version: 66.04
glider: 167
mission: 2
dive: 217
start: 6 25 109 23 48 54
data:
$ID,167
$MISSION,2
$DIVE,217
$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,-9354.0859
$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,61
$R_STBD_OVSHOOT,30
$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
$GPS1,234137,2451.768,12334.711,25,1.5,26,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-65.5
$GPS2,234834,2451.831,12334.757,12,2.3,31,-3.6
$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,147.1,26447,-23.2,-12.000
$D_GRID,1893
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.18,-121.7,0.0,0.0,0,45,0.00,0.00,-29.00,0.000,2,0.000,0.000,142,2437,2492
$GC,48,-1.18,-121.7,3.4,-2.9,5,108,8.35,2.08,-43.85,0.000,4,0.244,0.055,2151,3775,3988
$GC,148,-0.45,-121.7,21.1,-31.7,22,155,0.88,2.00,0.00,0.000,6,0.186,0.024,2394,2391,3989
$GC,493,-0.78,-121.7,65.6,-10.6,83,501,0.25,2.12,0.00,0.000,4,0.057,0.046,2275,3764,3990
$GC,558,-0.64,-121.7,76.3,-17.7,94,564,0.22,1.90,0.00,0.000,6,0.157,0.023,2338,2429,3991
$GC,902,-0.86,-121.7,116.9,-11.0,155,910,0.17,2.08,0.00,0.000,4,0.064,0.045,2257,3770,3992
$GC,934,-0.86,-121.7,120.9,-13.4,160,940,0.00,1.88,0.00,0.000,6,0.000,0.024,2257,2432,3992
$GC,1277,-0.86,-121.7,173.0,-14.5,221,1283,0.00,2.05,0.00,0.000,4,0.000,0.044,2246,3771,3994
$GC,1498,-0.86,-121.7,206.4,-15.5,260,1504,0.00,1.85,0.00,0.000,6,0.000,0.025,2247,2449,3994
$GC,1843,-0.96,-121.7,244.0,-10.0,321,1849,0.00,2.03,0.00,0.000,4,0.000,0.045,2239,3770,3995
$GC,1867,-1.02,-121.7,246.5,-10.2,325,1873,0.00,1.85,0.00,0.000,6,0.000,0.024,2239,2445,3995
$GC,2210,-1.13,-121.7,284.3,-11.4,386,2217,0.17,2.05,0.00,0.000,4,0.065,0.045,2152,3775,3996
$GC,2257,-0.86,-121.7,291.9,-17.2,394,2264,0.40,1.85,0.00,0.000,6,0.161,0.025,2267,2469,3996
$GC,2593,-1.08,-121.7,328.3,-10.2,431,2597,0.20,2.00,0.00,0.000,4,0.063,0.048,2178,3763,3996
$GC,2695,-0.97,-121.7,342.8,-14.5,440,2699,0.20,1.83,0.00,0.000,6,0.160,0.026,2232,2480,3996
$GC,3025,-1.08,-121.7,381.3,-12.3,471,3027,0.12,0.00,0.00,0.000,6,0.078,0.000,2178,2480,3996
$GC,3343,-1.01,-121.7,427.9,-14.1,501,3347,0.15,2.00,0.00,0.000,4,0.170,0.048,2208,3769,3995
$GC,3377,-1.01,-121.7,432.3,-13.1,504,3381,0.00,1.80,0.00,0.000,6,0.000,0.027,2208,2501,3994
$GC,3709,-1.01,-121.7,470.3,-10.8,535,3713,0.00,1.98,0.00,0.000,4,0.000,0.050,2205,3774,3993
$GC,3768,-1.01,-121.7,477.1,-12.2,540,3771,0.00,1.80,0.00,0.000,6,0.000,0.027,2205,2511,3993
$GC,4108,-1.07,-121.7,513.3,-10.1,566,4111,0.00,1.95,0.00,0.000,4,0.000,0.051,2205,3763,3992
$GC,4131,-1.12,-121.7,516.0,-10.2,567,4135,0.00,1.80,0.00,0.000,6,0.000,0.028,2205,2510,3992
$GC,4465,-1.18,-121.7,552.0,-11.4,583,4469,0.12,1.98,0.00,0.000,4,0.080,0.050,2152,3773,3990
$GC,4511,-1.03,-121.7,558.5,-14.5,585,4515,0.22,1.80,0.00,0.000,6,0.170,0.028,2212,2527,3990
$GC,4843,-1.13,-121.7,598.0,-12.1,601,4846,0.00,1.92,0.00,0.000,4,0.000,0.052,2205,3764,3987
