version: 66.04
glider: 167
mission: 2
dive: 257
start: 7 3 109 21 8 49
data:
$ID,167
$MISSION,2
$DIVE,257
$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,-10284.329
$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,58
$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
$GPS1,210137,2526.896,12337.037,34,2.0,35,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-71.9
$GPS2,210828,2527.042,12337.076,15,2.9,34,-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,217.3,24644,-23.2,-12.000
$D_GRID,1608
$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,-121.7,0.0,0.0,0,44,0.00,0.00,-26.80,0.000,2,0.000,0.000,139,2463,2430
$GC,47,-1.18,-121.7,3.1,-1.8,4,112,8.40,2.20,-46.55,0.000,4,0.242,0.039,2158,1008,3990
$GC,159,-0.73,-121.7,21.3,-24.9,23,166,0.55,2.12,0.00,0.000,6,0.174,0.031,2303,2421,3991
$GC,504,-0.78,-121.7,76.4,-14.1,84,510,0.00,2.05,0.00,0.000,4,0.000,0.046,2294,3757,3992
$GC,545,-0.87,-121.7,82.7,-15.6,91,551,0.00,1.92,0.00,0.000,6,0.000,0.024,2294,2399,3992
$GC,889,-1.03,-121.7,126.4,-11.9,152,895,0.20,2.10,0.00,0.000,4,0.061,0.044,2192,3757,3994
$GC,1045,-0.80,-121.7,153.1,-17.0,179,1052,0.32,1.83,0.00,0.000,6,0.162,0.023,2284,2459,3994
$GC,1390,-0.99,-121.7,189.5,-9.3,240,1397,0.17,2.00,0.00,0.000,4,0.067,0.045,2204,3755,3996
$GC,1454,-0.89,-121.7,197.6,-13.2,251,1461,0.17,1.77,0.00,0.000,6,0.161,0.024,2250,2494,3996
$GC,1801,-1.02,-121.7,235.6,-10.9,312,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2250,2494,3997
$GC,2144,-1.18,-121.7,272.7,-11.3,373,2150,0.20,1.95,0.00,0.000,4,0.064,0.047,2162,3753,3997
$GC,2288,-0.98,-121.7,295.0,-15.8,398,2295,0.25,1.80,0.00,0.000,6,0.162,0.025,2230,2482,3997
$GC,2622,-1.09,-121.7,332.2,-10.6,432,2626,0.12,1.98,0.00,0.000,4,0.074,0.047,2177,3758,3997
$GC,2690,-0.96,-121.7,340.9,-13.2,438,2694,0.20,1.80,0.00,0.000,6,0.162,0.025,2230,2491,3997
$GC,3020,-1.10,-121.7,374.9,-9.8,469,3026,0.12,1.95,0.00,0.000,4,0.075,0.047,2175,3751,3997
$GC,3111,-1.01,-121.7,386.8,-15.1,477,3116,0.17,1.77,0.00,0.000,6,0.166,0.027,2221,2509,3997
$GC,3442,-1.15,-121.7,422.3,-9.7,508,3446,0.15,1.92,0.00,0.000,4,0.071,0.048,2153,3751,3996
$GC,3579,-0.98,-121.7,439.6,-12.6,520,3584,0.28,1.75,0.00,0.000,6,0.163,0.027,2229,2521,3996
$GC,3911,-1.16,-121.7,470.6,-9.7,551,3915,0.17,1.92,0.00,0.000,4,0.069,0.048,2152,3758,3995
$GC,3979,-1.01,-121.7,479.4,-13.5,557,3983,0.25,1.77,0.00,0.000,6,0.163,0.027,2221,2515,3994
$GC,4307,-1.16,-121.7,513.2,-10.0,582,4312,0.15,2.12,0.00,0.000,4,0.073,0.028,2162,1054,3993
$GC,4357,-1.11,-121.7,519.6,-12.4,584,4361,0.00,2.17,0.00,0.000,6,0.000,0.035,2162,2494,3993
$GC,4679,-1.06,-121.7,557.4,-10.7,600,4683,0.15,1.95,0.00,0.000,4,0.176,0.048,2192,3758,3991
$GC,4796,-1.11,-121.7,569.2,-9.6,605,4800,0.00,1.77,0.00,0.000,6,0.000,0.028,2192,2528,3990
$GC,5124,-1.17,-121.7,601.7,-10.4,621,5128,0.00,1.92,0.00,0.000,4,0.000,0.051,2192,3755,3987
$GC,5209,-1.23,-121.7,610.9,-11.1,624,5215,0.12,1.73,0.00,0.000,6,0.084,0.028,2142,2565,3986
$GC,5526,-1.11,-121.7,651.1,-13.2,640,5530,0.17,2.22,0.00,0.000,4,0.176,0.028,2191,1050,3985
