version: 66.04
glider: 167
mission: 2
dive: 503
start: 8 14 109 10 33 39
data:
$ID,167
$MISSION,2
$DIVE,503
$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,-5
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,250
$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,-16220.954
$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,72
$R_STBD_OVSHOOT,60
$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
$GPS1,102537,2512.997,12410.384,41,0.9,42,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-69.0
$GPS2,103320,2513.058,12410.401,16,1.5,16,-3.8
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,HEADING
$TGT_LATLONG,2509.364,12359.190
$TGT_RADIUS,1852.000
$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,253.8,20000,-24.8,-13.043
$D_GRID,2201
$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,16,-1.49,-121.7,0.0,0.0,0,50,0.00,0.00,-31.17,0.000,2,0.000,0.000,140,2409,2076
$GC,54,-1.49,-121.7,3.1,-1.5,6,136,7.90,2.10,-66.32,0.000,4,0.231,0.037,2062,984,3988
$GC,149,-0.95,-121.7,9.3,-16.5,23,156,0.65,2.08,0.00,0.000,6,0.171,0.028,2234,2370,3988
$GC,496,-1.17,-121.7,51.7,-10.6,84,502,0.17,2.12,0.00,0.000,4,0.068,0.042,2152,3759,3989
$GC,526,-1.05,-121.7,55.5,-13.2,89,533,0.20,2.00,0.00,0.000,6,0.167,0.021,2203,2338,3989
$GC,872,-1.25,-121.7,95.7,-13.4,150,879,0.17,1.90,0.00,0.000,4,0.061,0.022,2124,1005,3991
$GC,903,-1.16,-121.7,100.4,-15.5,155,909,0.20,2.05,0.00,0.000,6,0.165,0.026,2168,2405,3991
$GC,1251,-1.25,-121.7,141.9,-10.9,216,1257,0.00,2.05,0.00,0.000,4,0.000,0.042,2165,3756,3992
$GC,1293,-1.16,-121.7,146.9,-12.2,223,1300,0.00,1.92,0.00,0.000,6,0.000,0.021,2165,2355,3992
$GC,1639,-1.25,-121.7,186.4,-11.0,284,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2355,3993
$GC,1985,-1.35,-121.7,221.5,-10.4,345,1991,0.15,1.90,0.00,0.000,4,0.071,0.031,2101,1026,3994
$GC,2027,-1.17,-121.7,226.5,-11.9,352,2033,0.25,1.98,0.00,0.000,6,0.163,0.026,2165,2372,3994
$GC,2373,-1.32,-121.7,263.2,-10.8,413,2380,0.15,2.10,0.00,0.000,4,0.074,0.041,2098,3757,3994
$GC,2416,-1.05,-121.7,268.4,-12.7,420,2422,0.38,1.92,0.00,0.000,6,0.167,0.020,2201,2372,3994
$GC,2770,-1.33,-121.7,301.1,-9.1,481,2774,0.22,1.92,0.00,0.000,4,0.061,0.022,2107,1020,3994
$GC,2795,-1.40,-121.7,303.9,-10.1,483,2798,0.00,2.00,0.00,0.000,6,0.000,0.025,2098,2380,3994
$GC,3129,-1.25,-121.7,344.9,-12.2,514,3133,0.15,2.10,0.00,0.000,4,0.170,0.041,2136,3760,3994
