version: 66.04
glider: 167
mission: 2
dive: 412
start: 7 28 109 0 54 0
data:
$ID,167
$MISSION,2
$DIVE,412
$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,-13846.329
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,45
$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
$GPS1,004625,2446.370,12426.533,41,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-67.8
$GPS2,005338,2446.538,12426.448,13,1.0,13,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2416.300,12441.400
$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,165.2,61427,-24.8,-13.043
$D_GRID,984
$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,-121.7,0.0,0.0,0,57,0.00,0.00,-40.03,0.000,2,0.000,0.000,141,2498,2366
$GC,61,-1.25,-121.7,3.2,-2.2,7,130,8.23,1.98,-51.88,0.000,4,0.234,0.054,2127,3753,3989
$GC,176,-0.83,-121.7,17.3,-20.1,26,183,0.52,1.88,0.00,0.000,6,0.165,0.021,2275,2429,3990
$GC,522,-1.18,-121.7,63.1,-12.3,87,528,0.28,2.05,0.00,0.000,4,0.054,0.041,2150,3754,3991
$GC,597,-0.90,-121.7,75.4,-17.3,100,605,0.38,1.83,0.00,0.000,6,0.160,0.021,2256,2454,3991
$GC,944,-1.30,-121.7,116.2,-8.9,161,951,0.32,1.92,0.00,0.000,4,0.051,0.022,2116,1094,3992
$GC,965,-1.49,-121.7,118.4,-10.6,164,973,0.12,2.05,0.00,0.000,6,0.077,0.027,2058,2493,3992
$GC,1314,-1.10,-121.7,171.1,-14.7,225,1321,0.43,1.90,0.00,0.000,4,0.168,0.038,2175,3755,3994
$GC,1350,-1.00,-121.7,176.0,-11.9,231,1357,0.17,1.75,0.00,0.000,6,0.157,0.021,2221,2495,3994
$GC,1698,-1.34,-121.7,211.1,-11.0,292,1706,0.28,1.92,0.00,0.000,4,0.056,0.041,2098,3754,3996
$GC,1719,-1.49,-121.7,213.6,-11.0,295,1725,0.00,1.75,0.00,0.000,6,0.000,0.021,2098,2481,3995
$GC,2066,-1.28,-121.7,261.8,-13.5,356,2073,0.12,1.95,0.00,0.000,4,0.174,0.040,2124,3758,3995
$GC,2144,-1.12,-121.7,272.0,-11.9,369,2150,0.22,1.67,0.00,0.000,6,0.162,0.021,2185,2549,3995
$GC,2491,-1.36,-121.7,309.2,-10.4,423,2495,0.17,2.03,0.00,0.000,4,0.064,0.022,2104,1136,3995
$GC,2604,-1.19,-121.7,324.1,-12.6,433,2610,0.22,2.05,0.00,0.000,6,0.162,0.028,2158,2507,3996
$GC,2937,-1.28,-121.7,357.4,-9.9,464,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2508,3996
$GC,3256,-1.50,-121.7,388.8,-10.4,494,3260,0.25,2.03,0.00,0.000,4,0.062,0.022,2055,1102,3995
$GC,3329,-1.24,-121.7,399.0,-14.3,500,3337,0.35,2.03,0.00,0.000,6,0.169,0.028,2143,2479,3996
$GC,3655,-1.31,-121.7,433.9,-9.6,531,3659,0.00,1.92,0.00,0.000,4,0.000,0.043,2138,3754,3995
$GC,3706,-1.31,-121.7,439.1,-10.3,535,3712,0.00,1.75,0.00,0.000,6,0.000,0.022,2138,2504,3996
$GC,4034,-1.47,-121.7,470.0,-9.8,566,4039,0.17,2.00,0.00,0.000,4,0.067,0.024,2065,1102,3994
$GC,4107,-1.25,-121.7,479.4,-13.7,572,4115,0.30,2.05,0.00,0.000,6,0.169,0.029,2140,2484,3994
$GC,4433,-1.44,-121.7,510.0,-8.9,598,4437,0.17,2.00,0.00,0.000,4,0.071,0.023,2065,1114,3993
$GC,4467,-1.28,-121.7,513.8,-10.5,599,4472,0.28,2.03,0.00,0.000,6,0.169,0.028,2132,2469,3993
$GC,4789,-1.47,-121.7,542.9,-9.0,615,4793,0.17,2.00,0.00,0.000,4,0.071,0.023,2057,1093,3991
$GC,4817,-1.36,-121.7,546.0,-11.4,616,4821,0.20,2.03,0.00,0.000,6,0.174,0.030,2102,2455,3991
$GC,5141,-1.36,-121.7,580.2,-10.7,632,5145,0.00,2.00,0.00,0.000,4,0.000,0.045,2097,3766,3990
