version: 66.04
glider: 167
mission: 2
dive: 80
start: 6 4 109 9 29 36
data:
$ID,167
$MISSION,2
$DIVE,80
$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,-5362.1841
$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,35
$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
$GPS1,091637,2458.299,12331.035,32,1.1,33,-3.7
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-60.4
$GPS2,092914,2458.052,12330.911,11,2.0,11,-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,245.2,21944,-18.3,-12.000
$D_GRID,2052
$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,-194.7,0.0,0.0,0,58,0.00,0.00,-41.25,0.000,2,0.000,0.000,144,2425,2751
$GC,61,-1.05,-194.7,3.3,-3.0,7,110,8.55,2.15,-35.70,0.000,4,0.255,0.058,2189,3766,3989
$GC,307,-0.28,-194.7,69.4,-28.7,50,315,0.90,1.98,0.00,0.000,6,0.181,0.025,2448,2395,3991
$GC,653,-0.91,-194.7,93.0,-5.7,111,660,0.52,2.12,0.00,0.000,4,0.075,0.048,2248,3763,3993
$GC,679,-1.18,-194.7,95.2,-9.3,115,686,0.22,1.90,0.00,0.000,6,0.065,0.027,2162,2438,3992
$GC,1023,-0.47,-194.7,185.2,-25.6,176,1030,0.75,2.03,0.00,0.000,4,0.183,0.028,2383,1032,3992
$GC,1205,-0.80,-194.7,200.8,-6.9,208,1211,0.28,2.08,0.00,0.000,6,0.057,0.035,2268,2432,3993
$GC,1549,-0.59,-194.7,254.4,-14.7,269,1555,0.25,0.00,0.00,0.000,6,0.162,0.000,2346,2432,3994
$GC,1893,-0.77,-194.7,284.7,-8.2,330,1901,0.15,2.03,0.00,0.000,4,0.075,0.029,2283,1043,3993
$GC,1963,-0.70,-194.7,293.5,-13.6,342,1971,0.15,2.05,0.00,0.000,6,0.156,0.036,2318,2417,3993
$GC,2293,-0.77,-194.7,329.9,-9.7,377,2297,0.00,2.05,0.00,0.000,4,0.000,0.051,2316,3761,3993
$GC,2339,-0.85,-194.7,334.5,-10.0,381,2344,0.12,1.92,0.00,0.000,6,0.079,0.028,2260,2413,3993
$GC,2670,-0.68,-194.7,381.0,-14.2,412,2674,0.17,2.08,0.00,0.000,4,0.161,0.050,2315,3752,3994
$GC,2702,-0.68,-194.7,385.0,-10.9,414,2709,0.00,1.90,0.00,0.000,6,0.000,0.028,2315,2418,3994
$GC,3029,-0.79,-194.7,412.6,-9.2,445,3030,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2418,3993
$GC,3349,-0.93,-194.7,440.3,-10.1,475,3355,0.20,0.00,0.00,0.000,6,0.071,0.000,2226,2418,3993
$GC,3674,-0.72,-194.7,488.7,-14.7,506,3678,0.25,2.08,0.00,0.000,4,0.163,0.051,2301,3754,3992
$GC,3749,-0.84,-194.7,497.2,-10.6,512,3752,0.00,1.90,0.00,0.000,6,0.000,0.028,2302,2425,3992
$GC,4072,-0.98,-194.7,526.0,-8.1,529,4076,0.17,2.08,0.00,0.000,4,0.075,0.052,2221,3758,3991
$GC,4172,-0.78,-194.7,539.5,-14.9,533,4178,0.25,1.90,0.00,0.000,6,0.161,0.029,2293,2442,3991
$GC,4488,-0.90,-194.7,566.0,-7.9,549,4490,0.12,0.00,0.00,0.000,6,0.082,0.000,2244,2440,3989
$GC,4797,-0.82,-194.7,599.8,-11.6,564,4802,0.12,2.05,0.00,0.000,4,0.176,0.054,2275,3753,3987
$GC,4830,-0.82,-194.7,603.5,-10.1,565,4834,0.00,1.90,0.00,0.000,6,0.000,0.030,2275,2440,3987
$GC,5152,-0.90,-194.7,632.3,-9.7,581,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2439,3986
$GC,5461,-0.98,-194.7,662.7,-9.6,596,5465,0.12,2.08,0.00,0.000,4,0.084,0.055,2220,3763,3983
