version: 66.04
glider: 167
mission: 2
dive: 169
start: 6 16 109 5 24 59
data:
$ID,167
$MISSION,2
$DIVE,169
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-8330.4854
$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,62
$R_STBD_OVSHOOT,32
$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
$GPS1,051807,2459.604,12214.235,28,1.3,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-69.0
$GPS2,052438,2459.662,12214.337,14,1.6,14,-3.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$TGT_RADIUS,5000.000
$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,277.4,7306,-16.8,-10.000
$D_GRID,673
$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,-0.96,-170.3,0.0,0.0,0,51,0.00,0.00,-34.28,0.000,2,0.000,0.000,142,2448,2350
$GC,54,-0.96,-170.3,3.1,-1.6,6,124,8.68,2.20,-55.38,0.000,4,0.248,0.042,2230,1016,3990
$GC,181,-0.40,-170.3,21.8,-23.9,27,189,0.65,2.17,0.00,0.000,6,0.171,0.032,2407,2445,3991
$GC,528,-0.67,-170.3,53.2,-7.4,88,534,0.20,2.10,0.00,0.000,4,0.064,0.028,2318,1025,3992
$GC,558,-0.73,-170.3,56.5,-10.5,93,564,0.00,2.12,0.00,0.000,6,0.000,0.034,2316,2435,3992
$GC,901,-0.73,-170.3,91.7,-10.4,154,907,0.00,2.05,0.00,0.000,4,0.000,0.049,2316,3763,3994
$GC,1095,-0.73,-170.3,112.4,-11.6,188,1101,0.00,1.92,0.00,0.000,6,0.000,0.026,2316,2405,3995
$GC,1439,-0.73,-170.3,145.2,-8.5,249,1445,0.00,1.95,0.00,0.000,4,0.000,0.029,2316,1051,3996
$GC,1486,-0.78,-170.3,149.2,-8.6,257,1492,0.00,2.10,0.00,0.000,6,0.000,0.035,2316,2449,3997
$GC,1830,-0.83,-170.3,179.5,-8.4,318,1837,0.12,2.03,0.00,0.000,4,0.078,0.050,2261,3767,3996
$GC,1916,-0.65,-170.3,189.4,-11.7,333,1923,0.25,1.88,0.00,0.000,6,0.143,0.027,2336,2455,3997
$GC,2261,-0.80,-170.3,217.5,-9.4,394,2268,0.15,2.03,0.00,0.000,4,0.072,0.050,2274,3757,3997
$GC,2437,-0.72,-170.3,239.7,-13.0,425,2443,0.15,1.85,0.00,0.000,6,0.146,0.028,2316,2465,3997
$GC,2782,-0.80,-170.3,274.3,-9.1,486,2788,0.00,2.03,0.00,0.000,4,0.000,0.052,2316,3765,3997
$GC,2862,-0.91,-170.3,281.8,-9.7,500,2868,0.17,1.85,0.00,0.000,6,0.070,0.028,2244,2476,3996
$GC,3195,-0.74,-170.3,323.6,-11.6,543,3199,0.17,2.00,0.00,0.000,4,0.151,0.050,2292,3760,3996
$GC,3252,-0.74,-170.3,329.1,-9.4,548,3256,0.00,1.83,0.00,0.000,6,0.000,0.028,2292,2488,3996
$GC,3585,-0.78,-170.3,359.2,-9.8,579,3589,0.00,1.98,0.00,0.000,4,0.000,0.053,2289,3754,3995
$GC,3698,-0.83,-170.3,371.2,-10.9,589,3702,0.00,1.80,0.00,0.000,6,0.000,0.028,2289,2501,3995
$GC,4030,-0.88,-170.3,401.4,-7.0,620,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2500,3993
$GC,4349,-0.94,-170.3,426.9,-8.3,650,4351,0.12,0.00,0.00,0.000,6,0.083,0.000,2235,2501,3993
