version: 66.04
glider: 167
mission: 2
dive: 22
start: 5 24 109 13 20 6
data:
$ID,167
$MISSION,2
$DIVE,22
$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,330
$T_MISSION,396
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-4270.2056
$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,23
$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,2400
$C_ROLL_CLIMB,2415
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,31
$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
$GPS1,131306,2535.808,12255.136,38,0.9,39,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-68.3
$GPS2,131944,2535.834,12255.090,16,0.9,16,-3.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,133.9,54376,-15.7,-10.000
$D_GRID,829
$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,-0.92,-194.7,0.0,0.0,0,59,0.00,0.00,-42.42,0.000,2,0.000,0.000,144,2396,2699
$GC,62,-0.92,-194.7,3.1,-3.1,7,116,8.95,2.10,-37.12,0.000,4,0.265,0.048,2245,986,3989
$GC,226,-0.08,-194.7,39.5,-31.4,35,233,1.00,2.17,0.00,0.000,6,0.195,0.037,2514,2419,3990
$GC,571,-0.78,-194.7,72.5,-8.5,96,578,0.60,2.05,0.00,0.000,4,0.091,0.051,2297,3755,3992
$GC,607,-0.87,-194.7,76.2,-10.7,102,615,0.00,2.00,0.00,0.000,6,0.000,0.030,2297,2367,3991
$GC,953,-0.46,-194.7,134.9,-17.2,163,960,0.30,1.95,0.00,0.000,4,0.164,0.031,2388,1013,3992
$GC,1034,-0.64,-194.7,142.3,-7.2,177,1041,0.12,2.05,0.00,0.000,6,0.081,0.036,2330,2393,3994
$GC,1378,-0.59,-194.7,174.9,-10.6,238,1386,0.00,2.08,0.00,0.000,4,0.000,0.052,2328,3752,3994
$GC,1432,-0.53,-194.7,180.6,-10.3,247,1439,0.15,1.95,0.00,0.000,6,0.149,0.029,2370,2385,3994
$GC,1777,-0.74,-194.7,207.4,-7.5,308,1783,0.17,2.12,0.00,0.000,4,0.069,0.052,2287,3763,3995
$GC,1812,-0.69,-194.7,211.3,-11.6,314,1820,0.12,1.95,0.00,0.000,6,0.159,0.030,2320,2401,3995
$GC,2158,-0.69,-194.7,243.6,-8.3,375,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2320,2401,3995
$GC,2501,-0.75,-194.7,267.8,-6.9,436,2507,0.00,2.10,0.00,0.000,4,0.000,0.054,2316,3761,3996
$GC,2626,-0.81,-194.7,275.9,-6.4,458,2633,0.00,1.98,0.00,0.000,6,0.000,0.032,2316,2388,3996
$GC,2971,-0.89,-194.7,301.5,-8.7,518,2976,0.15,2.12,0.00,0.000,4,0.076,0.054,2246,3758,3995
$GC,3130,-0.65,-194.7,321.9,-14.1,531,3136,0.30,1.92,0.00,0.000,6,0.163,0.032,2335,2429,3996
$GC,3456,-0.82,-194.7,350.4,-8.6,562,3460,0.15,2.08,0.00,0.000,4,0.077,0.034,2274,1008,3995
$GC,3494,-0.76,-194.7,354.9,-11.4,565,3500,0.00,2.12,0.00,0.000,6,0.000,0.039,2274,2420,3995
$GC,3821,-0.69,-194.7,391.9,-10.4,596,3825,0.17,2.05,0.00,0.000,4,0.163,0.056,2329,3755,3994
$GC,3893,-0.88,-194.7,398.3,-7.4,602,3901,0.20,1.92,0.00,0.000,6,0.072,0.031,2245,2421,3994
$GC,4218,-0.71,-194.7,433.9,-11.9,633,4222,0.20,2.08,0.00,0.000,4,0.163,0.054,2303,3760,3992
$GC,4280,-0.79,-194.7,439.6,-8.3,638,4284,0.00,1.92,0.00,0.000,6,0.000,0.032,2303,2455,3992
$GC,4612,-0.87,-194.7,467.1,-8.0,669,4617,0.12,2.03,0.00,0.000,4,0.087,0.058,2247,3758,3990
$GC,4684,-0.72,-194.7,474.8,-10.3,675,4692,0.22,1.88,0.00,0.000,6,0.165,0.034,2312,2472,3989
$GC,5010,-0.85,-194.7,494.6,-6.1,706,5014,0.12,2.15,0.00,0.000,4,0.085,0.035,2262,1000,3987
