version: 66.04
glider: 167
mission: 2
dive: 655
start: 9 6 109 18 46 16
data:
$ID,167
$MISSION,2
$DIVE,655
$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,-22208.922
$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,82
$R_STBD_OVSHOOT,37
$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
$GPS1,183825,2526.309,12251.979,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.7
$GPS2,184556,2526.535,12252.155,14,1.1,14,-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,179.3,59391,-25.0,-13.200
$D_GRID,887
$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,-121.7,0.0,0.0,0,45,0.00,0.00,-27.45,0.000,2,0.000,0.000,143,2470,2275
$GC,51,-1.50,-121.7,3.3,-2.0,4,117,8.10,2.17,-49.62,0.000,4,0.232,0.035,2094,989,3989
$GC,232,-1.11,-121.7,60.4,-31.7,35,239,0.50,2.12,0.00,0.000,6,0.166,0.033,2222,2396,3991
$GC,580,-1.11,-121.7,127.1,-16.3,96,586,0.00,2.10,0.00,0.000,4,0.000,0.044,2216,3764,3994
$GC,639,-1.04,-121.7,137.1,-17.5,106,647,0.12,1.95,0.00,0.000,6,0.163,0.022,2247,2375,3995
$GC,989,-1.20,-121.7,185.3,-13.3,167,995,0.17,2.15,0.00,0.000,4,0.067,0.044,2166,3750,3996
$GC,1163,-0.97,-121.7,226.2,-23.9,197,1170,0.35,1.85,0.00,0.000,6,0.160,0.022,2263,2431,3996
$GC,1511,-1.24,-121.7,266.2,-9.5,258,1519,0.20,2.08,0.00,0.000,4,0.065,0.046,2175,3756,3997
$GC,1648,-1.09,-121.7,289.1,-17.3,281,1655,0.20,1.85,0.00,0.000,6,0.163,0.022,2228,2441,3997
$GC,1985,-1.28,-121.7,334.7,-11.5,318,1989,0.17,2.05,0.00,0.000,4,0.067,0.046,2150,3750,3997
$GC,2090,-1.10,-121.7,353.1,-21.0,327,2094,0.22,1.83,0.00,0.000,6,0.160,0.023,2226,2489,3997
$GC,2423,-1.33,-121.7,398.0,-11.5,358,2427,0.20,1.98,0.00,0.000,4,0.067,0.046,2139,3750,3995
$GC,2527,-1.16,-121.7,416.5,-19.7,367,2531,0.25,1.75,0.00,0.000,6,0.163,0.024,2206,2525,3995
$GC,2859,-1.32,-121.7,465.7,-16.0,398,2864,0.15,1.92,0.00,0.000,4,0.073,0.047,2140,3749,3994
$GC,2979,-1.12,-121.7,491.7,-24.2,408,2985,0.28,1.75,0.00,0.000,6,0.168,0.024,2213,2526,3993
$GC,3300,-1.35,-121.7,542.5,-14.4,426,3304,0.17,1.95,0.00,0.000,4,0.071,0.048,2138,3760,3992
$GC,3456,-1.22,-121.7,571.7,-19.3,432,3463,0.17,1.73,0.00,0.000,6,0.166,0.024,2182,2549,3990
$GC,3773,-1.33,-121.7,621.7,-14.5,448,3777,0.00,1.90,0.00,0.000,4,0.000,0.050,2179,3749,3988
$GC,3854,-1.38,-121.7,634.4,-16.1,451,3858,0.12,1.67,0.00,0.000,6,0.081,0.025,2130,2584,3987
$GC,4177,-1.30,-121.7,696.1,-17.9,467,4181,0.12,1.85,0.00,0.000,4,0.173,0.048,2153,3751,3985
$GC,4257,-1.25,-121.7,710.4,-17.1,470,4260,0.00,1.67,0.00,0.000,6,0.000,0.025,2152,2583,3984
$GC,4579,-1.25,-121.7,760.5,-15.6,486,4583,0.00,1.88,0.00,0.000,4,0.000,0.051,2152,3743,3982
$GC,4747,-1.19,-121.7,788.7,-17.4,493,4751,0.17,1.62,0.00,0.000,6,0.171,0.027,2195,2627,3980
$GC,5079,-1.40,-121.7,830.9,-11.7,509,5083,0.17,1.80,0.00,0.000,4,0.077,0.051,2125,3753,3978
$GC,5204,-1.29,-121.7,851.6,-17.7,514,5208,0.15,1.60,0.00,0.000,6,0.172,0.027,2161,2652,3977
$STATE,5379,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5379,begin apogee
$GC,5388,-0.27,0.0,877.3,14.2,523,5485,1.12,0.00,93.05,1.322,6,0.157,0.000,2487,2392,3532
$STATE,5485,end apogee,CONTROL_FINISHED_OK
$STATE,5486,begin climb
$GC,5491,1.50,121.7,880.8,0.0,528,5602,1.58,2.28,102.78,1.284,4,0.051,0.025,3072,964,3035
$GC,5857,0.74,121.7,855.4,15.4,544,5863,0.98,2.15,0.00,0.000,6,0.214,0.032,2826,2366,3031
