version: 66.04
glider: 167
mission: 2
dive: 8
start: 5 22 109 7 30 1
data:
$ID,167
$MISSION,2
$DIVE,8
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,450
$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,-4057.8271
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2553
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2270
$C_ROLL_CLIMB,2332
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,82
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$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
$GPS1,072102,2524.958,12301.365,11,1.5,17,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-68.8
$GPS2,072944,2524.970,12301.514,12,1.7,12,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$TGT_RADIUS,5000.000
$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,329.1,33826,-16.8,-10.000
$D_GRID,1045
$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,-0.88,-170.3,0.0,0.0,0,67,0.00,0.00,-50.40,0.000,2,0.000,0.000,141,2246,3016
$GC,70,-0.88,-170.3,3.3,-4.1,6,114,9.02,2.00,-24.95,0.000,4,0.269,0.044,2255,880,3987
$GC,192,-0.88,-170.3,28.7,-27.9,24,201,0.00,2.08,0.00,0.000,6,0.000,0.033,2247,2264,3988
$GC,547,-0.88,-170.3,136.9,-22.8,85,555,0.00,2.12,0.00,0.000,4,0.000,0.045,2236,3667,3988
$GC,570,-0.88,-170.3,143.0,-25.4,88,577,0.08,2.00,0.00,0.000,6,0.192,0.026,2259,2272,3988
$GC,923,-0.88,-170.3,212.3,-15.9,149,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2271,3988
$GC,1266,-0.88,-170.3,266.8,-16.0,210,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2271,3989
$GC,1615,-0.88,-170.3,309.8,-9.5,263,1619,0.00,2.12,0.00,0.000,4,0.000,0.048,2251,3677,3986
$GC,1662,-0.88,-170.3,314.9,-11.1,267,1666,0.00,2.00,0.00,0.000,6,0.000,0.027,2252,2257,3989
$GC,1991,-0.88,-170.3,357.5,-13.3,298,1995,0.00,2.15,0.00,0.000,4,0.000,0.048,2244,3670,3988
$GC,2052,-0.88,-170.3,365.1,-14.0,303,2055,0.00,2.00,0.00,0.000,6,0.000,0.028,2244,2258,3987
$GC,2381,-0.88,-170.3,411.6,-13.4,334,2385,0.00,2.17,0.00,0.000,4,0.000,0.051,2249,3680,3985
$GC,2442,-0.88,-170.3,419.7,-12.2,339,2449,0.00,2.03,0.00,0.000,6,0.000,0.029,2244,2259,3984
$GC,2767,-0.88,-170.3,454.5,-10.5,370,2770,0.00,2.15,0.00,0.000,4,0.000,0.051,2244,3674,3981
$GC,2834,-0.88,-170.3,462.0,-10.8,376,2838,0.00,2.00,0.00,0.000,6,0.000,0.030,2244,2275,3980
$GC,3167,-0.88,-170.3,495.3,-9.1,407,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2273,3977
$GC,3477,-0.88,-170.3,524.3,-10.2,425,3485,0.00,2.15,0.00,0.000,4,0.000,0.053,2245,3675,3974
$GC,3617,-0.88,-170.3,540.0,-11.5,431,3621,0.00,2.03,0.00,0.000,6,0.000,0.031,2240,2264,3972
$GC,3952,-0.88,-170.3,577.0,-11.0,447,3956,0.00,2.17,0.00,0.000,4,0.000,0.054,2241,3677,3970
$GC,4008,-0.88,-170.3,583.9,-11.9,449,4012,0.00,2.05,0.00,0.000,6,0.000,0.031,2240,2278,3969
$GC,4331,-0.88,-170.3,619.6,-11.1,465,4335,0.00,2.17,0.00,0.000,4,0.000,0.057,2240,3677,3964
$GC,4380,-0.88,-170.3,625.4,-12.2,467,4384,0.00,2.05,0.00,0.000,6,0.000,0.033,2240,2262,3965
$GC,4716,-0.88,-170.3,657.8,-9.5,483,4720,0.00,2.00,0.00,0.000,4,0.000,0.037,2240,877,3963
