version: 66.04
glider: 167
mission: 2
dive: 306
start: 7 13 109 21 25 18
data:
$ID,167
$MISSION,2
$DIVE,306
$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,-11347.862
$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,57
$R_STBD_OVSHOOT,48
$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
$GPS1,211731,2455.919,12416.980,39,1.6,46,-3.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-64.2
$GPS2,212458,2455.918,12417.104,12,2.1,31,-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,205.3,16216,-23.2,-12.000
$D_GRID,1758
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-24.23,0.000,2,0.000,0.000,139,2462,2249
$GC,44,-1.18,-121.7,3.1,-2.7,4,111,8.43,2.20,-53.28,0.000,4,0.241,0.037,2160,998,3989
$GC,187,-0.78,-121.7,28.4,-25.3,28,194,0.50,2.15,0.00,0.000,6,0.163,0.029,2295,2430,3990
$GC,532,-0.97,-121.7,79.1,-10.8,89,539,0.17,2.03,0.00,0.000,4,0.065,0.044,2205,3755,3991
$GC,787,-0.84,-121.7,117.8,-13.6,134,794,0.25,1.90,0.00,0.000,6,0.155,0.023,2277,2398,3992
$GC,1134,-1.08,-121.7,152.1,-9.1,195,1140,0.20,2.10,0.00,0.000,4,0.061,0.043,2179,3764,3994
$GC,1355,-0.91,-121.7,182.1,-13.5,234,1362,0.25,1.83,0.00,0.000,6,0.155,0.023,2249,2463,3995
$GC,1703,-1.10,-121.7,214.5,-8.4,295,1709,0.17,1.98,0.00,0.000,4,0.064,0.043,2176,3752,3996
$GC,1796,-0.95,-121.7,226.0,-13.7,311,1802,0.22,1.77,0.00,0.000,6,0.153,0.024,2238,2486,3995
$GC,2141,-1.12,-121.7,263.9,-10.7,372,2147,0.15,1.95,0.00,0.000,4,0.067,0.044,2175,3751,3995
$GC,2193,-0.99,-121.7,270.7,-13.5,381,2199,0.17,1.77,0.00,0.000,6,0.158,0.024,2222,2489,3996
$GC,2535,-1.13,-121.7,304.3,-9.1,438,2540,0.12,1.95,0.00,0.000,4,0.075,0.044,2165,3758,3995
$GC,2582,-1.00,-121.7,309.6,-12.9,442,2586,0.20,1.75,0.00,0.000,6,0.157,0.024,2220,2518,3995
$GC,2912,-1.15,-121.7,340.8,-10.0,473,2916,0.15,1.90,0.00,0.000,4,0.068,0.044,2153,3752,3996
$GC,2963,-0.99,-121.7,347.2,-12.6,477,2970,0.25,1.73,0.00,0.000,6,0.157,0.024,2222,2527,3995
$GC,3289,-1.35,-121.7,378.8,-9.3,508,3293,0.28,2.12,0.00,0.000,4,0.059,0.025,2107,1044,3995
$GC,3488,-1.14,-121.7,407.1,-13.8,525,3492,0.28,2.15,0.00,0.000,6,0.170,0.031,2172,2484,3995
$GC,3818,-1.14,-121.7,444.4,-11.1,556,3822,0.00,1.95,0.00,0.000,4,0.000,0.045,2165,3749,3993
$GC,3914,-1.06,-121.7,455.9,-11.5,564,3921,0.15,1.77,0.00,0.000,6,0.160,0.025,2204,2504,3994
$GC,4241,-1.20,-121.7,484.5,-8.9,595,4245,0.15,1.95,0.00,0.000,4,0.071,0.046,2140,3762,3992
$GC,4268,-1.10,-121.7,487.7,-11.4,597,4275,0.17,1.80,0.00,0.000,6,0.170,0.025,2185,2504,3993
$GC,4600,-1.17,-121.7,521.3,-9.9,619,4604,0.00,1.95,0.00,0.000,4,0.000,0.048,2178,3743,3991
$GC,4684,-1.17,-121.7,530.1,-10.0,622,4691,0.00,1.75,0.00,0.000,6,0.000,0.025,2178,2514,3991
$GC,5000,-1.23,-121.7,562.1,-10.4,638,5004,0.00,1.92,0.00,0.000,4,0.000,0.048,2172,3753,3989
$GC,5101,-1.23,-121.7,574.3,-12.6,642,5105,0.00,1.73,0.00,0.000,6,0.000,0.027,2172,2553,3988
$GC,5423,-1.23,-121.7,613.6,-11.9,658,5426,0.00,1.90,0.00,0.000,4,0.000,0.049,2169,3751,3987
$GC,5474,-1.23,-121.7,619.8,-11.6,660,5478,0.00,1.73,0.00,0.000,6,0.000,0.027,2169,2553,3986
$GC,5802,-1.23,-121.7,654.3,-9.9,676,5806,0.00,2.17,0.00,0.000,4,0.000,0.027,2169,1060,3984
