version: 66.04
glider: 167
mission: 2
dive: 470
start: 8 7 109 15 48 3
data:
$ID,167
$MISSION,2
$DIVE,470
$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,-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,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-15179.395
$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,2383
$C_ROLL_CLIMB,2365
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,57
$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
$GPS1,153855,2447.146,12351.344,70,1.1,71,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-50.4
$GPS2,154712,2447.309,12351.641,16,1.8,33,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2431.900,12318.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.204,-0.158
$KALMAN_X,11863.0,1074.4,313.9,-12549.1,1366.5
$KALMAN_Y,11194.8,508.1,444.1,-2876.3,1519.9
$MHEAD_RNG_PITCHd_Wd,235.8,63007,-24.8,-13.043
$D_GRID,1922
$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,-1.49,-121.7,0.0,0.0,0,76,0.00,0.00,-57.40,0.000,2,0.000,0.000,142,2401,2643
$GC,81,-1.49,-121.7,3.3,-1.9,11,136,7.78,2.08,-40.58,0.000,4,0.228,0.036,2058,980,3988
$GC,160,-1.01,-121.7,13.9,-18.9,25,167,0.57,2.08,0.00,0.000,6,0.158,0.026,2214,2380,3989
$GC,506,-1.01,-121.7,57.6,-20.8,86,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2381,3989
$GC,851,-1.08,-121.7,103.3,-6.8,147,857,0.00,2.08,0.00,0.000,4,0.000,0.040,2205,3757,3990
$GC,966,-1.08,-121.7,119.1,-16.2,167,972,0.00,1.95,0.00,0.000,6,0.000,0.021,2205,2347,3990
$GC,1312,-1.32,-121.7,155.4,-11.6,228,1318,0.20,1.88,0.00,0.000,4,0.058,0.021,2111,1022,3991
$GC,1372,-1.08,-121.7,164.6,-15.5,238,1378,0.32,2.00,0.00,0.000,6,0.161,0.025,2195,2388,3992
$GC,1718,-1.29,-121.7,203.5,-10.9,299,1724,0.20,0.00,0.00,0.000,6,0.061,0.000,2108,2391,3993
$GC,2064,-1.11,-121.7,246.9,-14.2,360,2070,0.25,0.00,0.00,0.000,6,0.162,0.000,2181,2391,3993
$GC,2409,-1.29,-121.7,282.4,-8.6,421,2416,0.15,1.98,0.00,0.000,4,0.069,0.022,2120,1019,3994
$GC,2475,-1.14,-121.7,289.0,-10.6,432,2482,0.22,1.98,0.00,0.000,6,0.160,0.025,2172,2373,3994
$GC,2813,-1.30,-121.7,320.3,-8.8,473,2818,0.15,1.95,0.00,0.000,4,0.069,0.023,2110,1022,3994
$GC,2854,-1.20,-121.7,324.5,-10.7,476,2862,0.20,1.95,0.00,0.000,6,0.160,0.026,2157,2357,3993
$GC,3181,-1.38,-121.7,357.8,-10.7,507,3185,0.17,1.92,0.00,0.000,4,0.068,0.022,2085,1024,3993
$GC,3220,-1.16,-121.7,363.0,-13.5,510,3226,0.30,1.92,0.00,0.000,6,0.159,0.028,2168,2330,3994
$GC,3547,-1.34,-121.7,395.5,-8.9,541,3549,0.17,0.00,0.00,0.000,6,0.068,0.000,2095,2332,3994
$GC,3868,-1.34,-121.7,425.9,-10.6,571,3872,0.00,1.90,0.00,0.000,4,0.000,0.024,2095,1014,3993
$GC,3954,-1.19,-121.7,437.3,-13.0,578,3961,0.22,1.92,0.00,0.000,6,0.161,0.028,2155,2321,3993
$GC,4280,-1.40,-121.7,473.2,-10.5,609,4284,0.17,1.88,0.00,0.000,4,0.065,0.023,2077,1027,3992
$GC,4320,-1.21,-121.7,478.1,-12.5,612,4327,0.30,1.88,0.00,0.000,6,0.159,0.027,2154,2305,3992
$GC,4656,-1.40,-121.7,510.1,-8.8,639,4658,0.17,0.00,0.00,0.000,6,0.066,0.000,2082,2307,3991
$GC,4964,-1.30,-121.7,540.5,-9.9,654,4969,0.17,2.22,0.00,0.000,4,0.163,0.041,2124,3760,3990
$GC,5004,-1.24,-121.7,544.5,-9.8,656,5008,0.00,2.10,0.00,0.000,6,0.000,0.022,2124,2284,3990
