version: 66.04
glider: 165
mission: 2
dive: 467
start: 8 11 109 11 32 1
data:
$ID,165
$MISSION,2
$DIVE,467
$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,300
$T_MISSION,360
$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,-127574.38
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.200001
$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,45
$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
$GPS1,111954,2516.267,12521.858,39,1.2,39,-3.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-66.6
$GPS2,113156,2516.422,12521.879,10,1.3,10,-3.9
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,RET_1
$TGT_LATLONG,2514.100,12430.200
$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,266.3,86682,-16.0,-11.000
$D_GRID,1178
$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,14,-1.10,-219.0,0.0,0.0,0,65,0.00,0.00,-49.50,0.000,2,0.000,0.000,144,2303,1939
$GC,68,-1.10,-219.0,3.1,-3.6,7,139,9.05,2.22,-53.67,0.000,4,0.229,0.051,2367,872,3749
$GC,177,-1.10,-219.0,16.2,-17.2,25,183,0.00,2.17,0.00,0.000,6,0.000,0.038,2357,2282,3750
$GC,504,-1.10,-219.0,75.9,-17.5,86,509,0.00,2.17,0.00,0.000,4,0.000,0.041,2357,877,3750
$GC,525,-1.10,-219.0,79.9,-19.2,90,531,0.00,2.15,0.00,0.000,6,0.000,0.041,2356,2263,3750
$GC,851,-1.10,-219.0,128.0,-14.0,151,857,0.00,2.25,0.00,0.000,4,0.000,0.054,2356,3691,3751
$GC,937,-1.10,-219.0,141.2,-16.4,167,943,0.00,2.15,0.00,0.000,6,0.000,0.031,2356,2245,3751
$GC,1264,-1.10,-219.0,186.0,-13.5,228,1270,0.00,2.08,0.00,0.000,4,0.000,0.043,2356,890,3751
$GC,1323,-1.10,-219.0,194.3,-14.9,239,1329,0.00,2.10,0.00,0.000,6,0.000,0.041,2357,2232,3751
$GC,1649,-1.10,-219.0,235.6,-11.4,300,1655,0.00,2.12,0.00,0.000,4,0.000,0.044,2355,889,3751
$GC,1698,-1.10,-219.0,241.4,-11.7,309,1705,0.00,2.05,0.00,0.000,6,0.000,0.042,2356,2216,3751
$GC,2025,-1.10,-219.0,280.7,-12.3,370,2031,0.00,2.08,0.00,0.000,4,0.000,0.048,2356,897,3751
$GC,2079,-1.10,-219.0,287.5,-13.0,380,2085,0.00,2.03,0.00,0.000,6,0.000,0.044,2356,2195,3751
$GC,2399,-1.10,-219.0,325.2,-11.1,420,2402,0.00,2.03,0.00,0.000,4,0.000,0.046,2356,896,3751
$GC,2447,-1.10,-219.0,330.8,-11.6,424,2452,0.00,2.03,0.00,0.000,6,0.000,0.047,2356,2183,3751
$GC,2764,-1.10,-219.0,368.9,-12.3,455,2767,0.00,2.03,0.00,0.000,4,0.000,0.047,2356,887,3751
$GC,2796,-1.10,-219.0,373.2,-12.9,458,2799,0.00,1.98,0.00,0.000,6,0.000,0.046,2356,2143,3751
$GC,3117,-1.10,-219.0,410.8,-11.0,489,3121,0.00,2.47,0.00,0.000,4,0.000,0.058,2356,3691,3749
$GC,3154,-1.10,-219.0,415.0,-11.4,492,3157,0.00,2.33,0.00,0.000,6,0.000,0.032,2356,2150,3749
