version: 66.04
glider: 167
mission: 2
dive: 552
start: 8 23 109 20 8 52
data:
$ID,167
$MISSION,2
$DIVE,552
$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,-20077.26
$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,78
$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
$GPS1,195904,2519.398,12235.494,14,3.8,33,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-70.6
$GPS2,200831,2519.481,12235.615,13,1.8,30,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,348.5,20489,-25.0,-13.200
$D_GRID,607
$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,-121.7,0.0,0.0,0,48,0.00,0.00,-29.42,0.000,2,0.000,0.000,135,2425,2316
$GC,52,-1.50,-121.7,3.1,-1.8,5,123,8.18,2.10,-55.15,0.000,4,0.235,0.053,2087,3774,3988
$GC,132,-0.65,-121.7,11.5,-25.8,18,139,1.05,2.03,0.00,0.000,6,0.195,0.022,2365,2355,3988
$GC,479,-1.00,-121.7,74.1,-17.1,79,486,0.28,2.20,0.00,0.000,4,0.060,0.045,2245,3760,3992
$GC,505,-1.06,-121.7,80.0,-21.9,83,510,0.00,1.88,0.00,0.000,6,0.000,0.024,2246,2438,3992
$GC,850,-0.92,-121.7,147.2,-18.5,144,858,0.15,2.05,0.00,0.000,4,0.172,0.043,2276,3758,3993
$GC,1057,-0.92,-121.7,179.0,-15.3,180,1064,0.00,1.92,0.00,0.000,6,0.000,0.024,2276,2391,3993
$GC,1408,-1.05,-121.7,226.3,-15.9,241,1415,0.10,2.00,0.00,0.000,4,0.086,0.025,2231,1002,3993
$GC,1480,-1.05,-121.7,240.2,-19.5,253,1486,0.00,2.12,0.00,0.000,6,0.000,0.031,2228,2421,3994
$GC,1831,-1.05,-121.7,304.7,-14.0,312,1834,0.00,2.05,0.00,0.000,4,0.000,0.046,2219,3753,3994
$GC,2034,-0.97,-121.7,336.8,-16.0,330,2039,0.17,1.88,0.00,0.000,6,0.164,0.025,2265,2451,3994
$GC,2366,-1.12,-121.7,381.6,-15.0,361,2370,0.12,2.05,0.00,0.000,4,0.081,0.048,2208,3756,3993
$GC,2417,-1.02,-121.7,390.9,-19.0,365,2424,0.15,1.88,0.00,0.000,6,0.158,0.025,2247,2443,3994
$GC,2743,-1.07,-121.7,442.4,-16.1,396,2747,0.00,2.05,0.00,0.000,4,0.000,0.050,2246,3747,3993
$GC,2767,-1.07,-121.7,446.3,-16.1,398,2770,0.00,1.85,0.00,0.000,6,0.000,0.025,2246,2459,3993
$GC,3099,-1.15,-121.7,493.1,-13.6,429,3103,0.12,2.12,0.00,0.000,4,0.081,0.027,2193,1005,3991
$GC,3116,-1.15,-121.7,495.6,-13.0,430,3120,0.00,2.22,0.00,0.000,6,0.000,0.035,2193,2463,3991
$GC,3445,-1.06,-121.7,548.1,-16.0,447,3450,0.17,2.03,0.00,0.000,4,0.176,0.049,2236,3758,3990
$GC,3621,-1.11,-121.7,572.3,-13.0,454,3627,0.00,1.83,0.00,0.000,6,0.000,0.027,2235,2503,3988
$STATE,3872,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3872,begin apogee
$GC,3881,-0.27,0.0,609.4,14.0,467,3976,0.88,0.00,91.80,1.090,6,0.163,0.000,2490,2384,3532
$STATE,3977,end apogee,CONTROL_FINISHED_OK
$STATE,3977,begin climb
$GC,3980,1.50,121.7,615.4,0.0,472,4092,1.60,2.22,98.10,1.062,4,0.071,0.030,3065,952,3035
