version: 66.04
glider: 167
mission: 2
dive: 515
start: 8 18 109 1 20 6
data:
$ID,167
$MISSION,2
$DIVE,515
$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,250
$T_MISSION,300
$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,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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19261.762
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2580
$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,53
$R_STBD_OVSHOOT,41
$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
$GPS1,011301,2454.929,12216.425,39,1.4,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-72.4
$GPS2,011944,2454.884,12216.447,16,1.4,16,-3.5
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_2
$TGT_LATLONG,2445.100,12247.000
$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,93.8,54486,-25.0,-13.200
$D_GRID,1030
$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,-1.50,-121.7,0.0,0.0,0,35,0.00,0.00,-16.62,0.000,2,0.000,0.000,136,2396,1985
$GC,39,-1.50,-121.7,3.0,-1.6,3,125,8.35,2.20,-67.85,0.000,4,0.242,0.042,2094,971,3990
$GC,352,-1.04,-121.7,83.9,-24.2,57,359,0.57,2.12,0.00,0.000,6,0.177,0.028,2239,2390,3993
$GC,700,-0.94,-121.7,147.0,-18.2,118,707,0.12,2.12,0.00,0.000,4,0.182,0.046,2263,3750,3997
$GC,788,-0.94,-121.7,162.0,-16.1,133,795,0.00,2.03,0.00,0.000,6,0.000,0.024,2263,2341,3997
$GC,1133,-0.94,-121.7,215.7,-15.4,194,1139,0.00,2.22,0.00,0.000,4,0.000,0.048,2261,3750,3996
$GC,1225,-0.94,-121.7,229.6,-14.8,210,1231,0.00,1.95,0.00,0.000,6,0.000,0.025,2261,2385,3997
$GC,1573,-1.06,-121.7,273.9,-12.9,271,1580,0.00,2.15,0.00,0.000,4,0.000,0.049,2258,3743,3997
$GC,1836,-1.06,-121.7,314.6,-15.8,310,1839,0.00,1.85,0.00,0.000,6,0.000,0.027,2258,2457,3997
$GC,2167,-1.15,-121.7,357.2,-14.1,341,2169,0.15,0.00,0.00,0.000,6,0.075,0.000,2196,2455,3997
$GC,2485,-1.04,-121.7,412.4,-17.1,371,2489,0.17,2.05,0.00,0.000,4,0.179,0.049,2232,3753,3997
$GC,2546,-1.04,-121.7,422.1,-14.1,376,2553,0.00,1.88,0.00,0.000,6,0.000,0.028,2233,2459,3997
$GC,2872,-1.10,-121.7,465.6,-14.8,407,2875,0.00,2.05,0.00,0.000,4,0.000,0.053,2232,3743,3995
$GC,2962,-1.10,-121.7,480.6,-16.6,415,2965,0.00,1.83,0.00,0.000,6,0.000,0.028,2232,2491,3995
$GC,3302,-1.16,-121.7,530.6,-14.5,437,3305,0.00,2.00,0.00,0.000,4,0.000,0.052,2226,3746,3993
$GC,3397,-1.16,-121.7,547.0,-15.9,441,3401,0.00,1.83,0.00,0.000,6,0.000,0.028,2226,2494,3993
$GC,3725,-1.16,-121.7,595.4,-15.5,457,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2494,3991
$GC,4034,-1.24,-121.7,636.3,-12.3,472,4039,0.12,2.03,0.00,0.000,4,0.087,0.053,2178,3754,3990
$GC,4215,-1.07,-121.7,666.3,-16.5,480,4219,0.20,1.80,0.00,0.000,6,0.185,0.030,2227,2545,3988