$GC,3475,-1.10,-219.0,452.4,-11.9,523,3478,0.00,1.95,0.00,0.000,4,0.000,0.047,2356,888,3748
$GC,3554,-1.10,-219.0,462.3,-12.4,530,3560,0.00,2.00,0.00,0.000,6,0.000,0.051,2356,2135,3748
$GC,3873,-1.10,-219.0,497.7,-11.2,561,3877,0.00,2.50,0.00,0.000,4,0.000,0.059,2356,3692,3745
$GC,3937,-1.10,-219.0,505.9,-12.7,565,3940,0.00,2.35,0.00,0.000,6,0.000,0.034,2356,2142,3745
$GC,4259,-1.10,-219.0,543.6,-11.7,581,4262,0.00,1.95,0.00,0.000,4,0.000,0.049,2356,890,3743
$GC,4295,-1.10,-219.0,548.2,-12.2,582,4301,0.00,1.98,0.00,0.000,6,0.000,0.048,2356,2135,3742
$GC,4606,-1.10,-219.0,581.9,-10.2,598,4609,0.00,1.95,0.00,0.000,4,0.000,0.048,2355,896,3740
$GC,4638,-1.10,-219.0,585.1,-10.2,599,4642,0.00,1.92,0.00,0.000,6,0.000,0.047,2356,2100,3740
$GC,4954,-1.10,-219.0,618.1,-10.5,615,4957,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3688,3737
$GC,5065,-1.10,-219.0,630.6,-11.4,620,5069,0.00,2.40,0.00,0.000,6,0.000,0.035,2356,2113,3736
$GC,5382,-1.10,-219.0,665.7,-10.9,636,5386,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3689,3734
$GC,5424,-1.10,-219.0,670.8,-11.7,638,5428,0.00,2.38,0.00,0.000,6,0.000,0.035,2356,2136,3733
$GC,5746,-1.10,-219.0,703.6,-10.0,654,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2131,3731
$GC,6051,-1.10,-219.0,733.5,-9.6,669,6054,0.00,2.55,0.00,0.000,4,0.000,0.062,2356,3682,3729
$GC,6152,-1.10,-219.0,744.1,-10.5,674,6155,0.00,2.38,0.00,0.000,6,0.000,0.037,2356,2138,3727
$GC,6474,-1.10,-219.0,778.2,-10.9,690,6477,0.00,2.55,0.00,0.000,4,0.000,0.062,2356,3685,3726
$GC,6526,-1.10,-219.0,784.2,-12.0,692,6532,0.00,2.35,0.00,0.000,6,0.000,0.038,2356,2161,3725
$GC,6837,-1.10,-219.0,816.9,-10.6,708,6841,0.00,2.50,0.00,0.000,4,0.000,0.063,2356,3677,3723
$GC,6902,-1.10,-219.0,823.7,-10.5,711,6905,0.00,2.30,0.00,0.000,6,0.000,0.036,2356,2180,3722
$GC,7217,-1.10,-219.0,854.2,-9.1,727,7220,0.00,2.03,0.00,0.000,4,0.000,0.051,2356,900,3721
$GC,7271,-1.10,-219.0,859.5,-10.5,729,7274,0.00,2.03,0.00,0.000,6,0.000,0.048,2356,2167,3720
$GC,7587,-1.10,-219.0,889.0,-9.1,745,7590,0.00,2.50,0.00,0.000,4,0.000,0.064,2356,3685,3718
$GC,7640,-1.10,-219.0,894.3,-10.1,747,7645,0.00,2.35,0.00,0.000,6,0.000,0.038,2356,2165,3717
$GC,7951,-1.10,-219.0,921.8,-9.0,763,7954,0.00,2.03,0.00,0.000,4,0.000,0.052,2356,890,3716
$GC,7988,-1.10,-219.0,925.5,-10.2,764,7993,0.00,2.00,0.00,0.000,6,0.000,0.049,2356,2141,3715
$GC,8298,-1.10,-219.0,952.9,-8.7,780,8301,0.00,2.00,0.00,0.000,4,0.000,0.051,2356,895,3714
