version: 66.04
glider: 167
mission: 2
dive: 615
start: 9 1 109 5 13 24
data:
$ID,167
$MISSION,2
$DIVE,615
$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,-21432.42
$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,81
$R_STBD_OVSHOOT,38
$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
$GPS1,050500,2502.157,12308.710,38,1.2,44,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-67.3
$GPS2,051306,2502.271,12308.816,12,1.1,28,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_3
$TGT_LATLONG,2540.000,12250.000
$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,294.4,76609,-25.0,-13.200
$D_GRID,1699
$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,17,-1.50,-121.7,0.0,0.0,0,42,0.00,0.00,-23.15,0.000,2,0.000,0.000,139,2423,2175
$GC,47,-1.50,-121.7,3.0,-1.5,4,121,8.07,2.10,-57.75,0.000,4,0.231,0.052,2085,3773,3989
$GC,298,-0.44,-121.7,87.2,-48.9,47,305,1.30,1.98,0.00,0.000,6,0.189,0.020,2435,2358,3991
$GC,647,-1.64,-121.7,122.6,-9.6,108,654,1.05,2.17,0.00,0.000,4,0.084,0.041,2056,3764,3994
$GC,843,-0.89,-121.7,181.9,-33.1,142,849,0.82,1.88,0.00,0.000,6,0.172,0.020,2287,2404,3995
$GC,1191,-1.19,-121.7,227.5,-12.5,203,1197,0.22,2.10,0.00,0.000,4,0.062,0.043,2188,3764,3996
$GC,1349,-0.99,-121.7,258.6,-21.3,230,1355,0.25,1.85,0.00,0.000,6,0.156,0.021,2258,2430,3996
$GC,1695,-1.23,-121.7,305.6,-11.6,287,1699,0.20,2.05,0.00,0.000,4,0.061,0.043,2165,3755,3996
$GC,1804,-1.03,-121.7,325.5,-20.1,296,1811,0.30,1.83,0.00,0.000,6,0.157,0.021,2249,2448,3996
$GC,2132,-1.30,-121.7,362.0,-11.2,327,2136,0.20,2.05,0.00,0.000,4,0.062,0.044,2161,3768,3996
$GC,2264,-1.15,-121.7,387.5,-21.1,338,2270,0.17,1.80,0.00,0.000,6,0.163,0.022,2206,2484,3996
$GC,2590,-1.27,-121.7,434.1,-12.2,369,2595,0.12,1.98,0.00,0.000,4,0.078,0.044,2152,3754,3996
$GC,2672,-1.11,-121.7,447.3,-17.1,376,2677,0.25,1.77,0.00,0.000,6,0.163,0.022,2220,2500,3995
$GC,3005,-1.32,-121.7,488.8,-12.4,407,3009,0.17,1.95,0.00,0.000,4,0.067,0.044,2139,3754,3993
$GC,3062,-1.19,-121.7,498.8,-19.0,412,3068,0.15,1.77,0.00,0.000,6,0.163,0.023,2193,2526,3993
$GC,3390,-1.35,-121.7,543.9,-12.5,428,3394,0.15,1.92,0.00,0.000,4,0.073,0.045,2126,3760,3991
$GC,3469,-1.20,-121.7,558.3,-18.8,431,3473,0.25,1.75,0.00,0.000,6,0.165,0.022,2192,2523,3991
$GC,3794,-1.37,-121.7,601.7,-13.2,447,3798,0.17,1.95,0.00,0.000,4,0.074,0.045,2111,3767,3989
$GC,3873,-1.18,-121.7,616.7,-19.7,450,3877,0.32,1.75,0.00,0.000,6,0.169,0.024,2198,2546,3988
$GC,4198,-1.39,-121.7,657.2,-12.1,466,4203,0.17,1.90,0.00,0.000,4,0.073,0.047,2124,3754,3985
$GC,4301,-1.25,-121.7,675.5,-17.5,470,4305,0.15,1.75,0.00,0.000,6,0.166,0.024,2179,2562,3984
$GC,4625,-1.40,-121.7,718.1,-12.8,486,4630,0.15,1.88,0.00,0.000,4,0.080,0.048,2124,3757,3980
$GC,4694,-1.30,-121.7,729.7,-17.6,489,4698,0.15,1.73,0.00,0.000,6,0.172,0.025,2161,2565,3980
$GC,5032,-1.38,-121.7,777.2,-13.6,505,5036,0.00,1.90,0.00,0.000,4,0.000,0.049,2155,3753,3977
$GC,5085,-1.38,-121.7,785.7,-15.2,507,5089,0.00,1.70,0.00,0.000,6,0.000,0.025,2155,2576,3977
$GC,5413,-1.45,-121.7,831.5,-13.5,523,5418,0.12,1.88,0.00,0.000,4,0.088,0.049,2100,3760,3974
$GC,5472,-1.28,-121.7,841.3,-17.9,525,5476,0.25,1.70,0.00,0.000,6,0.175,0.026,2164,2588,3974
$GC,5794,-1.41,-121.7,885.3,-13.3,541,5798,0.12,1.85,0.00,0.000,4,0.087,0.050,2113,3754,3971
$GC,5851,-1.30,-121.7,894.8,-17.9,543,5855,0.17,1.67,0.00,0.000,6,0.177,0.026,2156,2601,3970
$GC,6174,-1.40,-121.7,940.6,-13.8,559,6178,0.00,1.83,0.00,0.000,4,0.000,0.051,2152,3757,3969
$GC,6354,-1.46,-121.7,966.3,-14.5,566,6360,0.12,1.67,0.00,0.000,6,0.086,0.026,2107,2605,3968
$STATE,6502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6502,begin apogee
$GC,6512,-0.27,0.0,991.9,16.8,574,6609,1.35,0.00,93.03,1.401,6,0.172,0.000,2483,2417,3532
