version: 66.04
glider: 167
mission: 2
dive: 462
start: 8 5 109 23 44 43
data:
$ID,167
$MISSION,2
$DIVE,462
$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,475
$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,-14871.187
$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,18.5
$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,73
$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
$GPS1,233701,2441.679,12356.330,42,1.5,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-54.1
$GPS2,234422,2441.604,12356.229,11,1.9,13,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2431.900,12318.300
$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,253.1,66383,-24.8,-13.043
$D_GRID,1513
$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,13,begin dive
$GC,16,-1.49,-121.7,0.0,0.0,0,77,0.00,0.00,-58.47,0.000,2,0.000,0.000,141,2484,2490
$GC,81,-1.49,-121.7,3.2,-2.7,10,141,7.93,2.00,-45.12,0.000,4,0.234,0.055,2053,3768,3987
$GC,235,-0.89,-121.7,27.3,-21.0,36,243,0.73,1.85,0.00,0.000,6,0.181,0.020,2252,2452,3989
$GC,583,-1.14,-121.7,69.9,-10.7,97,589,0.17,1.92,0.00,0.000,4,0.063,0.021,2172,1094,3990
$GC,619,-1.14,-121.7,74.5,-12.7,103,625,0.00,2.08,0.00,0.000,6,0.000,0.026,2165,2502,3990
$GC,965,-1.24,-121.7,116.8,-11.4,164,972,0.00,2.00,0.00,0.000,4,0.000,0.021,2165,1104,3992
$GC,1030,-1.24,-121.7,124.9,-12.5,175,1036,0.00,1.98,0.00,0.000,6,0.000,0.027,2164,2451,3992
$GC,1376,-1.34,-121.7,166.5,-12.1,236,1384,0.15,1.92,0.00,0.000,4,0.068,0.021,2096,1103,3994
$GC,1529,-1.12,-121.7,188.4,-14.9,262,1535,0.32,1.90,0.00,0.000,6,0.154,0.026,2180,2410,3994
$GC,1877,-1.36,-121.7,228.3,-11.3,323,1884,0.17,1.88,0.00,0.000,4,0.067,0.021,2099,1093,3995
$GC,1902,-1.36,-121.7,231.8,-12.2,327,1908,0.00,1.90,0.00,0.000,6,0.000,0.027,2098,2393,3995
$GC,2248,-1.22,-121.7,273.0,-12.1,388,2255,0.17,2.05,0.00,0.000,4,0.161,0.038,2141,3754,3995
$GC,2378,-1.15,-121.7,288.6,-12.6,410,2385,0.12,1.92,0.00,0.000,6,0.163,0.021,2172,2368,3995
$GC,2712,-1.39,-121.7,320.6,-8.9,450,2716,0.20,1.77,0.00,0.000,4,0.061,0.022,2083,1101,3995
$GC,2796,-1.23,-121.7,330.3,-12.0,457,2802,0.25,1.88,0.00,0.000,6,0.157,0.027,2149,2383,3995
$GC,3123,-1.43,-121.7,363.6,-10.4,488,3128,0.17,2.08,0.00,0.000,4,0.069,0.041,2070,3753,3995
$GC,3211,-1.15,-121.7,375.1,-13.8,495,3215,0.35,1.95,0.00,0.000,6,0.162,0.021,2168,2361,3995
$GC,3537,-1.41,-121.7,407.3,-9.5,525,3541,0.20,1.77,0.00,0.000,4,0.063,0.022,2080,1104,3995
