version: 66.04
glider: 165
mission: 2
dive: 478
start: 8 13 109 19 3 45
data:
$ID,165
$MISSION,2
$DIVE,478
$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,-127832.78
$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,52
$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
$GPS1,185236,2518.730,12516.992,36,1.2,41,-3.9
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-70.9
$GPS2,190337,2518.765,12517.095,15,1.1,32,-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,271.7,79034,-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,-219.0,0.0,0.0,0,65,0.00,0.00,-50.62,0.000,2,0.000,0.000,155,2305,1945
$GC,68,-1.10,-219.0,3.1,-3.5,8,139,8.93,2.30,-52.92,0.000,4,0.224,0.057,2367,884,3749
$GC,192,-1.10,-219.0,19.1,-17.4,29,199,0.00,2.15,0.00,0.000,6,0.000,0.038,2358,2273,3751
$GC,520,-1.10,-219.0,75.7,-14.9,90,526,0.00,2.22,0.00,0.000,4,0.000,0.051,2349,3691,3750
$GC,541,-1.10,-219.0,79.3,-17.0,94,547,0.00,2.10,0.00,0.000,6,0.000,0.031,2349,2287,3750
$GC,868,-1.10,-219.0,125.7,-11.8,155,873,0.00,2.12,0.00,0.000,4,0.000,0.040,2349,884,3751
$GC,938,-1.10,-219.0,135.3,-14.7,168,944,0.12,2.17,0.00,0.000,6,0.160,0.036,2376,2303,3751
$GC,1267,-1.10,-219.0,177.1,-10.9,229,1274,0.00,2.17,0.00,0.000,4,0.000,0.039,2376,889,3751
$GC,1359,-1.10,-219.0,188.2,-12.1,246,1365,0.00,2.12,0.00,0.000,6,0.000,0.039,2372,2247,3751
$GC,1687,-1.10,-219.0,226.4,-12.9,307,1693,0.00,2.10,0.00,0.000,4,0.000,0.041,2373,887,3751
$GC,1741,-1.10,-219.0,233.9,-13.6,317,1747,0.00,2.08,0.00,0.000,6,0.000,0.040,2372,2230,3751
$GC,2068,-1.10,-219.0,273.1,-10.5,378,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2231,3751
$GC,2390,-1.10,-219.0,308.3,-11.8,432,2394,0.00,2.10,0.00,0.000,4,0.000,0.044,2372,887,3751
$GC,2465,-1.10,-219.0,317.4,-13.1,439,2468,0.00,2.08,0.00,0.000,6,0.000,0.042,2372,2226,3751
$GC,2786,-1.10,-219.0,354.9,-11.7,470,2789,0.00,2.08,0.00,0.000,4,0.000,0.044,2372,888,3751
$GC,2833,-1.10,-219.0,360.6,-12.2,474,2839,0.00,2.08,0.00,0.000,6,0.000,0.044,2372,2213,3751
$GC,3153,-1.10,-219.0,396.5,-11.2,505,3156,0.00,2.08,0.00,0.000,4,0.000,0.048,2372,893,3750
$GC,3216,-1.10,-219.0,404.2,-10.9,511,3219,0.00,2.00,0.00,0.000,6,0.000,0.043,2372,2178,3750
$GC,3540,-1.10,-219.0,438.5,-10.7,542,3544,0.00,2.42,0.00,0.000,4,0.000,0.060,2372,3685,3749
$GC,3561,-1.10,-219.0,441.2,-11.0,543,3566,0.00,2.28,0.00,0.000,6,0.000,0.033,2372,2179,3749
$GC,3877,-1.10,-219.0,476.7,-11.5,574,3880,0.00,2.00,0.00,0.000,4,0.000,0.046,2372,889,3748
