version: 66.04
glider: 167
mission: 2
dive: 199
start: 6 22 109 12 50 22
data:
$ID,167
$MISSION,2
$DIVE,199
$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,125
$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,-9006.8027
$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,74
$R_STBD_OVSHOOT,28
$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
$GPS1,124031,2502.188,12323.997,39,1.8,40,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-65.8
$GPS2,125001,2502.265,12324.346,11,1.7,16,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12329.000
$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,217.5,40154,-23.2,-12.000
$D_GRID,2048
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.18,-121.7,0.0,0.0,0,49,0.00,0.00,-30.52,0.000,2,0.000,0.000,141,2402,2543
$GC,52,-1.18,-121.7,3.3,-3.1,5,105,8.65,0.00,-39.20,0.000,6,0.257,0.000,2159,2401,3989
$GC,443,-0.70,-121.7,111.5,-24.1,74,450,0.52,2.12,0.00,0.000,4,0.179,0.044,2304,3769,3992
$GC,569,-0.82,-121.7,131.7,-14.1,96,576,0.00,1.95,0.00,0.000,6,0.000,0.025,2304,2393,3992
$GC,914,-0.96,-121.7,174.4,-12.4,157,920,0.17,2.12,0.00,0.000,4,0.069,0.046,2218,3765,3993
$GC,1053,-0.85,-121.7,195.5,-14.7,181,1060,0.20,1.88,0.00,0.000,6,0.156,0.024,2274,2439,3994
$GC,1400,-1.01,-121.7,233.8,-10.6,242,1407,0.15,2.05,0.00,0.000,4,0.072,0.045,2208,3767,3995
$GC,1498,-0.92,-121.7,248.5,-16.0,259,1504,0.15,1.83,0.00,0.000,6,0.163,0.025,2247,2469,3995
$GC,1842,-1.00,-121.7,291.8,-12.7,320,1849,0.00,2.00,0.00,0.000,4,0.000,0.048,2245,3767,3996
$GC,1984,-1.05,-121.7,312.6,-15.9,338,1991,0.12,1.80,0.00,0.000,6,0.078,0.025,2191,2492,3995
$GC,2310,-0.96,-121.7,363.9,-14.6,369,2314,0.17,2.08,0.00,0.000,4,0.163,0.027,2245,1048,3995
$GC,2337,-1.05,-121.7,367.4,-12.5,371,2344,0.12,2.15,0.00,0.000,6,0.080,0.034,2192,2492,3995
$GC,2662,-1.00,-121.7,411.4,-14.1,402,2666,0.12,1.95,0.00,0.000,4,0.178,0.047,2218,3771,3995
$GC,2886,-1.05,-121.7,441.2,-12.9,422,2889,0.00,1.80,0.00,0.000,6,0.000,0.026,2218,2509,3995
$GC,3217,-1.12,-121.7,482.3,-12.2,453,3221,0.00,1.98,0.00,0.000,4,0.000,0.049,2210,3763,3993
$GC,3266,-1.12,-121.7,489.1,-13.2,457,3272,0.00,1.77,0.00,0.000,6,0.000,0.027,2210,2517,3993
$GC,3585,-1.17,-121.7,530.0,-12.7,477,3589,0.12,1.95,0.00,0.000,4,0.084,0.049,2153,3767,3992
$GC,3635,-0.98,-121.7,538.2,-16.4,479,3639,0.28,1.77,0.00,0.000,6,0.168,0.027,2228,2528,3992
$GC,3965,-1.12,-121.7,577.4,-11.8,495,3967,0.15,0.00,0.00,0.000,6,0.077,0.000,2169,2528,3990
$GC,4271,-1.05,-121.7,621.2,-13.7,510,4275,0.15,1.95,0.00,0.000,4,0.176,0.051,2205,3770,3987
$GC,4361,-1.10,-121.7,631.8,-11.6,514,4365,0.00,1.83,0.00,0.000,6,0.000,0.028,2205,2529,3987
$GC,4694,-1.18,-121.7,669.8,-11.9,530,4698,0.12,1.95,0.00,0.000,4,0.084,0.052,2152,3771,3984
$GC,4763,-1.00,-121.7,679.7,-15.4,533,4767,0.25,1.77,0.00,0.000,6,0.174,0.028,2219,2547,3983