$GC,3572,-1.31,-121.7,411.1,-10.6,528,3576,0.17,1.88,0.00,0.000,6,0.160,0.028,2119,2386,3994
$GC,3903,-1.40,-121.7,446.5,-11.0,559,3907,0.00,1.85,0.00,0.000,4,0.000,0.024,2120,1095,3993
$GC,3943,-1.44,-121.7,450.9,-11.1,562,3949,0.00,1.85,0.00,0.000,6,0.000,0.027,2113,2354,3993
$GC,4273,-1.55,-121.7,484.7,-9.9,593,4278,0.17,0.00,0.00,0.000,6,0.069,0.000,2035,2356,3992
$GC,4593,-1.30,-121.7,524.1,-12.2,615,4597,0.30,2.15,0.00,0.000,4,0.166,0.041,2113,3764,3991
$GC,4684,-1.22,-121.7,534.4,-9.9,619,4688,0.15,2.03,0.00,0.000,6,0.162,0.021,2151,2331,3990
$GC,5013,-1.48,-121.7,564.3,-9.0,635,5018,0.20,1.73,0.00,0.000,4,0.067,0.023,2065,1110,3988
$GC,5093,-1.30,-121.7,573.0,-10.6,638,5097,0.22,1.77,0.00,0.000,6,0.163,0.028,2119,2314,3988
$GC,5417,-1.45,-121.7,603.0,-9.4,654,5421,0.12,1.77,0.00,0.000,4,0.077,0.023,2069,1089,3985
$GC,5451,-1.34,-121.7,607.0,-11.3,655,5455,0.17,1.80,0.00,0.000,6,0.166,0.031,2113,2301,3985
$GC,5774,-1.50,-121.7,644.5,-12.7,671,5778,0.15,2.25,0.00,0.000,4,0.076,0.045,2053,3759,3982
$GC,5874,-1.23,-121.7,659.2,-14.9,675,5880,0.32,2.08,0.00,0.000,6,0.165,0.021,2144,2299,3981
$GC,6191,-1.46,-121.7,691.0,-9.3,691,6195,0.17,1.70,0.00,0.000,4,0.073,0.024,2068,1109,3979
$GC,6238,-1.34,-121.7,696.1,-11.3,693,6243,0.17,1.77,0.00,0.000,6,0.166,0.031,2113,2300,3979
$GC,6576,-1.51,-121.7,728.0,-9.6,709,6580,0.15,2.25,0.00,0.000,4,0.077,0.046,2054,3750,3976
$GC,6609,-1.30,-121.7,732.3,-11.9,710,6616,0.25,2.10,0.00,0.000,6,0.167,0.021,2122,2276,3975
$GC,6927,-1.51,-121.7,762.8,-9.4,726,6931,0.17,1.67,0.00,0.000,4,0.071,0.025,2053,1106,3973
$GC,6952,-1.51,-121.7,765.4,-10.4,727,6955,0.00,1.77,0.00,0.000,6,0.000,0.030,2044,2298,3974
$GC,7285,-1.33,-121.7,802.4,-10.8,743,7290,0.22,2.28,0.00,0.000,4,0.167,0.047,2110,3757,3971
$GC,7445,-1.33,-121.7,818.3,-9.7,750,7449,0.00,2.08,0.00,0.000,6,0.000,0.023,2110,2310,3970
$GC,7773,-1.47,-121.7,848.9,-9.5,766,7778,0.12,1.75,0.00,0.000,4,0.081,0.025,2058,1113,3968
$GC,7843,-1.33,-121.7,856.6,-11.9,769,7847,0.22,1.77,0.00,0.000,6,0.163,0.033,2117,2289,3968
$GC,8178,-1.47,-121.7,888.4,-9.5,785,8180,0.15,0.00,0.00,0.000,6,0.079,0.000,2059,2290,3966
$GC,8487,-1.33,-121.7,925.4,-11.9,800,8491,0.17,2.30,0.00,0.000,4,0.174,0.048,2101,3756,3964
$GC,8588,-1.24,-121.7,938.4,-12.5,804,8592,0.15,2.12,0.00,0.000,6,0.166,0.024,2138,2286,3963
$GC,8911,-1.50,-121.7,968.6,-9.1,820,8915,0.20,1.73,0.00,0.000,4,0.073,0.025,2055,1115,3962
