version: 66.04
glider: 167
mission: 2
dive: 274
start: 7 7 109 7 36 45
data:
$ID,167
$MISSION,2
$DIVE,274
$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,-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,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,-10637.184
$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,57
$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
$GPS1,072900,2516.725,12400.072,39,1.4,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-72.8
$GPS2,073608,2516.758,12400.170,13,1.6,13,-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,266.1,119173,-23.2,-12.000
$D_GRID,2062
$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,-1.18,-121.7,0.0,0.0,0,36,0.00,0.00,-16.90,0.000,2,0.000,0.000,139,2455,2238
$GC,39,-1.18,-121.7,3.1,-2.1,3,109,8.32,2.17,-56.17,0.000,4,0.237,0.039,2159,1026,3989
$GC,127,-0.56,-121.7,12.7,-24.7,17,134,0.75,2.10,0.00,0.000,6,0.180,0.029,2358,2425,3990
$GC,472,-0.84,-121.7,60.2,-11.9,78,478,0.22,2.05,0.00,0.000,4,0.060,0.046,2260,3756,3992
$GC,669,-0.79,-121.7,91.8,-14.8,113,676,0.12,1.90,0.00,0.000,6,0.163,0.026,2291,2413,3992
$GC,1014,-1.00,-121.7,135.2,-12.6,174,1020,0.17,2.08,0.00,0.000,4,0.063,0.043,2205,3757,3994
$GC,1182,-0.85,-121.7,159.4,-14.1,203,1189,0.22,1.83,0.00,0.000,6,0.158,0.023,2268,2451,3995
$GC,1528,-1.03,-121.7,196.5,-10.1,264,1534,0.15,2.00,0.00,0.000,4,0.069,0.043,2195,3755,3996
$GC,1726,-0.90,-121.7,223.7,-13.8,299,1733,0.20,1.77,0.00,0.000,6,0.158,0.024,2250,2488,3996
$GC,2074,-1.04,-121.7,260.0,-10.1,360,2080,0.12,1.95,0.00,0.000,4,0.077,0.044,2192,3755,3996
$GC,2160,-0.93,-121.7,271.5,-13.8,375,2167,0.20,1.77,0.00,0.000,6,0.158,0.024,2246,2496,3997
$GC,2508,-1.09,-121.7,306.8,-10.7,431,2512,0.15,1.95,0.00,0.000,4,0.071,0.045,2179,3760,3997
$GC,2634,-0.94,-121.7,325.5,-16.8,442,2638,0.22,1.75,0.00,0.000,6,0.159,0.025,2241,2518,3997
$GC,2964,-1.12,-121.7,363.0,-9.9,473,2969,0.17,1.90,0.00,0.000,4,0.067,0.044,2166,3751,3996
$GC,3055,-0.98,-121.7,374.7,-13.0,481,3064,0.22,1.73,0.00,0.000,6,0.162,0.025,2227,2531,3997
$GC,3390,-1.13,-121.7,406.8,-9.8,512,3395,0.15,1.90,0.00,0.000,4,0.072,0.046,2162,3757,3997
$GC,3615,-1.00,-121.7,434.9,-12.1,532,3619,0.22,1.70,0.00,0.000,6,0.163,0.026,2223,2568,3996
$GC,3945,-1.16,-121.7,466.7,-9.6,563,3947,0.15,0.00,0.00,0.000,6,0.073,0.000,2162,2567,3995
$GC,4264,-1.11,-121.7,505.8,-12.1,591,4268,0.00,1.85,0.00,0.000,4,0.000,0.048,2156,3758,3993
$GC,4360,-0.97,-121.7,518.8,-13.1,595,4364,0.28,1.70,0.00,0.000,6,0.163,0.027,2231,2576,3993
$GC,4689,-1.19,-121.7,548.6,-9.1,611,4693,0.20,1.85,0.00,0.000,4,0.068,0.049,2149,3761,3992
$GC,4784,-1.06,-121.7,561.3,-13.4,615,4788,0.20,1.70,0.00,0.000,6,0.169,0.027,2201,2578,3990
$GC,5112,-1.17,-121.7,596.2,-10.6,631,5116,0.00,1.83,0.00,0.000,4,0.000,0.049,2194,3750,3989
$GC,5163,-1.21,-121.7,602.0,-11.6,633,5167,0.08,1.70,0.00,0.000,6,0.072,0.028,2154,2592,3987
$GC,5489,-1.14,-121.7,643.2,-12.7,649,5493,0.00,1.83,0.00,0.000,4,0.000,0.051,2149,3740,3986
$GC,5523,-1.02,-121.7,647.7,-13.0,650,5527,0.25,1.65,0.00,0.000,6,0.171,0.028,2216,2598,3985
