version: 66.04
glider: 167
mission: 2
dive: 43
start: 5 28 109 21 12 41
data:
$ID,167
$MISSION,2
$DIVE,43
$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,-4623.0752
$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,54
$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
$GPS1,210607,2520.574,12323.969,42,1.1,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-63.5
$GPS2,211219,2520.594,12323.955,10,1.1,15,-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,255.5,9390,-18.3,-12.000
$D_GRID,1520
$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,-1.05,-194.7,0.0,0.0,0,52,0.00,0.00,-35.12,0.000,2,0.000,0.000,144,2425,2555
$GC,55,-1.05,-194.7,3.1,-2.9,6,116,8.55,2.12,-44.65,0.000,4,0.254,0.064,2188,3768,3990
$GC,246,-0.02,-194.7,63.1,-42.9,39,253,1.25,1.98,0.00,0.000,6,0.206,0.025,2528,2402,3991
$GC,592,-0.87,-194.7,98.9,-10.0,100,599,0.70,2.10,0.00,0.000,4,0.081,0.048,2269,3761,3993
$GC,645,-0.53,-194.7,105.7,-15.5,109,653,0.35,1.95,0.00,0.000,6,0.161,0.027,2371,2402,3992
$GC,991,-0.59,-194.7,146.7,-10.6,170,997,0.00,1.95,0.00,0.000,4,0.000,0.030,2371,1043,3993
$GC,1044,-0.76,-194.7,151.8,-9.1,179,1050,0.20,2.08,0.00,0.000,6,0.065,0.035,2286,2436,3994
$GC,1390,-0.58,-194.7,206.4,-15.4,240,1396,0.22,2.00,0.00,0.000,4,0.166,0.048,2347,3757,3995
$GC,1517,-0.72,-194.7,217.8,-7.4,262,1524,0.10,1.92,0.00,0.000,6,0.089,0.027,2300,2398,3996
$GC,1862,-0.72,-194.7,253.8,-10.3,323,1867,0.00,2.10,0.00,0.000,4,0.000,0.050,2299,3761,3996
$GC,1918,-0.72,-194.7,260.6,-12.1,333,1926,0.00,1.88,0.00,0.000,6,0.000,0.028,2299,2439,3996
$GC,2267,-0.72,-194.7,303.2,-12.3,393,2271,0.00,2.00,0.00,0.000,4,0.000,0.030,2299,1039,3996
$GC,2317,-0.72,-194.7,309.3,-11.6,397,2325,0.00,2.08,0.00,0.000,6,0.000,0.035,2297,2438,3996
$GC,2642,-0.72,-194.7,345.5,-9.8,428,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2439,3996
$GC,2962,-0.72,-194.7,374.1,-9.2,458,2966,0.00,2.03,0.00,0.000,4,0.000,0.030,2298,1045,3996
$GC,3009,-0.80,-194.7,378.5,-9.4,462,3013,0.00,2.05,0.00,0.000,6,0.000,0.036,2298,2432,3996
$GC,3339,-0.89,-194.7,407.2,-8.1,493,3341,0.12,0.00,0.00,0.000,6,0.081,0.000,2245,2435,3995
$GC,3659,-0.77,-194.7,444.5,-12.6,523,3661,0.17,0.00,0.00,0.000,6,0.170,0.000,2293,2434,3995
$GC,3978,-0.88,-194.7,475.2,-9.6,553,3982,0.00,2.03,0.00,0.000,4,0.000,0.055,2292,3755,3994
$GC,4017,-0.98,-194.7,479.5,-10.3,556,4024,0.17,1.90,0.00,0.000,6,0.075,0.031,2221,2436,3993
$GC,4339,-0.82,-194.7,524.1,-13.8,579,4344,0.17,2.03,0.00,0.000,4,0.165,0.032,2275,1034,3992
$GC,4464,-0.91,-194.7,537.3,-10.4,584,4468,0.00,2.05,0.00,0.000,6,0.000,0.039,2275,2405,3992
$GC,4785,-0.98,-194.7,568.7,-9.2,600,4789,0.12,2.08,0.00,0.000,4,0.084,0.054,2220,3755,3990
$GC,4847,-0.82,-194.7,576.0,-11.7,602,4853,0.20,1.95,0.00,0.000,6,0.160,0.031,2277,2407,3990
$GC,5164,-0.91,-194.7,602.9,-8.4,618,5167,0.00,2.10,0.00,0.000,4,0.000,0.056,2275,3755,3987