$GC,4889,-1.21,-121.7,603.8,-13.3,603,4893,0.15,1.75,0.00,0.000,6,0.077,0.028,2146,2555,3987
$GC,5223,-1.07,-121.7,654.7,-15.7,619,5225,0.20,0.00,0.00,0.000,6,0.173,0.000,2197,2554,3985
$GC,5531,-1.15,-121.7,699.0,-14.3,634,5534,0.00,1.90,0.00,0.000,4,0.000,0.053,2192,3764,3982
$GC,5630,-1.21,-121.7,713.6,-13.6,638,5634,0.00,1.77,0.00,0.000,6,0.000,0.028,2192,2539,3981
$GC,5952,-1.27,-121.7,753.7,-12.2,654,5956,0.17,2.20,0.00,0.000,4,0.080,0.029,2126,1040,3979
$GC,6013,-1.12,-121.7,763.0,-15.7,656,6019,0.22,2.30,0.00,0.000,6,0.181,0.038,2181,2544,3979
$GC,6328,-1.12,-121.7,804.3,-13.0,672,6332,0.00,1.90,0.00,0.000,4,0.000,0.054,2178,3767,3976
$GC,6390,-1.12,-121.7,812.6,-12.8,674,6395,0.00,1.77,0.00,0.000,6,0.000,0.031,2178,2556,3975
$GC,6705,-1.12,-121.7,852.6,-12.4,690,6709,0.00,2.22,0.00,0.000,4,0.000,0.031,2178,1049,3973
$GC,6761,-1.17,-121.7,859.7,-12.8,692,6765,0.00,2.33,0.00,0.000,6,0.000,0.040,2178,2553,3973
$GC,7084,-1.17,-121.7,902.3,-13.3,708,7088,0.00,1.90,0.00,0.000,4,0.000,0.057,2178,3766,3970
$GC,7145,-1.17,-121.7,911.4,-15.0,710,7151,0.00,1.80,0.00,0.000,6,0.000,0.030,2178,2567,3970
$GC,7461,-1.17,-121.7,954.3,-14.0,726,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2566,3968
$STATE,7726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7727,begin apogee
$GC,7732,-0.22,0.0,991.2,13.5,739,7832,0.98,0.00,88.70,1.417,6,0.162,0.000,2467,2567,3531
$STATE,7832,end apogee,CONTROL_FINISHED_OK
$STATE,7832,begin climb
$GC,7835,1.18,121.7,996.8,0.0,744,7944,1.27,2.38,100.93,1.378,4,0.061,0.034,2933,1122,3034
$GC,8197,0.60,129.6,972.9,11.5,760,8214,0.75,2.17,7.43,1.124,6,0.212,0.038,2741,2512,3002
$GC,8525,0.60,185.1,945.5,8.3,776,8575,0.00,2.20,44.88,1.353,4,0.000,0.034,2747,1130,2776
$GC,8604,0.62,198.0,936.8,11.2,779,8621,0.00,2.20,11.95,1.213,6,0.000,0.038,2747,2506,2724
$GC,8943,0.62,200.9,896.1,11.8,796,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2506,2719
$GC,9252,0.62,200.9,859.0,12.1,811,9256,0.00,2.08,0.00,0.000,4,0.000,0.033,2747,1136,2718
$GC,9286,0.68,202.3,854.9,11.9,812,9297,0.00,2.12,4.28,0.892,6,0.000,0.038,2747,2513,2706
$GC,9607,0.70,217.9,818.2,11.0,828,9629,0.00,2.15,14.30,1.242,4,0.000,0.035,2747,1122,2643
$GC,9657,0.81,236.3,812.6,10.8,830,9679,0.17,2.15,16.35,1.235,6,0.081,0.037,2812,2503,2568
$GC,10002,0.68,236.3,763.4,14.6,847,10006,0.17,2.10,0.00,0.000,4,0.188,0.031,2771,1123,2563
$GC,10155,0.68,242.7,744.6,11.6,854,10166,0.00,2.10,5.82,1.007,6,0.000,0.037,2771,2480,2542
$GC,10482,0.70,254.0,707.4,11.3,870,10497,0.00,2.08,10.65,1.144,4,0.000,0.034,2772,1126,2496
$GC,10521,0.76,269.2,703.2,11.0,871,10544,0.00,2.10,14.10,1.161,6,0.000,0.038,2773,2473,2433
$GC,10852,0.81,269.2,658.0,14.8,887,10856,0.10,2.05,0.00,0.000,4,0.098,0.034,2814,1138,2429
$GC,10925,0.81,269.2,646.4,16.3,890,10929,0.00,2.05,0.00,0.000,6,0.000,0.039,2814,2452,2428
$GC,11252,0.72,269.2,600.4,12.6,906,11257,0.15,2.08,0.00,0.000,4,0.183,0.055,2777,3765,2427
