version: 66.04
glider: 167
mission: 2
dive: 86
start: 6 5 109 13 11 24
data:
$ID,167
$MISSION,2
$DIVE,86
$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,-6386.5732
$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,68
$R_STBD_OVSHOOT,36
$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
$GPS1,130400,2447.500,12325.230,39,1.3,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-71.5
$GPS2,131102,2447.501,12325.243,13,1.7,13,-3.6
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,209.3,77779,-18.3,-12.000
$D_GRID,1794
$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,-194.7,0.0,0.0,0,53,0.00,0.00,-35.80,0.000,2,0.000,0.000,145,2463,2695
$GC,56,-1.05,-194.7,3.5,-3.3,6,109,8.50,2.03,-37.80,0.000,4,0.253,0.059,2191,3757,3987
$GC,267,-0.21,-194.7,64.8,-32.7,43,274,1.00,1.95,0.00,0.000,6,0.191,0.026,2471,2410,3989
$GC,612,-1.16,-194.7,89.9,-9.0,104,619,0.82,2.10,0.00,0.000,4,0.087,0.048,2172,3763,3991
$GC,705,-0.38,-194.7,110.2,-30.6,120,712,0.80,1.90,0.00,0.000,6,0.181,0.027,2408,2439,3991
$GC,1050,-0.73,-194.7,138.4,-6.6,181,1056,0.25,2.03,0.00,0.000,4,0.058,0.029,2298,1040,3992
$GC,1070,-0.92,-194.7,140.1,-8.1,184,1076,0.12,2.10,0.00,0.000,6,0.081,0.035,2237,2449,3992
$GC,1415,-0.55,-194.7,207.3,-19.8,245,1420,0.40,0.00,0.00,0.000,6,0.174,0.000,2358,2448,3992
$GC,1758,-0.74,-194.7,242.0,-8.9,306,1764,0.15,0.00,0.00,0.000,6,0.071,0.000,2297,2450,3993
$GC,2101,-0.68,-194.7,284.0,-12.6,367,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2297,2450,3993
$GC,2439,-0.68,-194.7,322.8,-11.7,410,2444,0.12,2.08,0.00,0.000,4,0.166,0.030,2330,1034,3993
$GC,2489,-0.82,-194.7,328.1,-9.8,414,2496,0.15,2.10,0.00,0.000,6,0.074,0.037,2267,2441,3993
$GC,2814,-0.72,-194.7,374.5,-14.1,445,2819,0.15,2.05,0.00,0.000,4,0.161,0.029,2308,1036,3993
$GC,2853,-0.83,-194.7,379.4,-11.2,448,2860,0.00,2.08,0.00,0.000,6,0.000,0.036,2306,2426,3993
$GC,3179,-0.89,-194.7,414.0,-10.6,479,3181,0.15,0.00,0.00,0.000,6,0.079,0.000,2244,2429,3992
$GC,3497,-0.72,-194.7,458.7,-14.1,509,3501,0.20,2.03,0.00,0.000,4,0.166,0.031,2304,1054,3993
$GC,3554,-0.86,-194.7,464.7,-9.6,514,3558,0.00,2.08,0.00,0.000,6,0.000,0.038,2304,2426,3993
$GC,3886,-0.95,-194.7,496.3,-9.4,545,3890,0.17,2.05,0.00,0.000,4,0.074,0.053,2230,3761,3992
$GC,3924,-0.76,-194.7,501.4,-13.9,548,3931,0.22,1.92,0.00,0.000,6,0.161,0.029,2295,2428,3992
$GC,4241,-0.84,-194.7,532.4,-9.1,564,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2427,3991
$GC,4549,-0.94,-194.7,559.5,-8.8,579,4553,0.15,2.08,0.00,0.000,4,0.078,0.053,2233,3757,3990
$GC,4588,-0.77,-194.7,564.2,-13.7,580,4595,0.20,1.92,0.00,0.000,6,0.164,0.031,2290,2430,3990
$GC,4905,-0.87,-194.7,592.5,-8.7,596,4908,0.00,2.03,0.00,0.000,4,0.000,0.032,2289,1034,3988
$GC,4928,-0.98,-194.7,594.6,-8.9,597,4933,0.17,2.10,0.00,0.000,6,0.077,0.038,2218,2429,3988
$GC,5256,-0.80,-194.7,637.9,-14.0,613,5258,0.25,0.00,0.00,0.000,6,0.172,0.000,2288,2430,3986
$GC,5564,-0.93,-194.7,666.4,-8.8,628,5568,0.12,2.08,0.00,0.000,4,0.088,0.033,2239,1034,3985
