version: 66.04
glider: 167
mission: 2
dive: 522
start: 8 19 109 5 53 42
data:
$ID,167
$MISSION,2
$DIVE,522
$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,-19407.762
$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,67
$R_STBD_OVSHOOT,36
$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
$GPS1,054630,2448.270,12233.442,40,1.2,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-70.5
$GPS2,055320,2448.360,12233.611,12,1.7,12,-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,101.8,23313,-25.0,-13.200
$D_GRID,1200
$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,13,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,44,0.00,0.00,-25.85,0.000,2,0.000,0.000,136,2438,2202
$GC,48,-1.50,-121.7,3.0,-1.2,4,127,8.23,2.20,-63.15,0.000,4,0.237,0.041,2093,984,3989
$GC,188,-0.99,-121.7,31.8,-33.2,27,195,0.65,2.17,0.00,0.000,6,0.183,0.035,2256,2398,3991
$GC,535,-0.87,-121.7,103.4,-19.3,88,541,0.15,2.12,0.00,0.000,4,0.178,0.048,2288,3753,3993
$GC,582,-0.87,-121.7,112.1,-16.3,96,588,0.00,2.05,0.00,0.000,6,0.000,0.025,2288,2334,3994
$GC,928,-0.97,-121.7,163.9,-13.0,157,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2332,3995
$GC,1274,-1.11,-121.7,203.7,-12.2,218,1281,0.17,2.25,0.00,0.000,4,0.070,0.048,2205,3753,3995
$GC,1440,-0.88,-121.7,236.1,-20.5,247,1447,0.32,1.98,0.00,0.000,6,0.168,0.026,2295,2383,3996
$GC,1787,-1.08,-121.7,289.3,-16.1,308,1794,0.17,2.17,0.00,0.000,4,0.071,0.048,2210,3757,3996
$GC,1819,-1.03,-121.7,295.1,-19.4,313,1827,0.15,1.95,0.00,0.000,6,0.171,0.026,2248,2409,3996
$GC,2154,-1.09,-121.7,348.4,-13.3,346,2158,0.00,2.12,0.00,0.000,4,0.000,0.050,2245,3751,3996
$GC,2314,-1.09,-121.7,372.8,-14.4,360,2317,0.00,1.90,0.00,0.000,6,0.000,0.027,2245,2440,3996
$GC,2645,-1.16,-121.7,422.1,-14.8,391,2650,0.12,2.10,0.00,0.000,4,0.080,0.051,2192,3755,3996
$GC,2713,-1.00,-121.7,434.9,-21.3,396,2720,0.22,1.90,0.00,0.000,6,0.174,0.027,2251,2448,3996
$GC,3039,-1.11,-121.7,486.6,-16.9,427,3042,0.00,2.08,0.00,0.000,4,0.000,0.051,2245,3753,3995
$GC,3124,-1.20,-121.7,500.6,-15.6,434,3131,0.15,1.85,0.00,0.000,6,0.075,0.028,2186,2486,3995
$GC,3442,-1.08,-121.7,558.4,-18.3,450,3444,0.17,0.00,0.00,0.000,6,0.173,0.000,2231,2485,3993
$GC,3750,-1.16,-121.7,598.7,-11.8,465,3754,0.00,2.03,0.00,0.000,4,0.000,0.052,2223,3755,3993
$GC,3812,-1.16,-121.7,607.1,-13.4,467,3818,0.00,1.85,0.00,0.000,6,0.000,0.029,2223,2494,3992
$GC,4130,-1.21,-121.7,656.4,-16.2,483,4133,0.00,2.03,0.00,0.000,4,0.000,0.054,2221,3752,3991
$GC,4180,-1.21,-121.7,665.2,-17.0,485,4184,0.00,1.85,0.00,0.000,6,0.000,0.028,2221,2495,3990
$GC,4510,-1.27,-121.7,712.7,-13.0,501,4514,0.15,2.03,0.00,0.000,4,0.078,0.053,2162,3757,3988
$GC,4561,-1.05,-121.7,721.1,-17.0,503,4566,0.30,1.83,0.00,0.000,6,0.181,0.029,2240,2520,3987
$GC,4892,-1.19,-121.7,755.2,-10.8,519,4896,0.15,2.00,0.00,0.000,4,0.077,0.053,2179,3761,3986
$GC,4939,-1.07,-121.7,762.3,-16.5,521,4943,0.20,1.83,0.00,0.000,6,0.180,0.030,2228,2527,3986
$GC,5274,-1.18,-121.7,805.1,-11.5,537,5278,0.00,2.28,0.00,0.000,4,0.000,0.029,2229,996,3983
$GC,5355,-1.34,-121.7,816.0,-12.5,540,5361,0.22,2.35,0.00,0.000,6,0.075,0.038,2142,2513,3983
$GC,5675,-1.14,-121.7,876.9,-19.9,556,5677,0.28,0.00,0.00,0.000,6,0.199,0.000,2209,2514,3982
$GC,5982,-1.20,-121.7,924.6,-14.9,571,5989,0.00,1.98,0.00,0.000,4,0.000,0.058,2205,3749,3980
$GC,6097,-1.20,-121.7,942.7,-15.7,576,6101,0.00,1.83,0.00,0.000,6,0.000,0.031,2205,2528,3979
$GC,6431,-1.25,-121.7,989.2,-13.9,592,6434,0.00,2.00,0.00,0.000,4,0.000,0.058,2205,3760,3977
$STATE,6439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6439,begin apogee
$GC,6450,-0.27,0.0,990.8,14.0,592,6550,0.95,0.00,96.07,1.402,6,0.163,0.000,2482,2366,3532
$STATE,6550,end apogee,CONTROL_FINISHED_OK
