version: 66.04
glider: 167
mission: 2
dive: 646
start: 9 5 109 11 28 3
data:
$ID,167
$MISSION,2
$DIVE,646
$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,-2
$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,-22023.318
$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,87
$R_STBD_OVSHOOT,41
$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
$GPS1,111954,2534.908,12249.473,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-64.1
$GPS2,112743,2534.994,12249.376,10,1.5,15,-3.7
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$TGT_RADIUS,2000.000
$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,117.9,75680,-25.0,-13.200
$D_GRID,889
$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,-121.7,0.0,0.0,0,41,0.00,0.00,-22.92,0.000,2,0.000,0.000,138,2463,2161
$GC,47,-1.50,-121.7,3.2,-3.3,4,125,8.32,2.17,-62.50,0.000,4,0.239,0.037,2093,995,3990
$GC,162,-0.83,-121.7,23.9,-39.4,23,169,0.82,2.10,0.00,0.000,6,0.183,0.031,2305,2388,3991
$GC,511,-1.14,-121.7,77.7,-12.6,84,517,0.22,2.03,0.00,0.000,4,0.061,0.021,2205,989,3994
$GC,729,-1.20,-121.7,123.0,-18.3,122,736,0.00,2.12,0.00,0.000,6,0.000,0.029,2204,2408,3996
$GC,1075,-1.20,-121.7,176.6,-14.9,183,1081,0.00,2.08,0.00,0.000,4,0.000,0.044,2194,3761,3997
$GC,1169,-1.06,-121.7,194.8,-20.1,199,1176,0.15,1.92,0.00,0.000,6,0.163,0.021,2232,2383,3997
$GC,1518,-1.18,-121.7,246.4,-14.4,260,1524,0.00,2.15,0.00,0.000,4,0.000,0.046,2232,3759,3997
$GC,1713,-1.28,-121.7,275.9,-15.2,294,1721,0.17,1.83,0.00,0.000,6,0.067,0.023,2160,2474,3997
$GC,2054,-1.19,-121.7,342.0,-17.3,336,2058,0.12,2.00,0.00,0.000,4,0.171,0.043,2182,3756,3997
$GC,2109,-1.12,-121.7,350.6,-16.3,340,2115,0.12,1.80,0.00,0.000,6,0.166,0.021,2213,2482,3997
$GC,2436,-1.29,-121.7,390.3,-11.4,371,2440,0.15,2.00,0.00,0.000,4,0.072,0.047,2151,3753,3996
$GC,2600,-1.14,-121.7,416.9,-17.8,385,2604,0.22,1.77,0.00,0.000,6,0.163,0.024,2210,2509,3996
$GC,2933,-1.29,-121.7,466.9,-15.0,416,2939,0.15,0.00,0.00,0.000,6,0.074,0.000,2150,2510,3994
$GC,3258,-1.21,-121.7,529.6,-18.6,440,3262,0.15,1.95,0.00,0.000,4,0.172,0.047,2180,3746,3992
$GC,3389,-1.21,-121.7,550.1,-14.2,445,3395,0.00,1.75,0.00,0.000,6,0.000,0.024,2180,2523,3991
$GC,3706,-1.28,-121.7,590.5,-13.7,461,3710,0.00,1.95,0.00,0.000,4,0.000,0.051,2180,3755,3990
$GC,3791,-1.28,-121.7,604.0,-16.4,464,3797,0.00,1.75,0.00,0.000,6,0.000,0.025,2179,2542,3989
$GC,4109,-1.38,-121.7,652.9,-14.4,480,4113,0.12,1.92,0.00,0.000,4,0.086,0.048,2126,3756,3986
$GC,4241,-1.21,-121.7,677.4,-19.2,485,4248,0.22,1.73,0.00,0.000,6,0.172,0.025,2184,2566,3985
$GC,4560,-1.35,-121.7,721.0,-12.8,501,4564,0.12,1.88,0.00,0.000,4,0.081,0.049,2137,3744,3983
$GC,4600,-1.26,-121.7,727.1,-15.0,502,4607,0.12,1.70,0.00,0.000,6,0.177,0.025,2166,2573,3982
$GC,4918,-1.32,-121.7,771.6,-14.2,518,4921,0.00,1.88,0.00,0.000,4,0.000,0.051,2165,3757,3980
$GC,5003,-1.32,-121.7,784.2,-14.0,521,5008,0.00,1.70,0.00,0.000,6,0.000,0.025,2165,2584,3979
$GC,5320,-1.38,-121.7,819.6,-10.2,537,5323,0.00,1.85,0.00,0.000,4,0.000,0.051,2165,3751,3978
$GC,5440,-1.44,-121.7,832.1,-10.8,542,5444,0.15,1.67,0.00,0.000,6,0.079,0.027,2109,2605,3976
$GC,5768,-1.31,-121.7,880.5,-16.0,558,5773,0.17,2.35,0.00,0.000,4,0.176,0.023,2159,1021,3975
$GC,5804,-1.39,-121.7,886.0,-15.4,559,5810,0.00,2.38,0.00,0.000,6,0.000,0.035,2154,2559,3974
$STATE,5828,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5828,begin apogee
$GC,5837,-0.27,0.0,890.0,14.1,561,5933,1.17,0.00,93.00,1.337,6,0.163,0.000,2487,2416,3532
