version: 66.04
glider: 167
mission: 2
dive: 208
start: 6 24 109 6 24 25
data:
$ID,167
$MISSION,2
$DIVE,208
$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,-9167.8115
$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,64
$R_STBD_OVSHOOT,51
$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
$GPS1,061629,2503.125,12327.680,38,1.6,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-70.8
$GPS2,062402,2503.256,12327.871,13,1.8,13,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,OFF_4
$TGT_LATLONG,2441.000,12345.000
$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,193.7,50297,-23.2,-12.000
$D_GRID,2060
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-1.18,-121.7,0.0,0.0,0,40,0.00,0.00,-23.88,0.000,2,0.000,0.000,141,2455,2413
$GC,43,-1.18,-121.7,3.4,-4.0,4,109,8.27,2.03,-49.05,0.000,4,0.242,0.058,2151,3757,3989
$GC,239,-0.47,-121.7,52.9,-31.7,38,247,0.85,1.95,0.00,0.000,6,0.183,0.024,2393,2400,3991
$GC,585,-0.91,-121.7,86.8,-7.4,99,592,0.35,2.10,0.00,0.000,4,0.051,0.046,2236,3751,3992
$GC,661,-0.77,-121.7,97.2,-16.0,112,667,0.20,1.90,0.00,0.000,6,0.160,0.025,2291,2416,3992
$GC,1005,-0.88,-121.7,144.5,-14.0,173,1011,0.00,2.05,0.00,0.000,4,0.000,0.045,2288,3747,3994
$GC,1051,-0.99,-121.7,151.2,-14.5,181,1058,0.17,1.90,0.00,0.000,6,0.067,0.024,2211,2402,3995
$GC,1396,-0.87,-121.7,207.1,-12.6,242,1404,0.17,2.08,0.00,0.000,4,0.160,0.044,2250,3754,3996
$GC,1495,-0.94,-121.7,218.0,-10.8,259,1501,0.00,1.85,0.00,0.000,6,0.000,0.025,2250,2445,3996
$GC,1839,-1.05,-121.7,260.4,-13.3,320,1845,0.12,2.00,0.00,0.000,4,0.080,0.026,2194,1050,3997
$GC,1910,-0.98,-121.7,270.4,-15.1,332,1917,0.12,2.10,0.00,0.000,6,0.168,0.034,2223,2459,3997
$GC,2250,-0.98,-121.7,314.7,-13.2,383,2254,0.00,1.98,0.00,0.000,4,0.000,0.047,2219,3764,3996
$GC,2407,-0.98,-121.7,337.1,-13.2,397,2411,0.00,1.85,0.00,0.000,6,0.000,0.025,2219,2459,3997
$GC,2738,-0.98,-121.7,379.4,-13.7,428,2741,0.00,2.03,0.00,0.000,4,0.000,0.048,2218,3768,3996
$GC,2765,-0.98,-121.7,383.2,-14.0,430,2772,0.00,1.88,0.00,0.000,6,0.000,0.025,2218,2472,3997
$GC,3092,-1.05,-121.7,423.1,-10.9,461,3096,0.00,2.00,0.00,0.000,4,0.000,0.048,2218,3762,3996
$GC,3217,-1.11,-121.7,436.6,-10.6,472,3220,0.00,1.83,0.00,0.000,6,0.000,0.027,2217,2483,3996
$GC,3550,-1.20,-121.7,472.1,-11.2,503,3554,0.17,1.98,0.00,0.000,4,0.071,0.048,2140,3756,3994
$GC,3687,-0.96,-121.7,492.9,-14.4,515,3692,0.32,1.80,0.00,0.000,6,0.174,0.027,2228,2507,3994
$GC,4025,-1.10,-121.7,525.3,-8.9,534,4027,0.12,0.00,0.00,0.000,6,0.079,0.000,2179,2507,3993
$GC,4330,-1.04,-121.7,561.5,-12.4,549,4334,0.12,1.95,0.00,0.000,4,0.179,0.051,2205,3760,3990
$GC,4436,-1.09,-121.7,574.4,-11.6,553,4442,0.00,1.80,0.00,0.000,6,0.000,0.028,2205,2512,3990
$GC,4752,-1.17,-121.7,612.3,-12.3,569,4756,0.10,1.95,0.00,0.000,4,0.089,0.052,2164,3754,3987
$GC,4784,-1.06,-121.7,617.1,-14.9,570,4789,0.10,1.80,0.00,0.000,6,0.176,0.029,2207,2541,3987
$GC,5108,-1.15,-121.7,656.5,-11.7,586,5112,0.00,2.17,0.00,0.000,4,0.000,0.031,2207,1055,3985
