version: 66.04
glider: 167
mission: 2
dive: 648
start: 9 5 109 18 37 16
data:
$ID,167
$MISSION,2
$DIVE,648
$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,-22073.188
$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,84
$R_STBD_OVSHOOT,39
$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
$GPS1,182825,2532.582,12249.643,40,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-65.1
$GPS2,183656,2532.785,12249.688,13,1.1,13,-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,134.9,71678,-25.0,-13.200
$D_GRID,967
$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,18,-1.50,-121.7,0.0,0.0,0,49,0.00,0.00,-29.27,0.000,2,0.000,0.000,138,2420,2329
$GC,53,-1.50,-121.7,3.3,-2.5,5,118,8.23,2.10,-50.12,0.000,4,0.235,0.038,2094,993,3989
$GC,262,-1.12,-121.7,75.9,-29.4,41,269,0.47,2.10,0.00,0.000,6,0.166,0.031,2215,2391,3991
$GC,610,-1.12,-121.7,138.6,-15.3,102,616,0.00,2.10,0.00,0.000,4,0.000,0.044,2206,3760,3994
$GC,766,-1.00,-121.7,168.4,-18.2,129,772,0.17,1.92,0.00,0.000,6,0.158,0.026,2253,2401,3995
$GC,1113,-1.21,-121.7,216.7,-16.4,190,1120,0.17,2.12,0.00,0.000,4,0.067,0.045,2179,3760,3996
$GC,1260,-1.04,-121.7,249.2,-22.0,215,1270,0.22,1.85,0.00,0.000,6,0.159,0.021,2239,2442,3996
$GC,1613,-1.19,-121.7,305.7,-16.4,273,1617,0.12,2.08,0.00,0.000,4,0.077,0.022,2188,1005,3996
$GC,1637,-1.30,-121.7,309.8,-17.1,274,1643,0.00,2.17,0.00,0.000,6,0.000,0.032,2188,2444,3996
$GC,1963,-1.30,-121.7,365.6,-17.5,305,1967,0.00,2.03,0.00,0.000,4,0.000,0.048,2187,3751,3996
$GC,2217,-1.30,-121.7,416.4,-19.9,327,2223,0.00,1.80,0.00,0.000,6,0.000,0.023,2187,2482,3995
$GC,2545,-1.36,-121.7,475.3,-16.1,358,2550,0.12,2.00,0.00,0.000,4,0.074,0.046,2125,3752,3994
$GC,2586,-1.15,-121.7,483.5,-21.2,361,2592,0.30,1.77,0.00,0.000,6,0.165,0.024,2206,2513,3994
$GC,2919,-1.28,-121.7,524.1,-11.9,383,2925,0.12,2.17,0.00,0.000,4,0.081,0.024,2157,1014,3993
$GC,3013,-1.34,-121.7,537.8,-15.1,387,3017,0.00,2.25,0.00,0.000,6,0.000,0.032,2152,2490,3992
$GC,3346,-1.34,-121.7,593.0,-14.9,403,3350,0.00,1.98,0.00,0.000,4,0.000,0.050,2149,3753,3990
$GC,3596,-1.28,-121.7,632.7,-15.7,414,3599,0.00,1.75,0.00,0.000,6,0.000,0.026,2149,2546,3988
$GC,3929,-1.28,-121.7,678.1,-13.4,430,3933,0.00,1.92,0.00,0.000,4,0.000,0.052,2149,3760,3986
$GC,3992,-1.23,-121.7,687.0,-14.0,432,4000,0.12,1.75,0.00,0.000,6,0.172,0.025,2178,2557,3985
$GC,4310,-1.36,-121.7,721.2,-11.5,448,4313,0.00,1.90,0.00,0.000,4,0.000,0.052,2178,3747,3982
$GC,4541,-1.46,-121.7,751.8,-12.8,458,4546,0.20,1.70,0.00,0.000,6,0.071,0.027,2103,2583,3980
$GC,4870,-1.30,-121.7,804.6,-16.5,474,4872,0.20,0.00,0.00,0.000,6,0.173,0.000,2154,2583,3978
$GC,5181,-1.36,-121.7,847.5,-14.3,489,5184,0.00,1.85,0.00,0.000,4,0.000,0.051,2149,3746,3975
$GC,5260,-1.36,-121.7,859.4,-14.7,492,5263,0.00,1.67,0.00,0.000,6,0.000,0.025,2149,2590,3975
$GC,5583,-1.36,-121.7,904.5,-14.2,508,5587,0.00,1.85,0.00,0.000,4,0.000,0.053,2144,3747,3973
$GC,5657,-1.36,-121.7,916.7,-16.7,511,5661,0.00,1.70,0.00,0.000,6,0.000,0.026,2144,2604,3973
$STATE,5665,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5665,begin apogee
$GC,5674,-0.27,0.0,918.5,16.0,511,5771,1.17,0.00,93.18,1.361,6,0.162,0.000,2484,2412,3531
$STATE,5772,end apogee,CONTROL_FINISHED_OK
$STATE,5772,begin climb
$GC,5777,1.50,121.7,922.6,0.0,516,5888,1.60,2.30,103.53,1.319,4,0.051,0.027,3077,950,3036
$GC,6143,0.71,121.7,900.1,13.6,532,6148,1.05,2.20,0.00,0.000,6,0.214,0.035,2812,2370,3032
$GC,6466,0.58,130.3,865.5,12.6,548,6480,0.17,2.17,7.93,1.110,4,0.189,0.026,2768,952,3000
