version: 66.04
glider: 165
mission: 2
dive: 519
start: 8 21 109 12 26 25
data:
$ID,165
$MISSION,2
$DIVE,519
$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,-4
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-131213.53
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,25
$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,3
$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
$GPS1,121837,2453.847,12227.307,140,1.0,140,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-71.2
$GPS2,122620,2453.882,12227.423,10,1.3,10,-3.5
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$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,123.1,36724,-16.0,-11.000
$D_GRID,1381
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,81,0.00,0.00,-62.53,0.000,2,0.000,0.000,153,2254,1937
$GC,84,-0.91,-219.0,3.5,-4.0,10,154,9.40,2.20,-51.40,0.000,4,0.228,0.054,2481,886,3748
$GC,277,-0.57,-219.0,48.2,-31.1,44,284,0.32,2.25,0.00,0.000,6,0.129,0.043,2598,2291,3751
$GC,605,-0.68,-219.0,83.5,-8.3,105,611,0.12,2.25,0.00,0.000,4,0.060,0.051,2510,3697,3753
$GC,777,-0.56,-219.0,104.8,-13.6,137,783,0.28,2.12,0.00,0.000,6,0.114,0.036,2598,2288,3753
$GC,1105,-0.76,-219.0,126.2,-7.8,198,1111,0.17,2.15,0.00,0.000,4,0.049,0.041,2479,890,3754
$GC,1186,-0.58,-219.0,140.2,-19.7,213,1192,0.38,2.22,0.00,0.000,6,0.132,0.041,2594,2312,3754
$GC,1514,-0.79,-219.0,168.4,-6.6,274,1520,0.17,0.00,0.00,0.000,6,0.050,0.000,2478,2312,3754
$GC,1841,-0.55,-219.0,223.4,-15.8,335,1847,0.35,2.25,0.00,0.000,4,0.134,0.042,2591,886,3754
$GC,1922,-0.82,-219.0,228.8,-6.1,350,1928,0.22,2.22,0.00,0.000,6,0.054,0.041,2489,2303,3753
$GC,2250,-0.70,-219.0,273.2,-15.2,411,2256,0.20,2.22,0.00,0.000,4,0.137,0.054,2551,3688,3753
$GC,2320,-0.86,-219.0,280.9,-10.1,424,2327,0.12,2.12,0.00,0.000,6,0.059,0.037,2467,2283,3753
$GC,2647,-0.65,-219.0,344.6,-19.1,465,2651,0.30,2.17,0.00,0.000,4,0.130,0.044,2565,896,3752
$GC,2743,-0.81,-219.0,355.7,-9.6,473,2749,0.12,2.17,0.00,0.000,6,0.062,0.041,2484,2289,3751
$GC,3059,-0.69,-219.0,399.6,-14.0,504,3063,0.20,2.22,0.00,0.000,4,0.134,0.046,2551,890,3749
$GC,3128,-0.84,-219.0,406.3,-7.9,510,3134,0.12,2.17,0.00,0.000,6,0.061,0.045,2477,2265,3749
$GC,3444,-0.71,-219.0,453.5,-14.9,541,3448,0.20,2.17,0.00,0.000,4,0.132,0.047,2545,903,3748
$GC,3481,-0.81,-219.0,457.7,-9.9,544,3484,0.00,2.10,0.00,0.000,6,0.000,0.043,2545,2240,3748
$GC,3802,-0.94,-219.0,483.5,-7.3,575,3806,0.17,2.35,0.00,0.000,4,0.051,0.058,2442,3688,3746
$GC,3872,-0.83,-219.0,492.0,-13.8,581,3876,0.22,2.17,0.00,0.000,6,0.125,0.035,2510,2265,3745
$GC,4197,-0.86,-219.0,522.3,-9.2,600,4200,0.00,2.17,0.00,0.000,4,0.000,0.048,2510,883,3744
$GC,4305,-0.96,-219.0,533.6,-10.8,605,4309,0.12,2.15,0.00,0.000,6,0.062,0.043,2443,2243,3744
$GC,4628,-0.80,-219.0,584.5,-15.7,621,4632,0.22,2.35,0.00,0.000,4,0.137,0.058,2509,3682,3742
$GC,4760,-0.91,-219.0,596.0,-7.1,627,4763,0.00,2.20,0.00,0.000,6,0.000,0.036,2509,2251,3741
$GC,5086,-0.95,-219.0,622.8,-8.4,643,5090,0.10,2.35,0.00,0.000,4,0.072,0.061,2451,3680,3739
