version: 66.04
glider: 167
mission: 2
dive: 97
start: 6 7 109 14 51 37
data:
$ID,167
$MISSION,2
$DIVE,97
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-6595.1133
$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,69
$R_STBD_OVSHOOT,28
$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
$GPS1,144459,2427.255,12320.420,37,1.4,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-69.3
$GPS2,145114,2427.162,12320.511,13,1.4,13,-3.5
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,185.1,39489,-18.3,-12.000
$D_GRID,992
$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,-1.05,-194.7,0.0,0.0,0,52,0.00,0.00,-34.70,0.000,2,0.000,0.000,146,2414,2503
$GC,55,-1.05,-194.7,3.0,-1.2,6,116,8.52,0.00,-47.12,0.000,6,0.253,0.000,2193,2414,3989
$GC,453,-0.34,-194.7,116.3,-28.1,76,460,0.77,2.10,0.00,0.000,4,0.179,0.047,2417,3764,3991
$GC,579,-0.80,-194.7,126.5,-5.2,98,587,0.35,1.95,0.00,0.000,6,0.053,0.028,2271,2411,3992
$GC,926,-0.58,-194.7,179.6,-15.9,159,932,0.25,1.98,0.00,0.000,4,0.160,0.028,2349,1042,3993
$GC,1098,-0.74,-194.7,197.9,-10.4,189,1105,0.12,2.05,0.00,0.000,6,0.076,0.035,2290,2421,3993
$GC,1445,-0.67,-194.7,243.5,-11.8,250,1452,0.15,2.05,0.00,0.000,4,0.158,0.049,2329,3762,3993
$GC,1533,-0.78,-194.7,252.0,-7.8,265,1539,0.10,1.92,0.00,0.000,6,0.088,0.027,2282,2417,3993
$GC,1879,-0.71,-194.7,295.2,-12.8,326,1887,0.12,2.08,0.00,0.000,4,0.156,0.049,2316,3758,3993
$GC,1904,-0.71,-194.7,298.3,-11.4,330,1912,0.00,1.92,0.00,0.000,6,0.000,0.028,2315,2413,3993
$GC,2232,-0.80,-194.7,329.8,-9.9,362,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2413,3993
$GC,2552,-0.90,-194.7,360.6,-10.6,392,2557,0.17,2.08,0.00,0.000,4,0.072,0.052,2241,3758,3993
$GC,2580,-0.78,-194.7,364.5,-13.8,394,2588,0.17,1.95,0.00,0.000,6,0.160,0.029,2290,2406,3993
$GC,2905,-0.78,-194.7,397.6,-9.4,425,2908,0.00,2.10,0.00,0.000,4,0.000,0.052,2288,3756,3993
$GC,2950,-0.78,-194.7,401.8,-9.7,429,2954,0.00,1.95,0.00,0.000,6,0.000,0.028,2289,2405,3993
$GC,3282,-0.78,-194.7,433.3,-9.8,460,3286,0.00,1.98,0.00,0.000,4,0.000,0.031,2289,1037,3993
$GC,3328,-0.78,-194.7,438.2,-10.8,464,3332,0.00,2.05,0.00,0.000,6,0.000,0.038,2287,2410,3993
$GC,3659,-0.83,-194.7,469.1,-9.1,495,3663,0.00,2.08,0.00,0.000,4,0.000,0.054,2288,3758,3991
$GC,3718,-0.91,-194.7,474.8,-9.9,500,3723,0.10,1.95,0.00,0.000,6,0.087,0.030,2243,2409,3991
$GC,4046,-0.80,-194.7,515.8,-12.3,525,4050,0.15,2.00,0.00,0.000,4,0.163,0.031,2284,1033,3990
$GC,4102,-0.90,-194.7,522.1,-10.4,527,4106,0.00,2.08,0.00,0.000,6,0.000,0.038,2279,2414,3990
$GC,4424,-0.90,-194.7,553.4,-10.2,543,4427,0.00,2.08,0.00,0.000,4,0.000,0.055,2276,3761,3989
$GC,4515,-0.96,-194.7,562.7,-9.6,547,4519,0.12,1.95,0.00,0.000,6,0.084,0.030,2223,2421,3988
$GC,4849,-0.81,-194.7,605.1,-12.1,563,4853,0.20,2.03,0.00,0.000,4,0.159,0.031,2283,1038,3986
$GC,4905,-0.94,-194.7,610.7,-8.7,565,4909,0.12,2.08,0.00,0.000,6,0.087,0.040,2230,2408,3986
$GC,5227,-0.86,-194.7,649.8,-11.5,581,5236,0.15,2.10,0.00,0.000,4,0.165,0.055,2261,3758,3984
$GC,5269,-0.86,-194.7,654.3,-9.9,582,5277,0.00,1.98,0.00,0.000,6,0.000,0.031,2262,2410,3984
