version: 66.04
glider: 165
mission: 2
dive: 473
start: 8 12 109 17 47 34
data:
$ID,165
$MISSION,2
$DIVE,473
$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,-127681.34
$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,47
$R_STBD_OVSHOOT,43
$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
$GPS1,173925,2517.867,12518.891,36,1.2,36,-3.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-67.6
$GPS2,174726,2517.944,12518.889,11,1.2,11,-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,265.2,81876,-16.0,-11.000
$D_GRID,1727
$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,-1.10,-219.0,0.0,0.0,0,69,0.00,0.00,-53.92,0.000,2,0.000,0.000,163,2294,1953
$GC,72,-1.10,-219.0,3.0,-2.7,8,141,8.90,2.28,-52.10,0.000,4,0.225,0.055,2370,881,3750
$GC,184,-1.10,-219.0,17.9,-17.6,27,191,0.00,2.20,0.00,0.000,6,0.000,0.040,2368,2274,3750
$GC,512,-1.10,-219.0,71.5,-16.6,88,517,0.00,2.22,0.00,0.000,4,0.000,0.053,2361,3685,3751
$GC,641,-1.10,-219.0,93.6,-17.2,112,647,0.00,2.03,0.00,0.000,6,0.000,0.031,2360,2315,3751
$GC,967,-1.10,-219.0,135.5,-11.8,173,974,0.00,2.17,0.00,0.000,4,0.000,0.051,2356,3694,3752
$GC,1055,-1.10,-219.0,146.9,-13.6,189,1060,0.00,2.05,0.00,0.000,6,0.000,0.031,2357,2296,3752
$GC,1382,-1.10,-219.0,188.5,-12.2,250,1388,0.00,2.20,0.00,0.000,4,0.000,0.052,2357,3688,3753
$GC,1458,-1.10,-219.0,198.3,-12.9,264,1463,0.00,2.12,0.00,0.000,6,0.000,0.031,2357,2254,3753
$GC,1785,-1.10,-219.0,237.3,-12.6,325,1790,0.00,2.10,0.00,0.000,4,0.000,0.042,2356,890,3753
$GC,1828,-1.10,-219.0,242.8,-12.5,333,1833,0.00,2.08,0.00,0.000,6,0.000,0.040,2357,2237,3753
$GC,2153,-1.10,-219.0,277.9,-9.8,394,2160,0.00,2.10,0.00,0.000,4,0.000,0.048,2357,893,3753
$GC,2192,-1.10,-219.0,282.2,-11.6,401,2197,0.00,2.03,0.00,0.000,6,0.000,0.041,2357,2205,3753
$GC,2512,-1.10,-219.0,319.7,-12.0,446,2515,0.00,2.38,0.00,0.000,4,0.000,0.061,2356,3686,3753
$GC,2527,-1.10,-219.0,321.7,-11.8,447,2535,0.00,2.28,0.00,0.000,6,0.000,0.038,2357,2177,3753
$GC,2843,-1.10,-219.0,357.9,-10.3,478,2846,0.00,2.00,0.00,0.000,4,0.000,0.051,2356,896,3753
$GC,2869,-1.10,-219.0,360.9,-12.0,480,2875,0.00,2.05,0.00,0.000,6,0.000,0.047,2356,2179,3753
$GC,3188,-1.10,-219.0,395.5,-11.4,511,3191,0.00,2.42,0.00,0.000,4,0.000,0.062,2356,3686,3751
$GC,3251,-1.10,-219.0,403.3,-11.6,516,3257,0.00,2.33,0.00,0.000,6,0.000,0.038,2356,2173,3751
$GC,3570,-1.10,-219.0,436.9,-10.7,547,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2173,3750
$GC,3878,-1.10,-219.0,472.4,-11.1,577,3881,0.00,1.98,0.00,0.000,4,0.000,0.048,2356,906,3749
