version: 66.04
glider: 167
mission: 2
dive: 602
start: 8 30 109 0 36 49
data:
$ID,167
$MISSION,2
$DIVE,602
$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,-21166.018
$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,79
$R_STBD_OVSHOOT,37
$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
$GPS1,002907,2458.670,12245.622,35,1.0,35,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-70.2
$GPS2,003628,2458.826,12245.904,13,2.3,32,-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,224.5,25487,-25.0,-13.200
$D_GRID,1203
$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,-121.7,0.0,0.0,0,44,0.00,0.00,-25.73,0.000,2,0.000,0.000,139,2430,2238
$GC,49,-1.50,-121.7,3.2,-1.8,4,119,8.15,2.08,-54.60,0.000,4,0.232,0.053,2086,3774,3988
$GC,346,-0.74,-121.7,104.0,-33.3,55,352,0.88,2.00,0.00,0.000,6,0.176,0.021,2332,2348,3992
$GC,694,-1.17,-121.7,145.6,-9.8,116,700,0.32,2.20,0.00,0.000,4,0.055,0.044,2189,3757,3994
$GC,841,-1.02,-121.7,173.2,-17.4,141,849,0.22,1.92,0.00,0.000,6,0.156,0.022,2251,2384,3995
$GC,1190,-1.14,-121.7,225.0,-17.2,202,1197,0.12,2.15,0.00,0.000,4,0.075,0.044,2193,3766,3996
$GC,1286,-1.01,-121.7,241.8,-18.0,218,1292,0.22,1.90,0.00,0.000,6,0.162,0.023,2254,2421,3996
$GC,1634,-1.20,-121.7,286.4,-13.7,279,1641,0.17,2.10,0.00,0.000,4,0.063,0.045,2175,3765,3996
$GC,1807,-1.00,-121.7,321.7,-20.4,300,1812,0.30,1.88,0.00,0.000,6,0.165,0.024,2257,2447,3995
$GC,2139,-1.30,-121.7,360.2,-9.7,331,2144,0.25,2.05,0.00,0.000,4,0.059,0.046,2153,3756,3996
$GC,2221,-1.14,-121.7,372.7,-17.0,338,2225,0.22,1.85,0.00,0.000,6,0.165,0.023,2212,2448,3996
$GC,2553,-1.26,-121.7,420.7,-15.2,369,2558,0.12,2.05,0.00,0.000,4,0.077,0.046,2158,3765,3995
$GC,2627,-1.13,-121.7,434.9,-19.9,375,2633,0.22,1.85,0.00,0.000,6,0.166,0.023,2217,2462,3995
$GC,2955,-1.30,-121.7,481.1,-12.8,406,2959,0.15,2.05,0.00,0.000,4,0.072,0.047,2153,3764,3993
$GC,3078,-1.14,-121.7,503.2,-17.8,416,3083,0.22,1.83,0.00,0.000,6,0.172,0.024,2211,2490,3993
$GC,3402,-1.32,-121.7,543.3,-12.2,432,3407,0.17,2.00,0.00,0.000,4,0.071,0.048,2137,3757,3991
$GC,3551,-1.15,-121.7,568.7,-17.9,438,3556,0.25,1.77,0.00,0.000,6,0.170,0.024,2202,2521,3990
$GC,3879,-1.30,-121.7,612.0,-13.2,454,3883,0.12,1.98,0.00,0.000,4,0.077,0.049,2152,3766,3987
$GC,3925,-1.21,-121.7,620.0,-16.6,456,3929,0.10,1.83,0.00,0.000,6,0.172,0.025,2192,2531,3987
$GC,4262,-1.34,-121.7,666.3,-13.2,472,4266,0.12,1.95,0.00,0.000,4,0.083,0.049,2140,3763,3984
$GC,4364,-1.19,-121.7,684.9,-19.2,476,4368,0.22,1.77,0.00,0.000,6,0.176,0.025,2196,2539,3983
