version: 66.04
glider: 167
mission: 2
dive: 23
start: 5 24 109 17 56 41
data:
$ID,167
$MISSION,2
$DIVE,23
$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,-4286.9526
$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,57
$R_STBD_OVSHOOT,29
$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
$GPS1,174955,2533.935,12256.914,36,1.7,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-66.6
$GPS2,175619,2534.119,12257.086,10,1.4,16,-3.7
$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,127.5,49775,-15.7,-10.000
$D_GRID,865
$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,15,-0.92,-194.7,0.0,0.0,0,65,0.00,0.00,-47.95,0.000,2,0.000,0.000,146,2377,2918
$GC,68,-0.92,-194.7,3.4,-4.2,8,111,8.98,2.10,-27.30,0.000,4,0.268,0.047,2245,994,3990
$GC,292,-0.28,-194.7,77.0,-24.3,47,299,0.75,2.15,0.00,0.000,6,0.186,0.037,2450,2421,3991
$GC,637,-0.65,-194.7,105.0,-6.3,108,643,0.30,2.03,0.00,0.000,4,0.070,0.048,2331,3754,3992
$GC,673,-0.70,-194.7,108.1,-9.3,114,680,0.00,1.98,0.00,0.000,6,0.000,0.028,2330,2372,3993
$GC,1018,-0.54,-194.7,152.4,-13.2,175,1025,0.15,2.15,0.00,0.000,4,0.159,0.049,2371,3763,3993
$GC,1059,-0.54,-194.7,157.6,-11.7,182,1066,0.00,1.92,0.00,0.000,6,0.000,0.028,2371,2418,3993
$GC,1405,-0.68,-194.7,192.5,-9.1,243,1411,0.12,2.08,0.00,0.000,4,0.077,0.051,2315,3763,3994
$GC,1440,-0.68,-194.7,196.6,-12.5,249,1446,0.00,1.90,0.00,0.000,6,0.000,0.028,2315,2428,3995
$GC,1783,-0.59,-194.7,237.4,-10.5,310,1791,0.15,2.03,0.00,0.000,4,0.156,0.030,2356,1014,3995
$GC,1815,-0.64,-194.7,240.1,-8.9,315,1821,0.00,2.10,0.00,0.000,6,0.000,0.037,2356,2425,3995
$GC,2159,-0.80,-194.7,265.6,-8.4,376,2166,0.17,2.03,0.00,0.000,4,0.071,0.052,2275,3755,3995
$GC,2217,-0.62,-194.7,272.7,-12.7,386,2225,0.22,1.92,0.00,0.000,6,0.154,0.028,2340,2403,3995
$GC,2567,-0.73,-194.7,300.3,-7.9,447,2570,0.00,2.08,0.00,0.000,4,0.000,0.051,2333,3755,3996
$GC,2720,-0.83,-194.7,314.7,-9.0,460,2726,0.15,1.88,0.00,0.000,6,0.077,0.029,2270,2445,3995
$GC,3045,-0.64,-194.7,354.3,-13.8,491,3049,0.20,2.05,0.00,0.000,4,0.158,0.031,2333,1012,3995
$GC,3220,-0.79,-194.7,369.0,-7.8,506,3228,0.12,2.10,0.00,0.000,6,0.083,0.037,2278,2427,3995
$GC,3545,-0.70,-194.7,405.6,-11.5,537,3549,0.15,2.03,0.00,0.000,4,0.160,0.054,2316,3749,3995
$GC,3770,-0.80,-194.7,431.0,-11.4,557,3773,0.00,1.88,0.00,0.000,6,0.000,0.031,2316,2441,3994
$GC,4102,-0.90,-194.7,458.8,-6.5,588,4106,0.17,2.08,0.00,0.000,4,0.076,0.031,2243,1013,3993
$GC,4163,-0.69,-194.7,465.3,-11.6,593,4170,0.28,2.12,0.00,0.000,6,0.164,0.038,2316,2429,3993
$GC,4488,-0.79,-194.7,493.5,-8.4,624,4492,0.00,2.05,0.00,0.000,4,0.000,0.057,2316,3768,3992
$GC,4538,-0.92,-194.7,498.0,-8.9,628,4545,0.20,1.92,0.00,0.000,6,0.073,0.031,2236,2434,3991
$GC,4856,-0.70,-194.7,545.2,-15.6,645,4860,0.22,2.08,0.00,0.000,4,0.165,0.055,2302,3767,3990
$GC,4912,-0.80,-194.7,551.7,-9.9,647,4918,0.00,1.90,0.00,0.000,6,0.000,0.031,2302,2449,3989
$GC,5229,-0.89,-194.7,572.0,-4.7,663,5231,0.12,0.00,0.00,0.000,6,0.087,0.000,2250,2449,3988
$GC,5538,-0.77,-194.7,601.5,-10.1,678,5542,0.15,2.05,0.00,0.000,4,0.173,0.057,2288,3763,3986
$GC,5565,-0.77,-194.7,603.7,-7.9,679,5569,0.00,1.88,0.00,0.000,6,0.000,0.033,2288,2474,3986