$GC,3215,-1.13,-121.7,355.3,-11.3,521,3220,0.17,1.95,0.00,0.000,6,0.160,0.021,2182,2364,3994
$GC,3547,-1.37,-121.7,385.7,-8.3,552,3551,0.20,1.92,0.00,0.000,4,0.064,0.023,2096,1016,3994
$GC,3617,-1.20,-121.7,392.4,-10.0,558,3621,0.22,1.98,0.00,0.000,6,0.164,0.028,2154,2349,3994
$GC,3948,-1.37,-121.7,421.6,-8.8,589,3952,0.15,2.15,0.00,0.000,4,0.072,0.043,2094,3757,3993
$GC,4000,-1.14,-121.7,427.1,-11.8,593,4005,0.30,1.98,0.00,0.000,6,0.164,0.021,2176,2336,3993
$GC,4333,-1.38,-121.7,456.4,-8.3,624,4337,0.20,1.88,0.00,0.000,4,0.065,0.023,2091,1014,3992
$GC,4367,-1.28,-121.7,459.9,-10.7,627,4372,0.17,1.98,0.00,0.000,6,0.166,0.027,2130,2349,3992
$GC,4700,-1.37,-121.7,492.5,-9.6,658,4704,0.00,2.15,0.00,0.000,4,0.000,0.043,2124,3759,3992
$GC,4724,-1.37,-121.7,495.1,-10.2,660,4728,0.00,2.03,0.00,0.000,6,0.000,0.021,2124,2321,3991
$GC,5048,-1.47,-121.7,526.5,-10.0,678,5053,0.15,1.88,0.00,0.000,4,0.073,0.025,2061,1010,3990
$GC,5106,-1.22,-121.7,533.3,-11.7,680,5111,0.32,1.95,0.00,0.000,6,0.163,0.029,2147,2322,3990
$GC,5423,-1.40,-121.7,563.0,-9.4,695,5428,0.15,2.20,0.00,0.000,4,0.075,0.044,2085,3750,3988
$GC,5465,-1.21,-121.7,567.4,-11.6,697,5469,0.25,2.05,0.00,0.000,6,0.168,0.021,2151,2309,3988
$GC,5794,-1.40,-121.7,597.4,-9.5,713,5799,0.17,1.88,0.00,0.000,4,0.069,0.024,2076,1007,3986
$GC,5823,-1.31,-121.7,601.2,-13.0,714,5827,0.20,1.95,0.00,0.000,6,0.168,0.029,2124,2316,3985
$GC,6154,-1.43,-121.7,636.0,-10.6,730,6159,0.12,2.22,0.00,0.000,4,0.081,0.045,2071,3754,3983
$GC,6232,-1.17,-121.7,646.6,-13.3,733,6237,0.35,2.05,0.00,0.000,6,0.167,0.023,2167,2324,3982
$GC,6554,-1.45,-121.7,675.4,-8.6,748,6558,0.22,1.90,0.00,0.000,4,0.067,0.025,2073,1014,3980
$GC,6594,-1.29,-121.7,680.2,-11.3,749,6600,0.20,1.95,0.00,0.000,6,0.170,0.030,2123,2313,3980
$GC,6912,-1.41,-121.7,708.7,-9.3,765,6915,0.00,1.90,0.00,0.000,4,0.000,0.025,2123,1016,3978
$GC,6968,-1.41,-121.7,714.4,-10.1,767,6972,0.00,1.92,0.00,0.000,6,0.000,0.031,2123,2279,3978
$GC,7290,-1.54,-121.7,743.3,-8.9,783,7292,0.22,0.00,0.00,0.000,6,0.069,0.000,2038,2281,3975
$GC,7601,-1.30,-121.7,777.1,-10.8,798,7606,0.28,2.30,0.00,0.000,4,0.178,0.044,2110,3755,3973
$GC,7703,-1.19,-121.7,787.9,-9.7,802,7707,0.20,2.15,0.00,0.000,6,0.169,0.023,2162,2263,3972
$GC,8026,-1.46,-121.7,815.7,-9.2,818,8030,0.22,1.83,0.00,0.000,4,0.067,0.026,2068,1010,3971
$GC,8076,-1.28,-121.7,821.6,-12.2,820,8081,0.17,1.90,0.00,0.000,6,0.164,0.033,2130,2244,3970
$GC,8408,-1.45,-121.7,855.7,-10.6,836,8412,0.15,1.80,0.00,0.000,4,0.080,0.025,2072,1022,3969
