version: 66.04
glider: 167
mission: 2
dive: 210
start: 6 24 109 15 42 30
data:
$ID,167
$MISSION,2
$DIVE,210
$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,-9199.2441
$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,56
$R_STBD_OVSHOOT,35
$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
$GPS1,153537,2502.032,12328.914,39,2.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-66.5
$GPS2,154208,2502.072,12329.003,13,2.0,13,-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,190.4,47410,-23.2,-12.000
$D_GRID,2060
$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,-1.18,-121.7,0.0,0.0,0,46,0.00,0.00,-29.92,0.000,2,0.000,0.000,140,2447,2529
$GC,49,-1.18,-121.7,3.2,-2.4,5,104,8.38,0.00,-43.10,0.000,6,0.245,0.000,2158,2447,3989
$GC,441,-0.63,-121.7,102.7,-28.2,74,448,0.60,2.10,0.00,0.000,4,0.175,0.025,2336,1013,3991
$GC,466,-0.52,-121.7,107.3,-18.8,78,472,0.15,2.12,0.00,0.000,6,0.140,0.032,2373,2429,3992
$GC,811,-1.16,-121.7,137.1,-7.3,139,817,0.50,2.05,0.00,0.000,4,0.050,0.048,2162,3768,3993
$GC,1072,-0.81,-121.7,184.4,-19.6,185,1079,0.40,1.88,0.00,0.000,6,0.166,0.025,2275,2450,3994
$GC,1417,-0.99,-121.7,222.5,-10.7,246,1423,0.15,2.03,0.00,0.000,4,0.071,0.046,2205,3766,3995
$GC,1520,-0.90,-121.7,237.5,-15.0,264,1528,0.10,1.80,0.00,0.000,6,0.153,0.025,2250,2517,3995
$GC,1867,-1.01,-121.7,279.2,-12.1,325,1872,0.00,1.92,0.00,0.000,4,0.000,0.048,2245,3767,3996
$GC,1907,-1.11,-121.7,284.3,-12.3,332,1914,0.17,1.75,0.00,0.000,6,0.068,0.026,2173,2534,3996
$GC,2240,-0.96,-121.7,331.7,-14.3,372,2241,0.22,0.00,0.00,0.000,6,0.160,0.000,2235,2534,3996
$GC,2560,-1.07,-121.7,371.1,-12.9,402,2563,0.00,1.90,0.00,0.000,4,0.000,0.050,2232,3761,3996
$GC,2685,-1.16,-121.7,387.8,-13.3,413,2689,0.17,1.75,0.00,0.000,6,0.071,0.029,2161,2544,3996
$GC,3015,-1.02,-121.7,441.4,-15.9,444,3020,0.20,1.90,0.00,0.000,4,0.166,0.048,2212,3767,3996
$GC,3077,-1.07,-121.7,449.9,-12.9,449,3084,0.00,1.73,0.00,0.000,6,0.000,0.028,2212,2567,3996
$GC,3402,-1.14,-121.7,486.5,-10.0,480,3407,0.10,1.85,0.00,0.000,4,0.091,0.051,2165,3761,3995
$GC,3453,-1.03,-121.7,492.9,-12.8,484,3460,0.17,1.70,0.00,0.000,6,0.173,0.029,2210,2587,3994
$GC,3773,-1.11,-121.7,525.7,-10.6,503,3777,0.00,2.25,0.00,0.000,4,0.000,0.031,2210,1041,3993
$GC,3807,-1.21,-121.7,530.0,-11.3,504,3812,0.15,2.30,0.00,0.000,6,0.077,0.036,2150,2564,3993
$GC,4123,-1.07,-121.7,575.7,-14.4,519,4127,0.17,1.85,0.00,0.000,4,0.185,0.050,2192,3765,3991
$GC,4247,-1.07,-121.7,592.5,-12.9,524,4250,0.00,1.73,0.00,0.000,6,0.000,0.029,2192,2576,3990
$GC,4568,-1.07,-121.7,633.0,-12.0,540,4571,0.00,1.85,0.00,0.000,4,0.000,0.054,2192,3756,3989
$GC,4601,-1.07,-121.7,637.2,-12.2,541,4604,0.00,1.73,0.00,0.000,6,0.000,0.030,2192,2595,3988
$GC,4923,-1.07,-121.7,672.7,-11.1,557,4927,0.00,2.28,0.00,0.000,4,0.000,0.031,2192,1043,3986
$GC,4978,-1.14,-121.7,679.3,-11.9,559,4984,0.00,2.33,0.00,0.000,6,0.000,0.038,2192,2568,3985
$GC,5294,-1.19,-121.7,717.3,-12.8,575,5298,0.00,1.85,0.00,0.000,4,0.000,0.054,2192,3760,3983