$GC,5516,-0.84,-194.7,669.4,-12.6,598,5521,0.17,1.92,0.00,0.000,6,0.165,0.031,2267,2442,3983
$GC,5839,-0.92,-194.7,699.4,-9.3,614,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2442,3981
$GC,6147,-1.00,-194.7,723.8,-7.5,629,6151,0.15,2.05,0.00,0.000,4,0.082,0.056,2207,3750,3979
$GC,6215,-0.85,-194.7,730.8,-10.9,632,6219,0.22,1.90,0.00,0.000,6,0.169,0.031,2270,2450,3979
$GC,6549,-0.95,-194.7,759.5,-8.8,648,6552,0.00,2.08,0.00,0.000,4,0.000,0.035,2270,1032,3977
$GC,6599,-1.08,-194.7,764.5,-9.2,650,6604,0.22,2.15,0.00,0.000,6,0.074,0.040,2184,2451,3976
$GC,6921,-0.87,-194.7,807.8,-13.0,666,6926,0.25,2.12,0.00,0.000,4,0.181,0.034,2257,1024,3975
$GC,6955,-0.92,-194.7,811.6,-9.7,667,6961,0.00,2.15,0.00,0.000,6,0.000,0.041,2257,2439,3974
$GC,7271,-0.99,-194.7,836.4,-7.7,683,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2439,3973
$GC,7580,-1.07,-194.7,861.7,-8.4,698,7585,0.17,2.05,0.00,0.000,4,0.079,0.057,2190,3761,3970
$GC,7618,-0.87,-194.7,866.3,-12.3,699,7625,0.25,1.98,0.00,0.000,6,0.173,0.032,2260,2418,3970
$GC,7935,-0.96,-194.7,894.7,-9.0,715,7938,0.00,2.05,0.00,0.000,4,0.000,0.035,2260,1021,3969
$GC,7981,-1.07,-194.7,899.1,-9.3,717,7986,0.17,2.15,0.00,0.000,6,0.082,0.041,2195,2432,3969
$GC,8309,-0.92,-194.7,941.5,-13.2,733,8310,0.20,0.00,0.00,0.000,6,0.178,0.000,2248,2433,3967
$GC,8617,-0.98,-194.7,972.1,-9.4,748,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2433,3966
$STATE,8820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8820,begin apogee
$GC,8826,-0.22,0.0,990.4,8.7,758,8916,0.73,0.00,87.50,1.439,6,0.156,0.000,2473,2518,3532
$STATE,8917,end apogee,CONTROL_FINISHED_OK
$STATE,8917,begin climb
$GC,8920,1.05,194.7,992.7,0.0,762,9088,1.15,2.08,159.35,1.395,4,0.061,0.057,2888,3758,2739
$GC,9112,0.31,194.7,983.9,20.6,771,9117,1.00,1.98,0.00,0.000,6,0.216,0.031,2647,2504,2737
$GC,9440,0.57,307.0,956.1,7.4,787,9539,0.20,2.12,92.78,1.365,4,0.082,0.059,2725,3755,2279
$GC,9595,0.48,307.0,936.5,16.0,794,9599,0.12,1.95,0.00,0.000,6,0.189,0.034,2704,2507,2274
$GC,9921,0.56,307.0,897.2,12.3,810,9925,0.00,2.03,0.00,0.000,4,0.000,0.058,2704,3757,2270
$GC,9948,0.56,307.0,893.5,13.9,811,9953,0.00,1.92,0.00,0.000,6,0.000,0.035,2706,2507,2270
$GC,10276,0.63,307.0,853.1,12.6,827,10280,0.12,2.03,0.00,0.000,4,0.092,0.060,2755,3762,2268
$GC,10367,0.43,307.0,836.7,19.2,831,10372,0.25,1.88,0.00,0.000,6,0.186,0.035,2692,2518,2268
$GC,10702,0.57,314.4,795.2,11.7,847,10713,0.10,1.98,5.65,1.029,4,0.101,0.060,2729,3757,2249
$GC,10742,0.49,314.4,789.5,15.1,849,10746,0.00,1.85,0.00,0.000,6,0.000,0.034,2733,2527,2249
$GC,11074,0.49,314.4,742.5,14.5,865,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2525,2247
$GC,11383,0.49,314.4,698.7,14.0,880,11387,0.00,1.98,0.00,0.000,4,0.000,0.059,2732,3767,2246
$GC,11507,0.43,314.4,679.4,15.7,885,11511,0.17,1.83,0.00,0.000,6,0.181,0.034,2687,2541,2246