$GC,4347,0.88,126.1,594.9,12.9,488,4357,0.77,2.17,4.75,0.742,6,0.216,0.037,2871,2365,3017
$GC,4671,0.80,166.7,563.7,10.3,503,4715,0.12,2.22,32.88,1.035,4,0.196,0.030,2845,948,2851
$GC,4768,0.90,193.4,552.8,11.3,507,4797,0.00,2.20,22.00,0.999,6,0.000,0.034,2845,2369,2743
$GC,5118,0.99,222.1,512.9,11.1,524,5149,0.15,2.28,24.33,0.997,4,0.077,0.048,2903,3761,2625
$GC,5304,0.78,222.1,482.6,15.8,536,5312,0.30,2.08,0.00,0.000,6,0.184,0.025,2833,2372,2621
$GC,5631,0.92,222.1,438.7,14.6,567,5636,0.12,2.10,0.00,0.000,4,0.084,0.031,2885,960,2619
$GC,5776,0.92,222.1,413.3,17.0,579,5782,0.00,2.12,0.00,0.000,6,0.000,0.032,2885,2360,2619
$GC,6107,0.86,222.1,355.7,16.1,610,6111,0.00,2.10,0.00,0.000,4,0.000,0.031,2885,962,2617
$GC,6367,0.86,222.1,318.7,14.0,633,6371,0.00,2.08,0.00,0.000,6,0.000,0.031,2885,2331,2617
$GC,6705,0.86,224.0,269.9,13.1,681,6711,0.00,2.05,0.00,0.000,4,0.000,0.031,2886,963,2616
$GC,6844,0.98,261.5,254.3,10.5,705,6879,0.00,2.10,30.12,0.874,6,0.000,0.031,2885,2348,2464
$GC,7219,1.04,261.5,203.5,16.4,771,7225,0.00,2.08,0.00,0.000,4,0.000,0.031,2894,964,2460
$GC,7481,1.15,261.5,159.8,15.4,817,7488,0.15,2.17,0.00,0.000,6,0.078,0.033,2954,2396,2458
$GC,7828,1.04,261.5,108.0,15.1,878,7834,0.15,2.12,0.00,0.000,4,0.178,0.046,2917,3759,2458
$GC,7883,0.97,261.5,100.0,14.9,887,7889,0.12,1.98,0.00,0.000,6,0.189,0.025,2895,2400,2458
$GC,8230,1.31,383.4,81.2,4.4,948,8330,0.25,2.28,93.65,0.725,4,0.066,0.050,3000,3751,1967
$GC,8369,1.23,383.4,61.8,20.4,971,8375,0.12,1.95,0.00,0.000,6,0.177,0.024,2980,2426,1962
$GC,8715,1.36,383.4,15.4,13.8,1032,8723,0.12,2.12,0.00,0.000,4,0.084,0.029,3036,983,1957
$STATE,8800,end climb,SURFACE_DEPTH_REACHED
$STATE,8800,begin surface coast
$FINISH,1.9,1.021877
$STATE,8818,end surface coast,CONTROL_FINISHED_OK
$STATE,8818,begin surface
$SM_CCo,8841,67.75,0.641,0,0,1594,475.15
$SM_GC,2.90,0.00,0.00,67.75,0.000,0.000,0.641,136,2396,1594,-7.64,0.37,475.15
$IRIDIUM_FIX,2510.35,12233.94,171198,171720
$TT8_MAMPS,0.029146
$HUMID,1793
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,23.5,96.429
$10V_AH,10.6,50.697
$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,23.100,78.925,397.625,67.750,0.000,53.795,133.232,155.987,4.500,0.000,0.000,30.809,1805.608,4590.076,552.969,1849.067,677.882,0.000,1483.892,0.000,1790.640,0.000,33.180,0.000
$DEVICE_MAMPS,235.469,56.758,1089.907,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,709.443,785.103,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56923,1050
$CAP_FILE_SIZE,104527,0
$CFSIZE,260165632,182054912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,132.9,1
$GPS,230809,223837,2519.486,12236.683,34,1.2,34,-3.7