version: 66.04
glider: 167
mission: 2
dive: 33
start: 5 26 109 18 50 31
data:
$ID,167
$MISSION,2
$DIVE,33
$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,-4458.0254
$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,66
$R_STBD_OVSHOOT,36
$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
$GPS1,184024,2525.715,12321.273,39,1.1,40,-3.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-66.7
$GPS2,185008,2525.674,12321.367,14,1.4,14,-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,236.9,16226,-15.7,-10.000
$D_GRID,1255
$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,-194.7,0.0,0.0,0,49,0.00,0.00,-31.75,0.000,2,0.000,0.000,142,2487,2608
$GC,52,-0.94,-194.7,3.1,-2.8,5,108,8.77,2.20,-39.72,0.000,4,0.257,0.043,2233,1032,3989
$GC,361,-0.21,-194.7,92.0,-29.5,59,368,0.80,2.12,0.00,0.000,6,0.187,0.037,2467,2441,3990
$GC,707,-0.96,-194.7,119.3,-9.4,120,714,0.62,2.05,0.00,0.000,4,0.091,0.029,2240,1037,3992
$GC,732,-1.21,-194.7,122.1,-11.1,124,738,0.22,2.12,0.00,0.000,6,0.070,0.035,2147,2461,3992
$GC,1076,-0.42,-194.7,220.1,-25.9,185,1083,0.90,2.08,0.00,0.000,4,0.201,0.028,2402,1033,3993
$GC,1162,-0.75,-194.7,229.0,-5.6,200,1169,0.28,2.12,0.00,0.000,6,0.061,0.035,2283,2461,3993
$GC,1507,-0.56,-194.7,272.1,-12.8,261,1513,0.22,2.08,0.00,0.000,4,0.156,0.029,2356,1035,3994
$GC,1604,-0.71,-194.7,280.6,-8.2,278,1612,0.12,2.10,0.00,0.000,6,0.078,0.035,2299,2450,3994
$GC,1944,-0.64,-194.7,312.9,-10.0,327,1948,0.15,1.98,0.00,0.000,4,0.158,0.050,2334,3753,3994
$GC,2002,-0.73,-194.7,318.1,-8.8,332,2006,0.00,1.88,0.00,0.000,6,0.000,0.028,2334,2438,3994
$GC,2334,-0.81,-194.7,346.0,-8.3,363,2336,0.15,0.00,0.00,0.000,6,0.074,0.000,2267,2437,3994
$GC,2651,-0.64,-194.7,381.2,-10.8,393,2655,0.20,2.00,0.00,0.000,4,0.162,0.031,2330,1056,3994
$GC,2730,-0.76,-194.7,386.9,-6.5,400,2734,0.00,2.10,0.00,0.000,6,0.000,0.038,2330,2453,3994
$GC,3061,-0.86,-194.7,406.0,-6.6,431,3063,0.17,0.00,0.00,0.000,6,0.074,0.000,2258,2457,3993
$GC,3380,-0.70,-194.7,441.3,-10.4,461,3384,0.20,2.00,0.00,0.000,4,0.163,0.053,2316,3766,3992
$GC,3430,-0.79,-194.7,445.7,-7.6,465,3436,0.00,1.88,0.00,0.000,6,0.000,0.030,2316,2456,3992
$GC,3755,-0.87,-194.7,466.7,-6.2,496,3757,0.15,0.00,0.00,0.000,6,0.076,0.000,2251,2456,3991
$GC,4076,-0.70,-194.7,500.1,-11.2,526,4080,0.20,2.03,0.00,0.000,4,0.166,0.054,2305,3761,3989
$GC,4177,-0.77,-194.7,509.0,-7.7,530,4180,0.00,1.88,0.00,0.000,6,0.000,0.031,2305,2460,3988
$GC,4498,-0.84,-194.7,537.9,-9.2,546,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,2459,3987
$GC,4807,-0.93,-194.7,564.9,-8.6,561,4811,0.17,2.03,0.00,0.000,4,0.076,0.056,2224,3754,3984
$GC,4868,-0.71,-194.7,572.3,-12.3,563,4875,0.30,1.85,0.00,0.000,6,0.163,0.032,2311,2480,3984
$GC,5185,-0.82,-194.7,592.6,-6.0,579,5189,0.00,2.10,0.00,0.000,4,0.000,0.035,2312,1037,3982
$GC,5219,-0.96,-194.7,594.8,-6.2,580,5223,0.22,2.17,0.00,0.000,6,0.071,0.041,2221,2479,3982
$GC,5536,-0.74,-194.7,629.0,-11.7,595,5541,0.25,2.12,0.00,0.000,4,0.173,0.033,2298,1037,3980
$GC,5622,-0.85,-194.7,636.4,-7.7,599,5625,0.00,2.15,0.00,0.000,6,0.000,0.041,2298,2460,3980
$GC,5955,-0.94,-194.7,662.1,-8.2,615,5957,0.17,0.00,0.00,0.000,6,0.078,0.000,2228,2462,3977
$GC,6263,-0.76,-194.7,697.6,-11.4,630,6268,0.20,2.10,0.00,0.000,4,0.175,0.034,2290,1043,3975
