version: 66.04
glider: 167
mission: 2
dive: 471
start: 8 7 109 20 49 20
data:
$ID,167
$MISSION,2
$DIVE,471
$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,253
$T_MISSION,304
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15196.726
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$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,117
$R_STBD_OVSHOOT,47
$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
$GPS1,203236,2447.758,12352.149,38,1.1,50,-3.6
$_CALLS,3
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-53.6
$GPS2,204901,2448.008,12352.631,11,1.4,16,-3.6
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_1
$TGT_LATLONG,2429.500,12329.800
$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,231.9,51531,-24.8,-13.043
$D_GRID,1896
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.49,-121.7,0.0,0.0,0,68,0.00,0.00,-46.85,0.000,2,0.000,0.000,139,2479,2420
$GC,72,-1.49,-121.7,3.4,-3.4,8,138,8.02,2.00,-48.22,0.000,4,0.238,0.049,2054,3757,3990
$GC,151,-0.77,-121.7,12.2,-22.7,21,158,0.85,1.92,0.00,0.000,6,0.174,0.020,2290,2381,3990
$GC,498,-1.18,-121.7,42.0,-9.9,82,505,0.32,2.12,0.00,0.000,4,0.053,0.043,2143,3756,3991
$GC,519,-1.26,-121.7,45.0,-13.0,85,525,0.00,1.90,0.00,0.000,6,0.000,0.020,2143,2382,3991
$GC,864,-1.20,-121.7,97.4,-9.5,146,871,0.00,2.10,0.00,0.000,4,0.000,0.040,2137,3757,3991
$GC,924,-0.97,-121.7,104.1,-12.3,156,931,0.32,1.85,0.00,0.000,6,0.157,0.020,2228,2420,3991
$GC,1273,-1.31,-121.7,141.7,-10.9,217,1280,0.25,2.00,0.00,0.000,4,0.056,0.021,2118,1009,3991
$GC,1310,-1.16,-121.7,145.9,-11.9,223,1317,0.22,2.08,0.00,0.000,6,0.170,0.025,2170,2431,3992
$GC,1657,-1.28,-121.7,183.6,-11.0,284,1664,0.12,2.00,0.00,0.000,4,0.075,0.040,2111,3759,3992
$GC,1718,-0.97,-121.7,190.5,-12.4,294,1726,0.43,1.85,0.00,0.000,6,0.166,0.020,2229,2418,3992
$GC,2066,-1.33,-121.7,222.7,-8.5,355,2073,0.28,2.00,0.00,0.000,4,0.055,0.021,2110,1006,3992
$GC,2131,-1.13,-121.7,230.7,-13.4,366,2139,0.28,2.05,0.00,0.000,6,0.160,0.025,2177,2412,3992
$GC,2482,-1.34,-121.7,270.5,-11.4,427,2489,0.20,2.00,0.00,0.000,4,0.063,0.021,2091,1018,3993
$GC,2524,-1.12,-121.7,276.3,-14.1,434,2532,0.35,2.00,0.00,0.000,6,0.161,0.025,2182,2393,3993
$GC,2873,-1.38,-121.7,306.9,-8.0,488,2877,0.20,2.05,0.00,0.000,4,0.064,0.041,2093,3748,3993
$GC,2907,-1.16,-121.7,310.4,-11.1,490,2915,0.28,1.90,0.00,0.000,6,0.164,0.019,2168,2368,3993
$GC,3233,-1.36,-121.7,341.9,-10.5,521,3237,0.17,1.90,0.00,0.000,4,0.064,0.021,2095,1017,3993