$GC,5098,-0.85,-194.7,502.8,-10.0,713,5102,0.00,2.20,0.00,0.000,6,0.000,0.041,2261,2453,3987
$GC,5425,-0.77,-194.7,537.2,-11.2,729,5429,0.12,2.03,0.00,0.000,4,0.181,0.058,2289,3766,3985
$GC,5532,-0.83,-194.7,547.3,-9.8,733,5538,0.00,1.90,0.00,0.000,6,0.000,0.034,2289,2466,3984
$GC,5848,-0.89,-194.7,573.0,-7.7,749,5851,0.00,2.03,0.00,0.000,4,0.000,0.061,2289,3758,3982
$GC,5916,-0.96,-194.7,578.8,-9.0,752,5920,0.15,1.88,0.00,0.000,6,0.085,0.035,2229,2482,3981
$GC,6248,-0.77,-194.7,616.4,-11.7,768,6253,0.20,2.15,0.00,0.000,4,0.173,0.036,2292,1013,3979
$GC,6298,-0.87,-194.7,621.2,-8.6,770,6302,0.00,2.20,0.00,0.000,6,0.000,0.042,2289,2463,3979
$GC,6614,-0.93,-194.7,645.9,-8.0,785,6618,0.12,2.00,0.00,0.000,4,0.094,0.061,2235,3755,3977
$GC,6670,-0.77,-194.7,651.8,-11.5,787,6675,0.20,1.88,0.00,0.000,6,0.178,0.035,2290,2481,3976
$GC,6992,-0.85,-194.7,677.6,-7.4,803,6996,0.00,2.15,0.00,0.000,4,0.000,0.037,2290,1014,3975
$GC,7026,-0.93,-194.7,680.3,-8.0,804,7031,0.12,2.22,0.00,0.000,6,0.094,0.044,2240,2476,3974
$GC,7342,-0.82,-194.7,710.5,-9.4,819,7347,0.15,2.00,0.00,0.000,4,0.178,0.061,2277,3763,3973
$GC,7377,-0.82,-194.7,713.5,-7.8,820,7381,0.00,1.88,0.00,0.000,6,0.000,0.035,2277,2489,3973
$GC,7698,-0.82,-194.7,737.3,-7.4,836,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2489,3971
$GC,8008,-0.82,-194.7,762.4,-9.3,851,8012,0.00,1.98,0.00,0.000,4,0.000,0.063,2277,3750,3970
$GC,8035,-0.82,-194.7,765.0,-8.7,852,8039,0.00,1.85,0.00,0.000,6,0.000,0.035,2277,2493,3970
$GC,8362,-0.82,-194.7,793.8,-8.6,868,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2493,3969
$GC,8672,-0.82,-194.7,818.0,-7.6,883,8675,0.00,2.17,0.00,0.000,4,0.000,0.039,2276,1016,3967
$GC,8711,-0.87,-194.7,821.3,-8.9,884,8717,0.00,2.22,0.00,0.000,6,0.000,0.045,2276,2472,3967
$STATE,8817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8817,begin apogee
$GC,8823,-0.22,0.0,829.6,7.7,890,8912,0.62,0.00,86.35,1.348,6,0.156,0.000,2469,2472,3532
$STATE,8913,end apogee,CONTROL_FINISHED_OK
$STATE,8913,begin climb
$GC,8915,0.92,194.7,832.3,0.0,894,9083,1.05,2.35,159.90,1.386,4,0.069,0.039,2848,1037,2738
$GC,9298,0.37,194.7,794.1,16.5,911,9303,0.68,2.17,0.00,0.000,6,0.201,0.046,2669,2412,2732
$GC,9614,0.34,219.1,764.8,9.2,926,9640,0.00,2.22,20.52,1.272,4,0.000,0.061,2669,3751,2638
$GC,9713,0.22,219.1,753.3,12.0,930,9718,0.20,2.00,0.00,0.000,6,0.178,0.034,2624,2440,2635
$GC,10035,0.36,225.2,722.8,9.8,946,10046,0.12,2.12,5.75,1.009,4,0.094,0.061,2668,3761,2614
$GC,10125,0.26,225.2,711.0,13.3,950,10129,0.17,2.00,0.00,0.000,6,0.179,0.035,2630,2439,2614
$GC,10452,0.42,258.2,680.5,8.9,966,10484,0.15,2.17,26.85,1.246,4,0.087,0.061,2685,3764,2480
$GC,10546,0.30,258.2,669.1,13.3,970,10551,0.20,2.03,0.00,0.000,6,0.181,0.035,2642,2444,2478
$GC,10862,0.52,332.6,643.6,7.4,985,10930,0.17,2.25,62.53,1.316,4,0.085,0.061,2711,3762,2174
$GC,10982,0.43,332.6,630.5,12.6,990,10990,0.15,2.05,0.00,0.000,6,0.183,0.035,2684,2454,2168
$GC,11298,0.52,332.6,599.1,10.2,1006,11302,0.00,2.20,0.00,0.000,4,0.000,0.041,2692,1014,2165
$GC,11322,0.64,344.4,596.8,9.6,1007,11336,0.17,2.28,9.57,1.111,6,0.084,0.041,2756,2470,2127
