version: 66.04
glider: 167
mission: 2
dive: 237
start: 6 29 109 21 17 30
data:
$ID,167
$MISSION,2
$DIVE,237
$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,-9770.3047
$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,57
$R_STBD_OVSHOOT,42
$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
$GPS1,210706,2502.808,12339.709,33,1.2,34,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-65.8
$GPS2,211708,2502.868,12339.744,12,1.4,12,-3.7
$SPEED_LIMITS,0.208,0.252
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,332.4,82881,-23.2,-12.000
$D_GRID,2071
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-121.7,0.0,0.0,0,49,0.00,0.00,-30.33,0.000,2,0.000,0.000,140,2450,2475
$GC,52,-1.18,-121.7,3.3,-2.7,5,111,8.38,2.12,-43.88,0.000,4,0.242,0.038,2158,1011,3988
$GC,215,-0.63,-121.7,39.3,-28.2,33,222,0.68,2.12,0.00,0.000,6,0.177,0.032,2339,2430,3989
$GC,560,-0.77,-121.7,93.5,-12.4,94,567,0.12,2.03,0.00,0.000,4,0.076,0.044,2276,3754,3990
$GC,764,-0.70,-121.7,126.6,-15.4,130,771,0.15,1.92,0.00,0.000,6,0.161,0.024,2316,2392,3990
$GC,1109,-0.87,-121.7,167.7,-10.2,191,1116,0.15,2.10,0.00,0.000,4,0.068,0.044,2246,3754,3992
$GC,1168,-0.76,-121.7,175.4,-15.0,201,1174,0.20,1.83,0.00,0.000,6,0.150,0.023,2303,2449,3992
$GC,1513,-0.97,-121.7,211.5,-10.4,262,1519,0.17,2.03,0.00,0.000,4,0.066,0.044,2218,3765,3993
$GC,1689,-0.86,-121.7,235.8,-12.5,293,1695,0.17,1.83,0.00,0.000,6,0.156,0.025,2266,2468,3993
$GC,2034,-1.02,-121.7,272.9,-10.1,354,2040,0.15,1.98,0.00,0.000,4,0.071,0.044,2193,3754,3993
$GC,2108,-0.89,-121.7,283.6,-14.3,367,2114,0.22,1.77,0.00,0.000,6,0.159,0.025,2256,2491,3993
$GC,2448,-1.06,-121.7,320.0,-10.5,412,2452,0.15,1.95,0.00,0.000,4,0.067,0.046,2191,3756,3993
$GC,2628,-0.96,-121.7,344.2,-13.3,428,2632,0.15,1.75,0.00,0.000,6,0.165,0.025,2230,2517,3993
$GC,2958,-1.05,-121.7,382.4,-12.1,459,2962,0.00,1.92,0.00,0.000,4,0.000,0.048,2223,3766,3993
$GC,3087,-1.10,-121.7,399.1,-13.3,470,3093,0.00,1.73,0.00,0.000,6,0.000,0.025,2223,2545,3993
$GC,3413,-1.19,-121.7,438.0,-10.9,501,3417,0.17,1.88,0.00,0.000,4,0.068,0.048,2151,3753,3992
$GC,3496,-0.98,-121.7,449.6,-14.4,508,3505,0.28,1.70,0.00,0.000,6,0.166,0.026,2226,2558,3992
$GC,3821,-1.10,-121.7,486.5,-12.3,539,3825,0.12,1.88,0.00,0.000,4,0.078,0.049,2176,3761,3991
$GC,4002,-1.00,-121.7,513.1,-13.4,551,4006,0.17,1.70,0.00,0.000,6,0.169,0.028,2222,2581,3989
$GC,4336,-1.12,-121.7,548.2,-10.2,567,4341,0.12,1.83,0.00,0.000,4,0.078,0.049,2166,3753,3987
$GC,4398,-0.99,-121.7,556.7,-14.2,569,4404,0.22,1.67,0.00,0.000,6,0.166,0.028,2226,2585,3986
$GC,4715,-1.14,-121.7,590.2,-10.5,585,4719,0.15,1.83,0.00,0.000,4,0.074,0.051,2166,3751,3985
$GC,4783,-1.03,-121.7,599.1,-13.5,588,4787,0.17,1.65,0.00,0.000,6,0.174,0.028,2210,2611,3984
$GC,5116,-1.13,-121.7,633.8,-9.9,604,5120,0.00,1.80,0.00,0.000,4,0.000,0.051,2205,3744,3982
$GC,5222,-1.20,-121.7,645.8,-11.4,608,5230,0.12,1.62,0.00,0.000,6,0.082,0.028,2156,2616,3980
