version: 66.04
glider: 165
mission: 2
dive: 480
start: 8 14 109 5 14 52
data:
$ID,165
$MISSION,2
$DIVE,480
$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,-127861.87
$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,49
$R_STBD_OVSHOOT,50
$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
$GPS1,050636,2518.683,12516.376,30,1.3,30,-3.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-69.5
$GPS2,051444,2518.757,12516.405,12,1.5,12,-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,268.2,77885,-16.0,-11.000
$D_GRID,1939
$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,-219.0,0.0,0.0,0,71,0.00,0.00,-56.22,0.000,2,0.000,0.000,151,2303,1942
$GC,75,-1.10,-219.0,3.2,-3.7,9,145,9.05,2.22,-53.88,0.000,4,0.229,0.054,2372,879,3747
$GC,188,-1.10,-219.0,16.3,-17.7,28,194,0.00,2.20,0.00,0.000,6,0.000,0.041,2369,2267,3748
$GC,515,-1.10,-219.0,66.6,-13.7,89,520,0.00,2.25,0.00,0.000,4,0.000,0.052,2360,3697,3747
$GC,633,-1.10,-219.0,86.8,-18.2,111,640,0.00,2.08,0.00,0.000,6,0.000,0.031,2360,2299,3748
$GC,961,-1.10,-219.0,133.8,-11.4,172,967,0.00,2.15,0.00,0.000,4,0.000,0.039,2360,887,3749
$GC,1047,-1.10,-219.0,144.4,-13.0,188,1053,0.00,2.15,0.00,0.000,6,0.000,0.037,2357,2292,3749
$GC,1375,-1.10,-219.0,189.6,-13.6,249,1381,0.00,2.15,0.00,0.000,4,0.000,0.040,2356,890,3749
$GC,1456,-1.10,-219.0,202.0,-15.5,264,1461,0.00,2.08,0.00,0.000,6,0.000,0.038,2357,2224,3749
$GC,1783,-1.10,-219.0,242.8,-11.3,325,1788,0.00,2.05,0.00,0.000,4,0.000,0.041,2357,888,3749
$GC,1825,-1.10,-219.0,248.3,-12.8,333,1831,0.00,2.03,0.00,0.000,6,0.000,0.039,2357,2208,3749
$GC,2151,-1.10,-219.0,287.0,-13.5,394,2156,0.00,2.08,0.00,0.000,4,0.000,0.049,2357,896,3749
$GC,2178,-1.10,-219.0,290.6,-13.8,399,2184,0.00,2.00,0.00,0.000,6,0.000,0.040,2357,2196,3749
$GC,2496,-1.10,-219.0,328.4,-10.4,436,2500,0.00,2.03,0.00,0.000,4,0.000,0.044,2357,891,3749
$GC,2550,-1.10,-219.0,334.4,-11.6,441,2553,0.00,1.95,0.00,0.000,6,0.000,0.041,2356,2156,3749
$GC,2873,-1.10,-219.0,368.3,-10.9,472,2876,0.00,1.98,0.00,0.000,4,0.000,0.048,2357,894,3749
$GC,2910,-1.10,-219.0,372.9,-11.8,475,2917,0.00,1.98,0.00,0.000,6,0.000,0.043,2357,2136,3749
$GC,3226,-1.10,-219.0,410.3,-11.3,506,3229,0.00,2.47,0.00,0.000,4,0.000,0.056,2357,3686,3748
$GC,3246,-1.10,-219.0,412.8,-12.0,507,3254,0.00,2.38,0.00,0.000,6,0.000,0.035,2357,2118,3748
$GC,3565,-1.10,-219.0,445.8,-10.9,538,3567,0.00,1.90,0.00,0.000,4,0.000,0.046,2357,890,3746
$GC,3629,-1.10,-219.0,453.6,-11.9,544,3632,0.00,1.92,0.00,0.000,6,0.000,0.048,2357,2116,3746
$GC,3952,-1.10,-219.0,489.5,-11.0,575,3956,0.00,2.50,0.00,0.000,4,0.000,0.058,2357,3674,3744
