version: 66.04
glider: 167
mission: 2
dive: 212
start: 6 25 109 0 51 31
data:
$ID,167
$MISSION,2
$DIVE,212
$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,-9243.8711
$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,65
$R_STBD_OVSHOOT,33
$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
$GPS1,004455,2459.444,12330.686,41,1.4,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-65.8
$GPS2,005108,2459.500,12330.853,12,1.9,12,-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,177.4,41722,-23.2,-12.000
$D_GRID,2105
$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,14,-1.18,-121.7,0.0,0.0,0,40,0.00,0.00,-23.42,0.000,2,0.000,0.000,143,2391,2387
$GC,43,-1.18,-121.7,3.2,-2.6,4,106,8.40,0.00,-50.55,0.000,6,0.246,0.000,2153,2391,3990
$GC,444,-0.74,-121.7,102.8,-23.7,74,450,0.50,2.12,0.00,0.000,4,0.173,0.046,2292,3764,3992
$GC,648,-0.86,-121.7,136.6,-14.4,110,654,0.00,1.95,0.00,0.000,6,0.000,0.025,2292,2396,3993
$GC,992,-1.07,-121.7,177.6,-9.2,171,998,0.22,2.12,0.00,0.000,4,0.061,0.047,2190,3765,3995
$GC,1158,-0.87,-121.7,202.3,-15.5,200,1166,0.25,1.92,0.00,0.000,6,0.159,0.024,2261,2410,3995
$GC,1505,-1.00,-121.7,241.1,-11.9,261,1512,0.12,2.10,0.00,0.000,4,0.078,0.046,2205,3766,3997
$GC,1592,-0.93,-121.7,253.6,-14.3,276,1599,0.15,1.88,0.00,0.000,6,0.159,0.025,2245,2442,3996
$GC,1938,-1.04,-121.7,297.0,-13.0,337,1944,0.12,2.05,0.00,0.000,4,0.077,0.047,2192,3767,3997
$GC,2080,-0.93,-121.7,318.9,-14.9,351,2087,0.20,1.85,0.00,0.000,6,0.160,0.025,2246,2465,3997
$GC,2405,-1.07,-121.7,353.0,-8.6,382,2407,0.15,0.00,0.00,0.000,6,0.073,0.000,2183,2465,3997
$GC,2725,-1.02,-121.7,394.3,-13.5,412,2729,0.12,2.05,0.00,0.000,4,0.170,0.028,2213,1058,3997
$GC,2760,-1.09,-121.7,399.1,-12.9,415,2764,0.00,2.12,0.00,0.000,6,0.000,0.034,2211,2467,3997
$GC,3090,-1.13,-121.7,443.5,-13.0,446,3094,0.00,1.98,0.00,0.000,4,0.000,0.050,2207,3757,3996
$GC,3196,-1.13,-121.7,457.6,-13.1,455,3202,0.00,1.88,0.00,0.000,6,0.000,0.026,2207,2464,3996
$GC,3522,-1.19,-121.7,492.8,-10.2,486,3526,0.12,2.03,0.00,0.000,4,0.082,0.048,2152,3765,3995
$GC,3596,-1.01,-121.7,502.3,-14.7,492,3600,0.25,1.85,0.00,0.000,6,0.166,0.026,2220,2473,3995
$GC,3924,-1.13,-121.7,537.2,-11.0,508,3928,0.12,2.00,0.00,0.000,4,0.081,0.049,2166,3754,3993
$GC,3980,-1.03,-121.7,545.1,-14.2,510,3984,0.17,1.83,0.00,0.000,6,0.171,0.028,2211,2488,3993
$GC,4303,-1.13,-121.7,580.5,-10.6,526,4307,0.00,2.00,0.00,0.000,4,0.000,0.052,2207,3766,3992
$GC,4342,-1.20,-121.7,584.9,-10.9,527,4348,0.15,1.85,0.00,0.000,6,0.080,0.028,2149,2486,3991
$GC,4657,-1.07,-121.7,628.9,-14.3,543,4661,0.20,2.00,0.00,0.000,4,0.173,0.051,2205,3757,3989
$GC,4805,-1.14,-121.7,648.3,-13.2,549,4808,0.00,1.80,0.00,0.000,6,0.000,0.030,2205,2517,3988
$GC,5126,-1.24,-121.7,690.3,-12.5,565,5130,0.17,1.95,0.00,0.000,4,0.074,0.053,2124,3754,3986
