version: 66.04
glider: 167
mission: 2
dive: 303
start: 7 13 109 6 35 41
data:
$ID,167
$MISSION,2
$DIVE,303
$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,-11243.795
$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,66
$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
$GPS1,062837,2458.012,12416.287,28,1.7,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-65.0
$GPS2,063520,2458.062,12416.496,12,1.9,12,-3.7
$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,213.4,20276,-23.2,-12.000
$D_GRID,1854
$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,13,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,53,0.00,0.00,-35.15,0.000,2,0.000,0.000,142,2427,2538
$GC,56,-1.18,-121.7,3.4,-3.1,6,110,8.15,2.12,-39.67,0.000,4,0.231,0.038,2160,1009,3989
$GC,223,-0.77,-121.7,37.4,-22.2,35,230,0.50,2.15,0.00,0.000,6,0.163,0.030,2295,2444,3991
$GC,568,-0.93,-121.7,83.2,-13.2,96,575,0.15,2.00,0.00,0.000,4,0.070,0.044,2221,3767,3992
$GC,830,-0.86,-121.7,120.1,-11.4,142,836,0.17,1.92,0.00,0.000,6,0.155,0.022,2268,2389,3993
$GC,1176,-1.07,-121.7,152.3,-10.4,203,1182,0.17,2.10,0.00,0.000,4,0.064,0.042,2179,3756,3995
$GC,1217,-0.90,-121.7,158.1,-14.6,210,1223,0.25,1.85,0.00,0.000,6,0.157,0.023,2248,2435,3995
$GC,1563,-1.06,-121.7,199.6,-11.8,271,1570,0.12,2.05,0.00,0.000,4,0.074,0.044,2192,3767,3995
$GC,1723,-0.96,-121.7,222.8,-14.4,299,1730,0.15,1.85,0.00,0.000,6,0.160,0.023,2231,2448,3996
$GC,2070,-1.08,-121.7,259.7,-10.0,360,2077,0.00,2.03,0.00,0.000,4,0.000,0.044,2231,3767,3996
$GC,2135,-1.16,-121.7,266.7,-10.6,371,2141,0.17,1.85,0.00,0.000,6,0.066,0.023,2158,2444,3996
$GC,2475,-1.04,-121.7,311.9,-13.3,424,2479,0.17,2.03,0.00,0.000,4,0.160,0.043,2205,3760,3996
$GC,2541,-1.04,-121.7,320.4,-12.2,430,2545,0.00,1.83,0.00,0.000,6,0.000,0.024,2205,2463,3996
$GC,2873,-1.12,-121.7,357.7,-11.5,461,2876,0.00,2.00,0.00,0.000,4,0.000,0.046,2205,3764,3996
$GC,2974,-1.18,-121.7,370.7,-13.0,470,2979,0.12,1.83,0.00,0.000,6,0.076,0.024,2151,2474,3996
$GC,3305,-1.08,-121.7,417.2,-12.8,501,3310,0.17,2.05,0.00,0.000,4,0.161,0.025,2197,1043,3995
$GC,3340,-1.16,-121.7,421.4,-11.4,504,3343,0.00,2.17,0.00,0.000,6,0.000,0.031,2195,2500,3996
$GC,3670,-1.23,-121.7,452.5,-9.2,535,3675,0.12,1.92,0.00,0.000,4,0.079,0.046,2139,3760,3994
$GC,3739,-1.05,-121.7,460.7,-13.3,541,3743,0.25,1.80,0.00,0.000,6,0.162,0.025,2207,2500,3995
$GC,4069,-1.20,-121.7,491.4,-10.0,572,4074,0.15,1.95,0.00,0.000,4,0.072,0.046,2140,3758,3993
$GC,4182,-1.03,-121.7,506.5,-12.9,580,4187,0.25,1.77,0.00,0.000,6,0.163,0.025,2208,2514,3992
$GC,4518,-1.21,-121.7,538.0,-8.0,596,4522,0.17,1.95,0.00,0.000,4,0.071,0.048,2137,3765,3992
$GC,4648,-1.06,-121.7,553.5,-13.1,601,4654,0.22,1.75,0.00,0.000,6,0.161,0.025,2198,2541,3991
$GC,4965,-1.19,-121.7,583.6,-10.0,617,4969,0.00,1.90,0.00,0.000,4,0.000,0.049,2195,3763,3989
$GC,5033,-1.27,-121.7,591.6,-11.4,620,5038,0.17,1.75,0.00,0.000,6,0.070,0.027,2126,2552,3989
$GC,5369,-1.15,-121.7,633.9,-11.6,636,5374,0.17,2.17,0.00,0.000,4,0.173,0.026,2177,1054,3986
$GC,5409,-1.23,-121.7,638.8,-11.4,638,5413,0.00,2.25,0.00,0.000,6,0.000,0.034,2177,2540,3986