$STATE,5934,end apogee,CONTROL_FINISHED_OK
$STATE,5934,begin climb
$GC,5938,1.50,121.7,896.2,0.0,566,6050,1.58,2.28,103.50,1.299,4,0.051,0.046,3061,3746,3034
$GC,6305,0.55,121.7,870.4,17.5,582,6311,1.25,1.98,0.00,0.000,6,0.223,0.023,2762,2384,3031
$GC,6629,0.58,144.0,832.1,11.6,598,6653,0.00,2.17,18.65,1.226,4,0.000,0.029,2771,989,2944
$GC,6718,0.66,170.8,821.8,11.3,601,6747,0.00,2.10,23.73,1.228,6,0.000,0.031,2771,2354,2835
$GC,7060,0.76,200.3,781.2,11.1,618,7092,0.15,2.30,24.70,1.220,4,0.081,0.051,2827,3750,2714
$GC,7166,0.54,200.3,765.1,15.6,622,7174,0.30,2.05,0.00,0.000,6,0.191,0.025,2760,2356,2712
$GC,7484,0.74,250.8,732.8,9.5,638,7534,0.17,2.35,42.12,1.220,4,0.077,0.051,2831,3748,2509
$GC,7591,0.61,250.8,715.7,17.6,642,7599,0.25,2.05,0.00,0.000,6,0.185,0.026,2778,2376,2505
$GC,7910,0.77,253.6,673.8,13.0,658,7914,0.15,2.22,0.00,0.000,4,0.080,0.050,2833,3760,2502
$GC,7972,0.63,253.6,662.6,18.4,660,7979,0.22,2.03,0.00,0.000,6,0.188,0.025,2786,2375,2502
$GC,8289,0.78,257.7,619.5,12.9,676,8300,0.12,2.22,5.78,0.938,4,0.085,0.050,2833,3760,2483
$GC,8430,0.66,257.7,594.0,19.2,682,8434,0.20,2.00,0.00,0.000,6,0.187,0.025,2793,2388,2481
$GC,8752,0.81,274.2,550.7,12.0,698,8776,0.15,2.20,15.48,1.088,4,0.081,0.048,2850,3753,2413
$GC,8996,0.68,274.2,505.7,18.3,708,9003,0.22,1.95,0.00,0.000,6,0.187,0.025,2802,2421,2410
$GC,9326,0.80,274.2,459.5,15.1,737,9330,0.10,2.15,0.00,0.000,4,0.093,0.029,2847,979,2409
$GC,9422,0.87,274.2,442.4,18.5,745,9426,0.00,2.20,0.00,0.000,6,0.000,0.034,2847,2416,2409
$GC,9753,0.87,274.2,381.0,18.5,775,9757,0.00,2.10,0.00,0.000,4,0.000,0.051,2847,3750,2409
$GC,9883,0.78,274.2,353.5,18.6,786,9890,0.00,1.92,0.00,0.000,6,0.000,0.025,2856,2425,2409
$GC,10213,0.78,274.2,304.5,13.4,817,10217,0.00,2.12,0.00,0.000,4,0.000,0.050,2856,3757,2408
$GC,10473,0.66,274.2,258.6,17.6,860,10480,0.28,1.88,0.00,0.000,6,0.180,0.025,2793,2455,2408
$GC,10819,0.89,297.4,215.4,11.5,921,10845,0.17,2.28,19.60,0.869,4,0.074,0.028,2875,983,2318
$GC,10937,0.97,297.4,197.3,16.8,940,10943,0.00,2.28,0.00,0.000,6,0.000,0.031,2875,2468,2316
$GC,11282,0.97,297.4,133.9,21.4,1001,11288,0.00,2.03,0.00,0.000,4,0.000,0.049,2875,3760,2315
$GC,11494,0.92,297.4,87.3,21.2,1038,11501,0.00,1.88,0.00,0.000,6,0.000,0.024,2885,2453,2315
$GC,11843,1.06,349.9,46.8,9.4,1099,11891,0.10,2.15,41.72,0.724,4,0.088,0.048,2925,3751,2104
$GC,12148,1.19,459.0,9.4,5.3,1152,12236,0.00,1.83,83.15,0.667,2,0.000,0.023,2934,2467,1671
$STATE,12237,end climb,SURFACE_DEPTH_REACHED
$STATE,12237,begin surface coast
$FINISH,1.9,1.020462
$STATE,12269,end surface coast,CONTROL_FINISHED_OK
$STATE,12269,begin surface
$SM_CCo,12292,12.48,0.608,0,0,1595,475.15
$SM_GC,3.58,0.00,0.00,12.48,0.000,0.000,0.608,137,2464,1595,-7.64,2.29,475.15
$IRIDIUM_FIX,2527.05,12251.72,301198,070702
$TT8_MAMPS,0.029146
$HUMID,1936
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.10
$XPDR_PINGS,1
$24V_AH,23.1,110.643
$10V_AH,10.5,57.656
$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,25.825,105.300,471.425,12.475,0.000,29.493,36.835,227.501,7.250,0.000,0.000,15.657,2078.525,7177.081,589.978,2173.704,746.631,0.000,1700.085,0.000,2119.097,0.000,47.732,0.000
$DEVICE_MAMPS,239.304,51.389,1336.881,608.231,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,794.400,824.487,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63175,1173
$CAP_FILE_SIZE,133995,0
$CFSIZE,260165632,175792128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240,256.9,1
$GPS,050909,145431,2534.092,12249.153,41,1.2,41,-3.7