$GC,8968,-1.35,-121.7,975.4,-12.4,822,8972,0.20,1.73,0.00,0.000,6,0.171,0.035,2106,2250,3962
$STATE,9101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9101,begin apogee
$GC,9109,-0.27,0.0,990.0,10.5,829,9205,1.17,0.00,91.70,1.413,6,0.160,0.000,2450,2401,3532
$STATE,9205,end apogee,CONTROL_FINISHED_OK
$STATE,9206,begin climb
$GC,9209,1.49,121.7,996.2,0.0,834,9320,1.62,2.17,104.28,1.371,4,0.069,0.026,3028,1027,3034
$GC,9360,0.87,198.6,999.4,7.5,841,9431,0.80,2.15,64.90,1.347,6,0.213,0.031,2830,2403,2722
$GC,9748,0.79,240.3,962.1,10.1,860,9792,0.12,2.22,35.42,1.322,4,0.200,0.049,2801,3746,2551
$GC,9881,0.71,253.1,947.2,12.1,865,9898,0.15,1.95,11.70,1.203,6,0.193,0.022,2773,2419,2500
$GC,10218,0.93,305.7,915.0,9.3,882,10269,0.20,2.20,45.75,1.321,4,0.076,0.048,2854,3747,2284
$GC,10368,0.76,305.7,893.5,14.8,889,10372,0.28,1.92,0.00,0.000,6,0.184,0.023,2794,2447,2279
$GC,10702,0.92,329.8,856.1,11.3,905,10725,0.15,0.00,20.55,1.261,6,0.087,0.000,2849,2444,2187
$GC,11030,0.92,329.8,812.6,13.2,921,11033,0.00,2.08,0.00,0.000,4,0.000,0.051,2848,3747,2182
$GC,11053,0.86,329.8,809.2,14.4,922,11057,0.15,1.90,0.00,0.000,6,0.191,0.024,2822,2444,2181
$GC,11388,0.95,342.8,767.7,12.1,938,11405,0.00,0.00,11.90,1.178,6,0.000,0.000,2822,2443,2133
$GC,11716,1.09,370.4,729.9,11.1,954,11746,0.17,2.12,24.60,1.222,4,0.079,0.051,2894,3744,2022
$GC,11770,0.94,370.4,721.9,16.1,956,11774,0.20,1.90,0.00,0.000,6,0.188,0.024,2852,2464,2019
$GC,12092,1.00,370.4,678.6,14.0,972,12096,0.00,2.15,0.00,0.000,4,0.000,0.031,2856,1022,2015
$GC,12143,1.09,370.4,671.5,13.4,974,12147,0.12,2.17,0.00,0.000,6,0.090,0.032,2903,2442,2015
$GC,12465,1.00,370.4,621.9,14.9,990,12469,0.15,2.08,0.00,0.000,4,0.190,0.049,2866,3764,2015
$GC,12499,0.95,370.4,616.6,14.3,991,12503,0.00,1.90,0.00,0.000,6,0.000,0.025,2868,2481,2014
$GC,12822,1.06,404.9,580.1,10.6,1007,12857,0.00,2.22,29.58,1.136,4,0.000,0.032,2869,1025,1880
$GC,12926,1.26,428.7,568.2,11.3,1011,12955,0.22,2.22,21.35,1.091,6,0.073,0.031,2953,2462,1783
$GC,13266,1.13,428.7,516.4,15.7,1028,13270,0.17,2.05,0.00,0.000,4,0.182,0.048,2904,3767,1776
$GC,13282,1.02,428.7,513.1,15.6,1028,13290,0.15,1.95,0.00,0.000,6,0.188,0.025,2874,2442,1776
$GC,13607,1.35,446.2,473.4,11.8,1054,13630,0.25,2.12,15.50,1.015,4,0.071,0.050,2975,3765,1712
$GC,13659,1.08,446.2,464.7,17.9,1058,13666,0.35,1.95,0.00,0.000,6,0.187,0.024,2893,2438,1710
$GC,13986,1.38,463.9,423.4,11.8,1089,14009,0.25,2.12,16.08,0.978,4,0.068,0.048,2995,3764,1639
