version: 66.04
glider: 167
mission: 2
dive: 653
start: 9 6 109 12 12 21
data:
$ID,167
$MISSION,2
$DIVE,653
$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,-22166.828
$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,90
$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
$GPS1,120425,2527.792,12250.456,42,1.0,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.77
$_SM_ANGLEo,-65.9
$GPS2,121201,2527.861,12250.515,10,1.2,15,-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,147.8,62722,-25.0,-13.200
$D_GRID,831
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.50,-121.7,0.0,0.0,0,41,0.00,0.00,-22.75,0.000,2,0.000,0.000,138,2379,2160
$GC,47,-1.50,-121.7,3.2,-3.0,4,126,8.15,2.08,-61.20,0.000,4,0.232,0.037,2094,996,3990
$GC,204,-0.92,-121.7,35.9,-31.2,30,212,0.70,2.10,0.00,0.000,6,0.179,0.030,2276,2393,3991
$GC,554,-1.08,-121.7,89.9,-9.7,91,561,0.12,2.03,0.00,0.000,4,0.076,0.021,2222,987,3993
$GC,713,-1.15,-121.7,111.8,-14.7,118,722,0.00,2.12,0.00,0.000,6,0.000,0.029,2218,2406,3995
$GC,1062,-1.22,-121.7,168.6,-16.6,179,1068,0.00,2.08,0.00,0.000,4,0.000,0.044,2207,3760,3996
$GC,1252,-1.17,-121.7,203.2,-16.1,212,1258,0.00,1.88,0.00,0.000,6,0.000,0.022,2207,2420,3996
$GC,1597,-1.17,-121.7,255.8,-15.8,273,1603,0.00,2.08,0.00,0.000,4,0.000,0.046,2205,3747,3997
$GC,1713,-1.17,-121.7,275.2,-17.0,293,1718,0.00,1.80,0.00,0.000,6,0.000,0.023,2205,2471,3997
$GC,2053,-1.22,-121.7,329.3,-15.7,338,2057,0.00,2.00,0.00,0.000,4,0.000,0.047,2206,3749,3997
$GC,2270,-1.28,-121.7,364.2,-14.2,357,2274,0.12,1.77,0.00,0.000,6,0.077,0.024,2152,2500,3997
$GC,2601,-1.19,-121.7,424.5,-19.1,388,2610,0.17,1.98,0.00,0.000,4,0.162,0.045,2192,3757,3996
$GC,2702,-1.19,-121.7,442.1,-16.5,396,2708,0.00,1.75,0.00,0.000,6,0.000,0.023,2192,2525,3996
$GC,3029,-1.31,-121.7,489.1,-12.8,427,3033,0.00,1.92,0.00,0.000,4,0.000,0.049,2192,3746,3994
$GC,3215,-1.39,-121.7,513.8,-13.8,439,3220,0.17,1.70,0.00,0.000,6,0.071,0.026,2124,2570,3993
$GC,3555,-1.26,-121.7,575.7,-18.5,455,3560,0.17,2.28,0.00,0.000,4,0.169,0.023,2175,1015,3991
$GC,3640,-1.38,-121.7,590.0,-15.4,458,3648,0.12,2.35,0.00,0.000,6,0.080,0.035,2129,2545,3991
$GC,3962,-1.28,-121.7,654.6,-20.9,474,3967,0.15,1.90,0.00,0.000,4,0.176,0.050,2165,3753,3988
$GC,4124,-1.28,-121.7,683.8,-16.7,481,4128,0.00,1.67,0.00,0.000,6,0.000,0.027,2165,2600,3987
$GC,4459,-1.28,-121.7,743.2,-18.0,497,4462,0.00,1.83,0.00,0.000,4,0.000,0.052,2164,3746,3984
$GC,4609,-1.34,-121.7,759.2,-8.6,503,4613,0.00,1.62,0.00,0.000,6,0.000,0.027,2164,2629,3982
$GC,4932,-1.41,-121.7,809.2,-16.0,519,4936,0.12,1.80,0.00,0.000,4,0.084,0.051,2111,3757,3980
$STATE,5042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5042,begin apogee
$GC,5057,-0.27,0.0,831.1,19.4,524,5154,1.35,0.00,93.22,1.287,6,0.170,0.000,2486,2371,3532
$STATE,5155,end apogee,CONTROL_FINISHED_OK
$STATE,5155,begin climb
$GC,5159,1.50,121.7,836.5,0.0,529,5270,1.58,2.35,101.90,1.247,4,0.050,0.047,3065,3751,3035
$GC,5525,0.55,121.7,801.0,17.7,545,5532,1.27,2.03,0.00,0.000,6,0.222,0.023,2759,2355,3030
