version: 66.04
glider: 167
mission: 2
dive: 651
start: 9 6 109 5 26 15
data:
$ID,167
$MISSION,2
$DIVE,651
$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,-22136.787
$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,88
$R_STBD_OVSHOOT,36
$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
$GPS1,051824,2529.628,12250.215,23,1.3,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-66.4
$GPS2,052555,2529.694,12250.062,16,1.4,16,-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,147.8,66140,-25.0,-13.200
$D_GRID,814
$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,-121.7,0.0,0.0,0,43,0.00,0.00,-25.15,0.000,2,0.000,0.000,139,2463,2213
$GC,49,-1.50,-121.7,3.3,-2.2,4,123,8.18,2.20,-57.05,0.000,4,0.234,0.036,2094,993,3989
$GC,272,-1.12,-121.7,60.1,-22.7,42,280,0.47,2.12,0.00,0.000,6,0.169,0.031,2215,2405,3992
$GC,621,-1.03,-121.7,126.3,-19.3,103,628,0.12,2.10,0.00,0.000,4,0.176,0.045,2244,3759,3994
$GC,816,-1.15,-121.7,158.1,-13.4,137,823,0.00,1.95,0.00,0.000,6,0.000,0.022,2244,2363,3996
$GC,1164,-1.35,-121.7,202.4,-11.8,198,1172,0.25,2.17,0.00,0.000,4,0.060,0.044,2130,3756,3997
$GC,1377,-1.01,-121.7,249.5,-24.2,235,1388,0.45,1.88,0.00,0.000,6,0.167,0.023,2254,2427,3997
$GC,1733,-1.29,-121.7,298.4,-12.3,296,1740,0.22,2.08,0.00,0.000,4,0.061,0.045,2153,3750,3997
$GC,1900,-1.02,-121.7,338.2,-25.7,311,1907,0.35,1.83,0.00,0.000,6,0.165,0.023,2248,2462,3997
$GC,2228,-1.31,-121.7,383.3,-12.8,342,2232,0.22,2.03,0.00,0.000,4,0.062,0.047,2152,3747,3997
$GC,2319,-1.13,-121.7,401.2,-21.8,350,2323,0.22,1.80,0.00,0.000,6,0.163,0.023,2211,2483,3997
$GC,2651,-1.30,-121.7,446.1,-13.1,381,2656,0.15,2.00,0.00,0.000,4,0.072,0.046,2150,3753,3996
$GC,2766,-1.21,-121.7,466.2,-18.1,391,2770,0.15,1.83,0.00,0.000,6,0.167,0.024,2187,2486,3995
$GC,3105,-1.31,-121.7,520.8,-15.9,417,3109,0.00,2.00,0.00,0.000,4,0.000,0.048,2180,3756,3993
$GC,3319,-1.31,-121.7,558.2,-18.1,426,3322,0.00,1.77,0.00,0.000,6,0.000,0.025,2180,2522,3992
$GC,3643,-1.40,-121.7,609.1,-14.8,442,3645,0.15,0.00,0.00,0.000,6,0.077,0.000,2122,2521,3990
$GC,3951,-1.29,-121.7,666.6,-18.8,457,3955,0.15,1.95,0.00,0.000,4,0.171,0.048,2152,3745,3987
$GC,4162,-1.24,-121.7,702.5,-15.8,466,4166,0.00,1.75,0.00,0.000,6,0.000,0.025,2152,2535,3986
$GC,4490,-1.24,-121.7,749.7,-14.1,482,4494,0.00,1.92,0.00,0.000,4,0.000,0.050,2151,3743,3984
$GC,4525,-1.18,-121.7,754.8,-15.0,483,4529,0.17,1.75,0.00,0.000,6,0.166,0.025,2195,2543,3983
$GC,4848,-1.38,-121.7,788.4,-9.6,499,4852,0.17,1.92,0.00,0.000,4,0.074,0.051,2127,3744,3981
$GC,4900,-1.26,-121.7,796.1,-16.2,501,4905,0.15,1.75,0.00,0.000,6,0.173,0.025,2169,2567,3980
$STATE,5039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5039,begin apogee
$GC,5048,-0.27,0.0,816.6,14.3,508,5144,1.08,0.00,92.95,1.280,6,0.153,0.000,2485,2411,3532
$STATE,5145,end apogee,CONTROL_FINISHED_OK
$STATE,5145,begin climb
$GC,5149,1.50,121.7,821.2,0.0,513,5260,1.58,2.35,101.93,1.242,4,0.051,0.025,3071,944,3034
$GC,5520,0.79,160.7,801.8,10.4,529,5559,0.95,2.17,32.42,1.206,6,0.219,0.033,2835,2364,2876
