version: 66.04
glider: 167
mission: 2
dive: 183
start: 6 19 109 7 38 27
data:
$ID,167
$MISSION,2
$DIVE,183
$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,-8641.4727
$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,63
$R_STBD_OVSHOOT,39
$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
$GPS1,073106,2451.968,12246.483,37,0.9,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-69.5
$GPS2,073807,2452.312,12246.663,10,1.1,15,-3.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_2
$TGT_LATLONG,2441.200,12300.000
$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,181.1,30450,-16.8,-10.000
$D_GRID,1421
$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,-0.96,-170.3,0.0,0.0,0,53,0.00,0.00,-35.95,0.000,2,0.000,0.000,142,2449,2150
$GC,56,-0.96,-170.3,3.0,-1.5,6,136,8.60,2.15,-61.58,0.000,4,0.245,0.041,2227,1027,3989
$GC,260,-0.23,-170.3,42.0,-27.1,41,267,0.85,2.12,0.00,0.000,6,0.175,0.032,2462,2435,3990
$GC,605,-0.77,-170.3,70.1,-6.7,102,612,0.43,2.03,0.00,0.000,4,0.064,0.047,2295,3754,3991
$GC,670,-0.44,-170.3,75.8,-9.5,113,676,0.35,1.92,0.00,0.000,6,0.143,0.025,2400,2400,3992
$GC,1015,-0.65,-170.3,97.3,-7.0,174,1021,0.17,2.10,0.00,0.000,4,0.064,0.045,2316,3757,3993
$GC,1134,-0.59,-170.3,109.8,-11.2,195,1142,0.12,1.83,0.00,0.000,6,0.142,0.025,2350,2465,3993
$GC,1482,-0.69,-170.3,142.2,-8.1,256,1488,0.00,1.98,0.00,0.000,4,0.000,0.048,2348,3760,3994
$GC,1607,-0.82,-170.3,153.6,-9.4,278,1614,0.20,1.80,0.00,0.000,6,0.064,0.026,2260,2490,3994
$GC,1952,-0.61,-170.3,198.8,-11.6,339,1959,0.25,1.95,0.00,0.000,4,0.146,0.045,2333,3757,3995
$GC,1977,-0.61,-170.3,201.2,-9.7,343,1984,0.00,1.77,0.00,0.000,6,0.000,0.025,2333,2500,3994
$GC,2322,-0.72,-170.3,225.7,-8.2,404,2328,0.00,1.95,0.00,0.000,4,0.000,0.048,2332,3764,3994
$GC,2448,-0.86,-170.3,237.0,-9.7,426,2454,0.17,1.77,0.00,0.000,6,0.067,0.027,2256,2514,3995
$GC,2792,-0.72,-170.3,280.3,-11.2,487,2799,0.17,2.10,0.00,0.000,4,0.145,0.027,2313,1053,3994
$GC,2851,-0.84,-170.3,285.5,-8.2,497,2858,0.12,2.20,0.00,0.000,6,0.077,0.035,2261,2527,3995
$GC,3188,-0.74,-170.3,318.2,-10.0,541,3192,0.15,1.88,0.00,0.000,4,0.156,0.048,2302,3754,3995
$GC,3270,-0.81,-170.3,325.3,-7.9,548,3274,0.00,1.75,0.00,0.000,6,0.000,0.027,2302,2521,3995
$GC,3604,-0.88,-170.3,354.5,-9.1,579,3608,0.12,1.92,0.00,0.000,4,0.081,0.050,2245,3763,3993
$GC,3688,-0.75,-170.3,365.0,-12.3,586,3695,0.20,1.73,0.00,0.000,6,0.146,0.028,2303,2561,3993
$GC,4014,-0.84,-170.3,393.9,-8.3,617,4017,0.00,1.88,0.00,0.000,4,0.000,0.052,2303,3764,3992
$GC,4049,-0.96,-170.3,396.8,-8.5,620,4053,0.20,1.73,0.00,0.000,6,0.067,0.028,2219,2561,3992
$GC,4380,-0.73,-170.3,437.2,-13.2,651,4384,0.25,1.88,0.00,0.000,4,0.153,0.049,2290,3766,3991