$GC,6352,-0.83,-194.7,705.5,-8.9,634,6356,0.00,2.17,0.00,0.000,6,0.000,0.044,2290,2474,3975
$GC,6674,-0.90,-194.7,730.0,-7.5,650,6678,0.00,2.12,0.00,0.000,4,0.000,0.036,2290,1043,3973
$GC,6713,-0.98,-194.7,733.2,-7.8,651,6720,0.17,2.15,0.00,0.000,6,0.079,0.043,2221,2458,3972
$GC,7029,-0.79,-194.7,765.8,-10.5,667,7033,0.20,2.03,0.00,0.000,4,0.170,0.058,2279,3764,3970
$GC,7056,-0.79,-194.7,768.5,-9.4,668,7060,0.00,1.92,0.00,0.000,6,0.000,0.034,2278,2450,3970
$GC,7383,-0.79,-194.7,792.6,-7.8,684,7386,0.00,2.08,0.00,0.000,4,0.000,0.037,2279,1036,3968
$GC,7406,-0.79,-194.7,794.5,-8.1,685,7410,0.00,2.17,0.00,0.000,6,0.000,0.043,2278,2461,3969
$GC,7738,-0.79,-194.7,823.0,-8.7,701,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2462,3967
$GC,8047,-0.79,-194.7,848.6,-8.1,716,8051,0.00,2.12,0.00,0.000,4,0.000,0.038,2278,1039,3965
$GC,8137,-0.79,-194.7,855.6,-7.6,720,8141,0.00,2.15,0.00,0.000,6,0.000,0.044,2278,2449,3965
$GC,8470,-0.79,-194.7,878.6,-6.4,736,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2450,3964
$GC,8780,-0.83,-194.7,895.8,-5.3,751,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,2278,2450,3963
$GC,9089,-0.88,-194.7,914.5,-6.3,766,9092,0.00,2.05,0.00,0.000,4,0.000,0.062,2279,3764,3962
$GC,9112,-0.94,-194.7,916.0,-5.7,767,9117,0.12,1.95,0.00,0.000,6,0.094,0.035,2229,2442,3961
$GC,9447,-0.81,-194.7,942.8,-8.4,783,9452,0.17,2.05,0.00,0.000,4,0.172,0.037,2282,1042,3960
$GC,9594,-0.89,-194.7,952.2,-6.4,789,9598,0.00,2.15,0.00,0.000,6,0.000,0.046,2279,2452,3960
$GC,9916,-0.95,-194.7,971.5,-6.1,805,9920,0.12,2.12,0.00,0.000,4,0.093,0.038,2229,1036,3959
$GC,9988,-0.84,-194.7,977.6,-9.5,808,9993,0.17,2.15,0.00,0.000,6,0.177,0.046,2275,2439,3958
$STATE,10198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10198,begin apogee
$GC,10203,-0.22,0.0,990.3,6.1,818,10293,0.62,0.00,86.25,1.459,6,0.154,0.000,2470,2439,3532
$STATE,10294,end apogee,CONTROL_FINISHED_OK
$STATE,10294,begin climb
$GC,10296,0.94,194.7,992.3,0.0,822,10466,1.05,2.25,161.12,1.417,4,0.062,0.058,2847,3757,2737
$GC,10618,0.17,194.7,959.0,21.5,836,10625,0.95,2.00,0.00,0.000,6,0.212,0.035,2608,2468,2731
$GC,10934,0.46,306.3,937.0,6.1,852,11032,0.20,2.28,91.97,1.384,4,0.081,0.042,2690,1072,2283
$GC,11063,0.50,306.3,924.5,10.6,858,11067,0.00,2.28,0.00,0.000,6,0.000,0.044,2690,2466,2278
$GC,11389,0.50,306.3,883.5,12.6,874,11393,0.00,2.10,0.00,0.000,4,0.000,0.064,2690,3764,2273
$GC,11467,0.41,306.3,872.4,14.7,877,11471,0.00,1.95,0.00,0.000,6,0.000,0.035,2690,2490,2272
$GC,11788,0.41,306.3,829.9,13.3,893,11792,0.00,2.05,0.00,0.000,4,0.000,0.061,2690,3761,2271
$GC,11817,0.35,306.3,825.8,13.9,894,11821,0.00,1.95,0.00,0.000,6,0.000,0.035,2690,2467,2271
$GC,12143,0.35,306.3,784.4,12.1,910,12147,0.12,2.08,0.00,0.000,4,0.181,0.061,2660,3761,2270
$GC,12216,0.41,306.3,775.9,11.5,913,12219,0.00,1.90,0.00,0.000,6,0.000,0.036,2660,2495,2270
$GC,12543,0.56,336.6,745.8,9.0,929,12573,0.20,2.12,23.98,1.282,4,0.080,0.064,2742,3758,2159
$GC,12670,0.39,336.6,726.1,16.7,934,12678,0.28,1.92,0.00,0.000,6,0.177,0.035,2673,2498,2155
$GC,12986,0.53,347.1,693.7,9.6,950,13001,0.12,2.08,9.38,1.151,4,0.091,0.063,2718,3762,2116