$GC,3968,-1.10,-219.0,487.7,-11.9,582,3973,0.00,2.00,0.00,0.000,6,0.000,0.045,2372,2157,3747
$GC,4280,-1.10,-219.0,521.7,-10.0,603,4283,0.00,1.98,0.00,0.000,4,0.000,0.048,2372,899,3745
$GC,4306,-1.10,-219.0,524.3,-10.6,604,4309,0.00,1.98,0.00,0.000,6,0.000,0.048,2372,2152,3745
$GC,4628,-1.10,-219.0,556.8,-10.3,620,4631,0.00,1.98,0.00,0.000,4,0.000,0.048,2371,899,3742
$GC,4654,-1.10,-219.0,559.7,-11.5,621,4657,0.00,1.98,0.00,0.000,6,0.000,0.046,2372,2134,3742
$GC,4975,-1.10,-219.0,596.8,-11.7,637,4978,0.00,2.50,0.00,0.000,4,0.000,0.060,2372,3680,3739
$GC,5008,-1.10,-219.0,600.5,-12.2,638,5014,0.00,2.35,0.00,0.000,6,0.000,0.035,2372,2136,3739
$GC,5319,-1.10,-219.0,633.9,-10.4,654,5322,0.00,1.98,0.00,0.000,4,0.000,0.050,2372,872,3737
$GC,5361,-1.10,-219.0,638.7,-12.0,656,5364,0.00,2.00,0.00,0.000,6,0.000,0.047,2372,2116,3737
$GC,5688,-1.10,-219.0,670.1,-9.2,672,5692,0.00,2.55,0.00,0.000,4,0.000,0.061,2372,3685,3734
$GC,5774,-1.10,-219.0,678.5,-9.7,676,5777,0.00,2.38,0.00,0.000,6,0.000,0.036,2372,2135,3733
$GC,6090,-1.10,-219.0,711.7,-11.5,692,6091,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2129,3732
$GC,6394,-1.10,-219.0,747.7,-11.4,707,6398,0.00,2.55,0.00,0.000,4,0.000,0.063,2372,3679,3729
$GC,6426,-1.10,-219.0,751.4,-12.1,708,6432,0.00,2.38,0.00,0.000,6,0.000,0.037,2372,2147,3728
$GC,6737,-1.10,-219.0,782.2,-9.6,724,6740,0.00,1.98,0.00,0.000,4,0.000,0.051,2372,893,3726
$GC,6763,-1.10,-219.0,785.1,-11.2,725,6766,0.00,2.00,0.00,0.000,6,0.000,0.048,2372,2130,3726
$GC,7085,-1.10,-219.0,815.5,-9.4,741,7088,0.00,1.98,0.00,0.000,4,0.000,0.051,2372,896,3725
$GC,7128,-1.10,-219.0,819.7,-9.7,743,7131,0.00,1.95,0.00,0.000,6,0.000,0.049,2372,2112,3724
$GC,7454,-1.10,-219.0,853.2,-10.5,759,7458,0.00,2.58,0.00,0.000,4,0.000,0.063,2372,3682,3722
$GC,7518,-1.10,-219.0,860.0,-11.0,762,7521,0.00,2.40,0.00,0.000,6,0.000,0.035,2372,2120,3721
$GC,7840,-1.10,-219.0,892.7,-10.0,778,7844,0.00,2.60,0.00,0.000,4,0.000,0.064,2372,3683,3719
$GC,7877,-1.10,-219.0,896.8,-10.9,780,7880,0.00,2.40,0.00,0.000,6,0.000,0.036,2372,2129,3719
$GC,8199,-1.10,-219.0,928.6,-9.9,796,8202,0.00,2.58,0.00,0.000,4,0.000,0.062,2372,3682,3717
$GC,8283,-1.10,-219.0,937.7,-11.1,800,8287,0.00,2.35,0.00,0.000,6,0.000,0.037,2372,2162,3716
$GC,8605,-1.10,-219.0,970.1,-10.1,816,8608,0.00,2.00,0.00,0.000,4,0.000,0.051,2372,903,3714
$GC,8627,-1.10,-219.0,972.3,-11.1,817,8630,0.00,2.03,0.00,0.000,6,0.000,0.050,2372,2161,3714
$STATE,8807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8807,begin apogee
