version: 66.04
glider: 165
mission: 2
dive: 476
start: 8 13 109 9 0 36
data:
$ID,165
$MISSION,2
$DIVE,476
$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,-127766.04
$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,35
$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
$GPS1,085154,2518.868,12518.094,23,1.6,41,-3.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-68.8
$GPS2,090028,2519.063,12518.104,14,3.1,33,-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,267.0,80775,-16.0,-11.000
$D_GRID,1852
$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,-219.0,0.0,0.0,0,66,0.00,0.00,-51.38,0.000,2,0.000,0.000,154,2260,1925
$GC,69,-1.10,-219.0,3.1,-3.5,8,141,8.80,2.22,-54.00,0.000,4,0.220,0.058,2366,877,3750
$GC,183,-1.10,-219.0,17.1,-17.3,27,189,0.00,2.22,0.00,0.000,6,0.000,0.039,2357,2290,3750
$GC,510,-1.10,-219.0,75.2,-16.3,88,515,0.00,2.17,0.00,0.000,4,0.000,0.040,2357,883,3750
$GC,542,-1.10,-219.0,80.7,-16.8,94,548,0.00,2.12,0.00,0.000,6,0.000,0.039,2356,2262,3751
$GC,868,-1.10,-219.0,130.9,-15.1,155,874,0.00,2.28,0.00,0.000,4,0.000,0.054,2356,3682,3752
$GC,890,-1.10,-219.0,134.3,-15.3,159,896,0.00,2.12,0.00,0.000,6,0.000,0.031,2356,2248,3751
$GC,1217,-1.10,-219.0,177.9,-11.6,220,1223,0.00,2.05,0.00,0.000,4,0.000,0.041,2356,903,3752
$GC,1245,-1.10,-219.0,181.2,-12.4,225,1252,0.00,2.12,0.00,0.000,6,0.000,0.040,2356,2261,3752
$GC,1573,-1.10,-219.0,221.1,-13.6,286,1579,0.00,2.10,0.00,0.000,4,0.000,0.041,2356,903,3753
$GC,1622,-1.10,-219.0,228.1,-15.0,295,1628,0.00,2.08,0.00,0.000,6,0.000,0.041,2356,2245,3752
$GC,1949,-1.10,-219.0,272.0,-12.0,356,1955,0.00,2.08,0.00,0.000,4,0.000,0.042,2356,904,3752
$GC,1992,-1.10,-219.0,277.5,-12.9,364,1997,0.00,2.08,0.00,0.000,6,0.000,0.046,2356,2213,3752
$GC,2320,-1.10,-219.0,316.0,-11.8,413,2323,0.00,2.03,0.00,0.000,4,0.000,0.043,2356,903,3752
$GC,2373,-1.10,-219.0,322.6,-12.4,418,2376,0.00,2.03,0.00,0.000,6,0.000,0.047,2356,2177,3752
$GC,2695,-1.10,-219.0,361.4,-12.9,449,2698,0.00,1.98,0.00,0.000,4,0.000,0.044,2356,904,3752
$GC,2753,-1.10,-219.0,369.4,-13.1,454,2759,0.00,2.00,0.00,0.000,6,0.000,0.047,2356,2161,3753
$GC,3069,-1.10,-219.0,407.2,-11.0,485,3072,0.00,1.98,0.00,0.000,4,0.000,0.045,2356,895,3751
$GC,3117,-1.10,-219.0,412.5,-11.0,489,3124,0.00,1.95,0.00,0.000,6,0.000,0.044,2356,2135,3751
$GC,3435,-1.10,-219.0,445.4,-10.6,520,3438,0.00,1.95,0.00,0.000,4,0.000,0.047,2356,901,3750
$GC,3479,-1.10,-219.0,450.3,-12.0,524,3482,0.00,1.88,0.00,0.000,6,0.000,0.044,2356,2103,3750
$GC,3802,-1.10,-219.0,485.4,-10.6,555,3806,0.00,2.53,0.00,0.000,4,0.000,0.058,2356,3680,3748