$GC,5158,-1.28,-121.7,662.9,-12.0,588,5163,0.20,2.22,0.00,0.000,6,0.072,0.038,2132,2517,3985
$GC,5481,-1.10,-121.7,710.1,-14.8,604,5485,0.17,1.92,0.00,0.000,4,0.193,0.052,2175,3760,3982
$GC,5536,-1.04,-121.7,718.3,-13.6,606,5540,0.15,1.77,0.00,0.000,6,0.179,0.030,2211,2550,3981
$GC,5861,-1.16,-121.7,752.1,-10.4,622,5865,0.12,2.20,0.00,0.000,4,0.085,0.030,2165,1052,3980
$GC,5910,-1.16,-121.7,758.7,-13.2,624,5914,0.00,2.25,0.00,0.000,6,0.000,0.040,2165,2518,3979
$GC,6231,-1.11,-121.7,797.8,-12.2,640,6235,0.00,1.92,0.00,0.000,4,0.000,0.055,2157,3766,3977
$GC,6293,-1.00,-121.7,805.6,-12.4,642,6301,0.22,1.77,0.00,0.000,6,0.177,0.030,2216,2558,3976
$GC,6609,-1.16,-121.7,834.5,-9.5,658,6614,0.15,2.22,0.00,0.000,4,0.079,0.031,2161,1050,3974
$GC,6671,-1.16,-121.7,842.1,-13.1,661,6675,0.00,2.28,0.00,0.000,6,0.000,0.040,2158,2531,3974
$GC,6998,-1.10,-121.7,885.6,-13.7,677,7000,0.12,0.00,0.00,0.000,6,0.198,0.000,2186,2531,3972
$GC,7307,-1.15,-121.7,923.7,-12.3,692,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2531,3969
$GC,7617,-1.22,-121.7,960.4,-11.6,707,7621,0.00,2.20,0.00,0.000,4,0.000,0.031,2186,1065,3968
$GC,7663,-1.31,-121.7,965.9,-11.9,709,7668,0.17,2.25,0.00,0.000,6,0.080,0.041,2118,2515,3968
$STATE,7842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7842,begin apogee
$GC,7848,-0.22,0.0,992.4,14.8,718,7946,1.25,0.00,88.75,1.420,6,0.186,0.000,2468,2516,3532
$STATE,7946,end apogee,CONTROL_FINISHED_OK
$STATE,7946,begin climb
$GC,7949,1.18,121.7,996.2,0.0,723,8057,1.25,2.15,101.03,1.377,4,0.054,0.053,2925,3758,3035
$GC,8092,0.38,121.7,995.3,12.2,729,8098,1.05,1.92,0.00,0.000,6,0.219,0.029,2677,2524,3033
$GC,8409,0.60,193.4,970.9,7.3,744,8472,0.17,0.00,58.12,1.356,6,0.082,0.000,2746,2523,2743
$GC,8779,0.61,197.3,927.4,11.7,762,8788,0.00,2.17,3.90,0.828,4,0.000,0.035,2746,1120,2727
$GC,8857,0.68,204.6,918.4,11.5,765,8872,0.00,2.12,8.00,1.144,6,0.000,0.038,2746,2483,2697
$GC,9200,0.68,204.6,877.8,12.3,782,9203,0.00,2.10,0.00,0.000,4,0.000,0.035,2746,1105,2694
$GC,9278,0.75,204.6,868.3,12.6,785,9283,0.12,2.12,0.00,0.000,6,0.088,0.039,2792,2476,2694
$GC,9594,0.63,204.6,824.7,13.4,800,9596,0.17,0.00,0.00,0.000,6,0.189,0.000,2749,2477,2693
$GC,9903,0.65,215.3,789.4,11.3,815,9917,0.00,2.10,9.35,1.170,4,0.000,0.035,2755,1103,2654
$GC,9948,0.73,230.0,784.4,11.0,817,9970,0.00,2.15,13.82,1.213,6,0.000,0.040,2755,2480,2593
$GC,10279,0.81,246.7,747.2,10.9,833,10301,0.15,2.08,14.00,1.203,4,0.083,0.055,2810,3754,2525
$GC,10358,0.57,246.7,735.6,15.5,836,10362,0.35,1.98,0.00,0.000,6,0.191,0.030,2728,2444,2524
$GC,10679,0.78,285.3,705.6,9.5,852,10721,0.17,2.12,32.47,1.226,4,0.080,0.035,2802,1110,2367
$GC,10784,0.78,285.3,691.0,15.0,856,10790,0.00,2.15,0.00,0.000,6,0.000,0.039,2802,2469,2365
$GC,11101,0.78,285.3,636.3,18.9,872,11105,0.00,2.08,0.00,0.000,4,0.000,0.036,2802,1117,2361
$GC,11162,0.78,285.3,624.2,18.6,874,11170,0.00,2.08,0.00,0.000,6,0.000,0.039,2802,2454,2361
$GC,11478,0.78,285.3,571.2,14.8,890,11482,0.00,2.05,0.00,0.000,4,0.000,0.036,2802,1112,2360