$GC,5892,-0.77,-194.7,620.1,-5.2,695,5896,0.00,2.12,0.00,0.000,4,0.000,0.035,2288,1013,3984
$GC,5926,-0.82,-194.7,622.4,-6.3,696,5930,0.00,2.20,0.00,0.000,6,0.000,0.040,2288,2472,3983
$GC,6242,-0.82,-194.7,644.2,-7.5,711,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2472,3982
$GC,6550,-0.82,-194.7,668.4,-8.0,726,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2472,3979
$GC,6860,-0.88,-194.7,694.8,-8.0,741,6864,0.00,1.98,0.00,0.000,4,0.000,0.062,2288,3752,3977
$GC,6911,-0.96,-194.7,698.8,-7.9,743,6915,0.15,1.88,0.00,0.000,6,0.084,0.035,2229,2473,3976
$GC,7240,-0.79,-194.7,727.2,-8.4,759,7245,0.17,2.15,0.00,0.000,4,0.171,0.036,2282,1008,3975
$GC,7280,-0.84,-194.7,729.8,-5.5,761,7284,0.00,2.22,0.00,0.000,6,0.000,0.043,2282,2469,3975
$GC,7607,-0.89,-194.7,747.3,-5.5,777,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2469,3973
$GC,7916,-0.94,-194.7,764.9,-5.3,792,7918,0.12,0.00,0.00,0.000,6,0.093,0.000,2234,2470,3971
$GC,8226,-0.81,-194.7,788.2,-7.5,807,8227,0.17,0.00,0.00,0.000,6,0.181,0.000,2280,2470,3970
$GC,8535,-0.86,-194.7,804.3,-5.3,822,8538,0.00,2.00,0.00,0.000,4,0.000,0.064,2276,3751,3969
$GC,8590,-0.86,-194.7,807.2,-5.2,824,8594,0.00,1.88,0.00,0.000,6,0.000,0.035,2276,2481,3969
$GC,8911,-0.86,-194.7,821.2,-4.3,840,8915,0.00,2.03,0.00,0.000,4,0.000,0.063,2276,3763,3967
$GC,8995,-0.93,-194.7,825.7,-5.3,843,9001,0.00,1.90,0.00,0.000,6,0.000,0.037,2276,2479,3967
$GC,9311,-0.93,-194.7,838.9,-3.6,859,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2479,3966
$GC,9621,-0.98,-194.7,851.4,-4.1,874,9625,0.15,2.00,0.00,0.000,4,0.090,0.061,2218,3754,3965
$GC,9648,-0.84,-194.7,852.9,-6.0,875,9652,0.20,1.88,0.00,0.000,6,0.181,0.036,2271,2483,3965
$GC,9975,-0.84,-194.7,863.8,-4.4,891,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2483,3964
$STATE,10013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10013,begin apogee
$GC,10018,-0.22,0.0,865.4,3.9,893,10107,0.65,0.00,86.12,1.395,6,0.155,0.000,2475,2482,3532
$STATE,10108,end apogee,CONTROL_FINISHED_OK
$STATE,10108,begin climb
$GC,10111,0.92,194.7,864.6,0.0,897,10283,1.02,2.40,159.15,1.380,4,0.067,0.040,2843,1037,2737
$GC,10396,0.36,194.7,830.8,20.8,910,10402,0.68,2.20,0.00,0.000,6,0.199,0.044,2666,2422,2732
$GC,10723,0.29,194.7,784.8,14.1,926,10727,0.00,2.15,0.00,0.000,4,0.000,0.061,2666,3762,2730
$GC,10791,0.13,194.7,776.0,13.6,929,10796,0.28,2.00,0.00,0.000,6,0.171,0.035,2592,2440,2729
$GC,11120,0.51,326.7,754.4,5.4,945,11233,0.30,2.28,106.75,1.325,4,0.074,0.061,2710,3757,2199
$GC,11329,0.39,326.7,730.3,13.6,954,11336,0.17,2.08,0.00,0.000,6,0.175,0.035,2673,2433,2192
$GC,11644,0.48,326.7,697.9,10.2,970,11648,0.00,2.15,0.00,0.000,4,0.000,0.061,2673,3761,2189
$GC,11682,0.48,326.7,693.2,12.2,971,11689,0.00,2.05,0.00,0.000,6,0.000,0.037,2679,2442,2189
$GC,11999,0.55,326.7,659.0,10.8,987,12004,0.12,2.12,0.00,0.000,4,0.095,0.061,2724,3765,2187
$GC,12038,0.37,326.7,653.2,15.9,989,12043,0.22,2.00,0.00,0.000,6,0.176,0.035,2672,2451,2187
$GC,12365,0.48,326.7,615.0,12.1,1005,12369,0.00,2.10,0.00,0.000,4,0.000,0.061,2671,3763,2186
