version: 66.04
glider: 167
mission: 2
dive: 232
start: 6 28 109 21 42 13
data:
$ID,167
$MISSION,2
$DIVE,232
$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,-9656.8896
$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,67
$R_STBD_OVSHOOT,40
$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
$GPS1,213531,2453.969,12342.454,37,1.6,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-68.5
$GPS2,214150,2454.035,12342.456,14,1.4,14,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,327.4,99351,-23.2,-12.000
$D_GRID,1953
$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,-121.7,0.0,0.0,0,42,0.00,0.00,-24.98,0.000,2,0.000,0.000,142,2457,2437
$GC,45,-1.18,-121.7,3.2,-2.9,4,106,8.40,2.17,-46.97,0.000,4,0.245,0.038,2160,1013,3989
$GC,258,-0.64,-121.7,58.2,-30.5,41,266,0.65,2.12,0.00,0.000,6,0.173,0.031,2336,2430,3991
$GC,605,-0.78,-121.7,106.9,-11.2,102,611,0.12,2.03,0.00,0.000,4,0.077,0.045,2275,3753,3992
$GC,791,-0.78,-121.7,136.6,-14.8,135,797,0.00,1.88,0.00,0.000,6,0.000,0.024,2275,2418,3993
$GC,1135,-0.83,-121.7,185.7,-11.2,196,1141,0.00,2.08,0.00,0.000,4,0.000,0.045,2275,3764,3994
$GC,1271,-0.90,-121.7,202.8,-13.2,220,1277,0.00,1.80,0.00,0.000,6,0.000,0.024,2275,2482,3994
$GC,1615,-1.00,-121.7,247.9,-12.4,281,1622,0.15,0.00,0.00,0.000,6,0.070,0.000,2208,2482,3996
$GC,1960,-1.00,-121.7,298.7,-14.9,342,1966,0.00,2.05,0.00,0.000,4,0.000,0.026,2207,1045,3996
$GC,1987,-1.00,-121.7,303.1,-15.0,345,1995,0.00,2.17,0.00,0.000,6,0.000,0.032,2204,2505,3996
$GC,2314,-1.00,-121.7,347.2,-12.6,376,2318,0.00,1.90,0.00,0.000,4,0.000,0.048,2204,3754,3997
$GC,2437,-1.00,-121.7,363.5,-13.1,387,2441,0.00,1.75,0.00,0.000,6,0.000,0.025,2204,2515,3997
$GC,2768,-1.00,-121.7,406.0,-11.7,418,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2514,3997
$GC,3088,-1.00,-121.7,440.0,-11.4,448,3092,0.00,1.95,0.00,0.000,4,0.000,0.049,2204,3775,3997
$GC,3194,-1.00,-121.7,452.8,-12.0,457,3201,0.00,1.80,0.00,0.000,6,0.000,0.027,2204,2514,3997
$GC,3520,-1.00,-121.7,490.2,-12.0,488,3524,0.00,1.92,0.00,0.000,4,0.000,0.049,2204,3751,3995
$GC,3581,-1.00,-121.7,498.7,-13.6,493,3588,0.00,1.77,0.00,0.000,6,0.000,0.027,2204,2534,3995
$GC,3909,-1.05,-121.7,538.9,-11.1,510,3913,0.00,1.92,0.00,0.000,4,0.000,0.051,2205,3776,3993
$GC,3992,-1.05,-121.7,548.2,-10.3,513,3999,0.00,1.80,0.00,0.000,6,0.000,0.028,2205,2523,3993
$GC,4309,-1.12,-121.7,578.5,-10.5,529,4312,0.00,1.92,0.00,0.000,4,0.000,0.051,2205,3756,3991
$GC,4499,-1.18,-121.7,601.4,-12.5,537,4503,0.12,1.75,0.00,0.000,6,0.082,0.028,2154,2548,3990
$GC,4820,-1.06,-121.7,648.0,-13.6,553,4824,0.17,1.90,0.00,0.000,4,0.171,0.051,2204,3755,3987
$GC,4877,-1.13,-121.7,654.6,-11.2,555,4880,0.00,1.75,0.00,0.000,6,0.000,0.028,2204,2546,3986
$GC,5199,-1.22,-121.7,684.7,-8.9,571,5203,0.15,1.90,0.00,0.000,4,0.077,0.051,2139,3753,3984
