version: 66.04
glider: 167
mission: 2
dive: 267
start: 7 5 109 21 38 34
data:
$ID,167
$MISSION,2
$DIVE,267
$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,-10497.197
$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,97
$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
$GPS1,213101,2523.967,12347.591,40,1.1,41,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-72.2
$GPS2,213813,2524.023,12347.701,11,1.3,15,-3.8
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,192.0,85124,-23.2,-12.000
$D_GRID,1526
$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,-121.7,0.0,0.0,0,36,0.00,0.00,-19.17,0.000,2,0.000,0.000,140,2426,2261
$GC,39,-1.18,-121.7,3.0,-2.1,3,110,8.35,2.08,-53.65,0.000,4,0.239,0.040,2160,1055,3990
$GC,181,-0.65,-121.7,29.1,-27.4,27,188,0.62,2.08,0.00,0.000,6,0.168,0.031,2330,2439,3991
$GC,526,-0.86,-121.7,70.7,-11.6,88,532,0.17,2.03,0.00,0.000,4,0.067,0.046,2245,3754,3992
$GC,692,-0.86,-121.7,96.7,-14.4,117,698,0.00,1.83,0.00,0.000,6,0.000,0.024,2245,2458,3992
$GC,1035,-0.86,-121.7,143.5,-14.2,178,1042,0.00,2.00,0.00,0.000,4,0.000,0.044,2234,3758,3994
$GC,1161,-0.81,-121.7,162.0,-14.6,200,1168,0.17,1.80,0.00,0.000,6,0.157,0.024,2283,2487,3995
$GC,1507,-1.04,-121.7,192.6,-9.5,261,1512,0.17,0.00,0.00,0.000,6,0.064,0.000,2200,2487,3996
$GC,1850,-1.04,-121.7,239.5,-12.1,322,1856,0.00,1.95,0.00,0.000,4,0.000,0.044,2192,3757,3996
$GC,1953,-0.93,-121.7,253.7,-13.9,340,1959,0.17,1.75,0.00,0.000,6,0.156,0.025,2239,2511,3996
$GC,2297,-1.05,-121.7,288.9,-9.4,401,2303,0.00,1.92,0.00,0.000,4,0.000,0.046,2234,3761,3997
$GC,2557,-1.16,-121.7,316.7,-10.2,433,2561,0.17,1.73,0.00,0.000,6,0.067,0.026,2160,2545,3996
$GC,2887,-1.04,-121.7,357.6,-12.6,464,2892,0.17,1.88,0.00,0.000,4,0.163,0.045,2205,3757,3996
$GC,2933,-1.04,-121.7,363.2,-11.8,468,2936,0.00,1.75,0.00,0.000,6,0.000,0.025,2205,2521,3997
$GC,3267,-1.10,-121.7,400.7,-11.6,499,3271,0.00,1.92,0.00,0.000,4,0.000,0.048,2205,3763,3996
$GC,3369,-1.10,-121.7,413.4,-12.1,508,3372,0.00,1.75,0.00,0.000,6,0.000,0.025,2205,2552,3997
$GC,3703,-1.18,-121.7,450.3,-11.1,539,3709,0.12,0.00,0.00,0.000,6,0.077,0.000,2153,2552,3995
$GC,4029,-1.07,-121.7,493.5,-12.8,570,4034,0.17,1.88,0.00,0.000,4,0.170,0.047,2192,3755,3994
$GC,4142,-1.07,-121.7,507.4,-12.0,578,4146,0.00,1.73,0.00,0.000,6,0.000,0.026,2192,2553,3993
$GC,4475,-1.13,-121.7,543.6,-10.2,594,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2553,3992
$GC,4785,-1.19,-121.7,575.3,-10.3,609,4789,0.00,1.88,0.00,0.000,4,0.000,0.051,2192,3753,3990
$GC,4832,-1.19,-121.7,580.6,-11.0,611,4835,0.00,1.73,0.00,0.000,6,0.000,0.027,2192,2556,3990
$GC,5165,-1.27,-121.7,614.6,-9.7,627,5169,0.17,1.90,0.00,0.000,4,0.077,0.050,2123,3765,3987
$GC,5244,-1.06,-121.7,625.2,-13.3,630,5248,0.30,1.73,0.00,0.000,6,0.176,0.028,2203,2573,3986
$GC,5565,-1.18,-121.7,654.3,-8.8,646,5570,0.12,2.22,0.00,0.000,4,0.081,0.027,2156,1050,3985
$GC,5597,-1.18,-121.7,658.0,-11.5,647,5604,0.00,2.28,0.00,0.000,6,0.000,0.035,2152,2545,3984
