version: 66.04
glider: 167
mission: 2
dive: 239
start: 6 30 109 6 45 6
data:
$ID,167
$MISSION,2
$DIVE,239
$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,-9818.9365
$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,70
$R_STBD_OVSHOOT,32
$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
$GPS1,063831,2505.975,12339.027,37,1.7,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-69.9
$GPS2,064444,2506.063,12339.108,15,1.3,15,-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,331.8,77285,-23.2,-12.000
$D_GRID,2071
$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,-121.7,0.0,0.0,0,40,0.00,0.00,-23.35,0.000,2,0.000,0.000,142,2392,2366
$GC,43,-1.18,-121.7,3.3,-3.6,4,105,8.30,2.08,-48.15,0.000,4,0.239,0.039,2160,1023,3989
$GC,192,-0.64,-121.7,32.2,-28.8,29,199,0.65,2.12,0.00,0.000,6,0.174,0.030,2334,2439,3991
$GC,537,-0.78,-121.7,86.8,-12.3,90,544,0.12,2.03,0.00,0.000,4,0.075,0.045,2275,3760,3992
$GC,763,-0.78,-121.7,124.0,-15.8,130,769,0.00,1.88,0.00,0.000,6,0.000,0.024,2275,2428,3993
$GC,1107,-0.86,-121.7,171.4,-12.7,191,1113,0.00,2.05,0.00,0.000,4,0.000,0.046,2274,3755,3995
$GC,1170,-0.91,-121.7,179.8,-13.7,202,1176,0.00,1.83,0.00,0.000,6,0.000,0.024,2275,2452,3996
$GC,1516,-1.09,-121.7,220.9,-10.4,263,1521,0.20,0.00,0.00,0.000,6,0.061,0.000,2180,2452,3997
$GC,1859,-0.95,-121.7,274.8,-14.8,324,1868,0.20,2.00,0.00,0.000,4,0.165,0.044,2232,3754,3997
$GC,2016,-1.00,-121.7,295.1,-12.3,351,2022,0.00,1.77,0.00,0.000,6,0.000,0.025,2232,2493,3997
$GC,2349,-1.09,-121.7,330.9,-10.2,386,2354,0.12,1.95,0.00,0.000,4,0.077,0.046,2175,3753,3997
$GC,2377,-1.01,-121.7,334.5,-12.9,388,2385,0.17,1.77,0.00,0.000,6,0.164,0.025,2221,2497,3997
$GC,2702,-1.07,-121.7,372.6,-12.3,419,2706,0.00,1.95,0.00,0.000,4,0.000,0.048,2220,3755,3997
$GC,2838,-1.07,-121.7,389.3,-11.8,431,2841,0.00,1.77,0.00,0.000,6,0.000,0.026,2221,2511,3997
$GC,3171,-1.16,-121.7,424.8,-10.2,462,3176,0.15,1.92,0.00,0.000,4,0.071,0.047,2153,3751,3997
$GC,3369,-0.98,-121.7,453.3,-14.9,479,3376,0.28,1.73,0.00,0.000,6,0.166,0.027,2228,2547,3996
$GC,3694,-1.10,-121.7,492.1,-12.6,510,3698,0.12,1.88,0.00,0.000,4,0.077,0.049,2175,3751,3995
$GC,3772,-1.01,-121.7,504.2,-14.9,516,3776,0.12,1.73,0.00,0.000,6,0.163,0.027,2212,2567,3994
$GC,4093,-1.10,-121.7,543.9,-11.6,532,4097,0.00,1.88,0.00,0.000,4,0.000,0.050,2207,3751,3993
$GC,4235,-1.17,-121.7,560.5,-11.5,538,4239,0.12,1.70,0.00,0.000,6,0.081,0.027,2157,2564,3992
$GC,4563,-1.06,-121.7,603.7,-13.3,554,4567,0.17,1.88,0.00,0.000,4,0.170,0.050,2205,3761,3990
$GC,4631,-1.12,-121.7,611.8,-11.4,557,4635,0.00,1.70,0.00,0.000,6,0.000,0.028,2205,2583,3990
$GC,4965,-1.20,-121.7,648.3,-11.0,573,4969,0.15,1.85,0.00,0.000,4,0.075,0.051,2140,3763,3987
$GC,5071,-1.01,-121.7,663.6,-14.3,577,5077,0.28,1.67,0.00,0.000,6,0.173,0.028,2213,2596,3986
$GC,5388,-1.14,-121.7,695.0,-9.7,593,5392,0.00,1.83,0.00,0.000,4,0.000,0.052,2207,3743,3984
