version: 66.04
glider: 165
mission: 2
dive: 378
start: 7 29 109 7 10 56
data:
$ID,165
$MISSION,2
$DIVE,378
$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,367
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,-125365.15
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2745
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,38
$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
$GPS1,065925,2520.597,12536.140,40,1.1,40,-3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-72.0
$GPS2,071050,2520.550,12536.147,15,1.2,15,-3.9
$SPEED_LIMITS,0.156,0.300
$TGT_NAME,OFF_5
$TGT_LATLONG,2519.500,12535.100
$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,247.7,2619,-27.7,-8.992
$D_GRID,1053
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,12,-1.36,-53.8,0.0,0.0,0,53,0.00,0.00,-38.88,0.000,2,0.000,0.000,158,2260,1902
$GC,55,-1.42,-105.3,3.1,-3.2,6,113,8.35,2.17,-43.12,0.000,4,0.220,0.054,2285,871,3285
$GC,162,-1.42,-105.3,21.4,-27.2,24,169,0.00,2.20,0.00,0.000,6,0.000,0.041,2275,2289,3286
$GC,489,-1.42,-105.3,103.5,-22.0,85,495,0.00,2.17,0.00,0.000,4,0.000,0.050,2265,3688,3287
$GC,735,-1.42,-105.3,157.3,-21.1,131,741,0.00,2.10,0.00,0.000,6,0.000,0.032,2268,2301,3288
$GC,1061,-1.42,-105.3,225.2,-20.2,192,1068,0.00,2.20,0.00,0.000,4,0.000,0.052,2258,3682,3289
$GC,1137,-1.42,-105.3,242.2,-21.5,206,1143,0.08,2.08,0.00,0.000,6,0.189,0.033,2280,2301,3289
$GC,1464,-1.42,-105.3,296.8,-16.5,267,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2299,3289
$GC,1784,-1.42,-105.3,352.2,-17.2,300,1788,0.00,2.20,0.00,0.000,4,0.000,0.053,2272,3680,3289
$GC,1800,-1.42,-105.3,355.1,-17.7,301,1806,0.00,2.05,0.00,0.000,6,0.000,0.037,2271,2338,3289
$GC,2116,-1.42,-105.3,411.1,-17.5,332,2119,0.00,2.12,0.00,0.000,4,0.000,0.054,2262,3682,3289
$GC,2153,-1.42,-105.3,418.0,-18.4,335,2159,0.00,2.05,0.00,0.000,6,0.000,0.033,2262,2331,3289
$GC,2469,-1.42,-105.3,472.0,-16.7,366,2472,0.00,2.15,0.00,0.000,4,0.000,0.054,2252,3689,3289
$GC,2565,-1.42,-105.3,487.4,-16.0,375,2568,0.12,2.03,0.00,0.000,6,0.199,0.034,2283,2332,3288
$GC,2883,-1.42,-105.3,534.9,-15.8,395,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2328,3287
$GC,3187,-1.42,-105.3,584.6,-16.3,410,3190,0.00,2.15,0.00,0.000,4,0.000,0.057,2275,3677,3284
$GC,3208,-1.42,-105.3,588.1,-16.9,411,3211,0.00,2.05,0.00,0.000,6,0.000,0.035,2275,2338,3283
$GC,3534,-1.42,-105.3,641.0,-16.4,427,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2331,3281
$GC,3840,-1.42,-105.3,690.4,-16.4,442,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2331,3279
$GC,4145,-1.42,-105.3,740.3,-16.8,457,4148,0.00,2.17,0.00,0.000,4,0.000,0.063,2275,3676,3275
$GC,4363,-1.42,-105.3,778.1,-17.4,467,4367,0.00,2.05,0.00,0.000,6,0.000,0.036,2274,2346,3273
$GC,4684,-1.42,-105.3,832.2,-16.6,483,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2340,3271
$GC,4990,-1.42,-105.3,882.4,-16.1,498,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2340,3267