$GC,3279,-1.19,-121.7,347.5,-12.9,525,3283,0.22,1.98,0.00,0.000,6,0.163,0.026,2154,2362,3992
$GC,3610,-1.35,-121.7,379.9,-8.7,556,3614,0.12,2.10,0.00,0.000,4,0.077,0.041,2098,3750,3992
$GC,3631,-1.35,-121.7,382.2,-9.9,557,3637,0.00,1.95,0.00,0.000,6,0.000,0.019,2098,2331,3992
$GC,3961,-1.22,-121.7,416.4,-11.1,588,3966,0.20,2.20,0.00,0.000,4,0.160,0.040,2149,3763,3992
$GC,4084,-1.22,-121.7,429.2,-10.4,598,4088,0.00,1.92,0.00,0.000,6,0.000,0.021,2149,2371,3992
$GC,4418,-1.40,-121.7,464.9,-10.0,629,4422,0.15,1.92,0.00,0.000,4,0.072,0.022,2085,1019,3990
$GC,4453,-1.28,-121.7,469.2,-11.7,632,4457,0.17,2.00,0.00,0.000,6,0.166,0.028,2130,2377,3990
$GC,4783,-1.37,-121.7,502.8,-9.9,662,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2377,3989
$GC,5093,-1.50,-121.7,532.8,-9.9,677,5097,0.17,1.98,0.00,0.000,4,0.070,0.022,2053,1021,3987
$GC,5140,-1.24,-121.7,538.6,-13.4,679,5145,0.35,2.03,0.00,0.000,6,0.164,0.027,2142,2382,3986
$GC,5470,-1.43,-121.7,573.4,-10.9,695,5474,0.17,1.98,0.00,0.000,4,0.071,0.022,2064,1030,3985
$GC,5511,-1.23,-121.7,578.9,-13.1,696,5517,0.32,1.98,0.00,0.000,6,0.163,0.028,2147,2357,3984
$GC,5827,-1.43,-121.7,611.5,-9.2,712,5829,0.20,0.00,0.00,0.000,6,0.067,0.000,2068,2358,3981
$GC,6138,-1.29,-121.7,642.5,-9.8,727,6143,0.17,2.15,0.00,0.000,4,0.170,0.043,2112,3758,3979
$GC,6202,-1.19,-121.7,649.2,-10.6,730,6206,0.17,2.00,0.00,0.000,6,0.163,0.021,2157,2354,3979
$GC,6538,-1.44,-121.7,678.4,-9.0,746,6542,0.20,1.95,0.00,0.000,4,0.069,0.024,2075,1007,3976
$GC,6600,-1.30,-121.7,686.2,-12.8,748,6606,0.20,1.98,0.00,0.000,6,0.164,0.030,2124,2324,3976
$GC,6918,-1.43,-121.7,721.7,-11.5,764,6922,0.12,1.92,0.00,0.000,4,0.081,0.024,2075,1009,3973
$GC,6964,-1.29,-121.7,727.5,-11.7,766,6968,0.20,1.95,0.00,0.000,6,0.166,0.029,2124,2303,3973
$GC,7299,-1.37,-121.7,763.9,-10.1,782,7302,0.00,2.25,0.00,0.000,4,0.000,0.047,2124,3754,3971
$GC,7334,-1.37,-121.7,768.1,-11.5,783,7338,0.00,2.12,0.00,0.000,6,0.000,0.021,2124,2272,3970
$GC,7657,-1.50,-121.7,799.5,-9.4,799,7662,0.17,2.35,0.00,0.000,4,0.071,0.046,2041,3752,3968
$GC,7732,-1.16,-121.7,809.2,-13.3,802,7736,0.45,2.10,0.00,0.000,6,0.173,0.022,2165,2279,3968
$GC,8056,-1.47,-121.7,836.4,-8.1,818,8060,0.22,1.85,0.00,0.000,4,0.070,0.025,2073,1002,3966
$GC,8106,-1.32,-121.7,842.4,-12.0,820,8110,0.17,1.92,0.00,0.000,6,0.172,0.033,2116,2274,3966
$GC,8435,-1.32,-121.7,876.5,-10.5,836,8439,0.00,2.30,0.00,0.000,4,0.000,0.050,2111,3757,3964
$GC,8596,-1.23,-121.7,895.9,-12.0,843,8601,0.15,2.10,0.00,0.000,6,0.168,0.026,2148,2319,3962
