version: 66.04
glider: 167
mission: 2
dive: 273
start: 7 7 109 2 43 10
data:
$ID,167
$MISSION,2
$DIVE,273
$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,-10622.835
$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,71
$R_STBD_OVSHOOT,52
$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
$GPS1,023537,2516.456,12359.226,29,1.0,30,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.74
$_SM_ANGLEo,-69.9
$GPS2,024249,2516.476,12359.342,10,1.1,15,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,RET_1
$TGT_LATLONG,2425.600,12317.300
$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,265.8,117914,-23.2,-12.000
$D_GRID,2053
$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,-1.18,-121.7,0.0,0.0,0,39,0.00,0.00,-22.08,0.000,2,0.000,0.000,141,2468,2202
$GC,42,-1.18,-121.7,3.1,-1.4,4,117,8.40,2.12,-59.33,0.000,4,0.240,0.038,2160,1027,3988
$GC,236,-0.77,-121.7,42.4,-24.2,37,243,0.50,2.10,0.00,0.000,6,0.171,0.030,2292,2431,3990
$GC,581,-0.88,-121.7,91.8,-11.8,98,587,0.00,2.03,0.00,0.000,4,0.000,0.045,2288,3752,3991
$GC,611,-0.99,-121.7,95.0,-10.9,103,618,0.17,1.90,0.00,0.000,6,0.066,0.023,2211,2404,3992
$GC,955,-0.90,-121.7,144.2,-14.1,164,963,0.15,2.08,0.00,0.000,4,0.154,0.043,2246,3750,3993
$GC,980,-0.90,-121.7,147.7,-13.5,168,988,0.00,1.83,0.00,0.000,6,0.000,0.024,2246,2445,3993
$GC,1327,-0.97,-121.7,190.0,-12.2,229,1333,0.00,2.03,0.00,0.000,4,0.000,0.045,2244,3761,3994
$GC,1541,-1.03,-121.7,217.5,-12.5,267,1547,0.00,1.80,0.00,0.000,6,0.000,0.024,2245,2481,3994
$GC,1885,-1.14,-121.7,253.5,-10.0,328,1892,0.17,1.98,0.00,0.000,4,0.069,0.044,2162,3761,3994
$GC,1933,-0.90,-121.7,260.0,-14.1,336,1941,0.32,1.80,0.00,0.000,6,0.163,0.024,2253,2486,3995
$GC,2280,-1.07,-121.7,296.5,-10.8,397,2287,0.15,1.95,0.00,0.000,4,0.070,0.046,2189,3753,3994
$GC,2423,-0.96,-121.7,317.3,-15.3,412,2431,0.17,1.75,0.00,0.000,6,0.163,0.025,2236,2511,3995
$GC,2748,-1.11,-121.7,352.2,-9.2,443,2752,0.15,1.92,0.00,0.000,4,0.070,0.044,2166,3760,3995
$GC,2806,-0.96,-121.7,359.2,-13.3,448,2810,0.25,1.77,0.00,0.000,6,0.162,0.025,2235,2506,3995
$GC,3136,-1.12,-121.7,391.7,-9.4,479,3140,0.15,1.92,0.00,0.000,4,0.071,0.045,2166,3753,3995
$GC,3326,-0.98,-121.7,416.7,-14.1,496,3330,0.22,1.75,0.00,0.000,6,0.163,0.025,2227,2526,3994
$GC,3656,-1.13,-121.7,448.2,-9.3,527,3660,0.15,1.90,0.00,0.000,4,0.074,0.047,2163,3750,3993
$GC,3787,-1.01,-121.7,464.3,-12.9,538,3793,0.20,1.73,0.00,0.000,6,0.166,0.026,2215,2541,3993
$GC,4113,-1.14,-121.7,498.0,-9.9,569,4117,0.12,1.90,0.00,0.000,4,0.079,0.048,2162,3760,3992
$GC,4243,-1.03,-121.7,514.2,-12.4,575,4249,0.17,1.73,0.00,0.000,6,0.170,0.027,2207,2561,3991
$GC,4559,-1.15,-121.7,545.7,-9.8,591,4562,0.00,1.85,0.00,0.000,4,0.000,0.049,2205,3749,3989
$GC,4639,-1.23,-121.7,553.9,-10.5,594,4643,0.17,1.70,0.00,0.000,6,0.071,0.026,2137,2564,3989
$GC,4960,-1.09,-121.7,594.4,-13.0,610,4964,0.17,1.88,0.00,0.000,4,0.173,0.049,2180,3761,3987
$GC,5060,-1.09,-121.7,606.7,-11.9,614,5064,0.00,1.70,0.00,0.000,6,0.000,0.028,2180,2579,3986