$STATE,6610,end apogee,CONTROL_FINISHED_OK
$STATE,6610,begin climb
$GC,6613,1.50,121.7,996.4,0.0,579,6726,1.60,2.20,104.75,1.360,4,0.053,0.027,3074,1009,3036
$GC,6980,0.70,121.7,966.5,17.2,595,6987,1.08,2.10,0.00,0.000,6,0.225,0.032,2809,2385,3031
$GC,7298,0.59,169.0,933.7,9.8,611,7344,0.15,2.25,39.80,1.321,4,0.201,0.050,2772,3740,2843
$GC,7416,0.47,169.0,920.4,13.5,616,7420,0.17,1.98,0.00,0.000,6,0.188,0.024,2734,2404,2839
$GC,7745,0.67,210.9,886.6,10.2,632,7791,0.17,2.20,35.38,1.299,4,0.080,0.050,2806,3752,2671
$GC,7943,0.53,210.9,853.9,17.2,640,7949,0.22,2.03,0.00,0.000,6,0.186,0.025,2757,2379,2668
$GC,8261,0.68,210.9,811.2,13.7,656,8263,0.12,0.00,0.00,0.000,6,0.087,0.000,2806,2376,2666
$GC,8568,0.68,210.9,762.3,16.0,671,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2375,2665
$GC,8878,0.68,210.9,712.7,15.7,686,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2375,2664
$GC,9188,0.68,210.9,665.4,15.0,701,9192,0.00,2.20,0.00,0.000,4,0.000,0.051,2806,3755,2663
$GC,9228,0.56,210.9,658.7,16.6,702,9235,0.20,2.00,0.00,0.000,6,0.187,0.025,2764,2376,2662
$GC,9546,0.72,239.7,621.6,11.1,718,9576,0.15,2.25,23.65,1.157,4,0.079,0.051,2823,3736,2552
$GC,9684,0.60,239.7,599.9,16.8,724,9689,0.22,1.98,0.00,0.000,6,0.189,0.025,2773,2388,2550
$GC,10019,0.75,241.3,555.3,13.1,740,10021,0.15,0.00,0.00,0.000,6,0.082,0.000,2830,2383,2549
$GC,10326,0.75,241.3,506.4,15.4,755,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2383,2548
$GC,10643,0.75,241.3,461.8,14.2,782,10647,0.00,2.10,0.00,0.000,4,0.000,0.031,2834,971,2547
$GC,10763,0.81,241.3,445.6,13.3,792,10769,0.00,2.17,0.00,0.000,6,0.000,0.034,2834,2394,2547
$GC,11093,0.81,241.3,397.4,15.1,823,11098,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2394,2547
$GC,11419,0.81,241.3,352.9,13.5,854,11423,0.00,2.15,0.00,0.000,4,0.000,0.051,2833,3764,2546
$GC,11592,0.72,241.3,325.4,16.0,869,11596,0.00,2.03,0.00,0.000,6,0.000,0.027,2842,2386,2546
$GC,11928,0.76,269.3,280.3,11.2,912,11958,0.00,2.12,23.95,0.894,4,0.000,0.031,2843,980,2432
$GC,12108,0.92,286.8,256.7,11.9,943,12133,0.10,2.17,15.70,0.841,6,0.089,0.031,2880,2406,2361
$GC,12476,0.92,286.8,202.8,14.7,1007,12482,0.00,2.12,0.00,0.000,4,0.000,0.049,2880,3760,2358
$GC,12687,0.81,286.8,166.7,15.4,1044,12693,0.17,2.00,0.00,0.000,6,0.183,0.025,2840,2393,2358
$GC,13038,1.03,317.0,123.3,11.0,1105,13070,0.17,2.22,24.83,0.734,4,0.071,0.046,2917,3756,2238
$GC,13230,0.92,317.0,94.5,14.2,1138,13239,0.20,2.00,0.00,0.000,6,0.179,0.023,2874,2358,2236
$GC,13582,1.19,366.8,60.8,9.6,1199,13629,0.22,2.03,40.10,0.667,4,0.067,0.026,2981,998,2035
$GC,13831,1.27,377.6,27.9,12.4,1242,13848,0.00,2.10,9.57,0.574,6,0.000,0.029,2981,2396,1990
$STATE,14038,end climb,SURFACE_DEPTH_REACHED
$STATE,14039,begin surface coast
$FINISH,1.8,1.021433
$STATE,14064,end surface coast,CONTROL_FINISHED_OK
$STATE,14064,begin surface
$SM_CCo,14085,73.15,0.611,0,0,1594,475.15
$SM_GC,2.62,0.00,0.00,73.15,0.000,0.000,0.611,139,2397,1594,-7.63,0.40,475.15
$IRIDIUM_FIX,2451.31,12309.10,261198,010121
$TT8_MAMPS,0.028379
$HUMID,1742
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,26.00
$XPDR_PINGS,11
$24V_AH,23.1,105.917
$10V_AH,10.5,55.348
$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,29.975,102.725,410.750,73.150,0.000,30.508,34.528,231.598,10.750,0.000,0.000,28.732,2305.292,8630.691,573.104,2354.581,768.738,0.000,1760.500,0.000,2278.048,0.000,54.430,0.000
$DEVICE_MAMPS,230.867,52.156,1401.309,610.532,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,867.400,877.325,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69479,1283
$CAP_FILE_SIZE,146325,0
$CFSIZE,260165632,177860608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309, 47.9,1
$GPS,010909,091037,2505.007,12309.008,31,1.0,32,-3.6