version: 66.04
glider: 167
mission: 2
dive: 32
start: 5 26 109 13 21 53
data:
$ID,167
$MISSION,2
$DIVE,32
$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,-4442.4185
$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,2435
$C_ROLL_CLIMB,2470
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,75
$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
$GPS1,131436,2526.203,12319.647,37,1.2,38,-3.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-64.6
$GPS2,132132,2526.223,12319.791,12,2.0,12,-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,227.6,17084,-15.7,-10.000
$D_GRID,1321
$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,-0.94,-194.7,0.0,0.0,0,47,0.00,0.00,-29.42,0.000,2,0.000,0.000,146,2404,2542
$GC,50,-0.94,-194.7,3.1,-2.2,5,109,8.80,2.12,-44.38,0.000,4,0.258,0.056,2229,3774,3987
$GC,261,0.14,-194.7,67.5,-42.0,42,268,1.27,1.95,0.00,0.000,6,0.198,0.025,2582,2416,3989
$GC,606,-0.70,-194.7,106.6,-9.7,103,612,0.75,0.00,0.00,0.000,6,0.099,0.000,2318,2415,3990
$GC,950,-0.38,-194.7,157.7,-19.4,164,956,0.32,2.08,0.00,0.000,4,0.162,0.048,2412,3764,3990
$GC,1107,-0.65,-194.7,173.5,-6.8,191,1114,0.22,2.15,0.00,0.000,6,0.060,0.026,2315,2260,3991
$GC,1451,-0.53,-194.7,209.9,-10.7,252,1458,0.17,2.33,0.00,0.000,4,0.153,0.048,2368,3772,3991
$GC,1482,-0.58,-194.7,212.7,-8.8,257,1488,0.00,2.12,0.00,0.000,6,0.000,0.027,2368,2285,3991
$GC,1827,-0.77,-194.7,233.7,-6.3,318,1834,0.17,2.28,0.00,0.000,4,0.066,0.048,2276,3768,3992
$GC,1897,-0.56,-194.7,241.3,-12.4,330,1904,0.30,2.10,0.00,0.000,6,0.148,0.026,2367,2290,3992
$GC,2243,-0.75,-194.7,266.2,-7.7,391,2250,0.17,2.28,0.00,0.000,4,0.067,0.048,2285,3774,3992
$GC,2377,-0.59,-194.7,283.3,-13.9,414,2385,0.22,2.10,0.00,0.000,6,0.145,0.028,2351,2298,3992
$GC,2716,-0.75,-194.7,311.1,-8.1,462,2720,0.15,2.25,0.00,0.000,4,0.071,0.049,2287,3761,3992
$GC,2827,-0.66,-194.7,324.0,-12.1,471,2833,0.15,2.05,0.00,0.000,6,0.150,0.028,2330,2330,3992
$GC,3152,-0.74,-194.7,354.1,-9.1,502,3156,0.00,2.22,0.00,0.000,4,0.000,0.051,2330,3774,3992
$GC,3187,-0.84,-194.7,357.2,-9.1,505,3191,0.15,2.05,0.00,0.000,6,0.076,0.029,2265,2345,3992
$GC,3512,-0.66,-194.7,394.0,-9.5,535,3517,0.20,2.20,0.00,0.000,4,0.159,0.050,2327,3771,3991
$GC,3574,-0.77,-194.7,397.9,-5.2,540,3578,0.00,2.05,0.00,0.000,6,0.000,0.028,2327,2341,3991
$GC,3909,-0.89,-194.7,414.4,-6.3,571,3915,0.17,0.00,0.00,0.000,6,0.070,0.000,2247,2340,3990
$GC,4235,-0.72,-194.7,449.4,-10.2,602,4237,0.22,0.00,0.00,0.000,6,0.166,0.000,2311,2339,3990
$GC,4554,-0.82,-194.7,473.6,-6.9,632,4557,0.00,2.20,0.00,0.000,4,0.000,0.053,2311,3763,3988
