version: 66.04
glider: 167
mission: 2
dive: 342
start: 7 20 109 23 32 15
data:
$ID,167
$MISSION,2
$DIVE,342
$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,-12114.436
$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,103
$R_STBD_OVSHOOT,44
$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
$GPS1,232136,2504.051,12417.082,38,1.2,39,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-68.6
$GPS2,233155,2504.106,12417.214,15,1.7,32,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2452.300,12349.600
$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,272.5,51292,-24.8,-13.043
$D_GRID,1941
$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,13,begin dive
$GC,15,-1.25,-121.7,0.0,0.0,0,46,0.00,0.00,-28.88,0.000,2,0.000,0.000,140,2452,2266
$GC,50,-1.25,-121.7,3.1,-2.0,5,122,8.18,2.10,-55.42,0.000,4,0.235,0.039,2136,1055,3989
$GC,152,-0.87,-121.7,15.0,-21.4,22,159,0.47,2.05,0.00,0.000,6,0.163,0.029,2262,2431,3989
$GC,497,-0.99,-121.7,66.3,-12.8,83,504,0.12,0.00,0.00,0.000,6,0.077,0.000,2210,2433,3991
$GC,842,-0.99,-121.7,115.6,-15.2,144,848,0.00,2.00,0.00,0.000,4,0.000,0.044,2205,3749,3992
$GC,962,-0.99,-121.7,134.7,-16.7,165,968,0.00,1.88,0.00,0.000,6,0.000,0.022,2204,2396,3992
$GC,1308,-1.05,-121.7,180.4,-11.4,226,1313,0.00,2.08,0.00,0.000,4,0.000,0.042,2199,3754,3994
$GC,1355,-1.05,-121.7,186.4,-11.4,234,1361,0.00,1.85,0.00,0.000,6,0.000,0.022,2199,2420,3994
$GC,1700,-1.13,-121.7,223.4,-11.2,295,1707,0.00,2.05,0.00,0.000,4,0.000,0.042,2192,3763,3994
$GC,1747,-1.13,-121.7,229.1,-12.1,303,1754,0.00,1.85,0.00,0.000,6,0.000,0.022,2192,2429,3994
$GC,2095,-1.20,-121.7,268.9,-11.6,364,2101,0.10,2.03,0.00,0.000,4,0.084,0.041,2139,3760,3994
$GC,2171,-1.04,-121.7,280.7,-16.3,377,2177,0.25,1.83,0.00,0.000,6,0.156,0.022,2209,2452,3994
$GC,2510,-1.22,-121.7,323.1,-11.2,421,2514,0.17,2.00,0.00,0.000,4,0.068,0.041,2126,3758,3994
$GC,2562,-1.02,-121.7,330.4,-14.5,425,2568,0.30,1.83,0.00,0.000,6,0.156,0.022,2210,2453,3994
$GC,2888,-1.27,-121.7,362.1,-8.6,456,2892,0.20,2.00,0.00,0.000,4,0.064,0.024,2124,1063,3994
$GC,2961,-1.17,-121.7,370.6,-11.7,462,2968,0.15,2.08,0.00,0.000,6,0.163,0.031,2162,2449,3994
$GC,3286,-1.17,-121.7,403.2,-10.5,493,3290,0.00,1.98,0.00,0.000,4,0.000,0.044,2154,3756,3994
$GC,3434,-1.13,-121.7,421.5,-13.3,506,3438,0.00,1.85,0.00,0.000,6,0.000,0.023,2154,2442,3994
$GC,3766,-1.13,-121.7,467.5,-12.7,537,3769,0.00,2.03,0.00,0.000,4,0.000,0.044,2153,3757,3993
$GC,3800,-1.13,-121.7,472.3,-14.2,540,3804,0.12,1.83,0.00,0.000,6,0.160,0.023,2184,2460,3993
$GC,4140,-1.43,-121.7,504.2,-8.3,570,4144,0.25,2.03,0.00,0.000,4,0.061,0.024,2080,1043,3992
$GC,4299,-1.27,-121.7,524.0,-13.2,577,4304,0.22,2.05,0.00,0.000,6,0.171,0.031,2130,2424,3992
$GC,4620,-1.27,-121.7,565.0,-13.4,593,4624,0.00,2.03,0.00,0.000,4,0.000,0.045,2124,3756,3991
$GC,4710,-1.18,-121.7,578.5,-14.7,597,4715,0.10,1.92,0.00,0.000,6,0.151,0.023,2167,2432,3990
$GC,5044,-1.34,-121.7,618.6,-11.3,613,5049,0.15,2.05,0.00,0.000,4,0.073,0.045,2099,3753,3988