$GC,3980,-1.10,-219.0,492.6,-11.2,577,3983,0.00,2.38,0.00,0.000,6,0.000,0.033,2356,2103,3744
$GC,4291,-1.10,-219.0,527.3,-11.2,595,4294,0.00,1.88,0.00,0.000,4,0.000,0.047,2356,892,3742
$GC,4349,-1.10,-219.0,534.4,-11.9,597,4355,0.00,1.90,0.00,0.000,6,0.000,0.049,2357,2077,3740
$GC,4660,-1.10,-219.0,569.6,-11.1,613,4664,0.00,2.58,0.00,0.000,4,0.000,0.058,2357,3674,3739
$GC,4676,-1.10,-219.0,571.4,-11.1,614,4679,0.00,2.42,0.00,0.000,6,0.000,0.037,2357,2084,3739
$GC,5003,-1.10,-219.0,605.2,-10.2,630,5006,0.00,1.85,0.00,0.000,4,0.000,0.048,2357,893,3737
$GC,5051,-1.10,-219.0,610.4,-10.4,632,5054,0.00,1.83,0.00,0.000,6,0.000,0.044,2356,2060,3736
$GC,5372,-1.10,-219.0,643.9,-10.4,648,5376,0.00,2.62,0.00,0.000,4,0.000,0.060,2357,3682,3734
$GC,5403,-1.10,-219.0,647.3,-10.9,649,5409,0.00,2.47,0.00,0.000,6,0.000,0.034,2357,2063,3733
$GC,5715,-1.10,-219.0,679.2,-10.5,665,5718,0.00,2.65,0.00,0.000,4,0.000,0.058,2357,3685,3731
$GC,5767,-1.10,-219.0,685.2,-10.9,667,5774,0.00,2.47,0.00,0.000,6,0.000,0.037,2357,2080,3730
$GC,6079,-1.10,-219.0,718.4,-11.0,683,6082,0.00,2.60,0.00,0.000,4,0.000,0.059,2357,3675,3728
$GC,6100,-1.10,-219.0,721.0,-11.7,684,6103,0.00,2.40,0.00,0.000,6,0.000,0.033,2357,2103,3728
$GC,6415,-1.10,-219.0,755.7,-10.8,700,6418,0.00,1.90,0.00,0.000,4,0.000,0.048,2357,889,3726
$GC,6442,-1.10,-219.0,758.5,-10.9,701,6445,0.00,1.90,0.00,0.000,6,0.000,0.044,2357,2073,3725
$GC,6763,-1.10,-219.0,791.5,-9.9,717,6766,0.00,1.88,0.00,0.000,4,0.000,0.050,2357,892,3723
$GC,6859,-1.10,-219.0,801.2,-10.3,721,6862,0.00,1.95,0.00,0.000,6,0.000,0.048,2357,2113,3723
$GC,7176,-1.10,-219.0,832.0,-9.7,737,7179,0.00,2.55,0.00,0.000,4,0.000,0.061,2357,3674,3720
$GC,7239,-1.10,-219.0,838.7,-10.8,740,7243,0.00,2.38,0.00,0.000,6,0.000,0.035,2357,2124,3719
$GC,7561,-1.10,-219.0,869.9,-9.4,756,7564,0.00,1.92,0.00,0.000,4,0.000,0.050,2357,903,3718
$GC,7593,-1.10,-219.0,873.2,-10.5,757,7596,0.00,1.92,0.00,0.000,6,0.000,0.046,2356,2112,3717
$GC,7909,-1.10,-219.0,904.2,-9.9,773,7912,0.00,2.58,0.00,0.000,4,0.000,0.062,2357,3678,3715
$GC,7989,-1.10,-219.0,912.6,-10.6,777,7993,0.00,2.38,0.00,0.000,6,0.000,0.038,2357,2147,3714
$GC,8310,-1.10,-219.0,946.4,-10.7,793,8314,0.00,2.55,0.00,0.000,4,0.000,0.064,2356,3682,3714
$GC,8358,-1.10,-219.0,951.5,-11.1,795,8361,0.00,2.35,0.00,0.000,6,0.000,0.037,2357,2166,3713
$GC,8675,-1.10,-219.0,984.4,-10.3,811,8678,0.00,2.53,0.00,0.000,4,0.000,0.064,2357,3679,3712
$STATE,8725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8725,begin apogee