$GC,5290,-1.02,-121.7,695.6,-12.5,575,5294,0.28,1.73,0.00,0.000,6,0.174,0.028,2213,2568,3982
$GC,5626,-1.16,-121.7,726.6,-8.9,591,5630,0.12,2.22,0.00,0.000,4,0.084,0.028,2165,1050,3980
$GC,5681,-1.16,-121.7,733.1,-11.2,593,5689,0.00,2.28,0.00,0.000,6,0.000,0.038,2164,2538,3980
$GC,5997,-1.11,-121.7,769.7,-11.3,609,6001,0.00,1.92,0.00,0.000,4,0.000,0.054,2162,3751,3977
$GC,6075,-1.03,-121.7,779.1,-12.1,612,6079,0.20,1.73,0.00,0.000,6,0.170,0.030,2214,2572,3976
$GC,6397,-1.18,-121.7,807.8,-9.2,628,6399,0.15,0.00,0.00,0.000,6,0.081,0.000,2159,2572,3974
$GC,6706,-1.13,-121.7,846.4,-13.1,643,6710,0.00,1.88,0.00,0.000,4,0.000,0.056,2152,3753,3972
$GC,6752,-1.01,-121.7,852.8,-14.1,645,6756,0.25,1.73,0.00,0.000,6,0.173,0.031,2219,2584,3972
$GC,7084,-1.20,-121.7,887.7,-10.2,661,7086,0.17,0.00,0.00,0.000,6,0.075,0.000,2155,2583,3969
$GC,7394,-1.14,-121.7,928.5,-13.4,676,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2155,2583,3968
$GC,7702,-1.08,-121.7,969.9,-13.4,691,7707,0.15,2.25,0.00,0.000,4,0.185,0.031,2191,1066,3965
$GC,7735,-1.17,-121.7,974.1,-12.4,692,7739,0.00,2.30,0.00,0.000,6,0.000,0.041,2191,2556,3966
$STATE,7883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7883,begin apogee
$GC,7889,-0.22,0.0,990.8,11.0,699,7985,0.93,0.00,88.95,1.420,6,0.156,0.000,2470,2556,3531
$STATE,7986,end apogee,CONTROL_FINISHED_OK
$STATE,7986,begin climb
$GC,7988,1.18,121.7,995.1,0.0,704,8099,1.27,2.08,101.78,1.374,4,0.062,0.052,2926,3754,3034
$GC,8292,0.42,121.7,973.9,14.3,718,8297,0.98,1.85,0.00,0.000,6,0.218,0.028,2688,2518,3031
$GC,8620,0.62,207.4,951.6,6.3,734,8696,0.17,2.25,69.32,1.353,4,0.083,0.034,2760,1126,2685
$GC,8792,0.62,207.4,933.0,12.1,742,8796,0.00,2.17,0.00,0.000,6,0.000,0.038,2761,2494,2681
$GC,9125,0.62,207.4,892.8,12.1,758,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2494,2678
$GC,9433,0.62,207.4,854.0,12.5,773,9437,0.00,2.10,0.00,0.000,4,0.000,0.034,2760,1117,2677
$GC,9472,0.67,207.4,849.0,12.4,774,9478,0.00,2.15,0.00,0.000,6,0.000,0.038,2760,2506,2677
$GC,9789,0.68,214.4,811.8,11.5,790,9799,0.00,2.10,5.70,1.031,4,0.000,0.031,2760,1119,2658
$GC,9866,0.75,217.8,802.6,11.8,793,9875,0.00,2.12,4.90,0.953,6,0.000,0.037,2760,2497,2642
$GC,10182,0.76,227.8,766.9,11.3,809,10196,0.00,2.03,9.55,1.160,4,0.000,0.056,2760,3767,2603
$GC,10249,0.68,227.8,758.3,13.1,812,10253,0.00,1.95,0.00,0.000,6,0.000,0.027,2762,2488,2602
$GC,10581,0.71,246.6,721.9,10.8,828,10600,0.00,0.00,16.12,1.206,6,0.000,0.000,2762,2487,2526
$GC,10910,0.76,246.6,682.1,12.8,844,10914,0.00,2.08,0.00,0.000,4,0.000,0.035,2762,1104,2523
$GC,10989,0.89,246.6,672.2,12.1,847,10993,0.20,2.15,0.00,0.000,6,0.080,0.037,2836,2494,2522
$GC,11305,0.73,246.6,625.7,14.4,862,11310,0.20,2.10,0.00,0.000,4,0.183,0.031,2788,1105,2521
