version: 66.04
glider: 165
mission: 2
dive: 337
start: 7 22 109 2 11 25
data:
$ID,165
$MISSION,2
$DIVE,337
$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,-124298.28
$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,2285
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,38
$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
$GPS1,020406,2536.567,12540.957,32,1.7,32,-4.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-68.2
$GPS2,021120,2536.629,12541.142,14,1.8,14,-4.0
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_5
$TGT_LATLONG,2510.500,12533.800
$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,195.4,49931,-16.4,-12.000
$D_GRID,1523
$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,-243.4,0.0,0.0,0,73,0.00,0.00,-57.67,0.000,2,0.000,0.000,147,2306,1869
$GC,75,-1.08,-243.4,3.1,-3.3,9,146,9.00,2.25,-53.97,0.000,4,0.219,0.069,2452,3674,3849
$GC,222,-0.61,-243.4,31.3,-24.7,34,229,0.45,2.15,0.00,0.000,6,0.133,0.032,2613,2257,3850
$GC,550,-0.94,-243.4,71.7,-10.1,95,556,0.28,0.00,0.00,0.000,6,0.047,0.000,2468,2257,3851
$GC,876,-0.67,-243.4,126.2,-18.4,156,882,0.38,2.22,0.00,0.000,4,0.130,0.051,2587,3677,3852
$GC,946,-0.75,-243.4,134.4,-9.7,169,952,0.00,2.12,0.00,0.000,6,0.000,0.031,2586,2238,3853
$GC,1273,-1.08,-243.4,165.6,-11.0,230,1281,0.30,2.28,0.00,0.000,4,0.040,0.051,2424,3691,3854
$GC,1297,-1.08,-243.4,169.3,-15.2,234,1305,0.12,2.03,0.00,0.000,6,0.149,0.031,2459,2304,3853
$GC,1626,-0.89,-243.4,220.3,-14.1,295,1632,0.20,2.17,0.00,0.000,4,0.132,0.053,2520,3682,3854
$GC,1670,-0.89,-243.4,225.6,-11.6,303,1675,0.00,2.00,0.00,0.000,6,0.000,0.031,2520,2329,3854
$GC,1996,-1.12,-243.4,261.1,-9.6,364,2002,0.17,2.15,0.00,0.000,4,0.050,0.054,2410,3677,3854
$GC,2060,-0.79,-243.4,270.1,-15.8,376,2066,0.40,1.95,0.00,0.000,6,0.126,0.036,2558,2383,3854
$GC,2393,-1.08,-243.4,302.3,-10.5,436,2396,0.22,2.05,0.00,0.000,4,0.047,0.055,2424,3679,3854
$GC,2424,-1.00,-243.4,306.5,-13.6,438,2431,0.17,1.92,0.00,0.000,6,0.120,0.039,2487,2399,3853
$GC,2740,-1.14,-243.4,340.9,-10.2,469,2744,0.12,2.33,0.00,0.000,4,0.061,0.043,2413,888,3853
$GC,2831,-0.90,-243.4,353.9,-14.9,477,2835,0.35,2.30,0.00,0.000,6,0.137,0.044,2519,2360,3852
$GC,3146,-1.13,-243.4,385.5,-9.5,507,3150,0.17,2.08,0.00,0.000,4,0.051,0.057,2411,3676,3851
$GC,3305,-0.89,-243.4,407.2,-14.5,521,3312,0.30,1.90,0.00,0.000,6,0.122,0.033,2514,2411,3849
$GC,3621,-1.14,-243.4,436.9,-9.8,552,3625,0.20,2.35,0.00,0.000,4,0.048,0.044,2401,884,3848
$GC,3675,-0.88,-243.4,444.1,-15.7,557,3679,0.40,2.35,0.00,0.000,6,0.135,0.044,2522,2387,3847
$GC,3991,-1.14,-243.4,474.4,-9.1,587,3994,0.20,2.03,0.00,0.000,4,0.051,0.058,2409,3676,3846
$GC,4017,-1.14,-243.4,477.4,-12.6,589,4020,0.05,1.92,0.00,0.000,6,0.146,0.034,2439,2394,3845
$GC,4338,-1.08,-243.4,515.4,-11.7,614,4341,0.00,2.33,0.00,0.000,4,0.000,0.044,2439,890,3843
$GC,4412,-0.96,-243.4,525.0,-12.7,617,4416,0.20,2.33,0.00,0.000,6,0.131,0.044,2499,2372,3843
$GC,4723,-1.17,-243.4,556.4,-10.0,632,4726,0.17,2.08,0.00,0.000,4,0.052,0.059,2401,3674,3840
$GC,4764,-0.98,-243.4,561.8,-13.6,634,4768,0.25,1.92,0.00,0.000,6,0.131,0.034,2486,2397,3839
$GC,5087,-1.17,-243.4,592.9,-9.4,650,5091,0.15,2.35,0.00,0.000,4,0.058,0.044,2405,890,3837