$GC,5846,-1.20,-121.7,679.1,-9.6,666,5851,0.17,1.83,0.00,0.000,4,0.074,0.051,2139,3758,3982
$GC,5892,-1.04,-121.7,684.9,-13.3,668,5897,0.20,1.70,0.00,0.000,6,0.172,0.028,2198,2612,3982
$GC,6228,-1.16,-121.7,718.7,-10.2,684,6231,0.00,1.77,0.00,0.000,4,0.000,0.051,2192,3746,3980
$GC,6301,-1.22,-121.7,727.2,-10.6,687,6305,0.08,1.67,0.00,0.000,6,0.076,0.028,2153,2616,3980
$GC,6627,-1.16,-121.7,767.4,-12.3,703,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2615,3977
$GC,6937,-1.11,-121.7,804.4,-11.8,718,6938,0.15,0.00,0.00,0.000,6,0.182,0.000,2189,2615,3975
$GC,7246,-1.19,-121.7,834.5,-9.6,733,7250,0.00,1.80,0.00,0.000,4,0.000,0.054,2183,3754,3973
$GC,7315,-1.19,-121.7,841.6,-10.6,736,7319,0.00,1.67,0.00,0.000,6,0.000,0.030,2183,2611,3972
$GC,7649,-1.27,-121.7,874.7,-10.3,752,7654,0.15,1.83,0.00,0.000,4,0.084,0.054,2126,3758,3970
$GC,7695,-1.07,-121.7,880.9,-14.3,754,7699,0.28,1.67,0.00,0.000,6,0.182,0.031,2197,2619,3970
$GC,8029,-1.21,-121.7,914.9,-9.8,770,8033,0.12,1.80,0.00,0.000,4,0.085,0.054,2150,3749,3969
$GC,8090,-1.11,-121.7,922.9,-14.2,772,8097,0.15,1.62,0.00,0.000,6,0.183,0.031,2186,2643,3968
$GC,8408,-1.21,-121.7,955.7,-10.1,788,8412,0.00,1.75,0.00,0.000,4,0.000,0.054,2180,3747,3967
$GC,8441,-1.21,-121.7,959.7,-11.6,789,8445,0.00,1.65,0.00,0.000,6,0.000,0.030,2180,2625,3966
$STATE,8739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8740,begin apogee
$GC,8746,-0.22,0.0,991.0,10.4,804,8845,0.98,0.00,90.07,1.418,6,0.159,0.000,2467,2544,3532
$STATE,8846,end apogee,CONTROL_FINISHED_OK
$STATE,8846,begin climb
$GC,8848,1.18,121.7,995.0,0.0,809,8959,1.27,2.10,103.00,1.375,4,0.064,0.051,2922,3746,3034
$GC,9122,0.44,121.7,979.7,12.5,821,9127,0.88,1.92,0.00,0.000,6,0.215,0.026,2693,2496,3031
$GC,9438,0.65,213.0,960.1,6.0,836,9523,0.17,2.25,74.80,1.360,4,0.082,0.033,2760,1112,2662
$GC,9559,0.73,228.8,948.6,11.0,841,9578,0.00,2.20,14.15,1.234,6,0.000,0.037,2760,2488,2601
$GC,9901,0.73,228.8,907.5,12.1,858,9904,0.00,2.10,0.00,0.000,4,0.000,0.032,2760,1110,2596
$GC,9970,0.82,233.9,899.5,11.7,861,9981,0.15,2.17,5.30,0.993,6,0.087,0.038,2816,2504,2578
$GC,10299,0.69,233.9,853.0,13.9,877,10303,0.17,2.12,0.00,0.000,4,0.183,0.030,2775,1098,2576
$GC,10388,0.71,248.5,842.1,11.0,881,10407,0.00,2.12,13.32,1.233,6,0.000,0.035,2775,2481,2517
$GC,10736,0.72,263.1,802.4,11.0,898,10757,0.00,2.15,13.00,1.213,4,0.000,0.032,2775,1109,2459
$GC,10873,0.80,263.1,786.5,12.2,904,10877,0.00,2.12,0.00,0.000,6,0.000,0.037,2775,2471,2456
$GC,11205,0.87,263.1,746.1,12.4,920,11209,0.15,2.08,0.00,0.000,4,0.083,0.031,2831,1103,2455
$GC,11346,0.78,263.1,725.1,15.9,926,11351,0.15,2.08,0.00,0.000,6,0.183,0.036,2795,2454,2454
$GC,11667,0.78,263.1,680.7,13.8,942,11671,0.00,2.03,0.00,0.000,4,0.000,0.031,2802,1106,2454
$GC,11758,0.78,263.1,668.5,13.0,946,11761,0.00,2.05,0.00,0.000,6,0.000,0.036,2802,2440,2454
$GC,12090,0.78,263.1,623.2,13.4,962,12093,0.00,2.08,0.00,0.000,4,0.000,0.052,2801,3767,2453
$GC,12158,0.65,263.1,613.5,14.6,965,12163,0.20,2.00,0.00,0.000,6,0.186,0.026,2756,2408,2453