$GC,5295,-1.42,-105.3,932.3,-15.8,513,5298,0.00,2.20,0.00,0.000,4,0.000,0.065,2274,3682,3265
$GC,5390,-1.42,-105.3,948.2,-16.6,517,5394,0.00,2.08,0.00,0.000,6,0.000,0.038,2274,2351,3263
$STATE,5663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5663,begin apogee
$GC,5669,-0.23,0.0,991.8,16.2,531,5758,1.35,0.00,86.32,1.360,6,0.171,0.000,2664,2345,2854
$STATE,5759,end apogee,CONTROL_FINISHED_OK
$STATE,5759,begin climb
$GC,5761,1.42,105.3,995.9,0.0,535,5859,1.48,2.30,90.10,1.324,4,0.067,0.058,3198,3675,2423
$GC,5903,1.42,105.3,992.1,12.4,542,5907,0.00,2.17,0.00,0.000,6,0.000,0.038,3208,2302,2420
$GC,6219,1.42,105.3,956.1,11.8,558,6222,0.00,2.22,0.00,0.000,4,0.000,0.051,3219,893,2417
$GC,6304,1.42,105.3,945.9,12.1,562,6308,0.00,2.20,0.00,0.000,6,0.000,0.044,3218,2286,2416
$GC,6631,1.42,105.3,904.8,13.3,578,6634,0.00,2.25,0.00,0.000,4,0.000,0.056,3218,3692,2415
$GC,6721,1.42,105.3,892.1,13.2,582,6724,0.00,2.20,0.00,0.000,6,0.000,0.038,3229,2285,2413
$GC,7043,1.42,105.3,853.6,12.6,598,7046,0.00,2.25,0.00,0.000,4,0.000,0.054,3229,3683,2411
$GC,7063,1.42,105.3,850.5,14.2,599,7067,0.10,2.20,0.00,0.000,6,0.220,0.038,3203,2275,2411
$GC,7390,1.42,105.3,811.7,11.1,615,7393,0.00,2.17,0.00,0.000,4,0.000,0.048,3212,890,2409
$GC,7405,1.42,105.3,810.1,10.5,615,7412,0.00,2.22,0.00,0.000,6,0.000,0.042,3209,2290,2409
$GC,7717,1.42,105.3,780.3,9.7,631,7720,0.00,2.22,0.00,0.000,4,0.000,0.048,3217,888,2408
$GC,7769,1.42,105.3,774.4,12.0,633,7773,0.00,2.22,0.00,0.000,6,0.000,0.043,3218,2288,2408
$GC,8086,1.42,108.5,744.0,8.6,649,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2288,2407
$GC,8391,1.43,115.0,718.8,8.3,664,8401,0.00,2.25,6.38,0.996,4,0.000,0.054,3217,3687,2385
$GC,8465,1.43,115.0,710.5,11.7,667,8470,0.00,2.22,0.00,0.000,6,0.000,0.038,3228,2271,2384
$GC,8775,1.43,115.0,678.5,10.2,683,8778,0.00,2.30,0.00,0.000,4,0.000,0.054,3228,3695,2383
$GC,8850,1.43,115.0,670.6,10.9,686,8853,0.08,2.17,0.00,0.000,6,0.227,0.038,3208,2306,2382
$GC,9165,1.43,115.0,641.2,9.4,702,9169,0.00,2.25,0.00,0.000,4,0.000,0.048,3217,890,2382
$GC,9411,1.45,130.7,621.3,7.2,713,9430,0.00,2.20,14.60,1.104,6,0.000,0.043,3217,2269,2321
$GC,9748,1.46,142.5,592.4,7.7,730,9763,0.00,2.20,11.43,1.051,4,0.000,0.048,3227,900,2272
$GC,9853,1.46,142.5,582.6,9.6,734,9857,0.00,2.20,0.00,0.000,6,0.000,0.041,3227,2292,2270
$GC,10174,1.46,142.5,549.1,10.7,750,10177,0.00,2.22,0.00,0.000,4,0.000,0.047,3237,888,2269
$GC,10292,1.46,142.5,537.9,10.0,755,10295,0.00,2.15,0.00,0.000,6,0.000,0.041,3237,2255,2270
$GC,10607,1.47,146.8,510.7,8.5,771,10613,0.00,0.00,4.82,0.790,6,0.000,0.000,3237,2255,2255
$GC,10916,1.47,146.8,481.6,9.9,795,10919,0.00,2.15,0.00,0.000,4,0.000,0.048,3247,899,2254
$GC,10990,1.47,150.3,474.6,8.6,802,11001,0.00,2.12,4.72,0.756,6,0.000,0.041,3247,2250,2241
$GC,11311,1.49,160.4,448.3,7.9,833,11325,0.00,2.33,10.15,0.932,4,0.000,0.054,3247,3697,2200