$GC,5108,-1.17,-243.4,595.4,-11.3,651,5112,0.12,2.35,0.00,0.000,6,0.160,0.044,2433,2386,3836
$GC,5431,-1.03,-243.4,633.3,-11.5,667,5435,0.15,2.35,0.00,0.000,4,0.143,0.046,2479,898,3835
$GC,5484,-1.03,-243.4,639.1,-10.1,669,5490,0.00,2.30,0.00,0.000,6,0.000,0.046,2479,2358,3834
$GC,5795,-1.19,-243.4,667.8,-9.1,685,5799,0.15,2.12,0.00,0.000,4,0.057,0.061,2392,3683,3833
$GC,5891,-0.94,-243.4,680.7,-15.3,689,5896,0.38,1.92,0.00,0.000,6,0.133,0.037,2508,2403,3832
$GC,6201,-1.21,-243.4,710.7,-9.9,705,6204,0.25,2.05,0.00,0.000,4,0.048,0.063,2386,3677,3830
$GC,6331,-0.93,-243.4,730.4,-16.7,711,6334,0.40,1.83,0.00,0.000,6,0.136,0.037,2510,2458,3829
$GC,6659,-1.21,-243.4,760.3,-8.2,727,6662,0.22,1.98,0.00,0.000,4,0.050,0.062,2388,3679,3826
$GC,6738,-0.94,-243.4,771.5,-15.6,730,6745,0.35,1.80,0.00,0.000,6,0.135,0.038,2502,2502,3825
$GC,7049,-1.19,-243.4,799.8,-8.6,746,7053,0.17,1.90,0.00,0.000,4,0.054,0.063,2401,3676,3823
$GC,7091,-1.04,-243.4,804.5,-12.4,748,7094,0.17,1.73,0.00,0.000,6,0.137,0.036,2471,2545,3822
$GC,7417,-1.04,-243.4,840.4,-11.3,764,7421,0.00,2.62,0.00,0.000,4,0.000,0.048,2471,890,3821
$GC,7507,-1.04,-243.4,850.7,-11.4,768,7511,0.00,2.60,0.00,0.000,6,0.000,0.049,2468,2512,3820
$GC,7824,-0.99,-243.4,888.2,-11.9,784,7828,0.00,2.58,0.00,0.000,4,0.000,0.048,2468,895,3818
$GC,7845,-0.94,-243.4,890.7,-11.9,785,7848,0.15,2.58,0.00,0.000,6,0.137,0.049,2512,2500,3818
$GC,8168,-1.24,-243.4,920.0,-9.0,801,8171,0.25,1.90,0.00,0.000,4,0.050,0.065,2385,3674,3816
$GC,8302,-0.98,-243.4,940.1,-16.4,807,8306,0.35,1.70,0.00,0.000,6,0.140,0.038,2491,2540,3815
$GC,8624,-0.98,-243.4,970.7,-9.1,823,8627,0.00,2.62,0.00,0.000,4,0.000,0.049,2491,895,3814
$GC,8672,-1.04,-243.4,975.3,-9.5,825,8675,0.00,2.62,0.00,0.000,6,0.000,0.049,2491,2525,3813
$STATE,8857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8857,begin apogee
$GC,8862,-0.24,0.0,990.9,8.0,834,9065,0.70,0.00,200.40,1.381,6,0.091,0.000,2739,2294,2854
$STATE,9065,end apogee,CONTROL_FINISHED_OK
$STATE,9065,begin climb
$GC,9068,1.08,243.4,1003.5,0.0,844,9286,1.12,2.45,208.20,1.335,4,0.044,0.062,3167,3671,1860
$GC,9494,0.46,243.4,945.4,21.1,864,9498,0.75,2.15,0.00,0.000,6,0.170,0.041,2962,2306,1854
$GC,9815,0.56,322.3,913.0,9.4,880,9898,0.00,2.40,71.28,1.263,4,0.000,0.054,2970,894,1537
$GC,9959,0.69,360.0,898.8,10.8,886,10008,0.17,2.22,36.33,1.199,6,0.058,0.042,3047,2280,1385
$GC,10314,0.57,360.0,847.8,14.6,904,10315,0.17,0.00,0.00,0.000,6,0.142,0.000,2997,2280,1380
$GC,10618,0.59,377.1,812.2,11.4,919,10639,0.00,2.25,15.95,1.193,4,0.000,0.052,3006,897,1315
$GC,10675,0.64,377.1,805.2,12.2,921,10681,0.00,2.22,0.00,0.000,6,0.000,0.042,3006,2271,1313
$GC,10986,0.67,401.2,769.0,11.2,937,11010,0.00,0.00,22.55,1.208,6,0.000,0.000,3006,2271,1218
$GC,11311,0.75,434.5,733.1,10.9,953,11363,0.12,2.35,35.40,1.098,4,0.069,0.052,3078,887,1082
$GC,11430,0.64,434.5,715.5,15.5,958,11434,0.22,2.22,0.00,0.000,6,0.141,0.042,3013,2277,1079
$GC,11740,0.70,434.5,677.4,12.1,973,11743,0.00,2.22,0.00,0.000,4,0.000,0.051,3022,890,1076
$GC,11766,0.76,434.5,674.3,12.5,974,11769,0.00,2.17,0.00,0.000,6,0.000,0.041,3022,2250,1076
$GC,12088,0.80,434.5,635.6,12.1,990,12091,0.12,2.17,0.00,0.000,4,0.069,0.048,3101,885,1075
