version: 66.04
glider: 167
mission: 2
dive: 255
start: 7 3 109 11 28 39
data:
$ID,167
$MISSION,2
$DIVE,255
$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,125
$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,-10210.61
$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,72
$R_STBD_OVSHOOT,31
$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
$GPS1,112124,2528.182,12336.091,25,1.8,43,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-67.6
$GPS2,112819,2528.252,12336.196,13,1.9,30,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,215.2,27153,-23.2,-12.000
$D_GRID,1443
$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,-1.18,-121.7,0.0,0.0,0,39,0.00,0.00,-22.33,0.000,2,0.000,0.000,142,2446,2275
$GC,42,-1.18,-121.7,3.1,-2.1,4,112,8.32,2.17,-55.17,0.000,4,0.239,0.039,2156,1015,3989
$GC,252,-0.69,-121.7,43.3,-23.8,40,260,0.60,2.15,0.00,0.000,6,0.177,0.031,2314,2444,3991
$GC,599,-0.81,-121.7,94.3,-12.8,101,605,0.00,2.03,0.00,0.000,4,0.000,0.047,2306,3764,3992
$GC,761,-0.97,-121.7,113.3,-11.1,129,768,0.20,1.92,0.00,0.000,6,0.061,0.023,2220,2399,3992
$GC,1106,-0.88,-121.7,164.1,-14.9,190,1112,0.15,2.10,0.00,0.000,4,0.156,0.044,2260,3756,3994
$GC,1231,-0.93,-121.7,181.2,-14.7,212,1238,0.00,1.83,0.00,0.000,6,0.000,0.023,2260,2449,3995
$GC,1577,-1.07,-121.7,221.1,-9.7,273,1584,0.17,2.03,0.00,0.000,4,0.068,0.044,2172,3766,3996
$GC,1782,-0.90,-121.7,250.2,-14.5,309,1789,0.28,1.80,0.00,0.000,6,0.158,0.023,2249,2483,3996
$GC,2128,-1.06,-121.7,287.5,-10.3,370,2134,0.15,1.98,0.00,0.000,4,0.071,0.044,2179,3765,3997
$GC,2282,-0.93,-121.7,309.2,-14.5,391,2288,0.22,1.80,0.00,0.000,6,0.157,0.023,2241,2488,3997
$GC,2607,-1.09,-121.7,343.2,-9.3,422,2611,0.15,1.98,0.00,0.000,4,0.070,0.045,2178,3767,3997
$GC,2657,-1.01,-121.7,349.2,-12.9,426,2664,0.15,1.77,0.00,0.000,6,0.163,0.024,2216,2508,3997
$GC,2983,-1.10,-121.7,384.1,-11.0,457,2987,0.00,1.90,0.00,0.000,4,0.000,0.045,2208,3755,3997
$GC,3078,-1.15,-121.7,395.4,-11.8,465,3085,0.10,1.73,0.00,0.000,6,0.088,0.025,2165,2541,3996
$GC,3404,-1.07,-121.7,436.4,-11.6,496,3408,0.12,1.90,0.00,0.000,4,0.173,0.047,2192,3764,3996
$GC,3472,-1.07,-121.7,443.9,-10.8,502,3475,0.00,1.75,0.00,0.000,6,0.000,0.027,2192,2544,3996
$GC,3803,-1.07,-121.7,479.4,-11.2,533,3807,0.00,1.90,0.00,0.000,4,0.000,0.049,2192,3765,3994
$GC,3999,-1.07,-121.7,503.3,-12.3,549,4005,0.00,1.73,0.00,0.000,6,0.000,0.027,2192,2585,3993
$GC,4316,-1.12,-121.7,539.2,-11.4,565,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2585,3992
$GC,4625,-1.17,-121.7,574.7,-11.3,580,4629,0.00,1.83,0.00,0.000,4,0.000,0.051,2192,3754,3989
$GC,4714,-1.17,-121.7,584.7,-10.3,584,4718,0.00,1.70,0.00,0.000,6,0.000,0.028,2192,2578,3989
$GC,5047,-1.24,-121.7,620.2,-11.0,600,5051,0.12,1.85,0.00,0.000,4,0.086,0.050,2138,3757,3986
$GC,5093,-1.03,-121.7,626.4,-14.3,602,5097,0.20,1.73,0.00,0.000,6,0.173,0.028,2211,2595,3986
$GC,5427,-1.18,-121.7,659.3,-9.3,618,5431,0.15,1.83,0.00,0.000,4,0.077,0.052,2153,3754,3983