$GC,13045,0.45,347.1,685.8,12.8,952,13052,0.00,1.92,0.00,0.000,6,0.000,0.036,2719,2501,2115
$GC,13361,0.45,347.1,644.7,13.8,968,13364,0.00,2.05,0.00,0.000,4,0.000,0.064,2719,3767,2114
$GC,13542,0.39,347.1,615.0,17.7,976,13547,0.17,1.85,0.00,0.000,6,0.173,0.035,2673,2537,2113
$GC,13875,0.54,347.1,573.8,11.3,992,13877,0.12,0.00,0.00,0.000,6,0.090,0.000,2720,2535,2112
$GC,14184,0.54,347.1,534.5,12.1,1007,14188,0.00,1.98,0.00,0.000,4,0.000,0.064,2720,3768,2112
$GC,14307,0.46,347.1,518.4,13.0,1012,14311,0.00,1.88,0.00,0.000,6,0.000,0.035,2721,2535,2112
$GC,14633,0.46,347.1,477.1,13.8,1036,14637,0.00,1.95,0.00,0.000,4,0.000,0.062,2720,3761,2111
$GC,14750,0.46,347.1,459.3,15.1,1046,14757,0.00,1.83,0.00,0.000,6,0.000,0.036,2720,2556,2111
$GC,15078,0.46,347.1,417.3,12.6,1077,15082,0.00,1.92,0.00,0.000,4,0.000,0.061,2720,3767,2111
$GC,15123,0.46,347.1,410.4,14.1,1081,15126,0.00,1.80,0.00,0.000,6,0.000,0.034,2720,2547,2111
$GC,15456,0.51,347.1,371.1,10.7,1112,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2545,2111
$GC,15783,0.57,347.1,333.9,11.2,1143,15787,0.00,1.92,0.00,0.000,4,0.000,0.058,2720,3766,2110
$GC,15867,0.57,347.1,323.2,12.4,1150,15874,0.00,1.80,0.00,0.000,6,0.000,0.033,2720,2558,2111
$GC,16199,0.66,347.1,285.3,10.0,1192,16205,0.10,1.90,0.00,0.000,4,0.094,0.060,2763,3773,2111
$GC,16229,0.57,347.1,281.5,13.8,1197,16235,0.15,1.77,0.00,0.000,6,0.175,0.032,2731,2558,2112
$GC,16574,0.77,459.4,254.1,6.1,1258,16668,0.17,2.38,87.47,0.872,4,0.073,0.037,2803,1074,1658
$GC,16704,0.77,459.4,237.3,12.1,1280,16710,0.00,2.45,0.00,0.000,6,0.000,0.041,2803,2610,1653
$GC,17047,0.77,459.4,182.4,14.6,1341,17053,0.00,1.83,0.00,0.000,4,0.000,0.057,2803,3772,1648
$GC,17166,0.71,459.4,164.5,14.8,1362,17174,0.12,1.73,0.00,0.000,6,0.170,0.031,2778,2596,1647
$GC,17513,0.83,459.4,124.9,11.2,1423,17519,0.10,2.28,0.00,0.000,4,0.091,0.035,2818,1065,1648
$GC,17561,0.90,459.4,119.0,13.4,1431,17567,0.00,2.38,0.00,0.000,6,0.000,0.039,2818,2619,1647
$GC,17905,0.95,459.4,75.4,12.2,1492,17910,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2619,1647
$GC,18249,1.12,501.8,39.7,8.5,1553,18287,0.20,2.42,31.75,0.650,4,0.065,0.034,2917,1053,1485
$GC,18379,1.03,501.8,22.4,17.1,1575,18386,0.15,2.38,0.00,0.000,6,0.163,0.038,2878,2605,1481
$STATE,18508,end climb,SURFACE_DEPTH_REACHED
$STATE,18508,begin surface coast
$FINISH,1.5,1.008896
$STATE,18538,end surface coast,CONTROL_FINISHED_OK
$STATE,18538,begin surface
$SM_CCo,18615,0.00,0.000,0,0,1478,503.85
$SM_GC,2.33,7.38,0.00,0.00,0.063,0.000,0.000,146,2415,1478,-7.49,-0.57,503.85
$IRIDIUM_FIX,2517.50,12314.93,200898,181817
$TT8_MAMPS,0.028379
$HUMID,1492
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.8,9.728
$10V_AH,10.7,6.732
$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,27.700,148.125,491.925,0.000,0.000,53.056,72.344,258.038,8.000,0.000,0.000,14.975,2890.006,12137.454,592.854,2873.370,692.635,0.000,2055.934,0.000,2806.715,0.000,54.412,0.000
$DEVICE_MAMPS,256.945,64.428,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.272,1049.486,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85273,1603
$CAP_FILE_SIZE,187033,0
$CFSIZE,260165632,222355456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.307, 80.9,1
$GPS,270509,000201,2524.122,12322.731,40,1.0,40,-3.7