version: 66.04
glider: 167
mission: 2
dive: 667
start: 9 8 109 17 40 16
data:
$ID,167
$MISSION,2
$DIVE,667
$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,-22433.893
$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,74
$R_STBD_OVSHOOT,45
$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
$GPS1,173206,2522.242,12258.981,33,0.8,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-63.4
$GPS2,173956,2522.487,12259.141,13,1.0,13,-3.7
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,204.1,48719,-25.0,-13.200
$D_GRID,1292
$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,17,-1.50,-121.7,0.0,0.0,0,48,0.00,0.00,-28.85,0.000,2,0.000,0.000,139,2373,2325
$GC,53,-1.50,-121.7,3.2,-1.5,5,118,8.00,2.10,-46.95,0.000,4,0.227,0.036,2093,974,3990
$GC,255,-0.83,-121.7,68.5,-35.8,40,263,0.85,2.12,0.00,0.000,6,0.188,0.031,2307,2388,3991
$GC,606,-1.11,-121.7,114.4,-7.7,101,613,0.20,2.10,0.00,0.000,4,0.059,0.043,2207,3753,3994
$GC,740,-1.03,-121.7,138.1,-19.7,124,748,0.15,1.92,0.00,0.000,6,0.153,0.021,2247,2379,3995
$GC,1089,-1.16,-121.7,196.7,-17.8,185,1096,0.12,2.15,0.00,0.000,4,0.075,0.043,2192,3760,3997
$GC,1171,-1.04,-121.7,214.9,-22.8,199,1177,0.20,1.85,0.00,0.000,6,0.156,0.021,2246,2434,3997
$GC,1520,-1.20,-121.7,267.8,-13.4,260,1528,0.15,2.05,0.00,0.000,4,0.071,0.044,2179,3746,3997
$GC,1722,-1.01,-121.7,305.5,-19.2,292,1729,0.28,1.83,0.00,0.000,6,0.163,0.023,2254,2456,3997
$GC,2048,-1.31,-121.7,336.1,-7.9,323,2053,0.25,2.03,0.00,0.000,4,0.061,0.045,2149,3747,3997
$GC,2159,-1.12,-121.7,353.5,-18.8,332,2164,0.25,1.77,0.00,0.000,6,0.164,0.023,2215,2492,3997
$GC,2491,-1.25,-121.7,404.0,-15.7,363,2495,0.12,1.98,0.00,0.000,4,0.078,0.047,2162,3745,3996
$GC,2521,-1.25,-121.7,409.5,-18.9,365,2527,0.00,1.75,0.00,0.000,6,0.000,0.023,2162,2503,3996
$GC,2847,-1.20,-121.7,471.7,-19.1,396,2852,0.12,1.98,0.00,0.000,4,0.172,0.048,2192,3751,3994
$GC,2982,-1.25,-121.7,494.0,-16.0,407,2988,0.00,1.75,0.00,0.000,6,0.000,0.024,2192,2519,3993
$GC,3311,-1.33,-121.7,537.6,-11.6,425,3315,0.12,1.95,0.00,0.000,4,0.082,0.047,2140,3754,3991
$GC,3375,-1.16,-121.7,547.2,-16.2,427,3381,0.25,1.73,0.00,0.000,6,0.169,0.023,2205,2546,3991
$GC,3695,-1.32,-121.7,580.6,-10.3,443,3699,0.15,1.90,0.00,0.000,4,0.073,0.048,2145,3746,3988
$GC,3792,-1.20,-121.7,594.6,-15.0,447,3796,0.12,1.73,0.00,0.000,6,0.173,0.024,2181,2571,3987
$GC,4123,-1.28,-121.7,635.5,-12.8,463,4127,0.00,1.88,0.00,0.000,4,0.000,0.050,2179,3757,3985
$GC,4200,-1.34,-121.7,645.8,-13.6,466,4204,0.00,1.70,0.00,0.000,6,0.000,0.025,2179,2575,3984
