version: 66.04
glider: 167
mission: 2
dive: 322
start: 7 17 109 1 21 18
data:
$ID,167
$MISSION,2
$DIVE,322
$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,253
$T_MISSION,304
$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,-11676.568
$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,76
$R_STBD_OVSHOOT,42
$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
$GPS1,011137,2456.003,12423.968,27,1.4,28,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-66.9
$GPS2,012058,2456.140,12424.019,13,3.2,32,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2502.400,12422.900
$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,309.5,11745,-24.8,-13.043
$D_GRID,1481
$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,14,-1.25,-121.7,0.0,0.0,0,43,0.00,0.00,-26.38,0.000,2,0.000,0.000,141,2455,2163
$GC,46,-1.25,-121.7,3.1,-1.8,4,121,8.20,2.08,-60.85,0.000,4,0.235,0.054,2130,3765,3989
$GC,376,-0.76,-121.7,74.8,-22.2,61,383,0.60,1.92,0.00,0.000,6,0.176,0.021,2296,2400,3990
$GC,722,-1.07,-121.7,117.7,-10.3,122,729,0.22,2.10,0.00,0.000,4,0.060,0.042,2192,3763,3992
$GC,927,-0.99,-121.7,151.5,-14.8,158,934,0.12,1.85,0.00,0.000,6,0.164,0.022,2223,2439,3992
$GC,1272,-1.08,-121.7,197.6,-12.7,219,1278,0.00,2.03,0.00,0.000,4,0.000,0.042,2218,3762,3993
$GC,1313,-1.14,-121.7,203.2,-14.6,226,1320,0.12,1.85,0.00,0.000,6,0.073,0.021,2162,2437,3994
$GC,1659,-1.07,-121.7,256.8,-13.4,287,1666,0.15,1.98,0.00,0.000,4,0.160,0.022,2200,1043,3994
$GC,1702,-1.16,-121.7,262.2,-12.1,294,1708,0.00,2.05,0.00,0.000,6,0.000,0.029,2196,2440,3994
$GC,2048,-1.25,-121.7,299.1,-11.4,355,2054,0.15,2.00,0.00,0.000,4,0.071,0.043,2125,3760,3994
$GC,2300,-1.04,-121.7,338.5,-15.8,378,2307,0.30,1.83,0.00,0.000,6,0.160,0.023,2208,2461,3994
$GC,2626,-1.23,-121.7,372.7,-10.5,409,2630,0.17,2.00,0.00,0.000,4,0.068,0.043,2124,3763,3994
$GC,2664,-1.05,-121.7,377.7,-13.7,412,2671,0.28,1.83,0.00,0.000,6,0.161,0.023,2201,2463,3994
$GC,2990,-1.25,-121.7,413.0,-10.6,443,2994,0.17,2.00,0.00,0.000,4,0.067,0.044,2126,3762,3994
$GC,3081,-1.09,-121.7,425.9,-14.6,451,3085,0.17,1.85,0.00,0.000,6,0.159,0.024,2189,2485,3994
$GC,3412,-1.28,-121.7,459.8,-9.4,482,3416,0.17,1.95,0.00,0.000,4,0.067,0.044,2113,3750,3993
$GC,3530,-1.10,-121.7,475.2,-13.1,492,3537,0.28,1.75,0.00,0.000,6,0.164,0.025,2188,2514,3993
$GC,3866,-1.29,-121.7,511.9,-11.1,519,3868,0.17,0.00,0.00,0.000,6,0.068,0.000,2120,2513,3992
$GC,4176,-1.22,-121.7,551.3,-12.3,534,4180,0.12,1.92,0.00,0.000,4,0.173,0.045,2142,3756,3990
$GC,4245,-1.16,-121.7,559.6,-11.6,537,4249,0.12,1.77,0.00,0.000,6,0.171,0.025,2172,2519,3989
$GC,4580,-1.28,-121.7,592.2,-10.6,553,4584,0.12,1.92,0.00,0.000,4,0.081,0.048,2123,3753,3987
$GC,4670,-1.18,-121.7,604.4,-13.5,557,4674,0.15,1.73,0.00,0.000,6,0.173,0.026,2161,2555,3986
$GC,5005,-1.27,-121.7,642.3,-10.6,573,5009,0.00,1.90,0.00,0.000,4,0.000,0.048,2154,3754,3984