$GC,8814,-0.26,0.0,990.8,10.0,826,8997,0.82,0.00,180.90,1.367,6,0.106,0.000,2649,2304,2854
$STATE,8998,end apogee,CONTROL_FINISHED_OK
$STATE,8998,begin climb
$GC,9001,1.10,219.0,1004.1,0.0,835,9197,1.20,0.00,188.55,1.328,6,0.051,0.000,3093,2304,1960
$GC,9502,1.10,219.0,957.8,12.7,860,9505,0.00,2.25,0.00,0.000,4,0.000,0.061,3093,3685,1952
$GC,9523,1.10,219.0,954.8,13.9,861,9526,0.00,2.15,0.00,0.000,6,0.000,0.039,3103,2310,1953
$GC,9850,1.10,219.0,910.7,13.6,877,9853,0.00,2.28,0.00,0.000,4,0.000,0.052,3113,888,1951
$GC,9870,1.10,219.0,907.9,13.4,878,9874,0.00,2.25,0.00,0.000,6,0.000,0.045,3114,2300,1950
$GC,10197,1.10,219.0,865.2,12.7,894,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2301,1949
$GC,10503,1.10,219.0,828.3,12.1,909,10506,0.00,2.28,0.00,0.000,4,0.000,0.051,3124,888,1948
$GC,10539,1.10,219.0,824.0,11.9,910,10547,0.15,2.25,0.00,0.000,6,0.174,0.046,3087,2294,1948
$GC,10850,1.11,222.3,790.0,10.9,926,10853,0.00,2.25,0.00,0.000,4,0.000,0.057,3087,3691,1947
$GC,10920,1.11,222.3,781.6,11.9,929,10923,0.00,2.15,0.00,0.000,6,0.000,0.038,3096,2300,1947
$GC,11241,1.11,222.3,744.4,11.8,945,11244,0.00,2.22,0.00,0.000,4,0.000,0.050,3106,897,1947
$GC,11320,1.11,222.3,735.2,11.0,948,11326,0.00,2.20,0.00,0.000,6,0.000,0.048,3106,2273,1946
$GC,11631,1.11,222.3,698.1,11.8,964,11635,0.00,2.28,0.00,0.000,4,0.000,0.055,3106,3689,1946
$GC,11727,1.11,225.9,686.4,10.9,968,11736,0.00,2.20,4.97,0.862,6,0.000,0.043,3116,2280,1932
$GC,12060,1.14,251.4,651.0,10.1,985,12095,0.00,2.22,26.25,1.067,4,0.000,0.049,3127,893,1828
$GC,12148,1.14,251.4,641.1,11.1,988,12152,0.00,2.20,0.00,0.000,6,0.000,0.042,3127,2248,1825
$GC,12464,1.14,251.4,602.3,12.8,1004,12467,0.00,2.33,0.00,0.000,4,0.000,0.054,3128,3690,1824
$GC,12566,1.14,251.4,588.3,13.6,1008,12571,0.15,2.25,0.00,0.000,6,0.185,0.038,3101,2255,1824
$GC,12876,1.18,276.3,553.2,10.2,1024,12904,0.00,2.42,22.77,1.063,4,0.000,0.054,3101,3691,1726
$GC,12928,1.18,276.3,547.6,11.1,1026,12931,0.00,2.20,0.00,0.000,6,0.000,0.037,3110,2285,1725
$GC,13238,1.18,276.3,512.8,11.1,1041,13242,0.00,2.20,0.00,0.000,4,0.000,0.048,3121,896,1723
$GC,13303,1.21,301.0,505.8,10.2,1044,13331,0.00,2.20,22.83,1.026,6,0.000,0.040,3121,2291,1627
$GC,13644,1.21,301.0,466.0,12.7,1074,13647,0.00,2.22,0.00,0.000,4,0.000,0.048,3131,901,1623
$GC,13766,1.21,301.0,450.2,13.6,1085,13772,0.00,2.12,0.00,0.000,6,0.000,0.039,3131,2250,1622
$GC,14085,1.21,301.0,411.8,11.0,1116,14088,0.00,2.17,0.00,0.000,4,0.000,0.047,3140,887,1622
$GC,14202,1.23,320.1,399.8,10.4,1127,14224,0.00,2.22,17.88,0.940,6,0.000,0.040,3141,2309,1548