$GC,5580,-1.05,-121.7,678.4,-12.5,624,5587,0.20,1.67,0.00,0.000,6,0.172,0.029,2204,2603,3981
$GC,5896,-1.18,-121.7,709.4,-9.7,640,5897,0.12,0.00,0.00,0.000,6,0.083,0.000,2158,2603,3979
$GC,6205,-1.12,-121.7,747.9,-12.9,655,6209,0.00,1.83,0.00,0.000,4,0.000,0.054,2151,3763,3976
$GC,6311,-1.00,-121.7,762.9,-14.6,659,6318,0.28,1.67,0.00,0.000,6,0.172,0.030,2224,2618,3975
$GC,6628,-1.21,-121.7,795.3,-10.0,675,6630,0.20,0.00,0.00,0.000,6,0.074,0.000,2151,2618,3973
$GC,6936,-1.14,-121.7,836.0,-13.3,690,6939,0.00,1.80,0.00,0.000,4,0.000,0.055,2149,3754,3972
$GC,7031,-1.01,-121.7,849.7,-14.2,694,7039,0.25,1.67,0.00,0.000,6,0.176,0.031,2215,2612,3972
$GC,7363,-1.20,-121.7,884.2,-10.5,710,7365,0.17,0.00,0.00,0.000,6,0.076,0.000,2151,2612,3969
$GC,7673,-1.14,-121.7,926.8,-13.6,725,7677,0.00,1.83,0.00,0.000,4,0.000,0.056,2150,3758,3967
$GC,7774,-1.03,-121.7,941.7,-14.2,729,7778,0.22,1.67,0.00,0.000,6,0.176,0.030,2208,2619,3967
$GC,8099,-1.20,-121.7,975.7,-10.4,745,8103,0.15,1.83,0.00,0.000,4,0.082,0.055,2153,3761,3966
$GC,8138,-1.11,-121.7,980.9,-13.2,746,8144,0.12,1.67,0.00,0.000,6,0.181,0.031,2181,2624,3965
$STATE,8223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8223,begin apogee
$GC,8230,-0.22,0.0,991.6,12.1,751,8326,0.98,0.00,89.53,1.422,6,0.160,0.000,2471,2545,3533
$STATE,8327,end apogee,CONTROL_FINISHED_OK
$STATE,8327,begin climb
$GC,8330,1.18,121.7,996.3,0.0,756,8440,1.27,2.12,103.20,1.382,4,0.061,0.051,2927,3755,3034
$GC,8581,0.41,121.7,984.1,12.7,767,8586,1.02,1.92,0.00,0.000,6,0.219,0.026,2681,2483,3031
$GC,8897,0.66,210.4,964.4,6.1,782,8976,0.20,2.15,72.57,1.362,4,0.080,0.031,2772,1122,2674
$GC,9016,0.66,210.4,952.0,12.4,786,9022,0.00,2.20,0.00,0.000,6,0.000,0.037,2771,2493,2670
$GC,9332,0.66,211.4,913.5,11.9,802,9336,0.00,2.10,0.00,0.000,4,0.000,0.032,2775,1118,2666
$GC,9382,0.68,228.3,907.5,10.9,804,9403,0.00,2.15,15.38,1.260,6,0.000,0.038,2776,2499,2600
$GC,9731,0.68,228.3,865.6,12.2,821,9735,0.00,2.10,0.00,0.000,4,0.000,0.033,2776,1121,2598
$GC,9871,0.68,228.3,848.7,12.5,827,9875,0.00,2.08,0.00,0.000,6,0.000,0.037,2776,2463,2596
$GC,10197,0.68,228.3,808.2,12.4,843,10201,0.00,2.03,0.00,0.000,4,0.000,0.032,2776,1122,2595
$GC,10275,0.68,231.7,798.6,11.8,846,10279,0.00,2.05,0.00,0.000,6,0.000,0.035,2776,2460,2595
$GC,10597,0.68,231.7,760.8,12.1,862,10601,0.00,2.00,0.00,0.000,4,0.000,0.031,2776,1123,2594
$GC,10697,0.68,232.0,748.8,12.0,866,10701,0.00,2.03,0.00,0.000,6,0.000,0.037,2776,2444,2593
$GC,11019,0.68,232.0,709.9,12.2,882,11022,0.00,2.08,0.00,0.000,4,0.000,0.054,2776,3765,2593
$GC,11046,0.59,232.0,706.2,13.5,883,11050,0.20,1.95,0.00,0.000,6,0.189,0.028,2733,2437,2592
$GC,11373,0.77,271.4,674.6,9.4,899,11417,0.17,2.05,34.25,1.213,4,0.077,0.034,2802,1126,2424
$GC,11517,0.77,271.4,656.2,13.1,905,11521,0.00,2.05,0.00,0.000,6,0.000,0.036,2802,2440,2421
$GC,11839,0.77,271.4,613.0,13.7,921,11843,0.00,2.00,0.00,0.000,4,0.000,0.032,2802,1120,2418
$GC,11952,0.77,271.4,597.9,13.3,926,11956,0.00,2.00,0.00,0.000,6,0.000,0.036,2802,2418,2418