$GC,12108,0.74,434.5,632.6,14.0,991,12112,0.17,2.15,0.00,0.000,6,0.145,0.041,3052,2257,1075
$GC,12434,0.74,434.5,590.0,12.4,1007,12438,0.00,2.17,0.00,0.000,4,0.000,0.051,3061,893,1074
$GC,12482,0.69,434.5,584.1,12.7,1009,12486,0.00,2.10,0.00,0.000,6,0.000,0.041,3061,2235,1074
$GC,12803,0.64,434.5,544.2,12.3,1025,12807,0.15,2.15,0.00,0.000,4,0.142,0.051,3026,885,1073
$GC,12830,0.70,445.5,541.1,11.6,1026,12847,0.00,2.10,9.95,1.009,6,0.000,0.041,3026,2234,1037
$GC,13150,0.94,480.6,506.9,10.8,1042,13197,0.22,2.45,34.88,1.016,4,0.050,0.058,3132,3683,894
$GC,13281,0.71,480.6,484.7,18.6,1051,13285,0.35,2.45,0.00,0.000,6,0.144,0.040,3040,2139,891
$GC,13596,0.97,502.7,448.5,11.3,1081,13623,0.20,2.60,20.62,0.992,4,0.051,0.057,3144,3689,804
$GC,13673,0.71,502.7,435.6,19.8,1088,13677,0.40,2.58,0.00,0.000,6,0.142,0.038,3037,2058,803
$GC,13988,1.33,605.2,402.2,8.6,1118,14098,0.55,2.78,85.53,0.920,4,0.051,0.055,3253,3686,480
$GC,14166,0.88,605.2,358.9,26.8,1134,14174,0.52,2.58,0.00,0.000,6,0.158,0.044,3096,2089,468
$GC,14482,0.93,605.2,315.3,12.7,1165,14483,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2089,459
$GC,14798,1.48,649.8,279.3,10.5,1212,14806,0.50,1.90,0.00,0.000,4,0.046,0.051,3308,894,456
$GC,14892,0.86,649.8,255.1,33.3,1229,14899,0.75,1.88,0.00,0.000,6,0.170,0.042,3091,2095,455
$GC,15220,1.47,668.9,212.8,11.4,1290,15227,0.47,2.55,0.00,0.000,4,0.061,0.054,3311,3696,453
$GC,15269,0.95,668.9,202.8,26.0,1299,15276,0.70,2.45,0.00,0.000,6,0.155,0.039,3113,2116,453
$GC,15597,1.38,737.1,165.8,9.7,1360,15603,0.35,1.90,0.00,0.000,4,0.041,0.048,3293,891,452
$GC,15710,0.95,737.1,141.8,22.7,1381,15716,0.52,1.90,0.00,0.000,6,0.147,0.046,3117,2103,452
$GC,16037,1.64,785.7,106.7,10.4,1442,16044,0.57,2.53,0.00,0.000,4,0.058,0.052,3347,3696,451
$GC,16086,1.13,785.7,98.1,23.2,1451,16093,0.55,2.25,0.00,0.000,6,0.151,0.037,3173,2244,451
$GC,16413,1.19,785.7,53.6,14.4,1512,16420,0.00,2.30,0.00,0.000,4,0.000,0.056,3173,3690,451
$GC,16517,1.24,789.9,41.0,11.9,1531,16522,0.00,2.33,0.00,0.000,6,0.000,0.036,3182,2170,451
$GC,16843,1.29,790.4,4.2,12.0,1592,16850,0.12,2.42,0.00,0.000,4,0.064,0.051,3249,3701,451
$STATE,16853,end climb,SURFACE_DEPTH_REACHED
$STATE,16853,begin surface coast
$FINISH,1.7,1.020415
$STATE,16874,end surface coast,CONTROL_FINISHED_OK
$STATE,16874,begin surface
$SM_CCo,16952,0.00,0.000,0,0,450,589.95
$SM_GC,2.49,7.75,0.00,0.00,0.030,0.000,0.000,155,2251,450,-8.18,-0.93,589.95
$IRIDIUM_FIX,2527.05,12546.71,151098,212140
$TT8_MAMPS,0.048321
$HUMID,1649
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.10
$XPDR_PINGS,426
$24V_AH,23.2,76.591
$10V_AH,10.6,52.265
$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,35.675,173.025,741.075,0.000,0.000,30.656,32.699,229.650,114.500,0.000,0.000,16.385,0.000,11893.456,887.006,3897.714,672.818,0.000,2398.898,0.000,3281.682,0.000,54.006,0.000
$DEVICE_MAMPS,219.362,69.030,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.025,1105.783,1729.279,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91547,1598
$CAP_FILE_SIZE,191087,0
$CFSIZE,260165632,227028992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$CURRENT,0.129, 36.4,1
$GPS,220709,065500,2535.833,12541.659,36,1.6,42,-4.0