$GC,5588,-0.98,-194.7,668.8,-10.6,629,5592,0.00,2.12,0.00,0.000,6,0.000,0.038,2234,2431,3985
$GC,5922,-0.93,-194.7,705.1,-11.5,645,5926,0.00,2.05,0.00,0.000,4,0.000,0.057,2233,3757,3983
$GC,6029,-0.87,-194.7,718.1,-11.6,649,6035,0.12,1.92,0.00,0.000,6,0.165,0.032,2265,2442,3982
$GC,6345,-0.95,-194.7,746.4,-8.4,665,6348,0.00,2.08,0.00,0.000,4,0.000,0.058,2262,3762,3981
$GC,6384,-1.02,-194.7,749.9,-9.0,666,6395,0.12,1.95,0.00,0.000,6,0.089,0.032,2211,2429,3981
$GC,6702,-0.91,-194.7,784.5,-10.7,682,6706,0.15,2.03,0.00,0.000,4,0.166,0.033,2251,1033,3978
$GC,6753,-0.96,-194.7,789.5,-9.8,684,6757,0.00,2.15,0.00,0.000,6,0.000,0.040,2248,2447,3978
$GC,7080,-0.96,-194.7,818.4,-8.8,700,7084,0.00,2.05,0.00,0.000,4,0.000,0.058,2246,3767,3976
$GC,7119,-0.96,-194.7,822.2,-9.5,701,7125,0.00,1.95,0.00,0.000,6,0.000,0.032,2246,2438,3975
$GC,7435,-0.96,-194.7,848.9,-8.5,717,7438,0.00,2.08,0.00,0.000,4,0.000,0.035,2246,1026,3974
$GC,7485,-1.02,-194.7,853.5,-8.7,719,7489,0.00,2.17,0.00,0.000,6,0.000,0.041,2246,2451,3973
$GC,7806,-1.02,-194.7,880.1,-8.5,735,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2451,3972
$GC,8115,-1.02,-194.7,907.1,-8.8,750,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2454,3970
$GC,8424,-1.02,-194.7,934.5,-8.9,765,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2455,3968
$GC,8734,-1.02,-194.7,963.4,-9.3,780,8737,0.00,2.05,0.00,0.000,4,0.000,0.061,2244,3757,3967
$GC,8761,-1.02,-194.7,966.2,-10.0,781,8765,0.00,1.95,0.00,0.000,6,0.000,0.035,2244,2441,3967
$STATE,9023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9023,begin apogee
$GC,9030,-0.22,0.0,990.9,9.7,794,9120,0.73,0.00,87.78,1.434,6,0.155,0.000,2468,2513,3532
$STATE,9121,end apogee,CONTROL_FINISHED_OK
$STATE,9121,begin climb
$GC,9124,1.05,194.7,994.1,0.0,798,9294,1.17,2.17,159.25,1.388,4,0.066,0.058,2885,3759,2737
$GC,9550,0.31,194.7,937.9,20.2,817,9555,0.93,1.92,0.00,0.000,6,0.214,0.031,2652,2494,2732
$GC,9872,0.54,283.5,909.5,8.3,833,9950,0.17,2.17,72.47,1.341,4,0.085,0.058,2722,3765,2375
$GC,10079,0.47,283.5,881.0,15.5,842,10083,0.00,1.92,0.00,0.000,6,0.000,0.033,2722,2511,2369
$GC,10400,0.47,283.5,839.1,13.4,858,10403,0.00,2.03,0.00,0.000,4,0.000,0.057,2722,3765,2367
$GC,10433,0.40,283.5,834.0,16.1,859,10437,0.17,1.88,0.00,0.000,6,0.180,0.034,2678,2523,2366
$GC,10754,0.60,320.9,798.9,10.5,875,10787,0.17,0.00,30.25,1.276,6,0.080,0.000,2742,2521,2223
$GC,11082,0.60,320.9,751.5,14.6,891,11086,0.00,2.00,0.00,0.000,4,0.000,0.058,2742,3762,2217
$GC,11173,0.55,320.9,737.0,16.5,895,11176,0.00,1.88,0.00,0.000,6,0.000,0.036,2746,2529,2216
$GC,11505,0.55,320.9,685.9,15.6,911,11508,0.00,1.98,0.00,0.000,4,0.000,0.058,2746,3762,2214
$GC,11588,0.49,320.9,671.7,17.4,914,11595,0.17,1.85,0.00,0.000,6,0.176,0.035,2700,2532,2214
$GC,11904,0.70,343.9,634.4,11.0,930,11930,0.20,2.22,18.80,1.166,4,0.077,0.039,2790,1104,2128
$GC,11958,0.65,343.9,626.2,15.6,932,11963,0.12,2.25,0.00,0.000,6,0.181,0.041,2760,2538,2126
$GC,12273,0.65,343.9,577.0,15.3,947,12277,0.00,1.92,0.00,0.000,4,0.000,0.060,2760,3758,2123
