version: 66.04
glider: 167
mission: 2
dive: 603
start: 8 30 109 4 42 54
data:
$ID,167
$MISSION,2
$DIVE,603
$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,-21177.154
$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,34
$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
$GPS1,043537,2458.415,12246.507,31,1.1,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.6
$GPS2,044232,2458.547,12246.663,10,1.6,10,-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,227.3,24910,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,42,0.00,0.00,-23.27,0.000,2,0.000,0.000,139,2371,2177
$GC,46,-1.50,-121.7,3.0,-1.7,4,118,8.15,2.03,-54.75,0.000,4,0.234,0.038,2093,988,3988
$GC,301,-0.88,-121.7,77.3,-32.2,48,308,0.75,2.12,0.00,0.000,6,0.180,0.030,2288,2404,3990
$GC,649,-1.08,-121.7,136.3,-13.3,109,655,0.17,2.08,0.00,0.000,4,0.067,0.044,2205,3754,3993
$GC,707,-0.92,-121.7,147.3,-19.6,119,715,0.28,1.98,0.00,0.000,6,0.166,0.021,2280,2348,3993
$GC,1058,-1.18,-121.7,190.7,-10.4,180,1065,0.20,2.17,0.00,0.000,4,0.064,0.044,2188,3749,3994
$GC,1164,-0.97,-121.7,209.5,-20.4,198,1171,0.28,1.90,0.00,0.000,6,0.165,0.021,2263,2393,3995
$GC,1516,-1.21,-121.7,254.9,-10.4,259,1523,0.17,2.12,0.00,0.000,4,0.067,0.043,2179,3763,3995
$GC,1616,-0.98,-121.7,272.3,-21.1,276,1622,0.30,1.92,0.00,0.000,6,0.166,0.021,2261,2391,3995
$GC,1962,-1.23,-121.7,314.7,-10.2,325,1966,0.20,2.12,0.00,0.000,4,0.067,0.043,2166,3757,3995
$GC,2053,-1.04,-121.7,330.8,-18.5,332,2060,0.28,1.88,0.00,0.000,6,0.163,0.022,2241,2428,3995
$GC,2380,-1.27,-121.7,376.4,-13.4,363,2384,0.17,2.08,0.00,0.000,4,0.066,0.045,2162,3756,3995
$GC,2491,-1.16,-121.7,396.1,-18.7,372,2495,0.15,1.88,0.00,0.000,6,0.166,0.022,2200,2431,3995
$GC,2824,-1.24,-121.7,447.7,-13.6,403,2828,0.00,2.05,0.00,0.000,4,0.000,0.044,2192,3745,3994
$GC,2875,-1.24,-121.7,456.1,-16.4,407,2882,0.00,1.85,0.00,0.000,6,0.000,0.022,2192,2428,3994
$GC,3213,-1.32,-121.7,504.3,-15.0,438,3217,0.10,2.08,0.00,0.000,4,0.086,0.045,2141,3751,3992
$GC,3317,-1.09,-121.7,525.1,-22.4,442,3321,0.32,1.83,0.00,0.000,6,0.174,0.024,2227,2471,3991
$GC,3639,-1.36,-121.7,565.2,-10.4,458,3644,0.22,2.03,0.00,0.000,4,0.065,0.047,2138,3757,3989
$GC,3814,-1.20,-121.7,595.9,-18.1,465,3821,0.20,1.80,0.00,0.000,6,0.171,0.023,2188,2502,3988
$GC,4134,-1.30,-121.7,636.7,-13.0,481,4138,0.00,1.95,0.00,0.000,4,0.000,0.048,2181,3746,3986
$GC,4175,-1.30,-121.7,642.7,-13.4,482,4181,0.00,1.77,0.00,0.000,6,0.000,0.024,2181,2505,3985
$GC,4492,-1.40,-121.7,685.0,-13.3,498,4497,0.15,1.98,0.00,0.000,4,0.080,0.049,2124,3750,3982
$GC,4701,-1.19,-121.7,724.2,-18.9,507,4707,0.20,1.80,0.00,0.000,6,0.176,0.026,2191,2535,3980
$GC,5033,-1.32,-121.7,769.0,-13.6,523,5034,0.12,0.00,0.00,0.000,6,0.084,0.000,2144,2535,3978
$GC,5340,-1.28,-121.7,821.9,-17.5,538,5344,0.00,1.92,0.00,0.000,4,0.000,0.051,2138,3750,3976
$GC,5414,-1.18,-121.7,836.0,-18.2,541,5418,0.22,1.77,0.00,0.000,6,0.173,0.025,2196,2528,3975
$GC,5745,-1.38,-121.7,881.8,-13.7,557,5750,0.17,1.95,0.00,0.000,4,0.076,0.051,2125,3753,3973
$GC,5849,-1.24,-121.7,901.0,-19.3,561,5853,0.20,1.75,0.00,0.000,6,0.178,0.025,2175,2551,3972
$GC,6172,-1.36,-121.7,949.4,-14.1,577,6177,0.00,1.90,0.00,0.000,4,0.000,0.051,2167,3746,3970
$GC,6273,-1.42,-121.7,965.2,-15.6,581,6278,0.15,1.73,0.00,0.000,6,0.081,0.025,2113,2565,3970
$STATE,6427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6427,begin apogee
$GC,6437,-0.27,0.0,993.0,18.5,589,6535,1.35,0.00,93.97,1.398,6,0.175,0.000,2486,2410,3532
$STATE,6535,end apogee,CONTROL_FINISHED_OK
$STATE,6535,begin climb
$GC,6539,1.50,121.7,998.2,0.0,594,6654,1.58,2.30,105.53,1.359,4,0.053,0.045,3061,3756,3034