$GC,6175,0.60,164.2,823.0,10.1,559,6218,0.20,2.20,35.10,1.248,4,0.196,0.029,2776,958,2861
$GC,6343,0.73,199.7,805.4,10.6,566,6380,0.12,2.17,30.00,1.223,6,0.088,0.032,2825,2371,2716
$GC,6712,0.66,199.7,752.8,14.6,584,6717,0.12,2.20,0.00,0.000,4,0.192,0.048,2796,3764,2711
$GC,6894,0.53,199.7,724.6,17.1,592,6899,0.20,2.08,0.00,0.000,6,0.189,0.025,2753,2358,2710
$GC,7222,0.71,213.7,685.3,12.2,608,7243,0.15,2.12,11.95,1.122,4,0.082,0.029,2817,979,2659
$GC,7309,0.71,213.7,673.5,14.6,611,7315,0.00,2.17,0.00,0.000,6,0.000,0.034,2817,2394,2658
$GC,7626,0.71,213.7,626.1,14.1,627,7629,0.00,2.15,0.00,0.000,4,0.000,0.051,2816,3754,2656
$GC,7745,0.56,213.7,605.0,18.8,632,7749,0.25,2.03,0.00,0.000,6,0.188,0.025,2762,2366,2656
$GC,8067,0.77,251.8,565.7,10.4,648,8103,0.17,2.28,30.90,1.123,4,0.077,0.048,2835,3760,2506
$GC,8200,0.63,251.8,543.2,18.7,653,8205,0.25,2.00,0.00,0.000,6,0.188,0.025,2781,2406,2503
$GC,8528,0.80,266.0,503.6,12.2,669,8550,0.15,2.22,13.10,1.029,4,0.079,0.051,2837,3758,2446
$GC,8556,0.80,266.0,498.7,17.4,670,8560,0.00,2.00,0.00,0.000,6,0.000,0.025,2845,2409,2446
$GC,8889,0.80,266.0,442.0,16.2,700,8893,0.00,2.15,0.00,0.000,4,0.000,0.048,2845,3763,2444
$GC,9087,0.67,266.0,408.9,16.0,717,9093,0.22,1.98,0.00,0.000,6,0.186,0.026,2796,2413,2443
$GC,9413,0.85,272.9,371.8,12.7,748,9422,0.17,0.00,6.65,0.854,6,0.076,0.000,2864,2411,2419
$GC,9741,0.85,272.9,318.9,16.2,779,9745,0.00,2.12,0.00,0.000,4,0.000,0.049,2864,3751,2417
$GC,9920,0.69,272.9,286.9,19.4,800,9927,0.28,1.90,0.00,0.000,6,0.183,0.025,2802,2439,2416
$GC,10268,0.87,272.9,238.6,13.7,861,10275,0.17,2.10,0.00,0.000,4,0.073,0.048,2878,3754,2417
$GC,10329,0.69,272.9,228.1,18.9,871,10336,0.30,1.90,0.00,0.000,6,0.183,0.025,2807,2439,2417
$GC,10677,0.89,281.7,184.2,12.6,932,10696,0.17,2.15,8.85,0.768,4,0.076,0.049,2881,3756,2382
$GC,10834,0.76,281.7,156.8,18.5,959,10841,0.25,1.85,0.00,0.000,6,0.183,0.023,2826,2463,2382
$GC,11182,1.01,340.5,120.3,8.9,1020,11236,0.20,2.08,47.17,0.771,4,0.071,0.047,2911,3758,2143
$GC,11388,0.94,340.5,86.2,21.8,1055,11395,0.15,1.83,0.00,0.000,6,0.183,0.022,2884,2487,2138
$GC,11736,1.24,404.0,52.7,8.6,1116,11794,0.22,2.08,49.95,0.690,4,0.067,0.048,2980,3751,1883
$GC,11996,1.18,404.0,15.8,14.0,1161,12002,0.00,1.73,0.00,0.000,6,0.000,0.022,2990,2526,1878
$STATE,12084,end climb,SURFACE_DEPTH_REACHED
$STATE,12084,begin surface coast
$FINISH,1.8,1.021357
$STATE,12108,end surface coast,CONTROL_FINISHED_OK
$STATE,12108,begin surface
$SM_CCo,12130,52.78,0.634,0,0,1594,475.15
$SM_GC,3.18,0.00,0.00,52.78,0.000,0.000,0.634,141,2359,1594,-7.62,-0.68,475.15
$IRIDIUM_FIX,2519.89,12250.42,011298,151545
$TT8_MAMPS,0.029146
$HUMID,1831
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.00
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,826.2,74.1
$24V_AH,23.2,112.089
$10V_AH,10.5,58.357
$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,27.225,99.600,429.500,52.775,0.000,22.672,36.567,216.859,7.250,0.000,0.000,14.660,2118.080,6978.812,566.485,2215.582,749.313,0.000,1691.054,0.000,2161.532,0.000,47.357,0.000
$DEVICE_MAMPS,232.401,51.389,1322.308,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,799.959,834.462,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63255,1181
$CAP_FILE_SIZE,135762,0
$CFSIZE,260165632,175144960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 95.3,1
$GPS,060909,221036,2525.013,12252.979,33,1.2,33,-3.7