version: 66.04
glider: 167
mission: 2
dive: 271
start: 7 6 109 16 55 40
data:
$ID,167
$MISSION,2
$DIVE,271
$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,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,-10592.104
$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,67
$R_STBD_OVSHOOT,56
$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
$GPS1,164524,2519.184,12356.098,27,1.0,46,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.8
$GPS2,165519,2519.346,12356.188,15,1.0,32,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,197.2,69924,-23.2,-12.000
$D_GRID,1948
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.18,-121.7,0.0,0.0,0,35,0.00,0.00,-17.77,0.000,2,0.000,0.000,141,2458,2248
$GC,38,-1.18,-121.7,3.0,-1.8,3,112,8.43,2.20,-56.38,0.000,4,0.242,0.038,2160,1015,3989
$GC,153,-0.72,-121.7,18.1,-22.1,22,160,0.55,2.12,0.00,0.000,6,0.173,0.030,2305,2429,3990
$GC,497,-0.84,-121.7,69.8,-12.9,83,503,0.00,2.03,0.00,0.000,4,0.000,0.046,2296,3755,3992
$GC,606,-0.94,-121.7,83.5,-12.6,102,612,0.15,1.90,0.00,0.000,6,0.071,0.023,2229,2413,3992
$GC,950,-0.94,-121.7,131.5,-14.3,163,956,0.00,2.08,0.00,0.000,4,0.000,0.042,2219,3763,3994
$GC,1019,-0.85,-121.7,141.8,-15.8,175,1025,0.17,1.80,0.00,0.000,6,0.156,0.023,2266,2482,3994
$GC,1364,-1.00,-121.7,183.5,-10.5,236,1371,0.12,1.98,0.00,0.000,4,0.077,0.044,2207,3764,3995
$GC,1473,-0.89,-121.7,197.7,-12.9,255,1480,0.17,1.77,0.00,0.000,6,0.161,0.023,2254,2496,3996
$GC,1819,-1.01,-121.7,232.3,-11.2,316,1827,0.10,1.95,0.00,0.000,4,0.078,0.044,2205,3765,3996
$GC,1907,-0.93,-121.7,244.4,-14.1,331,1913,0.15,1.77,0.00,0.000,6,0.163,0.023,2244,2500,3996
$GC,2254,-1.07,-121.7,286.0,-11.2,392,2261,0.15,1.92,0.00,0.000,4,0.072,0.044,2179,3751,3996
$GC,2515,-0.93,-121.7,320.2,-12.3,425,2519,0.22,1.73,0.00,0.000,6,0.160,0.025,2240,2526,3995
$GC,2846,-1.10,-121.7,352.5,-10.5,456,2850,0.15,1.90,0.00,0.000,4,0.071,0.045,2178,3757,3996
$GC,2936,-0.99,-121.7,365.4,-15.0,464,2941,0.17,1.70,0.00,0.000,6,0.164,0.025,2224,2556,3996
$GC,3267,-1.12,-121.7,405.8,-11.8,495,3271,0.12,1.85,0.00,0.000,4,0.077,0.046,2166,3753,3996
$GC,3520,-1.00,-121.7,439.2,-12.5,517,3526,0.20,1.67,0.00,0.000,6,0.163,0.026,2219,2575,3995
$GC,3845,-1.14,-121.7,469.3,-9.8,548,3849,0.12,1.83,0.00,0.000,4,0.078,0.046,2166,3750,3995
$GC,3962,-1.03,-121.7,484.2,-12.9,558,3968,0.17,1.65,0.00,0.000,6,0.169,0.027,2211,2593,3994
$GC,4285,-1.15,-121.7,517.1,-9.7,581,4289,0.12,1.80,0.00,0.000,4,0.080,0.048,2162,3759,3993
$GC,4311,-1.15,-121.7,520.5,-11.7,582,4315,0.00,1.67,0.00,0.000,6,0.000,0.026,2162,2607,3992
$GC,4639,-1.09,-121.7,558.2,-11.5,598,4644,0.12,1.77,0.00,0.000,4,0.176,0.049,2191,3749,3991
$GC,4734,-1.09,-121.7,568.9,-11.2,602,4738,0.00,1.65,0.00,0.000,6,0.000,0.027,2191,2599,3990
$GC,5061,-1.16,-121.7,603.5,-11.0,618,5065,0.00,1.80,0.00,0.000,4,0.000,0.051,2191,3750,3988
$GC,5175,-1.16,-121.7,616.6,-11.4,623,5178,0.00,1.62,0.00,0.000,6,0.000,0.028,2191,2625,3987
$GC,5508,-1.23,-121.7,652.9,-10.9,639,5512,0.12,1.77,0.00,0.000,4,0.087,0.051,2137,3753,3985
