version: 66.04
glider: 165
mission: 2
dive: 397
start: 8 1 109 16 16 19
data:
$ID,165
$MISSION,2
$DIVE,397
$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,-125883.06
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2793
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.5
$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,47
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$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
$GPS1,160931,2505.956,12538.622,40,1.2,40,-3.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-68.2
$GPS2,161614,2506.021,12538.685,10,1.5,16,-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,168.1,51286,-13.3,-8.992
$D_GRID,507
$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,-0.95,-219.0,0.0,0.0,0,61,0.00,0.00,-45.80,0.000,2,0.000,0.000,155,2303,2070
$GC,64,-0.95,-219.0,3.3,-3.6,7,122,9.23,2.28,-45.10,0.000,4,0.227,0.053,2480,876,3748
$GC,159,-0.95,-219.0,15.4,-15.3,23,165,0.00,2.20,0.00,0.000,6,0.000,0.040,2480,2276,3749
$GC,486,-0.95,-219.0,63.7,-14.8,84,492,0.00,2.22,0.00,0.000,4,0.000,0.055,2480,3688,3750
$GC,508,-0.95,-219.0,67.1,-14.9,88,513,0.00,2.17,0.00,0.000,6,0.000,0.031,2480,2244,3750
$GC,835,-0.95,-219.0,106.3,-11.9,149,841,0.00,2.05,0.00,0.000,4,0.000,0.043,2480,892,3751
$GC,911,-0.95,-219.0,116.1,-12.7,163,917,0.00,2.08,0.00,0.000,6,0.000,0.040,2480,2229,3751
$GC,1238,-0.95,-219.0,151.4,-10.6,224,1243,0.00,2.08,0.00,0.000,4,0.000,0.043,2480,899,3752
$GC,1264,-0.95,-219.0,154.3,-11.2,229,1272,0.00,2.05,0.00,0.000,6,0.000,0.041,2480,2218,3752
$GC,1592,-0.95,-219.0,191.4,-10.9,290,1598,0.00,2.30,0.00,0.000,4,0.000,0.055,2480,3683,3752
$GC,1640,-0.95,-219.0,196.7,-11.0,299,1646,0.00,2.17,0.00,0.000,6,0.000,0.031,2480,2236,3752
$GC,1966,-0.95,-219.0,229.7,-9.9,360,1972,0.00,2.08,0.00,0.000,4,0.000,0.044,2480,899,3753
$GC,1999,-0.95,-219.0,232.9,-10.2,366,2004,0.00,2.08,0.00,0.000,6,0.000,0.042,2480,2245,3752
$GC,2325,-0.95,-219.0,264.3,-9.8,427,2330,0.00,2.28,0.00,0.000,4,0.000,0.056,2480,3693,3752
$GC,2379,-0.95,-219.0,269.3,-9.6,437,2385,0.00,2.12,0.00,0.000,6,0.000,0.031,2480,2249,3753
$GC,2711,-0.95,-219.0,301.1,-11.6,498,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2249,3752
$GC,3023,-0.95,-219.0,327.7,-8.8,528,3026,0.00,2.28,0.00,0.000,4,0.000,0.057,2480,3687,3752
$GC,3103,-0.95,-219.0,334.9,-8.9,535,3108,0.00,2.12,0.00,0.000,6,0.000,0.035,2480,2259,3751
$GC,3420,-0.95,-219.0,363.4,-8.7,566,3423,0.00,2.28,0.00,0.000,4,0.000,0.058,2480,3694,3750
$GC,3461,-0.95,-219.0,367.5,-9.9,569,3468,0.00,2.10,0.00,0.000,6,0.000,0.031,2480,2290,3749
$GC,3780,-0.95,-219.0,394.1,-7.9,600,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2290,3748
$GC,4089,-0.95,-219.0,417.5,-7.9,630,4093,0.00,2.22,0.00,0.000,4,0.000,0.059,2480,3682,3747
$GC,4159,-0.95,-219.0,423.5,-8.9,636,4164,0.00,2.05,0.00,0.000,6,0.000,0.038,2480,2309,3746
$GC,4475,-0.95,-219.0,451.1,-8.6,667,4478,0.00,2.20,0.00,0.000,4,0.000,0.060,2481,3693,3745
$GC,4587,-0.95,-219.0,460.4,-8.3,677,4593,0.00,2.03,0.00,0.000,6,0.000,0.034,2480,2329,3743
$GC,4904,-0.95,-219.0,487.7,-9.7,708,4907,0.00,2.17,0.00,0.000,4,0.000,0.060,2480,3683,3741
$GC,4946,-0.95,-219.0,492.0,-9.3,712,4949,0.00,2.03,0.00,0.000,6,0.000,0.035,2480,2330,3741
$STATE,5108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5108,begin apogee
$GC,5114,-0.26,0.0,507.9,9.4,724,5285,0.65,0.00,168.93,0.992,6,0.081,0.000,2718,2324,2854
