version: 66.04
glider: 165
mission: 2
dive: 348
start: 7 24 109 10 9 26
data:
$ID,165
$MISSION,2
$DIVE,348
$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,225
$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,-124553.57
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,58
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.025
$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
$GPS1,100107,2531.260,12545.165,26,1.4,26,-4.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-66.7
$GPS2,100920,2531.308,12545.240,13,1.5,13,-4.0
$SPEED_LIMITS,0.173,0.311
$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,238.6,43044,-14.7,-10.000
$D_GRID,826
$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,-1.14,-219.0,0.0,0.0,0,75,0.00,0.00,-60.35,0.000,2,0.000,0.000,163,2238,1962
$GC,78,-1.14,-219.0,3.2,-3.0,9,143,8.93,2.10,-48.97,0.000,4,0.225,0.054,2428,886,3750
$GC,164,-0.56,-219.0,16.5,-23.6,23,170,0.65,2.20,0.00,0.000,6,0.139,0.043,2618,2291,3751
$GC,491,-0.77,-219.0,54.4,-10.4,84,497,0.20,2.20,0.00,0.000,4,0.047,0.054,2507,3683,3751
$GC,508,-0.82,-219.0,56.5,-11.6,87,513,0.00,2.12,0.00,0.000,6,0.000,0.038,2507,2260,3751
$GC,834,-0.61,-219.0,104.2,-13.1,148,840,0.28,2.12,0.00,0.000,4,0.119,0.042,2600,868,3752
$GC,889,-0.67,-219.0,109.9,-10.2,158,896,0.00,2.20,0.00,0.000,6,0.000,0.038,2600,2304,3752
$GC,1218,-0.95,-219.0,144.0,-11.8,219,1224,0.25,2.17,0.00,0.000,4,0.091,0.052,2454,3693,3752
$GC,1266,-0.71,-219.0,150.7,-15.0,228,1273,0.30,2.10,0.00,0.000,6,0.117,0.032,2569,2284,3753
$GC,1593,-0.91,-219.0,181.9,-9.3,289,1599,0.17,2.22,0.00,0.000,4,0.048,0.054,2455,3682,3753
$GC,1647,-0.62,-219.0,188.7,-14.0,299,1653,0.40,2.05,0.00,0.000,6,0.121,0.036,2601,2326,3753
$GC,1973,-0.93,-219.0,220.9,-9.8,360,1979,0.28,0.00,0.00,0.000,6,0.044,0.000,2464,2325,3753
$GC,2300,-0.71,-219.0,264.5,-13.5,421,2305,0.30,2.20,0.00,0.000,4,0.121,0.043,2566,898,3753
$GC,2322,-0.64,-219.0,267.1,-12.5,425,2328,0.10,2.20,0.00,0.000,6,0.127,0.041,2595,2328,3753
$GC,2649,-1.06,-219.0,298.6,-9.8,486,2655,0.35,2.22,0.00,0.000,4,0.085,0.043,2443,895,3753
$GC,2682,-1.13,-219.0,302.4,-10.8,491,2685,0.00,2.17,0.00,0.000,6,0.000,0.042,2439,2300,3753
$GC,3004,-0.88,-219.0,342.2,-11.9,522,3008,0.22,2.20,0.00,0.000,4,0.130,0.057,2507,3692,3753
$GC,3052,-0.82,-219.0,347.3,-9.6,526,3058,0.00,2.10,0.00,0.000,6,0.000,0.035,2507,2304,3753
$GC,3369,-0.93,-219.0,375.2,-9.4,557,3372,0.00,2.20,0.00,0.000,4,0.000,0.058,2507,3688,3752
$GC,3433,-1.08,-219.0,382.0,-10.3,563,3437,0.15,2.00,0.00,0.000,6,0.054,0.033,2420,2338,3751
$GC,3754,-0.97,-219.0,422.0,-12.0,594,3758,0.20,2.15,0.00,0.000,4,0.121,0.057,2482,3680,3750
$GC,3839,-1.02,-219.0,431.5,-11.2,602,3842,0.00,2.08,0.00,0.000,6,0.000,0.035,2481,2311,3749
$GC,4161,-1.08,-219.0,465.3,-11.2,633,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2305,3748
$GC,4482,-1.15,-219.0,503.0,-11.6,663,4485,0.15,2.20,0.00,0.000,4,0.059,0.060,2397,3679,3746