$GC,4772,-0.88,-170.3,663.1,-9.4,485,4776,0.12,2.08,0.00,0.000,6,0.183,0.040,2268,2264,3962
$GC,5096,-0.88,-170.3,685.9,-7.4,501,5100,0.00,2.17,0.00,0.000,4,0.000,0.059,2268,3680,3959
$GC,5220,-0.88,-170.3,696.3,-8.2,506,5224,0.00,2.08,0.00,0.000,6,0.000,0.035,2268,2260,3958
$GC,5541,-0.88,-170.3,723.0,-8.1,522,5545,0.00,2.20,0.00,0.000,4,0.000,0.059,2268,3676,3955
$GC,5688,-0.88,-170.3,735.2,-8.2,528,5691,0.00,2.05,0.00,0.000,6,0.000,0.035,2268,2268,3954
$GC,6009,-0.88,-170.3,757.5,-6.3,544,6013,0.00,2.20,0.00,0.000,4,0.000,0.059,2268,3686,3952
$GC,6144,-0.88,-170.3,765.6,-5.9,550,6147,0.00,2.08,0.00,0.000,6,0.000,0.035,2269,2262,3951
$GC,6476,-0.88,-170.3,781.6,-4.5,566,6479,0.00,2.20,0.00,0.000,4,0.000,0.058,2261,3670,3949
$GC,6605,-0.88,-170.3,788.6,-5.6,571,6612,0.00,2.05,0.00,0.000,6,0.000,0.037,2261,2273,3948
$GC,6923,-0.88,-170.3,806.8,-6.1,587,6926,0.00,2.20,0.00,0.000,4,0.000,0.061,2261,3674,3946
$GC,7074,-0.88,-170.3,817.7,-7.2,593,7080,0.00,2.08,0.00,0.000,6,0.000,0.037,2261,2260,3945
$GC,7392,-0.88,-170.3,841.4,-8.4,609,7395,0.00,2.22,0.00,0.000,4,0.000,0.061,2260,3677,3943
$GC,7492,-0.88,-170.3,849.0,-7.0,613,7496,0.00,2.08,0.00,0.000,6,0.000,0.036,2261,2265,3942
$GC,7816,-0.88,-170.3,870.8,-5.9,629,7820,0.00,2.22,0.00,0.000,4,0.000,0.061,2261,3682,3941
$GC,7939,-0.88,-170.3,878.0,-5.6,634,7943,0.00,2.08,0.00,0.000,6,0.000,0.037,2261,2271,3940
$GC,8260,-0.88,-170.3,888.1,-2.5,650,8264,0.00,2.20,0.00,0.000,4,0.000,0.060,2261,3673,3939
$GC,8406,-0.88,-170.3,895.8,-5.9,656,8410,0.00,2.08,0.00,0.000,6,0.000,0.038,2261,2265,3938
$GC,8728,-0.88,-170.3,921.1,-9.3,672,8731,0.00,2.22,0.00,0.000,4,0.000,0.061,2261,3682,3937
$GC,8817,-0.88,-170.3,931.5,-11.6,676,8821,0.00,2.08,0.00,0.000,6,0.000,0.037,2261,2272,3937
$GC,9150,-0.88,-170.3,968.9,-8.8,692,9154,0.00,2.20,0.00,0.000,4,0.000,0.059,2261,3675,3935
$GC,9206,-0.88,-170.3,972.7,-6.8,694,9209,0.00,2.08,0.00,0.000,6,0.000,0.036,2260,2262,3934
$STATE,9524,end dive,NO_VERTICAL_VELOCITY
$STATE,9524,begin apogee
$GC,9531,-0.20,0.0,980.1,0.0,710,9615,0.68,0.00,81.25,1.485,6,0.109,0.000,2492,2335,3532
$STATE,9616,end apogee,CONTROL_FINISHED_OK
$STATE,9616,begin climb
$GC,9618,0.88,170.3,979.8,0.0,714,9772,0.98,2.40,144.45,1.548,4,0.069,0.061,2838,3740,2837
$GC,10024,0.88,170.3,923.8,19.8,731,10028,0.00,2.15,0.00,0.000,6,0.000,0.038,2844,2340,2831
$GC,10353,0.88,170.3,865.6,18.1,747,10357,0.00,2.25,0.00,0.000,4,0.000,0.059,2844,3750,2830
$GC,10374,0.88,170.3,861.4,16.9,748,10378,0.00,2.15,0.00,0.000,6,0.000,0.035,2849,2331,2830
$GC,10701,0.88,170.3,812.1,15.5,764,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2329,2829
$GC,11012,0.88,170.3,765.4,16.1,779,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2329,2829
$GC,11319,0.88,170.3,716.3,15.5,794,11323,0.00,2.25,0.00,0.000,4,0.000,0.061,2850,3742,2828
$GC,11380,0.88,170.3,705.9,17.7,796,11389,0.00,2.15,0.00,0.000,6,0.000,0.037,2861,2327,2828
$GC,11696,0.88,170.3,655.6,15.5,812,11700,0.00,2.25,0.00,0.000,4,0.000,0.060,2861,3752,2828
