version: 66.04
glider: 165
mission: 2
dive: 342
start: 7 23 109 2 42 31
data:
$ID,165
$MISSION,2
$DIVE,342
$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,330
$T_MISSION,396
$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,-124393.29
$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,46
$R_STBD_OVSHOOT,43
$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
$GPS1,023037,2532.459,12541.770,30,1.5,30,-4.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-70.6
$GPS2,024226,2532.615,12541.989,9,1.5,9,-4.0
$SPEED_LIMITS,0.173,0.326
$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,211.5,43197,-13.9,-10.000
$D_GRID,1387
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-243.4,0.0,0.0,0,68,0.00,0.00,-50.90,0.000,2,0.000,0.000,152,2317,1880
$GC,70,-0.96,-243.4,3.1,-3.4,8,142,9.25,2.17,-56.45,0.000,4,0.224,0.064,2488,3679,3848
$GC,173,-0.50,-243.4,17.0,-22.1,25,181,0.45,2.15,0.00,0.000,6,0.114,0.033,2652,2263,3849
$GC,502,-0.75,-243.4,55.6,-11.5,86,508,0.22,2.25,0.00,0.000,4,0.045,0.056,2525,3673,3849
$GC,550,-0.59,-243.4,62.4,-14.8,95,556,0.25,2.05,0.00,0.000,6,0.119,0.032,2611,2306,3849
$GC,877,-0.81,-243.4,98.5,-10.1,156,883,0.17,2.15,0.00,0.000,4,0.051,0.046,2496,896,3849
$GC,910,-0.66,-243.4,102.6,-13.5,162,916,0.32,2.20,0.00,0.000,6,0.126,0.039,2596,2325,3849
$GC,1238,-0.90,-243.4,138.8,-9.8,223,1244,0.17,2.15,0.00,0.000,4,0.050,0.052,2475,3682,3850
$GC,1292,-0.71,-243.4,145.5,-12.2,233,1299,0.28,2.00,0.00,0.000,6,0.109,0.031,2582,2346,3850
$GC,1620,-0.88,-243.4,177.8,-10.4,294,1626,0.17,2.22,0.00,0.000,4,0.049,0.045,2476,892,3850
$GC,1637,-0.93,-243.4,180.0,-12.6,297,1644,0.15,2.28,0.00,0.000,6,0.141,0.041,2512,2362,3851
$GC,1964,-0.78,-243.4,219.0,-10.4,358,1970,0.15,2.10,0.00,0.000,4,0.135,0.059,2558,3676,3851
$GC,1991,-0.78,-243.4,221.8,-10.6,363,1997,0.00,2.00,0.00,0.000,6,0.000,0.032,2559,2333,3850
$GC,2317,-1.00,-243.4,255.1,-10.9,424,2324,0.20,2.20,0.00,0.000,4,0.047,0.049,2439,904,3851
$GC,2367,-0.70,-243.4,261.7,-15.1,433,2374,0.45,2.20,0.00,0.000,6,0.127,0.043,2581,2326,3850
$GC,2695,-1.00,-243.4,293.8,-8.8,494,2700,0.22,2.15,0.00,0.000,4,0.065,0.054,2468,3692,3849
$GC,2748,-1.00,-243.4,299.4,-10.7,504,2754,0.00,2.08,0.00,0.000,6,0.000,0.039,2468,2324,3849
$GC,3069,-1.00,-243.4,331.1,-10.9,536,3073,0.00,2.22,0.00,0.000,4,0.000,0.044,2467,898,3848
$GC,3155,-0.79,-243.4,341.3,-12.8,544,3158,0.22,2.15,0.00,0.000,6,0.110,0.043,2558,2266,3847
$GC,3476,-1.03,-243.4,372.3,-9.3,575,3480,0.20,2.25,0.00,0.000,4,0.048,0.058,2435,3686,3845
$GC,3540,-0.82,-243.4,379.8,-12.5,581,3544,0.35,2.12,0.00,0.000,6,0.118,0.035,2548,2265,3845
$GC,3856,-1.07,-243.4,408.4,-8.7,611,3860,0.20,2.28,0.00,0.000,4,0.049,0.057,2428,3686,3844