$GC,5593,-1.21,-121.7,659.0,-10.9,643,5598,0.12,2.25,0.00,0.000,6,0.084,0.036,2146,2528,3984
$GC,5917,-1.12,-121.7,702.0,-13.6,659,5921,0.15,1.90,0.00,0.000,4,0.189,0.051,2178,3749,3981
$GC,5984,-1.12,-121.7,711.2,-12.9,662,5987,0.00,1.75,0.00,0.000,6,0.000,0.028,2178,2571,3981
$GC,6317,-1.12,-121.7,750.5,-11.5,678,6321,0.00,1.88,0.00,0.000,4,0.000,0.054,2178,3757,3979
$GC,6356,-1.12,-121.7,755.3,-11.7,679,6362,0.00,1.75,0.00,0.000,6,0.000,0.029,2178,2559,3978
$GC,6673,-1.12,-121.7,790.4,-11.1,695,6676,0.00,1.90,0.00,0.000,4,0.000,0.054,2173,3760,3976
$GC,6711,-1.12,-121.7,795.1,-11.5,696,6717,0.00,1.73,0.00,0.000,6,0.000,0.030,2173,2577,3975
$GC,7027,-1.12,-121.7,830.5,-11.7,712,7031,0.00,2.22,0.00,0.000,4,0.000,0.029,2173,1071,3974
$GC,7083,-1.16,-121.7,837.3,-12.0,714,7087,0.00,2.28,0.00,0.000,6,0.000,0.038,2169,2543,3973
$GC,7399,-1.16,-121.7,876.1,-12.4,729,7403,0.00,1.90,0.00,0.000,4,0.000,0.054,2166,3759,3971
$GC,7477,-1.16,-121.7,886.2,-12.1,732,7481,0.00,1.77,0.00,0.000,6,0.000,0.029,2166,2573,3971
$GC,7799,-1.16,-121.7,924.5,-12.0,748,7803,0.00,1.88,0.00,0.000,4,0.000,0.055,2166,3754,3969
$GC,7848,-1.16,-121.7,931.0,-12.8,750,7851,0.00,1.73,0.00,0.000,6,0.000,0.029,2166,2596,3969
$GC,8175,-1.16,-121.7,969.7,-11.7,766,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,2166,2597,3968
$STATE,8358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8358,begin apogee
$GC,8364,-0.22,0.0,992.0,12.2,775,8463,1.02,0.00,89.97,1.419,6,0.162,0.000,2466,2596,3533
$STATE,8464,end apogee,CONTROL_FINISHED_OK
$STATE,8464,begin climb
$GC,8466,1.18,121.7,997.2,0.0,780,8577,1.30,2.00,103.03,1.378,4,0.060,0.051,2926,3742,3034
$GC,8824,0.42,121.7,973.2,13.2,796,8829,0.98,1.83,0.00,0.000,6,0.218,0.027,2689,2516,3030
$GC,9141,0.64,216.9,954.6,5.7,811,9226,0.17,2.22,78.03,1.361,4,0.079,0.032,2762,1112,2646
$GC,9322,0.71,232.7,936.0,11.0,819,9341,0.00,2.17,13.95,1.236,6,0.000,0.038,2762,2484,2582
$GC,9669,0.71,232.8,894.5,12.0,836,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2484,2577
$GC,9978,0.72,239.5,859.0,11.6,851,9989,0.00,2.08,6.25,1.065,4,0.000,0.031,2762,1122,2555
$GC,10079,0.80,239.5,846.8,12.4,855,10085,0.12,2.12,0.00,0.000,6,0.090,0.037,2811,2494,2554
$GC,10394,0.69,239.5,802.6,14.4,871,10399,0.17,2.08,0.00,0.000,4,0.188,0.031,2769,1118,2552
$GC,10484,0.75,244.5,791.2,11.7,875,10493,0.00,2.05,5.25,0.985,6,0.000,0.036,2769,2456,2535
$GC,10805,0.75,244.5,750.5,12.8,890,10808,0.00,2.03,0.00,0.000,4,0.000,0.032,2773,1112,2533
$GC,10855,0.80,244.5,744.0,12.6,892,10858,0.00,2.05,0.00,0.000,6,0.000,0.037,2773,2446,2532
$GC,11181,0.80,244.5,703.6,12.2,908,11185,0.00,2.08,0.00,0.000,4,0.000,0.055,2773,3766,2532
$GC,11215,0.70,244.5,698.9,14.1,909,11218,0.00,1.92,0.00,0.000,6,0.000,0.027,2779,2445,2532
$GC,11536,0.70,244.5,658.4,12.2,925,11540,0.00,1.95,0.00,0.000,4,0.000,0.031,2788,1120,2532
$GC,11585,0.70,244.5,652.1,12.3,927,11589,0.00,2.03,0.00,0.000,6,0.000,0.035,2788,2444,2531
$GC,11913,0.71,249.5,611.8,11.7,943,11923,0.00,2.00,5.12,0.917,4,0.000,0.032,2791,1117,2515
$GC,11985,0.73,266.3,603.6,10.9,946,12005,0.00,2.00,15.52,1.128,6,0.000,0.036,2791,2427,2446
