version: 66.04
glider: 167
mission: 2
dive: 594
start: 8 28 109 16 20 25
data:
$ID,167
$MISSION,2
$DIVE,594
$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,-21020.562
$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,75
$R_STBD_OVSHOOT,42
$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
$GPS1,161301,2504.625,12239.874,40,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-71.4
$GPS2,162002,2504.891,12240.013,13,1.5,13,-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,198.9,38491,-25.0,-13.200
$D_GRID,1412
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-23.12,0.000,2,0.000,0.000,139,2404,2175
$GC,45,-1.50,-121.7,3.2,-2.8,4,117,8.23,2.15,-53.08,0.000,4,0.235,0.054,2085,3757,3990
$GC,260,-0.85,-121.7,73.0,-28.4,41,267,0.77,2.00,0.00,0.000,6,0.173,0.021,2301,2344,3993
$GC,608,-1.17,-121.7,116.0,-10.5,102,615,0.22,2.20,0.00,0.000,4,0.063,0.044,2192,3750,3996
$GC,673,-1.02,-121.7,127.1,-19.0,113,680,0.20,1.90,0.00,0.000,6,0.164,0.022,2245,2401,3996
$GC,1021,-1.19,-121.7,177.5,-12.9,174,1027,0.15,2.10,0.00,0.000,4,0.071,0.044,2178,3751,3997
$GC,1120,-0.99,-121.7,194.5,-19.4,191,1128,0.28,1.88,0.00,0.000,6,0.162,0.022,2254,2425,3997
$GC,1470,-1.18,-121.7,239.0,-13.5,252,1476,0.15,2.08,0.00,0.000,4,0.067,0.045,2191,3753,3997
$GC,1542,-1.09,-121.7,250.8,-17.3,264,1548,0.12,1.88,0.00,0.000,6,0.168,0.023,2222,2437,3997
$GC,1889,-1.23,-121.7,296.6,-12.3,325,1896,0.12,2.08,0.00,0.000,4,0.077,0.045,2166,3763,3997
$GC,2031,-1.09,-121.7,320.8,-18.1,339,2035,0.17,1.88,0.00,0.000,6,0.161,0.024,2228,2475,3997
$GC,2362,-1.29,-121.7,363.5,-11.6,370,2367,0.17,2.00,0.00,0.000,4,0.068,0.046,2151,3750,3997
$GC,2456,-1.07,-121.7,380.3,-20.3,378,2460,0.30,1.80,0.00,0.000,6,0.170,0.025,2231,2491,3997
$GC,2788,-1.32,-121.7,420.2,-10.4,409,2792,0.20,2.00,0.00,0.000,4,0.066,0.047,2142,3763,3995
$GC,2879,-1.14,-121.7,436.0,-18.1,417,2884,0.20,1.85,0.00,0.000,6,0.166,0.025,2211,2504,3995
$GC,3213,-1.31,-121.7,478.1,-12.3,448,3217,0.15,1.98,0.00,0.000,4,0.073,0.048,2150,3751,3993
$GC,3331,-1.16,-121.7,499.2,-18.0,458,3341,0.20,1.77,0.00,0.000,6,0.173,0.025,2200,2528,3992
$GC,3655,-1.32,-121.7,543.3,-13.1,474,3659,0.15,1.95,0.00,0.000,4,0.072,0.049,2139,3758,3990
$GC,3734,-1.16,-121.7,558.1,-18.9,477,3738,0.25,1.75,0.00,0.000,6,0.174,0.025,2204,2548,3990
$GC,4061,-1.33,-121.7,600.5,-12.0,493,4065,0.17,1.92,0.00,0.000,4,0.071,0.051,2137,3757,3987
$GC,4134,-1.19,-121.7,613.2,-17.6,496,4138,0.22,1.73,0.00,0.000,6,0.174,0.025,2194,2569,3987
