version: 66.04
glider: 167
mission: 2
dive: 206
start: 6 23 109 21 13 41
data:
$ID,167
$MISSION,2
$DIVE,206
$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,-9138.1299
$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,49
$R_STBD_OVSHOOT,42
$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
$GPS1,210700,2503.332,12327.404,35,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-65.5
$GPS2,211320,2503.510,12327.419,10,1.8,10,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,193.3,51120,-23.2,-12.000
$D_GRID,2057
$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,-1.18,-121.7,0.0,0.0,0,46,0.00,0.00,-29.35,0.000,2,0.000,0.000,141,2460,2505
$GC,49,-1.18,-121.7,3.3,-3.2,5,109,8.32,2.03,-44.35,0.000,4,0.245,0.056,2148,3767,3989
$GC,155,-0.37,-121.7,23.9,-35.0,23,163,1.00,2.00,0.00,0.000,6,0.192,0.024,2420,2381,3989
$GC,502,-0.84,-121.7,62.5,-8.3,84,509,0.38,2.15,0.00,0.000,4,0.052,0.047,2260,3758,3991
$GC,627,-0.69,-121.7,84.3,-17.3,106,634,0.22,1.88,0.00,0.000,6,0.155,0.025,2325,2445,3991
$GC,972,-0.89,-121.7,123.0,-9.4,167,980,0.17,2.03,0.00,0.000,4,0.062,0.044,2234,3760,3993
$GC,1065,-0.74,-121.7,136.2,-15.6,183,1073,0.25,1.83,0.00,0.000,6,0.157,0.025,2306,2473,3993
$GC,1412,-0.99,-121.7,173.6,-11.4,244,1419,0.20,2.00,0.00,0.000,4,0.061,0.054,2214,3766,3995
$GC,1621,-0.89,-121.7,206.8,-15.6,281,1628,0.15,1.77,0.00,0.000,6,0.163,0.025,2253,2508,3995
$GC,1966,-0.98,-121.7,249.4,-10.9,342,1973,0.00,1.92,0.00,0.000,4,0.000,0.047,2247,3760,3996
$GC,2048,-1.05,-121.7,258.4,-10.3,356,2055,0.12,1.75,0.00,0.000,6,0.076,0.026,2191,2523,3996
$GC,2393,-0.96,-121.7,301.7,-12.7,416,2397,0.17,1.90,0.00,0.000,4,0.163,0.046,2232,3755,3996
$GC,2449,-1.02,-121.7,308.6,-12.4,421,2452,0.00,1.75,0.00,0.000,6,0.000,0.026,2232,2517,3996
$GC,2782,-1.11,-121.7,349.8,-12.9,452,2790,0.12,1.92,0.00,0.000,4,0.081,0.048,2177,3760,3996
$GC,2911,-0.97,-121.7,369.8,-15.3,463,2915,0.20,1.73,0.00,0.000,6,0.172,0.028,2230,2553,3996
$GC,3241,-1.06,-121.7,407.6,-10.9,494,3245,0.00,1.90,0.00,0.000,4,0.000,0.050,2223,3757,3995
$GC,3395,-1.12,-121.7,425.2,-11.6,507,3402,0.12,1.70,0.00,0.000,6,0.081,0.028,2171,2570,3995
$GC,3720,-1.02,-121.7,473.0,-15.0,538,3724,0.17,1.85,0.00,0.000,4,0.170,0.049,2209,3760,3994
$GC,3791,-1.02,-121.7,482.8,-12.5,544,3797,0.00,1.73,0.00,0.000,6,0.000,0.029,2209,2586,3993
$GC,4114,-1.07,-121.7,520.8,-11.9,567,4117,0.00,1.83,0.00,0.000,4,0.000,0.052,2205,3757,3992
$GC,4242,-1.07,-121.7,537.2,-12.4,572,4248,0.00,1.67,0.00,0.000,6,0.000,0.029,2205,2621,3991
$GC,4559,-1.13,-121.7,572.6,-10.8,588,4563,0.00,2.30,0.00,0.000,4,0.000,0.030,2205,1045,3989
$GC,4584,-1.20,-121.7,575.3,-11.1,589,4589,0.15,2.35,0.00,0.000,6,0.077,0.038,2150,2589,3990
$GC,4911,-1.06,-121.7,618.4,-13.2,605,4915,0.17,1.80,0.00,0.000,4,0.190,0.051,2191,3755,3987
$GC,5057,-1.06,-121.7,636.8,-12.5,611,5060,0.00,1.62,0.00,0.000,6,0.000,0.031,2191,2636,3986
