version: 66.04
glider: 167
mission: 2
dive: 15
start: 5 23 109 12 3 11
data:
$ID,167
$MISSION,2
$DIVE,15
$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,330
$T_MISSION,396
$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,175
$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,425
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4160.5913
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2545
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,2307
$C_ROLL_CLIMB,2392
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,115700,2539.825,12249.927,38,1.4,38,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-64.2
$GPS2,120249,2539.893,12249.935,11,1.7,11,-3.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,130.9,65821,-16.8,-10.000
$D_GRID,441
$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,15,-0.88,-170.3,0.0,0.0,0,59,0.00,0.00,-42.25,0.000,2,0.000,0.000,147,2291,2839
$GC,62,-0.88,-170.3,3.1,-3.3,5,114,9.18,2.08,-32.33,0.000,4,0.272,0.046,2249,911,3989
$GC,353,-0.24,-170.3,80.3,-29.2,52,362,0.73,2.15,0.00,0.000,6,0.186,0.038,2455,2313,3991
$GC,711,-1.08,-170.3,107.6,-8.5,113,721,0.70,2.17,0.00,0.000,4,0.086,0.049,2196,3719,3993
$GC,817,-0.51,-170.3,125.7,-19.2,130,826,0.55,2.08,0.00,0.000,6,0.179,0.027,2374,2290,3993
$GC,1172,-0.73,-170.3,150.8,-5.2,191,1181,0.17,2.22,0.00,0.000,4,0.069,0.048,2289,3716,3996
$GC,1254,-0.60,-170.3,158.7,-10.9,204,1264,0.17,2.05,0.00,0.000,6,0.148,0.027,2346,2297,3996
$GC,1613,-0.76,-170.3,185.6,-8.0,265,1620,0.12,2.20,0.00,0.000,4,0.081,0.048,2289,3711,3996
$GC,1757,-0.67,-170.3,203.2,-13.0,289,1763,0.15,2.00,0.00,0.000,6,0.156,0.028,2330,2306,3996
$GC,2107,-0.79,-170.3,232.6,-7.9,350,2117,0.12,2.20,0.00,0.000,4,0.082,0.050,2275,3711,3996
$GC,2214,-0.68,-170.3,242.7,-9.7,367,2221,0.17,2.03,0.00,0.000,6,0.158,0.028,2324,2295,3996
$GC,2563,-0.81,-170.3,268.8,-7.5,428,2572,0.12,2.22,0.00,0.000,4,0.084,0.051,2272,3720,3996
$GC,2656,-0.69,-170.3,278.3,-11.3,443,2663,0.17,2.03,0.00,0.000,6,0.158,0.029,2321,2299,3996
$GC,3010,-0.84,-170.3,307.5,-8.5,497,3015,0.15,2.20,0.00,0.000,4,0.080,0.052,2260,3723,3994
$GC,3054,-0.76,-170.3,313.3,-12.9,500,3063,0.10,2.05,0.00,0.000,6,0.153,0.029,2293,2309,3996
$STATE,3263,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3263,begin apogee
$GC,3269,-0.20,0.0,337.0,10.8,520,3359,0.55,0.00,85.35,0.910,6,0.144,0.000,2473,2415,3532
$STATE,3359,end apogee,CONTROL_FINISHED_OK
$STATE,3360,begin climb
$GC,3362,0.88,170.3,342.9,0.0,529,3498,0.95,2.22,127.82,0.907,4,0.058,0.051,2828,3745,2836
$GC,3760,0.29,170.3,315.2,15.1,563,3766,0.73,2.00,0.00,0.000,6,0.199,0.029,2640,2388,2834
$GC,4092,0.61,282.8,293.3,5.6,602,4187,0.25,2.28,83.97,0.937,4,0.069,0.052,2743,3748,2375
$GC,4330,0.50,282.8,265.1,13.5,640,4339,0.10,2.05,0.00,0.000,6,0.173,0.030,2716,2402,2371
$GC,4687,0.58,282.8,225.1,10.2,701,4693,0.00,2.12,0.00,0.000,4,0.000,0.053,2716,3754,2368
$GC,4865,0.58,282.8,203.6,13.5,732,4874,0.00,2.05,0.00,0.000,6,0.000,0.031,2719,2378,2367
$GC,5221,0.70,306.1,171.8,9.1,793,5248,0.15,2.20,16.58,0.784,4,0.081,0.054,2785,3748,2284
$GC,5326,0.53,306.1,158.1,14.3,809,5334,0.20,2.03,0.00,0.000,6,0.173,0.028,2726,2387,2281
$GC,5682,0.70,307.5,126.9,9.9,870,5692,0.12,2.15,0.00,0.000,4,0.084,0.051,2776,3752,2280
$GC,5771,0.61,307.5,115.5,13.1,884,5778,0.12,2.00,0.00,0.000,6,0.166,0.029,2746,2385,2279
$GC,6125,0.85,389.0,84.1,6.8,945,6192,0.17,2.17,61.03,0.731,4,0.075,0.050,2822,3748,1945
$GC,6299,0.74,389.0,64.3,11.9,971,6308,0.12,2.03,0.00,0.000,6,0.163,0.028,2791,2394,1942
$GC,6656,0.95,407.6,32.4,9.3,1032,6683,0.17,2.10,14.65,0.644,4,0.074,0.035,2878,999,1869
$GC,6846,0.95,407.6,8.6,11.5,1063,6854,0.00,2.12,0.00,0.000,6,0.000,0.035,2878,2396,1867
$STATE,6895,end climb,SURFACE_DEPTH_REACHED
$STATE,6895,begin surface coast
$FINISH,1.2,1.008882
$STATE,6920,end surface coast,CONTROL_FINISHED_OK
$STATE,6922,begin surface
$SM_CCo,6939,10.43,0.598,0,0,1800,425.10
$SM_GC,2.94,0.00,0.00,10.43,0.000,0.000,0.598,146,2308,1800,-7.50,0.03,425.10
$IRIDIUM_FIX,2527.05,12253.02,170898,080854
$TT8_MAMPS,0.031447
$HUMID,1494
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,27.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,225.3,135.5
$24V_AH,24.5,6.586
$10V_AH,10.8,4.329
$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,23.625,59.425,389.400,10.425,0.000,24.282,33.698,173.720,0.750,0.000,0.000,11.115,1773.283,877.606,397.787,3785.175,460.803,0.000,1361.176,0.000,3821.995,0.000,7.472,0.000
$DEVICE_MAMPS,272.285,70.564,937.274,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,723.722,867.239,3196.524,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56912,1075
$CAP_FILE_SIZE,123731,0
$CFSIZE,260165632,224018432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,330.4,1
$GPS,230509,140007,2540.029,12250.047,30,1.1,30,-3.8