$GC,5538,-1.09,-121.7,687.5,-13.8,624,5540,0.15,0.00,0.00,0.000,6,0.178,0.000,2193,2616,3978
$GC,5848,-1.09,-121.7,724.2,-11.6,639,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2616,3975
$GC,6157,-1.14,-121.7,757.9,-10.5,654,6161,0.00,1.80,0.00,0.000,4,0.000,0.056,2192,3755,3973
$GC,6203,-1.14,-121.7,763.2,-11.8,656,6206,0.00,1.65,0.00,0.000,6,0.000,0.030,2192,2626,3972
$GC,6536,-1.19,-121.7,797.2,-10.4,672,6540,0.00,1.80,0.00,0.000,4,0.000,0.056,2191,3745,3970
$GC,6695,-1.19,-121.7,813.6,-11.0,679,6699,0.00,1.62,0.00,0.000,6,0.000,0.031,2192,2636,3969
$GC,7028,-1.24,-121.7,849.8,-11.4,695,7030,0.15,0.00,0.00,0.000,6,0.084,0.000,2136,2635,3966
$GC,7337,-1.10,-121.7,894.2,-14.1,710,7339,0.20,0.00,0.00,0.000,6,0.186,0.000,2186,2635,3965
$GC,7647,-1.15,-121.7,929.9,-11.4,725,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2635,3963
$GC,7956,-1.20,-121.7,963.6,-10.3,740,7959,0.00,1.77,0.00,0.000,4,0.000,0.056,2180,3753,3961
$GC,7989,-1.20,-121.7,967.4,-11.5,741,7992,0.00,1.65,0.00,0.000,6,0.000,0.031,2179,2657,3961
$STATE,8225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8225,begin apogee
$GC,8232,-0.22,0.0,991.9,10.0,753,8328,0.98,0.00,87.82,1.417,6,0.165,0.000,2464,2552,3531
$STATE,8328,end apogee,CONTROL_FINISHED_OK
$STATE,8329,begin climb
$GC,8331,1.18,121.7,994.7,0.0,758,8441,1.30,2.38,102.00,1.373,4,0.056,0.032,2937,1101,3035
$GC,8510,0.59,121.7,989.6,13.0,766,8516,0.80,2.25,0.00,0.000,6,0.212,0.037,2738,2506,3033
$GC,8826,0.57,163.8,959.3,9.2,781,8869,0.00,2.28,34.45,1.335,4,0.000,0.033,2746,1101,2863
$GC,8893,0.60,184.2,952.6,10.7,784,8915,0.00,2.22,17.73,1.268,6,0.000,0.037,2745,2501,2781
$GC,9224,0.62,198.4,914.9,11.1,800,9245,0.00,2.22,12.40,1.232,4,0.000,0.033,2746,1101,2723
$GC,9370,0.71,220.1,898.8,10.6,806,9395,0.00,2.17,19.80,1.282,6,0.000,0.037,2746,2497,2634
$GC,9714,0.77,220.7,857.9,12.0,823,9718,0.12,2.15,0.00,0.000,4,0.085,0.031,2797,1085,2628
$GC,9763,0.72,220.7,850.9,14.4,825,9767,0.00,2.20,0.00,0.000,6,0.000,0.038,2797,2501,2628
$GC,10079,0.61,220.7,809.9,12.7,840,10084,0.20,2.15,0.00,0.000,4,0.187,0.032,2746,1085,2627
$GC,10198,0.76,247.0,797.8,10.3,845,10225,0.12,2.15,21.55,1.260,6,0.089,0.038,2792,2482,2524
$GC,10537,0.76,247.0,754.0,13.5,861,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2482,2520
$GC,10844,0.76,247.0,710.3,14.2,876,10848,0.00,2.10,0.00,0.000,4,0.000,0.033,2799,1093,2518
$GC,10894,0.76,247.0,703.2,14.4,878,10898,0.00,2.12,0.00,0.000,6,0.000,0.037,2799,2472,2518
$GC,11221,0.70,247.0,657.9,13.3,894,11225,0.00,2.08,0.00,0.000,4,0.000,0.034,2805,1098,2517
$GC,11407,0.70,247.0,633.2,13.3,902,11412,0.12,2.10,0.00,0.000,6,0.184,0.037,2776,2468,2517
$GC,11729,0.71,252.0,593.9,11.7,918,11738,0.00,2.08,4.45,0.841,4,0.000,0.033,2783,1094,2503
$GC,11784,0.80,255.8,587.0,11.8,920,11795,0.00,2.10,4.75,0.859,6,0.000,0.036,2783,2465,2489
$GC,12104,0.80,255.8,548.4,12.6,936,12108,0.00,2.08,0.00,0.000,4,0.000,0.033,2789,1086,2488
