version: 66.04
glider: 167
mission: 2
dive: 46
start: 5 29 109 11 7 36
data:
$ID,167
$MISSION,2
$DIVE,46
$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,200
$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,-4666.3906
$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,62
$R_STBD_OVSHOOT,31
$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
$GPS1,110101,2518.548,12321.907,40,1.5,41,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-63.4
$GPS2,110714,2518.582,12321.866,10,1.4,10,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,252.9,4283,-18.3,-12.000
$D_GRID,1574
$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,-1.05,-194.7,0.0,0.0,0,63,0.00,0.00,-45.97,0.000,2,0.000,0.000,146,2443,2815
$GC,66,-1.05,-194.7,3.5,-3.5,8,114,8.60,2.10,-30.95,0.000,4,0.258,0.061,2192,3760,3990
$GC,255,-0.09,-194.7,70.2,-39.9,41,262,1.15,1.98,0.00,0.000,6,0.202,0.026,2511,2392,3991
$GC,600,-0.94,-194.7,102.7,-8.9,102,607,0.73,0.00,0.00,0.000,6,0.081,0.000,2241,2392,3992
$GC,944,-0.53,-194.7,184.5,-22.0,163,952,0.40,1.95,0.00,0.000,4,0.171,0.028,2364,1031,3993
$GC,1073,-0.73,-194.7,199.8,-8.9,185,1083,0.15,2.05,0.00,0.000,6,0.071,0.035,2299,2413,3994
$GC,1421,-0.73,-194.7,239.0,-11.5,246,1427,0.00,2.00,0.00,0.000,4,0.000,0.029,2299,1034,3995
$GC,1462,-0.73,-194.7,243.6,-11.5,253,1468,0.00,2.03,0.00,0.000,6,0.000,0.035,2293,2395,3995
$GC,1806,-0.73,-194.7,295.8,-14.5,314,1811,0.00,1.98,0.00,0.000,4,0.000,0.029,2293,1030,3996
$GC,1840,-0.73,-194.7,301.1,-14.8,320,1844,0.00,2.03,0.00,0.000,6,0.000,0.035,2289,2397,3996
$GC,2172,-0.73,-194.7,339.8,-9.8,351,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2397,3996
$GC,2491,-0.73,-194.7,369.2,-9.7,381,2495,0.00,1.98,0.00,0.000,4,0.000,0.031,2288,1039,3996
$GC,2526,-0.80,-194.7,372.8,-10.2,384,2530,0.00,2.03,0.00,0.000,6,0.000,0.037,2288,2397,3996
$GC,2857,-0.80,-194.7,404.9,-8.9,415,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2397,3996
$GC,3177,-0.86,-194.7,430.4,-7.8,445,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2397,3995
$GC,3495,-0.94,-194.7,459.6,-9.2,475,3497,0.12,0.00,0.00,0.000,6,0.084,0.000,2233,2397,3994
$GC,3814,-0.83,-194.7,498.8,-11.5,505,3815,0.15,0.00,0.00,0.000,6,0.166,0.000,2273,2398,3993
$GC,4131,-0.88,-194.7,529.3,-9.3,521,4135,0.00,1.98,0.00,0.000,4,0.000,0.033,2273,1046,3992
$GC,4233,-0.98,-194.7,539.4,-10.1,525,4237,0.12,2.00,0.00,0.000,6,0.082,0.039,2224,2380,3992
$GC,4554,-0.88,-194.7,579.0,-13.3,541,4558,0.15,2.12,0.00,0.000,4,0.173,0.054,2260,3758,3990
$GC,4608,-0.88,-194.7,585.9,-12.2,543,4616,0.00,2.03,0.00,0.000,6,0.000,0.031,2260,2383,3989
$GC,4925,-0.88,-194.7,617.0,-8.9,559,4928,0.00,1.95,0.00,0.000,4,0.000,0.035,2260,1032,3987
$GC,4986,-0.93,-194.7,622.6,-8.7,561,4992,0.00,2.00,0.00,0.000,6,0.000,0.040,2261,2360,3987
$GC,5302,-0.98,-194.7,649.7,-8.9,577,5307,0.00,1.95,0.00,0.000,4,0.000,0.035,2260,1037,3984
$GC,5371,-1.05,-194.7,656.3,-10.2,580,5375,0.15,1.98,0.00,0.000,6,0.079,0.041,2201,2356,3984