$GC,14089,1.10,463.9,406.7,17.6,1098,14094,0.40,2.05,0.00,0.000,6,0.186,0.025,2899,2384,1637
$GC,14415,1.43,468.8,365.7,12.7,1128,14428,0.25,2.08,5.30,0.756,4,0.068,0.029,3010,993,1619
$GC,14457,1.24,468.8,358.7,16.8,1131,14464,0.25,2.10,0.00,0.000,6,0.186,0.031,2946,2375,1617
$GC,14782,1.25,474.3,311.4,12.7,1162,14794,0.00,2.17,6.07,0.762,4,0.000,0.048,2946,3761,1597
$GC,14840,1.19,474.3,303.4,14.8,1167,14844,0.00,2.12,0.00,0.000,6,0.000,0.025,2950,2315,1596
$GC,15185,1.25,474.3,259.8,13.2,1225,15191,0.00,2.28,0.00,0.000,4,0.000,0.047,2950,3757,1595
$GC,15231,1.25,474.3,252.8,15.2,1233,15237,0.00,2.05,0.00,0.000,6,0.000,0.023,2961,2353,1595
$GC,15578,1.32,485.4,205.0,12.2,1294,15596,0.00,2.20,10.80,0.770,4,0.000,0.044,2961,3754,1551
$GC,15611,1.40,493.8,201.0,12.4,1299,15625,0.00,2.03,9.10,0.735,6,0.000,0.022,2963,2362,1518
$GC,15967,1.63,502.0,154.4,12.5,1361,15981,0.25,2.25,8.23,0.690,4,0.066,0.044,3074,3757,1484
$GC,16027,1.28,502.0,144.1,17.7,1371,16033,0.47,2.12,0.00,0.000,6,0.182,0.021,2955,2302,1483
$GC,16373,1.64,521.3,107.0,11.7,1432,16397,0.30,2.30,17.50,0.704,4,0.061,0.043,3081,3762,1405
$GC,16461,1.35,521.3,92.6,16.6,1447,16467,0.43,2.20,0.00,0.000,6,0.189,0.021,2978,2242,1405
$GC,16807,1.75,569.3,49.7,9.6,1508,16855,0.32,2.40,40.03,0.662,4,0.060,0.043,3112,3753,1209
$GC,16886,1.53,569.3,38.5,16.7,1521,16893,0.32,2.20,0.00,0.000,6,0.187,0.021,3037,2259,1207
$STATE,17144,end climb,SURFACE_DEPTH_REACHED
$STATE,17144,begin surface coast
$FINISH,1.7,1.021279
$STATE,17168,end surface coast,CONTROL_FINISHED_OK
$STATE,17168,begin surface
$SM_CCo,17248,0.00,0.000,0,0,1203,571.30
$SM_GC,2.27,7.72,0.00,0.00,0.049,0.000,0.000,140,2490,1203,-7.50,0.20,571.30
$IRIDIUM_FIX,2432.32,12358.51,301098,181836
$TT8_MAMPS,0.028379
$HUMID,1713
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,1
$24V_AH,22.5,79.421
$10V_AH,10.6,42.653
$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,32.750,157.675,590.325,0.000,0.000,31.535,37.199,204.324,8.250,0.000,0.000,15.458,2834.296,10587.157,708.386,2774.382,767.102,0.000,2160.123,0.000,2711.271,0.000,54.429,0.000
$DEVICE_MAMPS,233.935,60.593,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.540,1084.678,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85180,1571
$CAP_FILE_SIZE,190875,0
$CFSIZE,260165632,189095936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099, 34.2,1
$GPS,060809,043331,2441.930,12355.187,42,1.6,43,-3.6