$GC,5191,-0.98,-194.7,605.6,-9.4,619,5196,0.12,1.95,0.00,0.000,6,0.087,0.031,2224,2410,3987
$GC,5518,-0.89,-194.7,641.6,-10.5,635,5520,0.12,0.00,0.00,0.000,6,0.173,0.000,2256,2409,3985
$GC,5828,-0.89,-194.7,671.1,-10.1,650,5832,0.00,2.10,0.00,0.000,4,0.000,0.058,2256,3753,3983
$GC,5856,-0.94,-194.7,674.2,-10.7,651,5859,0.00,1.95,0.00,0.000,6,0.000,0.032,2256,2414,3983
$GC,6183,-1.00,-194.7,708.6,-10.9,667,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2256,2414,3981
$GC,6492,-1.06,-194.7,742.8,-11.1,682,6497,0.15,2.10,0.00,0.000,4,0.080,0.056,2192,3753,3979
$GC,6555,-0.87,-194.7,751.5,-15.4,685,6559,0.25,1.98,0.00,0.000,6,0.175,0.034,2261,2410,3978
$GC,6883,-0.95,-194.7,785.4,-9.8,701,6887,0.00,2.12,0.00,0.000,4,0.000,0.059,2261,3763,3976
$GC,6956,-1.05,-194.7,792.5,-9.2,704,6960,0.15,1.95,0.00,0.000,6,0.087,0.034,2203,2434,3975
$GC,7284,-0.92,-194.7,831.6,-12.3,720,7288,0.15,2.05,0.00,0.000,4,0.178,0.035,2242,1037,3974
$GC,7379,-0.92,-194.7,842.1,-10.8,724,7383,0.00,2.10,0.00,0.000,6,0.000,0.041,2241,2424,3973
$GC,7707,-0.92,-194.7,875.7,-10.7,740,7710,0.00,2.08,0.00,0.000,4,0.000,0.059,2236,3761,3971
$GC,7756,-0.92,-194.7,881.5,-11.3,742,7760,0.00,1.98,0.00,0.000,6,0.000,0.034,2236,2421,3971
$GC,8084,-0.92,-194.7,916.8,-11.0,758,8087,0.00,2.10,0.00,0.000,4,0.000,0.058,2234,3758,3970
$GC,8157,-0.92,-194.7,925.3,-11.2,761,8161,0.00,1.95,0.00,0.000,6,0.000,0.034,2234,2431,3969
$GC,8484,-0.92,-194.7,958.8,-10.5,777,8488,0.00,2.10,0.00,0.000,4,0.000,0.058,2234,3766,3967
$GC,8552,-0.92,-194.7,965.8,-10.6,780,8556,0.00,1.95,0.00,0.000,6,0.000,0.035,2234,2444,3967
$STATE,8820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8820,begin apogee
$GC,8826,-0.22,0.0,990.3,8.9,793,8917,0.77,0.00,87.80,1.448,6,0.160,0.000,2473,2517,3532
$STATE,8918,end apogee,CONTROL_FINISHED_OK
$STATE,8918,begin climb
$GC,8920,1.05,194.7,992.0,0.0,797,9093,1.12,2.33,159.55,1.409,4,0.056,0.037,2891,1110,2737
$GC,9233,0.49,194.7,955.4,22.0,811,9238,0.70,2.22,0.00,0.000,6,0.204,0.044,2707,2503,2732
$GC,9555,0.42,200.7,916.5,11.8,827,9564,0.00,2.00,5.12,1.003,4,0.000,0.058,2707,3768,2715
$GC,9689,0.26,200.7,897.7,14.2,833,9694,0.28,1.90,0.00,0.000,6,0.183,0.032,2634,2504,2713
$GC,10017,0.54,269.6,867.2,9.1,849,10081,0.22,2.12,57.08,1.345,4,0.077,0.057,2722,3767,2430
$GC,10139,0.46,269.6,849.8,17.2,854,10143,0.15,1.90,0.00,0.000,6,0.185,0.034,2693,2525,2427
$GC,10460,0.55,269.6,810.2,12.0,870,10464,0.00,2.15,0.00,0.000,4,0.000,0.039,2694,1108,2423
$GC,10533,0.71,290.4,801.6,11.1,873,10556,0.22,2.20,17.42,1.255,6,0.076,0.042,2778,2522,2347
$GC,10879,0.56,290.4,744.7,16.5,890,10884,0.20,1.98,0.00,0.000,4,0.186,0.058,2722,3767,2343
$GC,10947,0.50,290.4,734.3,13.6,893,10951,0.00,1.90,0.00,0.000,6,0.000,0.033,2728,2505,2342
$GC,11280,0.50,290.4,692.3,12.5,909,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2502,2341