$GC,4668,-0.79,-170.3,465.6,-13.0,680,4672,0.20,1.98,0.00,0.000,4,0.156,0.053,2289,3758,3992
$GC,4736,-0.89,-170.3,473.4,-9.8,686,4740,0.00,1.80,0.00,0.000,6,0.000,0.030,2289,2515,3991
$GC,5077,-0.98,-170.3,502.4,-8.3,717,5081,0.17,1.95,0.00,0.000,4,0.077,0.054,2207,3754,3990
$GC,5190,-0.73,-170.3,517.0,-13.9,722,5194,0.35,1.77,0.00,0.000,6,0.156,0.030,2311,2534,3989
$GC,5524,-0.91,-170.3,541.3,-6.4,738,5529,0.17,2.20,0.00,0.000,4,0.074,0.031,2234,1033,3987
$GC,5546,-0.91,-170.3,543.3,-7.9,739,5550,0.00,2.28,0.00,0.000,6,0.000,0.038,2233,2530,3987
$GC,5874,-0.78,-170.3,574.2,-9.7,755,5878,0.17,1.90,0.00,0.000,4,0.161,0.054,2288,3753,3986
$GC,5969,-0.90,-170.3,581.7,-7.2,759,5972,0.00,1.77,0.00,0.000,6,0.000,0.030,2288,2534,3985
$GC,6296,-1.01,-170.3,602.1,-5.9,775,6300,0.17,1.92,0.00,0.000,4,0.076,0.055,2207,3754,3983
$GC,6335,-0.78,-170.3,605.9,-10.2,776,6341,0.30,1.77,0.00,0.000,6,0.157,0.031,2295,2539,3983
$GC,6653,-0.92,-170.3,625.1,-6.0,792,6657,0.15,1.92,0.00,0.000,4,0.081,0.055,2233,3757,3981
$GC,6702,-0.80,-170.3,629.9,-10.0,794,6707,0.20,1.77,0.00,0.000,6,0.158,0.031,2290,2547,3981
$GC,7032,-0.92,-170.3,652.8,-6.3,810,7036,0.12,1.92,0.00,0.000,4,0.083,0.056,2241,3765,3979
$GC,7070,-0.84,-170.3,656.2,-9.4,811,7078,0.12,1.77,0.00,0.000,6,0.163,0.031,2274,2558,3979
$STATE,7300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7300,begin apogee
$GC,7306,-0.22,0.0,674.2,8.2,823,7396,0.62,0.00,86.50,1.190,6,0.134,0.000,2472,2557,3531
$STATE,7396,end apogee,CONTROL_FINISHED_OK
$STATE,7396,begin climb
$GC,7399,0.96,170.3,677.8,0.0,827,7542,1.05,2.10,134.07,1.148,4,0.057,0.056,2855,3755,2836
$GC,7724,0.19,170.3,652.9,14.7,841,7731,0.95,1.88,0.00,0.000,6,0.203,0.029,2613,2513,2832
$GC,8040,0.49,249.5,631.2,6.9,857,8106,0.25,2.10,61.08,1.127,4,0.071,0.056,2707,3762,2513
$GC,8129,0.37,249.5,620.7,14.0,861,8133,0.20,1.95,0.00,0.000,6,0.173,0.030,2663,2495,2511
$GC,8450,0.55,296.5,592.0,8.1,877,8494,0.17,2.20,37.25,1.102,4,0.077,0.037,2735,1120,2322
$GC,8510,0.49,296.5,584.5,12.9,879,8518,0.12,2.20,0.00,0.000,6,0.159,0.040,2706,2499,2320
$GC,8826,0.49,297.4,552.3,10.0,895,8830,0.00,2.00,0.00,0.000,4,0.000,0.058,2706,3757,2316
$GC,8853,0.49,297.4,549.2,10.8,896,8857,0.00,1.92,0.00,0.000,6,0.000,0.031,2706,2496,2315
$GC,9181,0.53,331.3,519.7,8.7,912,9215,0.00,2.17,27.33,1.071,4,0.000,0.037,2706,1117,2180
$GC,9278,0.72,367.3,511.0,8.6,916,9313,0.20,2.17,29.75,1.052,6,0.071,0.040,2784,2501,2034
$GC,9638,0.55,367.3,455.0,16.4,946,9642,0.20,2.00,0.00,0.000,4,0.173,0.054,2726,3762,2026