$GC,5914,-1.11,-121.7,696.0,-12.4,663,5918,0.12,1.88,0.00,0.000,4,0.188,0.050,2178,3753,3982
$GC,6005,-1.11,-121.7,706.5,-11.3,667,6008,0.00,1.70,0.00,0.000,6,0.000,0.028,2178,2584,3981
$GC,6338,-1.11,-121.7,741.1,-10.6,683,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2585,3979
$GC,6647,-1.11,-121.7,775.3,-11.0,698,6651,0.00,1.85,0.00,0.000,4,0.000,0.054,2178,3754,3976
$GC,6671,-1.11,-121.7,778.0,-11.4,699,6674,0.00,1.73,0.00,0.000,6,0.000,0.029,2178,2576,3976
$GC,7003,-1.11,-121.7,814.4,-10.7,715,7007,0.00,2.22,0.00,0.000,4,0.000,0.028,2178,1068,3974
$GC,7043,-1.18,-121.7,818.8,-11.3,716,7049,0.00,2.28,0.00,0.000,6,0.000,0.038,2177,2544,3974
$GC,7358,-1.18,-121.7,853.6,-10.9,732,7362,0.00,1.90,0.00,0.000,4,0.000,0.054,2177,3760,3972
$GC,7403,-1.18,-121.7,858.8,-12.0,734,7407,0.00,1.73,0.00,0.000,6,0.000,0.029,2177,2582,3972
$GC,7736,-1.23,-121.7,894.7,-10.7,750,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2582,3969
$GC,8046,-1.28,-121.7,929.9,-11.3,765,8050,0.15,1.88,0.00,0.000,4,0.087,0.053,2113,3761,3968
$GC,8068,-1.18,-121.7,932.9,-13.0,766,8072,0.20,1.73,0.00,0.000,6,0.189,0.030,2162,2589,3968
$GC,8400,-1.18,-121.7,974.4,-12.4,782,8408,0.00,1.85,0.00,0.000,4,0.000,0.054,2156,3755,3967
$GC,8436,-1.12,-121.7,979.2,-13.9,783,8440,0.00,1.70,0.00,0.000,6,0.000,0.029,2156,2595,3966
$STATE,8528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8528,begin apogee
$GC,8534,-0.22,0.0,991.2,12.6,788,8634,1.08,0.00,92.15,1.397,6,0.165,0.000,2468,2594,3532
$STATE,8635,end apogee,CONTROL_FINISHED_OK
$STATE,8635,begin climb
$GC,8638,1.18,121.7,996.7,0.0,793,8748,1.30,2.03,103.15,1.375,4,0.068,0.049,2925,3756,3034
$GC,9001,0.43,121.7,972.5,12.3,809,9006,0.98,1.83,0.00,0.000,6,0.218,0.027,2687,2532,3031
$GC,9317,0.66,218.7,953.2,5.6,824,9400,0.20,0.00,80.00,1.360,6,0.079,0.000,2761,2531,2640
$GC,9706,0.68,231.0,911.4,11.2,843,9722,0.00,2.15,10.68,1.203,4,0.000,0.031,2762,1114,2589
$GC,9785,0.75,236.7,902.1,11.6,845,9796,0.00,2.17,6.10,1.043,6,0.000,0.038,2762,2501,2567
$GC,10118,0.76,247.5,863.4,11.3,862,10132,0.00,2.12,10.02,1.191,4,0.000,0.032,2762,1113,2523
$GC,10167,0.86,258.6,857.6,11.3,864,10184,0.17,2.15,10.98,1.193,6,0.080,0.038,2828,2489,2477
$GC,10494,0.72,258.6,808.3,15.7,880,10499,0.20,2.10,0.00,0.000,4,0.182,0.030,2778,1106,2473
$GC,10566,0.78,258.6,797.9,13.7,883,10570,0.00,2.12,0.00,0.000,6,0.000,0.037,2778,2478,2472
$GC,10888,0.78,258.6,754.1,13.0,899,10891,0.00,2.05,0.00,0.000,4,0.000,0.032,2779,1123,2471
$GC,11011,0.83,258.6,738.3,12.9,904,11014,0.00,2.05,0.00,0.000,6,0.000,0.036,2779,2457,2471
$GC,11332,0.84,263.7,699.7,11.7,920,11340,0.10,0.00,4.90,0.928,6,0.094,0.000,2817,2458,2457
$GC,11642,0.74,263.7,656.7,14.0,935,11646,0.12,2.03,0.00,0.000,4,0.190,0.030,2794,1116,2456
$GC,11691,0.74,263.7,649.8,14.0,937,11695,0.00,2.08,0.00,0.000,6,0.000,0.037,2794,2456,2455
$GC,12019,0.74,263.7,608.3,12.3,953,12020,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2456,2455