$GC,5864,-1.31,-121.7,661.0,-10.8,678,5872,0.12,2.22,0.00,0.000,6,0.083,0.035,2117,2523,3983
$GC,6180,-1.15,-121.7,699.9,-13.4,694,6188,0.20,1.90,0.00,0.000,4,0.180,0.048,2165,3753,3981
$GC,6323,-1.15,-121.7,717.4,-12.6,700,6326,0.00,1.77,0.00,0.000,6,0.000,0.028,2165,2560,3980
$GC,6653,-1.15,-121.7,754.7,-11.5,716,6656,0.00,2.20,0.00,0.000,4,0.000,0.028,2165,1056,3978
$GC,6754,-1.21,-121.7,766.0,-10.7,720,6758,0.00,2.25,0.00,0.000,6,0.000,0.038,2165,2521,3978
$GC,7070,-1.21,-121.7,796.5,-9.6,735,7074,0.00,2.17,0.00,0.000,4,0.000,0.028,2165,1053,3976
$GC,7116,-1.28,-121.7,801.2,-11.0,737,7120,0.00,2.22,0.00,0.000,6,0.000,0.038,2165,2503,3975
$GC,7449,-1.28,-121.7,833.8,-9.8,753,7452,0.00,1.95,0.00,0.000,4,0.000,0.054,2165,3752,3973
$GC,7533,-1.28,-121.7,842.6,-10.3,756,7539,0.00,1.80,0.00,0.000,6,0.000,0.028,2164,2521,3972
$GC,7849,-1.33,-121.7,878.1,-12.0,772,7854,0.15,2.15,0.00,0.000,4,0.084,0.027,2108,1055,3970
$GC,7882,-1.20,-121.7,882.7,-14.6,773,7888,0.22,2.20,0.00,0.000,6,0.173,0.037,2159,2497,3970
$GC,8198,-1.20,-121.7,919.0,-11.0,789,8202,0.00,1.95,0.00,0.000,4,0.000,0.052,2153,3747,3968
$GC,8266,-1.20,-121.7,927.1,-12.1,792,8270,0.00,1.77,0.00,0.000,6,0.000,0.028,2153,2543,3968
$GC,8599,-1.20,-121.7,965.0,-11.3,808,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2542,3966
$STATE,8843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8843,begin apogee
$GC,8849,-0.22,0.0,990.9,10.4,820,8950,1.08,0.00,92.45,1.388,6,0.162,0.000,2467,2541,3532
$STATE,8950,end apogee,CONTROL_FINISHED_OK
$STATE,8951,begin climb
$GC,8953,1.18,121.7,994.5,0.0,825,9064,1.27,2.10,103.35,1.370,4,0.067,0.050,2917,3749,3034
$GC,9199,0.46,121.7,982.2,12.9,836,9204,0.90,1.85,0.00,0.000,6,0.212,0.027,2697,2519,3031
$GC,9516,0.67,211.5,962.0,6.1,851,9593,0.17,0.00,74.03,1.353,6,0.080,0.000,2762,2518,2669
$GC,9890,0.70,238.0,925.1,10.3,869,9919,0.00,2.22,22.40,1.289,4,0.000,0.033,2763,1112,2560
$GC,9949,0.80,257.0,918.4,10.7,871,9971,0.12,2.20,17.00,1.247,6,0.085,0.037,2809,2508,2484
$GC,10283,0.72,257.0,873.7,13.8,887,10288,0.12,2.12,0.00,0.000,4,0.187,0.030,2787,1109,2478
$GC,10322,0.72,257.0,868.1,13.2,889,10326,0.00,2.17,0.00,0.000,6,0.000,0.037,2788,2509,2478
$GC,10655,0.72,257.0,824.0,13.5,905,10659,0.00,2.12,0.00,0.000,4,0.000,0.031,2788,1104,2476
$GC,10750,0.72,257.0,811.8,12.3,909,10754,0.00,2.15,0.00,0.000,6,0.000,0.037,2789,2500,2476
$GC,11077,0.72,257.0,772.8,12.1,925,11081,0.00,2.10,0.00,0.000,4,0.000,0.031,2788,1105,2474
$GC,11151,0.73,259.0,764.0,11.9,928,11154,0.00,2.08,0.00,0.000,6,0.000,0.037,2788,2460,2474
$GC,11477,0.73,259.0,724.6,12.1,944,11481,0.00,2.03,0.00,0.000,4,0.000,0.031,2789,1104,2474
$GC,11568,0.73,265.6,713.9,11.6,948,11582,0.00,2.03,7.00,1.058,6,0.000,0.035,2789,2433,2449
$GC,11899,0.76,285.1,676.2,10.7,964,11921,0.00,2.08,18.10,1.180,4,0.000,0.031,2789,1111,2369
$GC,11945,0.85,305.5,671.2,10.7,966,11968,0.00,2.05,18.35,1.155,6,0.000,0.035,2788,2430,2286
$GC,12277,0.95,316.1,634.2,11.3,982,12292,0.17,2.03,9.77,1.070,4,0.077,0.032,2869,1107,2243
$GC,12406,0.82,316.1,615.2,14.3,987,12412,0.22,2.03,0.00,0.000,6,0.185,0.037,2812,2417,2240