$GC,5096,-1.17,-121.7,625.6,-13.7,615,5101,0.25,1.88,0.00,0.000,6,0.167,0.025,2166,2441,3988
$GC,5426,-1.32,-121.7,658.6,-9.8,631,5430,0.15,2.05,0.00,0.000,4,0.074,0.046,2098,3759,3985
$GC,5592,-1.15,-121.7,680.7,-13.3,638,5597,0.28,1.88,0.00,0.000,6,0.166,0.025,2173,2449,3984
$GC,5921,-1.33,-121.7,713.4,-9.6,654,5923,0.17,0.00,0.00,0.000,6,0.071,0.000,2106,2448,3981
$GC,6230,-1.25,-121.7,749.8,-11.9,669,6232,0.12,0.00,0.00,0.000,6,0.174,0.000,2136,2448,3979
$GC,6538,-1.25,-121.7,784.6,-11.6,684,6542,0.00,2.05,0.00,0.000,4,0.000,0.051,2136,3752,3977
$GC,6630,-1.25,-121.7,796.1,-12.9,688,6634,0.00,1.88,0.00,0.000,6,0.000,0.027,2136,2455,3976
$GC,6963,-1.25,-121.7,837.2,-12.2,704,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,2455,3974
$GC,7272,-1.25,-121.7,873.4,-11.5,719,7276,0.00,2.05,0.00,0.000,4,0.000,0.051,2130,3755,3971
$GC,7346,-1.21,-121.7,882.5,-13.1,722,7350,0.00,1.88,0.00,0.000,6,0.000,0.028,2129,2465,3971
$GC,7673,-1.21,-121.7,921.5,-12.0,738,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2464,3968
$GC,7983,-1.21,-121.7,960.0,-12.7,753,7987,0.00,2.05,0.00,0.000,4,0.000,0.052,2126,3759,3966
$GC,8029,-1.16,-121.7,965.8,-12.8,755,8033,0.17,1.88,0.00,0.000,6,0.170,0.028,2171,2481,3966
$STATE,8276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8276,begin apogee
$GC,8282,-0.22,0.0,990.8,9.7,767,8385,0.98,0.00,92.82,1.380,6,0.150,0.000,2467,2481,3532
$STATE,8386,end apogee,CONTROL_FINISHED_OK
$STATE,8386,begin climb
$GC,8388,1.25,121.7,995.8,0.0,772,8499,1.35,2.20,102.95,1.363,4,0.067,0.049,2943,3753,3035
$GC,8703,0.57,149.7,979.0,11.0,786,8733,0.85,1.85,23.70,1.300,6,0.215,0.025,2734,2502,2921
$GC,9051,0.75,224.9,952.4,7.7,803,9119,0.15,2.10,62.65,1.340,4,0.084,0.051,2789,3757,2614
$GC,9157,0.64,224.9,939.9,14.9,808,9162,0.17,1.88,0.00,0.000,6,0.189,0.026,2757,2517,2611
$GC,9491,0.78,235.0,898.7,12.3,824,9505,0.12,2.15,8.88,1.149,4,0.088,0.032,2806,1120,2572
$GC,9585,0.78,235.0,885.0,14.5,828,9588,0.00,2.15,0.00,0.000,6,0.000,0.035,2806,2508,2571
$GC,9912,0.79,242.1,841.2,12.5,844,9925,0.00,2.17,6.70,1.068,4,0.000,0.030,2814,1108,2545
$GC,9971,0.79,242.1,833.5,13.2,846,9977,0.00,2.15,0.00,0.000,6,0.000,0.036,2814,2499,2544
$GC,10288,0.80,253.7,796.3,12.2,862,10303,0.00,2.10,11.10,1.177,4,0.000,0.031,2816,1118,2496
$GC,10382,0.81,257.9,783.9,12.7,865,10393,0.00,2.12,5.00,0.933,6,0.000,0.035,2816,2493,2479
$GC,10703,0.81,257.9,740.4,14.3,881,10707,0.00,2.00,0.00,0.000,4,0.000,0.053,2816,3767,2477
$GC,10742,0.68,257.9,734.3,15.5,882,10748,0.22,1.88,0.00,0.000,6,0.189,0.025,2764,2486,2477
$GC,11058,0.90,289.5,698.8,10.8,898,11093,0.17,2.12,27.60,1.206,4,0.077,0.031,2842,1124,2350
$GC,11185,0.90,292.1,681.9,12.9,903,11192,0.00,2.12,0.00,0.000,6,0.000,0.035,2842,2489,2347
$GC,11501,0.91,295.8,640.8,12.8,919,11511,0.00,2.08,5.85,0.948,4,0.000,0.030,2845,1123,2326
$GC,11541,0.91,295.8,635.5,13.9,921,11544,0.00,2.08,0.00,0.000,6,0.000,0.035,2845,2468,2326