$GC,4551,-1.18,-121.7,706.4,-12.1,496,4555,0.00,1.92,0.00,0.000,4,0.000,0.054,2221,3756,3986
$GC,4659,-1.25,-121.7,721.7,-12.9,500,4666,0.12,1.77,0.00,0.000,6,0.087,0.030,2174,2552,3986
$GC,4976,-1.16,-121.7,770.6,-15.5,516,4981,0.12,2.28,0.00,0.000,4,0.186,0.028,2202,1022,3984
$GC,5062,-1.23,-121.7,782.5,-13.3,520,5066,0.00,2.30,0.00,0.000,6,0.000,0.038,2202,2502,3983
$GC,5390,-1.23,-121.7,828.5,-13.9,536,5394,0.00,1.98,0.00,0.000,4,0.000,0.055,2202,3744,3982
$GC,5436,-1.23,-121.7,835.5,-14.6,538,5440,0.00,1.77,0.00,0.000,6,0.000,0.028,2202,2545,3981
$GC,5769,-1.29,-121.7,884.9,-14.9,554,5773,0.12,1.95,0.00,0.000,4,0.084,0.053,2152,3750,3979
$GC,5849,-1.10,-121.7,899.4,-18.6,557,5855,0.22,1.77,0.00,0.000,6,0.178,0.029,2224,2575,3979
$GC,6175,-1.23,-121.7,941.3,-12.1,573,6179,0.12,1.90,0.00,0.000,4,0.091,0.054,2178,3746,3977
$GC,6244,-1.15,-121.7,952.1,-16.0,576,6249,0.08,1.75,0.00,0.000,6,0.186,0.030,2199,2595,3977
$STATE,6533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6533,begin apogee
$GC,6540,-0.27,0.0,991.1,12.7,590,6639,1.00,0.00,95.53,1.399,6,0.165,0.000,2484,2414,3532
$STATE,6640,end apogee,CONTROL_FINISHED_OK
$STATE,6640,begin climb
$GC,6645,1.50,121.7,994.0,0.0,595,6760,1.65,2.33,105.82,1.359,4,0.064,0.049,3063,3743,3034
$GC,6808,0.64,121.7,993.0,14.3,602,6814,1.17,2.15,0.00,0.000,6,0.226,0.026,2790,2353,3032
$GC,7126,0.81,193.7,965.0,8.0,617,7193,0.15,2.20,60.42,1.340,4,0.089,0.033,2850,963,2742
$GC,7263,0.88,205.7,950.3,12.3,623,7281,0.00,2.20,11.57,1.196,6,0.000,0.035,2850,2358,2693
$GC,7591,0.89,213.9,908.7,12.6,639,7605,0.00,2.30,8.45,1.141,4,0.000,0.055,2850,3760,2659
$GC,7674,0.79,213.9,896.4,15.4,642,7680,0.00,2.12,0.00,0.000,6,0.000,0.028,2859,2363,2657
$GC,7990,0.79,213.9,853.8,13.5,658,7994,0.00,2.28,0.00,0.000,4,0.000,0.054,2859,3767,2656
$GC,8103,0.67,213.9,835.8,16.5,663,8108,0.28,2.10,0.00,0.000,6,0.188,0.028,2797,2369,2655
$GC,8425,0.89,229.6,796.9,12.1,679,8447,0.20,2.28,14.25,1.216,4,0.081,0.054,2879,3764,2595
$GC,8499,0.74,229.6,784.4,18.0,682,8504,0.25,2.08,0.00,0.000,6,0.188,0.028,2822,2389,2594
$GC,8828,0.89,239.4,741.7,12.5,698,8843,0.12,2.17,9.30,1.125,4,0.090,0.035,2871,966,2556
$GC,8954,0.95,239.4,724.3,13.9,703,8958,0.00,2.20,0.00,0.000,6,0.000,0.035,2871,2399,2554
$GC,9275,0.95,239.4,676.9,14.4,719,9278,0.00,2.17,0.00,0.000,4,0.000,0.034,2871,975,2553
$GC,9314,1.03,239.4,671.4,13.7,720,9322,0.12,2.17,0.00,0.000,6,0.094,0.038,2919,2380,2553
$GC,9632,0.90,239.4,619.8,17.2,736,9634,0.20,0.00,0.00,0.000,6,0.186,0.000,2868,2381,2553
$GC,9940,0.90,239.4,577.6,13.9,751,9943,0.00,2.20,0.00,0.000,4,0.000,0.054,2868,3759,2552