$GC,5381,-1.09,-121.7,643.2,-11.8,630,5385,0.00,1.85,0.00,0.000,4,0.000,0.051,2179,3760,3984
$GC,5450,-1.09,-121.7,651.4,-11.5,633,5454,0.00,1.70,0.00,0.000,6,0.000,0.028,2179,2586,3983
$GC,5783,-1.09,-121.7,690.7,-11.9,649,5787,0.00,1.83,0.00,0.000,4,0.000,0.052,2178,3748,3981
$GC,5889,-1.09,-121.7,704.2,-12.2,653,5895,0.00,1.67,0.00,0.000,6,0.000,0.028,2178,2612,3981
$GC,6206,-1.09,-121.7,741.4,-11.9,669,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2612,3978
$GC,6514,-1.14,-121.7,778.1,-12.0,684,6516,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2612,3976
$GC,6824,-1.19,-121.7,814.7,-11.4,699,6828,0.00,1.80,0.00,0.000,4,0.000,0.054,2178,3752,3974
$GC,6863,-1.19,-121.7,819.6,-12.7,700,6870,0.00,1.67,0.00,0.000,6,0.000,0.029,2178,2600,3974
$GC,7179,-1.24,-121.7,853.8,-10.5,716,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2600,3971
$GC,7488,-1.30,-121.7,887.3,-10.8,731,7493,0.15,1.83,0.00,0.000,4,0.086,0.052,2116,3753,3969
$GC,7544,-1.06,-121.7,895.2,-15.1,733,7548,0.32,1.67,0.00,0.000,6,0.181,0.029,2201,2606,3969
$GC,7867,-1.22,-121.7,927.7,-10.0,749,7872,0.15,1.83,0.00,0.000,4,0.077,0.053,2140,3756,3967
$GC,7913,-1.08,-121.7,933.8,-13.7,751,7918,0.17,1.70,0.00,0.000,6,0.178,0.030,2189,2625,3967
$GC,8245,-1.19,-121.7,968.4,-10.2,767,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2625,3966
$STATE,8469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8469,begin apogee
$GC,8476,-0.22,0.0,991.0,9.9,778,8572,0.93,0.00,89.40,1.412,6,0.156,0.000,2467,2545,3533
$STATE,8573,end apogee,CONTROL_FINISHED_OK
$STATE,8573,begin climb
$GC,8575,1.18,121.7,995.4,0.0,783,8686,1.27,2.10,103.10,1.371,4,0.064,0.051,2920,3747,3035
$GC,8810,0.44,121.7,985.1,13.3,793,8817,0.95,1.90,0.00,0.000,6,0.219,0.026,2691,2493,3031
$GC,9127,0.66,216.0,965.3,5.8,809,9208,0.20,0.00,77.90,1.356,6,0.081,0.000,2766,2493,2651
$GC,9515,0.67,227.3,923.8,11.2,828,9530,0.00,2.10,10.23,1.193,4,0.000,0.031,2770,1111,2604
$GC,9661,0.68,235.8,907.0,11.4,833,9675,0.00,2.17,8.40,1.147,6,0.000,0.036,2770,2509,2570
$GC,9998,0.68,235.8,866.2,12.2,850,10002,0.00,2.12,0.00,0.000,4,0.000,0.031,2770,1106,2566
$GC,10093,0.75,245.3,854.9,11.4,854,10110,0.00,2.15,8.68,1.156,6,0.000,0.037,2770,2498,2531
$GC,10419,0.77,265.4,817.6,10.7,870,10442,0.00,2.20,17.83,1.249,4,0.000,0.033,2770,1110,2450
$GC,10593,0.90,296.8,799.1,9.9,877,10629,0.20,2.12,28.08,1.259,6,0.078,0.037,2842,2473,2320
$GC,10953,0.78,296.8,746.6,15.1,895,10957,0.17,2.08,0.00,0.000,4,0.178,0.031,2801,1106,2314
$GC,11116,0.78,296.8,724.5,13.1,902,11120,0.00,2.08,0.00,0.000,6,0.000,0.037,2801,2455,2313
$GC,11443,0.78,296.8,680.7,13.6,918,11447,0.00,2.03,0.00,0.000,4,0.000,0.033,2802,1113,2312
$GC,11504,0.83,296.8,672.0,14.3,920,11511,0.00,2.05,0.00,0.000,6,0.000,0.037,2802,2448,2312
$GC,11819,0.83,296.8,629.8,13.3,936,11823,0.00,2.03,0.00,0.000,4,0.000,0.032,2803,1106,2311
$GC,11979,0.89,296.8,609.3,12.3,943,11983,0.00,2.03,0.00,0.000,6,0.000,0.038,2803,2426,2311