$GC,4715,-0.95,-194.7,483.3,-5.5,646,4720,0.20,2.05,0.00,0.000,6,0.071,0.031,2229,2346,3986
$GC,5048,-0.74,-194.7,515.2,-10.5,670,5050,0.25,0.00,0.00,0.000,6,0.163,0.000,2301,2344,3985
$GC,5356,-0.84,-194.7,540.5,-9.1,685,5360,0.00,2.20,0.00,0.000,4,0.000,0.056,2301,3760,3983
$GC,5447,-0.97,-194.7,549.8,-10.0,689,5452,0.20,2.05,0.00,0.000,6,0.073,0.032,2221,2350,3983
$GC,5781,-0.76,-194.7,595.4,-13.2,705,5786,0.22,2.20,0.00,0.000,4,0.165,0.054,2288,3761,3980
$GC,5876,-0.82,-194.7,604.4,-8.4,709,5879,0.00,2.05,0.00,0.000,6,0.000,0.033,2288,2359,3980
$GC,6197,-0.89,-194.7,629.3,-7.6,725,6201,0.00,2.20,0.00,0.000,4,0.000,0.057,2288,3764,3977
$GC,6236,-0.96,-194.7,632.7,-8.2,726,6244,0.15,2.03,0.00,0.000,6,0.080,0.032,2227,2377,3977
$GC,6552,-0.79,-194.7,668.5,-11.5,742,6557,0.20,2.17,0.00,0.000,4,0.170,0.055,2286,3767,3974
$GC,6647,-0.86,-194.7,676.9,-8.1,746,6651,0.00,2.03,0.00,0.000,6,0.000,0.033,2286,2385,3973
$GC,6968,-0.94,-194.7,704.0,-9.0,762,6973,0.12,2.17,0.00,0.000,4,0.086,0.056,2233,3771,3971
$GC,7008,-0.78,-194.7,708.8,-12.7,764,7012,0.20,2.05,0.00,0.000,6,0.170,0.033,2289,2374,3971
$GC,7336,-0.86,-194.7,741.4,-9.8,780,7340,0.00,2.17,0.00,0.000,4,0.000,0.058,2289,3761,3969
$GC,7364,-0.95,-194.7,744.4,-9.7,781,7368,0.15,2.05,0.00,0.000,6,0.082,0.034,2228,2367,3969
$GC,7686,-0.81,-194.7,785.1,-12.5,797,7691,0.17,2.20,0.00,0.000,4,0.171,0.057,2275,3768,3967
$GC,7780,-0.81,-194.7,794.0,-8.7,801,7784,0.00,2.03,0.00,0.000,6,0.000,0.034,2275,2394,3967
$GC,8101,-0.81,-194.7,821.9,-10.2,817,8105,0.00,2.15,0.00,0.000,4,0.000,0.060,2276,3758,3965
$GC,8192,-0.81,-194.7,829.5,-8.9,821,8195,0.00,2.03,0.00,0.000,6,0.000,0.035,2275,2392,3964
$GC,8525,-0.86,-194.7,860.0,-8.7,837,8528,0.00,2.17,0.00,0.000,4,0.000,0.059,2275,3771,3963
$GC,8631,-0.92,-194.7,868.7,-8.2,841,8637,0.00,2.00,0.00,0.000,6,0.000,0.035,2275,2419,3963
$GC,8947,-0.97,-194.7,894.0,-8.8,857,8949,0.12,0.00,0.00,0.000,6,0.088,0.000,2225,2418,3961
$GC,9256,-0.82,-194.7,924.0,-9.4,872,9258,0.20,0.00,0.00,0.000,6,0.177,0.000,2278,2417,3960
$GC,9566,-0.87,-194.7,943.0,-5.6,887,9570,0.00,2.12,0.00,0.000,4,0.000,0.061,2277,3760,3959
$GC,9612,-0.92,-194.7,945.3,-3.9,889,9616,0.00,2.00,0.00,0.000,6,0.000,0.038,2276,2421,3959
$GC,9945,-0.99,-194.7,959.7,-3.6,905,9950,0.15,2.12,0.00,0.000,4,0.084,0.060,2215,3766,3957
$GC,9973,-0.88,-194.7,961.1,-5.4,906,9977,0.17,2.00,0.00,0.000,6,0.183,0.035,2260,2414,3957
$GC,10293,-0.88,-194.7,979.0,-5.7,922,10297,0.00,2.12,0.00,0.000,4,0.000,0.061,2259,3760,3957
$GC,10339,-0.88,-194.7,982.3,-6.3,924,10342,0.00,1.98,0.00,0.000,6,0.000,0.036,2260,2431,3956
