version: 66.04
glider: 165
mission: 2
dive: 381
start: 7 29 109 23 14 14
data:
$ID,165
$MISSION,2
$DIVE,381
$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,-125470.46
$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,42
$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
$GPS1,230555,2515.510,12535.793,37,1.7,37,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-73.0
$GPS2,231406,2515.475,12535.853,12,1.5,28,-3.9
$SPEED_LIMITS,0.156,0.300
$TGT_NAME,RET_1
$TGT_LATLONG,2441.200,12552.200
$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,151.5,69182,-13.3,-8.992
$D_GRID,976
$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,-0.89,-219.0,0.0,0.0,0,52,0.00,0.00,-38.05,0.000,2,0.000,0.000,161,2300,1874
$GC,55,-0.89,-219.0,3.0,-3.1,6,126,9.10,2.22,-54.60,0.000,4,0.224,0.057,2453,877,3747
$GC,173,-0.89,-219.0,18.3,-17.2,26,179,0.00,2.20,0.00,0.000,6,0.000,0.038,2452,2273,3747
$GC,499,-0.89,-219.0,70.8,-13.6,87,505,0.00,2.15,0.00,0.000,4,0.000,0.038,2452,872,3748
$GC,563,-0.89,-219.0,79.6,-13.0,99,569,0.00,2.33,0.00,0.000,6,0.000,0.039,2452,2371,3748
$GC,889,-0.89,-219.0,125.4,-13.3,160,896,0.00,2.30,0.00,0.000,4,0.000,0.038,2451,876,3749
$GC,939,-0.89,-219.0,132.3,-13.8,169,945,0.00,2.28,0.00,0.000,6,0.000,0.037,2452,2358,3748
$GC,1266,-0.89,-219.0,173.0,-12.4,230,1272,0.00,2.28,0.00,0.000,4,0.000,0.038,2452,869,3749
$GC,1352,-0.89,-219.0,183.8,-12.7,246,1358,0.00,2.22,0.00,0.000,6,0.000,0.037,2452,2322,3750
$GC,1679,-0.89,-219.0,222.2,-11.6,307,1684,0.00,2.20,0.00,0.000,4,0.000,0.038,2452,881,3750
$GC,1737,-0.89,-219.0,229.4,-12.4,318,1743,0.00,2.20,0.00,0.000,6,0.000,0.044,2452,2289,3750
$GC,2064,-0.89,-219.0,266.0,-10.6,379,2070,0.00,2.17,0.00,0.000,4,0.000,0.053,2452,3680,3750
$GC,2107,-0.89,-219.0,270.8,-11.1,387,2112,0.00,2.05,0.00,0.000,6,0.000,0.031,2452,2281,3750
$GC,2437,-0.89,-219.0,303.2,-10.1,446,2440,0.00,2.10,0.00,0.000,4,0.000,0.040,2452,899,3749
$GC,2452,-0.89,-219.0,304.9,-10.0,447,2458,0.00,2.25,0.00,0.000,6,0.000,0.039,2452,2336,3750
$GC,2770,-0.89,-219.0,337.9,-10.7,478,2773,0.00,2.12,0.00,0.000,4,0.000,0.054,2452,3686,3749
$GC,2817,-0.89,-219.0,343.1,-10.5,482,2823,0.00,2.00,0.00,0.000,6,0.000,0.037,2452,2350,3750
$GC,3136,-0.89,-219.0,374.3,-9.8,513,3140,0.00,2.22,0.00,0.000,4,0.000,0.041,2452,899,3749
$GC,3253,-0.89,-219.0,387.1,-11.1,524,3256,0.00,2.22,0.00,0.000,6,0.000,0.041,2451,2315,3748
$GC,3574,-0.89,-219.0,420.6,-10.4,555,3575,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2315,3747
$GC,3886,-0.89,-219.0,449.4,-9.0,585,3890,0.00,2.17,0.00,0.000,4,0.000,0.043,2452,911,3745
$GC,3977,-0.89,-219.0,458.4,-10.0,593,3982,0.00,2.22,0.00,0.000,6,0.000,0.043,2452,2333,3744
