85,0.00,0.000,4,0.057,0.048,3174,1076,460
$GC,15036,0.85,674.2,234.9,19.9,1305,15042,0.30,1.75,0.00,0.000,6,0.135,0.041,3082,2214,459
$GC,15362,1.64,750.6,194.4,9.5,1366,15369,0.68,2.35,0.00,0.000,4,0.069,0.054,3340,3690,458
$GC,15488,1.10,750.6,158.9,29.8,1389,15494,0.57,2.12,0.00,0.000,6,0.176,0.038,3167,2328,458
$GC,15815,1.10,750.6,108.3,13.3,1450,15821,0.00,1.98,0.00,0.000,4,0.000,0.048,3176,1069,458
$GC,15948,1.10,750.6,88.6,14.3,1475,15954,0.00,1.85,0.00,0.000,6,0.000,0.039,3176,2257,457
$GC,16275,1.21,779.1,50.7,11.1,1536,16282,0.00,2.28,0.00,0.000,4,0.000,0.058,3176,3696,457
$GC,16292,1.29,793.2,48.6,11.5,1539,16298,0.08,2.22,0.00,0.000,6,0.054,0.038,3241,2260,457
$STATE,16601,end climb,SURFACE_DEPTH_REACHED
$STATE,16601,begin surface coast
$FINISH,1.8,1.006484
$STATE,16617,end surface coast,CONTROL_FINISHED_OK
$STATE,16619,begin surface
$SM_CCo,16694,0.00,0.000,0,0,456,588.23
$SM_GC,2.67,7.78,0.00,0.00,0.033,0.000,0.000,159,2122,456,-8.17,-0.37,588.23
$IRIDIUM_FIX,2529.44,12712.26,131098,010156
$TT8_MAMPS,0.049088
$HUMID,1672
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,26.00
$XPDR_PINGS,348
$24V_AH,23.3,72.516
$10V_AH,10.6,50.179
$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,34.200,172.350,738.750,0.000,0.000,24.790,45.748,416.517,95.000,0.000,0.000,35.395,0.000,11635.202,874.538,3935.038,867.646,0.000,2393.000,0.000,3296.555,0.000,53.981,0.000
$DEVICE_MAMPS,220.129,66.729,1379.066,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.976,1099.499,1724.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91593,1600
$CAP_FILE_SIZE,197383,0
$CFSIZE,260165632,228392960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.318, 55.8,1
$GPS,190709,112124,2545.441,12526.475,26,1.8,43,-4.0