$GC,5096,-1.14,-121.7,718.0,-11.4,549,5100,0.12,1.92,0.00,0.000,4,0.083,0.053,2166,3769,3980
$GC,5118,-1.14,-121.7,721.1,-13.5,550,5121,0.00,1.80,0.00,0.000,6,0.000,0.030,2166,2535,3981
$GC,5450,-1.08,-121.7,767.0,-13.9,566,5452,0.12,0.00,0.00,0.000,6,0.183,0.000,2195,2534,3978
$GC,5761,-1.15,-121.7,802.3,-11.6,581,5765,0.00,2.17,0.00,0.000,4,0.000,0.031,2195,1053,3976
$GC,5856,-1.24,-121.7,813.7,-11.5,585,5861,0.15,2.25,0.00,0.000,6,0.084,0.041,2137,2518,3975
$GC,6179,-1.10,-121.7,862.9,-15.4,601,6181,0.20,0.00,0.00,0.000,6,0.189,0.000,2187,2519,3973
$GC,6487,-1.15,-121.7,901.5,-12.4,616,6488,0.00,0.00,0.00,0.000,6,0.000,0.000,2187,2519,3971
$GC,6795,-1.20,-121.7,939.6,-12.5,631,6799,0.00,2.17,0.00,0.000,4,0.000,0.032,2187,1066,3969
$GC,6823,-1.27,-121.7,943.2,-13.3,632,6828,0.15,2.25,0.00,0.000,6,0.086,0.041,2135,2522,3969
$STATE,7141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7141,begin apogee
$GC,7148,-0.22,0.0,991.5,15.1,648,7245,1.17,0.00,88.50,1.411,6,0.181,0.000,2469,2523,3531
$STATE,7245,end apogee,CONTROL_FINISHED_OK
$STATE,7245,begin climb
$GC,7248,1.18,121.7,996.3,0.0,653,7357,1.30,2.30,100.90,1.368,4,0.058,0.033,2944,1136,3035
$GC,7471,0.57,121.7,987.1,13.5,663,7477,0.82,2.20,0.00,0.000,6,0.215,0.039,2735,2517,3032
$GC,7788,0.57,176.2,960.3,8.4,678,7837,0.00,2.22,43.95,1.344,4,0.000,0.035,2743,1142,2813
$GC,7889,0.58,184.2,949.8,11.5,682,7903,0.00,2.17,7.90,1.121,6,0.000,0.039,2743,2505,2779
$GC,8226,0.59,193.6,911.9,11.4,699,8241,0.00,2.05,8.40,1.157,4,0.000,0.056,2743,3763,2742
$GC,8264,0.51,193.6,907.2,13.6,700,8272,0.15,1.85,0.00,0.000,6,0.196,0.029,2712,2529,2741
$GC,8580,0.68,225.7,875.3,9.9,716,8613,0.15,2.17,27.75,1.303,4,0.084,0.034,2775,1117,2610
$GC,8687,0.68,225.7,861.9,12.5,721,8691,0.00,2.17,0.00,0.000,6,0.000,0.038,2775,2499,2607
$GC,9020,0.68,225.7,819.5,12.4,737,9023,0.00,2.10,0.00,0.000,4,0.000,0.035,2776,1117,2604
$GC,9075,0.68,225.7,812.4,12.3,739,9079,0.00,2.12,0.00,0.000,6,0.000,0.039,2775,2489,2604
$GC,9397,0.68,225.7,771.7,12.6,755,9400,0.00,2.10,0.00,0.000,4,0.000,0.035,2776,1108,2603
$GC,9532,0.69,228.9,755.3,11.8,761,9536,0.00,2.12,0.00,0.000,6,0.000,0.041,2776,2479,2602
$GC,9866,0.70,241.0,717.5,11.2,777,9886,0.00,2.15,11.90,1.172,4,0.000,0.036,2775,1110,2548
$GC,9932,0.77,255.8,709.9,11.0,780,9955,0.00,2.12,13.05,1.160,6,0.000,0.040,2775,2473,2488
$GC,10263,0.77,255.8,668.8,12.8,796,10267,0.00,2.05,0.00,0.000,4,0.000,0.058,2775,3762,2484
$GC,10347,0.67,255.8,656.6,14.9,799,10353,0.00,1.90,0.00,0.000,6,0.000,0.031,2784,2486,2484
$GC,10662,0.67,255.8,614.1,13.4,815,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2486,2483
$GC,10971,0.67,255.8,574.6,12.5,830,10975,0.00,2.05,0.00,0.000,4,0.000,0.036,2788,1110,2483
$GC,11055,0.67,255.8,564.1,12.6,833,11061,0.00,2.12,0.00,0.000,6,0.000,0.040,2788,2487,2482