$GC,3942,-1.10,-219.0,479.8,-12.0,583,3945,0.00,2.00,0.00,0.000,6,0.000,0.044,2357,2162,3749
$GC,4273,-1.10,-219.0,514.1,-9.8,608,4276,0.00,1.98,0.00,0.000,4,0.000,0.048,2356,906,3746
$GC,4315,-1.10,-219.0,518.7,-10.5,610,4318,0.00,1.92,0.00,0.000,6,0.000,0.044,2356,2135,3746
$GC,4642,-1.10,-219.0,549.0,-9.6,626,4646,0.00,2.50,0.00,0.000,4,0.000,0.058,2356,3692,3744
$GC,4690,-1.10,-219.0,554.2,-10.8,628,4693,0.00,2.38,0.00,0.000,6,0.000,0.034,2356,2129,3743
$GC,5005,-1.10,-219.0,588.1,-11.0,644,5008,0.00,1.90,0.00,0.000,4,0.000,0.048,2356,906,3741
$GC,5032,-1.10,-219.0,591.1,-12.2,645,5035,0.00,1.90,0.00,0.000,6,0.000,0.044,2356,2115,3741
$GC,5354,-1.10,-219.0,623.9,-9.4,661,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2115,3738
$GC,5659,-1.10,-219.0,651.9,-8.9,676,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2115,3736
$GC,5964,-1.10,-219.0,683.4,-10.5,691,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2115,3735
$GC,6269,-1.10,-219.0,715.1,-10.2,706,6272,0.00,2.58,0.00,0.000,4,0.000,0.064,2356,3688,3732
$GC,6354,-1.10,-219.0,724.3,-10.5,710,6357,0.00,2.42,0.00,0.000,6,0.000,0.035,2357,2112,3731
$GC,6676,-1.10,-219.0,756.6,-10.2,726,6679,0.00,1.90,0.00,0.000,4,0.000,0.051,2357,897,3729
$GC,6696,-1.10,-219.0,759.0,-11.2,727,6700,0.00,1.90,0.00,0.000,6,0.000,0.047,2356,2073,3729
$GC,7024,-1.10,-219.0,794.0,-10.6,743,7027,0.00,2.65,0.00,0.000,4,0.000,0.064,2357,3686,3727
$GC,7071,-1.10,-219.0,799.4,-11.8,745,7074,0.00,2.45,0.00,0.000,6,0.000,0.036,2356,2097,3726
$GC,7387,-1.10,-219.0,832.2,-10.2,761,7390,0.00,1.88,0.00,0.000,4,0.000,0.051,2356,911,3724
$GC,7478,-1.10,-219.0,842.2,-11.3,765,7481,0.00,1.95,0.00,0.000,6,0.000,0.048,2357,2134,3724
$GC,7800,-1.10,-219.0,875.9,-10.6,781,7803,0.00,2.55,0.00,0.000,4,0.000,0.063,2356,3685,3722
$GC,7901,-1.10,-219.0,887.5,-12.2,786,7904,0.00,2.35,0.00,0.000,6,0.000,0.037,2356,2165,3721
$GC,8228,-1.10,-219.0,923.9,-11.1,802,8231,0.00,2.00,0.00,0.000,4,0.000,0.052,2357,907,3719
$GC,8254,-1.10,-219.0,927.3,-12.9,803,8257,0.00,2.03,0.00,0.000,6,0.000,0.049,2356,2155,3719
$GC,8576,-1.10,-219.0,963.8,-11.4,819,8579,0.00,2.53,0.00,0.000,4,0.000,0.064,2357,3685,3717
$GC,8634,-1.10,-219.0,971.0,-12.9,822,8637,0.00,2.33,0.00,0.000,6,0.000,0.038,2356,2185,3716
$STATE,8815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8815,begin apogee
$GC,8822,-0.26,0.0,991.5,10.7,831,9007,0.88,0.00,182.38,1.368,6,0.109,0.000,2646,2298,2854
$STATE,9007,end apogee,CONTROL_FINISHED_OK
$STATE,9007,begin climb
