version: 66.04
glider: 167
mission: 2
dive: 317
start: 7 16 109 1 58 47
data:
$ID,167
$MISSION,2
$DIVE,317
$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,253
$T_MISSION,304
$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,-11550.646
$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,75
$R_STBD_OVSHOOT,38
$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
$GPS1,015207,2448.584,12419.696,30,1.0,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-67.8
$GPS2,015824,2448.614,12419.739,11,2.0,15,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2425.600,12317.300
$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,273.2,113587,-24.8,-13.043
$D_GRID,1047
$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,-1.25,-121.7,0.0,0.0,0,46,0.00,0.00,-29.40,0.000,2,0.000,0.000,140,2438,2286
$GC,50,-1.25,-121.7,3.0,-1.7,5,119,8.15,2.08,-54.00,0.000,4,0.234,0.038,2140,1022,3989
$GC,300,-0.86,-121.7,51.3,-24.7,48,307,0.47,2.10,0.00,0.000,6,0.175,0.028,2262,2438,3990
$GC,645,-0.96,-121.7,105.1,-15.1,109,651,0.00,2.00,0.00,0.000,4,0.000,0.045,2257,3749,3992
$GC,741,-1.02,-121.7,120.2,-15.4,126,749,0.12,1.88,0.00,0.000,6,0.074,0.021,2201,2402,3992
$GC,1089,-1.02,-121.7,173.9,-14.5,187,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2402,3994
$GC,1432,-1.02,-121.7,218.4,-13.5,248,1440,0.00,2.08,0.00,0.000,4,0.000,0.043,2191,3756,3995
$GC,1622,-1.02,-121.7,247.4,-15.3,281,1628,0.00,1.80,0.00,0.000,6,0.000,0.024,2191,2463,3995
$GC,1968,-1.02,-121.7,295.3,-12.0,342,1975,0.00,1.98,0.00,0.000,4,0.000,0.044,2185,3757,3996
$GC,2105,-1.02,-121.7,313.0,-12.8,358,2109,0.12,1.80,0.00,0.000,6,0.159,0.024,2218,2478,3996
$GC,2435,-1.19,-121.7,344.2,-9.2,389,2440,0.17,1.98,0.00,0.000,4,0.066,0.044,2138,3765,3995
$GC,2542,-1.01,-121.7,359.3,-14.8,398,2549,0.28,1.77,0.00,0.000,6,0.160,0.023,2214,2497,3996
$GC,2869,-1.22,-121.7,396.4,-12.0,429,2873,0.20,1.92,0.00,0.000,4,0.062,0.044,2124,3757,3995
$GC,2999,-1.04,-121.7,417.6,-15.6,440,3006,0.30,1.73,0.00,0.000,6,0.163,0.024,2207,2532,3995
$GC,3325,-1.23,-121.7,453.2,-11.3,471,3329,0.17,1.90,0.00,0.000,4,0.068,0.046,2138,3764,3996
$GC,3416,-1.09,-121.7,465.0,-13.4,479,3421,0.20,1.73,0.00,0.000,6,0.163,0.025,2191,2548,3995
$GC,3747,-1.26,-121.7,498.9,-8.9,510,3751,0.15,1.88,0.00,0.000,4,0.072,0.045,2124,3762,3994
$GC,3862,-1.11,-121.7,513.4,-13.1,516,3866,0.17,1.75,0.00,0.000,6,0.163,0.025,2178,2562,3994
$GC,4194,-1.23,-121.7,549.3,-10.7,532,4199,0.00,1.85,0.00,0.000,4,0.000,0.049,2177,3754,3992
$GC,4222,-1.32,-121.7,552.6,-11.7,533,4226,0.17,1.70,0.00,0.000,6,0.068,0.026,2110,2565,3992
$GC,4549,-1.19,-121.7,597.8,-14.4,549,4554,0.17,1.85,0.00,0.000,4,0.175,0.046,2153,3756,3991
$GC,4577,-1.14,-121.7,601.8,-13.5,550,4581,0.00,1.67,0.00,0.000,6,0.000,0.027,2153,2583,3991
$GC,4905,-1.14,-121.7,639.0,-11.0,566,4908,0.00,2.22,0.00,0.000,4,0.000,0.028,2152,1062,3989