$GC,12142,0.87,255.8,543.4,12.5,937,12150,0.10,2.10,0.00,0.000,6,0.094,0.038,2826,2454,2487
$GC,12458,0.78,255.8,498.7,13.8,953,12462,0.12,2.05,0.00,0.000,4,0.180,0.031,2803,1098,2487
$GC,12492,0.78,255.8,494.1,12.3,956,12495,0.00,2.08,0.00,0.000,6,0.000,0.037,2804,2451,2487
$GC,12824,0.79,269.6,454.7,11.1,987,12845,0.00,2.12,12.68,1.004,4,0.000,0.034,2808,1086,2431
$GC,12908,0.87,294.8,445.0,10.3,994,12935,0.00,2.08,21.75,1.019,6,0.000,0.037,2808,2439,2329
$GC,13253,0.89,307.1,405.4,11.2,1027,13269,0.00,2.05,10.90,0.933,4,0.000,0.031,2813,1092,2279
$GC,13360,1.00,312.7,393.2,11.6,1036,13372,0.15,2.08,5.80,0.798,6,0.082,0.035,2871,2436,2257
$GC,13690,0.89,312.7,343.6,15.0,1067,13695,0.15,2.03,0.00,0.000,4,0.189,0.028,2842,1091,2255
$GC,13725,0.89,312.7,338.7,13.8,1070,13729,0.00,2.05,0.00,0.000,6,0.000,0.035,2842,2422,2254
$GC,14051,0.89,312.7,293.4,14.4,1104,14057,0.00,2.00,0.00,0.000,4,0.000,0.031,2846,1083,2254
$GC,14103,0.89,312.7,286.2,13.5,1113,14110,0.00,2.05,0.00,0.000,6,0.000,0.035,2846,2426,2254
$GC,14448,0.89,314.8,247.7,11.9,1174,14454,0.00,2.00,0.00,0.000,4,0.000,0.031,2846,1084,2255
$GC,14540,0.97,314.8,236.5,12.6,1190,14546,0.00,2.00,0.00,0.000,6,0.000,0.035,2846,2410,2254
$GC,14884,1.11,369.8,199.6,8.4,1251,14937,0.15,2.03,45.22,0.813,4,0.076,0.031,2913,1087,2023
$GC,14950,1.06,369.8,191.6,13.2,1262,14956,0.00,2.08,0.00,0.000,6,0.000,0.035,2913,2424,2021
$GC,15294,1.06,369.8,145.5,12.9,1323,15300,0.00,2.00,0.00,0.000,4,0.000,0.030,2920,1085,2017
$GC,15497,1.13,372.4,118.9,11.8,1359,15503,0.00,2.00,0.00,0.000,6,0.000,0.035,2920,2408,2016
$GC,15842,1.14,386.8,81.0,11.1,1420,15861,0.00,2.10,13.55,0.655,4,0.000,0.049,2920,3763,1955
$GC,15907,1.08,386.8,73.0,12.3,1431,15914,0.12,2.03,0.00,0.000,6,0.188,0.025,2896,2379,1953
$GC,16252,1.39,457.3,42.1,7.3,1492,16313,0.22,2.00,55.47,0.639,4,0.067,0.031,2999,1080,1666
$GC,16516,1.39,457.3,7.4,15.9,1538,16522,0.00,1.98,0.00,0.000,6,0.000,0.032,2999,2388,1660
$STATE,16548,end climb,SURFACE_DEPTH_REACHED
$STATE,16548,begin surface coast
$FINISH,1.8,1.000073
$STATE,16572,end surface coast,CONTROL_FINISHED_OK
$STATE,16572,begin surface
$SM_CCo,16650,0.00,0.000,0,0,1656,460.18
$SM_GC,2.89,7.68,0.00,0.00,0.054,0.000,0.000,143,2398,1656,-7.49,-0.82,460.18
$IRIDIUM_FIX,2456.07,12342.72,230998,212105
$TT8_MAMPS,0.028379
$HUMID,1559
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.7,41.987
$10V_AH,10.8,23.825
$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,25.100,134.725,470.325,0.000,0.000,51.732,86.204,260.708,8.000,0.000,0.000,13.044,2735.522,10450.452,598.868,2721.994,736.107,0.000,1976.329,0.000,2668.330,0.000,56.413,0.000
$DEVICE_MAMPS,242.372,59.826,1416.649,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.784,1069.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82022,1548
$CAP_FILE_SIZE,172779,0
$CFSIZE,260165632,206532608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,112.3,1
$GPS,300609,015627,2504.617,12339.785,32,2.2,52,-3.7