$GC,11745,0.88,170.3,646.5,18.5,814,11750,0.15,2.12,0.00,0.000,6,0.232,0.036,2837,2330,2828
$GC,12072,0.88,170.3,593.3,16.8,830,12076,0.00,2.10,0.00,0.000,4,0.000,0.042,2845,921,2827
$GC,12329,0.88,170.3,552.2,15.0,841,12333,0.00,2.17,0.00,0.000,6,0.000,0.044,2845,2347,2826
$GC,12653,0.88,170.3,503.5,15.7,857,12656,0.00,2.17,0.00,0.000,4,0.000,0.061,2845,3744,2827
$GC,12689,0.88,170.3,497.4,17.2,859,12693,0.00,2.10,0.00,0.000,6,0.000,0.037,2854,2338,2826
$GC,13019,0.88,170.3,449.3,13.3,890,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2336,2826
$GC,13338,0.88,170.3,407.1,14.1,920,13341,0.00,2.10,0.00,0.000,4,0.000,0.042,2865,924,2825
$GC,13364,0.88,170.3,403.3,12.9,922,13373,0.00,2.17,0.00,0.000,6,0.000,0.042,2865,2347,2825
$GC,13692,0.88,170.3,359.6,13.1,953,13695,0.00,2.17,0.00,0.000,4,0.000,0.061,2865,3742,2825
$GC,13761,0.88,170.3,349.6,14.6,959,13766,0.15,2.10,0.00,0.000,6,0.227,0.035,2842,2324,2822
$GC,14088,0.90,181.0,316.2,9.6,989,14100,0.00,2.12,7.32,0.901,4,0.000,0.041,2849,930,2794
$GC,14300,0.90,181.0,290.9,12.6,1013,14306,0.00,2.12,0.00,0.000,6,0.000,0.042,2849,2332,2794
$GC,14643,0.92,197.2,257.3,9.4,1074,14666,0.00,2.15,13.70,0.911,4,0.000,0.039,2856,936,2727
$GC,14793,0.92,197.2,239.0,12.5,1099,14800,0.00,2.15,0.00,0.000,6,0.000,0.041,2856,2346,2727
$GC,15134,1.02,281.0,207.4,6.7,1160,15205,0.00,2.25,63.97,0.874,4,0.000,0.038,2863,921,2385
$GC,15305,1.02,281.0,188.4,13.2,1187,15315,0.00,2.22,0.00,0.000,6,0.000,0.039,2862,2329,2380
$GC,15661,1.02,281.0,141.4,10.7,1248,15668,0.00,2.22,0.00,0.000,4,0.000,0.057,2863,3732,2379
$GC,15843,1.02,281.0,118.8,13.2,1279,15853,0.00,2.12,0.00,0.000,6,0.000,0.032,2871,2329,2378
$GC,16200,1.04,297.5,80.8,9.4,1340,16217,0.00,2.30,13.12,0.686,4,0.000,0.052,2871,3752,2319
$GC,16271,1.04,297.5,73.2,10.9,1351,16281,0.00,2.15,0.00,0.000,6,0.000,0.031,2881,2321,2318
$GC,16628,1.06,316.3,36.1,9.3,1412,16651,0.00,2.25,15.95,0.643,4,0.000,0.050,2881,3737,2240
$STATE,16877,end climb,SURFACE_DEPTH_REACHED
$STATE,16877,begin surface coast
$FINISH,1.1,1.017481
$STATE,16891,end surface coast,CONTROL_FINISHED_OK
$STATE,16891,begin surface
$SM_CCo,16910,94.62,0.628,0,0,1697,450.13
$SM_GC,2.05,0.00,0.00,94.62,0.000,0.000,0.628,147,2247,1697,-7.52,-0.65,450.13
$IRIDIUM_FIX,2510.35,12419.09,160898,070719
$TT8_MAMPS,0.031447
$HUMID,1488
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,28.80
$XPDR_PINGS,40
$ALTIM_BOTTOM_PING,925.2,64.8
$24V_AH,23.7,5.539
$10V_AH,10.6,2.913
$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,18.625,145.500,339.775,94.625,0.000,0.000,0.000,0.000,18.000,0.000,0.000,12.885,2615.675,8557.208,505.166,5117.330,277.164,0.000,1958.311,0.000,5097.896,0.000,56.976,0.000
$DEVICE_MAMPS,269.217,91.273,1547.806,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,991.962,958.365,3530.541,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78880,1456
$CAP_FILE_SIZE,217299,0
$CFSIZE,260165632,224440320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,350.6,1
$GPS,220509,121436,2528.539,12300.117,33,2.0,34,-3.7