version: 66.04
glider: 167
mission: 2
dive: 409
start: 7 27 109 11 27 42
data:
$ID,167
$MISSION,2
$DIVE,409
$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,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,-13760.555
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,96
$R_STBD_OVSHOOT,36
$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
$GPS1,112025,2446.151,12427.821,39,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-67.6
$GPS2,112720,2446.192,12427.794,15,1.0,15,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2416.300,12441.400
$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,161.0,59937,-24.8,-13.043
$D_GRID,791
$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,-1.25,-121.7,0.0,0.0,0,64,0.00,0.00,-45.95,0.000,2,0.000,0.000,140,2443,2378
$GC,68,-1.25,-121.7,3.3,-2.4,8,132,8.15,2.12,-49.28,0.000,4,0.229,0.055,2131,3764,3990
$GC,225,-0.82,-121.7,26.7,-20.3,34,232,0.52,1.83,0.00,0.000,6,0.166,0.021,2278,2472,3991
$GC,571,-1.26,-121.7,67.0,-12.0,95,578,0.35,2.00,0.00,0.000,4,0.052,0.042,2125,3764,3991
$GC,624,-0.92,-121.7,75.2,-16.7,104,632,0.43,1.80,0.00,0.000,6,0.165,0.021,2243,2481,3992
$GC,971,-1.27,-121.7,115.0,-10.2,165,977,0.28,1.98,0.00,0.000,4,0.054,0.042,2124,3764,3993
$GC,991,-1.41,-121.7,117.5,-11.7,168,999,0.00,1.77,0.00,0.000,6,0.000,0.021,2124,2472,3993
$GC,1339,-1.21,-121.7,171.1,-15.4,229,1345,0.12,1.98,0.00,0.000,4,0.173,0.040,2146,3764,3995
$GC,1426,-1.04,-121.7,184.7,-14.6,244,1434,0.22,1.73,0.00,0.000,6,0.161,0.022,2207,2518,3995
$GC,1773,-1.32,-121.7,223.6,-11.1,305,1780,0.22,2.03,0.00,0.000,4,0.060,0.026,2108,1104,3996
$GC,1805,-1.24,-121.7,227.8,-13.5,310,1812,0.17,2.08,0.00,0.000,6,0.166,0.028,2144,2516,3996
$GC,2151,-1.24,-121.7,270.4,-12.1,371,2156,0.00,1.88,0.00,0.000,4,0.000,0.042,2137,3763,3996
$GC,2255,-1.13,-121.7,284.6,-13.3,389,2261,0.17,1.75,0.00,0.000,6,0.156,0.022,2183,2511,3996
$GC,2589,-1.40,-121.7,323.1,-11.0,431,2593,0.22,2.00,0.00,0.000,4,0.061,0.023,2085,1100,3996
$GC,2642,-1.17,-121.7,329.5,-13.1,435,2647,0.30,2.05,0.00,0.000,6,0.160,0.030,2167,2483,3996
$GC,2968,-1.37,-121.7,361.4,-8.7,465,2972,0.20,2.00,0.00,0.000,4,0.067,0.022,2080,1109,3997
$GC,2998,-1.28,-121.7,364.7,-11.9,467,3004,0.22,2.00,0.00,0.000,6,0.166,0.028,2132,2455,3996
$GC,3323,-1.33,-121.7,398.9,-10.7,498,3327,0.00,1.98,0.00,0.000,4,0.000,0.043,2126,3761,3996
$GC,3451,-1.21,-121.7,414.0,-12.2,509,3455,0.00,1.83,0.00,0.000,6,0.000,0.023,2125,2463,3996
$GC,3784,-1.32,-121.7,450.0,-10.5,540,3789,0.00,1.92,0.00,0.000,4,0.000,0.025,2126,1106,3996