$GC,12284,0.77,271.4,556.5,12.4,942,12288,0.00,1.98,0.00,0.000,4,0.000,0.032,2803,1110,2417
$GC,12352,0.77,271.4,548.2,12.4,945,12356,0.00,1.98,0.00,0.000,6,0.000,0.037,2803,2395,2417
$GC,12686,0.78,279.3,508.5,11.5,961,12699,0.00,2.20,6.95,0.954,4,0.000,0.052,2803,3757,2392
$GC,12716,0.72,279.3,504.5,12.6,962,12720,0.12,2.05,0.00,0.000,6,0.196,0.028,2781,2372,2392
$GC,13046,0.80,283.6,469.0,11.7,991,13058,0.00,2.22,5.60,0.866,4,0.000,0.051,2781,3768,2374
$GC,13092,0.80,283.6,462.9,13.7,995,13095,0.00,2.03,0.00,0.000,6,0.000,0.028,2788,2415,2373
$GC,13425,0.88,285.0,423.8,11.9,1026,13431,0.12,0.00,0.00,0.000,6,0.084,0.000,2835,2412,2373
$GC,13752,0.82,285.0,377.8,14.2,1057,13756,0.00,1.92,0.00,0.000,4,0.000,0.031,2842,1106,2373
$GC,13854,0.82,285.0,363.3,13.7,1066,13858,0.12,2.00,0.00,0.000,6,0.176,0.036,2812,2417,2372
$GC,14184,0.86,321.3,328.6,9.6,1097,14220,0.00,2.00,30.67,0.946,4,0.000,0.031,2816,1114,2222
$GC,14289,1.00,331.3,317.0,11.3,1106,14306,0.15,1.95,9.65,0.845,6,0.081,0.034,2873,2382,2180
$GC,14636,0.92,331.3,262.8,15.7,1158,14642,0.15,2.17,0.00,0.000,4,0.183,0.050,2836,3757,2176
$GC,14660,0.86,331.3,259.0,15.1,1162,14666,0.00,2.03,0.00,0.000,6,0.000,0.026,2842,2398,2176
$GC,15004,0.94,349.8,219.0,10.8,1223,15028,0.00,1.98,15.55,0.821,4,0.000,0.031,2845,1111,2105
$GC,15069,1.07,362.5,211.9,11.2,1234,15088,0.12,1.98,11.65,0.783,6,0.081,0.034,2892,2405,2053
$GC,15429,1.07,364.6,164.7,11.9,1297,15435,0.00,1.92,0.00,0.000,4,0.000,0.030,2898,1118,2050
$GC,15537,1.07,364.6,149.8,13.0,1316,15544,0.00,1.90,0.00,0.000,6,0.000,0.032,2898,2375,2050
$GC,15883,1.08,374.9,105.3,11.3,1377,15900,0.00,1.88,11.12,0.686,4,0.000,0.028,2903,1113,2002
$GC,15986,1.20,405.1,93.0,10.0,1395,16016,0.00,1.85,24.90,0.705,6,0.000,0.031,2903,2340,1880
$GC,16357,1.41,435.6,50.9,10.0,1460,16389,0.22,1.90,24.35,0.658,4,0.063,0.028,3005,1112,1755
$GC,16513,1.34,441.8,31.7,11.6,1487,16526,0.00,1.80,6.43,0.541,6,0.000,0.031,3005,2307,1729
$STATE,16726,end climb,SURFACE_DEPTH_REACHED
$STATE,16726,begin surface coast
$FINISH,1.8,1.012516
$STATE,16751,end surface coast,CONTROL_FINISHED_OK
$STATE,16751,begin surface
$SM_CCo,16829,0.00,0.000,0,0,1724,443.50
$SM_GC,2.82,7.68,0.00,0.00,0.052,0.000,0.000,140,2443,1724,-7.50,0.45,443.50
$IRIDIUM_FIX,2517.50,12337.43,270998,060633
$TT8_MAMPS,0.029146
$HUMID,1603
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.5,45.021
$10V_AH,10.7,25.526
$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,25.375,136.025,461.800,0.000,0.000,25.572,31.374,207.076,8.000,0.000,0.000,30.780,2734.093,10538.356,581.758,2796.399,581.057,0.000,1989.164,0.000,2710.549,0.000,54.440,0.000
$DEVICE_MAMPS,238.537,88.205,1422.018,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.024,1044.841,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82202,1529
$CAP_FILE_SIZE,174202,0
$CFSIZE,260165632,204959744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209, 83.1,1
$GPS,030709,161007,2527.286,12336.631,24,1.8,25,-3.8