$GC,5535,-1.24,-121.7,710.3,-10.5,599,5540,0.17,1.62,0.00,0.000,6,0.074,0.029,2139,2618,3983
$GC,5857,-1.08,-121.7,756.7,-14.8,615,5859,0.20,0.00,0.00,0.000,6,0.179,0.000,2190,2617,3980
$GC,6166,-1.13,-121.7,792.9,-11.6,630,6170,0.00,1.80,0.00,0.000,4,0.000,0.054,2190,3757,3978
$GC,6261,-1.13,-121.7,804.5,-12.4,634,6265,0.00,1.65,0.00,0.000,6,0.000,0.030,2190,2622,3978
$GC,6589,-1.20,-121.7,840.9,-10.8,650,6593,0.00,1.77,0.00,0.000,4,0.000,0.052,2184,3753,3975
$GC,6658,-1.20,-121.7,849.1,-11.8,653,6662,0.00,1.65,0.00,0.000,6,0.000,0.030,2185,2622,3975
$GC,6991,-1.20,-121.7,887.9,-11.5,669,6995,0.00,1.77,0.00,0.000,4,0.000,0.054,2179,3749,3973
$GC,7046,-1.20,-121.7,895.0,-12.5,671,7050,0.00,1.65,0.00,0.000,6,0.000,0.029,2179,2640,3972
$GC,7368,-1.20,-121.7,931.1,-10.9,687,7372,0.00,1.77,0.00,0.000,4,0.000,0.055,2179,3741,3970
$GC,7414,-1.20,-121.7,936.3,-10.9,689,7418,0.00,1.62,0.00,0.000,6,0.000,0.031,2179,2655,3970
$GC,7747,-1.20,-121.7,971.2,-10.5,705,7751,0.00,1.75,0.00,0.000,4,0.000,0.057,2179,3755,3968
$GC,7787,-1.20,-121.7,975.6,-11.4,706,7793,0.00,1.62,0.00,0.000,6,0.000,0.032,2179,2650,3968
$STATE,7935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7935,begin apogee
$GC,7941,-0.22,0.0,992.1,11.2,714,8038,0.98,0.00,89.15,1.417,6,0.161,0.000,2466,2542,3533
$STATE,8039,end apogee,CONTROL_FINISHED_OK
$STATE,8039,begin climb
$GC,8041,1.18,121.7,996.1,0.0,719,8152,1.30,2.12,101.95,1.374,4,0.057,0.051,2931,3753,3034
$GC,8293,0.41,121.7,981.8,13.8,730,8300,1.02,1.92,0.00,0.000,6,0.217,0.028,2681,2486,3031
$GC,8609,0.63,198.5,959.5,6.9,746,8676,0.20,2.17,62.08,1.357,4,0.078,0.033,2772,1114,2721
$GC,8795,0.63,198.5,937.5,13.4,754,8799,0.00,2.17,0.00,0.000,6,0.000,0.038,2772,2487,2717
$GC,9111,0.58,198.5,897.3,12.9,769,9116,0.15,2.10,0.00,0.000,4,0.187,0.031,2743,1099,2714
$GC,9172,0.66,198.5,890.0,12.4,771,9178,0.00,2.15,0.00,0.000,6,0.000,0.036,2743,2493,2714
$GC,9487,0.68,216.8,855.1,10.8,787,9509,0.00,2.03,15.20,1.256,4,0.000,0.055,2743,3763,2647
$GC,9526,0.69,220.2,850.6,11.8,788,9535,0.00,1.92,4.55,0.900,6,0.000,0.028,2749,2475,2634
$GC,9842,0.78,245.2,816.8,10.4,804,9869,0.12,2.12,21.20,1.265,4,0.088,0.035,2802,1122,2531
$GC,10032,0.78,245.2,792.8,12.8,812,10036,0.00,2.10,0.00,0.000,6,0.000,0.037,2802,2469,2527
$GC,10354,0.70,245.2,749.6,14.2,828,10358,0.12,2.05,0.00,0.000,4,0.185,0.032,2775,1127,2526
$GC,10449,0.77,245.2,737.8,12.6,832,10453,0.00,2.10,0.00,0.000,6,0.000,0.036,2775,2486,2525
$GC,10775,0.77,245.2,697.0,12.0,848,10778,0.00,2.00,0.00,0.000,4,0.000,0.054,2775,3758,2524
$GC,10847,0.68,245.2,686.8,13.5,851,10851,0.00,1.88,0.00,0.000,6,0.000,0.028,2784,2483,2524
$GC,11174,0.68,245.2,645.4,12.5,867,11178,0.00,2.03,0.00,0.000,4,0.000,0.034,2789,1120,2523
$GC,11349,0.68,246.6,624.4,11.9,874,11355,0.00,2.08,0.00,0.000,6,0.000,0.037,2789,2477,2523
$GC,11665,0.72,280.0,589.4,9.8,890,11699,0.00,2.15,27.80,1.146,4,0.000,0.035,2789,1122,2390
$GC,11759,0.82,292.1,579.3,11.2,894,11775,0.00,2.10,11.50,1.052,6,0.000,0.036,2789,2473,2341
