version: 66.04
glider: 165
mission: 2
dive: 555
start: 8 28 109 12 15 48
data:
$ID,165
$MISSION,2
$DIVE,555
$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,-131850.45
$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,72
$R_STBD_OVSHOOT,28
$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
$GPS1,120801,2501.155,12337.534,36,1.3,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-73.1
$GPS2,121543,2501.296,12337.665,8,1.1,13,-3.7
$SPEED_LIMITS,0.191,0.322
$TGT_NAME,OFF_1
$TGT_LATLONG,2436.700,12346.000
$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,204.0,47665,-16.0,-11.000
$D_GRID,2049
$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,14,begin dive
$GC,17,-0.91,-219.0,0.0,0.0,0,64,0.00,0.00,-45.05,0.000,2,0.000,0.000,144,2241,1873
$GC,67,-0.91,-219.0,3.4,-5.0,7,131,9.18,2.15,-49.55,0.000,4,0.217,0.052,2480,905,3749
$GC,203,-0.37,-219.0,37.4,-40.1,30,209,0.62,2.17,0.00,0.000,6,0.153,0.040,2654,2293,3750
$GC,531,-0.53,-219.0,78.1,-6.2,91,536,0.12,0.00,0.00,0.000,6,0.058,0.000,2569,2294,3752
$GC,858,-0.47,-219.0,127.7,-14.5,152,864,0.17,2.17,0.00,0.000,4,0.125,0.040,2630,905,3753
$GC,928,-0.69,-219.0,134.7,-8.0,165,936,0.20,2.12,0.00,0.000,6,0.044,0.036,2509,2293,3753
$GC,1257,-0.50,-219.0,195.6,-18.1,226,1263,0.32,2.17,0.00,0.000,4,0.127,0.039,2614,899,3756
$GC,1345,-0.80,-219.0,203.6,-7.1,242,1351,0.25,2.10,0.00,0.000,6,0.041,0.036,2467,2266,3755
$GC,1673,-0.56,-219.0,264.1,-18.9,303,1679,0.38,2.12,0.00,0.000,4,0.130,0.038,2590,904,3756
$GC,1743,-0.76,-219.0,271.3,-6.6,316,1749,0.15,2.08,0.00,0.000,6,0.054,0.037,2491,2249,3756
$GC,2073,-0.62,-219.0,319.3,-15.5,366,2076,0.25,2.30,0.00,0.000,4,0.146,0.051,2563,3679,3755
$GC,2138,-0.81,-219.0,325.0,-7.3,371,2144,0.12,2.12,0.00,0.000,6,0.058,0.031,2476,2254,3755
$GC,2455,-0.65,-219.0,375.8,-15.7,402,2458,0.25,2.08,0.00,0.000,4,0.125,0.038,2561,896,3754
$GC,2503,-0.78,-219.0,381.0,-8.4,406,2509,0.10,2.10,0.00,0.000,6,0.070,0.038,2486,2242,3754
$GC,2820,-0.70,-219.0,426.1,-14.7,437,2824,0.20,2.33,0.00,0.000,4,0.127,0.054,2550,3688,3752
$GC,2848,-0.76,-219.0,429.6,-11.3,439,2851,0.00,2.15,0.00,0.000,6,0.000,0.031,2550,2249,3752
$GC,3171,-0.88,-219.0,457.7,-7.9,470,3175,0.15,2.35,0.00,0.000,4,0.054,0.057,2455,3688,3750
$GC,3204,-0.81,-219.0,461.5,-12.7,472,3210,0.20,2.17,0.00,0.000,6,0.120,0.035,2516,2261,3750
$GC,3520,-0.81,-219.0,494.5,-9.8,503,3523,0.00,2.30,0.00,0.000,4,0.000,0.053,2510,3685,3748
$GC,3542,-0.86,-219.0,496.4,-9.6,504,3548,0.00,2.20,0.00,0.000,6,0.000,0.033,2510,2243,3748
$GC,3863,-0.86,-219.0,529.4,-10.3,522,3867,0.00,2.35,0.00,0.000,4,0.000,0.055,2510,3680,3746
$GC,3906,-0.96,-219.0,533.5,-9.6,524,3910,0.12,2.17,0.00,0.000,6,0.061,0.038,2438,2261,3745
$GC,4225,-0.79,-219.0,585.5,-17.1,540,4229,0.25,2.15,0.00,0.000,4,0.133,0.042,2520,887,3744
$GC,4268,-0.90,-219.0,591.6,-10.3,542,4271,0.00,2.17,0.00,0.000,6,0.000,0.042,2520,2264,3744
$GC,4590,-0.97,-219.0,619.7,-8.6,558,4594,0.15,2.30,0.00,0.000,4,0.056,0.054,2428,3688,3741