$GC,11371,0.67,255.8,523.5,12.9,849,11374,0.00,2.08,0.00,0.000,4,0.000,0.035,2791,1110,2482
$GC,11535,0.73,255.8,502.6,12.7,856,11539,0.00,2.08,0.00,0.000,6,0.000,0.040,2791,2461,2482
$GC,11862,0.73,255.8,460.8,12.9,885,11866,0.00,2.03,0.00,0.000,4,0.000,0.035,2791,1113,2482
$GC,11912,0.79,255.8,454.2,12.0,889,11918,0.00,2.03,0.00,0.000,6,0.000,0.038,2790,2440,2482
$GC,12238,0.79,255.8,413.7,12.8,920,12242,0.00,2.08,0.00,0.000,4,0.000,0.055,2791,3767,2482
$GC,12273,0.71,255.8,408.8,13.9,923,12277,0.00,1.95,0.00,0.000,6,0.000,0.029,2791,2448,2482
$GC,12605,0.73,266.8,370.1,11.3,954,12619,0.00,2.12,9.43,0.900,4,0.000,0.054,2791,3763,2444
$GC,12688,0.67,266.8,359.3,13.2,961,12694,0.00,1.90,0.00,0.000,6,0.000,0.029,2791,2485,2443
$GC,13017,0.78,297.3,324.4,10.0,992,13050,0.00,2.12,25.17,0.918,4,0.000,0.035,2791,1105,2319
$GC,13242,0.97,317.8,300.8,10.6,1012,13266,0.17,2.10,17.17,0.871,6,0.075,0.038,2856,2465,2235
$GC,13606,0.90,317.8,249.9,14.4,1075,13612,0.00,2.08,0.00,0.000,4,0.000,0.033,2864,1089,2232
$GC,13731,0.90,317.8,231.4,14.5,1097,13737,0.00,2.08,0.00,0.000,6,0.000,0.038,2864,2438,2231
$GC,14075,0.90,317.8,185.2,12.6,1158,14081,0.00,2.08,0.00,0.000,4,0.000,0.052,2864,3771,2231
$GC,14177,0.77,317.8,171.7,13.6,1176,14185,0.28,1.95,0.00,0.000,6,0.175,0.027,2797,2444,2232
$GC,14524,1.11,390.6,144.2,7.2,1237,14588,0.25,2.08,55.78,0.754,4,0.066,0.032,2911,1101,1937
$GC,14843,1.17,390.6,102.2,15.0,1293,14849,0.00,2.05,0.00,0.000,6,0.000,0.035,2911,2442,1933
$GC,15187,1.25,390.6,57.2,12.9,1354,15193,0.10,2.05,0.00,0.000,4,0.097,0.049,2950,3764,1931
$GC,15245,1.11,390.6,48.0,17.3,1364,15253,0.22,1.98,0.00,0.000,6,0.179,0.025,2901,2419,1932
$GC,15591,1.34,420.0,12.4,10.1,1425,15621,0.17,0.00,23.10,0.606,6,0.074,0.000,2979,2416,1817
$STATE,15660,end climb,SURFACE_DEPTH_REACHED
$STATE,15661,begin surface coast
$FINISH,1.7,1.020945
$STATE,15677,end surface coast,CONTROL_FINISHED_OK
$STATE,15677,begin surface
$SM_CCo,15694,2.17,0.171,0,0,1798,425.10
$SM_GC,3.12,0.00,0.00,2.17,0.000,0.000,0.171,139,2414,1798,-7.52,-0.37,425.10
$IRIDIUM_FIX,2453.69,12325.57,160998,121225
$TT8_MAMPS,0.029146
$HUMID,1601
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,1
$24V_AH,23.8,35.659
$10V_AH,10.8,20.353
$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,24.600,126.075,433.000,2.175,0.000,62.018,63.867,242.750,8.250,0.000,0.000,16.883,2565.195,9894.567,557.947,2567.604,674.861,0.000,1856.955,0.000,2509.193,0.000,54.426,0.000
$DEVICE_MAMPS,256.945,58.292,1410.513,171.041,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,972.645,986.345,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75746,1440
$CAP_FILE_SIZE,160957,0
$CFSIZE,260165632,209813504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255, 42.1,1
$GPS,220609,171307,2502.544,12324.410,31,1.3,32,-3.7