$STATE,6550,begin climb
$GC,6554,1.50,121.7,994.4,0.0,597,6667,1.65,2.38,106.20,1.361,4,0.063,0.049,3064,3754,3035
$GC,6815,0.66,121.7,975.6,16.7,609,6821,1.12,2.10,0.00,0.000,6,0.222,0.028,2795,2365,3031
$GC,7143,0.75,196.7,946.5,7.8,625,7211,0.00,2.35,62.83,1.334,4,0.000,0.054,2795,3751,2729
$GC,7274,0.80,200.4,933.3,12.9,631,7284,0.12,2.12,4.60,0.894,6,0.088,0.028,2845,2374,2714
$GC,7609,0.83,225.6,891.5,11.4,647,7638,0.00,2.35,22.80,1.271,4,0.000,0.054,2845,3759,2612
$GC,7773,0.78,225.6,870.7,13.5,654,7777,0.00,2.10,0.00,0.000,6,0.000,0.028,2853,2368,2608
$GC,8101,0.81,255.2,832.9,11.1,670,8131,0.00,2.15,25.30,1.259,4,0.000,0.033,2859,972,2491
$GC,8284,0.94,255.2,807.6,13.8,678,8288,0.00,2.20,0.00,0.000,6,0.000,0.038,2859,2377,2487
$GC,8600,0.99,255.2,762.0,14.8,693,8602,0.12,0.00,0.00,0.000,6,0.087,0.000,2906,2378,2485
$GC,8910,0.90,255.2,706.7,18.1,708,8915,0.15,2.22,0.00,0.000,4,0.185,0.054,2870,3766,2484
$GC,8961,0.82,255.2,696.8,18.5,710,8965,0.12,2.08,0.00,0.000,6,0.191,0.028,2848,2377,2484
$GC,9278,0.92,255.2,647.7,15.4,725,9282,0.00,2.25,0.00,0.000,4,0.000,0.054,2849,3764,2483
$GC,9364,0.92,255.2,633.1,17.3,728,9370,0.00,2.08,0.00,0.000,6,0.000,0.028,2857,2384,2483
$GC,9680,0.99,255.2,582.1,16.4,744,9685,0.12,2.22,0.00,0.000,4,0.086,0.053,2905,3761,2482
$GC,9847,0.81,255.2,548.5,20.4,751,9851,0.28,2.05,0.00,0.000,6,0.185,0.030,2842,2389,2482
$GC,10174,0.96,261.1,501.2,12.8,767,10182,0.12,0.00,5.10,0.851,6,0.086,0.000,2888,2385,2467
$GC,10491,0.96,261.1,456.6,14.6,796,10495,0.00,2.22,0.00,0.000,4,0.000,0.054,2888,3766,2466
$GC,10561,0.84,261.1,445.2,17.4,802,10565,0.17,2.05,0.00,0.000,6,0.186,0.030,2854,2400,2466
$GC,10893,0.96,271.9,403.4,12.4,833,10909,0.10,2.22,10.62,0.959,4,0.092,0.054,2892,3749,2423
$GC,11064,0.86,271.9,370.9,20.2,848,11068,0.17,2.03,0.00,0.000,6,0.186,0.028,2858,2392,2421
$GC,11395,1.01,285.9,323.7,12.2,879,11417,0.12,2.17,13.25,0.919,4,0.084,0.033,2916,981,2365
$GC,11547,1.06,285.9,299.1,16.2,892,11553,0.00,2.20,0.00,0.000,6,0.000,0.034,2916,2409,2364
$GC,11893,1.06,285.9,242.3,15.7,953,11899,0.00,2.17,0.00,0.000,4,0.000,0.031,2925,971,2363
$GC,11985,1.13,285.9,226.6,16.0,969,11993,0.00,2.15,0.00,0.000,6,0.000,0.036,2925,2374,2363
$GC,12333,1.13,285.9,169.7,14.8,1030,12339,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2374,2363
$GC,12679,1.13,285.9,127.1,13.4,1091,12685,0.00,2.17,0.00,0.000,4,0.000,0.051,2925,3754,2363
$GC,12941,1.02,285.9,85.6,15.7,1137,12948,0.00,2.05,0.00,0.000,6,0.000,0.027,2935,2353,2363
$GC,13289,1.14,327.8,42.9,10.2,1198,13329,0.00,2.28,33.85,0.706,4,0.000,0.049,2936,3764,2195
$GC,13584,1.31,390.6,13.2,8.6,1250,13642,0.17,2.08,49.80,0.666,6,0.071,0.026,3010,2350,1938
$STATE,13718,end climb,SURFACE_DEPTH_REACHED
$STATE,13718,begin surface coast
$FINISH,1.8,1.000398
$STATE,13751,end surface coast,CONTROL_FINISHED_OK
$STATE,13751,begin surface
$SM_CCo,13771,63.30,0.647,0,0,1594,475.15
$SM_GC,2.71,0.00,0.00,63.30,0.000,0.000,0.647,137,2348,1594,-7.64,-0.99,475.15
$IRIDIUM_FIX,2439.44,12230.27,131198,010155
$TT8_MAMPS,0.029146
$HUMID,1787
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,22.9,91.543
$10V_AH,10.6,48.362
$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,25.350,113.250,430.425,63.300,0.000,25.504,38.395,180.854,8.000,0.000,0.000,12.864,2279.701,8356.111,602.661,2326.995,671.591,0.000,1786.060,0.000,2265.871,0.000,54.407,0.000
$DEVICE_MAMPS,237.003,57.525,1402.076,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,869.062,905.923,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69518,1279
$CAP_FILE_SIZE,143288,0
$CFSIZE,260165632,184152064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.363, 66.9,1
$GPS,190809,094537,2449.153,12238.266,39,0.8,40,-3.5