$GC,5585,-0.91,-194.7,679.9,-8.5,598,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2410,3982
$GC,5894,-0.98,-194.7,704.1,-7.1,613,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2410,3980
$GC,6204,-1.03,-194.7,730.6,-9.7,628,6208,0.15,2.03,0.00,0.000,4,0.084,0.035,2202,1036,3978
$GC,6259,-0.89,-194.7,737.4,-13.5,630,6264,0.20,2.08,0.00,0.000,6,0.165,0.041,2256,2398,3977
$GC,6577,-0.95,-194.7,762.2,-8.6,645,6580,0.00,2.12,0.00,0.000,4,0.000,0.059,2256,3757,3976
$GC,6638,-1.03,-194.7,768.1,-9.4,647,6645,0.12,2.00,0.00,0.000,6,0.087,0.033,2208,2401,3975
$GC,6954,-0.90,-194.7,808.7,-13.2,663,6958,0.17,2.03,0.00,0.000,4,0.166,0.035,2255,1027,3973
$GC,6971,-0.85,-194.7,810.8,-12.6,663,6977,0.00,2.12,0.00,0.000,6,0.000,0.042,2256,2417,3973
$GC,7287,-0.91,-194.7,836.8,-7.2,679,7291,0.00,2.10,0.00,0.000,4,0.000,0.061,2256,3757,3972
$GC,7311,-0.97,-194.7,838.3,-6.1,680,7314,0.00,2.00,0.00,0.000,6,0.000,0.032,2256,2401,3971
$GC,7644,-1.05,-194.7,870.4,-10.8,696,7648,0.15,2.15,0.00,0.000,4,0.081,0.058,2193,3757,3970
$GC,7688,-0.85,-194.7,876.9,-15.5,698,7692,0.28,1.98,0.00,0.000,6,0.173,0.032,2269,2416,3969
$GC,8010,-1.01,-194.7,903.0,-6.5,714,8015,0.15,2.05,0.00,0.000,4,0.083,0.035,2212,1022,3968
$GC,8094,-0.94,-194.7,911.1,-10.6,717,8100,0.12,2.12,0.00,0.000,6,0.170,0.043,2242,2413,3967
$GC,8409,-0.94,-194.7,934.0,-7.1,733,8411,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2413,3967
$GC,8719,-0.94,-194.7,957.0,-7.4,748,8722,0.00,2.12,0.00,0.000,4,0.000,0.061,2242,3763,3965
$GC,8746,-0.94,-194.7,959.1,-7.2,749,8750,0.00,2.00,0.00,0.000,6,0.000,0.034,2242,2413,3965
$GC,9073,-0.94,-194.7,979.7,-7.9,765,9077,0.00,2.05,0.00,0.000,4,0.000,0.036,2242,1023,3964
$GC,9146,-0.94,-194.7,985.3,-5.9,768,9150,0.00,2.12,0.00,0.000,6,0.000,0.044,2242,2415,3964
$STATE,9202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9202,begin apogee
$GC,9208,-0.22,0.0,991.5,11.3,771,9299,0.73,0.00,87.18,1.439,6,0.150,0.000,2469,2515,3533
$STATE,9299,end apogee,CONTROL_FINISHED_OK
$STATE,9300,begin climb
$GC,9302,1.05,194.7,993.9,0.0,775,9473,1.15,2.17,159.75,1.391,4,0.061,0.061,2883,3755,2737
$GC,9727,0.28,194.7,934.6,21.7,795,9732,0.95,1.92,0.00,0.000,6,0.215,0.032,2644,2494,2731
$GC,10056,0.52,273.5,905.1,8.7,811,10127,0.17,2.20,63.97,1.336,4,0.084,0.060,2715,3761,2415
$GC,10164,0.43,273.5,891.9,14.7,816,10168,0.12,1.95,0.00,0.000,6,0.188,0.033,2688,2515,2412
$GC,10496,0.52,273.5,848.6,14.0,832,10499,0.00,2.03,0.00,0.000,4,0.000,0.058,2688,3763,2409
$GC,10568,0.52,273.5,837.8,14.8,835,10572,0.00,1.90,0.00,0.000,6,0.000,0.034,2691,2524,2408
$GC,10896,0.65,318.5,800.1,10.1,851,10939,0.17,2.08,36.28,1.283,4,0.085,0.058,2758,3767,2234
$GC,10973,0.47,318.5,789.0,16.9,854,10977,0.22,1.92,0.00,0.000,6,0.182,0.035,2703,2533,2231
$GC,11294,0.63,371.9,753.4,9.8,870,11346,0.15,2.12,44.75,1.256,4,0.086,0.061,2759,3755,2014
$GC,11409,0.55,371.9,736.1,16.7,875,11414,0.15,1.88,0.00,0.000,6,0.181,0.033,2724,2541,2008
$GC,11737,0.66,371.9,694.9,12.5,891,11739,0.10,0.00,0.00,0.000,6,0.092,0.000,2762,2539,2005
$GC,12045,0.66,371.9,645.0,15.9,906,12049,0.00,1.98,0.00,0.000,4,0.000,0.061,2762,3762,2004
