version: 66.04
glider: 167
mission: 2
dive: 281
start: 7 8 109 17 57 18
data:
$ID,167
$MISSION,2
$DIVE,281
$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,-10785.35
$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,61
$R_STBD_OVSHOOT,38
$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
$GPS1,174906,2519.935,12406.269,36,1.5,37,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-69.5
$GPS2,175658,2520.081,12406.434,15,3.1,34,-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,211.1,63926,-23.2,-12.000
$D_GRID,2056
$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,16,-1.18,-121.7,0.0,0.0,0,48,0.00,0.00,-29.48,0.000,2,0.000,0.000,139,2441,2366
$GC,51,-1.18,-121.7,3.1,-1.9,5,115,8.45,2.17,-50.40,0.000,4,0.242,0.039,2160,1014,3989
$GC,202,-0.67,-121.7,30.1,-26.1,30,210,0.60,2.12,0.00,0.000,6,0.167,0.029,2323,2433,3991
$GC,548,-0.87,-121.7,74.9,-10.9,91,555,0.17,2.03,0.00,0.000,4,0.065,0.044,2233,3754,3992
$GC,809,-0.80,-121.7,116.9,-14.7,137,816,0.17,1.88,0.00,0.000,6,0.156,0.023,2282,2423,3993
$GC,1155,-0.98,-121.7,154.1,-10.3,198,1162,0.15,2.05,0.00,0.000,4,0.069,0.042,2208,3756,3994
$GC,1416,-0.92,-121.7,192.5,-13.8,244,1422,0.15,1.77,0.00,0.000,6,0.160,0.024,2247,2490,3995
$GC,1763,-1.06,-121.7,227.9,-10.0,305,1769,0.12,1.95,0.00,0.000,4,0.076,0.044,2192,3756,3996
$GC,1793,-1.01,-121.7,231.7,-12.8,310,1800,0.00,1.77,0.00,0.000,6,0.000,0.024,2192,2485,3995
$GC,2138,-0.96,-121.7,278.9,-14.5,371,2145,0.15,1.95,0.00,0.000,4,0.161,0.044,2231,3750,3996
$GC,2219,-1.02,-121.7,289.6,-12.9,385,2224,0.00,1.75,0.00,0.000,6,0.000,0.024,2231,2496,3995
$GC,2549,-1.15,-121.7,330.0,-11.8,423,2553,0.17,1.95,0.00,0.000,4,0.068,0.045,2149,3757,3996
$GC,2645,-0.93,-121.7,344.5,-14.9,431,2651,0.32,1.75,0.00,0.000,6,0.160,0.025,2240,2517,3996
$GC,2970,-1.13,-121.7,376.1,-9.3,462,2974,0.17,1.92,0.00,0.000,4,0.068,0.044,2166,3764,3996
$GC,3031,-1.01,-121.7,383.8,-13.3,467,3038,0.20,1.73,0.00,0.000,6,0.159,0.024,2220,2544,3996
$GC,3358,-1.14,-121.7,418.5,-10.4,498,3363,0.12,1.88,0.00,0.000,4,0.077,0.045,2166,3754,3995
$GC,3476,-1.02,-121.7,434.6,-14.5,508,3483,0.20,1.70,0.00,0.000,6,0.163,0.026,2219,2562,3995
$GC,3802,-1.16,-121.7,469.6,-10.8,539,3806,0.15,1.85,0.00,0.000,4,0.071,0.046,2153,3753,3993
$GC,4008,-1.02,-121.7,497.9,-13.3,557,4014,0.22,1.65,0.00,0.000,6,0.163,0.026,2213,2598,3993
$GC,4326,-1.15,-121.7,528.6,-9.5,574,4328,0.12,0.00,0.00,0.000,6,0.078,0.000,2162,2598,3991
$GC,4633,-1.11,-121.7,564.3,-12.0,589,4637,0.00,1.80,0.00,0.000,4,0.000,0.049,2154,3757,3990
$GC,4739,-1.00,-121.7,578.9,-13.3,593,4746,0.25,1.65,0.00,0.000,6,0.160,0.028,2222,2609,3988
$GC,5056,-1.19,-121.7,610.0,-9.8,609,5061,0.17,2.28,0.00,0.000,4,0.071,0.028,2148,1053,3987
$GC,5078,-1.25,-121.7,612.5,-10.6,610,5082,0.00,2.33,0.00,0.000,6,0.000,0.035,2146,2583,3987
$GC,5401,-1.16,-121.7,650.2,-11.0,626,5404,0.00,1.80,0.00,0.000,4,0.000,0.051,2139,3751,3984
$GC,5598,-1.00,-121.7,674.6,-12.3,634,5607,0.30,1.65,0.00,0.000,6,0.166,0.028,2222,2612,3982