$GC,8733,-0.26,0.0,990.2,11.3,813,8919,0.88,0.00,180.57,1.364,6,0.128,0.000,2639,2299,2853
$STATE,8919,end apogee,CONTROL_FINISHED_OK
$STATE,8919,begin climb
$GC,8923,1.10,219.0,1003.4,0.0,823,9120,1.23,2.40,188.60,1.327,4,0.051,0.065,3094,3670,1960
$GC,9147,1.10,219.0,991.6,14.5,834,9150,0.00,2.17,0.00,0.000,6,0.000,0.038,3104,2307,1958
$GC,9468,1.10,219.0,947.9,13.5,850,9471,0.00,2.28,0.00,0.000,4,0.000,0.051,3114,886,1952
$GC,9554,1.10,219.0,936.3,13.1,854,9557,0.00,2.20,0.00,0.000,6,0.000,0.044,3114,2278,1950
$GC,9880,1.10,219.0,892.0,13.6,870,9883,0.00,2.28,0.00,0.000,4,0.000,0.059,3114,3683,1950
$GC,9933,1.10,219.0,884.1,15.0,872,9937,0.15,2.17,0.00,0.000,6,0.192,0.038,3088,2285,1949
$GC,10250,1.10,219.0,845.4,12.0,888,10253,0.00,2.28,0.00,0.000,4,0.000,0.056,3089,3684,1949
$GC,10270,1.10,219.0,842.6,13.6,889,10274,0.00,2.17,0.00,0.000,6,0.000,0.037,3097,2276,1949
$GC,10592,1.10,219.0,804.5,11.4,905,10595,0.00,2.17,0.00,0.000,4,0.000,0.051,3108,899,1948
$GC,10709,1.10,219.0,790.7,11.4,910,10712,0.00,2.17,0.00,0.000,6,0.000,0.043,3108,2272,1947
$GC,11025,1.10,219.0,754.5,11.1,926,11028,0.00,2.28,0.00,0.000,4,0.000,0.056,3108,3683,1946
$GC,11127,1.10,219.0,741.9,12.8,930,11132,0.12,2.22,0.00,0.000,6,0.200,0.040,3090,2261,1946
$GC,11437,1.10,219.0,707.5,11.3,946,11440,0.00,2.17,0.00,0.000,4,0.000,0.048,3099,887,1946
$GC,11523,1.11,219.7,697.7,11.0,950,11526,0.00,2.17,0.00,0.000,6,0.000,0.041,3099,2261,1945
$GC,11849,1.11,219.7,659.0,11.6,966,11852,0.00,2.17,0.00,0.000,4,0.000,0.048,3108,898,1945
$GC,11993,1.11,219.7,642.5,11.2,972,11998,0.00,2.25,0.00,0.000,6,0.000,0.041,3109,2313,1944
$GC,12304,1.11,219.7,606.8,11.3,988,12308,0.00,2.28,0.00,0.000,4,0.000,0.048,3119,890,1944
$GC,12405,1.13,236.8,595.7,10.4,993,12430,0.00,2.17,16.23,0.958,6,0.000,0.041,3119,2270,1888
$GC,12756,1.15,252.0,557.5,10.5,1010,12784,0.00,2.35,16.80,0.937,4,0.000,0.055,3118,3678,1825
$GC,12895,1.15,252.0,540.9,11.2,1016,12898,0.12,2.17,0.00,0.000,6,0.192,0.038,3100,2273,1824
$GC,13211,1.17,270.0,507.3,10.4,1032,13232,0.00,2.28,17.15,1.015,4,0.000,0.049,3109,891,1752
$GC,13301,1.21,306.2,497.7,9.8,1036,13340,0.00,2.25,33.30,1.025,6,0.000,0.042,3109,2273,1604
$GC,13650,1.21,307.7,460.6,10.9,1070,13653,0.00,2.20,0.00,0.000,4,0.000,0.047,3119,903,1600
$GC,13783,1.21,307.7,444.3,11.1,1082,13789,0.00,2.10,0.00,0.000,6,0.000,0.044,3119,2226,1598
$GC,14102,1.21,307.7,407.0,11.4,1113,14105,0.00,2.12,0.00,0.000,4,0.000,0.048,3129,894,1598
$GC,14252,1.25,333.3,391.3,10.1,1127,14285,0.00,2.15,24.15,0.944,6,0.000,0.039,3129,2275,1494
$GC,14593,1.25,333.3,354.1,11.7,1160,14596,0.00,2.28,0.00,0.000,4,0.000,0.054,3129,3688,1492
