version: 66.04
glider: 167
mission: 2
dive: 442
start: 8 2 109 12 49 18
data:
$ID,167
$MISSION,2
$DIVE,442
$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,475
$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,-14427.921
$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,20.75
$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,73
$R_STBD_OVSHOOT,58
$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
$GPS1,124236,2443.602,12409.937,37,1.3,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-63.8
$GPS2,124856,2443.554,12409.896,13,1.4,13,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2439.100,12400.200
$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,254.8,18285,-24.8,-13.043
$D_GRID,686
$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,17,-1.34,-121.7,0.0,0.0,0,66,0.00,0.00,-46.70,0.000,2,0.000,0.000,138,2503,2416
$GC,69,-1.34,-121.7,3.2,-2.6,8,134,8.02,2.12,-47.80,0.000,4,0.232,0.035,2110,1072,3989
$GC,265,-0.97,-121.7,33.5,-18.5,42,272,0.45,2.08,0.00,0.000,6,0.164,0.028,2228,2473,3990
$GC,611,-1.22,-121.7,76.9,-11.3,103,619,0.17,1.95,0.00,0.000,4,0.065,0.041,2140,3766,3991
$GC,648,-1.03,-121.7,82.2,-15.1,109,655,0.25,1.85,0.00,0.000,6,0.166,0.020,2206,2428,3991
$GC,994,-1.31,-121.7,119.6,-11.2,170,1000,0.20,0.00,0.00,0.000,6,0.061,0.000,2116,2428,3993
$GC,1339,-1.17,-121.7,161.3,-11.5,231,1347,0.17,2.03,0.00,0.000,4,0.162,0.039,2165,3757,3994
$GC,1477,-1.09,-121.7,177.7,-12.8,254,1483,0.00,1.85,0.00,0.000,6,0.000,0.025,2165,2423,3994
$GC,1822,-1.28,-121.7,219.4,-10.0,315,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2423,3995
$GC,2167,-1.47,-121.7,253.9,-10.9,376,2173,0.22,0.00,0.00,0.000,6,0.059,0.000,2061,2423,3995
$GC,2514,-1.22,-121.7,300.7,-13.2,437,2519,0.28,2.05,0.00,0.000,4,0.163,0.040,2137,3764,3995
$GC,2695,-1.13,-121.7,323.1,-12.1,452,2702,0.15,1.83,0.00,0.000,6,0.159,0.021,2176,2450,3995
$GC,3021,-1.40,-121.7,352.4,-8.9,483,3025,0.20,2.00,0.00,0.000,4,0.064,0.041,2085,3758,3995
$GC,3049,-1.33,-121.7,355.5,-11.5,485,3056,0.12,1.75,0.00,0.000,6,0.171,0.021,2115,2504,3995
$GC,3375,-1.40,-121.7,391.3,-11.8,516,3379,0.00,2.00,0.00,0.000,4,0.000,0.022,2115,1084,3995
$GC,3414,-1.40,-121.7,396.4,-12.6,519,3422,0.00,2.10,0.00,0.000,6,0.000,0.027,2111,2513,3995
$GC,3741,-1.46,-121.7,434.5,-10.7,550,3743,0.10,0.00,0.00,0.000,6,0.088,0.000,2065,2514,3994
$GC,4061,-1.37,-121.7,470.6,-11.5,580,4065,0.15,2.05,0.00,0.000,4,0.167,0.023,2103,1113,3994
$GC,4119,-1.28,-121.7,477.3,-12.0,585,4123,0.12,2.05,0.00,0.000,6,0.170,0.028,2131,2486,3993
$GC,4459,-1.42,-121.7,514.4,-11.2,611,4461,0.12,0.00,0.00,0.000,6,0.080,0.000,2080,2488,3992
$GC,4767,-1.42,-121.7,548.2,-9.5,626,4770,0.00,2.03,0.00,0.000,4,0.000,0.025,2080,1087,3991
$GC,4823,-1.30,-121.7,553.9,-10.0,628,4828,0.20,2.08,0.00,0.000,6,0.160,0.028,2125,2486,3991
$GC,5141,-1.46,-121.7,582.5,-10.1,643,5145,0.15,2.03,0.00,0.000,4,0.074,0.024,2065,1105,3989
$GC,5169,-1.41,-121.7,585.9,-12.2,644,5173,0.12,2.05,0.00,0.000,6,0.176,0.029,2088,2470,3989
$GC,5499,-1.46,-121.7,623.8,-11.0,660,5502,0.00,2.00,0.00,0.000,4,0.000,0.024,2088,1088,3987
$GC,5568,-1.38,-121.7,631.7,-11.1,663,5572,0.00,2.03,0.00,0.000,6,0.000,0.031,2085,2443,3986
$GC,5901,-1.38,-121.7,661.2,-8.3,679,5905,0.00,1.98,0.00,0.000,4,0.000,0.025,2084,1083,3984
$GC,5942,-1.30,-121.7,664.6,-9.4,680,5949,0.15,2.03,0.00,0.000,6,0.168,0.031,2123,2439,3984
$STATE,6193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6193,begin apogee
$GC,6200,-0.24,0.0,687.2,9.6,693,6296,1.10,0.00,90.88,1.137,6,0.143,0.000,2463,2440,3532