$GC,3839,-1.10,-219.0,489.9,-11.5,558,3842,0.00,2.38,0.00,0.000,6,0.000,0.034,2356,2106,3747
$GC,4162,-1.10,-219.0,523.3,-10.8,578,4165,0.00,1.90,0.00,0.000,4,0.000,0.048,2356,904,3745
$GC,4193,-1.10,-219.0,526.9,-10.8,579,4197,0.00,1.90,0.00,0.000,6,0.000,0.044,2356,2103,3745
$GC,4510,-1.10,-219.0,561.4,-10.7,595,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2103,3743
$GC,4814,-1.10,-219.0,591.7,-9.4,610,4817,0.00,1.90,0.00,0.000,4,0.000,0.050,2356,902,3741
$GC,4862,-1.10,-219.0,596.5,-10.2,612,4865,0.00,1.88,0.00,0.000,6,0.000,0.047,2356,2092,3740
$GC,5184,-1.10,-219.0,628.9,-10.5,628,5188,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3680,3737
$GC,5253,-1.10,-219.0,636.9,-11.5,631,5256,0.00,2.38,0.00,0.000,6,0.000,0.035,2356,2124,3737
$GC,5569,-1.10,-219.0,671.8,-11.4,647,5572,0.00,1.90,0.00,0.000,4,0.000,0.048,2356,909,3735
$GC,5606,-1.10,-219.0,676.3,-12.2,648,5612,0.00,1.88,0.00,0.000,6,0.000,0.045,2356,2100,3735
$GC,5916,-1.10,-219.0,711.3,-10.8,664,5920,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3684,3732
$GC,5948,-1.10,-219.0,714.8,-11.2,665,5955,0.00,2.45,0.00,0.000,6,0.000,0.040,2356,2097,3731
$GC,6259,-1.10,-219.0,747.2,-10.2,681,6262,0.00,1.88,0.00,0.000,4,0.000,0.049,2356,905,3730
$GC,6286,-1.10,-219.0,750.1,-11.1,682,6289,0.00,1.90,0.00,0.000,6,0.000,0.046,2356,2108,3729
$GC,6608,-1.10,-219.0,784.4,-11.1,698,6611,0.00,2.58,0.00,0.000,4,0.000,0.061,2356,3684,3727
$GC,6699,-1.10,-219.0,795.1,-12.1,702,6702,0.00,2.40,0.00,0.000,6,0.000,0.036,2356,2125,3725
$GC,7009,-1.10,-219.0,829.6,-11.0,717,7012,0.00,1.92,0.00,0.000,4,0.000,0.051,2356,903,3724
$GC,7035,-1.10,-219.0,832.5,-11.5,718,7038,0.00,1.92,0.00,0.000,6,0.000,0.048,2356,2093,3723
$GC,7357,-1.10,-219.0,866.9,-10.4,734,7361,0.00,2.60,0.00,0.000,4,0.000,0.063,2356,3679,3722
$GC,7416,-1.10,-219.0,873.3,-10.8,737,7419,0.00,2.38,0.00,0.000,6,0.000,0.037,2356,2131,3721
$GC,7743,-1.10,-219.0,907.4,-10.7,753,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2126,3719
$GC,8047,-1.10,-219.0,938.8,-10.5,768,8051,0.00,2.58,0.00,0.000,4,0.000,0.064,2356,3676,3717
$GC,8138,-1.10,-219.0,948.7,-10.9,772,8141,0.00,2.35,0.00,0.000,6,0.000,0.037,2356,2160,3716
$GC,8454,-1.10,-219.0,982.2,-10.6,788,8458,0.00,2.53,0.00,0.000,4,0.000,0.064,2356,3674,3715
$GC,8512,-1.10,-219.0,989.2,-12.8,791,8516,0.00,2.30,0.00,0.000,6,0.000,0.037,2356,2186,3714
$STATE,8520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8520,begin apogee
$GC,8527,-0.26,0.0,990.3,11.4,791,8712,0.88,0.00,181.68,1.366,6,0.131,0.000,2637,2297,2854