$GC,5193,-1.23,-121.7,586.7,-12.0,634,5197,0.20,1.88,0.00,0.000,6,0.166,0.023,2151,2445,3989
$GC,5523,-1.47,-121.7,616.9,-9.3,650,5527,0.20,1.95,0.00,0.000,4,0.067,0.025,2068,1095,3986
$GC,5573,-1.32,-121.7,623.2,-11.7,652,5578,0.22,2.00,0.00,0.000,6,0.168,0.031,2119,2433,3986
$GC,5898,-1.47,-121.7,653.3,-8.7,668,5902,0.15,2.05,0.00,0.000,4,0.074,0.046,2057,3763,3984
$GC,5914,-1.47,-121.7,655.2,-8.8,668,5921,0.00,1.92,0.00,0.000,6,0.000,0.024,2057,2409,3984
$GC,6230,-1.29,-121.7,690.7,-11.4,684,6234,0.22,1.90,0.00,0.000,4,0.183,0.025,2122,1096,3981
$GC,6271,-1.34,-121.7,695.0,-10.5,685,6277,0.00,2.03,0.00,0.000,6,0.000,0.031,2122,2442,3981
$GC,6589,-1.49,-121.7,726.9,-10.7,701,6593,0.17,1.98,0.00,0.000,4,0.071,0.025,2049,1101,3979
$GC,6658,-1.31,-121.7,735.9,-13.5,704,6662,0.28,1.98,0.00,0.000,6,0.177,0.032,2116,2410,3979
$GC,6987,-1.45,-121.7,771.3,-10.3,720,6991,0.12,2.10,0.00,0.000,4,0.084,0.048,2069,3761,3976
$GC,7150,-1.22,-121.7,792.8,-13.4,727,7154,0.30,1.98,0.00,0.000,6,0.175,0.025,2149,2391,3975
$GC,7471,-1.50,-121.7,824.0,-9.9,743,7476,0.22,2.15,0.00,0.000,4,0.067,0.048,2057,3753,3973
$GC,7544,-1.24,-121.7,834.3,-14.9,746,7549,0.28,1.95,0.00,0.000,6,0.173,0.025,2146,2428,3972
$GC,7866,-1.50,-121.7,866.6,-9.6,762,7871,0.20,1.92,0.00,0.000,4,0.070,0.026,2062,1105,3970
$GC,7917,-1.37,-121.7,872.7,-13.2,764,7922,0.17,1.98,0.00,0.000,6,0.176,0.035,2102,2412,3970
$GC,8245,-1.37,-121.7,909.1,-11.3,780,8248,0.00,2.10,0.00,0.000,4,0.000,0.050,2098,3759,3968
$GC,8475,-1.27,-121.7,938.6,-12.2,790,8479,0.15,1.95,0.00,0.000,6,0.175,0.025,2135,2419,3966
$GC,8804,-1.38,-121.7,970.5,-10.1,806,8808,0.00,2.12,0.00,0.000,4,0.000,0.051,2135,3757,3965
$GC,8912,-1.43,-121.7,982.2,-10.7,810,8919,0.15,1.92,0.00,0.000,6,0.077,0.025,2079,2426,3964
$STATE,8936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8936,begin apogee
$GC,8943,-0.22,0.0,985.4,10.9,812,9045,1.35,0.00,93.53,1.371,6,0.168,0.000,2464,2425,3532
$STATE,9046,end apogee,CONTROL_FINISHED_OK
$STATE,9046,begin climb
$GC,9049,1.25,121.7,991.1,0.0,817,9160,1.40,0.00,103.43,1.353,6,0.066,0.000,2951,2425,3036
$GC,9473,0.75,193.1,969.6,7.9,838,9539,0.60,2.25,59.12,1.334,4,0.211,0.030,2802,1021,2743
$GC,9597,0.80,232.4,958.3,10.2,843,9636,0.00,2.12,34.05,1.297,6,0.000,0.035,2801,2380,2584
$GC,9962,0.86,281.2,921.1,9.5,861,10008,0.00,2.12,40.67,1.309,4,0.000,0.031,2803,1033,2384
$GC,10044,1.00,320.3,912.7,10.2,865,10086,0.20,2.10,33.90,1.277,6,0.073,0.033,2875,2370,2226
$GC,10398,0.89,320.3,863.0,14.6,882,10403,0.17,2.20,0.00,0.000,4,0.190,0.048,2827,3767,2218
$GC,10493,0.81,320.3,847.8,15.6,886,10497,0.00,2.03,0.00,0.000,6,0.000,0.024,2831,2399,2217
$GC,10816,0.81,320.3,801.8,14.3,902,10819,0.00,2.10,0.00,0.000,4,0.000,0.034,2831,997,2216
$GC,10884,0.88,320.3,792.3,13.6,905,10888,0.00,2.10,0.00,0.000,6,0.000,0.034,2831,2377,2215
$GC,11219,0.88,322.2,747.8,12.9,921,11223,0.00,2.17,0.00,0.000,4,0.000,0.051,2831,3764,2215
$GC,11292,0.78,322.2,737.0,14.9,924,11296,0.15,2.03,0.00,0.000,6,0.194,0.023,2802,2370,2215
$GC,11619,0.97,372.3,703.4,9.5,940,11667,0.17,2.28,43.12,1.214,4,0.080,0.049,2875,3756,2013
$GC,11751,0.85,372.3,684.1,16.2,946,11755,0.25,2.03,0.00,0.000,6,0.186,0.025,2818,2418,2008