$GC,8934,-1.48,-121.7,930.6,-10.0,859,8938,0.20,2.28,0.00,0.000,4,0.071,0.048,2060,3751,3961
$GC,8952,-1.55,-121.7,932.8,-9.8,860,8955,0.00,2.10,0.00,0.000,6,0.000,0.025,2060,2310,3961
$STATE,9137,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9137,begin apogee
$GC,9145,-0.27,0.0,956.6,11.9,869,9240,1.40,0.00,91.00,1.393,6,0.173,0.000,2455,2352,3532
$STATE,9241,end apogee,CONTROL_FINISHED_OK
$STATE,9241,begin climb
$GC,9244,1.49,121.7,962.5,0.0,874,9358,1.62,2.40,104.07,1.353,4,0.059,0.046,3032,3769,3034
$GC,9430,0.62,153.2,960.5,10.8,882,9464,1.17,2.08,26.62,1.296,6,0.220,0.023,2748,2378,2909
$GC,9795,0.80,242.3,934.7,6.7,900,9880,0.15,2.38,74.60,1.333,4,0.084,0.051,2804,3763,2543
$GC,9994,0.74,274.4,913.8,10.7,909,10028,0.00,2.00,27.67,1.279,6,0.000,0.025,2813,2419,2412
$GC,10347,0.77,299.3,875.3,11.3,926,10374,0.00,2.20,22.05,1.266,4,0.000,0.049,2813,3772,2310
$GC,10410,0.73,299.3,867.1,13.7,929,10415,0.15,2.00,0.00,0.000,6,0.185,0.025,2780,2449,2308
$GC,10744,0.93,329.3,830.5,10.9,945,10772,0.20,0.00,25.85,1.266,6,0.074,0.000,2856,2447,2189
$GC,11074,0.89,335.0,786.5,12.6,961,11085,0.00,2.20,5.90,1.005,4,0.000,0.033,2858,988,2165
$GC,11124,0.89,335.0,779.6,13.3,963,11128,0.00,2.28,0.00,0.000,6,0.000,0.032,2858,2463,2164
$GC,11441,0.89,335.0,738.6,13.7,978,11445,0.00,2.25,0.00,0.000,4,0.000,0.030,2858,979,2163
$GC,11487,0.89,335.0,731.9,14.6,980,11491,0.00,2.25,0.00,0.000,6,0.000,0.034,2858,2436,2163
$GC,11814,0.89,335.0,687.3,13.2,996,11817,0.00,2.08,0.00,0.000,4,0.000,0.050,2858,3764,2161
$GC,11853,0.80,335.0,681.8,13.1,997,11860,0.22,1.98,0.00,0.000,6,0.179,0.025,2808,2404,2161
$GC,12171,1.15,393.7,651.2,8.8,1013,12228,0.25,2.30,49.92,1.198,4,0.069,0.051,2912,3761,1925
$GC,12331,0.98,393.7,628.6,14.5,1020,12335,0.17,1.92,0.00,0.000,6,0.166,0.025,2860,2486,1919
$GC,12658,1.13,401.3,588.1,12.5,1036,12672,0.15,2.33,6.75,0.968,4,0.082,0.030,2925,978,1896
$GC,12741,1.08,401.3,575.7,14.6,1039,12748,0.12,2.35,0.00,0.000,6,0.179,0.034,2896,2498,1894
$GC,13057,1.08,401.3,532.6,13.2,1055,13061,0.00,2.00,0.00,0.000,4,0.000,0.052,2896,3771,1893
$GC,13104,1.00,401.3,526.0,14.8,1057,13108,0.15,1.88,0.00,0.000,6,0.186,0.025,2867,2481,1892
$GC,13432,1.27,438.5,491.3,10.4,1076,13471,0.22,2.08,32.85,1.072,4,0.072,0.049,2961,3762,1742
$GC,13499,1.04,438.5,481.0,15.8,1081,13506,0.32,2.00,0.00,0.000,6,0.185,0.025,2886,2420,1739
$GC,13825,1.31,448.7,440.0,12.3,1112,13840,0.20,2.17,9.45,0.938,4,0.074,0.049,2970,3755,1702