$GC,5739,-1.29,-121.7,675.3,-11.0,654,5744,0.15,1.88,0.00,0.000,4,0.080,0.049,2111,3757,3984
$GC,5936,-1.06,-121.7,704.8,-15.5,662,5942,0.32,1.70,0.00,0.000,6,0.172,0.028,2199,2582,3982
$GC,6253,-1.21,-121.7,736.3,-9.2,678,6258,0.12,2.25,0.00,0.000,4,0.082,0.027,2150,1043,3981
$GC,6302,-1.21,-121.7,742.3,-12.4,680,6306,0.00,2.33,0.00,0.000,6,0.000,0.036,2149,2563,3980
$GC,6624,-1.21,-121.7,780.3,-11.5,696,6628,0.00,2.22,0.00,0.000,4,0.000,0.028,2149,1056,3978
$GC,6663,-1.21,-121.7,784.7,-11.5,697,6669,0.00,2.30,0.00,0.000,6,0.000,0.037,2146,2563,3977
$GC,6981,-1.21,-121.7,821.6,-11.8,713,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,2146,2564,3976
$GC,7289,-1.16,-121.7,857.0,-11.2,728,7293,0.00,2.25,0.00,0.000,4,0.000,0.028,2145,1058,3973
$GC,7362,-1.16,-121.7,865.9,-12.4,731,7366,0.12,2.30,0.00,0.000,6,0.174,0.038,2169,2547,3973
$GC,7686,-1.21,-121.7,898.6,-10.2,747,7689,0.00,1.88,0.00,0.000,4,0.000,0.053,2166,3753,3970
$GC,7724,-1.21,-121.7,903.2,-10.8,748,7732,0.00,1.73,0.00,0.000,6,0.000,0.028,2166,2573,3970
$GC,8040,-1.21,-121.7,936.9,-11.1,764,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2573,3969
$GC,8351,-1.26,-121.7,971.9,-11.5,779,8354,0.00,2.22,0.00,0.000,4,0.000,0.028,2165,1065,3967
$GC,8390,-1.32,-121.7,976.8,-11.9,780,8398,0.15,2.28,0.00,0.000,6,0.083,0.038,2111,2537,3966
$STATE,8496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8496,begin apogee
$GC,8502,-0.22,0.0,991.8,14.2,786,8603,1.27,0.00,92.62,1.392,6,0.182,0.000,2466,2538,3532
$STATE,8604,end apogee,CONTROL_FINISHED_OK
$STATE,8604,begin climb
$GC,8608,1.18,121.7,997.4,0.0,791,8719,1.30,2.33,103.12,1.373,4,0.067,0.031,2934,1134,3034
$GC,8872,0.64,149.3,988.0,10.2,803,8902,0.70,2.15,23.38,1.306,6,0.209,0.038,2755,2501,2923
$GC,9227,0.65,198.4,957.9,8.8,820,9273,0.00,2.17,40.80,1.341,4,0.000,0.031,2759,1147,2722
$GC,9347,0.69,225.6,945.6,10.2,825,9379,0.00,2.12,24.25,1.298,6,0.000,0.037,2759,2494,2612
$GC,9689,0.70,238.7,907.9,11.1,842,9705,0.00,2.15,11.50,1.220,4,0.000,0.031,2759,1132,2558
$GC,9744,0.80,238.7,901.3,12.2,843,9750,0.12,2.10,0.00,0.000,6,0.091,0.036,2805,2481,2556
$GC,10060,0.71,238.7,860.0,12.9,859,10064,0.12,2.03,0.00,0.000,4,0.196,0.051,2777,3770,2554
$GC,10094,0.61,238.7,855.6,12.3,860,10098,0.12,1.88,0.00,0.000,6,0.199,0.027,2747,2498,2554
$GC,10416,0.77,283.5,825.1,9.0,876,10461,0.12,2.12,37.67,1.297,4,0.086,0.031,2801,1120,2375
$GC,10511,0.77,283.5,813.8,12.2,880,10515,0.00,2.15,0.00,0.000,6,0.000,0.036,2801,2482,2371
$GC,10837,0.77,283.5,771.9,13.1,896,10839,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2482,2369
$GC,11148,0.77,283.5,730.8,13.0,911,11151,0.00,2.08,0.00,0.000,4,0.000,0.032,2803,1112,2367
$GC,11242,0.77,283.5,718.9,12.5,915,11246,0.00,2.10,0.00,0.000,6,0.000,0.036,2803,2479,2367
$GC,11570,0.77,283.5,677.9,13.1,931,11574,0.00,2.05,0.00,0.000,4,0.000,0.032,2803,1118,2366
$GC,11631,0.77,283.6,669.8,12.0,933,11637,0.00,2.03,0.00,0.000,6,0.000,0.035,2802,2443,2366
$GC,11947,0.79,300.9,633.8,10.9,949,11966,0.00,0.00,14.32,1.139,6,0.000,0.000,2803,2443,2305
$GC,12278,0.84,300.9,594.1,12.3,965,12281,0.00,2.08,0.00,0.000,4,0.000,0.054,2803,3763,2302