$GC,9665,0.48,367.3,450.5,15.8,948,9672,0.12,1.92,0.00,0.000,6,0.170,0.031,2701,2472,2025
$GC,9991,0.69,376.2,415.0,9.6,979,10005,0.20,2.10,7.05,0.873,4,0.072,0.035,2789,1109,1997
$GC,10102,0.60,376.2,400.3,13.1,988,10108,0.17,2.10,0.00,0.000,6,0.168,0.038,2743,2471,1996
$GC,10427,0.65,376.2,363.3,11.3,1019,10430,0.00,2.05,0.00,0.000,4,0.000,0.035,2745,1110,1994
$GC,10495,0.73,376.2,355.5,10.9,1025,10499,0.10,2.08,0.00,0.000,6,0.094,0.038,2785,2466,1995
$GC,10827,0.65,376.2,309.2,13.9,1056,10831,0.12,2.03,0.00,0.000,4,0.171,0.034,2759,1121,1994
$GC,10877,0.72,376.2,302.4,11.7,1060,10883,0.00,2.05,0.00,0.000,6,0.000,0.038,2759,2460,1994
$GC,11219,0.76,376.2,263.6,10.1,1119,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2460,1993
$GC,11563,0.76,376.2,224.5,11.9,1180,11569,0.00,2.00,0.00,0.000,4,0.000,0.033,2759,1114,1993
$GC,11622,0.86,376.2,217.7,11.6,1190,11628,0.17,2.03,0.00,0.000,6,0.077,0.035,2827,2458,1993
$GC,11966,0.66,376.2,162.9,16.3,1251,11974,0.20,2.00,0.00,0.000,4,0.160,0.030,2772,1107,1993
$GC,12081,0.72,376.2,148.7,10.8,1271,12088,0.00,1.98,0.00,0.000,6,0.000,0.036,2772,2423,1993
$GC,12427,0.81,385.7,110.9,9.6,1332,12438,0.00,0.00,8.48,0.701,6,0.000,0.000,2772,2423,1959
$GC,12777,0.95,405.7,76.3,9.2,1394,12802,0.17,2.12,17.02,0.716,4,0.072,0.055,2855,3752,1878
$GC,12837,0.77,405.7,68.3,14.7,1404,12843,0.22,1.95,0.00,0.000,6,0.167,0.028,2797,2427,1875
$GC,13182,1.05,471.9,40.5,7.4,1465,13242,0.20,2.17,50.65,0.685,4,0.066,0.051,2887,3755,1606
$GC,13411,0.92,471.9,8.9,13.2,1505,13417,0.20,1.98,0.00,0.000,6,0.161,0.027,2840,2413,1601
$STATE,13472,end climb,SURFACE_DEPTH_REACHED
$STATE,13473,begin surface coast
$FINISH,1.7,1.006071
$STATE,13507,end surface coast,CONTROL_FINISHED_OK
$STATE,13507,begin surface
$SM_CCo,13584,0.00,0.000,0,0,1597,474.41
$SM_GC,2.65,7.35,0.00,0.00,0.062,0.000,0.000,144,2411,1597,-7.49,-0.45,474.41
$IRIDIUM_FIX,2448.93,12212.42,100998,000004
$TT8_MAMPS,0.028379
$HUMID,1603
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.1,30.368
$10V_AH,10.8,17.384
$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,25.850,115.875,459.175,0.000,0.000,27.649,31.285,192.885,4.750,0.000,0.000,16.382,2648.739,7660.887,572.935,2552.250,525.961,0.000,1865.058,0.000,2497.217,0.000,32.720,0.000
$DEVICE_MAMPS,247.741,58.292,1189.617,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.041,1119.520,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78829,1522
$CAP_FILE_SIZE,155220,0
$CFSIZE,260165632,212549632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,101.5,1
$GPS,160609,091237,2459.979,12212.938,40,1.0,40,-3.5