version: 66.04
glider: 165
mission: 2
dive: 549
start: 8 27 109 8 4 55
data:
$ID,165
$MISSION,2
$DIVE,549
$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,-131745.14
$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,44
$R_STBD_OVSHOOT,36
$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
$GPS1,075624,2507.499,12329.094,36,1.4,36,-3.7
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-70.7
$GPS2,080446,2507.669,12329.253,9,2.2,28,-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,202.5,63912,-16.0,-11.000
$D_GRID,1990
$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,-0.91,-219.0,0.0,0.0,0,71,0.00,0.00,-55.35,0.000,2,0.000,0.000,152,2268,1798
$GC,74,-0.91,-219.0,3.2,-3.4,9,144,9.32,2.35,-55.12,0.000,4,0.222,0.063,2473,3685,3748
$GC,274,-0.56,-219.0,48.8,-28.0,44,280,0.40,2.15,0.00,0.000,6,0.128,0.033,2595,2278,3750
$GC,601,-0.56,-219.0,108.4,-11.3,105,607,0.00,2.15,0.00,0.000,4,0.000,0.040,2596,878,3752
$GC,704,-0.66,-219.0,117.8,-8.8,124,710,0.00,2.17,0.00,0.000,6,0.000,0.037,2595,2288,3752
$GC,1032,-0.72,-219.0,153.5,-11.3,185,1037,0.15,0.00,0.00,0.000,6,0.054,0.000,2500,2289,3753
$GC,1359,-0.50,-219.0,218.4,-14.9,246,1365,0.35,2.20,0.00,0.000,4,0.127,0.040,2614,883,3753
$GC,1457,-0.74,-219.0,222.9,-1.6,264,1463,0.20,2.17,0.00,0.000,6,0.044,0.035,2493,2297,3753
$GC,1784,-0.56,-219.0,273.0,-17.3,325,1790,0.30,2.22,0.00,0.000,4,0.128,0.039,2593,872,3754
$GC,1806,-0.52,-219.0,276.3,-15.1,329,1812,0.00,2.20,0.00,0.000,6,0.000,0.038,2592,2292,3753
$GC,2136,-0.72,-219.0,305.7,-9.2,385,2140,0.12,2.20,0.00,0.000,4,0.059,0.051,2504,3684,3753
$GC,2179,-0.72,-219.0,311.0,-13.0,388,2185,0.10,2.15,0.00,0.000,6,0.113,0.034,2543,2280,3753
$GC,2495,-0.76,-219.0,347.4,-9.6,419,2498,0.00,2.12,0.00,0.000,4,0.000,0.041,2543,899,3752
$GC,2539,-0.84,-219.0,351.4,-8.8,423,2542,0.00,2.15,0.00,0.000,6,0.000,0.043,2537,2278,3752
$GC,2860,-0.88,-219.0,377.3,-8.1,454,2861,0.12,0.00,0.00,0.000,6,0.061,0.000,2457,2279,3750
$GC,3170,-0.68,-219.0,431.7,-19.2,484,3174,0.30,2.20,0.00,0.000,4,0.127,0.044,2556,900,3749
$GC,3207,-0.80,-219.0,436.7,-11.3,487,3210,0.00,2.12,0.00,0.000,6,0.000,0.039,2553,2266,3749
$GC,3532,-0.94,-219.0,468.8,-10.1,518,3537,0.20,0.00,0.00,0.000,6,0.047,0.000,2444,2266,3746
$GC,3849,-0.70,-219.0,528.4,-18.6,542,3850,0.35,0.00,0.00,0.000,6,0.131,0.000,2552,2266,3744
$GC,4152,-0.87,-219.0,553.2,-7.0,557,4153,0.15,0.00,0.00,0.000,6,0.055,0.000,2468,2266,3742
$GC,4456,-0.74,-219.0,594.1,-13.7,572,4457,0.22,0.00,0.00,0.000,6,0.127,0.000,2537,2266,3740
$GC,4762,-0.88,-219.0,613.9,-6.1,587,4763,0.12,0.00,0.00,0.000,6,0.063,0.000,2465,2266,3738
$GC,5067,-0.76,-219.0,653.1,-13.1,602,5070,0.20,2.20,0.00,0.000,4,0.128,0.049,2532,903,3734
$GC,5110,-0.89,-219.0,657.1,-7.4,604,5114,0.12,2.15,0.00,0.000,6,0.060,0.045,2460,2259,3735
$GC,5426,-0.76,-219.0,695.9,-12.6,620,5427,0.25,0.00,0.00,0.000,6,0.133,0.000,2536,2259,3732