$GC,3908,-0.85,-243.4,414.6,-12.1,615,3914,0.28,2.10,0.00,0.000,6,0.120,0.034,2534,2293,3843
$GC,4224,-1.02,-243.4,445.4,-9.9,646,4227,0.15,2.22,0.00,0.000,4,0.059,0.059,2442,3689,3842
$GC,4288,-0.83,-243.4,453.4,-13.6,652,4292,0.28,2.00,0.00,0.000,6,0.119,0.035,2538,2368,3841
$GC,4609,-1.03,-243.4,483.3,-8.9,683,4613,0.17,2.28,0.00,0.000,4,0.053,0.044,2437,903,3839
$GC,4640,-0.89,-243.4,486.7,-11.0,685,4648,0.22,2.28,0.00,0.000,6,0.123,0.045,2525,2334,3838
$GC,4966,-1.06,-243.4,514.5,-8.4,709,4970,0.17,2.25,0.00,0.000,4,0.052,0.045,2425,892,3836
$GC,5008,-0.81,-243.4,519.4,-11.8,711,5012,0.32,2.25,0.00,0.000,6,0.126,0.046,2546,2309,3836
$GC,5332,-1.11,-243.4,548.0,-8.5,727,5336,0.22,2.20,0.00,0.000,4,0.052,0.058,2435,3692,3833
$GC,5395,-0.98,-243.4,554.6,-10.4,730,5400,0.15,2.08,0.00,0.000,6,0.119,0.035,2489,2330,3833
$GC,5719,-1.07,-243.4,584.5,-9.5,746,5722,0.00,2.25,0.00,0.000,4,0.000,0.048,2490,887,3832
$GC,5787,-1.07,-243.4,591.4,-10.1,749,5791,0.00,2.22,0.00,0.000,6,0.000,0.046,2490,2288,3831
$GC,6105,-1.15,-243.4,621.0,-9.6,765,6108,0.15,2.25,0.00,0.000,4,0.056,0.061,2401,3688,3829
$GC,6162,-0.81,-243.4,628.4,-14.5,768,6166,0.40,2.12,0.00,0.000,6,0.123,0.037,2547,2305,3828
$GC,6491,-1.14,-243.4,656.9,-8.7,784,6495,0.25,2.25,0.00,0.000,4,0.052,0.060,2425,3694,3826
$GC,6533,-0.99,-243.4,661.6,-11.7,786,6537,0.22,2.10,0.00,0.000,6,0.121,0.036,2496,2303,3825
$GC,6856,-1.13,-243.4,691.3,-9.3,802,6860,0.15,2.20,0.00,0.000,4,0.060,0.048,2413,895,3823
$GC,6882,-1.02,-243.4,694.5,-11.6,803,6886,0.22,2.33,0.00,0.000,6,0.144,0.048,2477,2361,3823
$GC,7192,-1.12,-243.4,724.5,-9.6,818,7196,0.00,2.12,0.00,0.000,4,0.000,0.064,2478,3682,3821
$GC,7235,-1.07,-243.4,729.1,-11.9,820,7238,0.00,1.95,0.00,0.000,6,0.000,0.038,2478,2391,3820
$GC,7562,-1.20,-243.4,760.5,-9.2,836,7566,0.15,2.38,0.00,0.000,4,0.058,0.048,2392,886,3818
$GC,7635,-0.88,-243.4,770.8,-15.1,839,7642,0.45,2.38,0.00,0.000,6,0.139,0.049,2524,2373,3817
$GC,7947,-1.12,-243.4,797.7,-8.1,855,7950,0.20,2.12,0.00,0.000,4,0.052,0.065,2420,3682,3816
$GC,8015,-0.88,-243.4,805.2,-11.9,858,8019,0.30,1.95,0.00,0.000,6,0.122,0.039,2521,2416,3814
$GC,8333,-1.13,-243.4,830.1,-7.8,874,8336,0.17,2.08,0.00,0.000,4,0.058,0.065,2423,3685,3812
$GC,8385,-0.96,-243.4,835.6,-11.0,876,8391,0.20,1.92,0.00,0.000,6,0.126,0.040,2492,2439,3811
$GC,8697,-1.12,-243.4,861.4,-7.9,892,8701,0.12,2.45,0.00,0.000,4,0.066,0.049,2419,898,3810
$GC,8723,-1.02,-243.4,864.3,-10.9,893,8727,0.20,2.53,0.00,0.000,6,0.138,0.051,2488,2446,3810
$GC,9039,-1.18,-243.4,891.7,-8.7,909,9042,0.17,2.00,0.00,0.000,4,0.054,0.067,2396,3682,3808