$GC,11588,0.50,290.4,651.6,13.4,924,11592,0.00,2.00,0.00,0.000,4,0.000,0.058,2728,3765,2340
$GC,11683,0.45,290.4,637.7,14.5,928,11688,0.17,1.85,0.00,0.000,6,0.186,0.035,2689,2521,2340
$GC,12011,0.68,345.0,603.3,9.7,944,12060,0.17,2.05,43.75,1.183,4,0.084,0.058,2761,3759,2124
$GC,12095,0.60,345.0,591.4,16.2,948,12098,0.00,1.90,0.00,0.000,6,0.000,0.035,2762,2533,2120
$GC,12427,0.60,345.0,543.2,15.7,964,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2530,2116
$GC,12736,0.60,345.0,495.3,15.6,980,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2531,2115
$GC,13055,0.60,345.0,449.4,13.6,1010,13057,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2530,2114
$GC,13374,0.60,345.0,407.5,14.0,1040,13377,0.00,1.95,0.00,0.000,4,0.000,0.060,2762,3758,2114
$GC,13446,0.54,345.0,396.2,16.1,1046,13453,0.15,1.83,0.00,0.000,6,0.179,0.034,2724,2521,2113
$GC,13771,0.74,370.0,358.9,11.0,1077,13796,0.17,2.20,19.27,0.963,4,0.077,0.038,2802,1101,2023
$GC,13911,0.74,370.0,338.2,15.2,1089,13915,0.00,2.20,0.00,0.000,6,0.000,0.041,2802,2526,2020
$GC,14241,0.68,370.0,283.4,15.1,1128,14246,0.15,0.00,0.00,0.000,6,0.176,0.000,2764,2529,2018
$GC,14584,0.78,370.0,240.1,13.5,1189,14590,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2529,2018
$GC,14928,0.89,370.0,192.2,13.8,1250,14934,0.17,0.00,0.00,0.000,6,0.077,0.000,2838,2529,2018
$GC,15271,0.81,370.0,141.3,12.7,1311,15277,0.12,0.00,0.00,0.000,6,0.171,0.000,2807,2530,2018
$GC,15614,0.92,370.0,102.7,12.5,1372,15620,0.00,1.90,0.00,0.000,4,0.000,0.054,2807,3772,2019
$GC,15699,0.99,370.0,88.9,16.9,1387,15706,0.15,1.85,0.00,0.000,6,0.081,0.029,2870,2496,2020
$GC,16043,0.99,373.6,35.0,11.8,1448,16057,0.00,2.08,4.60,0.505,4,0.000,0.034,2875,1101,2008
$GC,16126,1.02,395.5,25.8,11.1,1462,16150,0.00,2.12,18.25,0.644,6,0.000,0.035,2875,2521,1918
$STATE,16306,end climb,SURFACE_DEPTH_REACHED
$STATE,16307,begin surface coast
$FINISH,1.5,0.999208
$STATE,16330,end surface coast,CONTROL_FINISHED_OK
$STATE,16330,begin surface
$SM_CCo,16347,19.83,0.628,0,0,1798,425.10
$SM_GC,2.44,0.00,0.00,19.83,0.000,0.000,0.628,145,2419,1798,-7.50,-0.23,425.10
$IRIDIUM_FIX,2515.12,12328.83,220898,161653
$TT8_MAMPS,0.029146
$HUMID,1556
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.9,11.542
$10V_AH,10.8,7.676
$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,25.600,117.650,412.850,19.825,0.000,30.784,36.325,177.419,8.000,0.000,0.000,15.230,2675.810,10355.997,538.451,2639.746,522.551,0.000,1869.756,0.000,2576.487,0.000,54.432,0.000
$DEVICE_MAMPS,253.877,88.972,1448.096,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.172,1015.885,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78913,1498
$CAP_FILE_SIZE,165289,0
$CFSIZE,260165632,221499392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226, 84.6,1
$GPS,290509,014637,2520.071,12323.396,31,1.6,32,-3.7