$GC,14533,1.23,320.1,358.9,13.2,1159,14536,0.00,2.20,0.00,0.000,4,0.000,0.054,3140,3681,1546
$GC,14580,1.23,320.1,351.9,14.1,1163,14586,0.00,2.20,0.00,0.000,6,0.000,0.036,3151,2259,1546
$GC,14899,1.23,320.1,311.5,11.5,1194,14902,0.00,2.15,0.00,0.000,4,0.000,0.048,3161,890,1545
$GC,14989,1.26,349.3,301.0,10.0,1202,15025,0.00,2.15,26.85,0.877,6,0.000,0.044,3161,2251,1427
$GC,15348,1.26,349.3,256.6,12.9,1267,15353,0.00,2.30,0.00,0.000,4,0.000,0.051,3161,3690,1426
$GC,15407,1.26,349.3,248.6,12.7,1278,15414,0.15,2.30,0.00,0.000,6,0.183,0.036,3135,2221,1426
$GC,15736,1.34,409.0,214.2,9.0,1339,15795,0.00,2.45,51.45,0.808,4,0.000,0.051,3135,3683,1186
$GC,15833,1.39,447.2,205.3,9.7,1356,15875,0.00,2.28,34.17,0.779,6,0.000,0.035,3145,2234,1029
$GC,16198,1.39,447.2,162.9,12.1,1423,16204,0.00,2.35,0.00,0.000,4,0.000,0.054,3145,3698,1025
$GC,16306,1.39,447.2,148.8,12.1,1443,16312,0.00,2.22,0.00,0.000,6,0.000,0.038,3155,2278,1025
$GC,16633,1.44,494.1,112.8,9.4,1504,16678,0.10,2.35,39.58,0.706,4,0.075,0.050,3209,3687,838
$GC,16779,1.44,494.1,92.2,14.1,1530,16786,0.00,2.28,0.00,0.000,6,0.000,0.033,3221,2216,837
$GC,17108,1.44,494.1,49.5,11.2,1591,17113,0.00,2.08,0.00,0.000,4,0.000,0.048,3230,891,837
$GC,17194,1.44,494.1,39.3,11.8,1607,17200,0.15,2.05,0.00,0.000,6,0.152,0.041,3190,2216,837
$GC,17520,1.44,495.7,5.4,10.9,1668,17526,0.00,2.33,0.00,0.000,4,0.000,0.050,3190,3696,835
$STATE,17539,end climb,SURFACE_DEPTH_REACHED
$STATE,17540,begin surface coast
$FINISH,1.8,1.000048
$STATE,17567,end surface coast,CONTROL_FINISHED_OK
$STATE,17567,begin surface
$SM_CCo,17647,0.00,0.000,0,0,835,495.26
$SM_GC,2.67,7.85,0.00,0.00,0.041,0.000,0.000,155,2269,835,-7.93,-0.45,495.26
$IRIDIUM_FIX,2512.73,12517.29,071198,141411
$TT8_MAMPS,0.046787
$HUMID,1724
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,25.70
$XPDR_PINGS,891
$24V_AH,22.9,106.528
$10V_AH,10.4,71.552
$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,19.625,185.675,616.200,0.000,0.000,66.259,79.090,271.419,230.750,0.000,0.000,33.962,0.000,12773.407,777.499,3825.257,899.495,0.000,2257.369,0.000,3209.144,0.000,53.989,0.000
$DEVICE_MAMPS,223.964,69.797,1366.794,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.976,1154.854,1405.648,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94764,1677
$CAP_FILE_SIZE,177591,0
$CFSIZE,260165632,215355392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.149, 88.3,1
$GPS,130809,235854,2518.593,12516.957,39,1.2,39,-3.9