$GC,4546,-0.81,-219.0,512.9,-16.9,666,4550,0.45,2.05,0.00,0.000,6,0.127,0.036,2540,2323,3745
$GC,4868,-0.97,-219.0,547.9,-9.6,682,4872,0.15,2.20,0.00,0.000,4,0.059,0.061,2457,3682,3743
$GC,4894,-1.03,-219.0,550.9,-11.2,683,4898,0.00,2.05,0.00,0.000,6,0.000,0.035,2457,2330,3742
$GC,5211,-1.09,-219.0,584.1,-9.6,699,5214,0.00,2.20,0.00,0.000,4,0.000,0.063,2455,3688,3740
$GC,5247,-1.04,-219.0,587.8,-10.3,700,5253,0.00,1.98,0.00,0.000,6,0.000,0.036,2455,2387,3740
$GC,5558,-1.04,-219.0,617.5,-9.8,716,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2387,3739
$GC,5863,-1.11,-219.0,650.2,-10.5,731,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,2387,3737
$GC,6168,-1.17,-219.0,679.0,-9.3,746,6172,0.00,2.33,0.00,0.000,4,0.000,0.045,2455,899,3735
$GC,6259,-1.08,-219.0,688.5,-10.8,750,6263,0.00,2.42,0.00,0.000,6,0.000,0.049,2454,2425,3734
$GC,6569,-1.14,-219.0,719.8,-10.3,765,6573,0.00,2.05,0.00,0.000,4,0.000,0.067,2455,3676,3732
$GC,6595,-1.20,-219.0,722.4,-10.5,766,6599,0.08,1.90,0.00,0.000,6,0.054,0.037,2395,2425,3731
$GC,6919,-0.91,-219.0,762.1,-13.9,782,6923,0.32,2.42,0.00,0.000,4,0.140,0.048,2501,889,3729
$GC,7035,-0.96,-219.0,773.8,-10.4,787,7042,0.00,2.42,0.00,0.000,6,0.000,0.050,2501,2407,3728
$GC,7347,-1.15,-219.0,800.6,-9.3,803,7351,0.17,2.08,0.00,0.000,4,0.054,0.067,2398,3682,3726
$GC,7416,-0.89,-219.0,810.0,-14.5,806,7420,0.32,1.90,0.00,0.000,6,0.128,0.040,2506,2442,3724
$STATE,7587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7587,begin apogee
$GC,7593,-0.29,0.0,827.1,9.5,815,7771,0.57,0.00,176.00,1.251,6,0.091,0.000,2712,2328,2854
$STATE,7772,end apogee,CONTROL_FINISHED_OK
$STATE,7772,begin climb
$GC,7774,1.14,219.0,841.9,0.0,824,7963,1.20,2.33,180.05,1.226,4,0.042,0.064,3180,3678,1960
$GC,8043,0.31,219.0,817.2,19.9,835,8049,0.95,2.22,0.00,0.000,6,0.179,0.041,2904,2298,1955
$GC,8354,0.38,328.9,795.0,6.6,851,8452,0.00,2.35,93.40,1.203,4,0.000,0.052,2913,891,1512
$GC,8486,0.53,404.2,785.2,7.7,856,8560,0.17,2.30,66.20,1.183,6,0.056,0.044,3011,2305,1205
$GC,8864,0.37,404.2,733.3,13.5,875,8868,0.30,2.28,0.00,0.000,4,0.133,0.051,2930,887,1199
$GC,8901,0.45,420.6,729.5,9.5,876,8922,0.00,2.25,15.00,1.099,6,0.000,0.043,2930,2291,1138
$GC,9236,0.74,474.6,698.2,8.3,893,9291,0.25,2.38,48.75,1.160,4,0.046,0.061,3054,3682,918
$GC,9383,0.48,474.6,673.6,18.4,900,9387,0.38,2.33,0.00,0.000,6,0.145,0.040,2955,2218,915
$GC,9711,0.74,482.6,641.2,9.8,916,9724,0.20,2.45,7.57,0.960,4,0.049,0.061,3064,3681,886
$GC,9784,0.48,482.6,629.0,17.9,919,9788,0.40,2.40,0.00,0.000,6,0.140,0.039,2955,2151,886
$GC,10100,0.93,510.9,596.7,9.1,935,10133,0.35,2.08,26.90,1.101,4,0.051,0.050,3120,893,770
$GC,10150,0.57,510.9,588.7,20.4,937,10154,0.40,2.10,0.00,0.000,6,0.148,0.043,2985,2180,769
$GC,10466,0.86,511.9,553.2,10.0,953,10470,0.25,2.05,0.00,0.000,4,0.044,0.049,3119,888,766
$GC,10557,0.50,511.9,537.9,18.8,957,10561,0.52,2.00,0.00,0.000,6,0.143,0.042,2961,2160,766
$GC,10872,1.05,511.9,505.7,10.5,973,10876,0.45,2.03,0.00,0.000,4,0.061,0.048,3140,881,765