$GC,5887,0.66,175.3,761.7,12.1,547,5909,0.17,2.20,12.77,1.127,4,0.197,0.030,2788,960,2817
$GC,6102,0.75,199.3,737.4,11.5,556,6127,0.00,2.15,20.62,1.167,6,0.000,0.034,2788,2357,2719
$GC,6442,0.82,211.8,693.1,12.3,572,6458,0.15,0.00,11.68,1.100,6,0.076,0.000,2845,2357,2668
$GC,6770,0.74,211.8,642.7,13.9,588,6773,0.00,2.22,0.00,0.000,4,0.000,0.052,2845,3761,2665
$GC,6855,0.51,211.8,628.2,17.8,591,6861,0.40,2.10,0.00,0.000,6,0.185,0.026,2749,2333,2664
$GC,7174,0.75,246.7,594.2,10.7,607,7209,0.17,2.10,28.62,1.131,4,0.074,0.031,2830,989,2525
$GC,7278,0.82,246.7,579.1,15.5,611,7284,0.00,2.15,0.00,0.000,6,0.000,0.034,2830,2374,2523
$GC,7595,0.82,246.7,529.8,16.0,627,7599,0.00,2.17,0.00,0.000,4,0.000,0.050,2830,3751,2520
$GC,7857,0.72,246.7,482.2,17.1,642,7860,0.00,2.03,0.00,0.000,6,0.000,0.026,2840,2370,2519
$GC,8194,0.72,246.7,435.7,13.8,673,8198,0.00,2.22,0.00,0.000,4,0.000,0.050,2840,3758,2518
$GC,8231,0.59,246.7,429.0,17.2,676,8236,0.30,2.05,0.00,0.000,6,0.179,0.025,2771,2358,2518
$GC,8559,0.84,265.9,389.4,11.8,706,8583,0.20,2.30,15.77,0.977,4,0.073,0.050,2857,3757,2447
$GC,8642,0.69,265.9,374.9,18.9,713,8646,0.22,2.03,0.00,0.000,6,0.183,0.024,2808,2373,2446
$GC,8971,0.83,265.9,326.3,13.5,743,8976,0.12,2.22,0.00,0.000,4,0.085,0.049,2857,3761,2445
$GC,9002,0.75,265.9,321.1,17.5,745,9007,0.17,2.03,0.00,0.000,6,0.187,0.025,2824,2377,2444
$GC,9342,0.87,268.6,272.5,13.0,793,9348,0.12,2.20,0.00,0.000,4,0.085,0.048,2874,3754,2444
$GC,9604,0.67,268.6,227.7,17.3,839,9611,0.32,1.98,0.00,0.000,6,0.180,0.024,2799,2384,2444
$GC,9952,0.90,293.8,189.6,11.4,900,9982,0.17,2.20,23.52,0.832,4,0.074,0.047,2874,3755,2334
$GC,10115,0.78,293.8,158.8,22.0,928,10122,0.20,1.95,0.00,0.000,6,0.179,0.025,2833,2413,2332
$GC,10466,1.01,337.4,114.4,10.0,989,10509,0.17,2.17,35.33,0.765,4,0.069,0.047,2911,3765,2155
$GC,10766,1.10,411.3,72.3,7.8,1041,10830,0.00,1.95,58.50,0.719,6,0.000,0.024,2921,2422,1855
$GC,11174,1.36,435.5,27.0,11.4,1112,11200,0.22,2.20,19.23,0.646,4,0.061,0.027,3026,982,1755
$STATE,11316,end climb,SURFACE_DEPTH_REACHED
$STATE,11316,begin surface coast
$FINISH,1.8,1.000058
$STATE,11333,end surface coast,CONTROL_FINISHED_OK
$STATE,11333,begin surface
$SM_CCo,11357,29.55,0.634,0,0,1595,475.15
$SM_GC,2.70,0.00,0.00,29.55,0.000,0.000,0.634,140,2395,1595,-7.63,0.34,475.15
$IRIDIUM_FIX,2519.89,12248.42,011298,020215
$TT8_MAMPS,0.029146
$HUMID,1839
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,23.2,111.461
$10V_AH,10.5,58.048
$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,26.225,90.300,453.350,29.550,0.000,24.487,32.368,214.864,6.250,0.000,0.000,16.175,2025.089,6424.761,556.815,2099.012,724.252,0.000,1620.355,0.000,2051.305,0.000,45.691,0.000
$DEVICE_MAMPS,233.935,52.156,1280.123,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,771.235,813.496,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,59930,1139
$CAP_FILE_SIZE,125488,0
$CFSIZE,260165632,175439872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147,145.4,1
$GPS,060909,083725,2527.867,12251.077,39,0.9,39,-3.7