$GC,4467,-1.35,-121.7,654.2,-12.3,512,4472,0.15,1.90,0.00,0.000,4,0.077,0.051,2137,3761,3984
$GC,4559,-1.21,-121.7,669.6,-17.5,516,4563,0.20,1.73,0.00,0.000,6,0.176,0.027,2187,2579,3983
$GC,4895,-1.35,-121.7,714.4,-13.0,532,4900,0.12,1.88,0.00,0.000,4,0.081,0.050,2139,3759,3981
$GC,4959,-1.24,-121.7,725.0,-17.3,534,4970,0.15,1.73,0.00,0.000,6,0.180,0.026,2175,2578,3981
$GC,5276,-1.33,-121.7,767.7,-14.4,550,5280,0.00,1.88,0.00,0.000,4,0.000,0.051,2168,3740,3979
$GC,5395,-1.33,-121.7,787.1,-15.4,555,5399,0.00,1.67,0.00,0.000,6,0.000,0.027,2168,2596,3978
$GC,5723,-1.39,-121.7,834.3,-14.1,571,5727,0.10,1.85,0.00,0.000,4,0.097,0.051,2124,3753,3976
$GC,5781,-1.24,-121.7,843.7,-17.2,573,5786,0.17,1.73,0.00,0.000,6,0.178,0.028,2173,2605,3975
$GC,6104,-1.36,-121.7,886.9,-13.6,589,6107,0.00,1.83,0.00,0.000,4,0.000,0.052,2167,3751,3974
$GC,6177,-1.36,-121.7,897.9,-15.8,592,6180,0.00,1.67,0.00,0.000,6,0.000,0.028,2167,2612,3973
$GC,6507,-1.46,-121.7,943.1,-13.5,608,6511,0.17,1.83,0.00,0.000,4,0.083,0.052,2097,3747,3972
$GC,6598,-1.22,-121.7,960.1,-18.9,612,6603,0.32,1.65,0.00,0.000,6,0.185,0.028,2180,2626,3971
$STATE,6846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6846,begin apogee
$GC,6856,-0.27,0.0,991.4,12.0,624,6954,1.05,0.00,94.43,1.401,6,0.152,0.000,2491,2398,3532
$STATE,6954,end apogee,CONTROL_FINISHED_OK
$STATE,6955,begin climb
$GC,6958,1.50,121.7,995.7,0.0,629,7073,1.58,2.33,105.90,1.363,4,0.053,0.046,3061,3753,3034
$GC,7154,0.50,121.7,993.7,17.0,638,7160,1.35,2.10,0.00,0.000,6,0.232,0.023,2746,2339,3032
$GC,7483,0.58,183.8,963.0,8.7,654,7541,0.00,2.35,52.62,1.337,4,0.000,0.051,2746,3747,2781
$GC,7711,0.53,183.8,934.1,14.3,663,7714,0.00,2.03,0.00,0.000,6,0.000,0.025,2750,2390,2775
$GC,8033,0.62,200.4,894.3,12.0,679,8056,0.00,2.22,14.27,1.242,4,0.000,0.051,2751,3757,2714
$GC,8201,0.62,200.4,870.4,15.7,686,8205,0.00,2.05,0.00,0.000,6,0.000,0.026,2759,2373,2712
$GC,8529,0.69,201.8,825.2,13.1,702,8534,0.12,2.22,0.00,0.000,4,0.092,0.051,2806,3753,2711
$GC,8595,0.48,201.8,815.1,17.4,705,8600,0.30,2.00,0.00,0.000,6,0.191,0.025,2738,2387,2710
$GC,8923,0.64,217.7,774.6,12.0,721,8945,0.15,2.20,15.52,1.213,4,0.087,0.050,2793,3755,2644
$GC,9016,0.51,217.7,760.0,16.9,725,9021,0.22,2.00,0.00,0.000,6,0.189,0.025,2746,2403,2643
$GC,9343,0.67,233.4,719.0,12.1,741,9365,0.15,2.20,14.43,1.175,4,0.088,0.051,2802,3751,2580
$GC,9407,0.53,233.4,709.2,17.3,743,9415,0.22,1.98,0.00,0.000,6,0.192,0.025,2754,2408,2578
$GC,9724,0.69,240.4,667.7,12.7,759,9739,0.15,2.22,7.18,1.029,4,0.086,0.049,2809,3757,2551