$STATE,10462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10462,begin apogee
$GC,10468,-0.22,0.0,991.6,7.8,930,10557,0.68,0.00,85.78,1.471,6,0.155,0.000,2470,2468,3532
$STATE,10558,end apogee,CONTROL_FINISHED_OK
$STATE,10558,begin climb
$GC,10560,0.94,194.7,992.2,0.0,934,10736,1.05,2.28,161.15,1.442,4,0.065,0.057,2844,3765,2737
$GC,10793,0.19,194.7,971.6,22.8,945,10798,0.93,2.03,0.00,0.000,6,0.210,0.032,2614,2473,2733
$GC,11109,0.40,265.4,940.5,7.6,960,11174,0.17,2.28,58.97,1.488,4,0.079,0.061,2677,3761,2449
$GC,11244,0.32,265.4,925.6,13.2,966,11248,0.00,2.03,0.00,0.000,6,0.000,0.035,2678,2480,2445
$GC,11576,0.32,265.4,888.2,11.1,982,11580,0.00,2.17,0.00,0.000,4,0.000,0.041,2680,1056,2442
$GC,11609,0.37,265.4,884.7,10.3,983,11613,0.00,2.25,0.00,0.000,6,0.000,0.042,2680,2490,2441
$GC,11930,0.37,265.4,849.2,10.9,999,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2490,2441
$GC,12239,0.37,265.4,813.6,12.1,1014,12242,0.00,2.03,0.00,0.000,4,0.000,0.062,2680,3765,2439
$GC,12362,0.28,265.4,796.5,12.8,1019,12366,0.15,1.92,0.00,0.000,6,0.174,0.035,2642,2484,2439
$GC,12683,0.46,305.2,766.9,8.6,1035,12725,0.15,2.17,32.25,1.304,4,0.084,0.061,2697,3759,2287
$GC,12742,0.39,305.2,760.5,12.3,1037,12749,0.12,1.98,0.00,0.000,6,0.182,0.037,2674,2493,2284
$GC,13058,0.50,325.7,728.8,9.3,1053,13080,0.00,2.28,17.23,1.231,4,0.000,0.042,2680,1067,2204
$GC,13097,0.66,360.6,725.2,8.8,1054,13134,0.22,2.28,30.50,1.238,6,0.076,0.044,2762,2498,2062
$GC,13458,0.52,360.6,669.2,16.2,1072,13462,0.17,2.03,0.00,0.000,4,0.176,0.060,2713,3764,2054
$GC,13552,0.52,360.6,654.7,13.5,1076,13556,0.00,1.95,0.00,0.000,6,0.000,0.035,2716,2500,2053
$GC,13879,0.52,360.6,611.2,13.3,1092,13882,0.00,2.17,0.00,0.000,4,0.000,0.041,2719,1065,2052
$GC,13894,0.52,360.6,609.0,13.0,1092,13901,0.00,2.28,0.00,0.000,6,0.000,0.042,2719,2530,2051
$GC,14210,0.52,360.6,569.3,12.3,1108,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2529,2051
$GC,14520,0.52,360.6,529.5,12.3,1123,14524,0.00,2.22,0.00,0.000,4,0.000,0.041,2719,1076,2050
$GC,14643,0.61,360.6,515.7,10.5,1128,14647,0.00,2.22,0.00,0.000,6,0.000,0.042,2719,2528,2050
$GC,14969,0.63,375.3,480.9,9.5,1152,14984,0.00,1.95,11.45,1.053,4,0.000,0.060,2719,3758,2001
$GC,15041,0.63,375.3,472.8,11.0,1158,15045,0.00,1.90,0.00,0.000,6,0.000,0.035,2719,2497,1999
$GC,15371,0.71,375.3,434.8,12.3,1189,15376,0.15,2.00,0.00,0.000,4,0.084,0.059,2776,3760,1998
$GC,15455,0.55,375.3,419.8,18.8,1196,15461,0.22,1.88,0.00,0.000,6,0.174,0.036,2722,2509,1998
$GC,15780,0.63,375.3,376.8,12.9,1227,15784,0.00,2.00,0.00,0.000,4,0.000,0.061,2722,3765,1998