$GC,12323,0.75,300.9,587.5,15.2,967,12327,0.00,1.95,0.00,0.000,6,0.000,0.028,2809,2442,2302
$GC,12655,0.75,300.9,546.3,12.4,983,12659,0.00,1.95,0.00,0.000,4,0.000,0.031,2816,1118,2301
$GC,12734,0.75,302.6,536.4,11.9,986,12738,0.00,2.00,0.00,0.000,6,0.000,0.035,2816,2434,2301
$GC,13056,0.76,307.6,497.0,11.7,1003,13068,0.00,2.15,6.72,0.922,4,0.000,0.051,2816,3769,2277
$GC,13127,0.69,307.6,488.2,13.2,1009,13131,0.20,1.95,0.00,0.000,6,0.180,0.027,2773,2438,2276
$GC,13457,0.92,337.8,455.0,10.0,1040,13492,0.20,2.03,25.55,1.031,4,0.073,0.031,2862,1118,2153
$GC,13499,0.85,337.8,449.2,13.8,1043,13505,0.17,2.10,0.00,0.000,6,0.183,0.035,2819,2468,2152
$GC,13824,0.94,337.8,408.2,12.3,1074,13828,0.00,2.03,0.00,0.000,4,0.000,0.030,2827,1114,2150
$GC,13926,1.06,337.8,395.6,12.1,1083,13931,0.17,2.03,0.00,0.000,6,0.075,0.035,2894,2440,2150
$GC,14252,0.93,337.8,345.9,15.3,1113,14256,0.17,2.08,0.00,0.000,4,0.185,0.048,2845,3768,2150
$GC,14286,0.86,337.8,340.7,14.7,1116,14290,0.00,1.98,0.00,0.000,6,0.000,0.025,2853,2417,2150
$GC,14619,0.87,344.3,300.8,11.6,1147,14627,0.00,0.00,6.20,0.753,6,0.000,0.000,2853,2415,2128
$GC,14965,0.93,344.3,259.2,13.1,1208,14972,0.00,1.90,0.00,0.000,4,0.000,0.030,2861,1110,2128
$GC,15071,0.99,350.3,246.3,11.6,1226,15084,0.00,2.05,7.10,0.739,6,0.000,0.034,2861,2462,2102
$GC,15424,1.06,360.3,205.7,11.3,1288,15438,0.00,2.08,9.57,0.745,4,0.000,0.049,2861,3764,2063
$GC,15547,1.01,360.3,189.9,12.3,1309,15553,0.00,1.85,0.00,0.000,6,0.000,0.026,2868,2486,2061
$GC,15891,1.08,363.6,147.9,11.8,1370,15903,0.00,2.03,4.60,0.565,4,0.000,0.048,2868,3753,2049
$GC,15978,1.08,363.6,136.3,13.2,1385,15984,0.00,1.77,0.00,0.000,6,0.000,0.025,2871,2512,2048
$GC,16322,1.27,405.6,95.7,9.2,1446,16365,0.20,2.08,34.12,0.707,4,0.073,0.028,2968,1119,1877
$GC,16506,1.23,417.0,74.6,11.2,1478,16525,0.00,2.05,9.80,0.627,6,0.000,0.031,2968,2471,1831
$GC,16863,1.31,482.6,42.2,7.7,1541,16921,0.00,2.03,51.30,0.649,4,0.000,0.047,2968,3756,1563
$GC,17051,1.35,482.6,17.2,12.6,1574,17057,0.00,1.85,0.00,0.000,6,0.000,0.024,2977,2469,1558
$STATE,17180,end climb,SURFACE_DEPTH_REACHED
$STATE,17180,begin surface coast
$FINISH,1.8,1.012433
$STATE,17209,end surface coast,CONTROL_FINISHED_OK
$STATE,17209,begin surface
$SM_CCo,17286,0.00,0.000,0,0,1555,484.96
$SM_GC,2.69,7.68,0.00,0.00,0.057,0.000,0.000,138,2464,1555,-7.51,1.05,484.96
$IRIDIUM_FIX,2448.93,12417.66,071098,010127
$TT8_MAMPS,0.028379
$HUMID,1610
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.2,53.507
$10V_AH,10.8,30.177
$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,25.300,149.800,502.650,0.000,0.000,31.492,36.053,189.623,8.000,0.000,0.000,14.562,2847.479,10744.940,615.125,2832.857,634.039,0.000,2061.904,0.000,2765.893,0.000,57.045,0.000
$DEVICE_MAMPS,230.867,53.690,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.016,1114.324,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85326,1602
$CAP_FILE_SIZE,180717,0
$CFSIZE,260165632,200646656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.193, 78.0,1
$GPS,130709,112506,2457.102,12417.114,37,1.8,43,-3.7