$GC,5731,-0.92,-219.0,714.0,-5.5,635,5735,0.15,2.35,0.00,0.000,4,0.056,0.061,2455,3692,3730
$GC,5769,-0.92,-219.0,717.2,-9.8,636,5775,0.10,2.22,0.00,0.000,6,0.137,0.036,2481,2265,3729
$GC,6081,-0.88,-219.0,750.3,-11.2,652,6084,0.00,2.20,0.00,0.000,4,0.000,0.050,2482,880,3727
$GC,6113,-0.88,-219.0,754.0,-11.3,653,6117,0.00,2.20,0.00,0.000,6,0.000,0.045,2482,2262,3727
$GC,6424,-0.85,-219.0,787.2,-11.1,668,6427,0.00,2.22,0.00,0.000,4,0.000,0.050,2481,879,3725
$GC,6455,-0.85,-219.0,790.7,-10.6,669,6459,0.00,2.17,0.00,0.000,6,0.000,0.044,2481,2244,3724
$GC,6773,-0.85,-219.0,825.7,-11.2,685,6776,0.00,2.38,0.00,0.000,4,0.000,0.061,2481,3688,3723
$GC,6826,-0.92,-219.0,831.4,-10.1,687,6833,0.00,2.25,0.00,0.000,6,0.000,0.040,2481,2245,3722
$GC,7137,-0.92,-219.0,866.7,-11.5,703,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2245,3721
$GC,7443,-0.92,-219.0,901.7,-11.0,718,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2245,3718
$GC,7747,-0.92,-219.0,937.1,-11.7,733,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,2246,3717
$GC,8052,-0.92,-219.0,972.8,-11.6,748,8056,0.00,2.42,0.00,0.000,4,0.000,0.065,2481,3682,3716
$GC,8106,-1.01,-219.0,978.6,-10.3,750,8112,0.00,2.28,0.00,0.000,6,0.000,0.043,2481,2246,3715
$STATE,8210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8210,begin apogee
$GC,8217,-0.20,0.0,991.1,11.8,756,8399,0.70,0.00,179.00,1.353,6,0.112,0.000,2711,2296,2854
$STATE,8399,end apogee,CONTROL_FINISHED_OK
$STATE,8399,begin climb
$GC,8403,0.91,219.0,1003.7,0.0,765,8594,0.98,0.00,187.70,1.319,6,0.042,0.000,3091,2296,1960
$GC,8895,0.50,219.0,941.5,18.8,789,8899,0.50,2.30,0.00,0.000,4,0.167,0.058,2945,3693,1952
$GC,9048,0.38,219.0,922.9,12.0,796,9051,0.17,2.15,0.00,0.000,6,0.158,0.037,2904,2312,1951
$GC,9364,0.50,294.8,896.0,8.4,812,9434,0.12,2.38,66.07,1.264,4,0.065,0.053,2976,895,1651
$GC,9470,0.47,294.8,883.6,12.5,817,9474,0.17,2.33,0.00,0.000,6,0.138,0.042,2928,2332,1648
$GC,9786,0.53,314.9,850.0,10.3,833,9810,0.00,2.25,18.33,1.183,4,0.000,0.057,2928,3678,1570
$GC,9861,0.56,314.9,841.9,12.4,836,9864,0.00,2.12,0.00,0.000,6,0.000,0.038,2936,2309,1568
$GC,10177,0.61,332.5,808.6,10.4,852,10198,0.12,2.33,16.90,1.164,4,0.065,0.055,3009,3682,1497
$GC,10252,0.42,332.5,796.7,17.4,855,10256,0.35,2.15,0.00,0.000,6,0.150,0.038,2919,2311,1497
$GC,10568,0.60,399.9,766.8,8.7,871,10644,0.15,2.42,63.83,1.170,4,0.058,0.051,3011,888,1222
$GC,10709,0.60,399.9,746.8,14.8,877,10715,0.15,2.28,0.00,0.000,6,0.137,0.040,2971,2309,1218
$GC,11021,0.60,399.9,705.8,13.1,893,11024,0.00,2.22,0.00,0.000,4,0.000,0.055,2971,3680,1215
$GC,11090,0.60,399.9,695.8,14.6,896,11093,0.00,2.15,0.00,0.000,6,0.000,0.038,2978,2307,1215
$GC,11412,0.60,399.9,651.6,13.7,912,11415,0.00,2.28,0.00,0.000,4,0.000,0.051,2988,886,1213
$GC,11449,0.64,399.9,646.4,13.6,913,11455,0.00,2.25,0.00,0.000,6,0.000,0.039,2988,2315,1212
$GC,11760,0.64,399.9,604.3,13.3,929,11763,0.00,2.22,0.00,0.000,4,0.000,0.054,2989,3695,1212