$GC,4294,-0.89,-219.0,488.3,-9.1,624,4297,0.00,2.22,0.00,0.000,4,0.000,0.043,2452,903,3742
$GC,4330,-0.89,-219.0,491.9,-9.4,627,4336,0.00,2.20,0.00,0.000,6,0.000,0.043,2452,2315,3742
$GC,4653,-0.89,-219.0,520.5,-9.5,648,4656,0.00,2.17,0.00,0.000,4,0.000,0.058,2452,3683,3740
$GC,4721,-0.89,-219.0,527.4,-10.0,651,4725,0.00,2.08,0.00,0.000,6,0.000,0.034,2451,2316,3739
$GC,5043,-0.89,-219.0,558.6,-9.4,667,5046,0.00,2.20,0.00,0.000,4,0.000,0.044,2452,892,3738
$GC,5128,-0.89,-219.0,566.8,-9.3,671,5131,0.00,2.22,0.00,0.000,6,0.000,0.044,2452,2315,3737
$GC,5454,-0.89,-219.0,595.2,-8.6,687,5458,0.00,2.20,0.00,0.000,4,0.000,0.059,2452,3691,3735
$GC,5487,-0.89,-219.0,597.9,-8.8,688,5490,0.00,2.10,0.00,0.000,6,0.000,0.032,2452,2286,3734
$GC,5802,-0.89,-219.0,627.0,-9.9,704,5805,0.00,2.25,0.00,0.000,4,0.000,0.058,2452,3681,3733
$GC,5924,-0.89,-219.0,639.7,-10.6,709,5930,0.00,2.05,0.00,0.000,6,0.000,0.035,2452,2332,3732
$GC,6235,-0.89,-219.0,668.6,-8.8,725,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2331,3729
$GC,6540,-0.89,-219.0,696.7,-9.5,740,6543,0.00,2.20,0.00,0.000,4,0.000,0.061,2452,3688,3727
$GC,6577,-0.89,-219.0,700.3,-9.6,741,6583,0.00,1.98,0.00,0.000,6,0.000,0.035,2452,2391,3726
$GC,6888,-0.89,-219.0,728.3,-8.9,757,6891,0.00,2.10,0.00,0.000,4,0.000,0.061,2452,3686,3725
$GC,6962,-0.89,-219.0,735.1,-9.3,760,6966,0.00,1.92,0.00,0.000,6,0.000,0.035,2452,2420,3723
$GC,7279,-0.89,-219.0,761.7,-8.1,776,7282,0.00,2.05,0.00,0.000,4,0.000,0.062,2452,3680,3722
$GC,7417,-0.89,-219.0,773.7,-9.0,782,7421,0.00,1.88,0.00,0.000,6,0.000,0.036,2452,2455,3721
$GC,7732,-0.89,-219.0,803.4,-10.2,798,7736,0.00,2.03,0.00,0.000,4,0.000,0.063,2452,3682,3719
$GC,7819,-0.89,-219.0,812.2,-11.0,802,7822,0.00,1.80,0.00,0.000,6,0.000,0.037,2452,2484,3718
$GC,8144,-0.89,-219.0,845.5,-9.8,818,8148,0.00,2.50,0.00,0.000,4,0.000,0.048,2452,906,3717
$GC,8187,-0.89,-219.0,849.8,-9.5,820,8195,0.00,2.58,0.00,0.000,6,0.000,0.047,2452,2513,3716
$GC,8516,-0.89,-219.0,880.6,-9.0,836,8519,0.00,1.92,0.00,0.000,4,0.000,0.065,2452,3682,3714
$GC,8595,-0.89,-219.0,888.0,-9.5,839,8601,0.00,1.70,0.00,0.000,6,0.000,0.037,2452,2568,3714
$GC,8906,-0.89,-219.0,916.7,-9.5,855,8910,0.00,2.65,0.00,0.000,4,0.000,0.047,2452,906,3712
$GC,8937,-0.89,-219.0,920.0,-10.3,856,8945,0.00,2.72,0.00,0.000,6,0.000,0.048,2452,2598,3711
$GC,9247,-0.89,-219.0,949.1,-9.0,872,9251,0.00,2.72,0.00,0.000,4,0.000,0.047,2451,901,3710
$GC,9360,-0.89,-219.0,959.7,-8.8,877,9364,0.00,2.70,0.00,0.000,6,0.000,0.049,2452,2567,3709
$STATE,9550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9550,begin apogee
$GC,9556,-0.23,0.0,977.4,9.1,887,9738,0.62,0.00,179.65,1.381,6,0.091,0.000,2672,2307,2854
$STATE,9739,end apogee,CONTROL_FINISHED_OK