$GC,3822,-1.32,-121.7,454.6,-11.4,543,3828,0.00,2.03,0.00,0.000,6,0.000,0.030,2124,2472,3996
$GC,4148,-1.44,-121.7,489.9,-10.6,574,4152,0.12,1.98,0.00,0.000,4,0.078,0.024,2071,1110,3996
$GC,4186,-1.29,-121.7,494.0,-12.1,577,4190,0.22,2.00,0.00,0.000,6,0.166,0.031,2131,2453,3996
$GC,4516,-1.42,-121.7,530.4,-10.9,595,4518,0.12,0.00,0.00,0.000,6,0.081,0.000,2081,2455,3994
$GC,4824,-1.27,-121.7,566.3,-12.1,610,4828,0.17,2.00,0.00,0.000,4,0.172,0.044,2124,3756,3993
$GC,4931,-1.21,-121.7,579.1,-11.5,614,4938,0.12,1.88,0.00,0.000,6,0.165,0.024,2155,2444,3992
$GC,5249,-1.46,-121.7,611.2,-10.5,630,5251,0.22,0.00,0.00,0.000,6,0.064,0.000,2068,2443,3990
$GC,5558,-1.40,-121.7,650.1,-13.2,645,5561,0.00,2.05,0.00,0.000,4,0.000,0.045,2059,3766,3987
$GC,5598,-1.13,-121.7,655.6,-13.3,646,5605,0.43,1.90,0.00,0.000,6,0.171,0.025,2176,2442,3987
$GC,5914,-1.48,-121.7,685.4,-8.4,662,5919,0.28,1.95,0.00,0.000,4,0.062,0.026,2065,1090,3986
$GC,5993,-1.34,-121.7,694.0,-12.0,665,5999,0.20,2.00,0.00,0.000,6,0.171,0.032,2109,2425,3985
$GC,6311,-1.34,-121.7,725.7,-10.4,681,6315,0.00,2.08,0.00,0.000,4,0.000,0.050,2109,3761,3982
$GC,6571,-1.24,-121.7,760.8,-14.0,692,6575,0.12,1.92,0.00,0.000,6,0.170,0.025,2140,2430,3980
$STATE,6868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6868,begin apogee
$GC,6875,-0.22,0.0,792.6,9.6,707,6971,1.05,0.00,90.90,1.224,6,0.138,0.000,2467,2430,3532
$STATE,6972,end apogee,CONTROL_FINISHED_OK
$STATE,6972,begin climb
$GC,6975,1.25,121.7,798.7,0.0,712,7081,1.35,2.20,99.57,1.190,4,0.061,0.047,2948,3757,3034
$GC,7334,0.64,196.5,782.7,7.7,728,7404,0.80,2.00,59.28,1.177,6,0.215,0.024,2753,2387,2729
$GC,7713,0.88,300.4,758.7,5.6,747,7803,0.20,2.12,83.72,1.177,4,0.076,0.031,2843,1015,2307
$GC,7886,0.92,336.2,742.7,10.5,755,7924,0.00,2.20,29.95,1.129,6,0.000,0.034,2843,2430,2159
$GC,8233,0.94,348.6,702.7,12.2,772,8248,0.00,2.10,10.52,1.035,4,0.000,0.051,2843,3755,2110
$GC,8272,0.94,348.6,697.4,14.5,773,8276,0.00,1.95,0.00,0.000,6,0.000,0.025,2850,2440,2109
$GC,8606,0.95,359.2,655.0,12.3,789,8618,0.00,0.00,10.02,1.028,6,0.000,0.000,2851,2438,2067
$GC,8914,1.02,371.2,616.0,12.2,804,8930,0.00,2.20,11.48,1.035,4,0.000,0.031,2861,1010,2017
$GC,8995,1.10,388.4,606.2,11.8,806,9015,0.10,2.20,15.15,1.051,6,0.100,0.033,2897,2444,1948
$GC,9334,1.04,395.6,563.9,12.5,823,9343,0.00,0.00,7.32,0.927,6,0.000,0.000,2897,2444,1919
$GC,9642,1.04,395.6,522.6,13.2,838,9645,0.00,2.17,0.00,0.000,4,0.000,0.031,2904,1006,1915
$GC,9703,1.04,395.6,514.5,13.3,840,9710,0.00,2.17,0.00,0.000,6,0.000,0.033,2904,2432,1916