$GC,4441,-0.82,-170.3,443.8,-9.3,656,4447,0.00,1.70,0.00,0.000,6,0.000,0.028,2291,2579,3990
$GC,4770,-0.90,-170.3,472.2,-8.6,687,4777,0.10,0.00,0.00,0.000,6,0.088,0.000,2247,2579,3988
$GC,5098,-0.82,-170.3,503.9,-9.2,716,5100,0.12,0.00,0.00,0.000,6,0.158,0.000,2280,2579,3986
$GC,5404,-0.89,-170.3,525.7,-7.6,731,5408,0.00,1.88,0.00,0.000,4,0.000,0.055,2275,3753,3984
$GC,5482,-0.97,-170.3,532.5,-8.3,734,5486,0.12,1.65,0.00,0.000,6,0.084,0.031,2223,2613,3983
$GC,5803,-0.84,-170.3,570.6,-12.2,750,5808,0.17,2.28,0.00,0.000,4,0.152,0.029,2278,1058,3981
$GC,5825,-0.84,-170.3,572.9,-10.6,751,5829,0.00,2.30,0.00,0.000,6,0.000,0.038,2275,2569,3981
$GC,6146,-0.89,-170.3,606.3,-10.1,767,6149,0.00,1.85,0.00,0.000,4,0.000,0.055,2275,3764,3979
$GC,6196,-0.97,-170.3,611.2,-9.4,769,6200,0.12,1.70,0.00,0.000,6,0.084,0.031,2223,2599,3978
$GC,6522,-0.79,-170.3,646.3,-11.3,785,6527,0.20,2.28,0.00,0.000,4,0.150,0.031,2286,1054,3976
$GC,6585,-0.93,-170.3,652.1,-8.8,788,6590,0.12,2.33,0.00,0.000,6,0.084,0.039,2237,2574,3975
$GC,6912,-0.85,-170.3,688.3,-10.3,804,6917,0.12,1.85,0.00,0.000,4,0.161,0.054,2262,3765,3973
$GC,6980,-0.85,-170.3,694.8,-9.2,807,6984,0.00,1.75,0.00,0.000,6,0.000,0.031,2262,2593,3973
$GC,7313,-0.85,-170.3,724.1,-8.8,823,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2593,3971
$GC,7624,-0.85,-170.3,750.2,-8.5,838,7628,0.00,1.85,0.00,0.000,4,0.000,0.057,2261,3762,3969
$GC,7680,-0.85,-170.3,755.2,-8.7,840,7684,0.00,1.70,0.00,0.000,6,0.000,0.032,2262,2607,3969
$GC,8002,-0.85,-170.3,781.1,-8.3,856,8006,0.00,2.28,0.00,0.000,4,0.000,0.032,2262,1063,3967
$GC,8058,-0.85,-170.3,786.2,-9.3,858,8064,0.00,2.30,0.00,0.000,6,0.000,0.040,2262,2563,3967
$GC,8373,-0.85,-170.3,816.7,-10.3,874,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2563,3965
$GC,8683,-0.85,-170.3,845.5,-9.2,889,8687,0.00,1.88,0.00,0.000,4,0.000,0.058,2262,3758,3964
$GC,8752,-0.89,-170.3,852.1,-10.2,892,8755,0.00,1.73,0.00,0.000,6,0.000,0.033,2261,2595,3963
$GC,9086,-0.94,-170.3,882.5,-9.1,908,9090,0.00,2.28,0.00,0.000,4,0.000,0.032,2261,1055,3963
$GC,9126,-0.99,-170.3,886.3,-9.3,910,9131,0.12,2.33,0.00,0.000,6,0.089,0.040,2214,2566,3962
$GC,9452,-0.85,-170.3,922.6,-10.9,926,9456,0.17,1.85,0.00,0.000,4,0.161,0.056,2262,3756,3961
$GC,9486,-0.85,-170.3,925.4,-7.6,927,9489,0.00,1.73,0.00,0.000,6,0.000,0.033,2261,2592,3961
$GC,9807,-0.91,-170.3,949.6,-7.1,943,9812,0.00,2.28,0.00,0.000,4,0.000,0.033,2262,1055,3960
$GC,9846,-0.97,-170.3,952.6,-7.3,944,9852,0.00,2.33,0.00,0.000,6,0.000,0.041,2261,2566,3960
$GC,10163,-1.02,-170.3,973.6,-6.4,960,10165,0.15,0.00,0.00,0.000,6,0.085,0.000,2204,2567,3959