$STATE,6297,end apogee,CONTROL_FINISHED_OK
$STATE,6297,begin climb
$GC,6300,1.34,121.7,694.4,0.0,698,6408,1.42,2.15,97.68,1.109,4,0.064,0.044,2978,3753,3035
$GC,6660,0.68,196.5,682.1,7.7,714,6727,0.85,1.95,58.75,1.100,6,0.208,0.021,2766,2389,2729
$GC,7050,0.94,285.8,653.5,6.6,733,7127,0.20,2.12,71.18,1.096,4,0.074,0.028,2858,1030,2365
$GC,7230,0.99,324.0,635.7,10.3,741,7267,0.00,2.15,31.12,1.058,6,0.000,0.030,2858,2441,2210
$GC,7576,1.00,331.1,595.8,12.5,758,7586,0.00,2.03,6.07,0.847,4,0.000,0.045,2858,3754,2184
$GC,7626,0.88,331.1,588.7,13.7,760,7630,0.15,1.88,0.00,0.000,6,0.182,0.023,2830,2448,2182
$GC,7949,1.11,365.2,552.4,10.6,776,7984,0.17,2.12,29.17,1.045,4,0.075,0.048,2905,3748,2042
$GC,8094,0.94,365.2,532.4,14.4,782,8098,0.17,1.80,0.00,0.000,6,0.178,0.024,2851,2524,2037
$GC,8416,1.22,404.7,498.0,10.2,798,8454,0.22,1.98,32.47,1.017,4,0.070,0.045,2945,3757,1881
$GC,8495,0.98,404.7,487.9,14.0,805,8499,0.35,1.92,0.00,0.000,6,0.183,0.023,2861,2457,1879
$GC,8820,1.33,429.7,453.6,11.3,835,8847,0.28,2.17,21.00,0.972,4,0.068,0.028,2983,1030,1779
$GC,8941,1.14,429.7,435.8,16.0,845,8948,0.28,2.12,0.00,0.000,6,0.188,0.030,2913,2433,1775
$GC,9267,1.32,450.3,392.5,11.6,876,9300,0.17,2.08,19.88,0.857,4,0.070,0.048,2981,3749,1695
$GC,9394,1.08,450.3,372.7,16.5,887,9399,0.30,1.92,0.00,0.000,6,0.183,0.024,2894,2446,1693
$GC,9725,1.42,474.7,333.5,11.3,918,9752,0.28,2.10,20.70,0.890,4,0.065,0.048,3007,3742,1595
$GC,9832,1.15,474.7,315.9,17.4,927,9840,0.38,1.98,0.00,0.000,6,0.185,0.024,2917,2403,1592
$GC,10171,1.40,482.7,273.5,12.5,977,10185,0.17,2.12,7.50,0.749,4,0.071,0.046,2994,3752,1563
$GC,10277,1.19,482.7,255.3,18.7,995,10284,0.28,2.08,0.00,0.000,6,0.184,0.023,2932,2328,1562
$GC,10624,1.45,496.3,210.5,12.1,1056,10643,0.20,2.30,12.95,0.769,4,0.071,0.044,3015,3760,1507
$GC,10744,1.21,496.3,192.5,16.4,1076,10751,0.32,2.00,0.00,0.000,6,0.180,0.022,2939,2368,1506
$GC,11092,1.56,520.6,148.5,11.3,1137,11122,0.28,2.03,21.17,0.739,4,0.065,0.028,3067,1016,1408
$GC,11248,1.37,520.6,123.8,16.3,1164,11255,0.30,2.08,0.00,0.000,6,0.189,0.029,2989,2403,1405
$GC,11596,1.63,552.6,80.6,10.8,1225,11632,0.20,2.12,26.55,0.684,4,0.070,0.044,3076,3748,1278
$GC,11686,1.43,552.6,67.4,16.2,1240,11693,0.30,1.90,0.00,0.000,6,0.189,0.021,3007,2435,1276
$GC,12032,1.83,596.5,27.8,9.9,1301,12075,0.30,2.12,36.72,0.632,4,0.064,0.041,3129,3755,1099
$GC,12133,1.61,596.5,12.0,18.0,1318,12140,0.28,2.05,0.00,0.000,6,0.190,0.021,3067,2344,1097
$STATE,12193,end climb,SURFACE_DEPTH_REACHED
$STATE,12194,begin surface coast
$FINISH,1.7,0.998541
$STATE,12217,end surface coast,CONTROL_FINISHED_OK
$STATE,12217,begin surface
$SM_CCo,12298,0.00,0.000,0,0,1094,598.04
$SM_GC,2.56,7.93,0.00,0.00,0.058,0.000,0.000,139,2500,1094,-7.50,0.48,598.04
$IRIDIUM_FIX,2437.06,12410.35,271098,090939
$TT8_MAMPS,0.029146
$HUMID,1757
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,25.90
$XPDR_PINGS,2
$24V_AH,23.5,75.609
$10V_AH,10.7,40.839
$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,28.250,97.400,583.800,0.000,0.000,23.777,32.537,173.826,5.500,0.000,0.000,13.374,2316.346,6785.497,653.208,2302.914,611.410,0.000,1855.705,0.000,2259.867,0.000,34.415,0.000
$DEVICE_MAMPS,232.401,50.622,1137.461,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,893.534,962.877,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72558,1333
$CAP_FILE_SIZE,141790,0
$CFSIZE,260165632,190832640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.051, 98.6,1
$GPS,020809,161530,2443.275,12409.447,39,1.5,39,-3.7