$GC,11397,1.49,160.4,440.5,9.9,841,11401,0.15,2.25,0.00,0.000,6,0.228,0.037,3225,2241,2199
$GC,11712,1.49,160.4,413.6,9.4,871,11715,0.00,2.10,0.00,0.000,4,0.000,0.048,3234,896,2199
$GC,11874,1.49,160.4,399.0,9.3,886,11877,0.00,2.08,0.00,0.000,6,0.000,0.040,3234,2229,2199
$GC,12197,1.49,165.5,368.7,8.4,917,12208,0.00,2.33,6.20,0.769,4,0.000,0.051,3234,3690,2177
$GC,12298,1.49,165.5,359.3,9.3,926,12305,0.00,2.28,0.00,0.000,6,0.000,0.038,3245,2241,2178
$GC,12617,1.52,183.6,333.5,7.0,957,12639,0.00,2.38,16.67,0.882,4,0.000,0.051,3245,3690,2105
$GC,12731,1.52,183.6,322.5,11.0,968,12735,0.00,2.22,0.00,0.000,6,0.000,0.035,3256,2265,2103
$GC,13050,1.52,183.6,289.7,10.3,1007,13055,0.00,2.12,0.00,0.000,4,0.000,0.044,3266,895,2103
$GC,13196,1.52,184.1,275.5,8.9,1034,13202,0.15,2.15,0.00,0.000,6,0.216,0.044,3232,2266,2102
$GC,13522,1.52,191.1,249.3,8.2,1095,13536,0.00,2.30,7.72,0.725,4,0.000,0.051,3231,3683,2075
$GC,13776,1.56,219.6,230.9,5.8,1142,13806,0.00,2.17,25.12,0.807,6,0.000,0.037,3242,2286,1957
$GC,14130,1.56,219.6,196.6,10.7,1207,14135,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2285,1953
$GC,14455,1.59,241.0,170.4,6.6,1268,14480,0.00,2.20,18.65,0.739,4,0.000,0.044,3252,906,1869
$GC,14699,1.59,241.0,147.6,10.4,1313,14705,0.00,2.08,0.00,0.000,6,0.000,0.043,3252,2222,1867
$GC,15027,1.62,265.8,117.9,6.2,1374,15053,0.00,2.15,21.48,0.697,4,0.000,0.044,3262,891,1769
$GC,15261,1.62,271.0,97.9,8.4,1417,15273,0.00,2.03,5.55,0.534,6,0.000,0.037,3262,2184,1748
$GC,15593,1.66,302.9,74.7,5.4,1479,15625,0.00,2.08,27.30,0.663,4,0.000,0.043,3271,905,1618
$GC,15795,1.67,308.7,59.0,8.3,1516,15809,0.00,2.08,6.07,0.516,6,0.000,0.041,3271,2225,1594
$GC,16131,1.67,308.7,30.6,9.4,1578,16136,0.00,2.28,0.00,0.000,4,0.000,0.048,3270,3683,1594
$GC,16216,1.67,308.7,22.1,10.0,1594,16222,0.00,2.20,0.00,0.000,6,0.000,0.032,3281,2244,1594
$STATE,16417,end climb,SURFACE_DEPTH_REACHED
$STATE,16417,begin surface coast
$FINISH,1.5,1.007983
$STATE,16444,end surface coast,CONTROL_FINISHED_OK
$STATE,16444,begin surface
$SM_CCo,16460,132.07,0.591,0,0,916,475.15
$SM_GC,2.24,0.00,0.00,132.07,0.000,0.000,0.591,151,2240,916,-8.11,-1.27,475.15
$IRIDIUM_FIX,2510.35,12537.80,231098,070746
$TT8_MAMPS,0.048321
$HUMID,1557
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,27.00
$XPDR_PINGS,616
$24V_AH,23.2,85.775
$10V_AH,10.6,58.053
$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,20.025,135.100,363.300,132.075,0.000,61.329,71.447,337.565,162.000,0.000,0.000,16.769,0.000,11933.345,622.998,3815.306,877.838,0.000,2018.286,0.000,3260.532,0.000,53.998,0.000
$DEVICE_MAMPS,227.799,65.195,1359.891,591.357,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.290,1150.713,1809.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94674,1637
$CAP_FILE_SIZE,163932,0
$CFSIZE,260165632,223477760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,172.3,1
$GPS,290709,114830,2519.213,12535.270,37,1.2,37,-3.9