$GC,4649,-0.85,-219.0,627.4,-14.2,561,4653,0.25,2.17,0.00,0.000,6,0.124,0.033,2505,2265,3740
$GC,4973,-0.90,-219.0,658.4,-9.1,577,4976,0.00,2.15,0.00,0.000,4,0.000,0.044,2505,886,3737
$GC,5021,-1.00,-219.0,663.4,-10.0,579,5025,0.15,2.17,0.00,0.000,6,0.056,0.040,2424,2272,3737
$GC,5340,-0.83,-219.0,713.7,-16.7,595,5344,0.25,2.33,0.00,0.000,4,0.137,0.058,2506,3686,3734
$GC,5389,-0.96,-219.0,719.9,-9.8,597,5392,0.10,2.17,0.00,0.000,6,0.068,0.034,2445,2264,3734
$GC,5702,-0.87,-219.0,764.3,-14.4,612,5705,0.17,2.17,0.00,0.000,4,0.134,0.044,2504,889,3733
$GC,5756,-0.99,-219.0,770.6,-9.7,614,5761,0.12,2.22,0.00,0.000,6,0.060,0.043,2435,2274,3732
$GC,6066,-0.88,-219.0,814.2,-14.2,630,6070,0.17,2.35,0.00,0.000,4,0.135,0.061,2492,3694,3730
$GC,6121,-1.00,-219.0,819.7,-8.9,632,6126,0.00,2.22,0.00,0.000,6,0.000,0.040,2492,2265,3729
$GC,6431,-1.05,-219.0,848.0,-9.4,648,6433,0.15,0.00,0.00,0.000,6,0.058,0.000,2418,2260,3727
$GC,6737,-0.90,-219.0,895.2,-16.0,663,6738,0.22,0.00,0.00,0.000,6,0.142,0.000,2485,2260,3725
$GC,7042,-0.95,-219.0,927.3,-10.1,678,7045,0.00,2.38,0.00,0.000,4,0.000,0.062,2482,3682,3723
$GC,7084,-1.03,-219.0,931.4,-10.0,680,7087,0.00,2.17,0.00,0.000,6,0.000,0.037,2482,2279,3722
$GC,7407,-1.07,-219.0,963.2,-9.7,696,7408,0.12,0.00,0.00,0.000,6,0.067,0.000,2420,2273,3721
$STATE,7606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7606,begin apogee
$GC,7613,-0.20,0.0,992.0,14.2,706,7795,0.93,0.00,179.02,1.346,6,0.126,0.000,2711,2273,2854
$STATE,7795,end apogee,CONTROL_FINISHED_OK
$STATE,7795,begin climb
$GC,7799,0.91,219.0,1001.2,0.0,715,7995,0.95,2.47,186.05,1.310,4,0.040,0.061,3090,3680,1959
$GC,8236,0.45,219.0,934.8,23.9,735,8240,0.62,2.17,0.00,0.000,6,0.173,0.039,2928,2300,1953
$GC,8547,0.46,228.8,899.1,10.7,750,8560,0.00,2.33,8.60,1.067,4,0.000,0.058,2928,3685,1921
$GC,8727,0.40,228.8,877.4,12.2,758,8731,0.00,2.17,0.00,0.000,6,0.000,0.038,2936,2290,1920
$GC,9043,0.37,237.8,842.4,10.7,774,9057,0.12,2.33,9.32,1.088,4,0.156,0.057,2901,3680,1883
$GC,9124,0.39,253.0,834.3,10.5,777,9151,0.00,2.15,17.05,1.042,6,0.000,0.041,2910,2304,1822
$GC,9457,0.49,295.0,802.2,9.6,794,9499,0.00,2.38,37.80,1.210,4,0.000,0.051,2920,897,1651
$GC,9542,0.60,295.5,793.5,11.0,798,9546,0.15,2.28,0.00,0.000,6,0.061,0.040,3009,2314,1648
$GC,9864,0.44,295.5,738.9,17.5,814,9867,0.28,2.22,0.00,0.000,4,0.141,0.054,2922,3682,1645
$GC,10001,0.47,295.5,720.7,13.6,820,10004,0.00,2.12,0.00,0.000,6,0.000,0.038,2930,2320,1645
$GC,10317,0.51,295.5,683.5,11.6,836,10320,0.00,2.22,0.00,0.000,4,0.000,0.055,2930,3680,1644
$GC,10353,0.51,295.5,679.0,11.9,837,10361,0.00,2.10,0.00,0.000,6,0.000,0.037,2937,2332,1643
$GC,10665,0.51,295.5,643.9,11.0,853,10668,0.00,2.22,0.00,0.000,4,0.000,0.055,2937,3693,1643
$GC,10718,0.51,295.5,637.4,12.8,855,10721,0.00,2.10,0.00,0.000,6,0.000,0.035,2937,2344,1643
$GC,11034,0.58,317.7,605.0,10.2,871,11058,0.00,2.35,20.33,1.074,4,0.000,0.051,2937,889,1557