$GC,11654,0.46,344.4,543.6,17.0,1023,11659,0.20,2.05,0.00,0.000,4,0.181,0.061,2700,3764,2124
$GC,11687,0.39,344.4,537.8,16.1,1024,11693,0.00,1.98,0.00,0.000,6,0.000,0.035,2703,2462,2123
$GC,12003,0.39,344.4,495.8,12.9,1041,12007,0.12,2.20,0.00,0.000,4,0.195,0.041,2678,1001,2122
$GC,12076,0.57,348.6,487.9,9.9,1047,12088,0.15,2.25,4.43,0.818,6,0.089,0.041,2735,2462,2110
$GC,12406,0.48,348.6,443.7,13.1,1078,12410,0.12,2.05,0.00,0.000,4,0.169,0.060,2703,3770,2108
$GC,12466,0.48,348.6,436.8,10.4,1083,12472,0.00,2.00,0.00,0.000,6,0.000,0.035,2704,2466,2108
$GC,12793,0.54,348.6,403.1,10.7,1114,12797,0.00,2.08,0.00,0.000,4,0.000,0.061,2704,3770,2107
$GC,12850,0.54,348.6,396.1,12.1,1119,12854,0.00,1.92,0.00,0.000,6,0.000,0.035,2704,2482,2107
$GC,13182,0.60,348.6,357.1,12.5,1150,13186,0.10,2.03,0.00,0.000,4,0.101,0.058,2742,3765,2107
$GC,13228,0.45,348.6,349.7,16.2,1154,13232,0.20,1.88,0.00,0.000,6,0.178,0.035,2692,2500,2107
$GC,13558,0.62,379.4,313.9,8.9,1185,13593,0.15,2.10,24.92,0.975,4,0.090,0.059,2751,3766,1984
$GC,13616,0.50,379.4,307.0,13.8,1190,13620,0.20,1.88,0.00,0.000,6,0.174,0.035,2706,2518,1982
$GC,13955,0.75,450.2,274.8,7.6,1245,14022,0.20,2.40,56.97,0.934,4,0.077,0.039,2790,1015,1695
$GC,14045,0.75,450.2,264.2,12.7,1260,14051,0.00,2.45,0.00,0.000,6,0.000,0.040,2790,2552,1691
$GC,14389,0.69,450.2,217.9,14.8,1321,14395,0.00,1.90,0.00,0.000,4,0.000,0.058,2790,3759,1686
$GC,14418,0.58,450.2,213.1,16.4,1326,14426,0.22,1.85,0.00,0.000,6,0.170,0.033,2734,2515,1686
$GC,14765,0.77,450.2,171.7,10.6,1387,14771,0.17,2.25,0.00,0.000,4,0.077,0.036,2814,1010,1684
$GC,14822,0.77,450.2,163.8,14.2,1397,14828,0.00,2.35,0.00,0.000,6,0.000,0.041,2815,2541,1684
$GC,15166,0.70,450.2,106.9,17.5,1458,15173,0.17,1.90,0.00,0.000,4,0.166,0.056,2761,3768,1684
$GC,15299,0.87,450.2,88.7,11.6,1481,15306,0.17,1.83,0.00,0.000,6,0.076,0.031,2829,2507,1684
$GC,15643,0.87,450.2,42.8,12.1,1542,15650,0.00,1.95,0.00,0.000,4,0.000,0.054,2829,3761,1685
$GC,15811,0.87,450.2,22.7,12.1,1571,15817,0.00,1.77,0.00,0.000,6,0.000,0.030,2836,2527,1685
$STATE,16006,end climb,SURFACE_DEPTH_REACHED
$STATE,16006,begin surface coast
$FINISH,1.2,1.010535
$STATE,16041,end surface coast,CONTROL_FINISHED_OK
$STATE,16041,begin surface
$SM_CCo,16118,0.00,0.000,0,0,1685,453.07
$SM_GC,2.10,7.05,0.00,0.00,0.053,0.000,0.000,146,2377,1685,-7.49,-0.65,453.07
$IRIDIUM_FIX,2524.66,12255.02,180898,080848
$TT8_MAMPS,0.029146
$HUMID,1568
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,23.8,7.726
$10V_AH,10.8,5.646
$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,27.100,152.550,457.800,0.000,0.000,28.065,33.351,205.349,6.500,0.000,0.000,16.785,2872.149,9695.197,599.417,2783.810,555.157,0.000,2014.761,0.000,2724.141,0.000,46.041,0.000
$DEVICE_MAMPS,265.382,62.894,1385.969,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1092.490,1110.179,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85204,1612
$CAP_FILE_SIZE,179224,0
$CFSIZE,260165632,223371264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,202.9,1
$GPS,240509,174955,2533.935,12256.914,36,1.7,37,-3.7