$GC,11828,0.67,359.8,647.3,10.1,901,11871,0.20,0.00,37.42,1.199,6,0.077,0.000,2769,2538,2063
$GC,12178,0.67,359.8,591.1,15.4,918,12182,0.00,1.98,0.00,0.000,4,0.000,0.061,2769,3759,2058
$GC,12256,0.55,359.8,577.8,16.8,921,12261,0.17,1.83,0.00,0.000,6,0.182,0.034,2729,2548,2057
$GC,12578,0.67,359.8,535.6,12.9,937,12582,0.00,2.17,0.00,0.000,4,0.000,0.038,2732,1101,2056
$GC,12624,0.85,359.8,530.0,12.3,939,12628,0.25,2.25,0.00,0.000,6,0.071,0.041,2828,2562,2056
$GC,12952,0.62,359.8,466.5,18.3,962,12956,0.28,1.88,0.00,0.000,4,0.179,0.059,2749,3756,2055
$GC,13115,0.62,359.8,440.1,15.2,976,13121,0.00,1.75,0.00,0.000,6,0.000,0.033,2754,2569,2055
$GC,13442,0.67,359.8,393.3,12.8,1007,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2569,2054
$GC,13759,0.75,359.8,349.1,13.7,1037,13763,0.00,2.17,0.00,0.000,4,0.000,0.036,2760,1106,2054
$GC,13809,0.88,359.8,341.7,14.3,1041,13816,0.20,2.30,0.00,0.000,6,0.076,0.041,2836,2606,2055
$GC,14139,0.68,359.8,280.7,18.6,1081,14145,0.22,1.77,0.00,0.000,4,0.174,0.056,2770,3755,2055
$GC,14174,0.68,359.8,274.6,16.2,1087,14180,0.00,1.73,0.00,0.000,6,0.000,0.031,2773,2573,2055
$GC,14518,0.68,359.8,224.7,14.7,1148,14524,0.00,2.17,0.00,0.000,4,0.000,0.036,2773,1100,2056
$GC,14631,0.82,359.8,210.0,12.9,1168,14638,0.10,2.25,0.00,0.000,6,0.094,0.038,2814,2585,2056
$GC,14976,0.73,359.8,155.5,16.7,1229,14982,0.12,0.00,0.00,0.000,6,0.172,0.000,2782,2588,2057
$GC,15320,0.87,399.6,113.3,10.4,1290,15357,0.12,2.25,30.65,0.738,4,0.082,0.035,2832,1094,1903
$GC,15414,0.87,399.6,99.9,14.1,1306,15421,0.00,2.25,0.00,0.000,6,0.000,0.038,2832,2563,1901
$GC,15759,0.87,399.6,51.2,13.9,1367,15764,0.00,1.85,0.00,0.000,4,0.000,0.054,2832,3761,1899
$GC,15867,0.87,399.6,37.0,12.9,1386,15875,0.00,1.75,0.00,0.000,6,0.000,0.029,2840,2552,1899
$STATE,16170,end climb,SURFACE_DEPTH_REACHED
$STATE,16170,begin surface coast
$FINISH,1.5,1.022638
$STATE,16200,end surface coast,CONTROL_FINISHED_OK
$STATE,16200,begin surface
$SM_CCo,16217,18.75,0.628,0,0,1798,425.10
$SM_GC,2.44,0.00,0.00,18.75,0.000,0.000,0.628,143,2429,1798,-7.51,0.06,425.10
$IRIDIUM_FIX,2448.93,12329.54,290898,090929
$TT8_MAMPS,0.028379
$HUMID,1585
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,23.9,17.655
$10V_AH,10.8,10.809
$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,27.850,117.025,413.350,18.750,0.000,86.139,97.968,314.434,8.000,0.000,0.000,11.494,2585.400,10589.045,553.620,2473.209,784.865,0.000,1806.438,0.000,2414.037,0.000,54.427,0.000
$DEVICE_MAMPS,254.644,89.739,1438.892,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,979.211,978.138,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75801,1445
$CAP_FILE_SIZE,165057,0
$CFSIZE,260165632,218546176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,158.1,1
$GPS,040609,140136,2455.935,12329.042,42,1.1,48,-3.6