$GC,12328,0.75,269.3,571.3,11.6,968,12338,0.00,2.10,6.45,0.977,4,0.000,0.053,2794,3761,2433
$GC,12368,0.63,269.3,566.1,13.9,970,12372,0.20,1.95,0.00,0.000,6,0.189,0.028,2751,2446,2432
$GC,12700,0.82,301.8,532.5,9.9,986,12733,0.17,2.03,27.95,1.113,4,0.078,0.033,2822,1115,2300
$GC,12825,0.82,301.8,516.1,13.8,991,12831,0.00,2.08,0.00,0.000,6,0.000,0.037,2822,2444,2297
$GC,13146,0.82,301.8,473.1,13.7,1016,13149,0.00,2.03,0.00,0.000,4,0.000,0.031,2828,1109,2294
$GC,13240,0.82,301.8,460.0,12.8,1024,13246,0.00,2.00,0.00,0.000,6,0.000,0.037,2828,2411,2294
$GC,13568,0.82,301.8,414.4,15.0,1055,13571,0.00,2.15,0.00,0.000,4,0.000,0.053,2828,3768,2294
$GC,13618,0.69,301.8,405.5,16.6,1059,13624,0.25,2.00,0.00,0.000,6,0.186,0.026,2772,2403,2293
$GC,13943,0.91,323.4,368.5,10.6,1090,13967,0.20,1.92,17.48,0.966,4,0.075,0.032,2858,1106,2212
$GC,14057,0.91,323.4,353.2,12.9,1100,14061,0.00,2.03,0.00,0.000,6,0.000,0.036,2858,2417,2210
$GC,14390,0.86,323.4,313.0,12.7,1131,14395,0.15,1.95,0.00,0.000,4,0.179,0.029,2829,1120,2209
$GC,14425,0.96,339.2,308.5,11.0,1134,14443,0.00,1.92,13.85,0.891,6,0.000,0.033,2828,2384,2149
$GC,14777,1.05,340.7,266.2,11.9,1189,14784,0.15,2.17,0.00,0.000,4,0.076,0.051,2888,3764,2145
$GC,14869,0.82,340.7,251.8,16.5,1205,14876,0.32,2.00,0.00,0.000,6,0.183,0.025,2810,2410,2145
$GC,15215,1.04,362.2,213.3,10.6,1266,15240,0.17,1.98,19.65,0.818,4,0.077,0.030,2894,1117,2054
$GC,15494,1.04,362.2,176.2,12.6,1315,15500,0.00,1.92,0.00,0.000,6,0.000,0.033,2894,2387,2051
$GC,15838,1.04,362.2,134.0,12.3,1376,15844,0.00,1.90,0.00,0.000,4,0.000,0.029,2901,1103,2050
$GC,16096,1.04,362.2,103.0,12.2,1422,16103,0.00,1.90,0.00,0.000,6,0.000,0.032,2901,2372,2050
$GC,16442,1.12,380.6,63.9,10.8,1483,16465,0.00,1.88,15.57,0.660,4,0.000,0.029,2904,1107,1979
$GC,16629,1.31,418.9,42.7,9.5,1516,16666,0.17,1.85,30.90,0.652,6,0.074,0.031,2975,2345,1823
$STATE,16984,end climb,SURFACE_DEPTH_REACHED
$STATE,16984,begin surface coast
$FINISH,1.8,0.999205
$STATE,17013,end surface coast,CONTROL_FINISHED_OK
$STATE,17013,begin surface
$SM_CCo,17030,2.72,0.291,0,0,1799,425.10
$SM_GC,3.68,0.00,0.00,2.72,0.000,0.000,0.291,140,2456,1799,-7.52,0.82,425.10
$IRIDIUM_FIX,2515.12,12344.05,290998,161622
$TT8_MAMPS,0.029146
$HUMID,1635
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.4,47.093
$10V_AH,10.7,26.674
$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,24.975,128.950,449.825,2.725,0.000,31.643,35.693,223.976,8.000,0.000,0.000,16.114,2812.257,10691.954,574.841,2764.845,611.547,0.000,1956.372,0.000,2703.692,0.000,54.435,0.000
$DEVICE_MAMPS,238.537,70.564,1396.707,290.693,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.455,1102.618,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85101,1584
$CAP_FILE_SIZE,171827,0
$CFSIZE,260165632,203886592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.311, 79.0,1
$GPS,060709,022337,2522.986,12349.880,32,1.2,33,-3.8