$GC,9010,1.10,219.0,1005.6,0.0,840,9207,1.17,2.42,189.25,1.332,4,0.051,0.062,3090,3686,1960
$GC,9224,1.10,219.0,997.6,13.1,850,9227,0.00,2.20,0.00,0.000,6,0.000,0.038,3100,2321,1958
$GC,9541,1.10,219.0,956.0,13.2,866,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2321,1953
$GC,9846,1.10,219.0,917.1,12.5,881,9849,0.00,2.28,0.00,0.000,4,0.000,0.052,3110,894,1951
$GC,9877,1.10,219.0,913.0,12.2,882,9883,0.00,2.25,0.00,0.000,6,0.000,0.047,3111,2303,1950
$GC,10188,1.10,219.0,872.3,13.6,898,10191,0.00,2.25,0.00,0.000,4,0.000,0.059,3111,3693,1950
$GC,10300,1.10,219.0,856.2,14.8,903,10304,0.15,2.15,0.00,0.000,6,0.186,0.038,3084,2306,1949
$GC,10616,1.10,219.0,816.2,12.4,919,10619,0.00,2.25,0.00,0.000,4,0.000,0.050,3093,891,1948
$GC,10702,1.10,219.0,805.8,11.5,923,10705,0.00,2.28,0.00,0.000,6,0.000,0.044,3093,2321,1947
$GC,11028,1.11,219.7,767.9,11.0,939,11031,0.00,2.20,0.00,0.000,4,0.000,0.058,3094,3683,1947
$GC,11102,1.11,219.7,758.7,12.4,942,11105,0.00,2.10,0.00,0.000,6,0.000,0.038,3103,2327,1947
$GC,11419,1.11,219.7,721.6,11.6,958,11422,0.00,2.28,0.00,0.000,4,0.000,0.050,3114,894,1946
$GC,11536,1.11,219.7,707.2,12.3,963,11539,0.00,2.25,0.00,0.000,6,0.000,0.044,3114,2311,1945
$GC,11852,1.11,219.7,669.4,11.4,979,11855,0.00,2.28,0.00,0.000,4,0.000,0.048,3124,895,1945
$GC,11910,1.11,219.7,663.1,11.4,981,11916,0.15,2.22,0.00,0.000,6,0.173,0.047,3088,2290,1945
$GC,12221,1.13,236.8,631.2,10.4,997,12241,0.00,2.28,14.65,1.091,4,0.000,0.057,3087,3682,1887
$GC,12322,1.13,236.8,619.7,11.2,1001,12327,0.00,2.20,0.00,0.000,6,0.000,0.040,3096,2278,1885
$GC,12632,1.13,236.8,584.9,11.5,1017,12635,0.00,2.20,0.00,0.000,4,0.000,0.049,3107,890,1884
$GC,12658,1.13,236.8,581.8,12.0,1018,12661,0.00,2.20,0.00,0.000,6,0.000,0.041,3107,2282,1884
$GC,12980,1.13,240.5,545.0,10.9,1034,12988,0.00,2.28,4.47,0.762,4,0.000,0.056,3106,3682,1872
$GC,13006,1.13,240.5,541.9,12.4,1035,13009,0.00,2.20,0.00,0.000,6,0.000,0.038,3117,2265,1873
$GC,13327,1.13,240.5,506.9,11.4,1051,13330,0.00,2.17,0.00,0.000,4,0.000,0.048,3127,887,1872
$GC,13461,1.13,241.1,491.8,11.0,1060,13467,0.10,2.20,0.00,0.000,6,0.164,0.041,3098,2250,1871
$GC,13777,1.17,269.3,458.1,10.0,1091,13811,0.00,2.38,26.70,1.006,4,0.000,0.055,3098,3680,1755
$GC,13955,1.18,280.0,438.7,10.6,1107,13973,0.00,2.20,10.80,0.910,6,0.000,0.037,3107,2267,1710
$GC,14282,1.18,280.0,403.2,11.8,1139,14285,0.00,2.33,0.00,0.000,4,0.000,0.054,3107,3693,1709
$GC,14340,1.18,280.0,396.1,12.1,1144,14347,0.00,2.17,0.00,0.000,6,0.000,0.038,3117,2319,1708
