version: 66.04
glider: 167
mission: 2
dive: 282
start: 7 8 109 22 55 23
data:
$ID,167
$MISSION,2
$DIVE,282
$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,-5
$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,-10799.97
$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,51
$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
$GPS1,224307,2519.458,12407.866,26,1.4,27,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-68.0
$GPS2,225502,2519.652,12408.173,13,1.9,13,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,213.4,62332,-23.2,-12.000
$D_GRID,2050
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,42,0.00,0.00,-23.73,0.000,2,0.000,0.000,142,2450,2395
$GC,45,-1.18,-121.7,3.1,-2.4,4,105,8.32,2.17,-46.60,0.000,4,0.239,0.038,2159,1014,3989
$GC,204,-0.69,-121.7,33.6,-26.0,31,212,0.60,2.10,0.00,0.000,6,0.171,0.028,2320,2421,3991
$GC,550,-0.86,-121.7,80.1,-12.1,92,557,0.15,2.05,0.00,0.000,4,0.071,0.044,2249,3763,3992
$GC,760,-0.81,-121.7,113.7,-15.8,129,766,0.12,1.92,0.00,0.000,6,0.160,0.022,2281,2394,3992
$GC,1104,-0.98,-121.7,150.2,-9.9,190,1111,0.15,2.10,0.00,0.000,4,0.068,0.042,2207,3760,3994
$GC,1330,-0.89,-121.7,184.1,-15.7,230,1337,0.17,1.83,0.00,0.000,6,0.157,0.022,2254,2453,3994
$GC,1676,-1.06,-121.7,223.9,-10.2,291,1683,0.15,2.00,0.00,0.000,4,0.066,0.043,2188,3755,3995
$GC,1826,-0.93,-121.7,245.3,-14.6,317,1833,0.20,1.83,0.00,0.000,6,0.158,0.024,2243,2459,3995
$GC,2173,-1.07,-121.7,281.8,-10.4,378,2180,0.12,2.00,0.00,0.000,4,0.075,0.044,2188,3757,3995
$GC,2348,-0.97,-121.7,306.9,-15.1,405,2355,0.15,1.80,0.00,0.000,6,0.160,0.024,2228,2474,3995
$GC,2674,-1.09,-121.7,345.9,-11.8,436,2678,0.00,1.98,0.00,0.000,4,0.000,0.044,2220,3760,3995
$GC,2753,-1.16,-121.7,355.8,-12.4,443,2757,0.10,1.80,0.00,0.000,6,0.061,0.025,2165,2511,3995
$GC,3083,-1.06,-121.7,397.1,-10.9,474,3087,0.15,1.92,0.00,0.000,4,0.165,0.046,2203,3755,3995
$GC,3197,-1.06,-121.7,409.5,-11.1,484,3200,0.00,1.75,0.00,0.000,6,0.000,0.025,2202,2519,3995
$GC,3530,-1.13,-121.7,445.3,-11.3,515,3533,0.00,1.92,0.00,0.000,4,0.000,0.047,2203,3761,3993
$GC,3694,-1.20,-121.7,466.1,-12.4,529,3700,0.15,1.73,0.00,0.000,6,0.070,0.026,2142,2551,3992
$GC,4017,-1.07,-121.7,508.9,-12.7,557,4021,0.17,1.88,0.00,0.000,4,0.163,0.046,2192,3755,3991
$GC,4085,-1.07,-121.7,516.3,-10.9,560,4089,0.00,1.70,0.00,0.000,6,0.000,0.026,2192,2565,3991
$GC,4419,-1.13,-121.7,549.4,-9.6,576,4424,0.00,1.85,0.00,0.000,4,0.000,0.050,2192,3751,3989
$GC,4486,-1.13,-121.7,556.4,-10.2,579,4490,0.00,1.70,0.00,0.000,6,0.000,0.027,2192,2590,3989
$GC,4820,-1.20,-121.7,588.6,-9.8,595,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2590,3986
$GC,5128,-1.28,-121.7,620.2,-10.2,610,5133,0.17,1.83,0.00,0.000,4,0.074,0.049,2110,3756,3984
$GC,5212,-1.00,-121.7,632.6,-15.0,613,5219,0.40,1.67,0.00,0.000,6,0.173,0.027,2220,2592,3983
$GC,5529,-1.18,-121.7,662.5,-9.1,629,5533,0.17,1.83,0.00,0.000,4,0.071,0.051,2152,3753,3980