$GC,12432,0.48,326.7,606.4,12.6,1008,12436,0.00,1.98,0.00,0.000,6,0.000,0.037,2677,2452,2187
$GC,12765,0.57,326.7,568.6,11.5,1024,12769,0.15,2.08,0.00,0.000,4,0.090,0.059,2733,3764,2186
$GC,12787,0.52,326.7,565.7,13.4,1025,12791,0.00,1.98,0.00,0.000,6,0.000,0.035,2737,2453,2186
$GC,13120,0.41,326.7,516.2,16.5,1041,13124,0.20,2.08,0.00,0.000,4,0.176,0.058,2678,3765,2185
$GC,13163,0.45,326.7,509.6,13.4,1043,13167,0.00,1.95,0.00,0.000,6,0.000,0.035,2678,2460,2185
$GC,13490,0.56,326.7,467.7,13.7,1070,13495,0.15,2.08,0.00,0.000,4,0.091,0.061,2733,3767,2185
$GC,13534,0.39,326.7,459.9,17.8,1073,13541,0.25,1.95,0.00,0.000,6,0.177,0.036,2672,2456,2184
$GC,13859,0.56,326.7,421.5,10.5,1104,13861,0.15,0.00,0.00,0.000,6,0.088,0.000,2727,2455,2184
$GC,14178,0.56,326.7,381.6,10.7,1134,14182,0.00,2.05,0.00,0.000,4,0.000,0.061,2728,3755,2183
$GC,14228,0.45,326.7,375.6,12.0,1138,14236,0.15,1.90,0.00,0.000,6,0.178,0.035,2694,2480,2183
$GC,14553,0.61,373.1,349.1,8.4,1169,14594,0.15,0.00,35.10,1.011,6,0.090,0.000,2750,2480,2009
$GC,14912,0.61,373.1,298.8,14.4,1203,14918,0.00,2.20,0.00,0.000,4,0.000,0.038,2759,1018,2003
$GC,14924,0.61,373.1,297.0,14.2,1205,14930,0.00,2.33,0.00,0.000,6,0.000,0.040,2758,2523,2003
$GC,15267,0.61,373.1,243.9,13.9,1266,15274,0.00,1.95,0.00,0.000,4,0.000,0.059,2758,3768,2001
$GC,15309,0.48,373.1,237.3,16.1,1273,15315,0.22,1.88,0.00,0.000,6,0.173,0.031,2699,2495,2001
$GC,15654,0.74,407.7,204.2,8.8,1334,15686,0.20,2.30,27.38,0.858,4,0.074,0.037,2790,1017,1868
$GC,15743,0.74,407.7,192.1,14.0,1349,15749,0.00,2.30,0.00,0.000,6,0.000,0.039,2790,2498,1866
$GC,16087,0.69,407.7,141.5,13.8,1410,16094,0.00,1.98,0.00,0.000,4,0.000,0.057,2790,3767,1863
$GC,16201,0.60,407.7,123.5,14.4,1430,16209,0.20,1.85,0.00,0.000,6,0.167,0.030,2741,2500,1862
$GC,16548,0.93,478.3,95.6,7.6,1491,16607,0.25,2.10,53.95,0.737,4,0.067,0.054,2845,3762,1581
$GC,16653,0.77,478.3,79.3,17.6,1509,16660,0.22,1.88,0.00,0.000,6,0.170,0.030,2794,2504,1577
$GC,16997,0.99,479.3,38.8,10.0,1570,17005,0.17,2.22,0.00,0.000,4,0.075,0.033,2877,1003,1575
$GC,17061,0.99,479.3,30.8,12.3,1581,17068,0.00,2.30,0.00,0.000,6,0.000,0.035,2877,2516,1575
$STATE,17262,end climb,SURFACE_DEPTH_REACHED
$STATE,17262,begin surface coast
$FINISH,1.2,1.021894
$STATE,17286,end surface coast,CONTROL_FINISHED_OK
$STATE,17286,begin surface
$SM_CCo,17363,0.00,0.000,0,0,1572,480.79
$SM_GC,2.02,7.35,0.00,0.00,0.061,0.000,0.000,147,2383,1572,-7.49,-0.48,480.79
$IRIDIUM_FIX,2524.66,12255.02,180898,131353
$TT8_MAMPS,0.028379
$HUMID,1539
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,23.7,7.905
$10V_AH,10.8,5.742
$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,26.875,143.675,468.450,0.000,0.000,23.457,31.077,196.881,6.750,0.000,0.000,16.117,2876.704,10935.848,598.657,2777.985,547.051,0.000,2016.030,0.000,2720.191,0.000,46.073,0.000
$DEVICE_MAMPS,267.683,63.661,1395.173,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1097.588,1101.620,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85197,1621
$CAP_FILE_SIZE,179667,0
$CFSIZE,260165632,223277056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,335.8,1
$GPS,240509,224707,2533.436,12258.968,28,1.3,29,-3.7