$GC,8436,-1.37,-121.7,859.6,-12.5,837,8440,0.12,1.83,0.00,0.000,6,0.179,0.033,2100,2230,3968
$GC,8764,-1.37,-121.7,896.8,-11.1,853,8768,0.00,2.38,0.00,0.000,4,0.000,0.048,2097,3754,3967
$GC,9023,-1.20,-121.7,929.1,-12.1,864,9030,0.22,2.15,0.00,0.000,6,0.169,0.024,2157,2266,3966
$STATE,9130,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,9130,begin apogee
$GC,9138,-0.27,0.0,939.6,9.2,870,9241,0.98,0.00,94.35,1.351,6,0.140,0.000,2456,2370,3532
$STATE,9242,end apogee,CONTROL_FINISHED_OK
$STATE,9242,begin climb
$GC,9245,1.49,121.7,946.0,0.0,875,9357,1.60,2.30,104.05,1.333,4,0.067,0.045,3019,3759,3035
$GC,9444,0.69,177.5,945.3,9.0,884,9498,1.02,2.05,47.15,1.304,6,0.219,0.021,2773,2371,2808
$GC,9808,0.78,256.1,918.4,7.4,901,9879,0.00,2.20,65.45,1.310,4,0.000,0.031,2776,996,2487
$GC,10051,1.04,316.8,896.4,8.7,912,10109,0.30,2.17,51.55,1.288,6,0.067,0.031,2888,2409,2240
$GC,10420,0.88,316.8,843.4,14.2,929,10425,0.20,2.12,0.00,0.000,4,0.183,0.048,2831,3757,2231
$GC,10493,0.79,316.8,832.7,14.4,932,10497,0.15,1.92,0.00,0.000,6,0.188,0.024,2804,2434,2231
$GC,10816,1.04,343.3,796.3,11.1,948,10846,0.20,2.28,22.42,1.232,4,0.076,0.031,2889,979,2132
$GC,10976,0.95,343.3,773.0,14.4,955,10981,0.15,2.35,0.00,0.000,6,0.184,0.031,2852,2505,2128
$GC,11298,0.95,343.3,729.5,13.3,971,11302,0.00,1.95,0.00,0.000,4,0.000,0.048,2852,3762,2126
$GC,11355,0.87,343.3,721.3,14.2,973,11359,0.15,1.83,0.00,0.000,6,0.189,0.024,2824,2502,2125
$GC,11677,1.14,383.5,685.9,10.2,989,11719,0.22,2.05,34.50,1.200,4,0.071,0.050,2916,3760,1967
$GC,11785,0.91,383.5,669.9,16.2,993,11792,0.32,1.95,0.00,0.000,6,0.181,0.025,2839,2446,1963
$GC,12102,1.22,410.5,632.1,11.1,1009,12139,0.25,2.12,26.08,1.081,4,0.067,0.049,2942,3754,1857
$GC,12180,0.94,410.5,619.6,18.3,1011,12186,0.38,1.88,0.00,0.000,6,0.185,0.023,2853,2488,1853
$GC,12497,1.22,434.0,581.7,11.4,1027,12523,0.20,2.30,20.88,1.108,4,0.077,0.031,2941,984,1761
$GC,12537,1.14,434.0,576.3,14.0,1029,12541,0.00,2.22,0.00,0.000,6,0.000,0.031,2941,2420,1759
$GC,12865,1.02,434.0,524.6,15.6,1045,12869,0.22,2.10,0.00,0.000,4,0.179,0.048,2876,3754,1754
$GC,12973,1.02,434.0,509.3,13.3,1050,12976,0.00,1.98,0.00,0.000,6,0.000,0.023,2881,2417,1754
$GC,13307,1.31,441.2,467.2,12.5,1077,13320,0.20,2.12,5.88,0.864,4,0.072,0.047,2965,3760,1735
$GC,13428,1.08,441.2,448.0,16.6,1087,13432,0.30,1.92,0.00,0.000,6,0.186,0.023,2896,2434,1735