$GC,4944,-1.19,-121.7,643.8,-11.2,567,4950,0.00,2.30,0.00,0.000,6,0.000,0.035,2152,2568,3989
$GC,5260,-1.19,-121.7,679.1,-10.9,583,5264,0.00,1.83,0.00,0.000,4,0.000,0.051,2152,3753,3986
$GC,5469,-1.19,-121.7,703.1,-11.4,592,5472,0.00,1.67,0.00,0.000,6,0.000,0.028,2152,2616,3984
$GC,5797,-1.24,-121.7,738.4,-10.9,608,5801,0.00,1.77,0.00,0.000,4,0.000,0.052,2149,3749,3981
$GC,5899,-1.24,-121.7,750.2,-11.7,612,5902,0.00,1.62,0.00,0.000,6,0.000,0.028,2149,2620,3980
$GC,6220,-1.24,-121.7,786.8,-11.5,628,6224,0.00,2.28,0.00,0.000,4,0.000,0.028,2149,1063,3978
$GC,6266,-1.31,-121.7,792.3,-12.8,630,6270,0.00,2.35,0.00,0.000,6,0.000,0.037,2149,2600,3978
$GC,6587,-1.36,-121.7,829.9,-11.8,646,6589,0.12,0.00,0.00,0.000,6,0.085,0.000,2100,2602,3975
$GC,6897,-1.23,-121.7,872.5,-14.4,661,6899,0.17,0.00,0.00,0.000,6,0.182,0.000,2144,2602,3973
$GC,7205,-1.23,-121.7,906.7,-10.5,676,7209,0.00,1.80,0.00,0.000,4,0.000,0.054,2138,3757,3971
$GC,7278,-1.23,-121.7,915.2,-11.9,679,7282,0.00,1.62,0.00,0.000,6,0.000,0.029,2138,2639,3970
$GC,7607,-1.23,-121.7,952.0,-10.8,695,7611,0.00,2.33,0.00,0.000,4,0.000,0.029,2138,1057,3968
$GC,7640,-1.23,-121.7,956.2,-11.2,696,7646,0.00,2.40,0.00,0.000,6,0.000,0.038,2137,2615,3968
$STATE,7953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7953,begin apogee
$GC,7961,-0.22,0.0,992.0,11.7,712,8062,1.12,0.00,92.47,1.388,6,0.165,0.000,2464,2553,3532
$STATE,8063,end apogee,CONTROL_FINISHED_OK
$STATE,8063,begin climb
$GC,8065,1.25,121.7,997.1,0.0,717,8176,1.35,2.35,102.55,1.369,4,0.067,0.028,2950,1101,3035
$GC,8430,0.69,121.7,974.6,13.1,733,8435,0.70,2.17,0.00,0.000,6,0.211,0.036,2771,2501,3031
$GC,8746,0.69,178.3,944.8,9.0,748,8797,0.00,2.20,46.05,1.342,4,0.000,0.031,2775,1093,2804
$GC,8961,0.73,211.0,921.8,10.7,758,8993,0.00,2.22,27.73,1.299,6,0.000,0.036,2775,2515,2672
$GC,9313,0.81,232.9,880.6,11.5,775,9337,0.00,2.22,18.75,1.262,4,0.000,0.031,2775,1104,2582
$GC,9429,0.97,262.2,866.7,10.9,780,9459,0.22,2.17,25.23,1.270,6,0.074,0.035,2857,2501,2462
$GC,9772,0.84,262.2,815.4,15.0,796,9777,0.17,2.12,0.00,0.000,4,0.187,0.028,2816,1086,2456
$GC,9951,0.84,262.2,792.0,13.1,804,9955,0.00,2.15,0.00,0.000,6,0.000,0.035,2816,2464,2454
$GC,10279,0.85,268.3,751.0,12.6,820,10289,0.00,2.08,5.40,0.969,4,0.000,0.031,2820,1086,2437
$GC,10378,0.85,273.4,737.6,12.7,824,10389,0.00,2.12,5.88,0.992,6,0.000,0.037,2820,2465,2417
$GC,10711,0.87,284.4,696.0,12.3,841,10727,0.00,2.08,11.05,1.130,4,0.000,0.029,2828,1095,2372
$GC,10799,0.87,284.4,683.3,13.3,844,10803,0.00,2.10,0.00,0.000,6,0.000,0.035,2828,2453,2370
$GC,11126,0.87,288.9,640.9,12.7,860,11133,0.00,0.00,5.07,0.900,6,0.000,0.000,2828,2453,2354
$GC,11436,0.88,297.1,601.7,12.5,875,11450,0.00,2.10,8.60,1.035,4,0.000,0.032,2831,1097,2319
$GC,11518,0.96,304.7,591.5,12.5,878,11530,0.00,2.05,7.60,0.994,6,0.000,0.035,2831,2433,2291
$GC,11853,0.96,309.4,549.3,12.7,895,11864,0.00,2.03,5.78,0.900,4,0.000,0.031,2836,1090,2269