$GC,5177,-1.02,-121.7,698.4,-17.1,567,5181,0.32,1.80,0.00,0.000,6,0.179,0.030,2211,2517,3985
$GC,5505,-1.15,-121.7,737.5,-11.3,583,5507,0.12,0.00,0.00,0.000,6,0.084,0.000,2164,2517,3983
$GC,5813,-1.11,-121.7,780.3,-13.9,598,5817,0.00,1.95,0.00,0.000,4,0.000,0.055,2162,3751,3981
$GC,5869,-1.03,-121.7,788.8,-15.2,600,5873,0.17,1.77,0.00,0.000,6,0.175,0.031,2207,2537,3980
$GC,6189,-1.16,-121.7,830.1,-13.1,616,6194,0.12,2.20,0.00,0.000,4,0.083,0.031,2161,1045,3979
$GC,6216,-1.16,-121.7,834.1,-14.9,617,6220,0.00,2.30,0.00,0.000,6,0.000,0.040,2153,2542,3978
$GC,6538,-1.08,-121.7,883.0,-14.7,633,6540,0.17,0.00,0.00,0.000,6,0.188,0.000,2196,2543,3976
$GC,6847,-1.18,-121.7,918.0,-10.9,648,6851,0.00,2.22,0.00,0.000,4,0.000,0.031,2196,1056,3974
$GC,6871,-1.29,-121.7,920.5,-11.2,649,6876,0.20,2.30,0.00,0.000,6,0.081,0.041,2124,2539,3974
$GC,7200,-1.13,-121.7,966.9,-14.4,665,7201,0.20,0.00,0.00,0.000,6,0.196,0.000,2173,2540,3972
$STATE,7401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7401,begin apogee
$GC,7407,-0.22,0.0,990.9,11.4,675,7504,1.00,0.00,89.43,1.416,6,0.170,0.000,2466,2540,3532
$STATE,7504,end apogee,CONTROL_FINISHED_OK
$STATE,7504,begin climb
$GC,7507,1.18,121.7,994.4,0.0,680,7619,1.27,2.12,101.35,1.373,4,0.058,0.055,2926,3758,3034
$GC,7655,0.39,127.3,994.1,11.6,686,7667,1.05,1.95,6.20,1.039,6,0.220,0.030,2678,2512,3011
$GC,7977,0.62,199.9,969.1,7.2,702,8039,0.20,0.00,59.30,1.355,6,0.081,0.000,2750,2512,2716
$GC,8345,0.63,206.5,926.6,11.6,720,8355,0.00,2.15,6.12,1.056,4,0.000,0.034,2755,1101,2690
$GC,8384,0.63,208.9,922.0,11.8,722,8393,0.00,2.20,3.97,0.830,6,0.000,0.038,2755,2502,2679
$GC,8716,0.63,211.7,883.8,11.8,738,8720,0.00,2.12,0.00,0.000,4,0.000,0.035,2759,1109,2677
$GC,8789,0.65,224.0,875.2,11.2,741,8808,0.00,2.15,13.82,1.249,6,0.000,0.040,2759,2493,2617
$GC,9136,0.65,224.0,830.2,13.6,758,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2493,2614
$GC,9445,0.65,224.0,786.0,15.1,773,9449,0.00,2.10,0.00,0.000,4,0.000,0.036,2759,1109,2613
$GC,9491,0.70,224.0,779.5,13.6,775,9495,0.00,2.15,0.00,0.000,6,0.000,0.041,2759,2494,2612
$GC,9823,0.70,224.0,733.5,14.0,791,9827,0.00,2.10,0.00,0.000,4,0.000,0.036,2759,1109,2611
$GC,9947,0.77,232.5,718.4,11.4,796,9961,0.10,2.10,7.20,1.077,6,0.103,0.041,2795,2466,2584
$GC,10270,0.73,252.8,680.3,10.7,812,10292,0.00,0.00,17.15,1.187,6,0.000,0.000,2795,2466,2500
$GC,10601,0.68,252.8,641.5,12.1,828,10603,0.12,0.00,0.00,0.000,6,0.195,0.000,2767,2469,2497
$GC,10910,0.75,268.3,607.5,11.0,843,10929,0.00,0.00,13.50,1.118,6,0.000,0.000,2767,2469,2438
$GC,11239,0.86,282.9,570.4,11.0,859,11259,0.17,0.00,13.68,1.088,6,0.081,0.000,2829,2469,2377
$GC,11569,0.77,282.9,521.6,15.2,875,11573,0.15,2.08,0.00,0.000,4,0.183,0.035,2800,1115,2374
