version: 66.04
glider: 167
mission: 2
dive: 266
start: 7 5 109 16 43 30
data:
$ID,167
$MISSION,2
$DIVE,266
$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,-10480.454
$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,71
$R_STBD_OVSHOOT,34
$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
$GPS1,163207,2523.969,12346.404,32,1.0,33,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-68.8
$GPS2,164309,2524.012,12346.658,11,2.0,12,-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,259.8,21639,-23.2,-12.000
$D_GRID,1737
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,39,0.00,0.00,-21.40,0.000,2,0.000,0.000,142,2389,2189
$GC,42,-1.18,-121.7,3.1,-2.3,3,117,8.38,2.03,-59.83,0.000,4,0.242,0.039,2159,1018,3988
$GC,187,-0.74,-121.7,26.7,-23.8,27,194,0.55,2.12,0.00,0.000,6,0.169,0.031,2305,2441,3990
$GC,532,-0.86,-121.7,74.6,-12.4,88,538,0.12,2.03,0.00,0.000,4,0.076,0.045,2245,3761,3991
$GC,687,-0.77,-121.7,99.6,-16.7,115,693,0.17,1.90,0.00,0.000,6,0.160,0.024,2292,2421,3992
$GC,1031,-0.95,-121.7,144.4,-12.4,176,1038,0.15,2.08,0.00,0.000,4,0.070,0.044,2220,3767,3993
$GC,1146,-0.83,-121.7,161.2,-15.0,196,1152,0.20,1.85,0.00,0.000,6,0.157,0.022,2275,2450,3992
$GC,1491,-0.98,-121.7,197.8,-11.1,257,1499,0.15,2.03,0.00,0.000,4,0.069,0.044,2205,3766,3993
$GC,1651,-0.90,-121.7,221.1,-14.7,285,1659,0.17,1.83,0.00,0.000,6,0.156,0.023,2253,2463,3993
$GC,1999,-1.02,-121.7,256.6,-9.8,346,2004,0.12,0.00,0.00,0.000,6,0.073,0.000,2197,2462,3993
$GC,2342,-1.02,-121.7,299.1,-11.0,407,2347,0.00,2.00,0.00,0.000,4,0.000,0.046,2192,3763,3993
$GC,2513,-0.97,-121.7,320.1,-12.1,423,2517,0.15,1.80,0.00,0.000,6,0.156,0.025,2232,2489,3993
$GC,2844,-1.12,-121.7,356.3,-11.6,454,2848,0.15,1.98,0.00,0.000,4,0.071,0.046,2166,3767,3993
$GC,2905,-0.97,-121.7,365.1,-14.7,459,2912,0.22,1.77,0.00,0.000,6,0.161,0.025,2227,2510,3993
$GC,3232,-1.10,-121.7,400.6,-10.5,490,3236,0.12,1.92,0.00,0.000,4,0.076,0.046,2176,3754,3993
$GC,3323,-1.01,-121.7,412.7,-13.5,498,3327,0.17,1.75,0.00,0.000,6,0.161,0.025,2222,2523,3993
$GC,3653,-1.15,-121.7,448.1,-10.3,529,3657,0.15,1.92,0.00,0.000,4,0.070,0.047,2162,3764,3993
$GC,3738,-1.02,-121.7,459.5,-14.0,536,3744,0.20,1.75,0.00,0.000,6,0.165,0.025,2215,2531,3992
$GC,4063,-1.16,-121.7,494.1,-10.6,567,4067,0.12,1.90,0.00,0.000,4,0.077,0.048,2162,3753,3990
$GC,4102,-1.05,-121.7,499.4,-13.5,570,4108,0.17,1.73,0.00,0.000,6,0.171,0.026,2206,2547,3990
$GC,4430,-1.16,-121.7,536.2,-11.1,587,4434,0.12,1.90,0.00,0.000,4,0.079,0.048,2153,3764,3988
$GC,4500,-1.03,-121.7,546.0,-14.8,590,4504,0.22,1.73,0.00,0.000,6,0.166,0.027,2213,2568,3988
$GC,4835,-1.16,-121.7,580.5,-9.8,606,4839,0.12,1.85,0.00,0.000,4,0.078,0.050,2162,3751,3985
$GC,4908,-1.08,-121.7,589.4,-12.0,609,4912,0.12,1.67,0.00,0.000,6,0.176,0.028,2192,2585,3984
$GC,5234,-1.16,-121.7,620.3,-9.4,625,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2585,3983
