version: 66.04
glider: 165
mission: 2
dive: 64
start: 5 31 109 9 44 1
data:
$ID,165
$MISSION,2
$DIVE,64
$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,330
$T_MISSION,396
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52067
$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,435
$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,-117150.67
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-19.66094
$PRESSURE_SLOPE,0.000116182
$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,0.0043383995
$SEABIRD_T_H,0.00062454981
$SEABIRD_T_I,2.3067754e-05
$SEABIRD_T_J,2.3616824e-06
$SEABIRD_C_G,-9.9113674
$SEABIRD_C_H,1.100266
$SEABIRD_C_I,0.0005534364
$SEABIRD_C_J,6.0498875e-05
$GPS1,093856,2524.674,12226.495,9,2.0,10,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-74.0
$GPS2,094356,2524.853,12226.411,14,1.9,14,-3.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,150.3,58831,-15.7,-10.000
$D_GRID,435
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.85,-194.7,0.0,0.0,0,58,0.00,0.00,-44.20,0.000,2,0.000,0.000,168,2053,2053
$GC,60,-0.85,-194.7,3.1,-3.6,7,117,9.10,0.00,-44.42,0.000,6,0.235,0.000,2541,2052,3554
$GC,436,-0.21,-194.7,103.7,-25.1,76,443,0.68,0.00,0.00,0.000,6,0.153,0.000,2752,2052,3558
$GC,762,-0.98,-194.7,131.8,-8.6,137,769,0.65,2.25,0.00,0.000,4,0.060,0.057,2495,3473,3560
$GC,832,-0.47,-194.7,142.9,-19.3,150,840,0.50,2.15,0.00,0.000,6,0.141,0.036,2662,2061,3559
$GC,1160,-0.63,-194.7,171.0,-8.6,211,1167,0.12,2.25,0.00,0.000,4,0.067,0.060,2591,3468,3561
$GC,1240,-0.50,-194.7,180.6,-13.3,226,1248,0.17,2.10,0.00,0.000,6,0.117,0.036,2656,2087,3561
$GC,1569,-0.70,-194.7,208.9,-6.8,287,1574,0.17,0.00,0.00,0.000,6,0.056,0.000,2564,2083,3561
$GC,1894,-0.50,-194.7,251.8,-14.0,348,1900,0.30,2.22,0.00,0.000,4,0.129,0.061,2660,3472,3560
$GC,1947,-0.90,-194.7,256.0,-5.9,358,1956,0.30,2.08,0.00,0.000,6,0.036,0.037,2494,2105,3561
$GC,2278,-0.41,-194.7,319.4,-24.4,412,2280,0.60,0.00,0.00,0.000,6,0.142,0.000,2686,2102,3561
$GC,2589,-1.23,-194.7,348.1,-10.2,442,2593,0.70,2.17,0.00,0.000,4,0.061,0.060,2411,3486,3561
$GC,2609,-1.30,-194.7,350.7,-12.7,444,2614,0.00,2.12,0.00,0.000,6,0.000,0.039,2411,2099,3560
$STATE,2826,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2826,begin apogee
$GC,2830,-0.20,0.0,401.9,26.8,465,2980,1.10,0.00,147.05,0.890,6,0.166,0.000,2749,2525,2759
$STATE,2981,end apogee,CONTROL_FINISHED_OK
$STATE,2981,begin climb
$GC,2982,0.85,194.7,410.5,0.0,480,3137,0.93,2.33,148.60,0.871,4,0.055,0.048,3107,1125,1963
$GC,3376,0.29,194.7,365.4,19.4,515,3383,0.60,2.25,0.00,0.000,6,0.164,0.047,2923,2518,1958
$GC,3692,0.52,259.3,333.7,7.8,546,3749,0.17,2.28,50.55,0.832,4,0.055,0.053,3021,1126,1700
$GC,3834,0.39,259.3,314.9,14.8,559,3838,0.25,2.25,0.00,0.000,6,0.138,0.045,2947,2537,1695
$GC,4155,0.51,259.3,279.7,10.2,608,4157,0.12,0.00,0.00,0.000,6,0.067,0.000,3008,2537,1693
$GC,4476,0.37,259.3,237.4,13.9,668,4484,0.22,1.83,0.00,0.000,4,0.136,0.060,2940,3687,1691
$GC,4649,0.61,312.5,220.2,8.2,700,4698,0.15,1.77,42.00,0.781,6,0.048,0.038,3028,2518,1483
$GC,5018,0.50,312.5,173.0,12.3,768,5025,0.17,0.00,0.00,0.000,6,0.137,0.000,2977,2518,1478
$GC,5345,0.73,330.1,144.4,9.4,829,5364,0.22,2.17,14.10,0.705,4,0.053,0.048,3094,1128,1413
$GC,5395,0.50,330.1,137.1,16.7,838,5402,0.35,2.28,0.00,0.000,6,0.143,0.044,2981,2558,1412
$GC,5722,0.88,431.8,110.6,6.5,899,5812,0.32,2.33,81.53,0.695,4,0.044,0.049,3140,1129,997
$GC,5870,0.64,431.8,84.5,19.3,924,5878,0.35,2.28,0.00,0.000,6,0.143,0.044,3029,2537,993
$GC,6197,1.10,497.7,54.6,7.7,985,6255,0.38,2.25,52.15,0.642,4,0.040,0.046,3209,1129,728
$STATE,6456,end climb,SURFACE_DEPTH_REACHED
$STATE,6456,begin surface coast
$FINISH,1.6,1.020612
$STATE,6467,end surface coast,CONTROL_FINISHED_OK
$STATE,6467,begin surface
$SM_CCo,6541,0.00,0.000,0,0,722,499.68
$SM_GC,2.30,7.75,0.00,0.00,0.035,0.000,0.000,164,2095,722,-8.21,0.68,499.68
$IRIDIUM_FIX,2515.12,12223.33,250898,070738
$TT8_MAMPS,0.048321
$HUMID,1564
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,24.70
$XPDR_PINGS,76
$ALTIM_BOTTOM_PING,300.1,124.6
$24V_AH,24.4,16.310
$10V_AH,10.8,12.577
$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,26.400,43.550,535.975,0.000,0.000,25.843,31.828,158.132,20.750,0.000,0.000,16.643,0.000,3679.069,560.154,2253.015,331.186,0.000,1404.654,0.000,1937.953,0.000,15.393,0.000
$DEVICE_MAMPS,234.702,60.593,890.487,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,693.407,820.923,1380.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56830,1034
$CAP_FILE_SIZE,86560,0
$CFSIZE,260165632,252805120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138, 50.5,1
$GPS,310509,113420,2524.202,12227.182,41,2.1,60,-3.7