$GC,5379,-1.06,-121.7,676.9,-12.5,627,5383,0.00,1.77,0.00,0.000,4,0.000,0.055,2191,3747,3983
$GC,5430,-1.06,-121.7,684.1,-13.9,629,5433,0.00,1.60,0.00,0.000,6,0.000,0.031,2191,2643,3983
$GC,5757,-1.06,-121.7,726.7,-12.8,645,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2643,3981
$GC,6067,-1.11,-121.7,768.1,-13.1,660,6071,0.00,2.35,0.00,0.000,4,0.000,0.031,2191,1046,3978
$GC,6088,-1.17,-121.7,771.2,-13.8,661,6092,0.00,2.45,0.00,0.000,6,0.000,0.041,2191,2638,3978
$GC,6414,-1.22,-121.7,814.2,-13.2,677,6416,0.12,0.00,0.00,0.000,6,0.090,0.000,2144,2640,3975
$GC,6725,-1.09,-121.7,859.7,-14.5,692,6727,0.17,0.00,0.00,0.000,6,0.189,0.000,2186,2641,3974
$GC,7033,-1.14,-121.7,895.9,-11.6,707,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2641,3972
$GC,7343,-1.19,-121.7,929.7,-10.9,722,7346,0.00,1.73,0.00,0.000,4,0.000,0.058,2180,3749,3969
$GC,7388,-1.19,-121.7,935.1,-12.4,724,7392,0.00,1.62,0.00,0.000,6,0.000,0.033,2180,2650,3969
$GC,7721,-1.19,-121.7,972.0,-11.0,740,7723,0.00,0.00,0.00,0.000,6,0.000,0.000,2180,2650,3967
$STATE,7883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7883,begin apogee
$GC,7890,-0.22,0.0,990.0,10.9,748,7987,0.98,0.00,88.72,1.415,6,0.164,0.000,2468,2535,3531
$STATE,7987,end apogee,CONTROL_FINISHED_OK
$STATE,7987,begin climb
$GC,7990,1.18,121.7,992.7,0.0,753,8098,1.25,2.15,101.05,1.371,4,0.056,0.054,2924,3755,3034
$GC,8151,0.41,121.7,988.9,15.0,760,8156,1.02,1.98,0.00,0.000,6,0.217,0.028,2679,2474,3033
$GC,8472,0.60,182.5,962.4,8.0,776,8529,0.17,2.20,48.95,1.348,4,0.081,0.034,2759,1110,2787
$GC,8581,0.60,182.5,950.0,13.1,781,8585,0.00,2.20,0.00,0.000,6,0.000,0.040,2758,2493,2784
$GC,8913,0.61,183.9,908.6,11.9,797,8917,0.00,2.10,0.00,0.000,4,0.000,0.035,2759,1113,2781
$GC,8969,0.62,191.9,902.0,11.5,799,8983,0.00,2.15,8.10,1.149,6,0.000,0.038,2759,2496,2749
$GC,9312,0.63,201.3,861.8,11.4,816,9326,0.00,2.17,9.10,1.175,4,0.000,0.036,2759,1111,2711
$GC,9356,0.64,210.7,856.6,11.4,818,9370,0.00,2.15,9.62,1.170,6,0.000,0.040,2759,2481,2672
$GC,9687,0.64,212.4,817.1,11.9,834,9690,0.00,2.08,0.00,0.000,4,0.000,0.035,2759,1119,2669
$GC,9815,0.69,217.1,802.3,11.7,839,9826,0.00,2.08,6.40,1.065,6,0.000,0.039,2759,2458,2646
$GC,10148,0.73,247.2,766.6,10.0,856,10179,0.00,2.12,24.80,1.253,4,0.000,0.036,2759,1125,2524
$GC,10277,0.85,265.1,752.4,10.8,861,10298,0.17,2.08,15.85,1.197,6,0.084,0.039,2823,2446,2451
$GC,10611,0.74,265.1,702.7,16.1,877,10615,0.15,2.05,0.00,0.000,4,0.183,0.035,2792,1114,2446
$GC,10839,0.74,265.1,669.5,14.0,887,10843,0.00,2.03,0.00,0.000,6,0.000,0.040,2793,2417,2445
$GC,11167,0.74,265.1,622.9,14.4,903,11170,0.00,1.98,0.00,0.000,4,0.000,0.035,2800,1108,2444
$GC,11199,0.74,265.1,618.1,14.4,904,11203,0.00,2.03,0.00,0.000,6,0.000,0.040,2800,2422,2444
$GC,11521,0.74,265.1,572.4,13.8,920,11524,0.00,2.12,0.00,0.000,4,0.000,0.058,2800,3762,2443