$GC,15807,0.63,375.3,372.8,13.7,1229,15813,0.00,1.90,0.00,0.000,6,0.000,0.033,2722,2507,1997
$GC,16136,0.73,375.3,334.6,10.4,1260,16140,0.17,2.12,0.00,0.000,4,0.078,0.038,2802,1075,1997
$GC,16190,0.62,375.3,326.9,13.9,1264,16197,0.20,2.20,0.00,0.000,6,0.174,0.041,2748,2515,1997
$GC,16519,0.62,375.3,290.8,11.3,1302,16526,0.00,1.92,0.00,0.000,4,0.000,0.058,2748,3756,1997
$GC,16605,0.62,375.3,279.6,13.3,1317,16611,0.00,1.83,0.00,0.000,6,0.000,0.032,2754,2513,1997
$GC,16949,0.62,375.3,234.3,12.7,1378,16956,0.00,2.12,0.00,0.000,4,0.000,0.038,2761,1072,1998
$GC,17018,0.70,375.3,225.3,11.2,1390,17026,0.00,2.20,0.00,0.000,6,0.000,0.041,2761,2516,1997
$GC,17364,0.76,375.3,182.4,11.8,1451,17369,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2516,1998
$GC,17706,0.85,375.3,142.5,11.6,1512,17713,0.17,2.15,0.00,0.000,4,0.075,0.035,2843,1070,1999
$GC,17730,0.85,375.3,139.3,13.6,1516,17736,0.00,2.17,0.00,0.000,6,0.000,0.039,2843,2514,1999
$GC,18073,0.74,375.3,94.7,14.2,1577,18080,0.17,1.90,0.00,0.000,4,0.159,0.054,2789,3758,2001
$GC,18114,0.74,375.3,90.0,11.1,1584,18120,0.00,1.83,0.00,0.000,6,0.000,0.029,2789,2494,2001
$GC,18458,0.87,395.2,59.5,9.3,1645,18483,0.10,2.08,17.70,0.668,4,0.093,0.035,2831,1080,1919
$GC,18557,0.93,395.2,49.6,11.2,1662,18564,0.00,2.15,0.00,0.000,6,0.000,0.037,2831,2507,1918
$GC,18903,1.02,408.3,13.4,9.5,1723,18921,0.12,1.92,11.30,0.595,4,0.075,0.051,2884,3768,1867
$GC,18973,0.89,408.3,4.4,14.0,1735,18979,0.22,1.85,0.00,0.000,6,0.163,0.027,2827,2491,1865
$STATE,18983,end climb,SURFACE_DEPTH_REACHED
$STATE,18983,begin surface coast
$FINISH,1.5,1.008496
$STATE,19007,end surface coast,CONTROL_FINISHED_OK
$STATE,19007,begin surface
$SM_CCo,19024,10.68,0.584,0,0,1798,425.10
$SM_GC,3.58,0.00,0.00,10.68,0.000,0.000,0.584,143,2487,1798,-7.51,1.47,425.10
$IRIDIUM_FIX,2517.50,12320.23,200898,070713
$TT8_MAMPS,0.029146
$HUMID,1520
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,9.531
$10V_AH,10.8,6.632
$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,28.425,167.550,426.325,10.675,0.000,27.300,31.826,221.707,8.000,0.000,0.000,12.658,3137.051,12051.476,589.061,3054.801,605.665,0.000,2138.383,0.000,2987.908,0.000,54.421,0.000
$DEVICE_MAMPS,258.479,114.283,1487.980,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.489,1170.479,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91446,1741
$CAP_FILE_SIZE,199268,0
$CFSIZE,260165632,222433280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.364, 69.8,1
$GPS,260509,184024,2525.715,12321.273,39,1.1,40,-3.8