$GC,11330,0.66,269.2,590.6,12.1,909,11336,0.00,1.90,0.00,0.000,6,0.000,0.030,2785,2483,2427
$GC,11646,0.70,300.7,558.6,9.9,925,11676,0.00,2.08,25.85,1.124,4,0.000,0.035,2786,1109,2305
$GC,11744,0.81,307.1,547.7,11.6,929,11755,0.00,2.12,6.35,0.918,6,0.000,0.038,2785,2466,2280
$GC,12077,0.90,307.1,501.9,14.5,946,12081,0.15,2.08,0.00,0.000,4,0.082,0.034,2842,1114,2277
$GC,12189,0.83,307.1,483.3,16.6,955,12193,0.00,2.05,0.00,0.000,6,0.000,0.038,2842,2438,2276
$GC,12522,0.75,307.1,431.2,14.0,986,12527,0.20,2.00,0.00,0.000,4,0.180,0.033,2791,1113,2275
$GC,12561,0.89,318.8,426.0,11.2,989,12578,0.12,2.00,10.25,0.953,6,0.087,0.037,2837,2421,2232
$GC,12896,0.90,325.9,384.9,11.5,1021,12908,0.00,2.05,7.28,0.863,4,0.000,0.032,2844,1101,2203
$GC,12954,0.90,325.9,378.0,12.8,1026,12958,0.00,2.00,0.00,0.000,6,0.000,0.035,2844,2404,2201
$GC,13286,0.90,325.9,335.4,14.0,1057,13289,0.00,1.95,0.00,0.000,4,0.000,0.033,2850,1106,2201
$GC,13313,0.90,325.9,331.1,14.7,1059,13320,0.00,2.00,0.00,0.000,6,0.000,0.037,2850,2396,2201
$GC,13644,0.90,325.9,282.0,16.3,1101,13650,0.00,1.92,0.00,0.000,4,0.000,0.031,2858,1101,2201
$GC,13791,0.90,325.9,260.2,13.8,1127,13798,0.00,1.90,0.00,0.000,6,0.000,0.035,2858,2353,2201
$GC,14136,0.96,376.5,221.7,8.7,1188,14183,0.00,1.95,40.22,0.841,4,0.000,0.031,2864,1112,1996
$GC,14201,1.08,399.2,215.4,10.5,1199,14226,0.00,1.90,19.20,0.792,6,0.000,0.035,2863,2338,1904
$GC,14568,1.20,399.2,166.0,13.9,1263,14575,0.17,2.22,0.00,0.000,4,0.076,0.052,2935,3757,1897
$GC,14672,0.98,399.2,146.1,17.4,1281,14678,0.32,2.12,0.00,0.000,6,0.185,0.025,2859,2325,1896
$GC,15016,1.29,439.1,111.2,9.4,1342,15054,0.25,1.88,31.27,0.713,4,0.067,0.032,2970,1103,1740
$GC,15061,1.21,439.1,105.9,12.5,1349,15068,0.15,1.80,0.00,0.000,6,0.185,0.034,2935,2279,1739
$GC,15406,1.29,439.1,62.6,13.3,1410,15411,0.00,1.75,0.00,0.000,4,0.000,0.031,2941,1098,1735
$GC,15661,1.37,439.1,32.2,12.5,1455,15669,0.12,1.77,0.00,0.000,6,0.083,0.031,2988,2286,1736
$STATE,15852,end climb,SURFACE_DEPTH_REACHED
$STATE,15852,begin surface coast
$FINISH,1.7,1.008476
$STATE,15872,end surface coast,CONTROL_FINISHED_OK
$STATE,15872,begin surface
$SM_CCo,15949,0.00,0.000,0,0,1734,440.80
$SM_GC,2.69,7.70,0.00,0.00,0.062,0.000,0.000,140,2462,1734,-7.50,0.99,440.80
$IRIDIUM_FIX,2444.18,12335.48,190998,191959
$TT8_MAMPS,0.029146
$HUMID,1587
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,22.9,38.628
$10V_AH,10.8,21.981
$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,25.025,140.100,459.800,0.000,0.000,28.152,30.026,202.026,8.000,0.000,0.000,32.529,2647.210,9920.299,576.072,2638.749,572.590,0.000,1919.844,0.000,2560.762,0.000,54.429,0.000
$DEVICE_MAMPS,243.906,56.758,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.478,1031.050,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79043,1492
$CAP_FILE_SIZE,167051,0
$CFSIZE,260165632,208257024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,321.9,1
$GPS,260609,041600,2450.428,12335.542,37,1.2,43,-3.6