$GC,4528,-1.43,-121.7,693.0,-15.6,482,4532,0.17,1.88,0.00,0.000,4,0.077,0.050,2110,3750,3982
$GC,4580,-1.19,-121.7,703.8,-21.9,484,4584,0.25,1.73,0.00,0.000,6,0.176,0.025,2191,2580,3981
$GC,4912,-1.35,-121.7,753.0,-14.0,500,4916,0.15,1.88,0.00,0.000,4,0.077,0.050,2135,3756,3978
$GC,4981,-1.25,-121.7,765.5,-18.3,503,4985,0.12,1.73,0.00,0.000,6,0.173,0.025,2170,2592,3978
$GC,5318,-1.34,-121.7,817.5,-15.9,519,5322,0.00,1.85,0.00,0.000,4,0.000,0.050,2166,3758,3976
$GC,5403,-1.34,-121.7,832.6,-16.7,522,5409,0.00,1.70,0.00,0.000,6,0.000,0.025,2166,2584,3975
$GC,5722,-1.40,-121.7,880.8,-15.3,538,5726,0.12,1.88,0.00,0.000,4,0.087,0.050,2112,3758,3973
$GC,5791,-1.18,-121.7,894.1,-21.5,541,5795,0.32,1.70,0.00,0.000,6,0.181,0.025,2195,2594,3973
$GC,6130,-1.38,-121.7,936.3,-11.7,557,6134,0.17,1.85,0.00,0.000,4,0.077,0.051,2124,3747,3971
$GC,6169,-1.27,-121.7,943.0,-16.6,558,6176,0.12,1.67,0.00,0.000,6,0.176,0.025,2169,2617,3971
$GC,6490,-1.37,-121.7,986.7,-13.1,574,6493,0.00,1.80,0.00,0.000,4,0.000,0.051,2165,3748,3969
$STATE,6510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6510,begin apogee
$GC,6522,-0.27,0.0,990.7,14.2,575,6626,1.12,0.00,95.12,1.396,6,0.159,0.000,2485,2371,3532
$STATE,6627,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6631,1.50,121.7,995.8,0.0,580,6745,1.60,2.22,104.90,1.373,4,0.054,0.025,3070,995,3035
$GC,7003,0.76,122.4,972.4,13.1,596,7009,0.98,2.12,0.00,0.000,6,0.218,0.035,2828,2375,3031
$GC,7328,0.65,184.9,941.6,8.7,612,7386,0.15,2.15,52.53,1.345,4,0.201,0.025,2798,1002,2777
$GC,7545,0.69,220.2,918.8,10.6,621,7581,0.00,2.10,31.02,1.304,6,0.000,0.031,2798,2376,2634
$GC,7894,0.69,220.2,872.2,13.6,637,7898,0.00,2.17,0.00,0.000,4,0.000,0.050,2798,3751,2628
$GC,7946,0.60,220.2,863.8,16.7,639,7949,0.00,2.00,0.00,0.000,6,0.000,0.024,2802,2389,2627
$GC,8273,0.60,220.2,815.7,14.5,655,8277,0.00,2.17,0.00,0.000,4,0.000,0.048,2802,3753,2626
$GC,8507,0.51,220.2,777.6,15.9,665,8512,0.25,1.98,0.00,0.000,6,0.183,0.025,2747,2397,2625
$GC,8831,0.73,234.2,738.7,12.2,681,8852,0.17,2.25,11.45,1.167,4,0.076,0.049,2820,3758,2576
$GC,8917,0.60,234.2,724.2,18.6,684,8924,0.20,1.98,0.00,0.000,6,0.189,0.025,2778,2408,2576
$GC,9234,0.75,234.2,679.7,13.5,700,9238,0.12,2.15,0.00,0.000,4,0.083,0.048,2825,3753,2574
$GC,9298,0.61,234.2,669.4,16.4,703,9302,0.20,1.95,0.00,0.000,6,0.189,0.024,2778,2419,2574
$GC,9632,0.78,261.9,627.1,11.2,719,9662,0.15,2.20,23.62,1.167,4,0.080,0.050,2836,3746,2464
$GC,9771,0.67,261.9,605.8,17.6,725,9776,0.20,1.95,0.00,0.000,6,0.186,0.025,2795,2420,2461