$GC,5703,-0.89,-194.7,697.7,-12.9,596,5705,0.20,0.00,0.00,0.000,6,0.180,0.000,2255,2356,3982
$GC,6012,-0.94,-194.7,724.6,-8.0,611,6017,0.00,2.15,0.00,0.000,4,0.000,0.058,2247,3754,3980
$GC,6067,-0.94,-194.7,729.4,-8.1,613,6071,0.00,2.03,0.00,0.000,6,0.000,0.033,2247,2370,3979
$GC,6389,-0.94,-194.7,754.4,-8.0,629,6392,0.00,2.17,0.00,0.000,4,0.000,0.058,2247,3754,3977
$GC,6428,-0.94,-194.7,757.8,-8.8,630,6434,0.00,2.03,0.00,0.000,6,0.000,0.032,2247,2371,3977
$GC,6743,-0.94,-194.7,787.9,-10.8,646,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2371,3975
$GC,7054,-0.98,-194.7,825.4,-12.5,661,7057,0.00,2.17,0.00,0.000,4,0.000,0.059,2247,3753,3973
$GC,7086,-0.98,-194.7,830.0,-13.0,662,7090,0.00,2.05,0.00,0.000,6,0.000,0.032,2247,2352,3973
$GC,7408,-1.04,-194.7,866.6,-10.8,678,7413,0.12,2.20,0.00,0.000,4,0.091,0.057,2192,3751,3971
$GC,7448,-0.85,-194.7,871.7,-13.6,680,7453,0.28,2.00,0.00,0.000,6,0.169,0.031,2270,2381,3971
$GC,7777,-1.00,-194.7,899.8,-7.5,696,7783,0.15,2.15,0.00,0.000,4,0.083,0.058,2212,3758,3970
$GC,7818,-0.90,-194.7,903.7,-10.2,697,7825,0.15,2.00,0.00,0.000,6,0.173,0.033,2252,2396,3969
$GC,8134,-0.98,-194.7,927.7,-7.4,713,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2396,3968
$GC,8444,-1.06,-194.7,948.8,-7.0,728,8449,0.15,2.15,0.00,0.000,4,0.085,0.058,2192,3757,3967
$GC,8494,-0.91,-194.7,954.0,-10.8,730,8498,0.20,1.98,0.00,0.000,6,0.175,0.033,2245,2399,3967
$GC,8816,-0.97,-194.7,980.9,-8.8,746,8820,0.00,2.00,0.00,0.000,4,0.000,0.037,2246,1027,3965
$GC,8873,-1.05,-194.7,986.3,-10.1,748,8877,0.12,2.08,0.00,0.000,6,0.092,0.043,2200,2393,3965
$STATE,8917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8917,begin apogee
$GC,8923,-0.22,0.0,991.2,10.5,750,9014,0.90,0.00,87.50,1.441,6,0.173,0.000,2469,2512,3532
$STATE,9015,end apogee,CONTROL_FINISHED_OK
$STATE,9015,begin climb
$GC,9017,1.05,194.7,994.1,0.0,754,9188,1.15,2.15,159.80,1.397,4,0.059,0.058,2885,3753,2737
$GC,9398,0.30,194.7,943.3,23.0,771,9403,0.95,1.90,0.00,0.000,6,0.218,0.032,2648,2506,2731
$GC,9719,0.54,302.7,917.9,7.5,787,9814,0.17,2.12,88.43,1.348,4,0.087,0.058,2717,3756,2296
$GC,9910,0.54,302.7,892.1,16.6,796,9914,0.00,1.90,0.00,0.000,6,0.000,0.033,2718,2524,2290
$GC,10243,0.54,302.7,843.9,14.7,812,10246,0.00,2.00,0.00,0.000,4,0.000,0.058,2719,3762,2287
$GC,10298,0.54,302.7,835.0,15.4,814,10302,0.00,1.90,0.00,0.000,6,0.000,0.035,2719,2530,2287
$GC,10619,0.54,302.7,789.3,14.3,830,10623,0.00,1.98,0.00,0.000,4,0.000,0.061,2719,3757,2285
$GC,10736,0.54,302.7,770.2,16.9,835,10740,0.00,1.83,0.00,0.000,6,0.000,0.035,2718,2559,2285
$GC,11063,0.54,302.7,725.0,13.7,851,11067,0.00,1.92,0.00,0.000,4,0.000,0.061,2719,3759,2284
$GC,11113,0.50,302.7,716.7,16.6,853,11117,0.00,1.80,0.00,0.000,6,0.000,0.034,2719,2551,2283
$GC,11440,0.55,302.7,665.6,15.6,869,11444,0.00,1.92,0.00,0.000,4,0.000,0.060,2719,3757,2283
$GC,11546,0.55,302.7,648.2,15.5,873,11552,0.00,1.77,0.00,0.000,6,0.000,0.035,2719,2581,2283
