version: 66.04
glider: 167
mission: 2
dive: 38
start: 5 27 109 21 28 51
data:
$ID,167
$MISSION,2
$DIVE,38
$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,275
$T_MISSION,330
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,-4548.7114
$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,60
$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
$GPS1,212207,2522.518,12324.479,32,1.6,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-69.4
$GPS2,212813,2522.563,12324.538,13,2.0,30,-3.7
$SPEED_LIMITS,0.208,0.315
$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,259.4,12802,-18.3,-12.000
$D_GRID,1455
$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,-1.05,-194.7,0.0,0.0,0,48,0.00,0.00,-31.73,0.000,2,0.000,0.000,144,2425,2598
$GC,51,-1.05,-194.7,3.1,-2.2,5,112,8.62,2.12,-41.75,0.000,4,0.262,0.062,2193,3760,3990
$GC,253,0.04,-194.7,68.5,-45.9,40,260,1.33,1.95,0.00,0.000,6,0.208,0.027,2552,2408,3991
$GC,598,-0.83,-194.7,104.6,-10.5,101,605,0.75,2.10,0.00,0.000,4,0.086,0.048,2278,3761,3993
$GC,707,-0.45,-194.7,123.1,-22.8,120,714,0.40,1.92,0.00,0.000,6,0.157,0.028,2396,2420,3993
$GC,1052,-0.65,-194.7,152.3,-7.8,181,1059,0.17,2.08,0.00,0.000,4,0.065,0.048,2315,3766,3994
$GC,1083,-0.60,-194.7,155.5,-12.0,186,1091,0.12,1.92,0.00,0.000,6,0.161,0.026,2347,2412,3994
$GC,1429,-0.67,-194.7,202.4,-13.1,247,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2347,2412,3996
$GC,1773,-0.82,-194.7,234.9,-7.3,308,1780,0.17,2.08,0.00,0.000,4,0.068,0.049,2261,3758,3996
$GC,1804,-0.71,-194.7,238.3,-11.5,313,1810,0.20,1.90,0.00,0.000,6,0.160,0.028,2318,2426,3996
$GC,2150,-0.78,-194.7,277.7,-10.4,374,2157,0.00,2.05,0.00,0.000,4,0.000,0.050,2316,3761,3997
$GC,2208,-0.88,-194.7,283.8,-9.5,384,2215,0.15,1.90,0.00,0.000,6,0.072,0.028,2248,2425,3997
$GC,2543,-0.68,-194.7,326.5,-12.9,426,2547,0.22,2.00,0.00,0.000,4,0.163,0.030,2318,1030,3997
$GC,2650,-0.82,-194.7,335.8,-8.3,435,2655,0.10,2.08,0.00,0.000,6,0.086,0.036,2272,2432,3997
$GC,2981,-0.77,-194.7,377.2,-15.3,466,2984,0.00,2.03,0.00,0.000,4,0.000,0.052,2270,3763,3997
$GC,3039,-0.77,-194.7,386.7,-16.9,471,3043,0.00,1.90,0.00,0.000,6,0.000,0.029,2270,2431,3997
$GC,3369,-0.77,-194.7,436.1,-14.3,502,3373,0.00,2.00,0.00,0.000,4,0.000,0.032,2270,1041,3997
$GC,3448,-0.77,-194.7,447.1,-14.0,509,3452,0.12,2.08,0.00,0.000,6,0.162,0.035,2296,2432,3997
$GC,3778,-0.88,-194.7,482.1,-9.6,540,3780,0.12,0.00,0.00,0.000,6,0.082,0.000,2245,2434,3996
$GC,4104,-0.81,-194.7,520.6,-12.3,563,4108,0.15,2.03,0.00,0.000,4,0.171,0.052,2276,3760,3995
$GC,4205,-0.87,-194.7,532.5,-10.6,567,4208,0.00,1.90,0.00,0.000,6,0.000,0.031,2276,2445,3995
$GC,4527,-0.95,-194.7,565.9,-9.8,583,4531,0.10,2.05,0.00,0.000,4,0.091,0.054,2232,3762,3994
$GC,4622,-0.82,-194.7,576.7,-11.1,587,4626,0.17,1.90,0.00,0.000,6,0.172,0.032,2279,2457,3993
$GC,4951,-0.94,-194.7,600.6,-7.1,603,4953,0.12,0.00,0.00,0.000,6,0.084,0.000,2229,2457,3992