$GC,5545,-1.24,-121.7,650.3,-9.9,640,5549,0.15,1.85,0.00,0.000,4,0.077,0.049,2127,3765,3980
$GC,5595,-1.03,-121.7,657.1,-14.1,642,5599,0.30,1.70,0.00,0.000,6,0.175,0.027,2207,2589,3980
$GC,5922,-1.17,-121.7,685.9,-8.3,658,5924,0.12,0.00,0.00,0.000,6,0.082,0.000,2159,2589,3978
$GC,6231,-1.17,-121.7,716.9,-10.5,673,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2590,3974
$GC,6541,-1.17,-121.7,752.0,-11.9,688,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2589,3973
$GC,6850,-1.17,-121.7,787.6,-11.6,703,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2590,3971
$GC,7159,-1.17,-121.7,822.9,-11.6,718,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2589,3968
$GC,7468,-1.17,-121.7,858.7,-11.8,733,7471,0.00,1.85,0.00,0.000,4,0.000,0.053,2153,3762,3967
$GC,7507,-1.08,-121.7,863.8,-13.4,734,7513,0.17,1.73,0.00,0.000,6,0.171,0.029,2196,2581,3966
$GC,7823,-1.21,-121.7,897.9,-10.8,750,7825,0.12,0.00,0.00,0.000,6,0.084,0.000,2150,2581,3965
$GC,8132,-1.16,-121.7,940.2,-14.2,765,8136,0.00,1.88,0.00,0.000,4,0.000,0.057,2150,3757,3963
$GC,8188,-1.08,-121.7,948.2,-13.9,767,8192,0.17,1.70,0.00,0.000,6,0.179,0.030,2193,2602,3963
$GC,8511,-1.21,-121.7,984.9,-10.6,783,8513,0.12,0.00,0.00,0.000,6,0.085,0.000,2148,2602,3962
$STATE,8568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8569,begin apogee
$GC,8575,-0.22,0.0,992.4,11.8,786,8674,1.12,0.00,88.97,1.421,6,0.173,0.000,2469,2602,3532
$STATE,8674,end apogee,CONTROL_FINISHED_OK
$STATE,8675,begin climb
$GC,8677,1.18,121.7,997.1,0.0,791,8788,1.25,2.40,102.70,1.378,4,0.059,0.031,2930,1139,3034
$GC,9009,0.66,147.1,978.6,10.3,806,9037,0.68,2.15,21.50,1.305,6,0.213,0.038,2759,2509,2932
$GC,9361,0.64,202.7,950.1,8.3,823,9409,0.00,0.00,46.47,1.348,6,0.000,0.000,2759,2509,2705
$GC,9707,0.69,240.8,916.9,9.5,840,9748,0.00,2.22,31.88,1.320,4,0.000,0.033,2760,1138,2549
$GC,9812,0.78,251.6,905.8,11.3,844,9827,0.12,2.17,10.00,1.177,6,0.091,0.037,2804,2513,2506
$GC,10151,0.69,251.6,860.8,13.2,861,10155,0.15,2.10,0.00,0.000,4,0.195,0.030,2776,1135,2501
$GC,10330,0.71,272.6,840.5,10.6,869,10354,0.00,2.10,18.45,1.265,6,0.000,0.038,2776,2489,2420
$GC,10676,0.72,279.7,799.9,11.5,886,10690,0.00,2.12,7.07,1.081,4,0.000,0.031,2776,1139,2391
$GC,10799,0.81,286.6,786.1,11.5,891,10811,0.00,2.08,7.75,1.098,6,0.000,0.038,2776,2474,2363
$GC,11121,0.88,290.9,746.9,11.7,907,11131,0.15,2.03,5.22,0.957,4,0.084,0.031,2835,1143,2345
$GC,11187,0.78,290.9,737.1,15.0,910,11192,0.15,2.05,0.00,0.000,6,0.186,0.038,2800,2466,2344
$GC,11514,0.78,290.9,695.8,12.4,926,11518,0.00,2.00,0.00,0.000,4,0.000,0.033,2802,1144,2342
$GC,11604,0.78,290.9,684.5,12.3,930,11607,0.00,2.03,0.00,0.000,6,0.000,0.036,2802,2459,2342
$GC,11936,0.78,290.9,638.6,14.8,946,11940,0.00,1.98,0.00,0.000,4,0.000,0.032,2805,1143,2341
$GC,12014,0.78,290.9,627.1,14.6,949,12018,0.00,2.00,0.00,0.000,6,0.000,0.036,2805,2448,2342
$GC,12335,0.78,290.9,579.2,14.1,965,12339,0.00,1.98,0.00,0.000,4,0.000,0.031,2812,1129,2341