$GC,6736,0.62,160.5,835.1,11.0,560,6767,0.00,2.15,26.15,1.263,6,0.000,0.033,2768,2348,2877
$GC,7094,0.62,164.0,790.2,12.9,577,7103,0.00,2.28,4.07,0.826,4,0.000,0.051,2768,3751,2863
$GC,7139,0.52,164.0,783.5,14.4,579,7143,0.00,2.10,0.00,0.000,6,0.000,0.024,2776,2340,2863
$GC,7473,0.53,177.4,741.4,12.2,595,7494,0.00,2.35,12.45,1.167,4,0.000,0.050,2776,3758,2808
$GC,7553,0.45,177.4,729.9,15.7,598,7558,0.22,2.10,0.00,0.000,6,0.182,0.025,2728,2330,2806
$GC,7875,0.74,246.7,700.5,8.2,614,7940,0.22,2.45,57.65,1.219,4,0.074,0.051,2818,3762,2525
$GC,8150,0.65,246.7,658.1,17.1,626,8154,0.15,2.05,0.00,0.000,6,0.187,0.026,2792,2379,2518
$GC,8478,0.78,246.7,612.7,14.4,642,8479,0.12,0.00,0.00,0.000,6,0.080,0.000,2841,2376,2517
$GC,8789,0.74,248.5,563.7,13.1,657,8792,0.00,2.20,0.00,0.000,4,0.000,0.051,2841,3751,2516
$GC,8829,0.57,248.5,557.8,14.4,658,8836,0.32,2.03,0.00,0.000,6,0.180,0.025,2765,2362,2515
$GC,9146,0.76,248.5,508.3,13.9,674,9150,0.17,2.05,0.00,0.000,4,0.074,0.030,2841,999,2514
$GC,9277,0.82,248.5,487.7,16.3,682,9283,0.00,2.10,0.00,0.000,6,0.000,0.033,2842,2364,2514
$GC,9606,0.82,248.5,432.3,16.7,713,9610,0.00,2.20,0.00,0.000,4,0.000,0.052,2842,3757,2513
$GC,9699,0.69,248.5,415.8,17.7,721,9704,0.20,2.03,0.00,0.000,6,0.185,0.024,2801,2366,2513
$GC,10032,0.84,268.1,374.1,11.8,752,10055,0.15,2.28,16.83,0.979,4,0.077,0.049,2859,3748,2438
$GC,10124,0.69,268.1,359.8,16.7,760,10131,0.25,2.00,0.00,0.000,6,0.185,0.025,2805,2384,2436
$GC,10451,0.88,289.8,321.8,11.6,791,10477,0.17,2.28,19.15,0.937,4,0.076,0.048,2874,3759,2349
$GC,10682,0.75,289.8,279.0,19.5,820,10689,0.22,2.00,0.00,0.000,6,0.179,0.024,2825,2389,2346
$GC,11033,0.88,289.8,223.6,14.6,881,11040,0.10,2.17,0.00,0.000,4,0.093,0.047,2865,3755,2345
$GC,11106,0.76,289.8,210.6,18.6,893,11112,0.17,1.95,0.00,0.000,6,0.181,0.024,2830,2405,2345
$GC,11454,0.92,289.8,157.5,16.5,954,11461,0.12,2.15,0.00,0.000,4,0.084,0.048,2880,3753,2345
$GC,11581,0.81,289.8,134.3,17.7,976,11588,0.20,1.92,0.00,0.000,6,0.182,0.024,2839,2413,2345
$GC,11931,1.05,298.5,88.5,12.6,1037,11944,0.17,2.17,8.10,0.686,4,0.073,0.027,2925,989,2314
$GC,12005,1.12,301.2,78.6,13.0,1049,12017,0.00,2.12,4.10,0.530,6,0.000,0.030,2925,2391,2302
$GC,12358,1.33,471.1,47.1,0.9,1111,12498,0.20,2.20,131.55,0.693,4,0.063,0.047,3011,3753,1612
$GC,12542,1.25,471.1,26.3,20.8,1142,12549,0.15,2.05,0.00,0.000,6,0.178,0.021,2985,2360,1608
$STATE,12686,end climb,SURFACE_DEPTH_REACHED
$STATE,12686,begin surface coast
$FINISH,1.9,1.001495
$STATE,12702,end surface coast,CONTROL_FINISHED_OK
$STATE,12702,begin surface
$SM_CCo,12723,0.10,0.145,0,0,1595,475.15
$SM_GC,3.70,0.00,0.00,0.10,0.000,0.000,0.145,139,2355,1595,-7.63,-0.79,475.15
$IRIDIUM_FIX,2524.66,12243.11,301198,151513
$TT8_MAMPS,0.029146
$HUMID,1874
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.80
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,901.7,41.3
$24V_AH,23.1,110.975
$10V_AH,10.5,57.815
$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,25.525,106.825,484.675,0.100,0.000,28.901,35.238,269.222,8.250,0.000,0.000,13.852,2111.956,7491.725,563.241,2265.375,794.160,0.000,1720.915,0.000,2203.754,0.000,58.182,0.000
$DEVICE_MAMPS,235.469,52.923,1360.658,144.963,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,792.182,821.843,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63213,1170
$CAP_FILE_SIZE,138599,0
$CFSIZE,260165632,175640576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,261.4,1
$GPS,050909,221036,2531.525,12249.993,33,1.0,34,-3.7