$GC,12085,0.89,295.9,540.1,11.8,910,12094,0.12,2.08,4.28,0.772,4,0.085,0.034,2843,1117,2325
$GC,12162,0.84,295.9,529.6,13.5,913,12166,0.00,2.10,0.00,0.000,6,0.000,0.037,2843,2473,2324
$GC,12487,0.75,295.9,482.9,14.6,934,12491,0.17,2.05,0.00,0.000,4,0.177,0.031,2801,1116,2323
$GC,12710,0.85,295.9,455.0,12.0,953,12716,0.00,2.03,0.00,0.000,6,0.000,0.036,2800,2442,2323
$GC,13039,0.96,331.1,419.1,9.7,984,13074,0.15,2.10,28.92,1.002,4,0.079,0.031,2867,1106,2181
$GC,13102,0.91,331.1,410.8,13.0,989,13108,0.12,2.08,0.00,0.000,6,0.186,0.036,2840,2440,2180
$GC,13426,0.91,331.1,367.5,14.7,1020,13430,0.00,2.00,0.00,0.000,4,0.000,0.031,2846,1107,2176
$GC,13487,0.91,331.1,359.0,13.0,1025,13493,0.00,2.00,0.00,0.000,6,0.000,0.035,2845,2418,2176
$GC,13814,0.91,331.1,312.9,15.2,1056,13817,0.00,1.95,0.00,0.000,4,0.000,0.029,2853,1106,2176
$GC,13886,0.96,331.1,301.8,15.0,1062,13892,0.00,1.92,0.00,0.000,6,0.000,0.035,2853,2376,2176
$GC,14228,0.96,331.1,253.8,14.0,1122,14234,0.00,2.17,0.00,0.000,4,0.000,0.051,2853,3772,2176
$GC,14286,0.85,331.1,244.8,15.8,1132,14293,0.15,2.05,0.00,0.000,6,0.187,0.025,2824,2363,2176
$GC,14632,1.07,368.7,208.7,9.5,1193,14669,0.17,1.88,30.05,0.817,4,0.074,0.031,2901,1107,2028
$GC,14776,1.07,368.7,189.4,13.6,1218,14782,0.00,1.90,0.00,0.000,6,0.000,0.034,2901,2353,2024
$GC,15120,1.07,369.0,145.2,12.0,1279,15125,0.00,1.85,0.00,0.000,4,0.000,0.028,2909,1100,2023
$GC,15200,1.08,378.2,135.6,11.4,1293,15212,0.00,1.83,8.23,0.665,6,0.000,0.031,2909,2321,1989
$GC,15552,1.17,388.1,96.9,11.3,1355,15566,0.00,2.30,9.52,0.644,4,0.000,0.047,2909,3768,1948
$GC,15629,1.17,388.1,87.8,12.0,1368,15636,0.00,2.12,0.00,0.000,6,0.000,0.024,2909,2308,1947
$GC,15975,1.36,418.0,54.1,10.0,1429,16005,0.20,1.80,24.60,0.646,4,0.067,0.028,3000,1110,1827
$GC,16163,1.29,418.0,27.5,14.7,1462,16170,0.15,1.80,0.00,0.000,6,0.181,0.031,2965,2316,1824
$STATE,16369,end climb,SURFACE_DEPTH_REACHED
$STATE,16369,begin surface coast
$FINISH,1.7,1.002150
$STATE,16400,end surface coast,CONTROL_FINISHED_OK
$STATE,16401,begin surface
$SM_CCo,16418,4.00,0.416,0,0,1799,425.10
$SM_GC,3.79,0.00,0.00,4.00,0.000,0.000,0.416,139,2467,1799,-7.52,1.13,425.10
$IRIDIUM_FIX,2453.69,12341.40,240998,020228
$TT8_MAMPS,0.029146
$HUMID,1600
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.6,42.317
$10V_AH,10.8,24.010
$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,24.275,139.125,439.025,4.000,0.000,27.412,34.349,174.807,8.000,0.000,0.000,16.073,2712.610,10160.687,561.850,2797.733,555.954,0.000,1970.722,0.000,2729.606,0.000,56.435,0.000
$DEVICE_MAMPS,238.537,59.826,1417.416,416.481,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.406,1039.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81963,1504
$CAP_FILE_SIZE,171581,0
$CFSIZE,260165632,206364672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,129.5,1
$GPS,300609,112024,2507.845,12338.646,41,1.0,59,-3.7