$GC,4691,-1.36,-121.7,725.9,-12.4,492,4696,0.17,1.92,0.00,0.000,4,0.075,0.050,2126,3759,3981
$GC,4873,-1.18,-121.7,761.0,-19.6,500,4877,0.28,1.73,0.00,0.000,6,0.177,0.026,2197,2578,3979
$GC,5213,-1.35,-121.7,802.0,-12.0,516,5217,0.17,1.88,0.00,0.000,4,0.074,0.049,2126,3759,3976
$GC,5314,-1.21,-121.7,820.3,-18.0,520,5318,0.25,1.70,0.00,0.000,6,0.176,0.025,2191,2587,3975
$GC,5641,-1.36,-121.7,857.3,-10.8,536,5643,0.15,0.00,0.00,0.000,6,0.080,0.000,2137,2587,3974
$GC,5947,-1.31,-121.7,901.6,-14.9,551,5950,0.00,1.85,0.00,0.000,4,0.000,0.051,2129,3754,3972
$GC,6050,-1.19,-121.7,918.3,-16.1,555,6054,0.25,1.70,0.00,0.000,6,0.177,0.026,2193,2591,3971
$GC,6375,-1.37,-121.7,954.2,-11.1,571,6380,0.17,1.88,0.00,0.000,4,0.077,0.052,2123,3760,3969
$GC,6471,-1.24,-121.7,969.6,-17.3,575,6476,0.22,1.70,0.00,0.000,6,0.178,0.027,2180,2600,3969
$STATE,6651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6651,begin apogee
$GC,6661,-0.27,0.0,992.4,12.1,584,6758,1.05,0.00,93.65,1.407,6,0.156,0.000,2488,2409,3532
$STATE,6759,end apogee,CONTROL_FINISHED_OK
$STATE,6759,begin climb
$GC,6762,1.50,121.7,995.9,0.0,589,6878,1.58,2.35,105.72,1.366,4,0.052,0.028,3071,956,3035
$GC,7132,0.70,121.7,964.9,15.9,605,7138,1.05,2.20,0.00,0.000,6,0.226,0.036,2814,2375,3031
$GC,7450,0.56,173.6,932.3,9.4,620,7499,0.17,2.22,43.38,1.325,4,0.203,0.028,2774,950,2826
$GC,7613,0.65,189.9,914.3,12.0,627,7632,0.00,2.25,14.75,1.233,6,0.000,0.035,2773,2388,2757
$GC,7956,0.65,189.9,869.6,13.2,644,7960,0.00,2.17,0.00,0.000,4,0.000,0.053,2773,3757,2753
$GC,8036,0.53,189.9,857.7,14.2,647,8040,0.12,2.08,0.00,0.000,6,0.191,0.027,2755,2353,2753
$GC,8354,0.65,208.5,819.2,11.9,662,8377,0.10,2.35,16.42,1.233,4,0.097,0.051,2790,3761,2682
$GC,8424,0.52,208.5,808.8,16.4,665,8429,0.20,2.08,0.00,0.000,6,0.188,0.027,2751,2369,2680
$GC,8753,0.66,215.3,767.1,12.7,681,8767,0.12,2.30,7.15,1.069,4,0.091,0.051,2798,3758,2654
$GC,8820,0.51,215.3,756.4,16.7,684,8825,0.22,2.03,0.00,0.000,6,0.190,0.027,2746,2397,2653
$GC,9157,0.69,230.1,715.4,12.1,700,9179,0.15,2.25,13.98,1.170,4,0.085,0.052,2802,3758,2594
$GC,9296,0.57,230.1,691.2,19.4,706,9301,0.15,2.03,0.00,0.000,6,0.195,0.026,2767,2397,2591
$GC,9631,0.68,230.1,642.4,14.1,722,9636,0.10,2.20,0.00,0.000,4,0.094,0.051,2805,3762,2590
$GC,9756,0.57,230.1,620.1,19.0,727,9760,0.20,2.00,0.00,0.000,6,0.186,0.027,2764,2405,2590
$GC,10079,0.71,230.1,576.8,13.6,743,10083,0.12,2.12,0.00,0.000,4,0.085,0.029,2819,976,2589