$GC,11405,0.73,246.9,613.1,12.0,866,11409,0.00,2.10,0.00,0.000,6,0.000,0.037,2788,2469,2521
$GC,11727,0.73,248.7,574.9,11.9,882,11731,0.00,2.05,0.00,0.000,4,0.000,0.032,2789,1104,2520
$GC,11845,0.80,270.8,561.6,10.5,887,11870,0.00,2.05,19.88,1.119,6,0.000,0.037,2789,2444,2428
$GC,12192,0.80,270.8,519.6,12.6,904,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2444,2425
$GC,12506,0.80,270.8,480.9,12.1,926,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2444,2424
$GC,12826,0.87,270.8,440.8,12.3,956,12828,0.10,0.00,0.00,0.000,6,0.094,0.000,2827,2445,2423
$GC,13145,0.81,270.8,400.1,13.5,986,13148,0.00,2.00,0.00,0.000,4,0.000,0.032,2829,1109,2423
$GC,13212,0.81,270.8,390.7,13.8,992,13216,0.00,2.03,0.00,0.000,6,0.000,0.037,2829,2433,2423
$GC,13545,0.81,270.8,340.4,14.2,1023,13548,0.00,1.98,0.00,0.000,4,0.000,0.031,2835,1107,2423
$GC,13673,0.81,270.8,323.3,12.9,1034,13679,0.00,2.00,0.00,0.000,6,0.000,0.037,2836,2420,2423
$GC,14005,0.84,295.3,286.1,10.4,1076,14029,0.00,2.05,20.40,0.897,4,0.000,0.031,2843,1097,2327
$GC,14228,0.92,307.8,262.5,11.2,1115,14246,0.00,1.95,11.00,0.823,6,0.000,0.035,2843,2379,2277
$GC,14587,0.98,313.3,224.1,11.6,1178,14599,0.00,1.90,5.68,0.684,4,0.000,0.030,2848,1097,2254
$GC,14752,1.13,352.9,205.9,9.4,1207,14794,0.17,1.95,32.28,0.811,6,0.076,0.033,2915,2387,2091
$GC,15132,1.06,352.9,157.6,12.6,1274,15138,0.00,2.17,0.00,0.000,4,0.000,0.051,2915,3772,2087
$GC,15370,0.95,352.9,123.0,13.2,1316,15376,0.28,2.00,0.00,0.000,6,0.170,0.025,2849,2399,2087
$GC,15714,1.28,421.3,96.6,7.5,1377,15774,0.25,1.95,52.60,0.692,4,0.066,0.028,2967,1092,1813
$GC,15887,1.28,421.3,73.6,14.0,1407,15893,0.00,2.05,0.00,0.000,6,0.000,0.031,2967,2437,1808
$GC,16231,1.31,440.6,30.0,10.7,1468,16249,0.00,0.00,15.80,0.597,6,0.000,0.000,2967,2437,1734
$STATE,16455,end climb,SURFACE_DEPTH_REACHED
$STATE,16455,begin surface coast
$FINISH,1.7,1.000333
$STATE,16484,end surface coast,CONTROL_FINISHED_OK
$STATE,16484,begin surface
$SM_CCo,16561,0.00,0.000,0,0,1729,442.03
$SM_GC,2.68,7.62,0.00,0.00,0.058,0.000,0.000,143,2442,1729,-7.49,0.42,442.03
$IRIDIUM_FIX,2441.81,12344.04,220998,171752
$TT8_MAMPS,0.028379
$HUMID,1564
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,26.80
$XPDR_PINGS,0
$24V_AH,23.6,41.143
$10V_AH,10.8,23.364
$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,23.275,115.725,453.950,0.000,0.000,22.406,37.377,185.696,8.000,0.000,0.000,14.388,2665.121,10489.414,550.150,2674.140,553.761,0.000,1893.156,0.000,2615.542,0.000,54.431,0.000
$DEVICE_MAMPS,244.673,55.991,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.061,1036.584,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82112,1513
$CAP_FILE_SIZE,159838,0
$CFSIZE,260165632,206974976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,126.7,1
$GPS,290609,021930,2455.525,12341.908,41,1.2,42,-3.7