$GC,11098,0.76,364.5,598.8,9.4,874,11148,0.25,2.33,43.35,1.081,6,0.046,0.039,3049,2350,1366
$GC,11460,0.57,364.5,531.4,19.4,892,11464,0.25,2.17,0.00,0.000,4,0.143,0.053,2970,3694,1361
$GC,11584,0.57,364.5,513.1,15.1,898,11587,0.00,2.08,0.00,0.000,6,0.000,0.036,2978,2351,1361
$GC,11906,0.57,364.5,471.5,12.0,924,11909,0.00,2.33,0.00,0.000,4,0.000,0.048,2988,889,1359
$GC,11928,0.57,364.5,468.7,12.0,925,11935,0.00,2.33,0.00,0.000,6,0.000,0.038,2988,2361,1358
$GC,12246,0.57,364.5,428.2,13.8,956,12249,0.00,2.15,0.00,0.000,4,0.000,0.054,2988,3695,1358
$GC,12369,0.57,364.5,409.2,16.2,967,12375,0.12,2.08,0.00,0.000,6,0.144,0.035,2964,2352,1358
$GC,12685,0.65,364.5,370.6,11.6,998,12688,0.00,2.35,0.00,0.000,4,0.000,0.049,2964,882,1358
$GC,12771,0.81,385.5,361.0,10.3,1005,12793,0.22,2.35,17.83,0.882,6,0.047,0.038,3069,2360,1282
$GC,13105,0.63,385.5,297.6,19.8,1038,13111,0.25,2.17,0.00,0.000,4,0.140,0.051,2988,3698,1280
$GC,13213,0.67,385.5,282.6,12.8,1058,13219,0.00,2.10,0.00,0.000,6,0.000,0.035,2995,2351,1280
$GC,13541,0.71,385.5,244.6,11.2,1119,13546,0.00,2.33,0.00,0.000,4,0.000,0.045,3006,884,1280
$GC,13595,0.79,389.3,238.6,10.9,1129,13603,0.00,2.30,4.57,0.571,6,0.000,0.036,3006,2355,1266
$GC,13924,0.83,389.3,202.1,11.4,1190,13930,0.12,2.15,0.00,0.000,4,0.062,0.054,3077,3689,1265
$GC,14017,0.63,389.3,185.5,17.7,1207,14023,0.35,2.10,0.00,0.000,6,0.144,0.035,2985,2323,1265
$GC,14348,0.83,443.1,152.1,9.2,1268,14399,0.17,2.35,47.03,0.728,4,0.050,0.047,3102,897,1046
$GC,14501,0.74,443.1,124.3,16.5,1295,14508,0.28,2.25,0.00,0.000,6,0.133,0.037,3022,2335,1044
$GC,14833,0.91,476.2,87.8,9.9,1356,14865,0.15,2.38,28.40,0.663,4,0.055,0.045,3124,893,911
$GC,14894,0.83,476.2,78.7,16.6,1366,14900,0.22,2.22,0.00,0.000,6,0.120,0.036,3050,2304,910
$GC,15224,0.94,476.2,44.4,11.5,1427,15230,0.00,2.20,0.00,0.000,4,0.000,0.054,3050,3681,908
$GC,15354,1.11,510.3,30.3,9.9,1451,15391,0.17,2.08,29.17,0.608,6,0.039,0.032,3154,2334,771
$STATE,15538,end climb,SURFACE_DEPTH_REACHED
$STATE,15538,begin surface coast
$FINISH,1.7,1.007018
$STATE,15560,end surface coast,CONTROL_FINISHED_OK
$STATE,15560,begin surface
$SM_CCo,15638,0.00,0.000,0,0,768,511.70
$SM_GC,2.74,7.70,0.00,0.00,0.034,0.000,0.000,146,2329,768,-8.08,1.22,511.70
$IRIDIUM_FIX,2453.69,12334.15,221198,070708
$TT8_MAMPS,0.048321
$HUMID,1753
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,25.40
$XPDR_PINGS,730
$24V_AH,23.1,125.031
$10V_AH,10.3,80.927
$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,28.250,155.275,628.525,0.000,0.000,26.838,38.630,224.672,190.500,0.000,0.000,15.110,0.000,11066.145,718.700,3491.394,786.732,0.000,2087.428,0.000,2918.814,0.000,53.981,0.000
$DEVICE_MAMPS,217.061,62.127,1346.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1005.197,1031.084,1266.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82183,1489
$CAP_FILE_SIZE,175461,0
$CFSIZE,260165632,209072128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.141, 80.6,1
$GPS,280809,163730,2459.103,12338.497,34,0.9,40,-3.7