$GC,13759,1.33,459.6,407.8,11.7,1118,13782,0.17,2.25,18.00,0.988,4,0.080,0.031,2982,979,1657
$GC,13882,1.20,459.6,390.2,14.5,1128,13888,0.20,2.17,0.00,0.000,6,0.186,0.031,2933,2404,1654
$GC,14209,1.27,462.5,348.9,12.8,1159,14213,0.00,2.12,0.00,0.000,4,0.000,0.029,2939,989,1652
$GC,14270,1.27,462.5,340.0,14.2,1164,14276,0.00,2.22,0.00,0.000,6,0.000,0.030,2940,2453,1652
$GC,14600,1.40,464.9,298.9,12.9,1195,14613,0.17,2.03,5.22,0.725,4,0.072,0.048,3009,3748,1635
$GC,14682,1.10,464.9,284.6,16.7,1209,14689,0.43,1.98,0.00,0.000,6,0.183,0.023,2904,2399,1635
$GC,15031,1.38,475.3,241.6,12.3,1270,15049,0.20,2.15,10.20,0.807,4,0.071,0.047,2991,3748,1593
$GC,15073,1.21,475.3,235.3,14.8,1277,15080,0.25,2.12,0.00,0.000,6,0.186,0.021,2937,2301,1593
$GC,15420,1.41,505.6,194.3,10.9,1338,15454,0.17,2.00,27.08,0.811,4,0.074,0.028,3020,964,1469
$GC,15540,1.30,505.6,178.3,14.3,1358,15546,0.22,2.17,0.00,0.000,6,0.177,0.028,2964,2395,1466
$GC,15888,1.58,530.5,134.6,11.3,1419,15917,0.22,2.12,21.65,0.743,4,0.067,0.044,3061,3754,1367
$GC,15994,1.31,530.5,118.6,16.3,1437,16001,0.38,2.00,0.00,0.000,6,0.179,0.021,2971,2390,1365
$GC,16341,1.64,554.7,76.9,11.3,1498,16370,0.25,2.12,20.73,0.688,4,0.064,0.027,3087,967,1269
$GC,16513,1.50,554.7,50.3,15.5,1528,16520,0.22,2.15,0.00,0.000,6,0.186,0.028,3029,2403,1267
$GC,16860,1.74,594.5,9.9,10.2,1589,16898,0.17,0.00,33.97,0.629,6,0.066,0.000,3106,2403,1107
$STATE,16908,end climb,SURFACE_DEPTH_REACHED
$STATE,16908,begin surface coast
$FINISH,1.9,1.007452
$STATE,16932,end surface coast,CONTROL_FINISHED_OK
$STATE,16932,begin surface
$SM_CCo,17013,0.00,0.000,0,0,1103,595.83
$SM_GC,2.78,8.02,0.00,0.00,0.054,0.000,0.000,142,2408,1103,-7.49,0.71,595.83
$IRIDIUM_FIX,2503.20,12411.13,081198,050538
$TT8_MAMPS,0.029146
$HUMID,1738
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,25.30
$XPDR_PINGS,3
$24V_AH,23.2,88.271
$10V_AH,10.6,46.766
$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,33.725,159.900,609.150,0.000,0.000,29.814,38.392,214.733,8.250,0.000,0.000,16.851,2661.733,10390.727,704.704,2877.978,819.966,0.000,2210.689,0.000,2814.977,0.000,51.084,0.000
$DEVICE_MAMPS,230.867,70.564,1350.687,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1079.786,1116.423,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85319,1602
$CAP_FILE_SIZE,193507,0
$CFSIZE,260165632,185286656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,140809,151830,2512.969,12410.406,40,1.1,41,-3.8