version: 66.04
glider: 167
mission: 2
dive: 398
start: 7 26 109 3 56 11
data:
$ID,167
$MISSION,2
$DIVE,398
$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,253
$T_MISSION,304
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,425
$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,-13528.849
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22.5
$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,2483
$C_ROLL_CLIMB,2396
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,90
$R_STBD_OVSHOOT,65
$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
$GPS1,035043,2441.488,12423.346,14,1.1,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-66.2
$GPS2,035549,2441.545,12423.283,16,1.4,33,-3.7
$SPEED_LIMITS,0.226,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2435.000,12430.000
$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,126.2,16580,-24.8,-13.043
$D_GRID,289
$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,15,-1.25,-121.7,0.0,0.0,0,52,0.00,0.00,-34.60,0.000,2,0.000,0.000,140,2502,2431
$GC,55,-1.25,-121.7,3.1,-2.7,6,117,8.00,1.92,-47.47,0.000,4,0.233,0.053,2129,3746,3989
$GC,235,-0.82,-121.7,32.4,-20.9,37,242,0.52,1.77,0.00,0.000,6,0.162,0.019,2282,2446,3990
$GC,581,-1.20,-121.7,70.8,-10.8,98,588,0.30,1.95,0.00,0.000,4,0.052,0.039,2149,3737,3990
$GC,780,-0.93,-121.7,103.9,-17.0,133,787,0.32,1.65,0.00,0.000,6,0.157,0.020,2241,2518,3990
$GC,1125,-1.20,-121.7,143.6,-11.8,194,1132,0.20,1.98,0.00,0.000,4,0.060,0.021,2149,1101,3991
$GC,1167,-1.12,-121.7,149.6,-14.7,201,1173,0.15,2.03,0.00,0.000,6,0.163,0.027,2187,2496,3991
$GC,1513,-1.31,-121.7,188.2,-10.2,262,1519,0.17,1.88,0.00,0.000,4,0.061,0.038,2098,3761,3991
$GC,1606,-0.98,-121.7,201.9,-14.8,278,1613,0.45,1.73,0.00,0.000,6,0.161,0.031,2226,2504,3991
$GC,1952,-1.36,-121.7,235.8,-10.9,339,1960,0.30,1.95,0.00,0.000,4,0.055,0.021,2094,1106,3991
$GC,1990,-1.17,-121.7,241.0,-14.1,345,1997,0.25,2.03,0.00,0.000,6,0.164,0.029,2162,2490,3991
$GC,2339,-1.36,-121.7,275.9,-8.1,406,2345,0.15,1.90,0.00,0.000,4,0.071,0.041,2096,3763,3991
$GC,2353,-1.47,-121.7,277.1,-7.6,408,2359,0.00,1.80,0.00,0.000,6,0.000,0.021,2096,2449,3991
$STATE,2471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2471,begin apogee
$GC,2477,-0.22,0.0,289.2,11.1,429,2569,1.20,0.00,84.35,0.759,6,0.156,0.000,2463,2448,3532
$STATE,2570,end apogee,CONTROL_FINISHED_OK
$STATE,2570,begin climb
$GC,2572,1.25,121.7,295.7,0.0,445,2670,1.30,2.05,89.40,0.746,4,0.066,0.041,2943,3756,3034
$GC,2914,0.82,245.3,293.5,4.2,492,3009,0.52,1.90,88.70,0.748,6,0.193,0.020,2811,2385,2532
$GC,3348,1.09,330.7,259.4,6.9,568,3419,0.20,2.20,63.17,0.735,4,0.066,0.041,2901,3754,2181
$GC,3572,1.05,379.5,237.6,9.5,607,3615,0.00,2.00,36.95,0.713,6,0.000,0.020,2911,2349,1984
$GC,3956,1.15,403.6,194.4,11.3,674,3981,0.00,2.22,18.95,0.680,4,0.000,0.041,2911,3754,1885
$GC,4084,1.20,443.7,179.9,10.2,696,4125,0.00,2.17,31.62,0.686,6,0.000,0.021,2918,2213,1721
$GC,4467,1.37,468.5,133.6,11.3,763,4492,0.17,2.42,19.08,0.649,4,0.065,0.040,2991,3754,1621
$GC,4638,1.26,468.5,109.4,13.2,793,4645,0.20,2.10,0.00,0.000,6,0.177,0.021,2950,2279,1618
$GC,4984,1.54,511.8,71.2,9.9,854,5022,0.22,0.00,34.08,0.626,6,0.066,0.000,3046,2276,1445
$GC,5360,1.55,516.6,23.3,12.7,920,5367,0.00,0.00,4.40,0.423,6,0.000,0.000,3047,2276,1426
$STATE,5517,end climb,SURFACE_DEPTH_REACHED
$STATE,5517,begin surface coast
$FINISH,1.6,1.005142
$STATE,5542,end surface coast,CONTROL_FINISHED_OK
$STATE,5542,begin surface
$SM_CCo,5620,0.00,0.000,0,0,1421,517.83
$SM_GC,2.33,7.65,0.00,0.00,0.051,0.000,0.000,139,2502,1421,-7.50,0.54,517.83
$IRIDIUM_FIX,2432.32,12422.20,201098,020223
$TT8_MAMPS,0.028379
$HUMID,1684
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,26.80
$XPDR_PINGS,13
$24V_AH,24.1,67.479
$10V_AH,10.9,36.967
$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,22.300,39.975,470.700,0.000,0.000,28.187,34.345,117.992,4.250,0.000,0.000,33.870,1494.351,2122.297,492.471,1450.080,374.987,0.000,1241.309,0.000,1407.627,0.000,7.702,0.000
$DEVICE_MAMPS,233.168,52.923,758.563,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.302,774.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47481,952
$CAP_FILE_SIZE,76283,0
$CFSIZE,260165632,194486272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.187,285.1,1
$GPS,260709,053107,2441.460,12423.082,41,1.8,41,-3.7