$GC,5139,-0.88,-219.0,629.0,-12.4,645,5145,0.15,2.22,0.00,0.000,6,0.129,0.041,2495,2256,3738
$GC,5451,-0.88,-219.0,662.2,-10.9,661,5454,0.00,2.17,0.00,0.000,4,0.000,0.051,2495,887,3737
$GC,5515,-0.94,-219.0,670.0,-11.8,664,5518,0.00,2.20,0.00,0.000,6,0.000,0.046,2495,2264,3737
$GC,5842,-0.94,-219.0,708.3,-11.1,680,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2264,3734
$GC,6146,-0.94,-219.0,740.8,-10.5,695,6149,0.00,2.22,0.00,0.000,4,0.000,0.052,2495,884,3733
$GC,6183,-0.98,-219.0,744.8,-10.7,696,6190,0.00,2.22,0.00,0.000,6,0.000,0.048,2495,2250,3732
$GC,6494,-0.98,-219.0,778.1,-10.5,712,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2250,3731
$GC,6799,-1.01,-219.0,811.2,-10.8,727,6803,0.12,2.40,0.00,0.000,4,0.065,0.064,2428,3694,3729
$GC,6821,-0.96,-219.0,814.0,-14.2,728,6825,0.15,2.25,0.00,0.000,6,0.139,0.038,2471,2246,3728
$GC,7137,-0.91,-219.0,856.5,-13.0,744,7140,0.00,2.20,0.00,0.000,4,0.000,0.054,2471,881,3727
$GC,7184,-0.91,-219.0,862.4,-11.6,746,7187,0.00,2.22,0.00,0.000,6,0.000,0.048,2468,2259,3727
$GC,7506,-0.84,-219.0,903.3,-12.6,762,7510,0.15,2.25,0.00,0.000,4,0.143,0.051,2512,883,3725
$GC,7544,-0.93,-219.0,907.2,-9.1,764,7547,0.00,2.20,0.00,0.000,6,0.000,0.048,2510,2246,3725
$GC,7871,-1.03,-219.0,933.8,-7.8,780,7875,0.17,2.38,0.00,0.000,4,0.055,0.063,2414,3685,3723
$GC,7913,-0.90,-219.0,939.0,-13.4,782,7917,0.25,2.25,0.00,0.000,6,0.137,0.038,2488,2242,3723
$GC,8229,-0.90,-219.0,969.1,-9.2,798,8232,0.00,2.17,0.00,0.000,4,0.000,0.053,2489,889,3722
$GC,8273,-0.96,-219.0,973.0,-8.9,800,8276,0.00,2.20,0.00,0.000,6,0.000,0.047,2482,2249,3722
$STATE,8474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8474,begin apogee
$GC,8481,-0.20,0.0,991.7,9.1,810,8666,0.73,0.00,182.95,1.368,6,0.114,0.000,2718,2304,2854
$STATE,8666,end apogee,CONTROL_FINISHED_OK
$STATE,8666,begin climb
$GC,8670,0.91,219.0,998.6,0.0,819,8871,0.95,2.47,190.57,1.327,4,0.045,0.056,3093,903,1959
$GC,9038,0.55,219.0,948.6,22.1,836,9042,0.47,2.25,0.00,0.000,6,0.169,0.047,2961,2304,1952
$GC,9353,0.44,219.0,901.8,14.0,852,9357,0.15,2.25,0.00,0.000,4,0.163,0.058,2919,3684,1949
$GC,9506,0.39,219.0,882.1,13.1,859,9509,0.00,2.15,0.00,0.000,6,0.000,0.038,2928,2303,1949
$GC,9827,0.36,219.0,844.1,12.0,875,9830,0.12,2.28,0.00,0.000,4,0.159,0.057,2892,3689,1948
$GC,9858,0.37,233.1,840.5,10.5,876,9886,0.00,2.15,14.07,1.009,6,0.000,0.038,2901,2312,1902
$GC,10193,0.49,286.4,807.5,9.2,893,10246,0.10,2.33,48.53,1.233,4,0.076,0.055,2956,3685,1685
$GC,10332,0.41,286.4,787.7,16.7,899,10338,0.20,2.15,0.00,0.000,6,0.156,0.038,2910,2331,1682
$GC,10643,0.52,311.0,755.2,10.2,915,10672,0.12,2.33,22.40,1.170,4,0.067,0.056,2976,3693,1585
$GC,10722,0.42,311.0,743.4,16.2,918,10728,0.25,2.15,0.00,0.000,6,0.150,0.038,2915,2332,1584
$GC,11033,0.53,325.0,709.4,10.5,934,11052,0.10,0.00,13.68,1.102,6,0.075,0.000,2972,2324,1528
$GC,11358,0.48,325.0,661.9,14.2,950,11362,0.12,2.22,0.00,0.000,4,0.149,0.056,2936,3686,1526
$GC,11423,0.51,325.0,652.9,13.5,953,11426,0.00,2.10,0.00,0.000,6,0.000,0.037,2945,2334,1526
