version: 66.04
glider: 167
mission: 2
dive: 529
start: 8 20 109 10 6 49
data:
$ID,167
$MISSION,2
$DIVE,529
$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,-19586.092
$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,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
$GPS1,095907,2456.031,12252.078,29,1.1,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-70.5
$GPS2,100628,2456.395,12252.277,14,2.3,33,-3.6
$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,251.6,22723,-25.0,-13.200
$D_GRID,1491
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.90,0.000,2,0.000,0.000,137,2378,2174
$GC,45,-1.50,-121.7,3.2,-2.0,4,110,8.15,2.22,-50.97,0.000,4,0.233,0.054,2086,3765,3990
$GC,331,-0.73,-121.7,115.3,-35.3,54,338,0.93,2.05,0.00,0.000,6,0.184,0.022,2339,2328,3993
$GC,678,-0.99,-121.7,164.7,-12.4,115,686,0.20,2.25,0.00,0.000,4,0.064,0.046,2245,3761,3996
$GC,734,-0.84,-121.7,174.1,-19.6,124,741,0.22,2.03,0.00,0.000,6,0.161,0.023,2308,2334,3996
$GC,1079,-1.04,-121.7,212.8,-8.1,185,1086,0.17,2.25,0.00,0.000,4,0.064,0.045,2221,3772,3997
$GC,1145,-0.85,-121.7,221.7,-15.8,196,1151,0.30,1.95,0.00,0.000,6,0.166,0.024,2304,2404,3997
$GC,1494,-1.05,-121.7,261.3,-12.2,257,1501,0.17,2.12,0.00,0.000,4,0.068,0.046,2221,3760,3997
$GC,1592,-0.89,-121.7,280.1,-19.9,274,1599,0.25,1.92,0.00,0.000,6,0.166,0.025,2289,2417,3997
$GC,1932,-1.08,-121.7,327.6,-14.0,317,1936,0.17,2.12,0.00,0.000,4,0.067,0.048,2217,3766,3997
$GC,2023,-0.98,-121.7,345.6,-21.5,324,2029,0.17,1.92,0.00,0.000,6,0.165,0.025,2263,2420,3997
$GC,2349,-1.11,-121.7,400.3,-15.0,355,2354,0.12,2.12,0.00,0.000,4,0.079,0.047,2208,3770,3997
$GC,2383,-1.00,-121.7,406.7,-19.3,357,2389,0.17,1.88,0.00,0.000,6,0.166,0.025,2254,2461,3996
$GC,2710,-1.09,-121.7,451.2,-13.5,388,2714,0.00,2.05,0.00,0.000,4,0.000,0.049,2246,3766,3995
$GC,2804,-1.17,-121.7,462.7,-11.5,396,2808,0.12,1.88,0.00,0.000,6,0.079,0.025,2194,2465,3995
$GC,3143,-1.09,-121.7,513.8,-16.8,424,3147,0.12,2.05,0.00,0.000,4,0.173,0.047,2218,3764,3994
$GC,3191,-1.09,-121.7,521.4,-16.2,426,3194,0.00,1.88,0.00,0.000,6,0.000,0.025,2218,2466,3993
$GC,3524,-1.09,-121.7,575.4,-16.3,442,3528,0.00,2.12,0.00,0.000,4,0.000,0.027,2218,1010,3992
$GC,3564,-1.16,-121.7,581.9,-15.7,443,3571,0.00,2.25,0.00,0.000,6,0.000,0.036,2218,2479,3992
$GC,3881,-1.16,-121.7,630.0,-14.5,459,3885,0.00,2.00,0.00,0.000,4,0.000,0.051,2217,3758,3989
$GC,3972,-1.16,-121.7,643.2,-14.2,463,3976,0.00,1.85,0.00,0.000,6,0.000,0.028,2217,2493,3988
$GC,4307,-1.21,-121.7,685.6,-13.5,479,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2492,3986
$GC,4615,-1.27,-121.7,730.0,-15.1,494,4619,0.15,2.03,0.00,0.000,4,0.077,0.051,2153,3757,3983
$GC,4654,-1.06,-121.7,737.8,-20.3,495,4662,0.30,1.83,0.00,0.000,6,0.175,0.028,2232,2513,3982
$GC,4972,-1.20,-121.7,786.9,-15.8,511,4976,0.12,2.00,0.00,0.000,4,0.083,0.052,2179,3761,3980
$GC,5011,-1.10,-121.7,794.4,-18.4,512,5018,0.17,1.83,0.00,0.000,6,0.176,0.028,2222,2522,3980
$GC,5329,-1.22,-121.7,841.5,-13.6,528,5334,0.12,2.00,0.00,0.000,4,0.085,0.054,2175,3763,3977
$GC,5403,-1.10,-121.7,853.8,-17.0,531,5407,0.12,1.85,0.00,0.000,6,0.179,0.029,2220,2534,3977
$GC,5730,-1.22,-121.7,894.3,-11.8,547,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2534,3975
$GC,6041,-1.33,-121.7,931.7,-13.1,562,6045,0.20,1.98,0.00,0.000,4,0.070,0.055,2137,3756,3973
$GC,6074,-1.12,-121.7,937.6,-18.0,563,6079,0.30,1.80,0.00,0.000,6,0.185,0.030,2214,2543,3972
$GC,6398,-1.21,-121.7,983.6,-14.9,579,6399,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2543,3971
$STATE,6434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6434,begin apogee
$GC,6442,-0.27,0.0,990.3,15.7,581,6540,0.93,0.00,94.20,1.406,6,0.160,0.000,2484,2394,3532
$STATE,6540,end apogee,CONTROL_FINISHED_OK