$GC,5915,-1.20,-121.7,702.5,-9.4,650,5917,0.20,0.00,0.00,0.000,6,0.070,0.000,2146,2612,3980
$GC,6223,-1.13,-121.7,742.3,-12.8,665,6228,0.12,2.28,0.00,0.000,4,0.179,0.028,2175,1063,3978
$GC,6256,-1.18,-121.7,746.4,-12.1,666,6264,0.00,2.33,0.00,0.000,6,0.000,0.037,2170,2586,3977
$GC,6572,-1.18,-121.7,783.6,-11.6,682,6576,0.00,1.80,0.00,0.000,4,0.000,0.052,2165,3749,3975
$GC,6666,-1.18,-121.7,795.4,-12.6,686,6670,0.00,1.65,0.00,0.000,6,0.000,0.028,2165,2633,3975
$GC,6994,-1.18,-121.7,831.3,-10.7,702,6998,0.00,1.77,0.00,0.000,4,0.000,0.054,2165,3756,3973
$GC,7072,-1.18,-121.7,840.0,-10.8,705,7076,0.00,1.65,0.00,0.000,6,0.000,0.029,2165,2622,3972
$GC,7394,-1.18,-121.7,872.0,-10.3,721,7398,0.00,1.80,0.00,0.000,4,0.000,0.054,2165,3758,3970
$GC,7495,-1.18,-121.7,883.8,-11.7,725,7498,0.00,1.62,0.00,0.000,6,0.000,0.029,2165,2642,3969
$GC,7815,-1.18,-121.7,921.8,-12.6,741,7819,0.00,1.75,0.00,0.000,4,0.000,0.054,2165,3747,3967
$GC,7888,-1.18,-121.7,931.7,-14.0,744,7891,0.00,1.60,0.00,0.000,6,0.000,0.029,2165,2648,3967
$GC,8214,-1.18,-121.7,973.3,-12.8,760,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2649,3966
$STATE,8357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8357,begin apogee
$GC,8363,-0.22,0.0,991.6,12.8,767,8462,1.02,0.00,89.75,1.413,6,0.164,0.000,2464,2538,3533
$STATE,8463,end apogee,CONTROL_FINISHED_OK
$STATE,8463,begin climb
$GC,8466,1.18,121.7,997.3,0.0,772,8577,1.27,2.10,103.22,1.373,4,0.062,0.051,2920,3738,3034
$GC,8730,0.45,121.7,986.3,12.5,784,8736,0.93,1.88,0.00,0.000,6,0.215,0.026,2695,2488,3032
$GC,9058,0.67,217.1,966.6,5.7,800,9144,0.17,2.22,78.20,1.357,4,0.081,0.031,2772,1118,2646
$GC,9222,0.68,227.8,950.0,11.3,807,9238,0.00,2.17,10.35,1.182,6,0.000,0.036,2772,2486,2602
$GC,9567,0.69,234.7,909.8,11.5,824,9580,0.00,2.15,6.75,1.085,4,0.000,0.031,2772,1119,2574
$GC,9660,0.74,235.2,898.5,12.0,828,9664,0.00,2.12,0.00,0.000,6,0.000,0.036,2772,2489,2573
$GC,9987,0.74,235.2,858.2,12.9,844,9991,0.00,2.08,0.00,0.000,4,0.000,0.031,2772,1116,2571
$GC,10087,0.74,235.2,845.2,12.6,848,10091,0.00,2.10,0.00,0.000,6,0.000,0.035,2772,2479,2570
$GC,10409,0.74,235.2,804.3,12.5,864,10413,0.00,2.05,0.00,0.000,4,0.000,0.031,2772,1116,2569
$GC,10448,0.79,235.2,799.3,13.0,865,10454,0.00,2.08,0.00,0.000,6,0.000,0.035,2772,2470,2570
$GC,10763,0.79,235.2,760.0,12.3,881,10764,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2470,2568
$GC,11074,0.79,235.2,721.6,12.4,896,11077,0.00,2.03,0.00,0.000,4,0.000,0.031,2776,1114,2568
$GC,11219,0.79,235.2,704.6,12.1,902,11223,0.00,2.05,0.00,0.000,6,0.000,0.037,2776,2451,2567
$GC,11541,0.82,261.6,670.5,10.3,918,11567,0.00,2.05,21.65,1.192,4,0.000,0.031,2776,1116,2465
$GC,11693,0.94,285.1,654.5,10.4,925,11720,0.20,2.05,20.92,1.163,6,0.077,0.037,2849,2436,2369
$GC,12043,0.80,285.1,603.8,15.0,942,12048,0.17,2.10,0.00,0.000,4,0.179,0.050,2806,3767,2365
$GC,12087,0.71,285.1,596.6,15.3,944,12091,0.15,2.00,0.00,0.000,6,0.187,0.028,2776,2426,2364