$GC,5257,-0.89,-194.7,637.4,-13.1,618,5259,0.12,0.00,0.00,0.000,6,0.179,0.000,2260,2457,3990
$GC,5567,-0.95,-194.7,667.8,-9.6,633,5571,0.00,2.08,0.00,0.000,4,0.000,0.035,2260,1033,3988
$GC,5674,-1.05,-194.7,678.4,-10.1,637,5680,0.15,2.15,0.00,0.000,6,0.080,0.041,2202,2454,3987
$GC,5989,-0.89,-194.7,719.2,-12.2,653,5993,0.20,2.03,0.00,0.000,4,0.177,0.058,2260,3761,3985
$GC,6067,-0.97,-194.7,726.4,-8.5,656,6071,0.00,1.90,0.00,0.000,6,0.000,0.035,2260,2466,3983
$GC,6388,-1.05,-194.7,752.0,-8.5,672,6393,0.15,2.12,0.00,0.000,4,0.081,0.036,2201,1020,3981
$GC,6433,-0.92,-194.7,756.7,-11.5,674,6437,0.20,2.20,0.00,0.000,6,0.176,0.041,2248,2472,3981
$GC,6753,-0.92,-194.7,785.4,-8.8,690,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2472,3979
$GC,7062,-0.92,-194.7,815.0,-9.6,705,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2472,3977
$GC,7372,-0.97,-194.7,844.5,-9.1,720,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2472,3975
$GC,7682,-1.03,-194.7,870.8,-8.3,735,7686,0.12,2.03,0.00,0.000,4,0.090,0.061,2201,3768,3973
$GC,7773,-0.90,-194.7,880.8,-10.8,739,7778,0.17,1.92,0.00,0.000,6,0.173,0.035,2248,2467,3972
$GC,8108,-0.96,-194.7,906.1,-7.1,755,8112,0.00,2.12,0.00,0.000,4,0.000,0.037,2248,1022,3970
$GC,8158,-1.04,-194.7,910.1,-7.8,757,8163,0.12,2.20,0.00,0.000,6,0.090,0.043,2200,2464,3971
$GC,8481,-0.94,-194.7,940.6,-9.6,773,8483,0.15,0.00,0.00,0.000,6,0.190,0.000,2237,2465,3969
$GC,8788,-0.94,-194.7,963.2,-7.4,788,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2465,3968
$GC,9098,-0.94,-194.7,988.3,-8.5,803,9102,0.00,2.15,0.00,0.000,4,0.000,0.037,2237,1024,3966
$STATE,9118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9118,begin apogee
$GC,9126,-0.22,0.0,990.4,9.0,804,9221,0.77,0.00,87.97,1.456,6,0.159,0.000,2473,2507,3531
$STATE,9222,end apogee,CONTROL_FINISHED_OK
$STATE,9222,begin climb
$GC,9225,1.05,194.7,993.6,0.0,809,9393,1.17,2.33,160.02,1.409,4,0.058,0.038,2900,1112,2737
$GC,9573,0.46,194.7,950.5,22.5,825,9579,0.77,2.22,0.00,0.000,6,0.205,0.044,2695,2509,2732
$GC,9889,0.48,207.8,912.0,11.5,840,9905,0.00,2.03,11.27,1.243,4,0.000,0.059,2695,3765,2685
$GC,9944,0.37,207.8,905.1,13.4,841,9950,0.15,1.95,0.00,0.000,6,0.191,0.035,2664,2492,2683
$GC,10260,0.52,257.9,874.3,9.9,857,10307,0.15,2.17,41.20,1.346,4,0.087,0.061,2718,3758,2479
$GC,10341,0.42,257.9,863.0,15.9,860,10348,0.15,1.95,0.00,0.000,6,0.187,0.034,2685,2504,2477
$GC,10657,0.55,290.8,828.4,10.6,876,10692,0.12,2.15,27.83,1.305,4,0.089,0.059,2729,3759,2345
$GC,10778,0.43,290.8,810.7,16.8,881,10782,0.17,1.92,0.00,0.000,6,0.185,0.036,2690,2512,2341
$GC,11099,0.58,316.3,774.0,10.9,897,11125,0.12,2.08,21.27,1.266,4,0.090,0.061,2734,3762,2242
$GC,11170,0.53,316.3,763.3,16.2,900,11174,0.00,1.92,0.00,0.000,6,0.000,0.035,2735,2515,2239
$GC,11491,0.53,316.3,718.2,13.3,916,11495,0.00,2.15,0.00,0.000,4,0.000,0.041,2735,1099,2237