$STATE,9739,begin climb
$GC,9742,0.89,219.0,991.1,0.0,896,9938,0.95,2.45,187.23,1.340,4,0.040,0.055,3060,910,1960
$GC,9975,0.89,219.0,980.1,13.6,906,9981,0.00,2.33,0.00,0.000,6,0.000,0.047,3060,2302,1957
$GC,10286,0.89,219.0,938.8,13.2,922,10289,0.00,2.25,0.00,0.000,4,0.000,0.052,3070,907,1953
$GC,10322,0.89,219.0,933.7,12.9,923,10329,0.12,2.25,0.00,0.000,6,0.178,0.044,3033,2300,1952
$GC,10633,0.89,219.0,896.3,11.5,939,10636,0.00,2.25,0.00,0.000,4,0.000,0.059,3033,3693,1952
$GC,10665,0.89,219.0,892.3,13.0,940,10669,0.00,2.15,0.00,0.000,6,0.000,0.038,3042,2306,1951
$GC,10980,0.89,219.0,857.3,11.0,956,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2304,1951
$GC,11286,0.89,219.0,818.1,13.5,971,11289,0.00,2.25,0.00,0.000,4,0.000,0.058,3042,3693,1949
$GC,11355,0.89,219.0,808.3,14.3,974,11358,0.00,2.15,0.00,0.000,6,0.000,0.039,3052,2307,1949
$GC,11676,0.89,219.0,768.0,11.9,990,11679,0.00,2.28,0.00,0.000,4,0.000,0.050,3063,893,1948
$GC,11809,0.89,219.0,752.4,10.2,996,11813,0.08,2.28,0.00,0.000,6,0.181,0.044,3031,2313,1947
$GC,12131,0.89,219.0,719.7,9.6,1012,12135,0.00,2.28,0.00,0.000,4,0.000,0.049,3040,888,1947
$GC,12189,0.89,219.0,714.1,9.1,1015,12193,0.00,2.20,0.00,0.000,6,0.000,0.042,3040,2291,1947
$GC,12516,0.89,219.0,681.0,11.0,1031,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2291,1947
$GC,12821,0.89,219.0,646.4,11.1,1046,12824,0.00,2.25,0.00,0.000,4,0.000,0.057,3040,3691,1946
$GC,12949,0.89,219.0,630.7,12.0,1052,12952,0.00,2.20,0.00,0.000,6,0.000,0.038,3051,2288,1946
$GC,13276,0.89,219.0,597.1,9.4,1068,13279,0.00,2.20,0.00,0.000,4,0.000,0.050,3061,900,1946
$GC,13328,0.89,219.0,592.2,9.2,1070,13332,0.08,2.22,0.00,0.000,6,0.176,0.041,3038,2294,1945
$GC,13644,0.89,219.0,562.7,9.8,1086,13648,0.00,2.22,0.00,0.000,4,0.000,0.056,3037,3686,1945
$GC,13739,0.89,219.0,552.2,11.0,1090,13743,0.00,2.20,0.00,0.000,6,0.000,0.038,3048,2284,1945
$GC,14055,0.89,219.0,521.8,9.6,1106,14059,0.00,2.20,0.00,0.000,4,0.000,0.048,3058,890,1945
$GC,14141,0.89,219.0,512.8,10.1,1110,14144,0.00,2.20,0.00,0.000,6,0.000,0.041,3058,2292,1945
$GC,14462,0.89,219.0,476.5,9.8,1135,14465,0.00,2.25,0.00,0.000,4,0.000,0.055,3058,3693,1945
$GC,14520,0.89,219.0,470.1,10.6,1140,14528,0.10,2.22,0.00,0.000,6,0.184,0.038,3038,2282,1945
$GC,14836,0.93,255.5,442.7,8.0,1171,14873,0.00,2.33,30.52,1.009,4,0.000,0.054,3038,3674,1811
$GC,14895,0.93,255.5,437.3,10.3,1176,14902,0.00,2.15,0.00,0.000,6,0.000,0.037,3047,2323,1810
$GC,15211,0.95,267.5,406.2,8.7,1207,15227,0.00,2.28,11.77,0.915,4,0.000,0.048,3058,897,1763
$GC,15264,0.95,267.5,401.5,9.1,1211,15269,0.00,2.25,0.00,0.000,6,0.000,0.040,3058,2317,1760
$GC,15582,0.95,267.5,370.5,10.0,1242,15583,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2317,1759