$GC,10984,0.65,511.9,485.5,20.7,981,10991,0.43,2.10,0.00,0.000,6,0.147,0.043,3012,2223,765
$GC,11300,0.82,511.9,445.5,11.5,1012,11303,0.15,2.35,0.00,0.000,4,0.057,0.059,3106,3690,764
$GC,11363,0.51,511.9,435.1,18.8,1018,11368,0.50,2.42,0.00,0.000,6,0.135,0.038,2964,2123,764
$GC,11680,1.07,516.7,402.9,9.9,1048,11692,0.45,2.53,5.85,0.775,4,0.055,0.056,3150,3683,746
$GC,11800,0.68,516.7,380.0,19.8,1059,11804,0.47,2.35,0.00,0.000,6,0.149,0.039,3017,2170,746
$GC,12115,0.94,516.7,344.0,10.9,1089,12119,0.22,2.45,0.00,0.000,4,0.044,0.055,3133,3687,746
$GC,12227,0.59,516.7,324.1,19.9,1099,12231,0.50,2.42,0.00,0.000,6,0.143,0.038,2992,2112,746
$GC,12544,1.12,516.7,292.0,10.2,1136,12551,0.45,1.92,0.00,0.000,4,0.051,0.048,3179,887,746
$GC,12615,0.69,516.7,280.1,20.0,1149,12620,0.50,2.10,0.00,0.000,6,0.146,0.041,3028,2237,746
$GC,12941,1.08,516.7,244.1,10.4,1210,12948,0.32,2.12,0.00,0.000,4,0.043,0.052,3187,887,746
$GC,13023,0.66,516.7,229.2,21.8,1225,13029,0.57,2.10,0.00,0.000,6,0.140,0.041,3011,2245,746
$GC,13350,1.21,544.4,191.4,9.2,1286,13382,0.45,2.22,27.88,0.784,4,0.041,0.047,3226,885,632
$GC,13409,0.75,544.4,182.7,18.0,1296,13415,0.55,2.38,0.00,0.000,6,0.143,0.041,3045,2363,628
$GC,13736,1.32,544.4,148.9,10.4,1357,13742,0.45,2.33,0.00,0.000,4,0.061,0.044,3240,890,625
$GC,13785,0.88,544.4,140.8,19.6,1366,13792,0.52,2.55,0.00,0.000,6,0.143,0.045,3081,2505,624
$GC,14113,0.92,544.4,103.0,11.2,1427,14120,0.00,1.90,0.00,0.000,4,0.000,0.061,3081,3686,624
$GC,14125,1.00,544.4,101.4,11.7,1429,14131,0.00,2.00,0.00,0.000,6,0.000,0.035,3088,2374,624
$GC,14452,1.26,550.8,70.1,9.8,1490,14466,0.28,2.10,6.15,0.545,4,0.084,0.054,3238,3695,606
$GC,14519,0.88,550.8,60.6,16.6,1502,14525,0.47,2.12,0.00,0.000,6,0.130,0.038,3084,2324,605
$GC,14846,1.43,550.8,30.7,10.2,1563,14852,0.45,2.20,0.00,0.000,4,0.071,0.042,3258,897,603
$GC,14949,1.06,550.8,13.7,17.9,1582,14955,0.40,2.40,0.00,0.000,6,0.143,0.038,3138,2457,603
$STATE,15038,end climb,SURFACE_DEPTH_REACHED
$STATE,15038,begin surface coast
$FINISH,1.7,1.021410
$STATE,15067,end surface coast,CONTROL_FINISHED_OK
$STATE,15067,begin surface
$SM_CCo,15143,0.00,0.000,0,0,603,552.17
$SM_GC,2.48,7.53,0.00,0.00,0.033,0.000,0.000,147,2265,603,-8.16,-0.57,552.17
$IRIDIUM_FIX,2519.89,12543.92,181098,040429
$TT8_MAMPS,0.048321
$HUMID,1655
$INTERNAL_PRESSURE,8.90659
$TCM_TEMP,26.40
$XPDR_PINGS,544
$24V_AH,23.5,79.769
$10V_AH,10.6,53.987
$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,36.500,154.275,653.750,0.000,0.000,27.619,34.881,278.212,142.500,0.000,0.000,15.163,0.000,10334.634,767.157,3775.500,720.582,0.000,2199.069,0.000,3193.656,0.000,44.067,0.000
$DEVICE_MAMPS,224.731,66.729,1250.977,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1078.970,1154.820,1844.117,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91632,1604
$CAP_FILE_SIZE,180147,0
$CFSIZE,260165632,225914880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167, 79.6,1
$GPS,240709,142237,2531.316,12545.152,27,1.7,27,-4.0