$GC,11575,0.59,316.3,707.3,13.1,919,11581,0.00,2.22,0.00,0.000,6,0.000,0.042,2735,2526,2236
$GC,11891,0.59,316.3,664.1,13.5,935,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2526,2236
$GC,12199,0.59,316.3,618.5,15.0,950,12203,0.00,2.15,0.00,0.000,4,0.000,0.040,2735,1107,2235
$GC,12328,0.71,316.3,599.8,14.3,955,12335,0.12,2.17,0.00,0.000,6,0.087,0.044,2782,2514,2234
$GC,12644,0.60,316.3,547.5,16.6,971,12649,0.15,1.95,0.00,0.000,4,0.179,0.060,2744,3759,2234
$GC,12773,0.54,316.3,527.8,14.3,976,12779,0.00,1.90,0.00,0.000,6,0.000,0.035,2745,2487,2233
$GC,13093,0.54,316.3,484.8,14.0,997,13096,0.00,2.03,0.00,0.000,4,0.000,0.059,2745,3761,2233
$GC,13221,0.48,316.3,463.8,15.5,1008,13228,0.17,1.88,0.00,0.000,6,0.179,0.035,2705,2495,2233
$GC,13547,0.80,419.3,431.8,7.7,1039,13636,0.25,2.25,80.75,1.048,4,0.073,0.040,2814,1112,1820
$GC,13730,0.80,419.3,402.0,16.9,1055,13737,0.00,2.22,0.00,0.000,6,0.000,0.041,2814,2515,1812
$GC,14057,0.75,419.3,339.8,19.0,1086,14061,0.00,2.00,0.00,0.000,4,0.000,0.061,2814,3768,1807
$GC,14125,0.64,419.3,325.1,22.3,1092,14129,0.25,1.90,0.00,0.000,6,0.174,0.032,2753,2503,1807
$GC,14459,0.83,419.3,278.9,12.7,1137,14465,0.17,2.08,0.00,0.000,4,0.080,0.037,2828,1110,1807
$GC,14517,0.83,419.3,270.4,16.0,1147,14523,0.00,2.15,0.00,0.000,6,0.000,0.040,2828,2511,1807
$GC,14861,0.83,419.3,209.1,18.7,1208,14867,0.00,1.95,0.00,0.000,4,0.000,0.058,2828,3761,1807
$GC,14902,0.73,419.3,201.4,20.6,1215,14909,0.17,1.88,0.00,0.000,6,0.173,0.032,2783,2494,1807
$GC,15249,0.89,424.9,158.0,11.8,1276,15256,0.15,0.00,3.62,0.507,6,0.078,0.000,2843,2492,1799
$GC,15592,0.89,424.9,105.2,13.8,1337,15598,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2492,1799
$GC,15935,1.03,456.1,63.5,10.7,1398,15967,0.10,2.08,26.17,0.687,4,0.087,0.054,2885,3766,1671
$GC,16091,0.99,456.1,39.4,15.5,1425,16098,0.12,1.85,0.00,0.000,6,0.179,0.029,2864,2498,1668
$STATE,16365,end climb,SURFACE_DEPTH_REACHED
$STATE,16365,begin surface coast
$FINISH,1.6,1.022113
$STATE,16384,end surface coast,CONTROL_FINISHED_OK
$STATE,16384,begin surface
$SM_CCo,16460,0.00,0.000,0,0,1666,457.48
$SM_GC,2.47,7.25,0.00,0.00,0.058,0.000,0.000,145,2494,1666,-7.49,1.89,457.48
$IRIDIUM_FIX,2515.12,12323.54,210898,171756
$TT8_MAMPS,0.028379
$HUMID,1536
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.9,10.667
$10V_AH,10.8,7.220
$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,26.975,122.700,460.125,0.000,0.000,29.952,31.802,168.784,8.000,0.000,0.000,30.535,2657.810,10462.925,574.352,2639.122,501.968,0.000,1896.088,0.000,2557.447,0.000,54.417,0.000
$DEVICE_MAMPS,261.547,62.127,1455.766,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.986,1011.915,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78923,1477
$CAP_FILE_SIZE,166597,0
$CFSIZE,260165632,221933568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.264, 81.7,1
$GPS,280509,020425,2522.465,12324.341,40,1.7,41,-3.7