$STATE,10344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10344,begin apogee
$GC,10350,-0.22,0.0,991.0,9.6,969,10440,0.88,0.00,87.05,1.426,6,0.162,0.000,2465,2566,3532
$STATE,10441,end apogee,CONTROL_FINISHED_OK
$STATE,10441,begin climb
$GC,10444,0.96,170.3,992.5,0.0,973,10595,1.10,2.40,142.18,1.381,4,0.066,0.033,2863,1143,2836
$GC,10780,0.33,170.3,962.0,16.8,988,10785,0.80,2.15,0.00,0.000,6,0.202,0.039,2654,2499,2831
$GC,11107,0.39,214.6,933.1,8.3,1004,11149,0.00,2.15,36.03,1.335,4,0.000,0.034,2654,1145,2655
$GC,11173,0.51,238.8,927.3,9.0,1007,11200,0.17,2.17,21.02,1.280,6,0.080,0.038,2718,2500,2558
$GC,11529,0.39,238.8,887.5,11.0,1024,11534,0.17,2.08,0.00,0.000,4,0.160,0.032,2674,1130,2552
$GC,11556,0.42,262.4,884.5,9.1,1025,11581,0.00,2.15,19.50,1.282,6,0.000,0.040,2674,2505,2462
$GC,11906,0.53,294.1,854.1,8.8,1042,11940,0.12,2.20,27.30,1.294,4,0.091,0.034,2722,1144,2332
$GC,11957,0.53,294.1,848.5,10.9,1044,11961,0.00,2.15,0.00,0.000,6,0.000,0.037,2722,2499,2330
$GC,12279,0.46,294.1,812.8,11.4,1060,12283,0.00,2.00,0.00,0.000,4,0.000,0.054,2722,3761,2326
$GC,12312,0.31,294.1,808.2,13.1,1061,12317,0.28,1.88,0.00,0.000,6,0.171,0.030,2647,2510,2326
$GC,12634,0.61,360.3,783.8,7.4,1077,12698,0.22,2.22,54.25,1.279,4,0.073,0.035,2745,1122,2061
$GC,12748,0.61,360.3,769.5,13.0,1082,12752,0.00,2.15,0.00,0.000,6,0.000,0.038,2745,2483,2058
$GC,13075,0.55,360.3,724.5,13.9,1098,13079,0.00,2.03,0.00,0.000,4,0.000,0.054,2745,3765,2053
$GC,13103,0.44,360.3,720.2,16.1,1099,13107,0.22,1.95,0.00,0.000,6,0.170,0.030,2685,2469,2052
$GC,13430,0.64,383.7,687.8,9.1,1115,13454,0.17,2.12,18.75,1.182,4,0.078,0.036,2762,1117,1966
$GC,13493,0.64,383.7,678.7,13.8,1117,13499,0.00,2.15,0.00,0.000,6,0.000,0.038,2762,2488,1963
$GC,13809,0.56,383.7,632.6,13.9,1133,13814,0.15,2.10,0.00,0.000,4,0.173,0.032,2731,1106,1961
$GC,13836,0.56,383.7,628.8,13.0,1134,13840,0.00,2.12,0.00,0.000,6,0.000,0.038,2731,2478,1960
$GC,14158,0.61,383.7,588.7,11.5,1150,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2478,1960
$GC,14467,0.65,383.7,554.6,10.9,1165,14468,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2477,1959
$GC,14777,0.72,383.7,516.2,12.8,1180,14781,0.12,2.03,0.00,0.000,4,0.081,0.057,2783,3763,1959
$GC,14816,0.52,383.7,509.7,16.7,1181,14822,0.28,1.92,0.00,0.000,6,0.171,0.031,2711,2469,1958
$GC,15140,0.68,383.7,475.5,10.4,1208,15144,0.15,2.03,0.00,0.000,4,0.079,0.035,2772,1109,1958
$GC,15174,0.68,383.7,471.0,12.6,1211,15178,0.00,2.10,0.00,0.000,6,0.000,0.039,2772,2471,1958
$GC,15506,0.62,383.7,422.4,14.2,1242,15510,0.00,2.08,0.00,0.000,4,0.000,0.035,2772,1096,1958
