version: 66.04
glider: 165
mission: 2
dive: 70
start: 5 31 109 21 58 55
data:
$ID,165
$MISSION,2
$DIVE,70
$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,275
$T_MISSION,330
$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,-118224.3
$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,51
$R_STBD_OVSHOOT,27
$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
$GPS1,215407,2526.017,12226.771,8,1.7,19,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.5
$GPS2,215850,2526.143,12226.753,10,1.6,10,-3.7
$SPEED_LIMITS,0.208,0.315
$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,150.0,59406,-18.3,-12.000
$D_GRID,403
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.96,-194.7,0.0,0.0,0,60,0.00,0.00,-46.58,0.000,2,0.000,0.000,161,2065,2120
$GC,62,-0.96,-194.7,3.2,-4.7,7,119,9.00,2.30,-40.30,0.000,4,0.236,0.071,2493,3480,3554
$GC,144,-0.11,-194.7,20.0,-36.5,21,152,0.88,2.17,0.00,0.000,6,0.157,0.042,2769,2083,3556
$GC,472,-0.62,-194.7,48.3,-4.8,82,479,0.40,2.22,0.00,0.000,4,0.040,0.056,2576,3475,3558
$GC,515,-0.31,-194.7,55.3,-21.4,90,522,0.40,2.12,0.00,0.000,6,0.136,0.035,2712,2083,3557
$GC,842,-0.61,-194.7,96.4,-7.7,151,848,0.25,2.22,0.00,0.000,4,0.048,0.056,2588,3476,3559
$GC,868,-0.61,-194.7,99.9,-14.0,156,876,0.08,2.08,0.00,0.000,6,0.140,0.035,2616,2103,3559
$GC,1195,-0.61,-194.7,146.4,-12.9,217,1203,0.00,2.22,0.00,0.000,4,0.000,0.049,2616,673,3561
$GC,1250,-0.73,-194.7,152.4,-10.2,227,1257,0.05,2.20,0.00,0.000,6,0.071,0.041,2566,2095,3562
$GC,1576,-0.61,-194.7,203.5,-13.6,288,1583,0.17,2.17,0.00,0.000,4,0.143,0.059,2616,3469,3562
$GC,1662,-0.83,-194.7,214.2,-10.3,304,1669,0.15,2.08,0.00,0.000,6,0.044,0.037,2527,2104,3562
$GC,1992,-0.63,-194.7,275.8,-16.9,365,1999,0.25,2.17,0.00,0.000,4,0.137,0.058,2602,3481,3563
$GC,2025,-0.76,-194.7,280.2,-10.5,371,2031,0.00,2.10,0.00,0.000,6,0.000,0.037,2602,2098,3563
$GC,2347,-0.93,-194.7,309.1,-10.2,423,2349,0.22,0.00,0.00,0.000,6,0.054,0.000,2495,2096,3563
$GC,2658,-0.58,-194.7,365.7,-18.6,453,2660,0.43,0.00,0.00,0.000,6,0.144,0.000,2629,2094,3563
$STATE,2719,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2719,begin apogee
$GC,2722,-0.20,0.0,372.3,8.6,459,2873,0.38,0.00,146.38,0.865,6,0.104,0.000,2761,2520,2758
$STATE,2873,end apogee,CONTROL_FINISHED_OK
$STATE,2873,begin climb
$GC,2874,0.96,194.7,378.6,0.0,474,3026,0.98,0.00,147.12,0.846,6,0.051,0.000,3134,2520,1964
$GC,3335,0.41,194.7,303.2,22.3,518,3339,0.62,1.88,0.00,0.000,4,0.164,0.061,2949,3690,1959
$GC,3436,0.53,224.3,291.0,10.8,535,3467,0.00,1.77,23.85,0.784,6,0.000,0.038,2957,2529,1843
$GC,3786,0.78,272.4,252.3,10.0,600,3831,0.30,2.30,37.75,0.786,4,0.051,0.049,3098,1124,1646
$GC,3872,0.51,272.4,238.0,17.9,615,3879,0.35,2.28,0.00,0.000,6,0.153,0.047,2988,2525,1643
$GC,4198,0.70,317.4,204.9,10.1,676,4242,0.17,1.90,35.78,0.762,4,0.064,0.061,3065,3683,1464
$GC,4401,0.50,317.4,164.6,22.8,713,4408,0.28,1.80,0.00,0.000,6,0.138,0.038,2984,2526,1462
$GC,4728,0.94,438.4,132.9,7.0,774,4830,0.38,2.28,95.82,0.713,4,0.045,0.048,3155,1115,970
$GC,4957,0.77,438.4,85.6,22.1,814,4965,0.25,2.22,0.00,0.000,6,0.143,0.044,3074,2501,963
$GC,5284,0.99,438.4,41.8,13.5,875,5290,0.17,0.00,0.00,0.000,6,0.059,0.000,3155,2501,961
$STATE,5501,end climb,SURFACE_DEPTH_REACHED
$STATE,5501,begin surface coast
$FINISH,1.6,1.022059
$STATE,5518,end surface coast,CONTROL_FINISHED_OK
$STATE,5518,begin surface
$SM_CCo,5590,0.00,0.000,0,0,959,441.54
$SM_GC,2.37,7.62,0.00,0.00,0.041,0.000,0.000,163,2035,959,-8.21,-1.02,441.54
$IRIDIUM_FIX,2517.50,12226.62,250898,202014
$TT8_MAMPS,0.048321
$HUMID,1576
$INTERNAL_PRESSURE,8.86753
$TCM_TEMP,24.40
$XPDR_PINGS,99
$ALTIM_BOTTOM_PING,275.8,121.4
$24V_AH,24.5,17.096
$10V_AH,10.8,13.187
$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,23.775,43.900,486.700,0.000,0.000,30.638,31.822,143.662,26.000,0.000,0.000,12.765,0.000,3066.281,537.416,1946.349,308.970,0.000,1264.436,0.000,1669.425,0.000,10.722,0.000
$DEVICE_MAMPS,236.236,70.564,865.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,614.935,736.544,1237.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50611,919
$CAP_FILE_SIZE,77725,0
$CFSIZE,260165632,252473344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 31.9,1
$GPS,310509,233300,2525.637,12227.546,38,1.1,38,-3.7