$GC,15891,0.97,288.9,340.8,8.4,1272,15915,0.00,2.28,19.58,0.904,4,0.000,0.054,3058,3693,1675
$GC,16016,0.97,288.9,328.1,10.8,1283,16021,0.00,2.17,0.00,0.000,6,0.000,0.041,3068,2313,1675
$GC,16333,0.97,288.9,295.5,10.3,1318,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2313,1674
$GC,16658,0.98,296.6,266.2,8.8,1379,16671,0.00,0.00,8.32,0.755,6,0.000,0.000,3068,2312,1643
$GC,16991,1.03,334.6,236.5,7.9,1441,17032,0.00,2.30,33.28,0.823,4,0.000,0.046,3078,899,1488
$GC,17080,1.04,345.9,229.1,8.7,1457,17097,0.00,2.28,11.30,0.744,6,0.000,0.038,3078,2342,1442
$GC,17418,1.04,345.9,196.9,10.8,1520,17425,0.00,2.30,0.00,0.000,4,0.000,0.049,3089,901,1442
$GC,17494,1.04,345.9,189.1,9.4,1534,17500,0.00,2.28,0.00,0.000,6,0.000,0.043,3089,2332,1440
$GC,17821,1.06,360.1,160.4,8.6,1595,17841,0.00,2.28,13.52,0.712,4,0.000,0.044,3099,901,1384
$GC,17867,1.06,360.1,156.3,9.9,1603,17873,0.00,2.22,0.00,0.000,6,0.000,0.040,3099,2307,1384
$GC,18194,1.06,360.1,123.3,11.1,1664,18201,0.00,2.15,0.00,0.000,4,0.000,0.050,3100,3678,1384
$GC,18217,1.06,360.1,120.8,11.0,1668,18224,0.00,2.12,0.00,0.000,6,0.000,0.034,3110,2273,1384
$GC,18545,1.09,386.2,87.5,8.3,1729,18571,0.00,2.20,22.77,0.675,4,0.000,0.044,3120,900,1279
$GC,18657,1.16,439.2,78.5,7.5,1749,18707,0.00,2.20,44.28,0.670,6,0.000,0.041,3120,2315,1063
$GC,19031,1.19,460.0,44.0,8.4,1817,19055,0.00,2.17,18.40,0.617,4,0.000,0.054,3120,3687,977
$GC,19114,1.21,481.3,36.5,8.4,1832,19140,0.00,2.25,18.85,0.604,6,0.000,0.037,3131,2242,890
$GC,19460,1.21,481.3,3.4,9.0,1896,19467,0.00,2.28,0.00,0.000,4,0.000,0.048,3131,3687,888
$STATE,19470,end climb,SURFACE_DEPTH_REACHED
$STATE,19470,begin surface coast
$FINISH,1.5,0.997831
$STATE,19502,end surface coast,CONTROL_FINISHED_OK
$STATE,19502,begin surface
$SM_CCo,19581,0.00,0.000,0,0,887,482.51
$SM_GC,2.24,7.65,0.00,0.00,0.039,0.000,0.000,157,2268,887,-7.98,-0.48,482.51
$IRIDIUM_FIX,2505.59,12535.03,231098,171758
$TT8_MAMPS,0.048321
$HUMID,1609
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,26.80
$XPDR_PINGS,740
$ALTIM_BOTTOM_PING,950.6,117.5
$24V_AH,23.1,86.475
$10V_AH,10.6,58.573
$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,18.700,195.400,599.475,0.000,0.000,28.664,31.977,248.013,193.000,0.000,0.000,30.774,0.000,14023.730,754.481,4488.673,767.151,0.000,2437.830,0.000,3805.607,0.000,57.801,0.000
$DEVICE_MAMPS,223.964,65.195,1381.367,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1283.154,1312.040,2061.533,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110495,1904
$CAP_FILE_SIZE,194814,0
$CFSIZE,260165632,223121408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,284.4,1
$GPS,300709,044137,2514.414,12535.842,40,1.1,40,-3.9