$GC,5652,-1.08,-121.7,677.8,-12.3,634,5656,0.17,1.65,0.00,0.000,6,0.166,0.028,2196,2612,3980
$GC,5973,-1.19,-121.7,710.4,-10.2,650,5978,0.12,2.28,0.00,0.000,4,0.081,0.027,2149,1058,3978
$GC,6016,-1.19,-121.7,715.7,-12.4,652,6020,0.00,2.33,0.00,0.000,6,0.000,0.035,2141,2586,3977
$GC,6345,-1.09,-121.7,758.6,-13.5,668,6349,0.17,1.83,0.00,0.000,4,0.176,0.051,2190,3757,3974
$GC,6422,-1.16,-121.7,768.0,-12.2,671,6426,0.00,1.65,0.00,0.000,6,0.000,0.028,2190,2619,3974
$GC,6744,-1.26,-121.7,804.2,-11.3,687,6748,0.15,1.80,0.00,0.000,4,0.081,0.052,2136,3757,3972
$GC,6800,-1.09,-121.7,812.2,-14.7,689,6804,0.20,1.62,0.00,0.000,6,0.175,0.029,2186,2640,3971
$GC,7122,-1.18,-121.7,848.5,-10.8,705,7126,0.00,2.33,0.00,0.000,4,0.000,0.027,2186,1055,3969
$GC,7185,-1.31,-121.7,855.4,-11.0,708,7190,0.17,2.38,0.00,0.000,6,0.077,0.037,2117,2602,3969
$GC,7515,-1.14,-121.7,900.5,-14.0,724,7519,0.20,1.80,0.00,0.000,4,0.195,0.051,2165,3754,3967
$GC,7621,-1.14,-121.7,914.1,-11.7,728,7626,0.00,1.62,0.00,0.000,6,0.000,0.030,2165,2643,3966
$GC,7937,-1.14,-121.7,950.7,-11.8,744,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2643,3964
$GC,8246,-1.14,-121.7,987.0,-11.9,759,8249,0.00,1.75,0.00,0.000,4,0.000,0.056,2165,3743,3963
$STATE,8271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8271,begin apogee
$GC,8278,-0.22,0.0,990.6,12.7,760,8375,1.00,0.00,89.12,1.415,6,0.165,0.000,2462,2532,3533
$STATE,8375,end apogee,CONTROL_FINISHED_OK
$STATE,8375,begin climb
$GC,8378,1.18,121.7,995.7,0.0,765,8490,1.30,2.33,103.07,1.374,4,0.063,0.030,2933,1103,3034
$GC,8745,0.66,162.9,975.6,9.3,781,8785,0.68,2.17,34.22,1.330,6,0.209,0.038,2761,2496,2867
$GC,9109,0.65,208.4,944.0,9.0,799,9153,0.00,2.17,37.30,1.334,4,0.000,0.031,2760,1106,2683
$GC,9366,0.73,230.4,917.4,10.6,810,9390,0.00,2.17,19.60,1.284,6,0.000,0.037,2760,2501,2593
$GC,9707,0.75,245.6,878.8,11.0,827,9729,0.00,2.20,13.07,1.235,4,0.000,0.031,2760,1098,2529
$GC,9803,0.88,270.6,868.2,10.4,831,9830,0.20,2.17,22.15,1.275,6,0.078,0.036,2833,2493,2428
$GC,10148,0.74,270.6,816.3,15.0,848,10153,0.17,2.12,0.00,0.000,4,0.182,0.031,2790,1099,2423
$GC,10260,0.74,270.6,801.2,13.9,853,10264,0.00,2.10,0.00,0.000,6,0.000,0.035,2790,2466,2422
$GC,10586,0.74,270.6,758.1,13.5,869,10590,0.00,2.05,0.00,0.000,4,0.000,0.032,2790,1102,2421
$GC,10636,0.79,270.6,751.4,13.9,871,10639,0.00,2.05,0.00,0.000,6,0.000,0.036,2790,2447,2421
$GC,10962,0.79,270.6,707.2,13.4,887,10966,0.00,2.03,0.00,0.000,4,0.000,0.031,2790,1098,2420
$GC,11030,0.84,270.6,698.2,13.0,890,11034,0.00,2.05,0.00,0.000,6,0.000,0.035,2790,2440,2420
$GC,11363,0.84,270.6,654.2,12.9,906,11367,0.00,2.03,0.00,0.000,4,0.000,0.031,2790,1094,2419
$GC,11424,0.84,270.6,646.7,12.2,908,11430,0.00,2.05,0.00,0.000,6,0.000,0.035,2790,2440,2418
$GC,11740,0.84,270.6,608.7,12.3,924,11744,0.00,2.03,0.00,0.000,4,0.000,0.031,2789,1093,2418
$GC,11802,0.90,270.6,601.1,12.5,926,11808,0.15,2.03,0.00,0.000,6,0.082,0.035,2846,2427,2418
