version: 66.04
glider: 167
mission: 2
dive: 50
start: 5 30 109 5 23 47
data:
$ID,167
$MISSION,2
$DIVE,50
$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,275
$T_MISSION,330
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51932
$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,425
$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,-4743.2017
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,389
$VBD_MAX,3987
$C_VBD,3532
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-14.600696
$PRESSURE_SLOPE,0.0001158971
$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,0.0043387017
$SEABIRD_T_H,0.00063414662
$SEABIRD_T_I,2.5692387e-05
$SEABIRD_T_J,2.8978091e-06
$SEABIRD_C_G,-9.8799791
$SEABIRD_C_H,1.1029794
$SEABIRD_C_I,-0.0010948726
$SEABIRD_C_J,0.00016878155
$GPS1,051706,2523.052,12318.301,38,1.1,44,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-67.9
$GPS2,052325,2523.047,12318.251,14,1.3,31,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,340.2,34442,-18.3,-12.000
$D_GRID,1477
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.05,-194.7,0.0,0.0,0,49,0.00,0.00,-31.85,0.000,2,0.000,0.000,145,2431,2601
$GC,52,-1.05,-194.7,3.3,-3.0,5,111,8.57,2.15,-44.53,0.000,4,0.256,0.061,2186,3767,3989
$GC,140,-0.14,-194.7,16.3,-32.8,19,147,1.12,1.98,0.00,0.000,6,0.201,0.025,2493,2400,3990
$GC,485,-0.63,-194.7,49.2,-5.4,80,492,0.40,2.10,0.00,0.000,4,0.064,0.048,2334,3754,3992
$GC,532,-0.44,-194.7,54.3,-14.3,88,538,0.22,1.90,0.00,0.000,6,0.156,0.027,2397,2428,3992
$GC,876,-0.51,-194.7,100.9,-12.0,149,883,0.00,2.00,0.00,0.000,4,0.000,0.029,2396,1034,3992
$GC,958,-0.73,-194.7,109.7,-9.5,163,964,0.25,2.08,0.00,0.000,6,0.060,0.035,2294,2433,3993
$GC,1302,-0.50,-194.7,171.4,-16.9,224,1309,0.28,2.00,0.00,0.000,4,0.165,0.047,2372,3753,3994
$GC,1332,-0.50,-194.7,175.4,-12.3,229,1339,0.00,1.88,0.00,0.000,6,0.000,0.027,2372,2428,3995
$GC,1678,-0.73,-194.7,208.7,-8.3,290,1684,0.17,0.00,0.00,0.000,6,0.070,0.000,2289,2428,3996
$GC,2021,-0.64,-194.7,256.3,-13.6,351,2027,0.17,0.00,0.00,0.000,6,0.156,0.000,2344,2427,3996
$GC,2365,-0.85,-194.7,286.9,-8.9,412,2371,0.17,2.05,0.00,0.000,4,0.069,0.050,2261,3760,3997
$GC,2389,-0.85,-194.7,289.7,-10.9,416,2395,0.00,1.88,0.00,0.000,6,0.000,0.028,2261,2443,3996
$GC,2724,-0.74,-194.7,332.3,-12.9,454,2728,0.15,2.03,0.00,0.000,4,0.163,0.030,2301,1041,3997
$GC,2763,-0.84,-194.7,337.3,-11.7,457,2771,0.00,2.10,0.00,0.000,6,0.000,0.036,2302,2443,3997
$GC,3089,-0.93,-194.7,368.5,-9.6,488,3091,0.15,0.00,0.00,0.000,6,0.077,0.000,2238,2446,3997
$GC,3407,-0.79,-194.7,416.0,-13.3,518,3412,0.17,2.05,0.00,0.000,4,0.167,0.029,2292,1032,3997
$GC,3599,-0.91,-194.7,435.3,-9.9,535,3604,0.12,2.10,0.00,0.000,6,0.081,0.038,2239,2439,3997
$GC,3925,-0.81,-194.7,472.3,-11.5,565,3927,0.15,0.00,0.00,0.000,6,0.170,0.000,2279,2439,3995
$GC,4243,-0.89,-194.7,504.2,-10.0,593,4247,0.00,2.05,0.00,0.000,4,0.000,0.033,2280,1037,3994
$GC,4328,-0.99,-194.7,513.5,-11.1,596,4334,0.15,2.08,0.00,0.000,6,0.079,0.039,2217,2425,3994
$GC,4644,-0.84,-194.7,552.1,-12.2,612,4648,0.20,2.03,0.00,0.000,4,0.172,0.031,2276,1049,3992
$GC,4677,-0.92,-194.7,555.6,-9.7,613,4681,0.00,2.08,0.00,0.000,6,0.000,0.038,2276,2426,3992