$GC,10107,0.77,230.1,572.2,14.8,744,10111,0.00,2.22,0.00,0.000,6,0.000,0.034,2819,2426,2589
$GC,10423,0.77,230.1,523.2,15.0,759,10427,0.00,2.12,0.00,0.000,4,0.000,0.054,2819,3765,2588
$GC,10609,0.63,230.1,492.5,17.0,768,10613,0.17,1.98,0.00,0.000,6,0.198,0.027,2786,2423,2588
$GC,10940,0.74,253.3,449.7,11.5,799,10962,0.10,0.00,19.20,1.035,6,0.092,0.000,2824,2419,2499
$GC,11278,0.74,253.3,398.7,15.9,831,11282,0.00,2.15,0.00,0.000,4,0.000,0.053,2824,3755,2495
$GC,11318,0.64,253.3,391.8,18.2,834,11325,0.15,1.95,0.00,0.000,6,0.194,0.025,2790,2428,2495
$GC,11645,0.80,273.4,345.1,11.7,865,11669,0.15,2.15,17.33,0.951,4,0.079,0.051,2847,3763,2417
$GC,11750,0.69,273.4,327.3,17.9,874,11754,0.20,1.95,0.00,0.000,6,0.188,0.027,2807,2446,2415
$GC,12085,0.83,288.0,283.3,12.1,916,12104,0.12,2.12,13.45,0.878,4,0.084,0.051,2854,3761,2358
$GC,12159,0.69,288.0,271.3,18.2,928,12165,0.22,1.95,0.00,0.000,6,0.187,0.026,2807,2433,2357
$GC,12505,0.87,288.0,223.1,13.4,989,12513,0.15,2.12,0.00,0.000,4,0.081,0.049,2865,3760,2356
$GC,12653,0.73,288.0,196.1,18.5,1014,12660,0.22,1.92,0.00,0.000,6,0.186,0.025,2818,2436,2356
$GC,13001,0.92,304.4,149.6,12.0,1075,13022,0.17,2.17,14.82,0.766,4,0.074,0.048,2892,3764,2290
$GC,13278,0.80,304.4,102.8,13.7,1123,13284,0.25,1.88,0.00,0.000,6,0.179,0.024,2836,2459,2288
$GC,13625,1.13,381.7,71.4,7.6,1184,13696,0.25,2.15,61.00,0.706,4,0.065,0.047,2943,3764,1973
$GC,13951,1.13,381.7,23.2,15.5,1241,13958,0.00,1.83,0.00,0.000,6,0.000,0.023,2952,2492,1967
$STATE,14129,end climb,SURFACE_DEPTH_REACHED
$STATE,14129,begin surface coast
$FINISH,1.8,1.008380
$STATE,14163,end surface coast,CONTROL_FINISHED_OK
$STATE,14163,begin surface
$SM_CCo,14184,69.80,0.627,0,0,1594,475.15
$SM_GC,2.77,0.00,0.00,69.80,0.000,0.000,0.627,139,2370,1594,-7.63,-0.37,475.15
$IRIDIUM_FIX,2451.31,12246.68,231198,202001
$TT8_MAMPS,0.029146
$HUMID,1752
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,23.0,103.731
$10V_AH,10.5,54.246
$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,29.550,117.150,420.850,69.800,0.000,22.542,32.908,191.579,8.250,0.000,0.000,36.063,2342.608,8585.121,579.236,2441.787,736.620,0.000,1803.087,0.000,2359.575,0.000,54.424,0.000
$DEVICE_MAMPS,232.401,62.127,1407.445,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,866.814,878.580,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69626,1278
$CAP_FILE_SIZE,154287,0
$CFSIZE,260165632,178864128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241, 70.0,1
$GPS,300809,043537,2458.415,12246.507,31,1.1,32,-3.6