version: 66.04
glider: 167
mission: 2
dive: 533
start: 8 21 109 2 25 30
data:
$ID,167
$MISSION,2
$DIVE,533
$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,-19694.434
$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,60
$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
$GPS1,021824,2506.054,12253.630,39,0.9,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-69.4
$GPS2,022508,2506.350,12253.870,13,1.5,13,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,264.2,59373,-25.0,-13.200
$D_GRID,1560
$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,12,begin dive
$GC,16,-1.50,-121.7,0.0,0.0,0,37,0.00,0.00,-19.42,0.000,2,0.000,0.000,136,2368,2071
$GC,41,-1.50,-121.7,3.1,-2.0,3,117,8.18,2.25,-61.33,0.000,4,0.235,0.054,2082,3760,3990
$GC,195,-0.55,-121.7,41.0,-39.6,28,202,1.20,2.05,0.00,0.000,6,0.195,0.025,2398,2348,3992
$GC,543,-1.02,-121.7,85.6,-9.7,89,550,0.38,2.22,0.00,0.000,4,0.054,0.046,2234,3763,3994
$GC,569,-1.13,-121.7,89.2,-12.7,93,577,0.00,1.98,0.00,0.000,6,0.000,0.024,2234,2386,3995
$GC,916,-0.98,-121.7,148.2,-17.2,154,922,0.00,2.00,0.00,0.000,4,0.000,0.026,2234,997,3997
$GC,935,-0.85,-121.7,151.5,-16.5,157,943,0.25,2.12,0.00,0.000,6,0.170,0.032,2299,2412,3997
$GC,1285,-1.01,-121.7,194.6,-11.8,218,1291,0.12,2.10,0.00,0.000,4,0.079,0.048,2246,3764,3997
$GC,1415,-0.96,-121.7,216.7,-16.1,240,1421,0.00,1.90,0.00,0.000,6,0.000,0.026,2245,2431,3997
$GC,1760,-0.96,-121.7,270.5,-14.4,301,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2430,3998
$GC,2098,-0.96,-121.7,326.5,-18.9,348,2101,0.00,2.10,0.00,0.000,4,0.000,0.049,2239,3764,3998
$GC,2235,-0.90,-121.7,353.7,-19.4,360,2240,0.17,1.90,0.00,0.000,6,0.166,0.026,2285,2444,3998
$GC,2569,-1.12,-121.7,401.3,-13.3,391,2573,0.20,2.08,0.00,0.000,4,0.067,0.048,2193,3760,3997
$GC,2625,-0.93,-121.7,411.7,-20.5,395,2631,0.32,1.88,0.00,0.000,6,0.179,0.027,2280,2469,3997
$GC,2951,-1.16,-121.7,449.9,-10.6,426,2957,0.20,2.05,0.00,0.000,4,0.067,0.049,2193,3766,3997
$GC,2991,-1.01,-121.7,456.3,-17.3,429,2999,0.22,1.90,0.00,0.000,6,0.169,0.025,2253,2449,3997
$GC,3317,-1.17,-121.7,498.1,-12.1,460,3321,0.15,2.08,0.00,0.000,4,0.074,0.050,2192,3760,3995
$GC,3391,-1.03,-121.7,510.7,-17.6,464,3395,0.20,1.85,0.00,0.000,6,0.172,0.027,2244,2487,3995
$GC,3722,-1.15,-121.7,547.4,-11.2,480,3724,0.12,0.00,0.00,0.000,6,0.081,0.000,2194,2487,3993
$GC,4028,-1.09,-121.7,592.6,-14.9,495,4032,0.12,2.17,0.00,0.000,4,0.177,0.028,2224,1010,3991
$GC,4045,-1.09,-121.7,595.3,-15.0,496,4049,0.00,2.25,0.00,0.000,6,0.000,0.038,2221,2469,3991