$GC,5099,-1.27,-121.7,653.2,-11.0,577,5103,0.00,1.73,0.00,0.000,6,0.000,0.028,2154,2576,3983
$GC,5427,-1.34,-121.7,686.4,-10.5,593,5429,0.12,0.00,0.00,0.000,6,0.083,0.000,2105,2576,3980
$GC,5736,-1.23,-121.7,727.1,-13.5,608,5741,0.17,2.22,0.00,0.000,4,0.173,0.027,2155,1054,3978
$GC,5804,-1.34,-121.7,735.4,-10.9,611,5808,0.12,2.28,0.00,0.000,6,0.083,0.035,2105,2555,3978
$GC,6127,-1.23,-121.7,779.1,-13.8,627,6132,0.15,2.22,0.00,0.000,4,0.187,0.028,2142,1053,3975
$GC,6190,-1.29,-121.7,787.2,-12.1,630,6194,0.00,2.28,0.00,0.000,6,0.000,0.035,2139,2545,3974
$GC,6523,-1.29,-121.7,828.2,-12.7,646,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2140,2545,3972
$GC,6831,-1.29,-121.7,868.0,-13.1,661,6835,0.00,1.88,0.00,0.000,4,0.000,0.053,2137,3749,3970
$GC,6931,-1.29,-121.7,881.7,-13.7,665,6935,0.00,1.73,0.00,0.000,6,0.000,0.028,2137,2589,3969
$GC,7254,-1.29,-121.7,921.6,-12.1,681,7258,0.00,2.25,0.00,0.000,4,0.000,0.028,2136,1067,3967
$GC,7304,-1.29,-121.7,928.2,-13.0,683,7308,0.00,2.30,0.00,0.000,6,0.000,0.038,2137,2554,3966
$GC,7626,-1.29,-121.7,967.9,-12.3,699,7630,0.00,2.22,0.00,0.000,4,0.000,0.028,2137,1054,3965
$GC,7671,-1.33,-121.7,973.8,-12.8,701,7675,0.00,2.30,0.00,0.000,6,0.000,0.038,2137,2546,3964
$STATE,7815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7816,begin apogee
$GC,7821,-0.22,0.0,991.6,12.2,708,7922,1.12,0.00,92.10,1.382,6,0.164,0.000,2465,2547,3532
$STATE,7923,end apogee,CONTROL_FINISHED_OK
$STATE,7923,begin climb
$GC,7926,1.25,121.7,996.8,0.0,713,8037,1.35,2.05,102.85,1.364,4,0.065,0.048,2943,3752,3035
$GC,8263,0.57,150.4,977.3,11.0,728,8293,0.80,1.85,24.25,1.305,6,0.214,0.026,2733,2522,2918
$GC,8611,0.77,248.3,954.6,6.0,745,8700,0.17,2.28,80.65,1.348,4,0.080,0.031,2807,1117,2518
$GC,8766,0.80,270.0,938.2,11.5,752,8791,0.00,2.17,19.27,1.257,6,0.000,0.035,2808,2494,2430
$GC,9113,0.80,270.0,893.3,13.3,769,9116,0.00,2.08,0.00,0.000,4,0.000,0.031,2815,1125,2424
$GC,9168,0.80,270.0,885.7,13.6,771,9172,0.00,2.12,0.00,0.000,6,0.000,0.035,2815,2501,2423
$GC,9490,0.80,270.0,841.1,14.0,787,9494,0.00,1.98,0.00,0.000,4,0.000,0.051,2815,3762,2422
$GC,9551,0.70,270.0,831.4,16.4,789,9559,0.17,1.88,0.00,0.000,6,0.197,0.027,2773,2495,2421
$GC,9868,0.86,290.8,794.2,11.5,805,9892,0.15,2.15,17.50,1.236,4,0.084,0.031,2836,1103,2345
$GC,9965,0.86,290.8,780.1,13.6,809,9969,0.00,2.15,0.00,0.000,6,0.000,0.036,2836,2486,2343
$GC,10292,0.86,290.8,733.6,14.4,825,10295,0.00,2.08,0.00,0.000,4,0.000,0.031,2843,1108,2341
$GC,10406,0.86,290.8,717.0,14.7,830,10410,0.00,2.10,0.00,0.000,6,0.000,0.038,2842,2464,2341
$GC,10738,0.86,290.8,665.5,15.6,846,10742,0.00,2.05,0.00,0.000,4,0.000,0.031,2850,1097,2340
$GC,10822,0.86,290.8,653.1,14.0,849,10829,0.00,2.10,0.00,0.000,6,0.000,0.037,2851,2465,2340
$GC,11138,0.81,290.8,608.5,13.8,865,11142,0.17,2.05,0.00,0.000,4,0.187,0.031,2809,1100,2339