$GC,12118,0.58,371.9,632.3,17.9,909,12121,0.00,1.83,0.00,0.000,6,0.000,0.035,2762,2549,2003
$GC,12444,0.58,371.9,581.2,15.6,925,12448,0.00,2.17,0.00,0.000,4,0.000,0.039,2762,1101,2002
$GC,12484,0.65,371.9,575.6,13.6,926,12492,0.00,2.25,0.00,0.000,6,0.000,0.040,2763,2563,2002
$GC,12800,0.65,371.9,528.6,14.7,942,12804,0.00,2.20,0.00,0.000,4,0.000,0.038,2763,1104,2002
$GC,12823,0.65,371.9,525.3,14.6,943,12827,0.00,2.22,0.00,0.000,6,0.000,0.041,2762,2547,2002
$GC,13143,0.65,371.9,478.7,14.3,965,13147,0.00,1.90,0.00,0.000,4,0.000,0.058,2763,3759,2001
$GC,13182,0.58,371.9,472.2,16.6,968,13188,0.00,1.80,0.00,0.000,6,0.000,0.033,2763,2546,2001
$GC,13510,0.58,371.9,421.8,15.7,999,13514,0.00,1.95,0.00,0.000,4,0.000,0.058,2763,3771,2001
$GC,13537,0.53,371.9,416.5,17.3,1001,13544,0.17,1.80,0.00,0.000,6,0.171,0.032,2716,2548,2000
$GC,13863,0.77,398.0,379.0,10.9,1032,13885,0.22,0.00,19.98,0.980,6,0.069,0.000,2805,2546,1909
$GC,14200,0.70,398.0,322.2,17.0,1064,14204,0.12,1.95,0.00,0.000,4,0.176,0.055,2774,3771,1904
$GC,14279,0.70,398.0,309.3,15.4,1071,14283,0.00,1.83,0.00,0.000,6,0.000,0.031,2775,2540,1904
$GC,14619,0.75,398.0,263.4,13.3,1126,14626,0.00,1.95,0.00,0.000,4,0.000,0.056,2776,3769,1904
$GC,14666,0.75,398.0,256.4,16.1,1134,14673,0.00,1.77,0.00,0.000,6,0.000,0.029,2775,2561,1904
$GC,15011,0.83,398.0,209.1,13.0,1195,15017,0.10,1.90,0.00,0.000,4,0.094,0.054,2816,3766,1904
$GC,15081,0.72,398.0,197.6,17.5,1207,15087,0.17,1.75,0.00,0.000,6,0.173,0.028,2776,2559,1904
$GC,15425,0.86,399.4,155.9,11.9,1268,15432,0.12,2.12,0.00,0.000,4,0.083,0.033,2828,1112,1904
$GC,15489,0.86,399.4,146.2,15.1,1279,15495,0.00,2.20,0.00,0.000,6,0.000,0.038,2828,2562,1904
$GC,15832,0.86,399.4,99.4,14.2,1340,15838,0.00,1.85,0.00,0.000,4,0.000,0.056,2828,3764,1905
$GC,15918,0.78,399.4,87.3,14.2,1355,15925,0.12,1.73,0.00,0.000,6,0.173,0.028,2798,2565,1905
$GC,16263,1.01,440.1,48.0,10.3,1416,16305,0.17,2.17,33.42,0.673,4,0.068,0.034,2885,1107,1735
$GC,16347,1.01,440.1,35.7,14.6,1430,16354,0.00,2.25,0.00,0.000,6,0.000,0.037,2885,2573,1733
$STATE,16577,end climb,SURFACE_DEPTH_REACHED
$STATE,16577,begin surface coast
$FINISH,1.7,1.022289
$STATE,16601,end surface coast,CONTROL_FINISHED_OK
$STATE,16601,begin surface
$SM_CCo,16679,0.00,0.000,0,0,1730,442.03
$SM_GC,2.77,7.35,0.00,0.00,0.059,0.000,0.000,144,2412,1730,-7.50,-0.42,442.03
$IRIDIUM_FIX,2420.48,12320.39,010998,101008
$TT8_MAMPS,0.028379
$HUMID,1558
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,976.2,74.5
$24V_AH,23.8,20.625
$10V_AH,10.8,12.345
$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,25.450,145.600,445.325,0.000,0.000,25.421,31.464,194.458,8.250,0.000,0.000,14.025,2661.848,10660.625,569.275,2609.381,546.684,0.000,1915.645,0.000,2541.569,0.000,59.149,0.000
$DEVICE_MAMPS,253.110,85.137,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,999.806,989.809,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78864,1475
$CAP_FILE_SIZE,172898,0
$CFSIZE,260165632,217108480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,205.5,1
$GPS,070609,193054,2424.448,12320.328,26,1.2,44,-3.5