$GC,4999,-1.02,-194.7,581.9,-8.6,629,5001,0.17,0.00,0.00,0.000,6,0.078,0.000,2206,2428,3990
$GC,5307,-0.86,-194.7,620.1,-12.2,644,5312,0.17,2.05,0.00,0.000,4,0.177,0.033,2258,1043,3988
$GC,5376,-0.94,-194.7,626.8,-9.0,647,5380,0.00,2.10,0.00,0.000,6,0.000,0.041,2258,2422,3987
$GC,5709,-0.99,-194.7,654.3,-8.8,663,5713,0.00,2.03,0.00,0.000,4,0.000,0.034,2259,1046,3985
$GC,5737,-1.04,-194.7,657.1,-10.1,664,5742,0.15,2.08,0.00,0.000,6,0.081,0.042,2202,2419,3984
$GC,6058,-0.88,-194.7,698.6,-13.3,680,6062,0.17,2.03,0.00,0.000,4,0.182,0.034,2253,1055,3982
$GC,6182,-0.96,-194.7,711.3,-9.4,685,6186,0.00,2.03,0.00,0.000,6,0.000,0.041,2253,2396,3981
$GC,6503,-0.96,-194.7,738.8,-8.1,701,6507,0.00,2.10,0.00,0.000,4,0.000,0.058,2247,3753,3978
$GC,6575,-0.96,-194.7,745.3,-8.8,704,6579,0.00,1.98,0.00,0.000,6,0.000,0.033,2247,2402,3978
$GC,6902,-0.96,-194.7,774.2,-9.0,720,6906,0.00,2.12,0.00,0.000,4,0.000,0.058,2246,3751,3975
$GC,6980,-0.96,-194.7,781.6,-9.4,723,6983,0.00,1.98,0.00,0.000,6,0.000,0.032,2247,2405,3975
$GC,7301,-0.96,-194.7,810.4,-8.8,739,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2403,3973
$GC,7611,-0.96,-194.7,835.4,-7.4,754,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2403,3971
$GC,7920,-0.96,-194.7,859.3,-7.9,769,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2403,3970
$GC,8229,-1.00,-194.7,882.6,-7.5,784,8233,0.00,2.12,0.00,0.000,4,0.000,0.061,2246,3750,3968
$GC,8275,-1.00,-194.7,886.3,-8.1,786,8279,0.00,1.98,0.00,0.000,6,0.000,0.035,2246,2413,3968
$GC,8608,-1.05,-194.7,913.3,-8.4,802,8612,0.12,2.12,0.00,0.000,4,0.094,0.060,2195,3754,3967
$GC,8663,-0.88,-194.7,919.8,-12.9,804,8669,0.22,1.98,0.00,0.000,6,0.175,0.035,2256,2418,3966
$GC,8979,-0.97,-194.7,945.3,-7.5,820,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2418,3965
$GC,9288,-1.07,-194.7,966.0,-6.0,835,9293,0.17,2.12,0.00,0.000,4,0.082,0.061,2192,3757,3964
$GC,9338,-0.89,-194.7,970.8,-10.8,837,9343,0.22,2.00,0.00,0.000,6,0.181,0.036,2252,2413,3964
$STATE,9589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9589,begin apogee
$GC,9595,-0.22,0.0,990.6,7.1,849,9685,0.70,0.00,87.32,1.453,6,0.153,0.000,2471,2499,3532
$STATE,9686,end apogee,CONTROL_FINISHED_OK
$STATE,9686,begin climb
$GC,9689,1.05,194.7,992.1,0.0,853,9857,1.15,2.22,160.75,1.404,4,0.068,0.061,2879,3761,2738
$GC,9886,0.27,194.7,979.2,24.5,862,9892,1.00,2.00,0.00,0.000,6,0.217,0.032,2638,2491,2734
$GC,10209,0.47,239.1,945.5,10.2,878,10252,0.17,2.12,36.75,1.352,4,0.087,0.059,2706,3756,2556
$GC,10326,0.35,239.1,929.6,14.2,883,10330,0.17,1.92,0.00,0.000,6,0.187,0.033,2664,2510,2553
$GC,10653,0.56,320.1,899.0,8.7,899,10726,0.17,2.17,66.57,1.353,4,0.087,0.060,2733,3756,2226
$GC,10866,0.46,320.1,868.1,16.9,908,10873,0.15,1.90,0.00,0.000,6,0.188,0.035,2698,2526,2219
$GC,11182,0.56,320.1,829.7,12.1,924,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2525,2217
$GC,11491,0.68,320.1,791.5,12.6,939,11495,0.17,2.00,0.00,0.000,4,0.085,0.061,2768,3768,2216
$GC,11529,0.48,320.1,785.2,17.7,940,11536,0.28,1.88,0.00,0.000,6,0.187,0.034,2699,2526,2215
$GC,11845,0.58,320.1,745.7,12.3,956,11848,0.00,1.98,0.00,0.000,4,0.000,0.059,2700,3764,2214
$GC,11900,0.58,320.1,737.7,15.2,958,11904,0.00,1.90,0.00,0.000,6,0.000,0.035,2706,2516,2214