$GC,5362,-1.23,-121.7,726.4,-13.6,578,5366,0.12,1.73,0.00,0.000,6,0.087,0.032,2143,2591,3982
$GC,5698,-1.10,-121.7,775.5,-14.7,594,5702,0.17,2.28,0.00,0.000,4,0.182,0.031,2192,1050,3980
$GC,5718,-1.10,-121.7,778.8,-13.4,595,5722,0.00,2.33,0.00,0.000,6,0.000,0.040,2192,2565,3980
$GC,6046,-1.15,-121.7,813.2,-10.4,611,6050,0.00,1.88,0.00,0.000,4,0.000,0.058,2192,3764,3977
$GC,6121,-1.20,-121.7,821.5,-11.7,614,6124,0.00,1.75,0.00,0.000,6,0.000,0.032,2192,2581,3977
$GC,6448,-1.28,-121.7,857.2,-10.9,630,6453,0.17,2.28,0.00,0.000,4,0.082,0.031,2121,1043,3975
$GC,6527,-1.12,-121.7,868.8,-15.4,633,6534,0.25,2.30,0.00,0.000,6,0.185,0.041,2177,2538,3974
$GC,6843,-1.12,-121.7,906.8,-11.6,649,6847,0.00,1.92,0.00,0.000,4,0.000,0.059,2178,3763,3972
$GC,6870,-1.12,-121.7,910.3,-12.4,650,6874,0.00,1.80,0.00,0.000,6,0.000,0.032,2178,2570,3972
$GC,7198,-1.12,-121.7,947.1,-11.2,666,7202,0.00,2.25,0.00,0.000,4,0.000,0.032,2177,1047,3970
$GC,7248,-1.17,-121.7,952.9,-11.4,668,7252,0.00,2.28,0.00,0.000,6,0.000,0.041,2177,2521,3970
$GC,7563,-1.17,-121.7,988.6,-11.5,683,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2521,3968
$STATE,7581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7581,begin apogee
$GC,7587,-0.22,0.0,990.9,11.5,684,7687,0.98,0.00,89.03,1.419,6,0.158,0.000,2470,2522,3532
$STATE,7687,end apogee,CONTROL_FINISHED_OK
$STATE,7687,begin climb
$GC,7690,1.18,121.7,994.3,0.0,689,7798,1.30,2.12,100.93,1.376,4,0.060,0.054,2933,3756,3035
$GC,8051,0.38,121.7,961.0,15.5,705,8058,1.05,1.88,0.00,0.000,6,0.222,0.030,2676,2517,3030
$GC,8367,0.61,194.1,937.3,7.2,721,8431,0.17,2.15,57.62,1.348,4,0.084,0.056,2747,3758,2740
$GC,8515,0.49,194.1,918.4,14.2,727,8522,0.20,1.92,0.00,0.000,6,0.188,0.031,2707,2499,2735
$GC,8831,0.67,221.1,885.1,10.2,743,8861,0.17,2.20,22.67,1.292,4,0.081,0.037,2776,1117,2630
$GC,8884,0.67,221.1,878.3,13.5,745,8887,0.00,2.22,0.00,0.000,6,0.000,0.041,2776,2514,2628
$GC,9205,0.67,221.1,835.5,13.1,761,9209,0.00,2.15,0.00,0.000,4,0.000,0.036,2776,1110,2625
$GC,9300,0.67,221.1,822.7,13.9,765,9304,0.00,2.15,0.00,0.000,6,0.000,0.041,2776,2483,2625
$GC,9627,0.67,221.1,777.5,14.2,781,9630,0.00,2.03,0.00,0.000,4,0.000,0.056,2776,3768,2623
$GC,9718,0.50,221.1,762.7,16.9,785,9722,0.28,1.90,0.00,0.000,6,0.189,0.030,2710,2490,2623
$GC,10051,0.71,235.7,724.2,11.0,801,10069,0.20,0.00,11.95,1.176,6,0.077,0.000,2786,2488,2570
$GC,10379,0.71,235.7,680.9,12.9,817,10382,0.00,2.05,0.00,0.000,4,0.000,0.036,2792,1120,2568
$GC,10446,0.71,235.7,672.3,12.5,820,10450,0.00,2.12,0.00,0.000,6,0.000,0.040,2793,2494,2567
$GC,10779,0.66,236.0,630.6,12.0,836,10784,0.15,2.10,0.00,0.000,4,0.189,0.034,2762,1106,2567
$GC,10848,0.79,277.4,623.7,9.3,839,10891,0.12,2.12,33.62,1.180,6,0.093,0.040,2809,2480,2400
$GC,11201,0.74,277.4,578.1,12.8,856,11204,0.00,2.10,0.00,0.000,4,0.000,0.035,2815,1106,2395
$GC,11250,0.74,277.4,571.3,13.0,858,11255,0.12,2.12,0.00,0.000,6,0.183,0.040,2787,2466,2395