$GC,14678,1.25,333.3,342.6,14.2,1168,14682,0.00,2.17,0.00,0.000,6,0.000,0.035,3140,2276,1491
$GC,14999,1.25,333.3,305.4,11.1,1199,15002,0.00,2.28,0.00,0.000,4,0.000,0.052,3140,3686,1491
$GC,15031,1.25,333.3,301.8,11.7,1202,15034,0.00,2.12,0.00,0.000,6,0.000,0.035,3150,2302,1491
$GC,15357,1.25,333.3,262.9,12.8,1261,15364,0.00,2.20,0.00,0.000,4,0.000,0.047,3160,903,1490
$GC,15380,1.25,333.3,259.9,13.0,1265,15386,0.00,2.22,0.00,0.000,6,0.000,0.038,3160,2325,1489
$GC,15707,1.26,348.2,222.8,10.5,1326,15725,0.00,2.33,13.90,0.772,4,0.000,0.045,3171,906,1434
$GC,15752,1.32,390.8,218.0,9.6,1334,15794,0.00,2.20,37.92,0.797,6,0.000,0.043,3170,2313,1260
$GC,16117,1.32,390.8,173.5,11.7,1401,16124,0.00,2.25,0.00,0.000,4,0.000,0.048,3180,906,1256
$GC,16178,1.32,390.8,165.9,11.5,1412,16183,0.00,2.12,0.00,0.000,6,0.000,0.037,3180,2271,1255
$GC,16505,1.32,390.8,126.8,14.3,1473,16512,0.00,2.25,0.00,0.000,4,0.000,0.053,3180,3680,1255
$GC,16549,1.32,390.8,120.6,13.0,1481,16557,0.12,2.15,0.00,0.000,6,0.168,0.036,3154,2304,1255
$GC,16877,1.35,416.5,90.5,10.1,1542,16908,0.00,2.28,22.60,0.676,4,0.000,0.049,3154,3690,1154
$GC,16956,1.35,416.5,80.9,12.8,1556,16962,0.00,2.22,0.00,0.000,6,0.000,0.038,3164,2244,1154
$GC,17283,1.43,485.0,53.2,8.7,1617,17347,0.00,2.35,57.33,0.650,4,0.000,0.048,3164,3680,875
$GC,17390,1.44,493.9,43.2,10.7,1635,17404,0.00,2.17,8.77,0.548,6,0.000,0.033,3174,2283,839
$GC,17725,1.55,583.3,10.1,8.0,1697,17796,0.15,0.00,68.70,0.599,2,0.059,0.000,3247,2281,531
$STATE,17797,end climb,SURFACE_DEPTH_REACHED
$STATE,17797,begin surface coast
$FINISH,1.6,1.010007
$STATE,17815,end surface coast,CONTROL_FINISHED_OK
$STATE,17815,begin surface
$SM_CCo,17893,0.00,0.000,0,0,519,572.78
$SM_GC,2.42,8.02,0.00,0.00,0.035,0.000,0.000,152,2280,519,-7.93,-0.14,572.78
$IRIDIUM_FIX,2510.35,12519.24,081198,000030
$TT8_MAMPS,0.049088
$HUMID,1666
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,26.00
$XPDR_PINGS,902
$24V_AH,23.0,107.035
$10V_AH,10.4,71.840
$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,19.850,198.775,686.025,0.000,0.000,30.715,34.607,253.950,233.500,0.000,0.000,14.768,0.000,12732.885,841.920,3970.966,800.463,0.000,2398.721,0.000,3344.693,0.000,56.243,0.000
$DEVICE_MAMPS,228.566,65.195,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1153.103,1188.793,1460.843,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97935,1712
$CAP_FILE_SIZE,184432,0
$CFSIZE,260165632,215150592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.082, 87.8,1
$GPS,140809,101407,2518.823,12515.821,38,0.9,38,-3.9