$STATE,6541,begin climb
$GC,6544,1.50,121.7,996.8,0.0,586,6659,1.62,2.38,105.38,1.363,4,0.065,0.050,3058,3764,3035
$GC,6692,0.72,199.0,1002.7,7.6,592,6765,1.05,2.17,66.18,1.338,6,0.225,0.025,2815,2336,2719
$GC,7096,0.88,238.5,964.9,10.3,612,7138,0.15,2.40,33.95,1.312,4,0.087,0.054,2870,3752,2559
$GC,7214,0.78,238.5,946.2,17.8,617,7219,0.17,2.10,0.00,0.000,6,0.183,0.028,2835,2365,2555
$GC,7537,0.90,238.5,901.3,14.0,633,7541,0.10,2.10,0.00,0.000,4,0.096,0.032,2882,971,2553
$GC,7561,0.96,238.5,897.7,14.5,634,7565,0.00,2.17,0.00,0.000,6,0.000,0.035,2882,2378,2553
$GC,7888,0.96,238.5,845.3,16.2,650,7892,0.00,2.20,0.00,0.000,4,0.000,0.054,2882,3763,2551
$GC,7925,0.83,238.5,839.3,17.8,651,7930,0.15,2.08,0.00,0.000,6,0.193,0.028,2852,2371,2551
$GC,8241,0.90,238.5,790.5,16.2,666,8245,0.00,2.22,0.00,0.000,4,0.000,0.053,2852,3753,2550
$GC,8355,0.90,238.5,769.4,18.4,671,8359,0.00,2.03,0.00,0.000,6,0.000,0.028,2859,2404,2549
$GC,8689,0.95,238.5,712.9,17.1,687,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,2401,2548
$GC,8997,1.00,238.5,660.5,17.4,702,9002,0.12,2.17,0.00,0.000,4,0.087,0.035,2917,960,2547
$GC,9128,1.00,238.5,636.1,18.6,707,9135,0.00,2.22,0.00,0.000,6,0.000,0.036,2917,2409,2547
$GC,9444,0.89,238.5,581.6,16.5,723,9446,0.20,0.00,0.00,0.000,6,0.186,0.000,2864,2410,2547
$GC,9754,0.95,240.6,539.8,13.0,738,9757,0.00,2.20,0.00,0.000,4,0.000,0.034,2872,959,2546
$GC,9949,1.07,258.1,516.8,11.9,746,9969,0.15,2.20,15.00,1.067,6,0.085,0.036,2930,2386,2479
$GC,10295,0.98,258.1,463.4,16.7,773,10301,0.15,0.00,0.00,0.000,6,0.184,0.000,2893,2387,2477
$GC,10625,0.99,265.0,417.8,12.7,804,10638,0.00,2.25,7.00,0.900,4,0.000,0.054,2893,3759,2451
$GC,10843,0.94,265.0,381.5,17.1,823,10847,0.00,2.08,0.00,0.000,6,0.000,0.029,2898,2380,2449
$GC,11177,0.94,265.0,332.3,15.5,854,11181,0.00,2.20,0.00,0.000,4,0.000,0.052,2898,3754,2449
$GC,11273,0.87,265.0,315.6,18.5,862,11280,0.17,2.00,0.00,0.000,6,0.185,0.028,2864,2399,2449
$GC,11613,1.07,289.9,273.1,11.4,912,11643,0.17,2.22,21.83,0.892,4,0.077,0.052,2937,3750,2350
$GC,11696,0.94,289.9,260.3,16.1,926,11702,0.22,1.98,0.00,0.000,6,0.186,0.027,2888,2423,2348
$GC,12042,1.08,302.3,217.9,12.3,987,12061,0.12,2.17,11.57,0.802,4,0.087,0.053,2936,3763,2298
$GC,12104,0.99,302.3,207.0,19.1,997,12110,0.17,1.95,0.00,0.000,6,0.185,0.027,2901,2446,2297
$GC,12450,1.13,302.3,153.4,15.5,1058,12457,0.12,2.20,0.00,0.000,4,0.084,0.031,2957,974,2297
$GC,12711,1.13,302.3,107.4,17.4,1104,12717,0.00,2.22,0.00,0.000,6,0.000,0.034,2957,2433,2297
$GC,13057,1.36,437.9,73.2,3.4,1165,13170,0.17,2.35,106.30,0.709,4,0.074,0.032,3032,976,1746
$GC,13428,1.53,445.5,21.9,12.6,1229,13441,0.12,2.22,6.28,0.542,6,0.081,0.032,3082,2430,1716
$STATE,13566,end climb,SURFACE_DEPTH_REACHED
$STATE,13567,begin surface coast
$FINISH,1.9,1.007379
$STATE,13588,end surface coast,CONTROL_FINISHED_OK
$STATE,13588,begin surface
$SM_CCo,13608,21.83,0.621,0,0,1594,475.15
$SM_GC,3.07,0.00,0.00,21.83,0.000,0.000,0.621,134,2433,1594,-7.65,1.41,475.15
$IRIDIUM_FIX,2444.18,12248.68,141198,060654
$TT8_MAMPS,0.029146
$HUMID,1810
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.0,92.735
$10V_AH,10.6,48.940
$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,27.025,112.900,467.675,21.825,0.000,24.472,38.199,192.551,8.000,0.000,0.000,34.789,2229.692,8341.677,572.973,2237.760,682.099,0.000,1716.998,0.000,2164.744,0.000,54.414,0.000
$DEVICE_MAMPS,233.168,55.224,1405.911,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,850.778,854.737,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66334,1257
$CAP_FILE_SIZE,142907,0
$CFSIZE,260165632,183619584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.453, 37.4,1
$GPS,200809,135524,2458.748,12252.598,26,0.9,44,-3.6