version: 66.04
glider: 167
mission: 2
dive: 74
start: 6 3 109 4 40 15
data:
$ID,167
$MISSION,2
$DIVE,74
$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,-5265.3921
$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,55
$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
$GPS1,043307,2514.765,12339.568,32,1.9,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-70.3
$GPS2,043952,2514.711,12339.618,15,2.2,34,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2448.000,12324.000
$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,228.4,56005,-18.3,-12.000
$D_GRID,1989
$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,14,-1.05,-194.7,0.0,0.0,0,51,0.00,0.00,-34.17,0.000,2,0.000,0.000,143,2442,2650
$GC,54,-1.05,-194.7,3.2,-2.7,6,114,8.55,2.10,-42.40,0.000,4,0.255,0.062,2190,3752,3990
$GC,196,0.00,-194.7,36.3,-39.7,30,203,1.27,1.98,0.00,0.000,6,0.206,0.026,2534,2390,3991
$GC,541,-0.86,-194.7,72.5,-10.4,91,548,0.73,2.12,0.00,0.000,4,0.087,0.048,2273,3757,3992
$GC,583,-0.78,-194.7,77.8,-12.9,98,589,0.00,1.90,0.00,0.000,6,0.000,0.026,2273,2425,3991
$GC,926,-0.39,-194.7,141.6,-19.7,159,933,0.45,2.00,0.00,0.000,4,0.160,0.028,2412,1035,3993
$GC,1002,-0.79,-194.7,148.4,-6.1,172,1009,0.32,2.05,0.00,0.000,6,0.053,0.034,2275,2419,3993
$GC,1346,-0.57,-194.7,205.3,-16.0,233,1353,0.25,2.03,0.00,0.000,4,0.160,0.047,2345,3750,3995
$GC,1405,-0.70,-194.7,212.1,-9.7,243,1411,0.00,1.92,0.00,0.000,6,0.000,0.027,2345,2396,3995
$GC,1750,-0.82,-194.7,241.6,-8.5,304,1757,0.17,2.10,0.00,0.000,4,0.068,0.049,2261,3755,3995
$GC,1780,-0.68,-194.7,245.3,-13.0,309,1788,0.22,1.92,0.00,0.000,6,0.156,0.027,2326,2401,3995
$GC,2128,-0.76,-194.7,279.8,-9.8,370,2134,0.00,2.08,0.00,0.000,4,0.000,0.050,2327,3747,3995
$GC,2187,-0.87,-194.7,286.3,-11.1,380,2193,0.17,1.88,0.00,0.000,6,0.071,0.027,2253,2422,3995
$GC,2518,-0.64,-194.7,335.2,-14.8,419,2520,0.28,0.00,0.00,0.000,6,0.156,0.000,2334,2422,3996
$GC,2840,-0.84,-194.7,360.3,-7.8,449,2844,0.17,2.05,0.00,0.000,4,0.069,0.051,2261,3745,3995
$GC,2889,-0.73,-194.7,366.4,-12.7,453,2897,0.17,1.88,0.00,0.000,6,0.154,0.028,2311,2435,3996
$GC,3215,-0.84,-194.7,398.9,-9.6,484,3217,0.12,0.00,0.00,0.000,6,0.079,0.000,2259,2435,3995
$GC,3533,-0.74,-194.7,436.2,-11.6,514,3535,0.17,0.00,0.00,0.000,6,0.166,0.000,2307,2434,3995
$GC,3853,-0.88,-194.7,462.7,-9.0,544,3858,0.15,2.05,0.00,0.000,4,0.077,0.054,2246,3757,3995
$GC,3922,-0.77,-194.7,471.2,-13.1,550,3926,0.17,1.90,0.00,0.000,6,0.160,0.029,2294,2440,3994
$GC,4262,-0.88,-194.7,503.7,-8.8,580,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2441,3993
$GC,4571,-1.00,-194.7,532.3,-9.2,595,4573,0.20,0.00,0.00,0.000,6,0.071,0.000,2215,2440,3993
$GC,4880,-0.82,-194.7,574.0,-12.6,610,4885,0.20,2.05,0.00,0.000,4,0.173,0.032,2275,1032,3991
$GC,4953,-0.91,-194.7,581.2,-9.2,613,4957,0.00,2.10,0.00,0.000,6,0.000,0.039,2275,2426,3991
$GC,5275,-0.97,-194.7,609.8,-9.6,629,5279,0.12,2.05,0.00,0.000,4,0.084,0.054,2220,3757,3989
$GC,5320,-0.82,-194.7,615.4,-13.6,631,5324,0.20,1.92,0.00,0.000,6,0.161,0.031,2277,2435,3988