$GC,5592,-1.05,-121.7,664.9,-14.2,642,5598,0.25,1.60,0.00,0.000,6,0.173,0.028,2203,2643,3983
$GC,5908,-1.17,-121.7,697.7,-10.2,658,5912,0.12,1.75,0.00,0.000,4,0.083,0.051,2153,3755,3981
$GC,5958,-1.07,-121.7,704.2,-13.1,660,5962,0.17,1.60,0.00,0.000,6,0.174,0.028,2196,2650,3981
$GC,6286,-1.18,-121.7,739.7,-10.8,676,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3979
$GC,6594,-1.29,-121.7,771.3,-10.2,691,6598,0.20,1.75,0.00,0.000,4,0.075,0.052,2111,3759,3976
$GC,6684,-1.03,-121.7,784.6,-15.7,695,6688,0.38,1.60,0.00,0.000,6,0.183,0.029,2211,2681,3976
$GC,7016,-1.20,-121.7,817.5,-9.7,711,7018,0.15,0.00,0.00,0.000,6,0.081,0.000,2155,2680,3974
$GC,7326,-1.15,-121.7,854.5,-12.0,726,7330,0.00,1.70,0.00,0.000,4,0.000,0.054,2153,3756,3972
$GC,7371,-1.05,-121.7,860.4,-12.9,728,7376,0.20,1.60,0.00,0.000,6,0.176,0.030,2203,2683,3971
$GC,7705,-1.21,-121.7,891.7,-9.4,744,7709,0.15,1.73,0.00,0.000,4,0.079,0.054,2149,3747,3969
$GC,7750,-1.10,-121.7,897.1,-12.5,746,7754,0.12,1.58,0.00,0.000,6,0.176,0.029,2184,2690,3969
$GC,8084,-1.18,-121.7,931.9,-10.5,762,8088,0.00,2.40,0.00,0.000,4,0.000,0.028,2184,1062,3968
$GC,8124,-1.31,-121.7,936.2,-10.5,764,8129,0.17,2.45,0.00,0.000,6,0.086,0.038,2119,2650,3968
$GC,8452,-1.14,-121.7,980.7,-14.0,780,8456,0.17,1.75,0.00,0.000,4,0.194,0.054,2165,3775,3966
$STATE,8521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8521,begin apogee
$GC,8529,-0.22,0.0,990.1,11.4,783,8625,1.00,0.00,89.82,1.413,6,0.166,0.000,2462,2538,3534
$STATE,8626,end apogee,CONTROL_FINISHED_OK
$STATE,8626,begin climb
$GC,8628,1.18,121.7,994.7,0.0,788,8739,1.30,2.15,103.25,1.374,4,0.063,0.051,2925,3757,3035
$GC,8885,0.43,121.7,982.0,13.5,799,8890,0.98,1.85,0.00,0.000,6,0.216,0.026,2689,2524,3032
$GC,9201,0.66,212.4,962.4,6.0,814,9286,0.20,2.28,74.50,1.357,4,0.079,0.031,2774,1121,2664
$GC,9380,0.66,212.4,942.6,12.6,822,9385,0.00,2.15,0.00,0.000,6,0.000,0.036,2774,2480,2660
$GC,9708,0.66,213.0,903.3,12.0,838,9712,0.00,2.08,0.00,0.000,4,0.000,0.031,2776,1113,2658
$GC,9831,0.67,221.5,889.5,11.4,843,9844,0.00,2.10,7.82,1.134,6,0.000,0.038,2776,2468,2629
$GC,10152,0.68,227.9,851.8,11.6,859,10165,0.00,2.12,7.07,1.102,4,0.000,0.031,2776,1109,2602
$GC,10211,0.68,227.9,844.7,12.4,861,10217,0.00,2.10,0.00,0.000,6,0.000,0.037,2776,2461,2601
$GC,10527,0.68,233.3,808.1,11.6,877,10538,0.00,2.05,5.93,1.036,4,0.000,0.031,2776,1110,2580
$GC,10650,0.69,239.2,793.3,11.6,882,10661,0.00,2.08,6.45,1.057,6,0.000,0.037,2776,2452,2556
$GC,10983,0.70,247.9,754.2,11.4,899,10997,0.00,2.08,8.27,1.114,4,0.000,0.033,2776,1120,2521
$GC,11088,0.76,252.3,741.8,11.7,903,11098,0.00,2.03,5.47,0.971,6,0.000,0.035,2775,2435,2503
$GC,11419,0.76,252.3,703.1,12.0,920,11423,0.00,1.98,0.00,0.000,4,0.000,0.031,2776,1121,2500
$GC,11533,0.84,260.2,689.8,11.5,925,11548,0.12,1.98,7.82,1.070,6,0.088,0.035,2823,2414,2471
$GC,11867,0.73,260.2,644.3,13.6,941,11871,0.15,1.95,0.00,0.000,4,0.176,0.030,2792,1115,2470
$GC,11916,0.73,260.2,637.5,13.0,943,11920,0.00,2.00,0.00,0.000,6,0.000,0.035,2792,2422,2469
$GC,12243,0.73,260.2,598.7,12.2,959,12247,0.00,1.95,0.00,0.000,4,0.000,0.032,2793,1121,2469