$GC,9982,0.54,240.4,621.7,18.0,770,9986,0.25,1.92,0.00,0.000,6,0.189,0.026,2755,2444,2549
$GC,10304,0.71,244.1,579.0,12.9,786,10314,0.17,2.12,4.25,0.800,4,0.080,0.052,2819,3760,2537
$GC,10352,0.53,244.1,571.4,17.7,788,10356,0.30,1.92,0.00,0.000,6,0.188,0.026,2751,2444,2537
$GC,10681,0.73,253.2,528.3,12.5,804,10693,0.20,0.00,9.38,1.017,6,0.077,0.000,2826,2441,2499
$GC,10994,0.73,253.2,478.8,15.1,825,10998,0.00,2.10,0.00,0.000,4,0.000,0.052,2825,3751,2497
$GC,11142,0.57,253.2,453.6,17.6,838,11146,0.25,1.90,0.00,0.000,6,0.190,0.025,2764,2449,2496
$GC,11473,0.78,279.7,414.3,11.3,869,11503,0.20,0.00,23.30,1.016,6,0.074,0.000,2841,2445,2390
$GC,11821,0.78,279.7,359.4,15.6,902,11825,0.00,2.10,0.00,0.000,4,0.000,0.052,2841,3751,2386
$GC,11851,0.66,279.7,354.4,17.3,904,11857,0.22,1.88,0.00,0.000,6,0.191,0.025,2794,2459,2386
$GC,12177,0.85,309.7,314.7,11.0,935,12211,0.17,2.12,25.27,0.933,4,0.077,0.051,2861,3742,2268
$GC,12467,0.70,309.7,258.4,20.3,978,12474,0.25,1.85,0.00,0.000,6,0.186,0.025,2806,2471,2264
$GC,12815,0.86,309.7,206.2,13.6,1039,12822,0.15,2.05,0.00,0.000,4,0.082,0.050,2864,3750,2263
$GC,13051,0.73,309.7,162.2,17.1,1080,13058,0.20,1.83,0.00,0.000,6,0.185,0.025,2820,2487,2263
$GC,13399,0.99,362.9,117.7,9.3,1141,13448,0.17,2.05,42.72,0.769,4,0.077,0.049,2895,3748,2051
$GC,13704,0.99,362.9,65.1,13.9,1194,13710,0.00,1.90,0.00,0.000,6,0.000,0.024,2906,2430,2046
$GC,14051,1.23,426.5,28.0,8.6,1255,14111,0.17,2.20,50.00,0.668,4,0.072,0.047,2984,3769,1791
$STATE,14239,end climb,SURFACE_DEPTH_REACHED
$STATE,14239,begin surface coast
$FINISH,1.8,0.999536
$STATE,14256,end surface coast,CONTROL_FINISHED_OK
$STATE,14256,begin surface
$SM_CCo,14280,36.08,0.634,0,0,1594,475.15
$SM_GC,3.05,0.00,0.00,36.08,0.000,0.000,0.634,137,2395,1594,-7.64,0.34,475.15
$IRIDIUM_FIX,2453.69,12057.01,221198,121258
$TT8_MAMPS,0.028379
$HUMID,1821
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.90
$XPDR_PINGS,3
$24V_AH,22.9,102.368
$10V_AH,10.5,53.566
$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,29.650,118.400,459.275,36.075,0.000,22.680,37.110,188.233,8.750,0.000,0.000,13.196,2341.666,8656.830,600.737,2402.620,726.545,0.000,1826.542,0.000,2347.742,0.000,54.427,0.000
$DEVICE_MAMPS,235.469,53.690,1400.542,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,876.162,887.644,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69518,1291
$CAP_FILE_SIZE,153491,0
$CFSIZE,260165632,179486720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116, 57.7,1
$GPS,280809,202024,2503.784,12240.377,40,1.0,41,-3.6