$GC,11873,0.91,295.8,591.0,13.3,937,11874,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2468,2324
$GC,12183,0.91,300.6,551.8,12.7,952,12193,0.00,2.03,5.78,0.904,4,0.000,0.029,2853,1120,2306
$GC,12272,0.92,302.6,539.9,12.9,956,12276,0.00,2.05,0.00,0.000,6,0.000,0.035,2853,2460,2305
$GC,12600,0.93,311.9,497.9,12.4,972,12615,0.00,2.03,10.82,1.000,4,0.000,0.050,2853,3764,2259
$GC,12622,0.95,333.8,495.1,11.5,973,12650,0.00,1.92,19.35,1.025,6,0.000,0.025,2862,2447,2170
$GC,12967,0.97,344.5,453.2,12.3,1006,12982,0.00,2.00,9.98,0.945,4,0.000,0.031,2871,1118,2127
$GC,13057,0.97,348.3,441.7,12.8,1014,13069,0.00,2.05,4.57,0.733,6,0.000,0.033,2871,2455,2111
$GC,13387,0.98,353.0,397.9,12.7,1045,13399,0.00,2.03,5.80,0.798,4,0.000,0.028,2880,1109,2091
$GC,13435,1.00,375.0,392.4,11.5,1049,13459,0.00,2.05,19.20,0.950,6,0.000,0.034,2880,2446,2004
$GC,13786,1.08,386.9,348.4,12.2,1082,13802,0.00,2.00,11.02,0.870,4,0.000,0.030,2885,1124,1953
$GC,13853,1.17,401.0,340.1,12.0,1087,13873,0.10,2.00,13.02,0.871,6,0.092,0.035,2924,2427,1897
$GC,14195,1.17,401.0,291.4,13.9,1124,14201,0.00,1.95,0.00,0.000,4,0.000,0.029,2929,1121,1893
$GC,14229,1.17,401.0,286.2,14.4,1130,14235,0.00,1.95,0.00,0.000,6,0.000,0.032,2928,2407,1893
$GC,14573,1.17,401.0,234.7,13.5,1191,14580,0.00,1.92,0.00,0.000,4,0.000,0.028,2936,1104,1892
$GC,14816,1.18,412.5,203.8,12.2,1234,14834,0.00,1.90,10.80,0.745,6,0.000,0.031,2935,2374,1849
$GC,15172,1.18,412.5,157.7,14.1,1297,15178,0.00,1.85,0.00,0.000,4,0.000,0.028,2940,1114,1847
$GC,15242,1.23,412.5,148.4,13.6,1309,15248,0.00,1.85,0.00,0.000,6,0.000,0.031,2940,2352,1847
$GC,15587,1.31,421.4,102.8,12.4,1370,15601,0.00,1.90,8.70,0.638,4,0.000,0.028,2944,1101,1814
$GC,15664,1.41,426.5,92.8,12.7,1383,15679,0.15,1.80,5.80,0.568,6,0.077,0.028,3001,2318,1793
$GC,16019,1.48,477.3,49.6,9.4,1445,16066,0.00,2.25,41.17,0.655,4,0.000,0.044,3001,3758,1584
$GC,16171,1.48,477.3,31.1,14.0,1471,16178,0.00,2.10,0.00,0.000,6,0.000,0.021,3012,2309,1581
$STATE,16388,end climb,SURFACE_DEPTH_REACHED
$STATE,16389,begin surface coast
$FINISH,1.9,0.999733
$STATE,16412,end surface coast,CONTROL_FINISHED_OK
$STATE,16413,begin surface
$SM_CCo,16492,0.00,0.000,0,0,1578,479.32
$SM_GC,2.79,7.70,0.00,0.00,0.054,0.000,0.000,140,2472,1578,-7.50,1.27,479.32
$IRIDIUM_FIX,2453.69,12415.70,141098,232349
$TT8_MAMPS,0.029146
$HUMID,1629
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.4,60.687
$10V_AH,10.7,33.850
$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,23.925,135.900,513.275,0.000,0.000,55.981,76.146,256.138,8.000,0.000,0.000,32.724,2689.944,10286.762,624.286,2732.924,763.698,0.000,2014.979,0.000,2645.197,0.000,54.430,0.000
$DEVICE_MAMPS,234.702,52.923,1379.833,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1020.117,1044.926,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82048,1514
$CAP_FILE_SIZE,172866,0
$CFSIZE,260165632,197246976
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.172,113.2,1
$GPS,210709,040807,2503.738,12416.779,24,2.0,26,-3.8