$GC,8368,-1.10,-219.0,959.9,-11.4,783,8371,0.00,2.10,0.00,0.000,6,0.000,0.049,2356,2206,3713
$STATE,8665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8665,begin apogee
$GC,8672,-0.26,0.0,991.0,11.1,798,8856,0.88,0.00,181.40,1.371,6,0.114,0.000,2642,2307,2854
$STATE,8856,end apogee,CONTROL_FINISHED_OK
$STATE,8856,begin climb
$GC,8860,1.10,219.0,1006.7,0.0,807,9057,1.20,2.38,188.23,1.335,4,0.051,0.054,3103,919,1960
$GC,9137,1.13,242.9,994.2,10.2,820,9173,0.00,2.25,23.85,1.151,6,0.000,0.047,3103,2306,1862
$GC,9478,1.13,242.9,949.0,14.1,837,9482,0.00,2.22,0.00,0.000,4,0.000,0.051,3113,916,1857
$GC,9515,1.13,242.9,943.7,15.5,839,9518,0.00,2.20,0.00,0.000,6,0.000,0.045,3113,2295,1856
$GC,9842,1.13,242.9,897.0,14.4,855,9845,0.00,2.25,0.00,0.000,4,0.000,0.058,3114,3687,1855
$GC,9905,1.13,242.9,886.5,16.5,858,9909,0.00,2.12,0.00,0.000,6,0.000,0.038,3123,2315,1855
$GC,10232,1.13,242.9,835.6,15.5,874,10235,0.00,2.25,0.00,0.000,4,0.000,0.051,3134,901,1854
$GC,10247,1.13,242.9,833.2,15.8,874,10254,0.15,2.25,0.00,0.000,6,0.183,0.050,3097,2311,1853
$GC,10558,1.13,242.9,790.3,13.7,890,10561,0.00,2.22,0.00,0.000,4,0.000,0.058,3097,3692,1853
$GC,10697,1.13,242.9,769.0,15.2,896,10700,0.00,2.08,0.00,0.000,6,0.000,0.038,3106,2352,1853
$GC,11014,1.13,242.9,721.8,15.0,912,11017,0.00,2.33,0.00,0.000,4,0.000,0.049,3117,889,1852
$GC,11072,1.13,242.9,713.3,14.9,915,11075,0.00,2.35,0.00,0.000,6,0.000,0.044,3117,2369,1851
$GC,11398,1.13,242.9,668.9,12.9,931,11401,0.00,2.12,0.00,0.000,4,0.000,0.058,3117,3690,1851
$GC,11446,1.13,242.9,662.7,13.1,933,11450,0.12,2.05,0.00,0.000,6,0.189,0.038,3097,2362,1851
$GC,11767,1.13,242.9,626.9,11.2,949,11770,0.00,2.33,0.00,0.000,4,0.000,0.049,3107,900,1851
$GC,11896,1.16,262.6,612.9,10.3,955,11924,0.00,2.30,18.42,0.998,6,0.000,0.044,3107,2342,1783
$GC,12244,1.16,262.6,569.3,12.5,972,12247,0.00,2.17,0.00,0.000,4,0.000,0.057,3107,3691,1781
$GC,12302,1.16,262.6,561.0,13.5,974,12309,0.00,2.15,0.00,0.000,6,0.000,0.039,3117,2315,1781
$GC,12613,1.17,269.4,525.3,10.8,990,12627,0.00,2.30,7.62,0.920,4,0.000,0.049,3128,897,1755
$GC,12655,1.17,269.4,520.5,11.0,992,12658,0.00,2.28,0.00,0.000,6,0.000,0.042,3128,2335,1753
$GC,12974,1.17,269.4,483.4,11.7,1014,12978,0.00,2.30,0.00,0.000,4,0.000,0.048,3138,900,1753
$GC,13070,1.17,269.4,472.4,11.3,1022,13077,0.12,2.20,0.00,0.000,6,0.170,0.043,3107,2280,1752
$GC,13386,1.24,331.1,442.1,8.9,1053,13451,0.00,2.40,55.47,1.000,4,0.000,0.055,3107,3693,1503
$GC,13504,1.24,331.1,428.4,13.0,1064,13507,0.00,2.28,0.00,0.000,6,0.000,0.038,3117,2255,1502