$GC,15556,0.62,383.7,414.8,14.4,1246,15562,0.00,2.10,0.00,0.000,6,0.000,0.038,2772,2470,1957
$GC,15883,0.62,383.7,370.5,13.1,1277,15886,0.00,2.08,0.00,0.000,4,0.000,0.035,2772,1094,1958
$GC,15917,0.62,383.7,365.7,13.8,1280,15921,0.00,2.08,0.00,0.000,6,0.000,0.038,2772,2451,1958
$GC,16251,0.62,383.7,325.3,11.9,1311,16254,0.00,2.05,0.00,0.000,4,0.000,0.055,2772,3762,1957
$GC,16278,0.52,383.7,320.8,14.6,1313,16285,0.22,1.98,0.00,0.000,6,0.164,0.029,2713,2432,1957
$GC,16611,0.78,416.1,286.1,8.7,1356,16646,0.20,2.05,26.12,0.911,4,0.067,0.034,2802,1104,1833
$GC,16686,0.78,416.1,275.3,15.1,1369,16692,0.00,2.05,0.00,0.000,6,0.000,0.037,2802,2430,1831
$GC,17030,0.72,416.1,226.2,13.3,1430,17036,0.00,2.10,0.00,0.000,4,0.000,0.054,2802,3765,1829
$GC,17053,0.60,416.1,222.3,16.1,1434,17060,0.25,2.03,0.00,0.000,6,0.162,0.028,2738,2406,1828
$GC,17398,0.84,431.8,189.9,9.4,1495,17418,0.17,2.15,13.40,0.793,4,0.069,0.050,2816,3760,1769
$GC,17480,0.73,431.8,178.7,15.9,1509,17487,0.15,1.98,0.00,0.000,6,0.170,0.028,2785,2427,1768
$GC,17825,0.87,431.8,141.6,10.7,1570,17832,0.12,1.95,0.00,0.000,4,0.084,0.031,2841,1106,1766
$GC,17861,0.87,431.8,136.7,15.0,1576,17867,0.00,2.03,0.00,0.000,6,0.000,0.036,2841,2440,1766
$GC,18205,0.87,431.8,92.7,12.4,1637,18211,0.00,2.05,0.00,0.000,4,0.000,0.049,2841,3765,1766
$GC,18295,0.87,431.8,81.0,11.3,1653,18301,0.00,1.95,0.00,0.000,6,0.000,0.025,2841,2434,1766
$GC,18639,1.00,471.3,51.0,8.4,1714,18676,0.00,2.17,31.33,0.671,4,0.000,0.049,2841,3766,1609
$GC,18723,1.08,487.7,43.5,9.4,1728,18748,0.15,1.98,14.02,0.626,6,0.074,0.025,2902,2421,1541
$GC,19089,1.20,497.8,4.8,9.6,1792,19101,0.00,2.00,8.23,0.547,4,0.000,0.030,2908,1095,1501
$STATE,19105,end climb,SURFACE_DEPTH_REACHED
$STATE,19106,begin surface coast
$FINISH,1.7,1.000560
$STATE,19140,end surface coast,CONTROL_FINISHED_OK
$STATE,19140,begin surface
$SM_CCo,19220,0.00,0.000,0,0,1497,498.94
$SM_GC,2.93,7.43,0.00,0.00,0.056,0.000,0.000,142,2452,1497,-7.50,0.71,498.94
$IRIDIUM_FIX,2441.81,12242.12,130998,010133
$TT8_MAMPS,0.029146
$HUMID,1555
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.5,32.928
$10V_AH,10.7,18.858
$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,27.475,173.625,499.175,0.000,0.000,25.560,40.259,210.844,8.000,0.000,0.000,15.908,3190.868,12086.633,658.883,3057.320,630.023,0.000,2228.206,0.000,2988.804,0.000,54.423,0.000
$DEVICE_MAMPS,244.673,58.292,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1219.154,1262.267,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94765,1801
$CAP_FILE_SIZE,201195,0
$CFSIZE,260165632,211152896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.514, 36.0,1
$GPS,190609,130020,2454.008,12250.052,38,2.2,58,-3.6