$GC,5338,-1.34,-121.7,576.7,-10.0,672,5342,0.00,1.80,0.00,0.000,4,0.000,0.025,2124,1016,3989
$GC,5390,-1.34,-121.7,582.4,-10.9,674,5394,0.00,1.83,0.00,0.000,6,0.000,0.028,2124,2250,3988
$GC,5718,-1.47,-121.7,614.6,-9.3,690,5723,0.15,2.30,0.00,0.000,4,0.073,0.044,2054,3745,3985
$GC,5759,-1.17,-121.7,619.3,-13.1,692,5764,0.40,2.12,0.00,0.000,6,0.166,0.021,2166,2245,3985
$GC,6089,-1.45,-121.7,649.4,-9.1,708,6094,0.22,1.75,0.00,0.000,4,0.065,0.025,2071,1027,3983
$GC,6113,-1.45,-121.7,652.3,-10.8,709,6116,0.00,1.80,0.00,0.000,6,0.000,0.029,2070,2237,3982
$GC,6447,-1.31,-121.7,688.2,-10.3,725,6452,0.17,2.33,0.00,0.000,4,0.166,0.043,2113,3745,3980
$GC,6579,-1.24,-121.7,699.8,-8.6,730,6586,0.12,2.10,0.00,0.000,6,0.167,0.022,2143,2270,3979
$GC,6896,-1.44,-121.7,723.4,-8.0,746,6901,0.17,1.80,0.00,0.000,4,0.071,0.025,2066,1020,3977
$GC,6967,-1.28,-121.7,730.8,-11.2,749,6971,0.25,1.80,0.00,0.000,6,0.164,0.029,2128,2227,3976
$GC,7303,-1.45,-121.7,765.6,-11.0,765,7308,0.15,2.38,0.00,0.000,4,0.078,0.046,2070,3756,3974
$GC,7345,-1.22,-121.7,771.1,-13.7,767,7350,0.28,2.17,0.00,0.000,6,0.167,0.021,2145,2235,3974
$GC,7676,-1.43,-121.7,803.1,-8.8,783,7680,0.17,1.77,0.00,0.000,4,0.074,0.025,2070,1009,3972
$GC,7726,-1.24,-121.7,809.1,-11.9,785,7731,0.22,1.83,0.00,0.000,6,0.162,0.032,2146,2202,3971
$GC,8057,-1.47,-121.7,835.8,-8.0,801,8059,0.22,0.00,0.00,0.000,6,0.068,0.000,2059,2203,3969
$GC,8363,-1.29,-121.7,869.3,-11.1,816,8367,0.22,2.42,0.00,0.000,4,0.172,0.046,2114,3754,3967
$GC,8448,-1.21,-121.7,878.4,-10.4,820,8453,0.15,2.25,0.00,0.000,6,0.169,0.023,2152,2197,3967
$GC,8779,-1.47,-121.7,905.6,-8.5,836,8783,0.20,1.70,0.00,0.000,4,0.072,0.027,2068,1029,3965
$GC,8840,-1.31,-121.7,912.9,-11.6,838,8847,0.22,1.70,0.00,0.000,6,0.166,0.034,2123,2157,3965
$STATE,9133,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9133,begin apogee
$GC,9141,-0.27,0.0,942.2,10.0,853,9244,1.12,0.00,93.72,1.358,6,0.155,0.000,2456,2364,3532
$STATE,9244,end apogee,CONTROL_FINISHED_OK
$STATE,9245,begin climb
$GC,9248,1.49,121.7,948.7,0.0,858,9360,1.60,2.17,103.50,1.339,4,0.066,0.029,3030,1022,3035
$GC,9512,0.88,197.0,944.1,7.6,870,9583,0.77,2.10,62.33,1.319,6,0.209,0.035,2833,2377,2729
$GC,9900,0.81,244.9,909.4,9.6,889,9945,0.00,2.25,40.25,1.299,4,0.000,0.050,2832,3750,2533
$GC,10011,0.62,245.2,896.0,13.0,894,10016,0.32,2.00,0.00,0.000,6,0.185,0.023,2747,2417,2530
$GC,10339,0.94,285.7,864.0,10.1,910,10382,0.25,2.20,34.95,1.286,4,0.071,0.047,2848,3760,2366
$GC,10490,0.76,285.7,840.8,15.6,916,10497,0.25,1.92,0.00,0.000,6,0.184,0.024,2793,2461,2362
$GC,10808,0.93,324.6,805.5,10.3,932,10852,0.15,2.15,33.05,1.263,4,0.081,0.048,2848,3755,2206
$GC,10869,0.85,324.6,797.6,13.8,934,10876,0.15,1.90,0.00,0.000,6,0.190,0.024,2822,2480,2204
$GC,11187,0.94,342.5,760.5,11.8,950,11209,0.00,2.05,16.00,1.193,4,0.000,0.048,2822,3750,2134
$GC,11255,0.94,342.5,751.3,13.7,953,11259,0.00,1.85,0.00,0.000,6,0.000,0.025,2828,2497,2131
$GC,11588,1.03,342.7,709.2,13.0,969,11593,0.15,2.20,0.00,0.000,4,0.082,0.030,2891,1024,2129
$GC,11675,0.98,342.7,696.7,14.0,973,11679,0.12,2.17,0.00,0.000,6,0.186,0.033,2862,2444,2129