$GC,4374,-1.15,-121.7,639.9,-14.2,512,4377,0.00,2.03,0.00,0.000,4,0.000,0.054,2218,3751,3989
$GC,4525,-1.15,-121.7,661.2,-14.0,518,4531,0.00,1.85,0.00,0.000,6,0.000,0.031,2218,2518,3986
$GC,4844,-1.21,-121.7,699.1,-12.2,534,4849,0.00,1.98,0.00,0.000,4,0.000,0.053,2218,3757,3985
$GC,4945,-1.21,-121.7,711.6,-11.7,538,4949,0.00,1.83,0.00,0.000,6,0.000,0.030,2218,2519,3984
$GC,5270,-1.28,-121.7,749.7,-12.0,554,5275,0.15,1.98,0.00,0.000,4,0.076,0.051,2152,3753,3982
$GC,5294,-1.20,-121.7,753.4,-14.0,555,5298,0.17,1.83,0.00,0.000,6,0.179,0.029,2195,2515,3981
$GC,5627,-1.20,-121.7,799.6,-13.5,571,5631,0.00,2.22,0.00,0.000,4,0.000,0.029,2195,1012,3980
$GC,5699,-1.25,-121.7,808.6,-12.6,574,5703,0.00,2.28,0.00,0.000,6,0.000,0.039,2193,2479,3979
$GC,6027,-1.25,-121.7,858.4,-15.4,590,6030,0.00,2.03,0.00,0.000,4,0.000,0.054,2192,3757,3976
$GC,6189,-1.20,-121.7,885.4,-17.6,597,6193,0.00,1.85,0.00,0.000,6,0.000,0.030,2192,2534,3976
$GC,6521,-1.20,-121.7,939.2,-15.0,613,6526,0.00,2.28,0.00,0.000,4,0.000,0.030,2192,1003,3974
$GC,6585,-1.25,-121.7,948.6,-15.3,616,6589,0.00,2.33,0.00,0.000,6,0.000,0.040,2192,2494,3974
$STATE,6868,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6868,begin apogee
$GC,6877,-0.27,0.0,990.4,13.9,630,6975,1.02,0.00,94.78,1.401,6,0.164,0.000,2485,2401,3532
$STATE,6976,end apogee,CONTROL_FINISHED_OK
$STATE,6976,begin climb
$GC,6980,1.50,121.7,994.6,0.0,635,7094,1.60,2.35,105.40,1.361,4,0.055,0.050,3062,3758,3035
$GC,7350,0.65,121.7,958.0,17.3,651,7357,1.12,2.12,0.00,0.000,6,0.225,0.028,2795,2344,3031
$GC,7668,0.78,179.6,927.2,9.0,667,7724,0.10,2.20,48.55,1.322,4,0.102,0.035,2831,974,2799
$GC,7899,0.86,179.6,897.6,14.6,677,7903,0.00,2.15,0.00,0.000,6,0.000,0.037,2831,2353,2794
$GC,8220,0.86,179.6,853.8,13.6,693,8224,0.00,2.25,0.00,0.000,4,0.000,0.054,2831,3761,2792
$GC,8294,0.77,179.6,843.2,14.9,696,8297,0.00,2.10,0.00,0.000,6,0.000,0.028,2840,2353,2791
$GC,8622,0.77,179.6,798.8,13.4,712,8626,0.00,2.25,0.00,0.000,4,0.000,0.054,2840,3755,2791
$GC,8684,0.65,179.6,789.6,15.0,714,8690,0.22,2.05,0.00,0.000,6,0.188,0.029,2793,2374,2790
$GC,9001,0.86,217.3,755.1,10.5,730,9037,0.17,2.15,30.98,1.242,4,0.082,0.034,2873,970,2646
$GC,9112,0.86,217.3,740.4,13.6,734,9116,0.00,2.20,0.00,0.000,6,0.000,0.037,2873,2373,2644
$GC,9434,0.86,217.3,695.4,14.3,750,9437,0.00,2.12,0.00,0.000,4,0.000,0.033,2882,979,2642
$GC,9508,0.86,217.3,684.3,15.6,753,9512,0.00,2.15,0.00,0.000,6,0.000,0.038,2883,2375,2642
$GC,9836,0.81,217.3,634.0,15.3,769,9840,0.15,2.20,0.00,0.000,4,0.189,0.052,2845,3764,2641