$GC,11862,0.60,306.2,606.9,11.9,889,11866,0.00,2.20,0.00,0.000,4,0.000,0.039,2719,1105,2282
$GC,11890,0.71,314.7,603.6,11.6,890,11907,0.15,2.28,8.93,1.071,6,0.084,0.043,2776,2584,2247
$GC,12217,0.61,314.7,556.6,15.3,906,12221,0.12,1.85,0.00,0.000,4,0.193,0.061,2747,3764,2245
$GC,12290,0.52,314.7,545.3,15.2,909,12294,0.12,1.75,0.00,0.000,6,0.189,0.034,2716,2580,2245
$GC,12616,0.61,314.7,504.8,12.2,925,12620,0.00,2.20,0.00,0.000,4,0.000,0.039,2719,1110,2244
$GC,12696,0.80,335.2,495.4,11.2,930,12720,0.22,2.25,17.15,1.071,6,0.076,0.043,2805,2572,2165
$GC,13036,0.66,335.2,431.9,19.7,962,13040,0.17,1.85,0.00,0.000,4,0.185,0.056,2761,3754,2161
$GC,13092,0.60,335.2,421.9,17.7,967,13096,0.00,1.75,0.00,0.000,6,0.000,0.034,2761,2574,2160
$GC,13424,0.64,366.4,381.0,10.7,998,13458,0.00,1.95,25.30,0.991,4,0.000,0.058,2761,3752,2037
$GC,13584,0.64,366.4,360.7,14.3,1012,13587,0.00,1.75,0.00,0.000,6,0.000,0.033,2761,2586,2033
$GC,13916,0.70,366.4,314.5,12.4,1043,13919,0.00,2.22,0.00,0.000,4,0.000,0.038,2760,1106,2032
$GC,13955,0.89,403.7,309.7,10.5,1046,13995,0.20,2.33,30.23,0.920,6,0.077,0.041,2834,2608,1885
$GC,14332,0.79,403.7,238.8,20.1,1107,14340,0.15,1.80,0.00,0.000,4,0.169,0.057,2796,3756,1880
$GC,14391,0.79,403.7,227.0,18.1,1117,14397,0.00,1.73,0.00,0.000,6,0.000,0.031,2802,2584,1879
$GC,14734,0.79,403.7,174.2,13.8,1178,14740,0.00,1.85,0.00,0.000,4,0.000,0.055,2802,3759,1879
$GC,14825,0.83,403.7,159.2,15.5,1194,14831,0.00,1.70,0.00,0.000,6,0.000,0.030,2807,2591,1878
$GC,15169,0.92,403.7,110.7,15.0,1255,15176,0.10,2.20,0.00,0.000,4,0.095,0.033,2852,1093,1879
$GC,15222,0.92,403.7,102.1,15.8,1264,15228,0.00,2.30,0.00,0.000,6,0.000,0.038,2852,2606,1878
$GC,15566,0.93,414.4,57.6,11.6,1325,15584,0.00,1.80,9.10,0.628,4,0.000,0.054,2852,3750,1841
$GC,15691,0.93,414.4,41.7,12.1,1347,15698,0.00,1.62,0.00,0.000,6,0.000,0.029,2858,2612,1840
$STATE,16005,end climb,SURFACE_DEPTH_REACHED
$STATE,16006,begin surface coast
$FINISH,1.6,1.010343
$STATE,16030,end surface coast,CONTROL_FINISHED_OK
$STATE,16030,begin surface
$SM_CCo,16047,6.55,0.538,0,0,1798,425.10
$SM_GC,3.24,0.00,0.00,6.55,0.000,0.000,0.538,145,2419,1798,-7.50,-0.23,425.10
$IRIDIUM_FIX,2507.97,12324.22,230898,060611
$TT8_MAMPS,0.028379
$HUMID,1534
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.9,12.076
$10V_AH,10.8,7.936
$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,24.675,128.225,426.425,6.550,0.000,23.621,34.160,190.401,8.000,0.000,0.000,11.894,2534.779,10296.719,549.022,2514.698,525.437,0.000,1840.745,0.000,2456.158,0.000,54.455,0.000
$DEVICE_MAMPS,258.479,74.399,1441.193,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,952.496,947.239,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75748,1407
$CAP_FILE_SIZE,161252,0
$CFSIZE,260165632,221253632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149, 56.9,1
$GPS,290509,153625,2518.119,12320.462,38,1.2,39,-3.7