$GC,6909,0.51,121.7,966.0,16.5,610,6916,1.30,2.10,0.00,0.000,6,0.228,0.022,2752,2324,3030
$GC,7226,0.62,210.6,942.7,6.8,626,7310,0.00,2.45,74.47,1.333,4,0.000,0.050,2752,3754,2672
$GC,7563,0.62,210.6,900.1,13.8,641,7567,0.00,2.03,0.00,0.000,6,0.000,0.024,2759,2378,2666
$GC,7893,0.75,232.7,862.4,11.6,657,7918,0.17,2.28,18.80,1.252,4,0.081,0.051,2832,3747,2583
$GC,8072,0.54,232.7,831.1,17.8,665,8076,0.32,2.00,0.00,0.000,6,0.186,0.025,2757,2393,2579
$GC,8401,0.69,232.7,787.6,13.4,681,8405,0.15,2.17,0.00,0.000,4,0.084,0.048,2812,3754,2577
$GC,8474,0.53,232.7,774.9,17.4,684,8478,0.25,1.98,0.00,0.000,6,0.187,0.025,2752,2409,2577
$GC,8792,0.70,241.2,734.1,12.6,699,8807,0.15,2.20,7.78,1.078,4,0.084,0.050,2809,3751,2547
$GC,8898,0.57,241.2,715.9,17.9,703,8906,0.20,1.95,0.00,0.000,6,0.189,0.025,2766,2414,2546
$GC,9215,0.72,257.6,676.1,12.0,719,9238,0.12,2.15,14.85,1.151,4,0.086,0.049,2813,3748,2481
$GC,9380,0.61,257.6,648.2,17.5,726,9384,0.15,1.90,0.00,0.000,6,0.194,0.025,2780,2451,2478
$GC,9709,0.72,257.6,604.3,13.3,742,9712,0.00,2.08,0.00,0.000,4,0.000,0.049,2780,3752,2477
$GC,9733,0.77,257.6,600.7,14.2,743,9737,0.12,1.90,0.00,0.000,6,0.086,0.025,2832,2443,2477
$GC,10066,0.77,257.6,549.2,15.3,759,10069,0.00,2.08,0.00,0.000,4,0.000,0.050,2832,3748,2476
$GC,10198,0.61,257.6,525.1,19.1,764,10205,0.25,1.85,0.00,0.000,6,0.189,0.025,2777,2466,2476
$GC,10522,0.76,259.0,480.8,13.1,786,10526,0.15,2.05,0.00,0.000,4,0.081,0.050,2834,3747,2476
$GC,10574,0.61,259.0,471.7,17.6,790,10581,0.25,1.83,0.00,0.000,6,0.189,0.025,2778,2486,2475
$GC,10901,0.77,273.9,430.7,12.1,821,10921,0.15,0.00,14.20,0.996,6,0.081,0.000,2834,2483,2414
$GC,11242,0.77,273.9,377.1,17.3,853,11246,0.00,2.22,0.00,0.000,4,0.000,0.029,2842,994,2413
$GC,11420,0.86,273.9,347.8,17.0,868,11426,0.00,2.33,0.00,0.000,6,0.000,0.033,2842,2501,2412
$GC,11749,0.86,273.9,292.5,18.0,902,11755,0.00,1.98,0.00,0.000,4,0.000,0.052,2842,3757,2411
$GC,11870,0.74,273.9,270.8,17.4,923,11877,0.12,1.83,0.00,0.000,6,0.191,0.025,2823,2489,2411
$GC,12218,0.83,273.9,219.3,14.6,984,12224,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2489,2411
$GC,12565,0.95,289.9,175.8,12.0,1045,12585,0.17,2.08,14.55,0.788,4,0.075,0.051,2896,3746,2349
$GC,12842,0.73,289.9,125.2,20.2,1093,12849,0.32,1.80,0.00,0.000,6,0.181,0.025,2820,2487,2347
$GC,13189,1.07,358.2,88.3,8.2,1154,13250,0.25,2.10,54.45,0.722,4,0.064,0.047,2924,3750,2069
$GC,13506,1.11,396.0,39.2,10.5,1209,13541,0.00,1.75,30.00,0.658,6,0.000,0.024,2934,2529,1916
$STATE,13835,end climb,SURFACE_DEPTH_REACHED
$STATE,13835,begin surface coast
$FINISH,1.9,0.997253
$STATE,13865,end surface coast,CONTROL_FINISHED_OK
$STATE,13865,begin surface
$SM_CCo,13886,59.08,0.621,0,0,1595,475.15
$SM_GC,2.96,0.00,0.00,59.08,0.000,0.000,0.621,139,2367,1595,-7.63,-0.45,475.15
$IRIDIUM_FIX,2448.93,12246.68,241198,000033
$TT8_MAMPS,0.029146
$HUMID,1761
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.50
$XPDR_PINGS,3
$24V_AH,23.0,103.899
$10V_AH,10.6,54.330
$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,28.325,108.100,428.600,59.075,0.000,24.098,32.969,186.827,8.750,0.000,0.000,10.508,2306.775,8307.909,590.610,2423.312,723.574,0.000,1811.723,0.000,2368.583,0.000,54.436,0.000
$DEVICE_MAMPS,233.935,52.156,1398.241,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.401,882.587,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69386,1272
$CAP_FILE_SIZE,147665,0
$CFSIZE,260165632,178790400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.287, 57.2,1
$GPS,300809,083637,2458.604,12247.446,34,1.1,35,-3.6