$GC,14659,1.18,280.0,357.7,13.0,1175,14662,0.00,2.25,0.00,0.000,4,0.000,0.047,3128,895,1708
$GC,14744,1.18,280.0,346.6,12.1,1183,14747,0.00,2.20,0.00,0.000,6,0.000,0.040,3128,2294,1707
$GC,15065,1.26,341.6,313.2,8.9,1214,15123,0.00,2.28,54.30,0.895,4,0.000,0.052,3128,3686,1460
$GC,15195,1.26,341.6,299.8,11.7,1225,15200,0.00,2.22,0.00,0.000,6,0.000,0.035,3139,2263,1459
$GC,15520,1.26,341.6,260.1,12.8,1286,15526,0.00,2.33,0.00,0.000,4,0.000,0.053,3139,3692,1457
$GC,15612,1.26,341.6,248.2,12.6,1303,15618,0.00,2.15,0.00,0.000,6,0.000,0.035,3149,2300,1457
$GC,15939,1.26,341.6,211.7,11.6,1364,15945,0.00,2.22,0.00,0.000,4,0.000,0.051,3159,893,1457
$GC,15978,1.26,341.6,207.1,13.0,1371,15984,0.00,2.28,0.00,0.000,6,0.000,0.038,3160,2343,1454
$GC,16306,1.29,370.7,169.6,10.0,1432,16337,0.00,2.33,25.48,0.755,4,0.000,0.050,3170,897,1340
$GC,16380,1.33,405.3,162.4,9.8,1445,16417,0.00,2.22,30.50,0.742,6,0.000,0.038,3170,2297,1201
$GC,16740,1.33,405.3,121.8,11.9,1511,16747,0.00,2.22,0.00,0.000,4,0.000,0.050,3180,903,1197
$GC,16859,1.33,405.3,106.2,12.5,1533,16865,0.00,2.15,0.00,0.000,6,0.000,0.039,3180,2250,1197
$GC,17186,1.34,409.8,71.5,10.9,1594,17199,0.00,2.33,4.82,0.490,4,0.000,0.051,3180,3677,1182
$GC,17307,1.39,451.3,59.7,9.6,1616,17350,0.00,2.17,36.17,0.657,6,0.000,0.032,3190,2263,1013
$GC,17674,1.44,490.9,22.2,9.7,1683,17712,0.00,2.12,33.40,0.615,4,0.000,0.043,3200,907,853
$GC,17760,1.44,490.9,12.2,11.6,1698,17766,0.00,2.10,0.00,0.000,6,0.000,0.034,3200,2272,851
$STATE,17843,end climb,SURFACE_DEPTH_REACHED
$STATE,17844,begin surface coast
$FINISH,1.7,1.021798
$STATE,17879,end surface coast,CONTROL_FINISHED_OK
$STATE,17879,begin surface
$SM_CCo,17957,0.00,0.000,0,0,850,491.83
$SM_GC,2.50,7.88,0.00,0.00,0.038,0.000,0.000,151,2273,850,-7.94,-0.34,491.83
$IRIDIUM_FIX,2510.35,12519.24,061198,121225
$TT8_MAMPS,0.048321
$HUMID,1689
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,26.00
$XPDR_PINGS,890
$24V_AH,22.9,105.287
$10V_AH,10.4,70.852
$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,19.225,181.050,612.925,0.000,0.000,26.236,33.686,257.021,230.500,0.000,0.000,12.975,0.000,12941.272,769.649,3907.155,786.391,0.000,2279.857,0.000,3290.909,0.000,53.981,0.000
$DEVICE_MAMPS,224.731,69.030,1367.561,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1160.405,1187.401,1457.791,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97806,1720
$CAP_FILE_SIZE,178672,0
$CFSIZE,260165632,215834624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153, 86.3,1
$GPS,120809,224755,2518.105,12519.009,41,1.1,41,-3.9