$GC,12001,0.98,345.6,653.4,12.8,989,12005,0.00,2.05,0.00,0.000,4,0.000,0.050,2862,3758,2128
$GC,12116,0.88,345.6,638.0,14.2,994,12120,0.15,1.83,0.00,0.000,6,0.186,0.025,2831,2498,2127
$GC,12449,1.17,383.2,602.9,10.3,1010,12490,0.25,2.33,34.22,1.160,4,0.067,0.031,2937,1018,1969
$GC,12519,1.05,383.2,592.7,15.3,1013,12524,0.20,2.28,0.00,0.000,6,0.183,0.034,2887,2471,1965
$GC,12840,1.05,383.2,544.8,15.1,1029,12844,0.00,2.20,0.00,0.000,4,0.000,0.029,2895,1025,1961
$GC,12879,1.05,383.2,538.8,14.7,1030,12885,0.00,2.22,0.00,0.000,6,0.000,0.033,2895,2471,1961
$GC,13197,1.07,401.5,497.9,11.7,1046,13219,0.00,2.22,15.98,1.048,4,0.000,0.031,2902,1021,1893
$GC,13259,1.07,403.8,489.7,12.9,1051,13265,0.00,2.20,0.00,0.000,6,0.000,0.033,2902,2444,1892
$GC,13587,1.07,403.8,446.4,13.4,1082,13591,0.00,2.05,0.00,0.000,4,0.000,0.051,2902,3751,1890
$GC,13683,1.01,403.8,432.5,13.9,1090,13689,0.17,1.77,0.00,0.000,6,0.176,0.024,2865,2515,1889
$GC,14009,1.33,442.6,398.4,10.3,1121,14051,0.28,0.00,35.15,1.002,6,0.064,0.000,2978,2513,1726
$GC,14371,1.18,442.6,345.2,15.7,1155,14376,0.20,2.25,0.00,0.000,4,0.184,0.029,2933,1013,1720
$GC,14467,1.18,442.6,331.1,13.5,1163,14470,0.00,2.12,0.00,0.000,6,0.000,0.030,2933,2417,1720
$GC,14798,1.26,450.1,286.6,12.5,1203,14810,0.00,2.10,6.45,0.765,4,0.000,0.027,2940,1012,1698
$GC,14874,1.34,469.5,277.5,11.7,1216,14897,0.00,2.08,18.00,0.868,6,0.000,0.028,2940,2387,1617
$GC,15239,1.49,479.4,229.4,12.3,1280,15257,0.20,2.10,9.30,0.771,4,0.067,0.028,3032,1023,1577
$GC,15316,1.28,479.4,218.6,14.0,1293,15323,0.28,2.15,0.00,0.000,6,0.173,0.031,2960,2442,1575
$GC,15663,1.46,489.3,170.6,12.3,1354,15681,0.15,2.17,9.62,0.728,4,0.075,0.028,3025,1013,1536
$GC,15733,1.32,489.3,161.3,13.4,1366,15739,0.20,2.10,0.00,0.000,6,0.171,0.029,2974,2410,1535
$GC,16082,1.46,513.2,112.7,11.3,1427,16112,0.12,2.05,21.42,0.727,4,0.079,0.027,3028,1020,1438
$GC,16249,1.47,523.1,90.5,12.3,1456,16266,0.00,2.17,9.57,0.651,6,0.000,0.028,3028,2464,1398
$GC,16605,1.47,526.5,46.1,12.8,1519,16617,0.00,2.03,4.20,0.472,4,0.000,0.044,3028,3755,1383
$GC,16738,1.52,564.4,28.2,10.3,1542,16777,0.00,1.80,31.85,0.644,6,0.000,0.021,3038,2480,1230
$STATE,16885,end climb,SURFACE_DEPTH_REACHED
$STATE,16885,begin surface coast
$FINISH,1.6,1.021881
$STATE,16907,end surface coast,CONTROL_FINISHED_OK
$STATE,16907,begin surface
$SM_CCo,16986,0.00,0.000,0,0,1223,566.40
$SM_GC,2.44,8.40,0.00,0.00,0.089,0.000,0.000,139,2478,1223,-7.50,2.69,566.40
$IRIDIUM_FIX,2437.06,12351.28,011198,101051
$TT8_MAMPS,0.029146
$HUMID,1719
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.80
$XPDR_PINGS,4
$24V_AH,23.0,81.198
$10V_AH,10.6,43.464
$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,30.600,143.025,579.575,0.000,0.000,26.147,39.628,239.526,8.500,0.000,0.000,33.175,2574.829,10619.203,689.455,2784.645,794.328,33.344,2136.965,0.000,2710.158,0.000,54.513,0.000
$DEVICE_MAMPS,227.799,53.690,1358.357,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.667,1085.109,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85267,1572
$CAP_FILE_SIZE,182548,0
$CFSIZE,260165632,188362752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070809,203236,2447.758,12352.149,38,1.1,50,-3.6