$GC,5654,-0.92,-194.7,645.8,-8.7,647,5658,0.00,2.03,0.00,0.000,4,0.000,0.033,2277,1038,3986
$GC,5738,-1.06,-194.7,653.2,-8.2,650,5744,0.20,2.12,0.00,0.000,6,0.074,0.039,2195,2445,3986
$GC,6054,-0.83,-194.7,691.0,-13.0,666,6056,0.28,0.00,0.00,0.000,6,0.178,0.000,2272,2445,3984
$GC,6363,-0.93,-194.7,716.1,-7.8,681,6367,0.00,2.10,0.00,0.000,4,0.000,0.033,2272,1024,3982
$GC,6396,-1.05,-194.7,719.1,-8.9,682,6401,0.20,2.12,0.00,0.000,6,0.075,0.039,2195,2432,3982
$GC,6714,-0.85,-194.7,758.4,-12.2,697,6716,0.25,0.00,0.00,0.000,6,0.175,0.000,2264,2432,3980
$GC,7021,-0.93,-194.7,783.9,-7.9,712,7025,0.00,2.08,0.00,0.000,4,0.000,0.058,2261,3766,3978
$GC,7068,-1.02,-194.7,787.7,-8.2,714,7072,0.12,1.98,0.00,0.000,6,0.088,0.032,2211,2424,3978
$GC,7403,-0.91,-194.7,826.4,-11.7,730,7405,0.15,0.00,0.00,0.000,6,0.171,0.000,2250,2422,3976
$GC,7709,-0.91,-194.7,856.3,-9.7,745,7713,0.00,2.10,0.00,0.000,4,0.000,0.058,2247,3754,3975
$GC,7742,-0.91,-194.7,859.8,-10.6,746,7746,0.00,1.95,0.00,0.000,6,0.000,0.033,2247,2429,3974
$GC,8064,-0.91,-194.7,888.8,-8.6,762,8067,0.00,2.10,0.00,0.000,4,0.000,0.058,2245,3756,3972
$GC,8125,-0.91,-194.7,894.1,-9.0,764,8131,0.00,1.95,0.00,0.000,6,0.000,0.033,2245,2434,3972
$GC,8441,-0.91,-194.7,920.6,-8.6,780,8445,0.00,2.05,0.00,0.000,4,0.000,0.035,2245,1025,3970
$GC,8497,-0.96,-194.7,925.6,-9.3,782,8500,0.00,2.15,0.00,0.000,6,0.000,0.041,2245,2437,3970
$GC,8818,-0.96,-194.7,954.0,-8.8,798,8822,0.00,2.10,0.00,0.000,4,0.000,0.035,2245,1028,3969
$GC,8858,-1.01,-194.7,957.6,-9.0,799,8864,0.00,2.15,0.00,0.000,6,0.000,0.042,2245,2436,3969
$GC,9173,-1.01,-194.7,986.0,-8.8,815,9177,0.00,2.08,0.00,0.000,4,0.000,0.060,2245,3763,3968
$GC,9201,-1.01,-194.7,988.7,-9.7,816,9205,0.00,1.95,0.00,0.000,6,0.000,0.032,2245,2437,3968
$STATE,9216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9216,begin apogee
$GC,9222,-0.22,0.0,990.1,8.7,817,9313,0.73,0.00,88.38,1.447,6,0.155,0.000,2468,2509,3532
$STATE,9314,end apogee,CONTROL_FINISHED_OK
$STATE,9314,begin climb
$GC,9316,1.05,194.7,992.8,0.0,821,9484,1.15,2.12,160.52,1.405,4,0.063,0.056,2880,3755,2737
$GC,9525,0.31,194.7,981.3,20.9,830,9533,0.95,1.95,0.00,0.000,6,0.214,0.031,2650,2507,2733
$GC,9841,0.49,256.4,950.4,9.4,846,9898,0.15,2.15,50.33,1.361,4,0.088,0.059,2705,3750,2485
$GC,9928,0.39,256.4,939.5,14.5,850,9932,0.15,1.95,0.00,0.000,6,0.186,0.031,2671,2501,2483
$GC,10260,0.54,285.7,901.9,10.8,866,10292,0.15,2.20,24.73,1.319,4,0.085,0.037,2732,1111,2366
$GC,10314,0.54,285.7,894.8,13.1,868,10318,0.00,2.25,0.00,0.000,6,0.000,0.041,2732,2520,2364
$GC,10636,0.49,285.7,849.6,14.0,884,10640,0.00,1.98,0.00,0.000,4,0.000,0.060,2732,3761,2361
$GC,10709,0.37,285.7,838.3,14.9,887,10713,0.17,1.90,0.00,0.000,6,0.177,0.034,2670,2524,2360
$GC,11036,0.58,326.3,804.0,10.3,903,11078,0.17,2.10,33.25,1.299,4,0.081,0.059,2742,3757,2200
$GC,11117,0.47,326.3,791.6,16.7,906,11125,0.20,1.88,0.00,0.000,6,0.182,0.033,2696,2534,2197
$GC,11433,0.59,326.3,752.0,12.3,922,11437,0.12,1.98,0.00,0.000,4,0.089,0.058,2742,3758,2195
$GC,11460,0.53,326.3,747.9,14.2,923,11464,0.00,1.83,0.00,0.000,6,0.000,0.032,2746,2540,2194