$STATE,8712,end apogee,CONTROL_FINISHED_OK
$STATE,8712,begin climb
$GC,8715,1.10,219.0,1004.8,0.0,800,8912,1.23,2.40,188.12,1.331,4,0.054,0.062,3093,3693,1960
$GC,8971,1.10,219.0,993.5,12.8,812,8975,0.00,2.17,0.00,0.000,6,0.000,0.038,3103,2322,1957
$GC,9298,1.10,219.0,954.8,12.0,828,9301,0.00,2.30,0.00,0.000,4,0.000,0.051,3114,884,1952
$GC,9345,1.10,219.0,949.0,12.7,830,9349,0.00,2.25,0.00,0.000,6,0.000,0.045,3114,2298,1951
$GC,9662,1.10,219.0,910.2,12.0,846,9665,0.00,2.25,0.00,0.000,4,0.000,0.059,3114,3690,1950
$GC,9704,1.10,219.0,904.7,12.7,848,9708,0.15,2.20,0.00,0.000,6,0.183,0.038,3087,2270,1950
$GC,10025,1.10,219.0,867.3,11.9,864,10028,0.00,2.17,0.00,0.000,4,0.000,0.051,3097,901,1949
$GC,10090,1.10,219.0,859.6,12.2,867,10093,0.00,2.20,0.00,0.000,6,0.000,0.044,3096,2287,1948
$GC,10416,1.10,219.0,817.2,13.0,883,10419,0.00,2.25,0.00,0.000,4,0.000,0.057,3096,3682,1947
$GC,10437,1.10,219.0,814.3,14.1,884,10440,0.00,2.20,0.00,0.000,6,0.000,0.038,3107,2265,1947
$GC,10764,1.10,219.0,770.2,13.0,900,10767,0.00,2.17,0.00,0.000,4,0.000,0.049,3117,888,1947
$GC,10931,1.10,219.0,748.7,12.4,907,10937,0.12,2.10,0.00,0.000,6,0.180,0.042,3088,2225,1946
$GC,11242,1.11,226.2,712.5,10.8,923,11251,0.00,2.38,5.22,0.895,4,0.000,0.056,3088,3690,1931
$GC,11283,1.11,226.2,707.1,13.3,925,11287,0.00,2.30,0.00,0.000,6,0.000,0.037,3097,2216,1931
$GC,11605,1.11,226.2,672.1,11.3,941,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2216,1930
$GC,11911,1.12,232.4,639.4,10.8,956,11924,0.00,2.47,7.30,0.976,4,0.000,0.055,3097,3689,1906
$GC,11963,1.12,232.4,633.2,12.3,958,11966,0.00,2.30,0.00,0.000,6,0.000,0.037,3109,2215,1906
$GC,12279,1.14,246.8,598.7,10.5,974,12304,0.00,2.12,16.38,0.959,4,0.000,0.048,3118,885,1847
$GC,12432,1.14,246.8,581.1,11.9,981,12436,0.00,2.10,0.00,0.000,6,0.000,0.041,3118,2216,1844
$GC,12749,1.15,258.5,546.6,10.6,997,12769,0.00,2.45,11.45,1.004,4,0.000,0.055,3118,3689,1799
$GC,12827,1.15,258.5,537.1,13.1,1000,12834,0.00,2.35,0.00,0.000,6,0.000,0.041,3130,2197,1798
$GC,13137,1.15,258.5,501.4,11.7,1016,13140,0.00,2.08,0.00,0.000,4,0.000,0.048,3140,884,1797
$GC,13228,1.15,258.5,490.8,11.5,1023,13234,0.15,2.05,0.00,0.000,6,0.170,0.039,3101,2193,1796
$GC,13544,1.21,304.7,458.9,9.4,1054,13598,0.00,2.15,43.72,0.980,4,0.000,0.048,3110,886,1611
$GC,13699,1.21,304.7,441.8,12.3,1068,13706,0.00,2.22,0.00,0.000,6,0.000,0.044,3110,2251,1606
$GC,14017,1.21,304.7,404.8,11.7,1099,14020,0.00,2.33,0.00,0.000,4,0.000,0.054,3110,3695,1606
$GC,14174,1.21,304.7,385.1,13.1,1113,14178,0.00,2.22,0.00,0.000,6,0.000,0.036,3121,2260,1605