$GC,13926,1.12,448.7,424.7,15.0,1121,13931,0.28,2.08,0.00,0.000,6,0.180,0.024,2907,2360,1700
$GC,14254,1.33,470.5,388.3,11.5,1151,14279,0.17,2.30,19.20,0.966,4,0.077,0.048,2981,3767,1612
$GC,14386,1.14,470.5,367.4,17.4,1162,14394,0.30,2.00,0.00,0.000,6,0.183,0.025,2912,2411,1610
$GC,14711,1.40,470.5,321.6,13.8,1193,14716,0.20,2.12,0.00,0.000,4,0.072,0.029,3002,982,1607
$GC,14837,1.26,470.5,301.9,14.9,1204,14842,0.20,2.15,0.00,0.000,6,0.183,0.031,2952,2404,1607
$GC,15185,1.37,484.5,259.6,12.0,1263,15202,0.00,2.22,12.55,0.833,4,0.000,0.031,2955,971,1555
$GC,15226,1.37,484.5,253.9,13.2,1270,15233,0.00,2.22,0.00,0.000,6,0.000,0.031,2955,2435,1554
$GC,15574,1.43,487.7,206.9,12.8,1331,15586,0.15,2.22,4.15,0.579,4,0.077,0.029,3021,981,1543
$GC,15693,1.29,487.7,189.4,15.5,1351,15699,0.22,2.20,0.00,0.000,6,0.175,0.030,2964,2442,1542
$GC,16040,1.50,497.2,140.1,12.4,1412,16059,0.17,2.20,9.90,0.708,4,0.073,0.025,3044,967,1503
$GC,16195,1.37,497.2,117.0,14.0,1439,16202,0.22,2.15,0.00,0.000,6,0.174,0.028,2986,2403,1502
$GC,16542,1.57,530.5,76.8,10.7,1500,16584,0.17,2.17,30.35,0.667,4,0.073,0.046,3062,3756,1368
$GC,16658,1.41,562.1,66.2,10.8,1519,16693,0.28,2.03,26.88,0.673,6,0.170,0.021,2998,2347,1238
$GC,17036,1.56,595.0,20.3,10.7,1585,17072,0.12,2.22,28.23,0.627,4,0.085,0.043,3045,3756,1104
$GC,17097,1.49,595.0,9.4,18.1,1595,17103,0.00,1.95,0.00,0.000,6,0.000,0.020,3056,2411,1103
$STATE,17135,end climb,SURFACE_DEPTH_REACHED
$STATE,17135,begin surface coast
$FINISH,1.6,1.014258
$STATE,17153,end surface coast,CONTROL_FINISHED_OK
$STATE,17153,begin surface
$SM_CCo,17234,0.00,0.000,0,0,1100,596.57
$SM_GC,2.50,7.82,0.00,0.00,0.051,0.000,0.000,142,2408,1100,-7.49,0.71,596.57
$IRIDIUM_FIX,2439.44,12351.28,011198,202057
$TT8_MAMPS,0.029146
$HUMID,1702
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,26.00
$XPDR_PINGS,9
$24V_AH,23.3,81.435
$10V_AH,10.6,43.570
$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,33.700,166.475,608.000,0.000,0.000,78.403,160.867,448.526,10.000,0.000,0.000,16.703,2884.237,10535.502,746.234,2832.205,1201.719,0.000,2220.999,0.000,2759.136,0.000,52.776,0.000
$DEVICE_MAMPS,237.770,103.545,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1080.660,1113.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85387,1605
$CAP_FILE_SIZE,198417,0
$CFSIZE,260165632,188256256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.159, 40.4,1
$GPS,080809,013754,2448.386,12352.444,42,1.2,43,-3.6