$GC,11614,0.77,282.9,515.2,12.8,877,11618,0.00,2.12,0.00,0.000,6,0.000,0.040,2800,2470,2374
$GC,11943,0.77,282.9,474.0,12.4,902,11947,0.00,2.08,0.00,0.000,4,0.000,0.035,2804,1102,2373
$GC,12005,0.85,282.9,465.9,12.9,907,12011,0.00,2.10,0.00,0.000,6,0.000,0.038,2803,2465,2373
$GC,12332,0.85,284.9,427.0,11.9,938,12336,0.00,2.05,0.00,0.000,4,0.000,0.035,2803,1109,2373
$GC,12445,0.91,284.9,413.5,12.1,948,12449,0.10,2.08,0.00,0.000,6,0.094,0.039,2841,2457,2373
$GC,12775,0.82,284.9,368.7,13.1,979,12779,0.12,2.03,0.00,0.000,4,0.181,0.032,2815,1112,2373
$GC,12869,0.85,303.4,357.6,10.8,987,12891,0.00,2.05,16.67,0.940,6,0.000,0.038,2815,2452,2295
$GC,13217,0.85,303.4,316.9,12.4,1020,13220,0.00,2.05,0.00,0.000,4,0.000,0.054,2815,3757,2294
$GC,13244,0.85,303.4,313.1,13.4,1022,13250,0.00,1.98,0.00,0.000,6,0.000,0.028,2824,2435,2293
$GC,13582,0.85,303.4,270.8,12.1,1073,13588,0.00,1.98,0.00,0.000,4,0.000,0.033,2831,1097,2293
$GC,13639,0.85,303.4,263.6,12.4,1083,13645,0.00,2.08,0.00,0.000,6,0.000,0.036,2831,2460,2293
$GC,13982,0.86,314.5,221.3,11.3,1144,14001,0.00,2.08,10.45,0.780,4,0.000,0.031,2836,1104,2248
$GC,14064,0.94,328.2,211.9,11.1,1158,14082,0.00,2.05,12.05,0.776,6,0.000,0.035,2836,2452,2193
$GC,14422,1.07,336.9,169.8,11.4,1221,14436,0.15,2.10,8.40,0.703,4,0.075,0.051,2897,3762,2157
$GC,14691,0.93,351.7,134.7,11.0,1268,14711,0.22,2.03,12.68,0.713,6,0.180,0.027,2847,2376,2098
$GC,15050,1.22,405.9,103.1,8.4,1331,15099,0.20,2.30,42.42,0.706,4,0.071,0.049,2930,3770,1876
$GC,15212,1.11,405.9,82.0,13.3,1359,15218,0.15,2.00,0.00,0.000,6,0.186,0.025,2903,2420,1872
$GC,15556,1.33,443.3,48.8,9.5,1420,15593,0.17,1.98,29.38,0.640,4,0.074,0.030,2987,1091,1723
$GC,15786,1.28,443.3,14.2,16.3,1460,15794,0.12,2.00,0.00,0.000,6,0.187,0.035,2960,2412,1719
$STATE,15865,end climb,SURFACE_DEPTH_REACHED
$STATE,15865,begin surface coast
$FINISH,1.8,1.021639
$STATE,15890,end surface coast,CONTROL_FINISHED_OK
$STATE,15890,begin surface
$SM_CCo,15967,0.00,0.000,0,0,1715,445.71
$SM_GC,2.68,7.43,0.00,0.00,0.045,0.000,0.000,140,2416,1715,-7.50,-0.31,445.71
$IRIDIUM_FIX,2453.69,12256.55,180998,202010
$TT8_MAMPS,0.029146
$HUMID,1543
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,23.7,37.797
$10V_AH,10.8,21.535
$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,25.525,118.200,463.775,0.000,0.000,30.387,33.809,176.239,8.000,0.000,0.000,12.232,2603.809,10095.389,584.045,2494.378,554.169,0.000,1844.496,0.000,2446.890,0.000,55.986,0.000
$DEVICE_MAMPS,246.207,55.224,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,998.374,1012.070,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78919,1478
$CAP_FILE_SIZE,159855,0
$CFSIZE,260165632,208691200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106, 74.0,1
$GPS,250609,051854,2457.871,12331.473,41,1.1,42,-3.7