$GC,11787,0.53,326.3,698.2,15.2,939,11790,0.00,1.95,0.00,0.000,4,0.000,0.059,2746,3758,2194
$GC,11820,0.41,326.3,692.5,18.2,940,11824,0.25,1.80,0.00,0.000,6,0.180,0.033,2683,2549,2193
$GC,12141,0.65,353.2,656.7,10.9,956,12166,0.20,0.00,22.42,1.200,6,0.077,0.000,2759,2547,2091
$GC,12470,0.65,353.2,605.1,15.3,972,12473,0.00,2.17,0.00,0.000,4,0.000,0.037,2762,1106,2086
$GC,12497,0.65,353.2,600.9,15.3,973,12501,0.00,2.25,0.00,0.000,6,0.000,0.042,2762,2548,2085
$GC,12824,0.65,353.2,547.9,16.4,989,12827,0.00,1.90,0.00,0.000,4,0.000,0.058,2762,3759,2084
$GC,12857,0.54,353.2,541.9,18.8,990,12861,0.15,1.80,0.00,0.000,6,0.184,0.034,2725,2556,2084
$GC,13178,0.65,353.2,500.9,12.2,1006,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2553,2083
$GC,13499,0.77,356.1,462.2,11.9,1035,13503,0.20,1.92,0.00,0.000,4,0.076,0.060,2809,3761,2083
$GC,13548,0.53,356.1,453.1,20.5,1039,13555,0.35,1.80,0.00,0.000,6,0.184,0.033,2718,2542,2083
$GC,13873,0.74,386.2,417.1,10.8,1070,13908,0.17,2.22,25.92,1.021,4,0.078,0.038,2801,1107,1956
$GC,13931,0.74,386.2,408.7,14.8,1075,13935,0.00,2.28,0.00,0.000,6,0.000,0.041,2801,2557,1955
$GC,14256,0.66,386.2,350.4,17.8,1105,14258,0.17,0.00,0.00,0.000,6,0.179,0.000,2756,2558,1952
$GC,14576,0.74,386.2,307.1,13.5,1135,14580,0.00,2.20,0.00,0.000,4,0.000,0.035,2759,1102,1951
$GC,14615,0.89,386.2,301.7,13.2,1138,14623,0.20,2.22,0.00,0.000,6,0.075,0.040,2836,2553,1951
$GC,14958,0.71,386.2,237.7,19.7,1198,14965,0.20,0.00,0.00,0.000,6,0.176,0.000,2777,2555,1951
$GC,15303,0.78,386.2,187.0,13.3,1259,15309,0.00,1.88,0.00,0.000,4,0.000,0.054,2777,3767,1951
$GC,15372,0.78,386.2,176.2,15.1,1271,15378,0.00,1.83,0.00,0.000,6,0.000,0.029,2777,2510,1951
$GC,15716,0.93,398.2,132.4,11.5,1332,15735,0.17,2.05,10.82,0.723,4,0.077,0.033,2861,1117,1907
$GC,15833,0.87,398.2,114.0,16.2,1352,15840,0.15,2.15,0.00,0.000,6,0.179,0.038,2824,2531,1906
$GC,16177,0.87,398.2,62.5,12.8,1413,16182,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2532,1906
$GC,16520,1.05,446.6,21.9,10.0,1474,16561,0.17,0.00,38.08,0.660,6,0.070,0.000,2900,2532,1710
$STATE,16655,end climb,SURFACE_DEPTH_REACHED
$STATE,16655,begin surface coast
$FINISH,1.5,1.002635
$STATE,16678,end surface coast,CONTROL_FINISHED_OK
$STATE,16679,begin surface
$SM_CCo,16756,0.00,0.000,0,0,1703,448.65
$SM_GC,2.51,7.47,0.00,0.00,0.061,0.000,0.000,144,2426,1703,-7.50,-0.03,448.65
$IRIDIUM_FIX,2510.35,12330.82,280898,000033
$TT8_MAMPS,0.029146
$HUMID,1574
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,16.580
$10V_AH,10.8,10.260
$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,29.150,130.000,454.450,0.000,0.000,31.511,43.320,181.040,8.000,0.000,0.000,35.618,2689.062,10779.928,594.555,2547.079,542.904,0.000,1883.413,0.000,2463.044,0.000,54.417,0.000
$DEVICE_MAMPS,254.644,88.972,1447.329,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.186,1015.156,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78989,1502
$CAP_FILE_SIZE,170488,0
$CFSIZE,260165632,219049984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,116.0,1
$GPS,030609,092037,2512.254,12338.867,31,1.0,32,-3.7