$GC,12301,0.65,343.9,572.3,16.6,948,12304,0.00,1.85,0.00,0.000,6,0.000,0.033,2763,2524,2123
$GC,12628,0.65,343.9,524.1,14.2,964,12631,0.00,1.98,0.00,0.000,4,0.000,0.056,2763,3768,2122
$GC,12684,0.59,343.9,515.1,15.6,966,12687,0.00,1.85,0.00,0.000,6,0.000,0.032,2763,2526,2122
$GC,13013,0.59,343.9,468.8,13.9,992,13016,0.00,1.95,0.00,0.000,4,0.000,0.056,2763,3760,2122
$GC,13059,0.54,343.9,461.5,16.0,996,13063,0.17,1.83,0.00,0.000,6,0.174,0.032,2717,2527,2122
$GC,13389,0.74,361.2,423.7,11.3,1027,13412,0.20,2.20,14.12,0.979,4,0.073,0.038,2802,1107,2059
$GC,13436,0.69,361.2,416.5,16.6,1031,13441,0.15,2.22,0.00,0.000,6,0.170,0.040,2765,2547,2058
$GC,13760,0.69,361.2,366.2,14.6,1061,13764,0.00,2.17,0.00,0.000,4,0.000,0.036,2764,1110,2057
$GC,13817,0.81,361.2,358.0,13.9,1066,13821,0.12,2.20,0.00,0.000,6,0.089,0.040,2813,2541,2057
$GC,14142,0.72,361.2,300.4,17.7,1096,14147,0.15,2.15,0.00,0.000,4,0.170,0.035,2782,1110,2057
$GC,14193,0.80,361.2,292.5,13.6,1104,14199,0.00,2.17,0.00,0.000,6,0.000,0.040,2782,2534,2056
$GC,14536,0.80,361.2,241.3,13.1,1165,14542,0.00,1.90,0.00,0.000,4,0.000,0.056,2782,3762,2057
$GC,14594,0.75,361.2,232.7,14.3,1175,14601,0.00,1.83,0.00,0.000,6,0.000,0.030,2789,2510,2057
$GC,14939,0.75,361.2,182.6,12.5,1236,14945,0.00,2.05,0.00,0.000,4,0.000,0.035,2797,1110,2057
$GC,14968,0.75,361.2,178.8,12.2,1241,14974,0.00,2.15,0.00,0.000,6,0.000,0.038,2797,2530,2057
$GC,15312,0.80,361.2,133.5,12.2,1302,15318,0.00,1.90,0.00,0.000,4,0.000,0.054,2797,3765,2058
$GC,15392,0.80,361.2,123.7,12.7,1316,15398,0.00,1.80,0.00,0.000,6,0.000,0.029,2803,2518,2058
$GC,15735,0.86,361.2,81.6,14.3,1377,15741,0.00,1.92,0.00,0.000,4,0.000,0.052,2803,3759,2059
$GC,15787,0.86,361.2,73.7,15.4,1386,15793,0.00,1.75,0.00,0.000,6,0.000,0.028,2809,2534,2059
$GC,16131,1.12,444.4,38.1,8.6,1447,16202,0.22,1.98,63.90,0.667,4,0.066,0.051,2907,3765,1718
$GC,16276,0.96,444.4,15.0,15.4,1472,16282,0.22,1.75,0.00,0.000,6,0.173,0.027,2854,2578,1714
$STATE,16365,end climb,SURFACE_DEPTH_REACHED
$STATE,16366,begin surface coast
$FINISH,1.7,1.006763
$STATE,16391,end surface coast,CONTROL_FINISHED_OK
$STATE,16392,begin surface
$SM_CCo,16469,0.00,0.000,0,0,1711,446.69
$SM_GC,2.58,7.38,0.00,0.00,0.062,0.000,0.000,144,2434,1711,-7.50,0.20,446.69
$IRIDIUM_FIX,2439.44,12328.90,300898,080849
$TT8_MAMPS,0.028379
$HUMID,1567
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.9,18.665
$10V_AH,10.8,11.363
$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,27.000,133.275,446.575,0.000,0.000,29.921,32.278,231.439,8.000,0.000,0.000,13.634,2668.810,10482.999,566.257,2580.339,584.165,0.000,1889.584,0.000,2519.844,0.000,54.443,0.000
$DEVICE_MAMPS,253.110,88.972,1434.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1009.643,1026.332,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78915,1492
$CAP_FILE_SIZE,169002,0
$CFSIZE,260165632,218034176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 59.5,1
$GPS,050609,174707,2445.560,12324.896,39,1.0,40,-3.6