$GC,12321,0.73,266.3,562.5,12.9,963,12324,0.00,2.12,0.00,0.000,4,0.000,0.056,2791,3765,2443
$GC,12354,0.64,266.3,557.7,14.2,964,12358,0.17,2.00,0.00,0.000,6,0.191,0.028,2756,2414,2442
$GC,12675,0.79,278.1,522.1,11.2,980,12692,0.12,2.17,10.93,1.042,4,0.082,0.052,2804,3767,2397
$GC,12731,0.68,278.1,513.7,15.4,981,12737,0.17,2.00,0.00,0.000,6,0.186,0.028,2770,2423,2396
$GC,13054,0.82,296.5,476.9,10.8,1006,13077,0.12,1.95,16.33,1.043,4,0.088,0.034,2815,1125,2322
$GC,13135,0.83,297.2,466.7,12.0,1013,13138,0.00,2.03,0.00,0.000,6,0.000,0.036,2816,2432,2321
$GC,13467,0.83,297.2,423.9,12.6,1044,13471,0.00,2.00,0.00,0.000,4,0.000,0.034,2816,1113,2320
$GC,13545,0.84,308.6,413.8,11.3,1051,13561,0.00,2.00,10.95,0.960,6,0.000,0.037,2816,2417,2274
$GC,13881,0.84,308.6,369.4,13.1,1082,13885,0.00,2.12,0.00,0.000,4,0.000,0.052,2816,3765,2271
$GC,13909,0.77,308.6,365.3,14.2,1084,13917,0.12,2.03,0.00,0.000,6,0.195,0.028,2795,2394,2271
$GC,14234,0.93,329.7,328.5,10.6,1115,14259,0.15,2.25,18.17,0.929,4,0.082,0.051,2852,3761,2187
$GC,14283,0.79,329.7,322.4,13.9,1119,14287,0.22,2.00,0.00,0.000,6,0.189,0.027,2802,2426,2186
$GC,14615,0.94,329.7,284.4,12.3,1160,14622,0.12,1.95,0.00,0.000,4,0.089,0.031,2855,1110,2184
$GC,14662,0.94,329.7,277.8,14.1,1168,14669,0.00,2.00,0.00,0.000,6,0.000,0.035,2855,2416,2183
$GC,15007,0.94,329.7,231.9,12.1,1229,15013,0.00,2.10,0.00,0.000,4,0.000,0.051,2855,3762,2184
$GC,15031,0.94,329.7,228.7,13.0,1233,15037,0.00,2.00,0.00,0.000,6,0.000,0.025,2863,2392,2183
$GC,15375,0.95,332.3,187.2,11.8,1294,15381,0.00,1.88,0.00,0.000,4,0.000,0.030,2871,1105,2183
$GC,15635,1.03,355.1,157.3,10.5,1340,15665,0.00,1.90,21.17,0.772,6,0.000,0.033,2871,2372,2083
$GC,16005,1.12,355.1,118.9,12.9,1405,16011,0.00,1.88,0.00,0.000,4,0.000,0.029,2872,1106,2080
$GC,16040,1.25,355.1,114.0,13.2,1411,16047,0.20,1.92,0.00,0.000,6,0.071,0.032,2948,2388,2080
$GC,16386,1.22,388.1,71.1,9.8,1472,16417,0.00,1.98,26.30,0.687,4,0.000,0.029,2954,1106,1949
$GC,16670,1.24,405.3,41.0,10.9,1522,16690,0.00,1.88,14.85,0.630,6,0.000,0.031,2953,2356,1878
$STATE,17013,end climb,SURFACE_DEPTH_REACHED
$STATE,17013,begin surface coast
$FINISH,1.7,0.997797
$STATE,17051,end surface coast,CONTROL_FINISHED_OK
$STATE,17051,begin surface
$SM_CCo,17068,13.05,0.588,0,0,1799,425.10
$SM_GC,3.87,0.00,0.00,13.05,0.000,0.000,0.588,140,2450,1799,-7.52,0.65,425.10
$IRIDIUM_FIX,2517.50,12335.45,270998,161616
$TT8_MAMPS,0.029146
$HUMID,1617
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.5,45.362
$10V_AH,10.8,25.719
$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,25.225,150.300,435.825,13.050,0.000,25.167,33.951,192.641,8.000,0.000,0.000,37.453,2842.207,10622.557,573.460,2851.948,593.128,0.000,2009.024,0.000,2767.378,0.000,54.438,0.000
$DEVICE_MAMPS,242.372,75.933,1418.950,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.445,1104.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85096,1589
$CAP_FILE_SIZE,179846,0
$CFSIZE,260165632,204771328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233, 73.1,1
$GPS,040709,015437,2526.299,12337.828,28,1.3,29,-3.8