$GC,5843,0.61,170.2,765.1,9.7,561,5888,0.00,2.35,39.50,1.212,4,0.000,0.051,2759,3747,2838
$GC,6142,0.61,170.2,723.1,15.8,574,6146,0.00,2.00,0.00,0.000,6,0.000,0.024,2764,2386,2833
$GC,6470,0.69,192.2,682.0,11.6,590,6494,0.10,2.25,17.92,1.145,4,0.088,0.047,2804,3755,2748
$GC,6749,0.53,192.2,631.5,17.2,602,6754,0.22,2.05,0.00,0.000,6,0.184,0.025,2756,2355,2744
$GC,7071,0.72,244.5,598.9,9.4,618,7120,0.17,2.30,43.05,1.141,4,0.075,0.050,2829,3757,2534
$GC,7262,0.58,244.5,568.4,18.7,626,7270,0.28,2.03,0.00,0.000,6,0.182,0.025,2767,2379,2530
$GC,7581,0.80,275.1,531.8,11.0,642,7613,0.17,2.15,25.62,1.085,4,0.072,0.030,2849,994,2409
$GC,7665,0.85,275.1,518.9,15.5,645,7671,0.00,2.17,0.00,0.000,6,0.000,0.033,2849,2399,2406
$GC,7987,0.85,275.1,461.0,19.6,670,7991,0.00,2.12,0.00,0.000,4,0.000,0.051,2849,3753,2404
$GC,8051,0.70,275.1,447.4,23.1,675,8057,0.20,1.98,0.00,0.000,6,0.186,0.025,2808,2400,2404
$GC,8377,0.81,275.1,387.4,16.5,706,8381,0.00,2.17,0.00,0.000,4,0.000,0.051,2808,3757,2402
$GC,8637,0.81,275.1,340.2,16.2,729,8641,0.00,1.95,0.00,0.000,6,0.000,0.025,2815,2418,2401
$GC,8969,0.93,275.1,289.0,14.9,765,8976,0.17,2.15,0.00,0.000,4,0.072,0.049,2891,3762,2401
$GC,9023,0.67,275.1,278.1,21.3,774,9031,0.38,1.98,0.00,0.000,6,0.184,0.025,2802,2401,2400
$GC,9373,0.85,278.7,225.8,12.9,835,9380,0.15,2.17,0.00,0.000,4,0.077,0.048,2861,3764,2400
$GC,9558,0.70,278.7,195.4,16.5,867,9564,0.25,1.92,0.00,0.000,6,0.179,0.025,2806,2431,2400
$GC,9905,0.92,307.5,151.5,11.1,928,9936,0.17,2.20,25.70,0.813,4,0.072,0.048,2882,3761,2277
$GC,10191,0.82,307.5,104.0,16.8,978,10199,0.17,1.85,0.00,0.000,6,0.181,0.025,2846,2479,2274
$GC,10541,1.06,348.8,59.8,10.2,1039,10582,0.17,2.28,33.15,0.724,4,0.071,0.028,2932,975,2109
$GC,10679,1.11,348.8,42.1,14.5,1062,10686,0.00,2.35,0.00,0.000,6,0.000,0.032,2932,2504,2105
$GC,11028,1.34,426.7,8.7,7.6,1123,11086,0.17,0.00,55.45,0.657,2,0.067,0.000,3010,2505,1820
$STATE,11087,end climb,SURFACE_DEPTH_REACHED
$STATE,11087,begin surface coast
$FINISH,1.9,1.021355
$STATE,11114,end surface coast,CONTROL_FINISHED_OK
$STATE,11114,begin surface
$SM_CCo,11136,41.53,0.638,0,0,1594,475.15
$SM_GC,3.24,0.00,0.00,41.53,0.000,0.000,0.638,142,2379,1594,-7.62,-0.11,475.15
$IRIDIUM_FIX,2517.50,12250.42,011298,080804
$TT8_MAMPS,0.029146
$HUMID,1860
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,825.6,43.5
$24V_AH,23.2,111.771
$10V_AH,10.5,58.202
$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,24.775,89.675,435.525,41.525,0.000,29.875,30.179,220.570,7.000,0.000,0.000,16.052,2012.039,6159.153,566.694,2177.582,712.933,0.000,1654.755,0.000,2116.542,0.000,47.285,0.000
$DEVICE_MAMPS,232.401,52.156,1287.026,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.553,828.422,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60194,1138
$CAP_FILE_SIZE,123779,0
$CFSIZE,260165632,175300608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,319.1,1
$GPS,060909,152006,2527.625,12250.661,32,1.4,42,-3.7