$GC,10083,0.76,217.3,592.7,16.5,780,10087,0.00,2.08,0.00,0.000,6,0.000,0.029,2854,2371,2640
$GC,10417,0.76,219.7,546.5,13.0,796,10420,0.00,2.22,0.00,0.000,4,0.000,0.053,2854,3755,2640
$GC,10491,0.69,219.7,535.5,15.9,799,10496,0.22,2.03,0.00,0.000,6,0.187,0.029,2807,2389,2640
$GC,10817,0.90,225.6,496.9,12.8,816,10830,0.17,2.20,7.50,0.966,4,0.081,0.033,2883,971,2612
$GC,11080,0.90,225.6,456.5,15.9,839,11084,0.00,2.20,0.00,0.000,6,0.000,0.038,2883,2389,2611
$GC,11411,0.90,225.6,405.8,15.5,870,11415,0.00,2.17,0.00,0.000,4,0.000,0.054,2883,3761,2610
$GC,11464,0.76,225.6,397.5,15.8,874,11470,0.25,2.05,0.00,0.000,6,0.187,0.029,2827,2380,2610
$GC,11790,1.00,275.3,359.4,9.6,905,11838,0.17,2.20,41.12,0.987,4,0.081,0.033,2910,980,2408
$GC,11931,1.06,275.3,340.6,13.5,917,11938,0.00,2.20,0.00,0.000,6,0.000,0.036,2910,2382,2404
$GC,12260,1.06,275.3,290.8,16.3,953,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2382,2402
$GC,12605,1.07,280.8,240.7,12.8,1014,12617,0.00,2.15,4.93,0.690,4,0.000,0.033,2919,976,2387
$GC,12872,1.14,280.8,203.4,14.1,1061,12880,0.00,2.15,0.00,0.000,6,0.000,0.036,2918,2376,2386
$GC,13220,1.21,298.2,155.1,11.9,1122,13244,0.15,2.15,15.98,0.780,4,0.074,0.030,2987,963,2315
$GC,13502,1.16,298.2,104.0,21.6,1171,13509,0.12,2.12,0.00,0.000,6,0.182,0.033,2959,2356,2314
$GC,13849,1.23,353.0,57.5,9.2,1232,13901,0.00,2.28,43.97,0.705,4,0.000,0.050,2959,3751,2092
$GC,14039,1.37,379.0,32.0,11.3,1265,14071,0.15,2.05,21.60,0.659,6,0.074,0.025,3023,2366,1984
$STATE,14317,end climb,SURFACE_DEPTH_REACHED
$STATE,14317,begin surface coast
$FINISH,1.7,0.998946
$STATE,14363,end surface coast,CONTROL_FINISHED_OK
$STATE,14365,begin surface
$SM_CCo,14385,72.10,0.639,0,0,1594,475.15
$SM_GC,3.26,0.00,0.00,72.10,0.000,0.000,0.639,138,2364,1594,-7.63,-0.54,475.15
$IRIDIUM_FIX,2451.31,12253.26,141198,222242
$TT8_MAMPS,0.029146
$HUMID,1777
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,23.0,93.410
$10V_AH,10.6,49.280
$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,25.725,121.975,414.800,72.100,0.000,26.216,34.950,179.747,8.000,0.000,0.000,13.925,2374.072,8716.307,596.384,2487.956,678.860,0.000,1851.269,0.000,2421.268,0.000,56.899,0.000
$DEVICE_MAMPS,235.469,59.826,1400.542,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,896.959,921.864,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72476,1322
$CAP_FILE_SIZE,150065,0
$CFSIZE,260165632,183296000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.289, 41.1,1
$GPS,210809,062737,2508.092,12253.525,28,1.5,29,-3.6