$GC,12492,0.84,304.4,580.7,9.3,981,12534,0.17,2.03,34.25,1.147,4,0.077,0.034,2831,1106,2290
$GC,12647,0.84,304.4,560.0,13.8,988,12651,0.00,2.08,0.00,0.000,6,0.000,0.035,2831,2436,2286
$GC,12979,0.84,304.4,514.5,13.6,1004,12983,0.00,2.03,0.00,0.000,4,0.000,0.031,2831,1097,2284
$GC,13092,0.84,304.4,499.0,14.2,1009,13096,0.00,2.03,0.00,0.000,6,0.000,0.035,2831,2421,2284
$GC,13425,0.84,304.4,453.2,13.6,1040,13429,0.00,2.00,0.00,0.000,4,0.000,0.032,2831,1092,2282
$GC,13573,0.84,304.4,434.1,12.2,1053,13577,0.00,1.98,0.00,0.000,6,0.000,0.035,2831,2388,2282
$GC,13905,0.84,304.4,392.4,13.0,1084,13909,0.00,1.95,0.00,0.000,4,0.000,0.032,2831,1110,2282
$GC,13988,0.84,304.4,381.8,12.3,1091,13994,0.00,1.95,0.00,0.000,6,0.000,0.035,2831,2391,2282
$GC,14315,0.85,311.6,342.1,11.5,1122,14327,0.00,2.15,6.30,0.809,4,0.000,0.050,2831,3774,2261
$GC,14373,0.76,311.6,334.6,13.3,1127,14378,0.17,2.10,0.00,0.000,6,0.187,0.027,2788,2348,2260
$GC,14703,0.99,344.1,305.2,9.9,1158,14738,0.20,1.92,27.17,0.910,4,0.073,0.031,2880,1089,2128
$GC,14812,0.99,344.1,290.0,14.4,1173,14818,0.00,1.98,0.00,0.000,6,0.000,0.033,2879,2379,2125
$GC,15156,0.99,344.1,241.8,12.2,1234,15161,0.00,1.90,0.00,0.000,4,0.000,0.031,2884,1106,2124
$GC,15338,0.99,344.6,218.6,12.0,1266,15344,0.00,1.88,0.00,0.000,6,0.000,0.032,2884,2342,2124
$GC,15682,0.99,344.6,175.8,12.7,1327,15688,0.00,1.85,0.00,0.000,4,0.000,0.031,2887,1095,2124
$GC,15727,0.99,344.6,169.6,13.9,1335,15733,0.00,1.85,0.00,0.000,6,0.000,0.031,2887,2331,2124
$GC,16071,1.00,353.0,126.0,11.4,1396,16084,0.00,0.00,8.35,0.667,6,0.000,0.000,2887,2330,2092
$GC,16422,1.12,373.0,87.3,10.7,1458,16446,0.00,1.83,17.35,0.686,4,0.000,0.028,2894,1098,2009
$GC,16605,1.32,407.7,68.8,9.7,1490,16640,0.22,1.83,28.27,0.675,6,0.067,0.030,2982,2320,1868
$GC,16980,1.29,417.9,23.5,11.3,1556,16994,0.00,1.88,8.68,0.571,4,0.000,0.028,2990,1092,1828
$GC,17126,1.31,438.9,6.6,10.6,1581,17150,0.00,1.75,17.48,0.598,6,0.000,0.031,2989,2261,1741
$STATE,17154,end climb,SURFACE_DEPTH_REACHED
$STATE,17154,begin surface coast
$FINISH,1.8,0.997107
$STATE,17178,end surface coast,CONTROL_FINISHED_OK
$STATE,17178,begin surface
$SM_CCo,17256,0.00,0.000,0,0,1738,440.07
$SM_GC,2.89,7.80,0.00,0.00,0.061,0.000,0.000,139,2454,1738,-7.51,0.76,440.07
$IRIDIUM_FIX,2507.97,12400.57,011098,020236
$TT8_MAMPS,0.029146
$HUMID,1613
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.10
$XPDR_PINGS,1
$24V_AH,23.4,48.295
$10V_AH,10.8,27.345
$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,26.800,138.225,461.500,0.000,0.000,23.989,34.166,234.490,8.250,0.000,0.000,13.720,2870.945,10698.858,562.254,2907.457,648.008,0.000,2032.447,0.000,2837.821,0.000,56.001,0.000
$DEVICE_MAMPS,237.003,88.972,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1075.343,1101.966,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85150,1590
$CAP_FILE_SIZE,181681,0
$CFSIZE,260165632,203247616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.222, 90.0,1
$GPS,070709,122536,2517.087,12400.294,40,1.2,41,-3.8