$GC,10025,1.04,395.6,471.0,14.0,866,10028,0.00,2.12,0.00,0.000,4,0.000,0.030,2913,1012,1914
$GC,10071,1.04,395.6,464.4,15.0,870,10076,0.12,2.10,0.00,0.000,6,0.186,0.031,2883,2403,1914
$GC,10403,1.10,395.6,417.2,13.6,901,10406,0.00,2.10,0.00,0.000,4,0.000,0.051,2884,3753,1913
$GC,10438,1.10,395.6,412.0,15.0,904,10441,0.00,2.00,0.00,0.000,6,0.000,0.025,2892,2377,1913
$GC,10768,1.19,430.0,370.6,10.6,935,10803,0.10,2.10,28.70,0.940,4,0.097,0.031,2939,1013,1779
$GC,10944,1.14,430.0,347.1,14.1,950,10950,0.00,2.03,0.00,0.000,6,0.000,0.032,2938,2340,1774
$GC,11271,1.14,430.0,303.0,14.2,981,11274,0.00,2.20,0.00,0.000,4,0.000,0.048,2939,3758,1772
$GC,11352,1.00,430.0,291.0,14.5,993,11359,0.30,2.05,0.00,0.000,6,0.179,0.024,2867,2360,1771
$GC,11700,1.42,471.1,257.6,10.1,1054,11742,0.32,2.22,33.55,0.838,4,0.060,0.047,3001,3761,1612
$GC,11844,1.15,471.1,232.6,19.0,1079,11851,0.38,2.17,0.00,0.000,6,0.191,0.024,2915,2282,1608
$GC,12190,1.58,524.5,191.7,9.2,1140,12240,0.35,1.98,44.33,0.775,4,0.060,0.029,3069,999,1392
$GC,12354,1.40,524.5,166.5,18.1,1168,12362,0.28,1.95,0.00,0.000,6,0.193,0.031,3000,2286,1388
$GC,12702,1.46,527.7,111.2,12.8,1229,12708,0.00,1.90,0.00,0.000,4,0.000,0.028,3006,1002,1385
$GC,12782,1.54,548.7,101.5,11.5,1243,12807,0.00,1.88,19.65,0.676,6,0.000,0.028,3007,2268,1295
$GC,13148,1.66,548.7,54.6,14.2,1307,13154,0.17,1.88,0.00,0.000,4,0.073,0.027,3090,999,1291
$GC,13279,1.54,548.7,34.2,15.0,1329,13285,0.17,1.80,0.00,0.000,6,0.191,0.028,3046,2228,1291
$STATE,13502,end climb,SURFACE_DEPTH_REACHED
$STATE,13502,begin surface coast
$FINISH,1.7,1.021508
$STATE,13527,end surface coast,CONTROL_FINISHED_OK
$STATE,13527,begin surface
$SM_CCo,13606,0.00,0.000,0,0,1290,549.96
$SM_GC,2.65,7.68,0.00,0.00,0.049,0.000,0.000,142,2498,1290,-7.49,0.42,549.96
$IRIDIUM_FIX,2434.69,12424.16,211098,060628
$TT8_MAMPS,0.029146
$HUMID,1656
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,26.40
$XPDR_PINGS,2
$24V_AH,23.8,69.153
$10V_AH,10.7,37.776
$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,27.000,112.650,544.150,0.000,0.000,29.220,38.278,188.515,6.500,0.000,0.000,15.657,2413.419,7928.369,648.923,2387.854,628.202,0.000,1872.232,0.000,2334.019,0.000,43.054,0.000
$DEVICE_MAMPS,229.333,55.224,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,921.083,964.248,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72528,1373
$CAP_FILE_SIZE,149474,0
$CFSIZE,260165632,193675264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.257,346.5,1
$GPS,270709,151537,2446.958,12427.398,34,1.6,34,-3.7