$GC,12333,0.73,260.2,587.7,12.4,963,12337,0.00,1.95,0.00,0.000,6,0.000,0.035,2793,2402,2469
$GC,12666,0.73,261.4,547.7,11.9,979,12669,0.00,1.92,0.00,0.000,4,0.000,0.032,2793,1115,2468
$GC,12712,0.73,261.7,542.4,12.0,981,12715,0.00,1.95,0.00,0.000,6,0.000,0.037,2793,2392,2468
$GC,13045,0.76,280.5,506.2,10.8,997,13067,0.00,2.00,17.80,1.068,4,0.000,0.032,2792,1108,2388
$GC,13113,0.87,301.3,498.7,10.6,1000,13137,0.00,1.95,18.62,1.044,6,0.000,0.035,2793,2379,2303
$GC,13456,0.98,311.7,460.4,11.3,1032,13470,0.17,1.98,9.40,0.954,4,0.080,0.032,2869,1122,2261
$GC,13555,0.87,311.7,445.8,14.9,1040,13562,0.17,1.92,0.00,0.000,6,0.183,0.034,2825,2378,2258
$GC,13880,0.87,316.2,406.7,11.7,1071,13891,0.00,1.88,5.07,0.776,4,0.000,0.030,2829,1122,2242
$GC,13919,0.92,316.2,401.6,12.4,1074,13925,0.00,1.88,0.00,0.000,6,0.000,0.034,2829,2354,2242
$GC,14246,0.92,316.2,361.4,12.8,1105,14249,0.00,2.20,0.00,0.000,4,0.000,0.051,2828,3761,2241
$GC,14296,0.84,316.2,354.4,13.1,1109,14302,0.00,2.10,0.00,0.000,6,0.000,0.025,2829,2336,2241
$GC,14623,0.92,334.2,318.1,10.8,1140,14646,0.00,1.85,16.15,0.897,4,0.000,0.034,2829,1122,2168
$GC,14731,1.06,349.8,306.2,11.0,1149,14751,0.17,1.88,13.90,0.864,6,0.076,0.031,2896,2359,2105
$GC,15089,0.98,349.8,254.2,15.8,1208,15097,0.15,1.88,0.00,0.000,4,0.185,0.028,2866,1103,2101
$GC,15176,1.03,349.8,241.8,13.6,1223,15182,0.00,1.88,0.00,0.000,6,0.000,0.033,2866,2340,2101
$GC,15520,1.09,361.7,197.4,11.2,1284,15538,0.00,1.88,10.65,0.749,4,0.000,0.031,2868,1117,2057
$GC,15590,1.18,370.7,189.2,11.4,1296,15605,0.15,1.85,9.00,0.719,6,0.078,0.031,2926,2344,2019
$GC,15945,1.08,370.7,136.8,15.5,1358,15952,0.12,2.20,0.00,0.000,4,0.176,0.045,2894,3767,2018
$GC,16026,0.98,370.7,124.0,15.0,1372,16033,0.15,2.10,0.00,0.000,6,0.185,0.023,2863,2325,2017
$GC,16372,1.20,405.0,84.2,9.7,1433,16407,0.17,1.77,28.23,0.695,4,0.075,0.029,2938,1119,1879
$GC,16661,1.26,410.7,49.9,11.6,1484,16674,0.00,1.77,5.70,0.540,6,0.000,0.029,2938,2311,1856
$GC,17014,1.48,469.4,15.3,8.1,1546,17067,0.20,2.28,45.95,0.627,4,0.066,0.045,3016,3766,1617
$STATE,17111,end climb,SURFACE_DEPTH_REACHED
$STATE,17111,begin surface coast
$FINISH,1.8,1.008364
$STATE,17128,end surface coast,CONTROL_FINISHED_OK
$STATE,17128,begin surface
$SM_CCo,17209,0.00,0.000,0,0,1610,471.22
$SM_GC,2.87,7.80,0.00,0.00,0.054,0.000,0.000,141,2417,1610,-7.50,-0.28,471.22
$IRIDIUM_FIX,2507.97,12346.69,300998,161624
$TT8_MAMPS,0.029146
$HUMID,1600
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.4,47.782
$10V_AH,10.8,27.054
$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,26.675,149.275,496.900,0.000,0.000,61.611,68.203,244.118,8.000,0.000,0.000,32.723,2814.481,10739.715,613.825,2916.097,707.969,0.000,2082.715,0.000,2824.454,0.000,54.420,0.000
$DEVICE_MAMPS,242.372,54.457,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.803,1077.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85152,1566
$CAP_FILE_SIZE,185461,0
$CFSIZE,260165632,203509760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260, 88.1,1
$GPS,060709,214336,2517.886,12357.747,32,1.0,33,-3.8