$GC,12458,0.78,290.9,562.7,12.7,970,12462,0.00,2.00,0.00,0.000,6,0.000,0.038,2811,2432,2341
$GC,12779,0.78,290.9,521.6,12.6,986,12783,0.00,1.95,0.00,0.000,4,0.000,0.033,2815,1133,2340
$GC,12835,0.79,294.2,514.6,11.8,988,12838,0.00,1.98,0.00,0.000,6,0.000,0.039,2815,2420,2340
$GC,13162,0.79,294.2,475.3,12.3,1013,13165,0.00,1.92,0.00,0.000,4,0.000,0.032,2819,1133,2340
$GC,13290,0.79,294.2,459.3,12.1,1024,13296,0.00,1.92,0.00,0.000,6,0.000,0.037,2819,2400,2340
$GC,13617,0.79,294.2,417.5,13.4,1055,13621,0.00,1.88,0.00,0.000,4,0.000,0.031,2826,1136,2340
$GC,13651,0.79,294.2,412.9,12.8,1058,13655,0.00,1.95,0.00,0.000,6,0.000,0.038,2826,2412,2340
$GC,13983,0.79,294.2,369.6,13.0,1089,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2413,2340
$GC,14300,0.79,294.2,329.8,12.2,1119,14304,0.00,1.90,0.00,0.000,4,0.000,0.032,2828,1139,2340
$GC,14429,0.87,318.9,315.5,10.4,1130,14458,0.00,1.92,22.85,0.922,6,0.000,0.035,2828,2413,2231
$GC,14788,0.97,343.9,278.3,10.3,1181,14817,0.00,2.17,20.98,0.877,4,0.000,0.050,2828,3760,2128
$GC,14891,0.97,343.9,264.7,13.9,1199,14897,0.00,1.98,0.00,0.000,6,0.000,0.025,2828,2441,2127
$GC,15235,1.10,343.9,223.8,12.0,1260,15242,0.20,1.92,0.00,0.000,4,0.074,0.030,2915,1136,2125
$GC,15495,1.01,343.9,188.1,13.0,1306,15503,0.17,1.90,0.00,0.000,6,0.178,0.035,2870,2394,2125
$GC,15841,1.10,365.1,147.9,10.6,1367,15866,0.00,1.95,17.83,0.749,4,0.000,0.029,2871,1127,2043
$GC,15901,1.22,373.3,141.1,11.5,1377,15915,0.17,1.92,7.82,0.660,6,0.074,0.031,2937,2402,2009
$GC,16255,1.13,373.3,93.6,14.0,1439,16260,0.00,1.88,0.00,0.000,4,0.000,0.028,2942,1130,2007
$GC,16346,1.13,374.8,82.0,11.9,1455,16353,0.12,1.92,0.00,0.000,6,0.172,0.033,2913,2412,2007
$GC,16691,1.27,427.8,45.6,8.5,1516,16740,0.12,1.98,43.17,0.661,4,0.084,0.028,2968,1137,1787
$GC,16836,1.27,427.8,27.7,14.4,1541,16842,0.00,1.95,0.00,0.000,6,0.000,0.032,2967,2420,1782
$STATE,17070,end climb,SURFACE_DEPTH_REACHED
$STATE,17070,begin surface coast
$FINISH,1.8,1.008060
$STATE,17099,end surface coast,CONTROL_FINISHED_OK
$STATE,17099,begin surface
$SM_CCo,17176,0.00,0.000,0,0,1779,430.01
$SM_GC,3.04,7.62,0.00,0.00,0.056,0.000,0.000,139,2426,1779,-7.51,-0.03,430.01
$IRIDIUM_FIX,2517.50,12346.04,290998,161609
$TT8_MAMPS,0.028379
$HUMID,1597
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.4,46.923
$10V_AH,10.8,26.578
$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,25.325,120.625,452.675,0.000,0.000,56.690,86.561,312.233,8.000,0.000,0.000,12.686,2814.880,10855.434,570.397,2790.397,794.938,0.000,1970.295,0.000,2736.844,0.000,54.415,0.000
$DEVICE_MAMPS,241.605,56.758,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1074.477,1098.261,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85138,1588
$CAP_FILE_SIZE,175252,0
$CFSIZE,260165632,203972608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309, 91.2,1
$GPS,050709,213101,2523.967,12347.591,40,1.1,41,-3.8