$GC,11744,0.51,325.0,610.6,13.6,969,11747,0.00,2.30,0.00,0.000,4,0.000,0.049,2954,891,1525
$GC,11760,0.55,325.0,608.3,13.6,970,11764,0.00,2.33,0.00,0.000,6,0.000,0.040,2954,2357,1524
$GC,12082,0.55,325.0,566.4,11.6,986,12085,0.00,2.15,0.00,0.000,4,0.000,0.056,2954,3696,1524
$GC,12199,0.55,325.0,550.0,12.9,991,12202,0.00,2.08,0.00,0.000,6,0.000,0.036,2962,2353,1524
$GC,12516,0.60,363.9,514.7,9.7,1007,12557,0.00,2.22,35.35,1.058,4,0.000,0.055,2962,3690,1369
$GC,12650,0.66,387.1,501.0,10.2,1013,12677,0.00,2.08,21.90,1.013,6,0.000,0.037,2970,2366,1274
$GC,12988,0.70,387.1,456.7,15.1,1045,12992,0.10,2.38,0.00,0.000,4,0.074,0.050,3033,891,1271
$GC,13057,0.65,387.1,444.8,17.9,1051,13061,0.15,2.35,0.00,0.000,6,0.138,0.041,2992,2363,1269
$GC,13373,0.65,387.1,397.1,14.6,1081,13376,0.00,2.15,0.00,0.000,4,0.000,0.056,2992,3698,1268
$GC,13431,0.65,387.1,388.2,14.5,1086,13437,0.00,2.10,0.00,0.000,6,0.000,0.037,3000,2348,1268
$GC,13750,0.65,387.1,341.2,14.9,1117,13754,0.00,2.33,0.00,0.000,4,0.000,0.050,3011,888,1268
$GC,13771,0.65,387.1,337.7,15.2,1118,13777,0.00,2.35,0.00,0.000,6,0.000,0.040,3011,2361,1268
$GC,14089,0.61,387.1,292.0,14.4,1154,14095,0.12,0.00,0.00,0.000,6,0.140,0.000,2977,2361,1268
$GC,14417,0.68,387.1,249.4,11.8,1215,14422,0.00,2.15,0.00,0.000,4,0.000,0.055,2976,3699,1268
$GC,14519,0.75,387.1,234.6,14.3,1234,14525,0.12,2.10,0.00,0.000,6,0.061,0.041,3047,2354,1268
$GC,14847,0.63,387.1,178.4,14.6,1295,14853,0.17,2.20,0.00,0.000,4,0.143,0.052,2988,3714,1268
$GC,14945,0.70,415.0,167.4,10.1,1313,14976,0.00,2.08,24.15,0.788,6,0.000,0.035,2995,2361,1162
$GC,15301,0.92,521.0,137.7,7.4,1378,15402,0.17,2.25,90.18,0.765,4,0.051,0.057,3104,3685,729
$GC,15450,0.83,521.0,112.3,20.2,1403,15456,0.22,2.03,0.00,0.000,6,0.136,0.041,3050,2397,727
$GC,15777,0.92,521.0,59.0,15.5,1464,15783,0.00,2.40,0.00,0.000,4,0.000,0.048,3060,892,725
$GC,15837,1.05,521.0,50.7,13.5,1475,15843,0.17,2.40,0.00,0.000,6,0.050,0.042,3147,2410,725
$STATE,16145,end climb,SURFACE_DEPTH_REACHED
$STATE,16145,begin surface coast
$FINISH,2.0,1.008849
$STATE,16169,end surface coast,CONTROL_FINISHED_OK
$STATE,16169,begin surface
$SM_CCo,16248,0.00,0.000,0,0,723,522.73
$SM_GC,2.86,7.70,0.00,0.00,0.035,0.000,0.000,155,2251,723,-8.08,-0.96,522.73
$IRIDIUM_FIX,2444.18,12222.99,151198,070721
$TT8_MAMPS,0.049088
$HUMID,1834
$INTERNAL_PRESSURE,8.7601
$TCM_TEMP,23.10
$XPDR_PINGS,689
$24V_AH,22.7,115.675
$10V_AH,10.3,76.320
$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,26.825,155.900,643.775,0.000,0.000,23.619,39.922,230.524,180.250,0.000,0.000,12.567,0.000,11531.771,757.662,3606.554,778.129,0.000,2173.459,0.000,3033.026,0.000,53.982,0.000
$DEVICE_MAMPS,227.799,97.409,1367.561,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.547,1081.908,1333.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85301,1537
$CAP_FILE_SIZE,177069,0
$CFSIZE,260165632,212348928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,202.2,1
$GPS,210809,165807,2452.181,12229.543,31,1.1,31,-3.5