$GC,12117,0.76,270.6,556.2,14.1,942,12121,0.20,2.00,0.00,0.000,4,0.182,0.030,2797,1096,2418
$GC,12173,0.77,280.5,549.3,11.4,944,12185,0.00,2.00,8.18,1.013,6,0.000,0.035,2798,2404,2388
$GC,12494,0.78,287.8,510.9,11.5,960,12509,0.00,2.17,7.90,0.978,4,0.000,0.054,2798,3755,2358
$GC,12526,0.78,287.8,506.7,13.3,961,12530,0.00,2.03,0.00,0.000,6,0.000,0.026,2803,2400,2357
$GC,12857,0.83,290.5,467.6,11.8,989,12861,0.00,1.92,0.00,0.000,4,0.000,0.031,2808,1088,2356
$GC,13053,0.94,311.3,446.2,10.6,1006,13083,0.12,2.00,20.23,1.027,6,0.086,0.036,2856,2402,2261
$GC,13401,0.86,311.3,397.1,14.4,1039,13405,0.12,1.98,0.00,0.000,4,0.183,0.029,2833,1089,2258
$GC,13459,0.91,311.3,389.8,12.2,1044,13462,0.00,1.98,0.00,0.000,6,0.000,0.035,2833,2380,2258
$GC,13791,0.91,311.3,350.8,12.5,1075,13792,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2380,2257
$GC,14110,0.95,338.7,314.2,10.2,1105,14142,0.00,2.00,22.58,0.913,4,0.000,0.031,2838,1097,2149
$GC,14373,1.03,338.7,284.0,12.0,1141,14380,0.12,1.92,0.00,0.000,6,0.083,0.033,2887,2364,2147
$GC,14717,0.95,338.7,233.8,15.1,1202,14723,0.15,1.90,0.00,0.000,4,0.181,0.028,2856,1087,2147
$GC,14764,1.05,353.5,228.1,11.0,1210,14783,0.00,1.90,12.77,0.801,6,0.000,0.032,2856,2353,2091
$GC,15123,1.15,372.6,189.4,10.7,1273,15148,0.17,2.25,16.70,0.779,4,0.076,0.048,2930,3761,2012
$GC,15171,0.95,372.6,182.4,14.8,1281,15178,0.32,2.15,0.00,0.000,6,0.183,0.025,2853,2298,2010
$GC,15516,1.12,376.7,143.8,11.7,1342,15529,0.15,1.80,4.78,0.572,4,0.077,0.032,2913,1099,1996
$GC,15653,1.13,388.2,126.6,11.2,1366,15672,0.00,1.85,10.80,0.690,6,0.000,0.031,2913,2331,1948
$GC,16012,1.21,399.5,86.0,11.3,1429,16030,0.00,2.22,10.62,0.653,4,0.000,0.046,2913,3765,1902
$GC,16058,1.21,399.5,79.3,14.4,1437,16064,0.00,2.17,0.00,0.000,6,0.000,0.023,2921,2295,1901
$GC,16403,1.37,430.6,39.3,9.9,1498,16435,0.17,2.38,25.45,0.647,4,0.073,0.044,2998,3765,1774
$GC,16498,1.17,430.6,26.5,14.1,1514,16504,0.32,2.17,0.00,0.000,6,0.186,0.023,2923,2273,1772
$STATE,16766,end climb,SURFACE_DEPTH_REACHED
$STATE,16766,begin surface coast
$FINISH,1.7,1.021229
$STATE,16807,end surface coast,CONTROL_FINISHED_OK
$STATE,16807,begin surface
$SM_CCo,16885,0.00,0.000,0,0,1770,432.22
$SM_GC,2.92,7.47,0.00,0.00,0.056,0.000,0.000,141,2437,1770,-7.50,0.28,432.22
$IRIDIUM_FIX,2512.73,12407.19,021098,222201
$TT8_MAMPS,0.028379
$HUMID,1625
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,49.704
$10V_AH,10.8,28.123
$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,25.525,142.975,458.550,0.000,0.000,58.103,98.060,355.473,8.000,0.000,0.000,13.991,2813.242,10479.059,563.352,2883.357,848.964,0.000,2019.495,0.000,2813.242,0.000,54.434,0.000
$DEVICE_MAMPS,238.537,55.991,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1060.209,1090.664,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85224,1569
$CAP_FILE_SIZE,180902,0
$CFSIZE,260165632,202530816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.267, 70.6,1
$GPS,090709,033806,2519.261,12409.258,38,1.1,44,-3.8