$GC,12222,0.67,320.1,694.5,13.5,974,12226,0.15,2.00,0.00,0.000,4,0.089,0.061,2762,3766,2214
$GC,12271,0.49,320.1,685.0,19.1,976,12276,0.25,1.85,0.00,0.000,6,0.188,0.035,2703,2523,2214
$GC,12598,0.60,320.1,641.9,12.6,992,12603,0.10,2.12,0.00,0.000,4,0.102,0.038,2745,1101,2213
$GC,12631,0.65,320.1,637.3,13.9,993,12639,0.00,2.22,0.00,0.000,6,0.000,0.042,2745,2546,2213
$GC,12946,0.65,320.1,592.2,14.2,1009,12950,0.00,1.92,0.00,0.000,4,0.000,0.062,2745,3767,2212
$GC,12974,0.57,320.1,587.9,15.8,1010,12978,0.00,1.85,0.00,0.000,6,0.000,0.035,2749,2529,2212
$GC,13301,0.57,320.1,539.8,14.3,1026,13304,0.00,1.95,0.00,0.000,4,0.000,0.058,2749,3758,2213
$GC,13346,0.47,320.1,533.2,14.9,1028,13351,0.22,1.85,0.00,0.000,6,0.182,0.035,2696,2515,2212
$GC,13680,0.67,337.9,498.2,11.3,1044,13704,0.20,2.05,13.52,1.076,4,0.079,0.062,2772,3761,2152
$GC,13750,0.51,337.9,486.2,18.6,1050,13755,0.17,1.85,0.00,0.000,6,0.181,0.035,2712,2549,2151
$GC,14080,0.68,358.9,447.1,11.1,1081,14105,0.15,2.17,17.98,1.049,4,0.086,0.039,2775,1108,2067
$GC,14128,0.68,358.9,441.0,13.0,1085,14132,0.00,2.28,0.00,0.000,6,0.000,0.044,2774,2558,2066
$GC,14452,0.68,358.9,391.4,15.7,1115,14456,0.00,1.90,0.00,0.000,4,0.000,0.061,2775,3758,2063
$GC,14520,0.59,358.9,379.6,17.9,1121,14524,0.15,1.80,0.00,0.000,6,0.186,0.033,2737,2552,2063
$GC,14850,0.70,358.9,335.3,13.5,1152,14854,0.00,1.92,0.00,0.000,4,0.000,0.059,2738,3761,2063
$GC,14911,0.75,358.9,326.5,13.5,1157,14919,0.12,1.77,0.00,0.000,6,0.087,0.034,2790,2562,2063
$GC,15245,0.69,358.9,275.1,16.3,1202,15251,0.00,1.90,0.00,0.000,4,0.000,0.059,2791,3762,2062
$GC,15291,0.56,358.9,267.2,17.6,1210,15298,0.25,1.77,0.00,0.000,6,0.181,0.032,2731,2556,2063
$GC,15636,0.85,423.3,231.8,9.3,1271,15689,0.22,0.00,50.28,0.865,6,0.071,0.000,2824,2554,1806
$GC,16028,0.85,423.3,165.8,17.9,1340,16034,0.00,1.92,0.00,0.000,4,0.000,0.057,2824,3758,1798
$GC,16147,0.85,423.3,143.4,18.9,1361,16154,0.00,1.75,0.00,0.000,6,0.000,0.031,2828,2568,1797
$GC,16492,0.95,438.4,92.0,11.4,1422,16509,0.00,0.00,11.93,0.684,6,0.000,0.000,2828,2566,1744
$GC,16846,1.13,446.4,51.8,11.7,1485,16861,0.17,1.95,8.10,0.603,4,0.073,0.052,2907,3772,1711
$GC,16935,0.96,446.4,35.5,20.2,1500,16941,0.22,1.73,0.00,0.000,6,0.176,0.028,2854,2572,1711
$STATE,17170,end climb,SURFACE_DEPTH_REACHED
$STATE,17170,begin surface coast
$FINISH,1.5,1.022319
$STATE,17193,end surface coast,CONTROL_FINISHED_OK
$STATE,17193,begin surface
$SM_CCo,17270,0.00,0.000,0,0,1710,446.94
$SM_GC,2.55,7.18,0.00,0.00,0.054,0.000,0.000,144,2419,1710,-7.50,-0.23,446.94
$IRIDIUM_FIX,2510.35,12318.92,240898,000053
$TT8_MAMPS,0.029146
$HUMID,1539
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.9,12.763
$10V_AH,10.7,8.292
$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,27.450,132.250,453.200,0.000,0.000,23.922,32.267,178.075,8.000,0.000,0.000,33.001,2760.235,11090.729,579.635,2697.051,512.621,0.000,1937.617,0.000,2614.001,0.000,54.419,0.000
$DEVICE_MAMPS,256.178,84.370,1452.698,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1046.459,1050.562,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82060,1546
$CAP_FILE_SIZE,175201,0
$CFSIZE,260165632,220901376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160, 64.5,1
$GPS,300509,101237,2526.050,12318.259,25,1.4,26,-3.8