$GC,11577,0.74,277.4,529.6,13.5,874,11580,0.00,2.05,0.00,0.000,4,0.000,0.035,2793,1113,2394
$GC,11661,0.79,277.4,517.7,13.7,877,11666,0.00,2.08,0.00,0.000,6,0.000,0.040,2793,2453,2393
$GC,11982,0.79,277.4,474.7,12.5,902,11985,0.00,2.03,0.00,0.000,4,0.000,0.035,2801,1116,2393
$GC,12032,0.85,277.4,468.2,12.3,906,12038,0.00,2.05,0.00,0.000,6,0.000,0.040,2801,2445,2393
$GC,12358,0.86,284.1,429.9,11.6,937,12370,0.00,2.08,6.20,0.867,4,0.000,0.055,2801,3765,2372
$GC,12421,0.77,284.1,421.4,13.2,942,12427,0.00,1.98,0.00,0.000,6,0.000,0.030,2811,2431,2371
$GC,12748,0.77,284.1,380.6,13.4,973,12752,0.00,1.95,0.00,0.000,4,0.000,0.035,2817,1113,2371
$GC,12764,0.77,284.1,377.9,13.0,974,12770,0.00,2.05,0.00,0.000,6,0.000,0.037,2817,2454,2371
$GC,13091,0.77,284.1,337.0,12.5,1005,13095,0.00,2.03,0.00,0.000,4,0.000,0.033,2824,1103,2371
$GC,13182,0.78,291.0,326.3,11.5,1013,13194,0.00,2.03,7.03,0.819,6,0.000,0.038,2824,2430,2345
$GC,13516,0.78,291.0,288.6,12.2,1052,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2431,2345
$GC,13859,0.78,291.0,243.3,12.9,1113,13865,0.00,1.98,0.00,0.000,4,0.000,0.034,2829,1109,2344
$GC,13980,0.85,294.5,229.1,11.8,1134,13992,0.00,2.00,4.80,0.648,6,0.000,0.037,2829,2428,2330
$GC,14332,0.97,341.3,190.4,8.9,1196,14375,0.00,2.12,36.80,0.807,4,0.000,0.052,2829,3764,2139
$GC,14432,0.97,341.3,177.7,13.4,1213,14438,0.00,2.03,0.00,0.000,6,0.000,0.028,2839,2401,2136
$GC,14776,1.11,346.2,138.9,11.7,1274,14788,0.17,2.17,4.82,0.571,4,0.076,0.051,2914,3764,2120
$GC,14887,0.91,346.2,121.7,17.0,1293,14893,0.32,2.00,0.00,0.000,6,0.183,0.026,2837,2400,2119
$GC,15231,1.22,407.2,93.8,8.0,1354,15285,0.25,2.00,47.65,0.702,4,0.066,0.031,2946,1104,1870
$GC,15321,1.22,407.2,81.5,16.5,1369,15326,0.00,2.03,0.00,0.000,6,0.000,0.035,2946,2419,1867
$GC,15664,1.22,407.2,31.0,13.6,1430,15670,0.00,1.95,0.00,0.000,4,0.000,0.029,2954,1106,1864
$GC,15721,1.24,418.5,23.9,11.3,1440,15735,0.00,1.95,9.20,0.574,6,0.000,0.034,2953,2399,1824
$STATE,15890,end climb,SURFACE_DEPTH_REACHED
$STATE,15891,begin surface coast
$FINISH,1.9,1.021755
$STATE,15914,end surface coast,CONTROL_FINISHED_OK
$STATE,15915,begin surface
$SM_CCo,15931,3.53,0.387,0,0,1798,425.10
$SM_GC,3.41,0.00,0.00,3.53,0.000,0.000,0.387,143,2405,1798,-7.51,-0.65,425.10
$IRIDIUM_FIX,2453.69,12327.55,180998,111113
$TT8_MAMPS,0.029146
$HUMID,1587
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.7,37.470
$10V_AH,10.8,21.358
$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,25.400,141.275,432.325,3.525,0.000,30.401,44.243,183.717,8.000,0.000,0.000,13.304,2633.107,9939.161,566.132,2626.132,554.184,0.000,1903.423,0.000,2559.137,0.000,54.428,0.000
$DEVICE_MAMPS,245.440,59.059,1418.950,386.568,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,995.314,1009.970,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78913,1474
$CAP_FILE_SIZE,166265,0
$CFSIZE,260165632,208859136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.166, 60.5,1
$GPS,240609,200924,2500.975,12329.984,24,1.4,42,-3.7