$GC,11938,1.05,318.5,538.3,12.4,899,11953,0.12,2.03,8.82,0.993,6,0.086,0.035,2883,2412,2233
$GC,12275,0.97,318.5,491.2,13.3,918,12279,0.00,1.98,0.00,0.000,4,0.000,0.031,2884,1098,2231
$GC,12314,0.91,318.5,485.3,13.8,921,12321,0.17,1.98,0.00,0.000,6,0.182,0.033,2841,2402,2231
$GC,12639,1.03,364.6,450.0,9.7,952,12695,0.10,2.25,40.40,0.993,4,0.091,0.050,2879,3765,2044
$GC,12741,0.94,364.6,436.8,14.6,961,12745,0.17,2.08,0.00,0.000,6,0.186,0.025,2845,2375,2041
$GC,13071,1.09,372.2,397.5,12.5,992,13083,0.15,1.98,6.95,0.833,4,0.078,0.030,2912,1082,2014
$GC,13122,1.09,372.2,389.8,14.7,996,13128,0.00,2.00,0.00,0.000,6,0.000,0.034,2913,2391,2013
$GC,13451,1.04,372.2,338.0,15.3,1027,13455,0.12,1.95,0.00,0.000,4,0.180,0.028,2888,1085,2011
$GC,13619,1.12,384.3,316.2,12.2,1042,13635,0.00,1.95,11.00,0.845,6,0.000,0.033,2889,2373,1965
$GC,13967,1.20,384.3,271.2,13.4,1092,13974,0.12,2.15,0.00,0.000,4,0.085,0.045,2937,3761,1962
$GC,14021,1.04,384.3,262.3,17.7,1101,14027,0.22,2.08,0.00,0.000,6,0.186,0.023,2886,2341,1962
$GC,14366,1.17,384.3,213.7,14.4,1162,14374,0.10,2.22,0.00,0.000,4,0.089,0.045,2924,3761,1962
$GC,14500,1.08,384.3,193.3,15.1,1185,14506,0.15,2.00,0.00,0.000,6,0.184,0.024,2895,2385,1962
$GC,14845,1.27,415.4,154.8,10.8,1246,14877,0.17,1.98,26.45,0.744,4,0.076,0.030,2983,1082,1837
$GC,14982,1.22,415.4,136.5,13.2,1269,14989,0.17,2.03,0.00,0.000,6,0.187,0.031,2940,2427,1834
$GC,15328,1.36,435.0,95.8,11.6,1330,15352,0.12,2.03,16.62,0.671,4,0.076,0.028,2999,1092,1757
$GC,15420,1.36,435.0,83.5,13.8,1346,15427,0.00,2.00,0.00,0.000,6,0.000,0.031,3000,2425,1755
$GC,15766,1.39,459.8,42.9,11.3,1407,15795,0.00,2.03,20.92,0.627,4,0.000,0.026,3008,1084,1656
$GC,15912,1.48,485.2,26.9,11.2,1432,15941,0.00,1.95,20.92,0.607,6,0.000,0.029,3008,2394,1551
$STATE,16101,end climb,SURFACE_DEPTH_REACHED
$STATE,16101,begin surface coast
$FINISH,1.7,0.998722
$STATE,16125,end surface coast,CONTROL_FINISHED_OK
$STATE,16125,begin surface
$SM_CCo,16203,0.00,0.000,0,0,1546,487.17
$SM_GC,2.78,7.57,0.00,0.00,0.046,0.000,0.000,142,2399,1546,-7.50,-0.79,487.17
$IRIDIUM_FIX,2434.69,12559.55,091098,222234
$TT8_MAMPS,0.029146
$HUMID,1597
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,26.80
$XPDR_PINGS,0
$24V_AH,23.5,56.035
$10V_AH,10.7,31.512
$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,24.250,132.475,514.250,0.000,0.000,28.557,32.693,174.288,8.000,0.000,0.000,15.972,2646.053,9989.278,615.228,2735.048,587.525,0.000,2008.654,0.000,2668.671,0.000,57.034,0.000
$DEVICE_MAMPS,233.935,88.205,1387.503,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,990.470,1014.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78986,1470
$CAP_FILE_SIZE,168655,0
$CFSIZE,260165632,199434240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.199, 94.0,1
$GPS,160709,063006,2448.923,12419.756,36,1.1,42,-3.7