$GC,11577,0.59,265.1,563.6,16.1,922,11581,0.28,2.03,0.00,0.000,6,0.185,0.031,2736,2398,2443
$GC,11893,0.87,318.6,535.4,8.5,937,11943,0.22,2.03,42.45,1.118,4,0.072,0.036,2831,1121,2232
$GC,12061,0.87,318.6,509.8,17.2,944,12067,0.00,1.98,0.00,0.000,6,0.000,0.038,2831,2385,2227
$GC,12385,0.87,318.6,453.6,18.3,972,12389,0.00,1.95,0.00,0.000,4,0.000,0.036,2831,1107,2224
$GC,12435,0.87,318.6,444.6,16.8,976,12442,0.00,1.92,0.00,0.000,6,0.000,0.038,2831,2356,2224
$GC,12761,0.87,320.3,398.4,11.9,1007,12765,0.00,1.88,0.00,0.000,4,0.000,0.036,2831,1120,2223
$GC,12811,0.87,320.3,391.8,12.2,1011,12817,0.00,1.90,0.00,0.000,6,0.000,0.037,2831,2337,2223
$GC,13138,0.87,320.3,347.3,14.4,1042,13142,0.00,2.25,0.00,0.000,4,0.000,0.055,2831,3766,2223
$GC,13167,0.79,320.3,342.5,16.8,1044,13172,0.15,2.12,0.00,0.000,6,0.192,0.029,2804,2344,2223
$GC,13493,0.93,337.2,300.2,10.9,1074,13517,0.12,1.88,14.70,0.891,4,0.091,0.034,2859,1109,2156
$GC,13635,0.93,337.2,281.7,12.8,1098,13641,0.00,1.88,0.00,0.000,6,0.000,0.037,2858,2333,2154
$GC,13978,0.93,337.2,231.6,15.2,1159,13984,0.00,1.83,0.00,0.000,4,0.000,0.034,2867,1110,2154
$GC,14031,0.93,337.2,224.4,13.3,1168,14038,0.00,1.88,0.00,0.000,6,0.000,0.037,2866,2343,2154
$GC,14376,0.93,337.2,180.7,14.0,1229,14382,0.00,1.85,0.00,0.000,4,0.000,0.034,2871,1104,2154
$GC,14445,0.95,348.5,172.5,11.3,1241,14462,0.00,1.83,10.30,0.746,6,0.000,0.035,2871,2316,2110
$GC,14804,1.03,368.5,127.4,10.7,1304,14827,0.00,1.83,16.95,0.734,4,0.000,0.035,2872,1112,2028
$GC,14845,1.17,402.7,123.2,9.7,1311,14882,0.15,1.85,27.55,0.732,6,0.081,0.035,2928,2324,1889
$GC,15221,1.17,402.7,70.9,13.9,1377,15227,0.00,2.25,0.00,0.000,4,0.000,0.048,2928,3767,1884
$GC,15262,1.08,402.7,64.2,15.8,1384,15270,0.17,2.20,0.00,0.000,6,0.183,0.025,2894,2283,1884
$GC,15611,1.37,434.6,30.7,9.9,1445,15642,0.22,1.77,24.92,0.637,4,0.069,0.032,2995,1113,1759
$STATE,15803,end climb,SURFACE_DEPTH_REACHED
$STATE,15803,begin surface coast
$FINISH,1.9,1.021486
$STATE,15821,end surface coast,CONTROL_FINISHED_OK
$STATE,15821,begin surface
$SM_CCo,15901,0.00,0.000,0,0,1751,436.63
$SM_GC,2.75,7.72,0.00,0.00,0.059,0.000,0.000,139,2446,1751,-7.51,0.54,436.63
$IRIDIUM_FIX,2453.69,12328.87,170998,161630
$TT8_MAMPS,0.029146
$HUMID,1598
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.20
$XPDR_PINGS,1
$24V_AH,23.8,36.813
$10V_AH,10.8,20.994
$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,25.050,133.825,449.475,0.000,0.000,31.209,37.469,182.801,8.250,0.000,0.000,10.270,2639.490,9870.638,568.404,2631.032,561.199,0.000,1911.716,0.000,2571.957,0.000,56.123,0.000
$DEVICE_MAMPS,244.673,57.525,1415.115,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.456,1039.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78882,1482
$CAP_FILE_SIZE,164514,0
$CFSIZE,260165632,209203200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197, 20.4,1
$GPS,240609,013955,2503.349,12327.180,38,1.2,39,-3.7