$GC,12415,0.83,297.0,558.6,11.2,960,12430,0.10,1.95,10.57,1.048,4,0.094,0.033,2815,1123,2320
$GC,12453,0.83,297.0,553.5,13.0,961,12457,0.00,2.03,0.00,0.000,6,0.000,0.036,2815,2432,2320
$GC,12786,0.83,299.8,512.6,11.8,977,12795,0.00,2.03,3.92,0.727,4,0.000,0.033,2815,1125,2309
$GC,12875,0.83,299.8,501.8,12.2,981,12879,0.00,2.00,0.00,0.000,6,0.000,0.036,2815,2426,2308
$GC,13206,0.83,299.8,460.5,12.7,1011,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2426,2308
$GC,13527,0.85,313.8,423.2,11.1,1041,13548,0.00,2.17,12.73,0.974,4,0.000,0.053,2815,3765,2252
$GC,13561,0.87,330.8,419.2,10.9,1044,13583,0.00,2.03,15.27,0.966,6,0.000,0.026,2823,2397,2183
$GC,13902,0.95,330.8,380.8,12.0,1076,13905,0.00,1.90,0.00,0.000,4,0.000,0.031,2828,1120,2179
$GC,14030,1.06,330.8,364.2,13.2,1087,14038,0.17,1.95,0.00,0.000,6,0.076,0.034,2895,2401,2178
$GC,14355,0.94,330.8,316.6,13.3,1118,14360,0.17,1.92,0.00,0.000,4,0.186,0.028,2852,1107,2178
$GC,14424,0.99,334.0,308.1,11.8,1124,14428,0.00,1.92,0.00,0.000,6,0.000,0.034,2852,2376,2178
$GC,14763,0.99,334.0,266.5,13.2,1178,14769,0.00,1.88,0.00,0.000,4,0.000,0.030,2857,1110,2178
$GC,14883,1.05,334.0,250.9,13.3,1199,14889,0.00,1.88,0.00,0.000,6,0.000,0.034,2856,2354,2178
$GC,15228,1.06,341.7,207.2,11.5,1260,15246,0.00,2.20,10.10,0.762,4,0.000,0.050,2857,3763,2138
$GC,15348,1.00,341.7,191.7,12.8,1281,15354,0.00,2.03,0.00,0.000,6,0.000,0.024,2867,2363,2137
$GC,15692,1.12,377.6,149.2,9.6,1342,15729,0.10,1.92,29.45,0.759,4,0.091,0.031,2911,1106,1989
$GC,15805,1.13,383.8,136.3,11.6,1361,15817,0.00,1.98,5.72,0.601,6,0.000,0.031,2911,2409,1966
$GC,16157,1.13,387.4,93.4,11.8,1423,16165,0.00,2.00,4.35,0.512,4,0.000,0.028,2916,1098,1952
$GC,16246,1.20,388.6,82.1,11.9,1438,16252,0.00,1.92,0.00,0.000,6,0.000,0.030,2916,2383,1952
$GC,16590,1.36,426.0,48.4,9.5,1499,16628,0.17,1.90,31.62,0.659,4,0.069,0.027,3002,1106,1794
$GC,16822,1.29,426.0,21.1,12.8,1539,16829,0.17,1.90,0.00,0.000,6,0.178,0.031,2959,2374,1790
$STATE,16987,end climb,SURFACE_DEPTH_REACHED
$STATE,16987,begin surface coast
$FINISH,1.9,1.015827
$STATE,17010,end surface coast,CONTROL_FINISHED_OK
$STATE,17010,begin surface
$SM_CCo,17088,0.00,0.000,0,0,1788,427.80
$SM_GC,2.93,7.57,0.00,0.00,0.056,0.000,0.000,142,2450,1788,-7.49,0.65,427.80
$IRIDIUM_FIX,2512.73,12407.19,021098,131350
$TT8_MAMPS,0.029146
$HUMID,1585
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,49.521
$10V_AH,10.8,28.024
$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,25.125,136.500,454.600,0.000,0.000,30.538,35.243,245.454,8.000,0.000,0.000,35.741,2809.558,10642.539,579.788,2877.345,635.934,0.000,2016.343,0.000,2783.999,0.000,54.428,0.000
$DEVICE_MAMPS,242.372,96.642,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.613,1087.098,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85279,1572
$CAP_FILE_SIZE,176879,0
$CFSIZE,260165632,202625024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.297, 75.7,1
$GPS,080709,224307,2519.458,12407.866,26,1.4,27,-3.8