$GC,11550,0.78,285.3,561.6,12.5,893,11554,0.00,2.08,0.00,0.000,6,0.000,0.039,2802,2455,2360
$GC,11877,0.78,285.3,521.3,12.4,909,11881,0.00,2.08,0.00,0.000,4,0.000,0.057,2802,3768,2359
$GC,11933,0.68,285.3,513.0,15.6,911,11938,0.17,1.95,0.00,0.000,6,0.186,0.030,2767,2470,2360
$GC,12263,0.82,285.3,473.5,12.6,937,12267,0.12,2.03,0.00,0.000,4,0.088,0.035,2814,1113,2358
$GC,12353,0.82,285.3,460.0,14.5,945,12357,0.00,2.10,0.00,0.000,6,0.000,0.040,2815,2471,2358
$GC,12686,0.82,285.3,414.4,13.0,976,12690,0.00,2.05,0.00,0.000,4,0.000,0.036,2818,1112,2358
$GC,12765,0.82,285.3,403.9,13.3,983,12770,0.00,2.10,0.00,0.000,6,0.000,0.040,2818,2474,2358
$GC,13095,0.82,285.3,361.7,12.4,1014,13099,0.00,2.05,0.00,0.000,4,0.000,0.034,2826,1109,2358
$GC,13118,0.82,285.3,358.7,12.6,1016,13122,0.00,2.08,0.00,0.000,6,0.000,0.039,2826,2465,2358
$GC,13451,0.82,285.3,314.6,13.3,1047,13454,0.00,2.03,0.00,0.000,4,0.000,0.056,2826,3760,2358
$GC,13474,0.73,285.3,311.0,14.1,1049,13478,0.20,1.95,0.00,0.000,6,0.189,0.030,2781,2458,2358
$GC,13811,0.92,314.6,276.5,10.1,1100,13841,0.17,2.03,22.58,0.891,4,0.076,0.034,2863,1104,2247
$GC,13921,0.92,314.6,261.7,13.6,1119,13927,0.00,2.10,0.00,0.000,6,0.000,0.038,2863,2464,2246
$GC,14265,0.87,314.6,217.5,12.2,1180,14272,0.15,2.05,0.00,0.000,4,0.184,0.031,2831,1102,2245
$GC,14340,1.00,331.9,209.3,10.9,1193,14360,0.10,2.03,14.40,0.804,6,0.092,0.036,2870,2434,2179
$GC,14699,1.00,331.9,164.4,12.0,1256,14705,0.00,2.00,0.00,0.000,4,0.000,0.032,2877,1096,2176
$GC,14779,1.01,341.9,155.3,11.3,1270,14793,0.00,1.95,9.25,0.711,6,0.000,0.035,2877,2385,2138
$GC,15130,1.02,350.7,112.8,11.4,1332,15148,0.00,2.22,8.50,0.663,4,0.000,0.051,2876,3770,2101
$GC,15155,1.02,350.7,109.7,12.1,1336,15161,0.00,2.08,0.00,0.000,6,0.000,0.026,2887,2358,2101
$GC,15499,1.17,392.2,74.1,9.3,1397,15540,0.00,2.28,32.67,0.687,4,0.000,0.050,2887,3755,1932
$GC,15665,1.27,423.0,57.0,10.0,1426,15697,0.15,2.15,24.73,0.654,6,0.083,0.025,2952,2291,1806
$GC,16039,1.27,428.0,11.1,11.7,1491,16051,0.00,2.35,4.82,0.472,4,0.000,0.049,2952,3770,1787
$STATE,16089,end climb,SURFACE_DEPTH_REACHED
$STATE,16089,begin surface coast
$FINISH,1.6,1.014156
$STATE,16107,end surface coast,CONTROL_FINISHED_OK
$STATE,16107,begin surface
$SM_CCo,16187,0.00,0.000,0,0,1783,428.78
$SM_GC,2.75,7.47,0.00,0.00,0.051,0.000,0.000,142,2389,1783,-7.50,-1.07,428.78
$IRIDIUM_FIX,2453.69,12327.55,180998,010148
$TT8_MAMPS,0.028379
$HUMID,1571
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.7,37.145
$10V_AH,10.8,21.178
$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,25.800,147.100,446.400,0.000,0.000,30.564,41.002,249.956,8.000,0.000,0.000,13.203,2679.649,10129.232,580.754,2607.552,634.666,0.000,1912.383,0.000,2544.620,0.000,54.428,0.000
$DEVICE_MAMPS,241.605,57.525,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.535,1038.880,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82073,1503
$CAP_FILE_SIZE,169809,0
$CFSIZE,260165632,209022976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200, 44.4,1
$GPS,240609,105525,2502.610,12328.506,39,1.9,39,-3.7