$STATE,5285,end apogee,CONTROL_FINISHED_OK
$STATE,5285,begin climb
$GC,5288,0.95,219.0,518.7,0.0,732,5466,0.98,2.25,169.12,0.974,4,0.038,0.054,3120,3688,1960
$GC,5545,0.95,219.0,501.2,14.1,744,5549,0.10,2.15,0.00,0.000,6,0.191,0.036,3102,2311,1956
$GC,5861,0.95,219.0,465.9,11.4,774,5865,0.00,2.20,0.00,0.000,4,0.000,0.054,3102,3693,1953
$GC,5898,0.95,219.0,461.5,11.9,777,5904,0.00,2.17,0.00,0.000,6,0.000,0.038,3111,2287,1953
$GC,6217,0.95,219.0,428.9,9.4,808,6220,0.00,2.15,0.00,0.000,4,0.000,0.048,3122,905,1951
$GC,6302,0.95,219.0,420.1,10.2,816,6305,0.00,2.10,0.00,0.000,6,0.000,0.041,3122,2255,1950
$GC,6625,0.95,219.0,384.4,11.1,847,6629,0.00,2.15,0.00,0.000,4,0.000,0.048,3131,892,1948
$GC,6640,0.95,219.0,382.5,10.4,848,6648,0.10,2.17,0.00,0.000,6,0.167,0.042,3101,2267,1947
$GC,6956,0.95,219.0,351.0,10.0,879,6960,0.00,2.25,0.00,0.000,4,0.000,0.054,3101,3693,1946
$GC,7079,0.95,219.0,338.4,9.8,890,7085,0.00,2.17,0.00,0.000,6,0.000,0.041,3110,2266,1946
$GC,7397,0.99,251.0,311.6,8.1,921,7429,0.00,2.17,25.15,0.868,4,0.000,0.047,3121,909,1829
$GC,7487,0.99,251.0,302.8,10.2,929,7493,0.00,2.10,0.00,0.000,6,0.000,0.045,3121,2248,1826
$GC,7812,0.99,251.0,267.9,10.7,987,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2248,1824
$GC,8138,1.03,279.9,239.4,8.2,1048,8169,0.00,2.30,24.25,0.813,4,0.000,0.052,3121,3686,1712
$GC,8277,1.03,279.9,225.1,11.1,1073,8282,0.00,2.20,0.00,0.000,6,0.000,0.035,3131,2244,1709
$GC,8603,1.03,279.9,191.0,9.2,1134,8609,0.00,2.10,0.00,0.000,4,0.000,0.051,3142,892,1709
$GC,8678,1.05,302.2,184.4,8.4,1148,8703,0.00,2.15,19.55,0.759,6,0.000,0.038,3142,2257,1620
$GC,9024,1.05,302.2,151.2,9.5,1212,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2257,1618
$GC,9351,1.05,302.2,121.8,9.9,1273,9356,0.00,2.25,0.00,0.000,4,0.000,0.051,3142,3696,1618
$GC,9529,1.12,351.6,106.6,7.6,1306,9574,0.00,2.22,41.08,0.703,6,0.000,0.040,3152,2244,1420
$GC,9895,1.14,373.3,74.7,8.4,1373,9920,0.00,2.30,18.50,0.644,4,0.000,0.051,3152,3690,1331
$GC,10040,1.14,374.0,61.6,9.0,1399,10045,0.00,2.15,0.00,0.000,6,0.000,0.034,3163,2266,1331
$GC,10367,1.16,384.7,34.5,8.7,1460,10381,0.00,2.30,10.73,0.573,4,0.000,0.048,3163,3692,1285
$GC,10424,1.16,384.7,29.4,9.5,1470,10430,0.00,2.12,0.00,0.000,6,0.000,0.038,3173,2305,1285
$STATE,10711,end climb,SURFACE_DEPTH_REACHED
$STATE,10711,begin surface coast
$FINISH,1.3,1.021101
$STATE,10738,end surface coast,CONTROL_FINISHED_OK
$STATE,10738,begin surface
$SM_CCo,10754,63.60,0.588,0,0,916,475.15
$SM_GC,2.27,0.00,0.00,63.60,0.000,0.000,0.588,159,2297,916,-8.23,0.34,475.15
$IRIDIUM_FIX,2456.07,12538.90,261098,131302
$TT8_MAMPS,0.047554
$HUMID,1662
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,27.00
$XPDR_PINGS,781
$24V_AH,23.8,89.705
$10V_AH,10.6,60.928
$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,18.750,99.775,477.300,63.600,0.000,31.154,31.531,198.756,198.500,0.000,0.000,17.849,0.000,6618.379,649.148,3337.369,590.041,0.000,1850.642,0.000,2865.402,0.000,24.471,0.000
$DEVICE_MAMPS,227.032,59.826,991.731,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.517,1147.887,1918.139,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85207,1529
$CAP_FILE_SIZE,127285,0
$CFSIZE,260165632,221822976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.168,355.1,1
$GPS,010809,191737,2505.981,12538.815,35,1.5,35,-3.9