$GC,14490,1.21,304.7,346.0,12.0,1143,14493,0.00,2.15,0.00,0.000,4,0.000,0.047,3131,894,1605
$GC,14555,1.22,311.3,338.9,10.8,1149,14566,0.00,2.20,6.00,0.742,6,0.000,0.039,3131,2295,1585
$GC,14875,1.24,330.9,305.0,10.3,1180,14899,0.00,2.30,19.15,0.869,4,0.000,0.053,3131,3686,1504
$GC,14943,1.24,330.9,297.6,12.3,1187,14948,0.00,2.22,0.00,0.000,6,0.000,0.035,3142,2250,1504
$GC,15269,1.24,330.9,258.3,12.1,1248,15276,0.00,2.15,0.00,0.000,4,0.000,0.050,3152,891,1503
$GC,15340,1.24,330.9,249.9,11.6,1261,15346,0.00,2.15,0.00,0.000,6,0.000,0.039,3152,2268,1501
$GC,15666,1.26,343.3,216.6,10.6,1322,15684,0.00,2.20,12.18,0.761,4,0.000,0.049,3162,890,1453
$GC,15695,1.26,343.3,213.4,11.3,1327,15700,0.00,2.15,0.00,0.000,6,0.000,0.038,3162,2269,1453
$GC,16021,1.28,358.1,176.1,10.5,1388,16041,0.00,2.28,14.18,0.738,4,0.000,0.055,3162,3693,1393
$GC,16132,1.28,358.1,162.9,12.6,1408,16140,0.08,2.30,0.00,0.000,6,0.149,0.036,3137,2233,1393
$GC,16461,1.35,416.0,130.7,9.0,1469,16518,0.00,2.38,50.15,0.730,4,0.000,0.054,3137,3680,1157
$GC,16630,1.36,428.1,112.7,10.6,1499,16650,0.00,2.30,11.57,0.648,6,0.000,0.037,3147,2202,1107
$GC,16970,1.46,508.8,76.6,8.3,1562,17046,0.15,2.12,67.53,0.676,4,0.060,0.051,3229,904,778
$GC,17069,1.46,508.8,65.4,12.4,1578,17074,0.00,2.05,0.00,0.000,6,0.000,0.035,3229,2219,776
$GC,17396,1.48,524.0,27.5,10.5,1639,17415,0.00,2.10,14.27,0.591,4,0.000,0.050,3238,894,714
$GC,17528,1.48,524.0,11.4,14.6,1663,17534,0.10,1.95,0.00,0.000,6,0.153,0.041,3207,2145,712
$STATE,17590,end climb,SURFACE_DEPTH_REACHED
$STATE,17590,begin surface coast
$FINISH,1.8,1.009373
$STATE,17614,end surface coast,CONTROL_FINISHED_OK
$STATE,17614,begin surface
$SM_CCo,17692,0.00,0.000,0,0,711,525.68
$SM_GC,2.51,7.78,0.00,0.00,0.031,0.000,0.000,149,2304,711,-7.94,0.54,525.68
$IRIDIUM_FIX,2507.97,12519.24,071198,040444
$TT8_MAMPS,0.049088
$HUMID,1700
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.70
$XPDR_PINGS,867
$24V_AH,22.9,106.027
$10V_AH,10.4,71.275
$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,19.425,188.575,648.900,0.000,0.000,22.579,44.308,258.488,224.750,0.000,0.000,36.222,0.000,12676.376,776.823,3896.004,822.465,0.000,2313.813,0.000,3269.234,0.000,61.250,0.000
$DEVICE_MAMPS,220.129,69.797,1366.027,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.712,1160.315,1412.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94742,1679
$CAP_FILE_SIZE,181952,0
$CFSIZE,260165632,215535616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.096, 88.8,1
$GPS,130809,135630,2518.987,12517.630,39,1.4,39,-3.9