$GC,11204,0.91,296.8,600.1,12.6,868,11214,0.00,2.05,5.38,0.917,6,0.000,0.035,2809,2447,2322
$GC,11526,1.01,311.7,560.6,12.0,883,11545,0.17,0.00,13.82,1.083,6,0.077,0.000,2876,2448,2261
$GC,11854,0.92,311.7,516.6,13.1,899,11858,0.15,2.03,0.00,0.000,4,0.193,0.031,2848,1110,2258
$GC,11968,0.95,332.3,503.6,11.6,904,11990,0.00,2.03,17.90,1.055,6,0.000,0.035,2848,2426,2177
$GC,12308,0.95,332.3,459.8,13.1,934,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2426,2174
$GC,12629,1.02,340.8,418.9,12.4,964,12641,0.00,2.05,8.15,0.902,4,0.000,0.031,2855,1109,2142
$GC,12732,1.11,354.7,405.4,12.0,973,12750,0.12,2.05,13.00,0.943,6,0.087,0.035,2903,2440,2086
$GC,13069,1.04,354.7,357.1,14.7,1004,13073,0.00,2.00,0.00,0.000,4,0.000,0.028,2911,1101,2082
$GC,13242,0.99,354.7,332.9,14.6,1019,13246,0.17,1.98,0.00,0.000,6,0.176,0.032,2866,2406,2082
$GC,13572,1.11,377.5,288.8,11.4,1057,13596,0.00,2.03,19.62,0.871,4,0.000,0.030,2868,1097,1991
$GC,13621,1.28,404.3,283.1,11.1,1065,13652,0.25,1.98,23.05,0.856,6,0.069,0.031,2962,2394,1882
$GC,13993,1.19,404.3,226.7,16.6,1130,14000,0.15,2.15,0.00,0.000,4,0.185,0.045,2927,3774,1876
$GC,14102,1.11,404.3,208.6,16.6,1149,14110,0.12,2.17,0.00,0.000,6,0.187,0.024,2906,2303,1876
$GC,14450,1.28,432.0,166.2,11.1,1210,14481,0.15,1.80,22.50,0.754,4,0.083,0.030,2971,1101,1769
$GC,14500,1.28,432.0,159.6,13.8,1218,14506,0.00,1.88,0.00,0.000,6,0.000,0.031,2971,2340,1768
$GC,14844,1.28,432.0,110.2,15.9,1279,14850,0.00,1.83,0.00,0.000,4,0.000,0.028,2978,1102,1766
$GC,15104,1.37,462.0,76.8,10.9,1325,15135,0.00,1.77,24.98,0.673,6,0.000,0.030,2978,2303,1647
$GC,15475,1.55,487.8,38.4,11.2,1390,15505,0.17,1.85,21.05,0.624,4,0.079,0.028,3051,1094,1542
$GC,15589,1.49,487.8,23.5,13.7,1409,15596,0.00,1.77,0.00,0.000,6,0.000,0.029,3051,2282,1539
$STATE,15717,end climb,SURFACE_DEPTH_REACHED
$STATE,15717,begin surface coast
$FINISH,1.7,1.004817
$STATE,15738,end surface coast,CONTROL_FINISHED_OK
$STATE,15738,begin surface
$SM_CCo,15817,0.00,0.000,0,0,1535,489.62
$SM_GC,2.80,7.82,0.00,0.00,0.055,0.000,0.000,140,2470,1535,-7.50,1.22,489.62
$IRIDIUM_FIX,2444.18,12424.88,111098,010136
$TT8_MAMPS,0.028379
$HUMID,1610
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.5,56.980
$10V_AH,10.7,31.974
$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,25.650,128.400,506.075,0.000,0.000,50.445,102.247,181.474,8.000,0.000,0.000,33.941,2571.188,9847.213,609.552,2651.195,684.611,0.000,1947.899,0.000,2565.465,0.000,54.436,0.000
$DEVICE_MAMPS,235.469,53.690,1382.134,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,967.135,987.448,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75715,1435
$CAP_FILE_SIZE,165352,0
$CFSIZE,260165632,199012352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.220, 58.2,1
$GPS,170709,054607,2458.517,12424.681,37,0.9,38,-3.7