$GC,12723,0.82,317.4,576.3,11.9,1003,12727,0.00,2.12,0.00,0.000,4,0.000,0.051,2812,3769,2238
$GC,12749,0.82,317.4,572.4,13.2,1004,12753,0.00,2.05,0.00,0.000,6,0.000,0.027,2817,2398,2238
$GC,13077,0.83,323.6,534.1,11.6,1020,13091,0.00,2.22,7.15,0.952,4,0.000,0.051,2818,3760,2212
$GC,13160,0.76,323.6,523.1,13.5,1023,13166,0.15,2.00,0.00,0.000,6,0.183,0.027,2790,2412,2211
$GC,13480,0.92,335.6,487.3,11.2,1044,13497,0.15,2.00,11.68,0.998,4,0.081,0.031,2853,1106,2163
$GC,13589,0.92,335.6,472.6,13.8,1053,13592,0.00,2.00,0.00,0.000,6,0.000,0.036,2853,2410,2161
$GC,13921,0.92,335.6,427.7,12.8,1084,13922,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2410,2160
$GC,14240,0.92,340.3,388.7,11.7,1114,14249,0.00,0.00,5.20,0.764,6,0.000,0.000,2853,2410,2144
$GC,14568,0.92,340.3,346.4,12.8,1145,14572,0.00,1.92,0.00,0.000,4,0.000,0.031,2857,1113,2144
$GC,14614,0.92,340.3,340.4,12.4,1149,14617,0.00,1.98,0.00,0.000,6,0.000,0.034,2857,2418,2144
$GC,14946,0.93,341.9,299.5,11.9,1180,14952,0.00,2.10,0.00,0.000,4,0.000,0.049,2857,3771,2143
$GC,14976,0.86,341.9,295.4,14.0,1185,14983,0.17,2.03,0.00,0.000,6,0.176,0.025,2821,2378,2143
$GC,15322,1.05,365.5,258.4,10.4,1246,15353,0.17,1.90,21.90,0.844,4,0.072,0.032,2905,1120,2041
$GC,15446,0.99,365.5,241.7,13.4,1267,15452,0.15,1.95,0.00,0.000,6,0.173,0.033,2866,2404,2039
$GC,15791,1.07,365.5,201.6,12.1,1328,15797,0.00,2.12,0.00,0.000,4,0.000,0.048,2866,3771,2038
$GC,15826,1.07,365.5,197.2,13.2,1334,15833,0.00,2.05,0.00,0.000,6,0.000,0.025,2871,2367,2038
$GC,16171,1.17,376.7,157.0,11.3,1395,16189,0.15,2.20,10.38,0.706,4,0.077,0.045,2930,3769,1995
$GC,16247,0.96,376.7,146.9,14.0,1408,16254,0.30,2.03,0.00,0.000,6,0.170,0.024,2858,2383,1994
$GC,16594,1.29,453.1,118.4,7.0,1469,16664,0.25,2.28,61.00,0.719,4,0.065,0.047,2964,3759,1682
$GC,16756,1.17,453.1,96.1,14.4,1497,16763,0.20,2.05,0.00,0.000,6,0.171,0.024,2922,2371,1678
$GC,17102,1.41,484.0,61.4,10.0,1558,17132,0.17,0.00,23.60,0.648,6,0.071,0.000,2999,2369,1558
$GC,17471,1.41,484.0,14.0,15.0,1623,17477,0.00,1.83,0.00,0.000,4,0.000,0.029,3007,1110,1555
$STATE,17548,end climb,SURFACE_DEPTH_REACHED
$STATE,17548,begin surface coast
$FINISH,1.9,1.021325
$STATE,17566,end surface coast,CONTROL_FINISHED_OK
$STATE,17566,begin surface
$SM_CCo,17646,0.00,0.000,0,0,1553,485.45
$SM_GC,2.69,7.70,0.00,0.00,0.056,0.000,0.000,141,2448,1553,-7.50,0.59,485.45
$IRIDIUM_FIX,2448.93,12412.39,071098,161604
$TT8_MAMPS,0.029146
$HUMID,1580
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.4,54.057
$10V_AH,10.8,30.475
$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,26.625,152.700,503.350,0.000,0.000,29.327,31.882,222.091,8.000,0.000,0.000,32.846,2919.380,10930.309,635.467,2924.864,668.728,0.000,2115.030,0.000,2843.832,0.000,57.027,0.000
$DEVICE_MAMPS,240.838,53.690,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.231,1132.812,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88141,1640
$CAP_FILE_SIZE,183290,0
$CFSIZE,260165632,200372224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120, 61.1,1
$GPS,140709,022057,2454.947,12417.098,37,2.6,57,-3.7