$GC,9061,-1.13,-243.4,894.0,-11.3,910,9064,0.17,1.88,0.00,0.000,6,0.146,0.039,2447,2444,3807
$GC,9388,-0.94,-243.4,936.8,-13.7,926,9392,0.17,2.47,0.00,0.000,4,0.138,0.051,2506,901,3806
$GC,9435,-0.97,-243.4,942.5,-11.0,928,9439,0.00,2.53,0.00,0.000,6,0.000,0.051,2506,2448,3806
$GC,9752,-1.15,-243.4,975.1,-10.3,944,9755,0.17,2.03,0.00,0.000,4,0.057,0.067,2407,3688,3805
$STATE,9856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9856,begin apogee
$GC,9864,-0.24,0.0,990.7,15.7,949,10065,1.00,0.00,199.00,1.388,6,0.132,0.000,2726,2306,2854
$STATE,10066,end apogee,CONTROL_FINISHED_OK
$STATE,10066,begin climb
$GC,10068,0.96,243.4,1008.3,0.0,959,10286,1.05,2.45,208.45,1.345,4,0.035,0.058,3157,908,1859
$GC,10376,0.37,243.4,982.3,18.2,973,10381,0.70,2.30,0.00,0.000,6,0.162,0.048,2936,2296,1854
$GC,10692,0.57,350.4,959.0,7.0,989,10792,0.17,2.38,94.35,1.318,4,0.056,0.054,3037,902,1424
$GC,10871,0.40,350.4,938.6,12.3,996,10878,0.30,2.28,0.00,0.000,6,0.128,0.051,2940,2283,1419
$GC,11183,0.70,421.1,913.5,8.0,1012,11251,0.22,2.38,63.62,1.299,4,0.049,0.061,3051,3693,1137
$GC,11331,0.49,421.1,892.8,15.3,1019,11335,0.32,2.40,0.00,0.000,6,0.137,0.041,2966,2199,1134
$GC,11653,0.75,454.9,862.3,9.1,1035,11695,0.20,2.58,33.22,1.201,4,0.051,0.059,3071,3695,998
$GC,11721,0.53,454.9,852.5,16.3,1038,11725,0.35,2.53,0.00,0.000,6,0.137,0.040,2978,2114,997
$GC,12043,0.77,460.1,820.2,9.9,1054,12054,0.20,2.60,5.88,0.983,4,0.052,0.060,3084,3693,976
$GC,12156,0.51,460.1,801.0,18.8,1059,12160,0.40,2.58,0.00,0.000,6,0.140,0.041,2975,2054,976
$GC,12466,0.83,460.1,767.4,10.7,1074,12470,0.25,1.85,0.00,0.000,4,0.047,0.054,3105,889,975
$GC,12562,0.55,460.1,750.5,18.3,1078,12565,0.35,1.77,0.00,0.000,6,0.135,0.041,2991,2004,975
$GC,12878,0.81,460.1,711.1,12.1,1094,12882,0.22,2.72,0.00,0.000,4,0.048,0.058,3102,3692,974
$GC,12925,0.49,460.1,702.6,19.9,1096,12929,0.47,2.65,0.00,0.000,6,0.137,0.041,2968,2002,974
$GC,13236,0.92,460.1,667.6,10.8,1111,13240,0.35,2.72,0.00,0.000,4,0.054,0.057,3117,3682,974
$GC,13267,0.80,460.1,662.7,16.3,1112,13273,0.22,2.60,0.00,0.000,6,0.153,0.041,3066,2019,974
$GC,13578,0.66,460.1,612.8,14.7,1128,13582,0.15,2.70,0.00,0.000,4,0.142,0.058,3020,3684,974
$GC,13615,0.66,460.1,607.9,13.2,1130,13618,0.00,2.55,0.00,0.000,6,0.000,0.041,3029,2043,974
$GC,13935,0.63,460.1,571.1,10.7,1146,13939,0.00,2.65,0.00,0.000,4,0.000,0.058,3029,3683,974
$GC,13967,0.56,460.1,567.3,11.2,1147,13971,0.10,2.55,0.00,0.000,6,0.128,0.040,2988,2066,974
$GC,14283,1.01,481.4,538.2,9.4,1163,14310,0.38,2.67,20.23,1.075,4,0.059,0.056,3143,3677,890
$GC,14359,0.69,481.4,525.9,17.4,1166,14363,0.32,2.47,0.00,0.000,6,0.133,0.039,3035,2130,890