$GC,11803,0.64,399.9,598.3,14.2,931,11806,0.00,2.17,0.00,0.000,6,0.000,0.037,2998,2301,1212
$GC,12131,0.60,399.9,554.5,13.3,947,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2301,1212
$GC,12435,0.57,399.9,512.4,13.5,962,12439,0.12,2.25,0.00,0.000,4,0.150,0.049,2972,898,1212
$GC,12467,0.65,399.9,508.3,12.5,963,12471,0.00,2.25,0.00,0.000,6,0.000,0.038,2973,2329,1211
$GC,12784,0.70,399.9,471.5,11.6,989,12788,0.10,2.20,0.00,0.000,4,0.068,0.054,3028,3692,1211
$GC,12855,0.60,399.9,459.7,16.9,995,12858,0.22,2.15,0.00,0.000,6,0.143,0.036,2973,2311,1211
$GC,13171,0.65,399.9,422.1,11.2,1025,13174,0.00,2.28,0.00,0.000,4,0.000,0.048,2981,884,1211
$GC,13263,0.79,422.1,412.3,10.3,1033,13287,0.15,2.22,19.00,0.934,6,0.058,0.038,3057,2301,1132
$GC,13605,0.64,422.1,350.4,18.8,1066,13609,0.20,2.25,0.00,0.000,4,0.142,0.053,2991,3690,1131
$GC,13755,0.71,422.1,329.9,13.0,1079,13761,0.00,2.15,0.00,0.000,6,0.000,0.036,2999,2302,1131
$GC,14073,0.77,422.1,289.6,12.2,1117,14078,0.00,2.25,0.00,0.000,4,0.000,0.052,2999,3690,1130
$GC,14159,0.81,422.1,277.4,15.0,1133,14165,0.10,2.10,0.00,0.000,6,0.074,0.035,3063,2331,1130
$GC,14486,0.72,422.1,221.6,14.8,1194,14492,0.17,2.33,0.00,0.000,4,0.141,0.046,3016,887,1131
$GC,14572,0.85,442.4,212.1,10.3,1210,14597,0.05,2.30,18.35,0.772,6,0.030,0.038,3089,2323,1050
$GC,14922,0.73,442.4,151.0,18.4,1274,14928,0.22,2.20,0.00,0.000,4,0.137,0.054,3016,3683,1049
$GC,15043,0.87,484.2,136.5,9.6,1296,15087,0.10,2.10,36.58,0.723,6,0.070,0.038,3085,2332,879
$GC,15408,0.87,484.2,85.7,12.7,1363,15415,0.00,2.28,0.00,0.000,4,0.000,0.047,3095,898,878
$GC,15518,0.93,484.2,71.4,13.0,1383,15524,0.00,2.28,0.00,0.000,6,0.000,0.040,3095,2341,878
$GC,15846,0.99,484.2,33.1,11.4,1444,15852,0.00,2.15,0.00,0.000,4,0.000,0.054,3096,3686,877
$GC,15868,1.04,484.2,30.5,11.6,1448,15874,0.00,2.10,0.00,0.000,6,0.000,0.034,3105,2322,877
$STATE,16128,end climb,SURFACE_DEPTH_REACHED
$STATE,16128,begin surface coast
$FINISH,1.8,1.011155
$STATE,16161,end surface coast,CONTROL_FINISHED_OK
$STATE,16161,begin surface
$SM_CCo,16239,0.00,0.000,0,0,876,485.20
$SM_GC,2.57,7.55,0.00,0.00,0.032,0.000,0.000,151,2313,876,-8.10,0.82,485.20
$IRIDIUM_FIX,2458.45,12323.58,211198,030345
$TT8_MAMPS,0.049088
$HUMID,1767
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,25.60
$XPDR_PINGS,748
$24V_AH,23.0,123.513
$10V_AH,10.3,80.144
$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,25.675,133.550,605.750,0.000,0.000,28.128,39.477,254.319,195.000,0.000,0.000,31.116,0.000,11809.059,720.467,3379.314,801.536,0.000,2022.971,0.000,2811.047,0.000,53.972,0.000
$DEVICE_MAMPS,221.663,65.195,1352.988,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.449,1026.575,1225.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85412,1503
$CAP_FILE_SIZE,166945,0
$CFSIZE,260165632,209637376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.303, 54.2,1
$GPS,270809,123636,2506.820,12330.985,38,1.2,38,-3.7