$GC,10105,0.81,271.8,562.1,12.5,741,10120,0.15,2.15,9.27,1.032,4,0.080,0.051,2853,3750,2423
$GC,10267,0.68,271.8,533.6,18.4,748,10272,0.25,1.92,0.00,0.000,6,0.186,0.025,2799,2438,2422
$GC,10589,0.82,271.8,488.5,14.4,767,10594,0.12,2.12,0.00,0.000,4,0.084,0.049,2846,3762,2421
$GC,10670,0.70,271.8,472.8,20.4,773,10677,0.20,1.90,0.00,0.000,6,0.186,0.025,2805,2457,2421
$GC,10998,0.83,271.8,418.3,17.0,804,11002,0.12,2.08,0.00,0.000,4,0.086,0.049,2854,3760,2420
$GC,11089,0.70,271.8,400.5,21.3,812,11094,0.22,1.90,0.00,0.000,6,0.181,0.025,2806,2468,2420
$GC,11423,0.86,276.9,352.2,12.8,843,11435,0.15,2.22,5.72,0.816,4,0.081,0.030,2873,990,2402
$GC,11464,0.86,276.9,345.7,15.8,846,11470,0.00,2.30,0.00,0.000,6,0.000,0.034,2873,2481,2402
$GC,11795,0.86,276.9,297.4,14.3,878,11801,0.00,2.00,0.00,0.000,4,0.000,0.051,2873,3750,2402
$GC,11831,0.73,276.9,291.0,16.8,884,11839,0.25,1.85,0.00,0.000,6,0.180,0.025,2817,2475,2401
$GC,12181,0.90,298.7,249.2,11.6,945,12207,0.15,2.12,19.27,0.885,4,0.077,0.049,2877,3761,2313
$GC,12464,0.79,298.7,197.7,18.0,994,12470,0.20,1.83,0.00,0.000,6,0.176,0.025,2834,2504,2310
$GC,12812,1.01,316.8,147.8,11.9,1055,12836,0.17,2.33,15.48,0.785,4,0.071,0.028,2920,982,2239
$GC,12995,1.01,316.8,115.4,18.5,1087,13002,0.00,2.35,0.00,0.000,6,0.000,0.031,2920,2517,2238
$GC,13343,1.04,347.2,67.1,11.0,1148,13374,0.00,2.03,25.15,0.719,4,0.000,0.050,2920,3762,2115
$GC,13630,1.11,401.1,39.5,9.3,1198,13678,0.00,1.85,42.90,0.679,6,0.000,0.023,2930,2473,1897
$STATE,14004,end climb,SURFACE_DEPTH_REACHED
$STATE,14004,begin surface coast
$FINISH,2.0,1.021604
$STATE,14034,end surface coast,CONTROL_FINISHED_OK
$STATE,14034,begin surface
$SM_CCo,14055,55.03,0.625,0,0,1594,475.15
$SM_GC,3.17,0.00,0.00,55.03,0.000,0.000,0.625,138,2470,1594,-7.63,2.46,475.15
$IRIDIUM_FIX,2512.73,12259.73,031298,131312
$TT8_MAMPS,0.029146
$HUMID,1804
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,25.60
$XPDR_PINGS,8
$24V_AH,22.9,114.173
$10V_AH,10.5,59.356
$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,27.350,122.250,436.450,55.025,0.000,31.344,31.639,225.626,10.000,0.000,0.000,13.502,2306.658,8470.621,594.750,2391.809,806.754,0.000,1813.504,0.000,2327.153,0.000,54.407,0.000
$DEVICE_MAMPS,227.032,50.622,1395.940,625.105,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,860.380,885.748,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69511,1269
$CAP_FILE_SIZE,151715,0
$CFSIZE,260165632,174206976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.245, 59.5,1
$GPS,080909,213638,2522.010,12300.219,25,1.4,27,-3.7