$GC,14678,0.87,481.4,489.1,10.8,1186,14682,0.15,2.55,0.00,0.000,4,0.057,0.055,3116,3696,888
$GC,14741,0.59,481.4,480.0,15.0,1191,14749,0.43,2.58,0.00,0.000,6,0.132,0.039,2996,2063,888
$GC,15057,1.15,506.7,451.6,9.3,1222,15085,0.50,1.85,23.70,1.007,4,0.049,0.054,3209,901,789
$GC,15187,0.66,506.7,426.3,22.4,1233,15193,0.57,2.03,0.00,0.000,6,0.146,0.041,3031,2158,787
$GC,15502,1.16,512.4,391.2,9.8,1264,15515,0.43,2.03,6.55,0.802,4,0.081,0.052,3187,902,763
$GC,15601,0.78,512.4,375.0,18.6,1273,15605,0.43,2.15,0.00,0.000,6,0.143,0.041,3061,2269,763
$GC,15916,0.97,512.4,337.5,11.2,1303,15920,0.17,2.28,0.00,0.000,4,0.051,0.055,3158,3690,763
$GC,15996,0.66,512.4,324.0,18.8,1310,16000,0.47,2.33,0.00,0.000,6,0.134,0.038,3023,2193,763
$GC,16314,1.29,557.5,293.3,8.8,1347,16376,0.50,2.50,47.00,0.851,4,0.038,0.053,3262,3686,578
$GC,16466,0.79,557.5,260.8,22.8,1374,16474,0.62,2.30,0.00,0.000,6,0.146,0.044,3064,2252,572
$GC,16794,1.35,557.5,221.5,12.2,1435,16800,0.45,2.15,0.00,0.000,4,0.046,0.048,3263,885,567
$GC,16896,0.90,557.5,201.8,19.6,1454,16902,0.47,2.38,0.00,0.000,6,0.137,0.042,3100,2364,566
$GC,17223,1.45,557.5,165.6,13.1,1515,17229,0.43,2.10,0.00,0.000,4,0.048,0.054,3295,3691,565
$GC,17354,0.91,557.5,137.1,26.6,1539,17360,0.60,1.88,0.00,0.000,6,0.133,0.038,3101,2482,565
$GC,17681,1.54,594.7,100.3,9.0,1600,17725,0.50,1.95,25.83,0.616,4,0.044,0.053,3322,3678,482
$GC,17807,0.99,594.7,74.2,26.2,1622,17813,0.60,1.67,0.00,0.000,6,0.134,0.044,3128,2595,475
$GC,18134,1.57,615.2,40.0,9.4,1683,18140,0.47,1.73,0.00,0.000,4,0.063,0.052,3318,3687,471
$GC,18290,1.13,615.2,12.4,23.2,1712,18295,0.43,1.60,0.00,0.000,6,0.133,0.042,3173,2638,471
$STATE,18368,end climb,SURFACE_DEPTH_REACHED
$STATE,18368,begin surface coast
$FINISH,1.9,1.006991
$STATE,18397,end surface coast,CONTROL_FINISHED_OK
$STATE,18397,begin surface
$SM_CCo,18473,0.00,0.000,0,0,470,585.04
$SM_GC,2.53,7.68,0.00,0.00,0.036,0.000,0.000,156,2260,470,-8.19,-0.71,585.04
$IRIDIUM_FIX,2522.28,12540.58,171098,020257
$TT8_MAMPS,0.048321
$HUMID,1695
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.70
$XPDR_PINGS,480
$24V_AH,23.2,78.067
$10V_AH,10.6,53.027
$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,42.975,210.650,727.825,0.000,0.000,51.085,63.795,379.683,128.000,0.000,0.000,11.624,0.000,13128.962,878.310,4198.298,938.294,0.000,2503.746,0.000,3533.321,0.000,53.983,0.000
$DEVICE_MAMPS,223.964,67.496,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.275,1193.654,1864.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101087,1732
$CAP_FILE_SIZE,219110,0
$CFSIZE,260165632,226492416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.165, 63.5,1
$GPS,230709,075125,2532.193,12542.523,40,1.3,40,-4.0