$GC,12077,1.01,372.3,640.3,13.6,962,12082,0.15,2.12,0.00,0.000,4,0.080,0.030,2882,998,2005
$GC,12163,1.01,372.3,627.6,14.5,966,12166,0.00,2.15,0.00,0.000,6,0.000,0.032,2882,2404,2005
$GC,12495,1.01,372.3,580.1,14.8,982,12499,0.00,2.12,0.00,0.000,4,0.000,0.032,2882,1002,2003
$GC,12519,1.01,372.3,576.6,14.8,983,12523,0.00,2.12,0.00,0.000,6,0.000,0.034,2882,2392,2003
$GC,12852,1.01,372.3,528.5,14.3,999,12855,0.00,2.12,0.00,0.000,4,0.000,0.048,2882,3755,2002
$GC,12891,0.91,372.3,522.4,14.9,1000,12899,0.20,2.03,0.00,0.000,6,0.189,0.025,2840,2370,2002
$GC,13214,1.17,389.5,482.4,11.8,1022,13236,0.20,2.25,13.98,1.011,4,0.072,0.048,2922,3761,1943
$GC,13298,0.98,389.5,469.4,15.8,1029,13305,0.25,1.95,0.00,0.000,6,0.186,0.025,2866,2434,1941
$GC,13624,1.09,397.6,428.6,12.5,1060,13638,0.00,2.15,8.32,0.903,4,0.000,0.048,2866,3756,1911
$GC,13751,1.09,397.6,411.5,13.2,1071,13755,0.00,2.00,0.00,0.000,6,0.000,0.026,2873,2411,1909
$GC,14082,1.36,427.1,372.4,10.9,1102,14116,0.28,2.15,25.92,0.948,4,0.066,0.047,2984,3755,1788
$GC,14185,1.07,427.1,355.7,16.5,1111,14190,0.40,1.95,0.00,0.000,6,0.199,0.025,2892,2450,1785
$GC,14511,1.19,439.6,311.5,12.1,1141,14528,0.10,2.10,11.30,0.844,4,0.097,0.049,2929,3762,1738
$GC,14574,1.11,439.6,302.8,14.1,1146,14581,0.15,2.03,0.00,0.000,6,0.186,0.025,2902,2394,1737
$GC,14918,1.27,458.4,264.7,11.7,1205,14943,0.15,2.17,16.62,0.831,4,0.081,0.046,2962,3765,1664
$GC,15059,1.14,458.4,242.8,16.6,1229,15066,0.22,2.08,0.00,0.000,6,0.190,0.024,2914,2367,1662
$GC,15407,1.42,496.0,200.9,10.3,1290,15442,0.22,0.00,31.62,0.794,6,0.071,0.000,3005,2363,1510
$GC,15783,1.35,496.0,144.8,17.1,1356,15790,0.00,2.20,0.00,0.000,4,0.000,0.045,3005,3767,1505
$GC,15843,1.23,496.0,134.3,16.9,1366,15850,0.28,2.00,0.00,0.000,6,0.186,0.022,2944,2398,1504
$GC,16192,1.64,531.3,94.9,10.5,1427,16230,0.32,2.08,29.77,0.691,4,0.058,0.028,3090,1004,1362
$GC,16260,1.46,531.3,83.8,17.3,1438,16266,0.28,2.03,0.00,0.000,6,0.193,0.028,3019,2350,1361
$GC,16608,1.53,551.7,36.5,11.6,1499,16632,0.00,2.03,17.12,0.620,4,0.000,0.028,3027,998,1281
$GC,16749,1.61,551.7,18.5,13.3,1523,16756,0.10,1.90,0.00,0.000,6,0.091,0.026,3069,2280,1279
$STATE,16861,end climb,SURFACE_DEPTH_REACHED
$STATE,16861,begin surface coast
$FINISH,1.7,1.003904
$STATE,16887,end surface coast,CONTROL_FINISHED_OK
$STATE,16887,begin surface
$SM_CCo,16966,0.00,0.000,0,0,1276,553.40
$SM_GC,2.64,7.90,0.00,0.00,0.056,0.000,0.000,140,2487,1276,-7.50,0.11,553.40
$IRIDIUM_FIX,2439.44,12428.80,211098,202004
$TT8_MAMPS,0.029146
$HUMID,1673
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,23.4,69.752
$10V_AH,10.7,38.067
$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,31.925,157.925,562.500,0.000,0.000,24.394,40.101,204.629,8.250,0.000,0.000,14.105,2798.134,10367.199,694.261,2793.729,733.017,0.000,2146.011,0.000,2724.581,0.000,54.441,0.000
$DEVICE_MAMPS,233.935,54.457,1371.396,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.228,1060.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81993,1547
$CAP_FILE_SIZE,187941,0
$CFSIZE,260165632,193363968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,345.3,1
$GPS,280709,053800,2446.576,12426.360,37,1.1,38,-3.7