$GC,10014,0.83,239.4,566.6,14.3,754,10018,0.00,2.10,0.00,0.000,6,0.000,0.030,2873,2367,2552
$GC,10342,0.85,260.3,526.0,11.7,770,10364,0.00,2.20,18.00,1.087,4,0.000,0.035,2882,960,2470
$GC,10438,0.97,279.2,514.8,11.8,774,10462,0.00,2.17,17.33,1.061,6,0.000,0.035,2882,2365,2393
$GC,10783,1.03,279.2,465.3,15.9,801,10787,0.00,2.22,0.00,0.000,4,0.000,0.053,2883,3758,2389
$GC,10878,1.03,279.2,447.8,17.9,809,10884,0.00,2.10,0.00,0.000,6,0.000,0.028,2890,2356,2389
$GC,11208,1.03,279.2,393.0,17.3,840,11212,0.00,2.28,0.00,0.000,4,0.000,0.053,2891,3761,2388
$GC,11238,0.98,279.2,386.8,19.8,842,11242,0.00,2.08,0.00,0.000,6,0.000,0.029,2901,2379,2388
$GC,11569,0.98,279.2,327.4,17.4,873,11573,0.00,2.12,0.00,0.000,4,0.000,0.034,2911,964,2388
$GC,11620,1.04,279.2,318.9,16.2,877,11626,0.00,2.17,0.00,0.000,6,0.000,0.035,2911,2382,2388
$GC,11958,1.04,279.2,256.5,18.9,928,11965,0.00,2.20,0.00,0.000,4,0.000,0.054,2911,3765,2388
$GC,12000,0.93,279.2,248.2,19.7,935,12007,0.15,2.08,0.00,0.000,6,0.188,0.028,2885,2353,2388
$GC,12347,1.05,279.2,190.7,15.3,996,12354,0.00,2.25,0.00,0.000,4,0.000,0.051,2885,3755,2388
$GC,12412,1.05,279.2,180.1,16.0,1007,12418,0.00,2.03,0.00,0.000,6,0.000,0.028,2894,2383,2388
$GC,12759,1.14,279.2,132.5,13.9,1068,12767,0.15,2.20,0.00,0.000,4,0.084,0.051,2954,3752,2388
$GC,12862,0.95,279.2,115.6,16.3,1085,12868,0.30,2.03,0.00,0.000,6,0.184,0.028,2885,2384,2388
$GC,13209,1.20,328.3,73.6,9.6,1146,13254,0.20,2.20,39.38,0.742,4,0.074,0.032,2980,970,2192
$GC,13509,1.20,328.3,34.8,14.6,1198,13515,0.00,2.12,0.00,0.000,6,0.000,0.035,2980,2347,2187
$GC,13855,1.47,431.9,4.5,5.7,1259,13898,0.17,0.00,40.35,0.659,2,0.075,0.000,3059,2349,1975
$STATE,13899,end climb,SURFACE_DEPTH_REACHED
$STATE,13899,begin surface coast
$FINISH,1.9,1.020571
$STATE,13971,end surface coast,CONTROL_FINISHED_OK
$STATE,13974,begin surface
$SM_CCo,13994,70.25,0.647,0,0,1594,475.15
$SM_GC,2.69,0.00,0.00,70.25,0.000,0.000,0.647,137,2349,1594,-7.64,-0.93,475.15
$IRIDIUM_FIX,2446.56,12217.70,111198,212133
$TT8_MAMPS,0.029146
$HUMID,1795
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.0,90.348
$10V_AH,10.6,47.781
$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,24.850,121.225,420.400,70.250,0.000,31.789,34.139,174.809,8.250,0.000,0.000,16.619,2287.571,8595.331,596.351,2327.492,656.768,0.000,1785.836,0.000,2261.493,0.000,54.418,0.000
$DEVICE_MAMPS,241.605,55.224,1399.008,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,869.323,891.467,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69512,1279
$CAP_FILE_SIZE,143808,0
$CFSIZE,260165632,184684544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,180.0,1
$GPS,180809,051537,2453.305,12218.382,25,2.0,25,-3.5