$GC,13828,1.24,331.1,384.6,13.1,1095,13832,0.00,2.33,0.00,0.000,4,0.000,0.054,3117,3683,1499
$GC,13913,1.24,331.1,371.9,14.1,1102,13920,0.00,2.30,0.00,0.000,6,0.000,0.039,3128,2221,1499
$GC,14232,1.25,335.1,334.3,10.9,1133,14243,0.00,2.15,4.20,0.617,4,0.000,0.048,3138,888,1487
$GC,14301,1.26,345.8,326.4,10.6,1139,14318,0.00,2.05,11.10,0.838,6,0.000,0.038,3138,2202,1444
$GC,14631,1.26,345.8,284.5,12.6,1182,14638,0.00,2.40,0.00,0.000,4,0.000,0.058,3138,3689,1443
$GC,14728,1.26,345.8,271.3,12.5,1200,14734,0.00,2.33,0.00,0.000,6,0.000,0.041,3149,2201,1443
$GC,15055,1.26,345.8,231.4,12.6,1261,15060,0.00,2.40,0.00,0.000,4,0.000,0.051,3149,3693,1443
$GC,15119,1.26,345.8,223.4,13.0,1273,15124,0.00,2.28,0.00,0.000,6,0.000,0.035,3159,2221,1442
$GC,15445,1.31,389.5,188.2,9.5,1334,15489,0.00,0.00,38.58,0.785,6,0.000,0.000,3160,2220,1265
$GC,15809,1.31,389.5,146.6,11.6,1401,15815,0.00,2.08,0.00,0.000,4,0.000,0.045,3169,890,1263
$GC,15843,1.32,393.2,143.0,10.9,1407,15855,0.00,2.15,3.90,0.472,6,0.000,0.037,3169,2276,1250
$GC,16176,1.36,429.5,109.2,9.8,1469,16215,0.00,2.25,32.22,0.703,4,0.000,0.050,3169,3684,1104
$GC,16284,1.36,429.5,97.4,11.7,1488,16290,0.00,2.25,0.00,0.000,6,0.000,0.035,3180,2229,1104
$GC,16611,1.41,469.9,65.5,9.6,1549,16651,0.00,2.42,35.00,0.659,4,0.000,0.049,3180,3693,937
$GC,16683,1.41,469.9,57.3,12.5,1561,16688,0.00,2.22,0.00,0.000,6,0.000,0.036,3190,2247,937
$GC,17009,1.49,532.4,19.8,8.9,1622,17068,0.00,2.38,53.42,0.617,4,0.000,0.047,3191,3683,681
$STATE,17172,end climb,SURFACE_DEPTH_REACHED
$STATE,17172,begin surface coast
$FINISH,1.5,1.019413
$STATE,17194,end surface coast,CONTROL_FINISHED_OK
$STATE,17194,begin surface
$SM_CCo,17273,0.00,0.000,0,0,675,534.51
$SM_GC,2.33,7.68,0.00,0.00,0.026,0.000,0.000,155,2262,675,-7.93,-0.65,534.51
$IRIDIUM_FIX,2505.59,12519.24,051198,111132
$TT8_MAMPS,0.048321
$HUMID,1672
$INTERNAL_PRESSURE,8.87729
$TCM_TEMP,26.30
$XPDR_PINGS,850
$24V_AH,22.6,103.794
$10V_AH,10.5,70.008
$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,19.200,186.725,653.425,0.000,0.000,53.436,79.168,353.949,220.500,0.000,0.000,12.683,0.000,12386.321,784.059,3821.088,967.601,0.000,2296.443,0.000,3231.880,0.000,53.987,0.000
$DEVICE_MAMPS,228.566,82.069,1370.629,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1115.204,1151.519,1412.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94616,1655
$CAP_FILE_SIZE,179116,0
$CFSIZE,260165632,216420352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044, 64.7,1
$GPS,110809,162106,2516.654,12520.913,37,1.3,49,-3.9