$GC,12311,0.89,296.8,568.0,12.0,959,12315,0.00,1.98,0.00,0.000,4,0.000,0.034,2803,1117,2310
$GC,12367,0.95,298.1,561.6,11.9,961,12372,0.12,2.00,0.00,0.000,6,0.085,0.036,2852,2432,2310
$GC,12689,0.83,298.1,518.3,13.5,977,12693,0.15,1.98,0.00,0.000,4,0.183,0.031,2820,1111,2310
$GC,12761,0.83,298.1,508.8,12.9,980,12765,0.00,2.03,0.00,0.000,6,0.000,0.037,2820,2418,2310
$GC,13087,0.83,298.1,466.4,13.3,1007,13091,0.00,1.95,0.00,0.000,4,0.000,0.031,2828,1107,2310
$GC,13188,0.83,298.1,453.3,12.8,1016,13192,0.00,1.98,0.00,0.000,6,0.000,0.036,2828,2405,2309
$GC,13521,0.84,298.8,411.8,12.0,1047,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2405,2310
$GC,13839,0.84,300.8,373.4,11.9,1077,13843,0.00,1.95,0.00,0.000,4,0.000,0.032,2828,1098,2309
$GC,13874,0.85,309.5,369.1,11.4,1080,13890,0.00,1.98,9.90,0.898,6,0.000,0.035,2828,2407,2269
$GC,14216,0.86,317.3,329.1,11.5,1112,14229,0.00,2.00,7.82,0.827,4,0.000,0.031,2828,1110,2237
$GC,14321,0.96,318.9,317.4,11.9,1121,14325,0.00,1.90,0.00,0.000,6,0.000,0.034,2828,2364,2236
$GC,14657,1.06,334.5,277.9,11.0,1168,14677,0.17,1.95,15.32,0.851,4,0.072,0.031,2912,1111,2167
$GC,14775,0.92,334.5,261.5,14.4,1188,14783,0.28,1.90,0.00,0.000,6,0.179,0.035,2841,2353,2165
$GC,15121,1.03,352.4,222.1,10.8,1249,15146,0.12,1.88,15.60,0.798,4,0.078,0.030,2898,1105,2094
$GC,15287,1.03,352.4,198.7,14.3,1278,15292,0.00,1.85,0.00,0.000,6,0.000,0.033,2898,2321,2092
$GC,15631,1.04,354.3,152.6,11.9,1339,15637,0.00,2.25,0.00,0.000,4,0.000,0.048,2898,3772,2092
$GC,15677,0.89,354.3,146.1,14.4,1347,15684,0.28,2.15,0.00,0.000,6,0.177,0.023,2834,2310,2092
$GC,16022,1.14,371.2,112.1,10.9,1408,16047,0.17,1.80,16.40,0.700,4,0.070,0.031,2915,1107,2017
$GC,16227,1.24,409.2,89.5,9.5,1444,16264,0.00,1.83,30.65,0.692,6,0.000,0.031,2915,2325,1862
$GC,16604,1.42,421.8,50.0,11.2,1510,16623,0.20,1.83,10.75,0.608,4,0.067,0.028,3007,1094,1810
$GC,16709,1.33,421.8,36.1,12.5,1528,16716,0.15,1.83,0.00,0.000,6,0.183,0.029,2973,2319,1809
$STATE,17025,end climb,SURFACE_DEPTH_REACHED
$STATE,17025,begin surface coast
$FINISH,1.7,1.021303
$STATE,17053,end surface coast,CONTROL_FINISHED_OK
$STATE,17053,begin surface
$SM_CCo,17071,2.08,0.142,0,0,1798,425.10
$SM_GC,3.68,0.00,0.00,2.08,0.000,0.000,0.142,139,2455,1798,-7.52,0.79,425.10
$IRIDIUM_FIX,2510.35,12355.28,300998,212131
$TT8_MAMPS,0.029146
$HUMID,1622
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.4,48.123
$10V_AH,10.8,27.247
$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,25.725,130.975,450.050,2.075,0.000,30.219,31.519,229.903,8.000,0.000,0.000,15.260,2828.641,10583.593,590.643,2872.476,620.580,0.000,2021.895,0.000,2802.161,0.000,54.419,0.000
$DEVICE_MAMPS,240.071,88.972,1412.047,141.895,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1073.595,1094.771,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85368,1589
$CAP_FILE_SIZE,177110,0
$CFSIZE,260165632,203341824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.280, 92.5,1
$GPS,070709,072900,2516.725,12400.072,39,1.4,40,-3.8