version: 66.04
glider: 167
mission: 2
dive: 540
start: 8 22 109 6 26 13
data:
$ID,167
$MISSION,2
$DIVE,540
$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,-19876.689
$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,64
$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
$GPS1,061855,2515.245,12245.823,41,1.3,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-70.2
$GPS2,062550,2515.434,12245.976,13,1.4,13,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,296.1,39306,-25.0,-13.200
$D_GRID,1121
$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,-121.7,0.0,0.0,0,36,0.00,0.00,-18.00,0.000,2,0.000,0.000,139,2382,2019
$GC,40,-1.50,-121.7,3.0,-2.3,3,131,8.15,2.20,-72.32,0.000,4,0.233,0.055,2087,3758,3990
$GC,186,-0.39,-121.7,32.1,-47.5,27,192,1.38,2.05,0.00,0.000,6,0.196,0.023,2447,2369,3991
$GC,533,-1.17,-121.7,65.8,-8.0,88,539,0.62,2.20,0.00,0.000,4,0.058,0.047,2199,3760,3993
$GC,603,-0.91,-121.7,78.5,-21.4,100,610,0.30,2.00,0.00,0.000,6,0.163,0.025,2283,2371,3994
$GC,949,-0.91,-121.7,133.3,-13.4,161,956,0.00,1.98,0.00,0.000,4,0.000,0.026,2282,1006,3996
$GC,992,-1.02,-121.7,139.0,-13.0,168,998,0.00,2.12,0.00,0.000,6,0.000,0.031,2275,2422,3996
$GC,1338,-1.11,-121.7,185.7,-14.1,229,1346,0.15,2.10,0.00,0.000,4,0.071,0.025,2211,993,3997
$GC,1444,-1.05,-121.7,203.1,-17.4,247,1451,0.12,2.12,0.00,0.000,6,0.170,0.032,2236,2403,3997
$GC,1791,-1.05,-121.7,252.9,-14.1,308,1797,0.00,2.10,0.00,0.000,4,0.000,0.049,2232,3754,3997
$GC,2051,-1.05,-121.7,288.9,-13.4,354,2057,0.00,1.95,0.00,0.000,6,0.000,0.025,2232,2400,3997
$GC,2387,-1.05,-121.7,339.1,-18.4,393,2391,0.00,2.15,0.00,0.000,4,0.000,0.049,2232,3761,3997
$GC,2478,-1.05,-121.7,355.4,-17.3,401,2482,0.00,1.92,0.00,0.000,6,0.000,0.026,2232,2419,3997
$GC,2809,-1.10,-121.7,409.6,-15.3,432,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2417,3997
$GC,3133,-1.17,-121.7,460.8,-15.6,462,3137,0.00,2.12,0.00,0.000,4,0.000,0.051,2231,3755,3997
$GC,3273,-1.17,-121.7,485.5,-17.0,474,3279,0.00,1.92,0.00,0.000,6,0.000,0.028,2231,2430,3996
$GC,3607,-1.26,-121.7,533.6,-13.1,495,3612,0.17,2.12,0.00,0.000,4,0.073,0.051,2149,3759,3994
$GC,3770,-0.97,-121.7,564.4,-19.3,502,3775,0.43,1.92,0.00,0.000,6,0.173,0.028,2265,2437,3993
$GC,4094,-1.22,-121.7,592.7,-8.1,518,4098,0.20,2.10,0.00,0.000,4,0.072,0.051,2179,3753,3992
$GC,4189,-1.09,-121.7,606.9,-16.7,522,4193,0.20,1.88,0.00,0.000,6,0.173,0.028,2230,2471,3991
$GC,4513,-1.20,-121.7,655.1,-15.7,538,4517,0.12,2.05,0.00,0.000,4,0.081,0.051,2179,3753,3989
$GC,4569,-1.08,-121.7,666.4,-20.5,540,4574,0.20,1.90,0.00,0.000,6,0.173,0.028,2230,2481,3988
$GC,4892,-1.20,-121.7,714.9,-13.6,556,4896,0.12,2.05,0.00,0.000,4,0.081,0.051,2179,3760,3987
$GC,4983,-1.07,-121.7,730.2,-17.8,560,4987,0.20,1.88,0.00,0.000,6,0.176,0.028,2230,2491,3986
$GC,5320,-1.20,-121.7,769.5,-10.7,576,5322,0.12,0.00,0.00,0.000,6,0.081,0.000,2181,2491,3984
$GC,5624,-1.20,-121.7,816.9,-16.8,591,5628,0.00,2.22,0.00,0.000,4,0.000,0.029,2181,999,3982
$GC,5737,-1.20,-121.7,835.4,-16.2,596,5741,0.00,2.30,0.00,0.000,6,0.000,0.039,2179,2473,3981
$GC,6065,-1.20,-121.7,891.1,-17.4,612,6069,0.00,2.03,0.00,0.000,4,0.000,0.054,2179,3750,3980
$GC,6161,-1.13,-121.7,908.9,-18.5,616,6165,0.15,1.85,0.00,0.000,6,0.176,0.028,2215,2494,3980
$GC,6492,-1.24,-121.7,956.9,-14.2,632,6496,0.12,2.03,0.00,0.000,4,0.086,0.054,2166,3747,3977
$GC,6630,-1.12,-121.7,980.9,-18.8,638,6634,0.20,1.83,0.00,0.000,6,0.181,0.028,2216,2512,3977
$STATE,6692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6692,begin apogee
$GC,6701,-0.27,0.0,991.1,13.7,641,6808,0.93,0.00,98.20,1.383,6,0.157,0.000,2487,2387,3532
$STATE,6808,end apogee,CONTROL_FINISHED_OK
$STATE,6809,begin climb
$GC,6812,1.50,121.7,996.0,0.0,646,6927,1.60,2.38,106.18,1.364,4,0.060,0.048,3060,3754,3034
$GC,7114,0.66,121.7,976.0,15.8,659,7121,1.10,2.12,0.00,0.000,6,0.226,0.026,2801,2338,3031
$GC,7431,0.78,214.1,951.6,6.5,675,7516,0.00,2.40,78.22,1.342,4,0.000,0.053,2801,3752,2658
$GC,7669,0.87,232.3,926.6,11.9,685,7690,0.15,2.08,16.25,1.242,6,0.084,0.027,2864,2372,2585
$GC,8010,0.87,232.3,881.4,14.7,702,8013,0.00,2.22,0.00,0.000,4,0.000,0.052,2864,3751,2580
$GC,8229,0.79,232.3,841.5,18.2,711,8236,0.15,2.03,0.00,0.000,6,0.189,0.028,2834,2397,2579
$GC,8547,0.87,232.3,795.5,15.1,727,8551,0.00,2.12,0.00,0.000,4,0.000,0.030,2843,969,2578
$GC,8671,1.04,271.7,779.3,10.3,732,8710,0.20,2.17,33.08,1.251,6,0.077,0.035,2919,2389,2424
$GC,9037,0.93,271.7,710.0,19.2,750,9042,0.15,2.17,0.00,0.000,4,0.184,0.031,2890,967,2419
$GC,9115,1.00,271.7,695.4,17.7,753,9123,0.00,2.20,0.00,0.000,6,0.000,0.036,2890,2386,2418
$GC,9432,1.00,271.7,639.8,18.2,769,9435,0.00,2.17,0.00,0.000,4,0.000,0.053,2890,3758,2417
$GC,9586,0.91,271.7,607.4,21.7,775,9592,0.00,2.03,0.00,0.000,6,0.000,0.028,2898,2407,2417
$GC,9902,0.91,271.7,549.1,17.0,791,9906,0.00,2.17,0.00,0.000,4,0.000,0.053,2898,3754,2415
$GC,9977,0.79,271.7,534.9,19.6,794,9982,0.28,2.03,0.00,0.000,6,0.186,0.029,2836,2390,2416
$GC,10303,0.99,286.5,492.8,12.1,812,10318,0.17,0.00,13.05,1.037,6,0.074,0.000,2910,2386,2363
$GC,10633,0.99,286.5,434.8,20.1,843,10637,0.00,2.20,0.00,0.000,4,0.000,0.053,2910,3754,2360
$GC,10736,0.88,286.5,410.6,23.9,852,10741,0.20,2.03,0.00,0.000,6,0.184,0.030,2869,2398,2360
$GC,11062,0.99,286.5,357.0,13.4,882,11066,0.00,2.15,0.00,0.000,4,0.000,0.034,2877,963,2360
$GC,11217,1.19,300.0,336.6,12.2,895,11235,0.25,2.20,12.20,0.927,6,0.072,0.036,2970,2394,2309
$GC,11562,1.02,300.0,281.1,16.0,937,11570,0.20,2.17,0.00,0.000,4,0.189,0.031,2924,965,2307
$GC,11769,1.08,300.0,254.8,13.2,973,11778,0.00,2.15,0.00,0.000,6,0.000,0.035,2924,2362,2305
$GC,12118,1.08,300.0,196.3,17.8,1034,12124,0.00,2.10,0.00,0.000,4,0.000,0.032,2930,969,2305
$GC,12194,1.16,300.0,182.5,17.2,1047,12200,0.00,2.12,0.00,0.000,6,0.000,0.035,2930,2356,2305
$GC,12539,1.16,300.0,125.0,14.7,1108,12545,0.00,2.08,0.00,0.000,4,0.000,0.031,2937,972,2305
$GC,12614,1.21,300.0,113.7,16.4,1121,12621,0.00,2.12,0.00,0.000,6,0.000,0.035,2937,2366,2305
$GC,12962,1.21,300.0,56.5,15.5,1182,12968,0.00,2.17,0.00,0.000,4,0.000,0.049,2937,3754,2305
$GC,13224,1.21,341.0,26.5,10.2,1228,13266,0.00,2.12,33.42,0.698,6,0.000,0.026,2948,2310,2140
$STATE,13433,end climb,SURFACE_DEPTH_REACHED
$STATE,13433,begin surface coast
$FINISH,1.8,1.008072
$STATE,13468,end surface coast,CONTROL_FINISHED_OK
$STATE,13468,begin surface
$SM_CCo,13490,101.88,0.663,0,0,1594,475.15
$SM_GC,2.81,0.00,0.00,101.88,0.000,0.000,0.663,137,2401,1594,-7.64,0.51,475.15
$IRIDIUM_FIX,2507.97,12248.55,161198,020208
$TT8_MAMPS,0.029146
$HUMID,1778
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,22.9,94.611
$10V_AH,10.6,49.854
$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,26.150,113.275,390.600,101.875,0.000,28.213,37.584,186.608,8.000,0.000,0.000,13.723,2287.667,8027.195,615.800,2391.459,680.321,0.000,1814.563,0.000,2326.353,0.000,54.400,0.000
$DEVICE_MAMPS,233.168,72.865,1382.901,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,864.916,896.621,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69420,1271
$CAP_FILE_SIZE,142537,0
$CFSIZE,260165632,182779904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,126.3,1
$GPS,220809,101407,2515.639,12245.111,40,1.1,41,-3.6