version: 66.04
glider: 167
mission: 2
dive: 26
start: 5 25 109 8 5 19
data:
$ID,167
$MISSION,2
$DIVE,26
$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,200
$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,-4338.0894
$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,22.5
$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,2435
$C_ROLL_CLIMB,2470
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,31
$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
$GPS1,075737,2531.571,12305.300,26,1.9,26,-3.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-63.3
$GPS2,080457,2531.711,12305.651,16,1.8,16,-3.8
$SPEED_LIMITS,0.173,0.296
$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,187.4,36327,-15.7,-10.000
$D_GRID,713
$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,16,-0.94,-194.7,0.0,0.0,0,70,0.00,0.00,-52.42,0.000,2,0.000,0.000,144,2427,2804
$GC,74,-0.94,-194.7,3.2,-5.1,9,122,8.85,2.08,-31.62,0.000,4,0.262,0.044,2236,1022,3989
$GC,342,-0.20,-194.7,83.4,-31.0,56,349,0.88,2.15,0.00,0.000,6,0.185,0.037,2477,2446,3990
$GC,687,-0.96,-194.7,116.3,-9.2,117,694,0.65,2.00,0.00,0.000,4,0.084,0.047,2237,3769,3991
$GC,774,-0.40,-194.7,130.3,-23.5,132,781,0.60,1.92,0.00,0.000,6,0.166,0.026,2415,2413,3991
$GC,1119,-0.65,-194.7,158.9,-5.5,193,1126,0.20,2.08,0.00,0.000,4,0.063,0.047,2319,3771,3992
$GC,1178,-0.48,-194.7,164.6,-11.8,203,1185,0.22,1.88,0.00,0.000,6,0.154,0.027,2383,2455,3992
$GC,1523,-0.65,-194.7,190.1,-7.3,264,1529,0.15,2.00,0.00,0.000,4,0.071,0.048,2316,3765,3992
$GC,1569,-0.57,-194.7,194.9,-11.6,272,1576,0.15,1.88,0.00,0.000,6,0.148,0.026,2358,2439,3993
$GC,1915,-0.68,-194.7,226.8,-9.1,333,1921,0.00,1.98,0.00,0.000,4,0.000,0.028,2358,1049,3993
$GC,1945,-0.82,-194.7,229.5,-9.1,338,1953,0.22,2.10,0.00,0.000,6,0.063,0.033,2262,2473,3993
$GC,2291,-0.55,-194.7,278.5,-14.0,399,2297,0.30,2.05,0.00,0.000,4,0.162,0.028,2357,1054,3993
$GC,2454,-0.74,-194.7,289.3,-5.3,427,2460,0.15,2.05,0.00,0.000,6,0.074,0.035,2292,2445,3993
$GC,2786,-0.68,-194.7,319.9,-10.5,469,2790,0.12,2.00,0.00,0.000,4,0.156,0.051,2325,3767,3993
$GC,2825,-0.74,-194.7,323.6,-8.8,472,2831,0.00,1.90,0.00,0.000,6,0.000,0.027,2325,2420,3993
$GC,3151,-0.82,-194.7,357.1,-10.5,503,3155,0.12,2.05,0.00,0.000,4,0.080,0.050,2262,3754,3993
$GC,3241,-0.63,-194.7,368.5,-12.5,511,3246,0.25,1.85,0.00,0.000,6,0.160,0.028,2335,2449,3993
$GC,3572,-0.79,-194.7,387.1,-4.1,542,3574,0.12,0.00,0.00,0.000,6,0.082,0.000,2282,2449,3992
$GC,3892,-0.74,-194.7,410.5,-8.2,572,3896,0.00,2.03,0.00,0.000,4,0.000,0.032,2282,1042,3991
$GC,3937,-0.74,-194.7,415.0,-9.3,576,3942,0.10,2.08,0.00,0.000,6,0.170,0.037,2303,2440,3991
$GC,4269,-0.79,-194.7,441.4,-7.5,607,4272,0.00,2.03,0.00,0.000,4,0.000,0.031,2303,1048,3990
$GC,4319,-0.88,-194.7,445.5,-7.8,611,4325,0.12,2.08,0.00,0.000,6,0.084,0.036,2251,2444,3989
$GC,4644,-0.73,-194.7,477.6,-10.1,642,4648,0.17,2.00,0.00,0.000,4,0.166,0.053,2303,3756,3987
$GC,4761,-0.82,-194.7,486.6,-7.9,652,4767,0.00,1.88,0.00,0.000,6,0.000,0.030,2302,2445,3986
$GC,5084,-0.90,-194.7,506.8,-4.9,677,5088,0.15,2.03,0.00,0.000,4,0.081,0.032,2239,1050,3984
$GC,5190,-0.78,-194.7,515.9,-8.9,681,5196,0.20,2.08,0.00,0.000,6,0.161,0.038,2292,2433,3984
$GC,5506,-0.85,-194.7,539.3,-8.1,697,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2433,3982
$GC,5815,-0.92,-194.7,565.1,-8.3,712,5819,0.12,2.05,0.00,0.000,4,0.091,0.033,2243,1045,3980
$GC,5848,-0.82,-194.7,568.7,-11.0,713,5852,0.12,2.10,0.00,0.000,6,0.172,0.038,2276,2439,3979
$GC,6163,-0.82,-194.7,597.4,-9.1,728,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2439,3977
$GC,6473,-0.82,-194.7,623.5,-7.3,743,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2439,3975
$GC,6782,-0.82,-194.7,649.8,-8.4,758,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2439,3973
$GC,7091,-0.82,-194.7,674.6,-8.4,773,7100,0.00,2.05,0.00,0.000,4,0.000,0.036,2276,1053,3971
$GC,7118,-0.82,-194.7,676.9,-8.5,774,7122,0.00,2.08,0.00,0.000,6,0.000,0.041,2276,2427,3971
$STATE,7243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7243,begin apogee
$GC,7249,-0.22,0.0,686.8,7.5,780,7337,0.62,0.00,84.82,1.236,6,0.149,0.000,2473,2460,3532
$STATE,7338,end apogee,CONTROL_FINISHED_OK
$STATE,7338,begin climb
$GC,7341,0.94,194.7,689.8,0.0,784,7501,1.02,2.25,153.20,1.216,4,0.061,0.056,2845,3774,2737
$GC,7660,0.17,194.7,656.4,20.5,798,7668,0.93,1.95,0.00,0.000,6,0.207,0.031,2609,2483,2733
$GC,7976,0.49,295.6,632.7,6.5,814,8064,0.25,2.20,80.85,1.275,4,0.074,0.058,2707,3761,2325
$GC,8182,0.36,295.6,607.0,14.3,823,8187,0.17,1.95,0.00,0.000,6,0.174,0.034,2663,2488,2319
$GC,8504,0.47,295.6,570.0,11.2,839,8507,0.00,2.03,0.00,0.000,4,0.000,0.058,2663,3764,2316
$GC,8595,0.53,295.6,559.3,12.3,843,8599,0.15,1.90,0.00,0.000,6,0.086,0.034,2722,2497,2315
$GC,8927,0.45,295.6,515.4,13.2,859,8929,0.12,0.00,0.00,0.000,6,0.174,0.000,2691,2494,2314
$GC,9241,0.45,295.6,480.0,11.1,882,9244,0.00,2.03,0.00,0.000,4,0.000,0.058,2691,3775,2312
$GC,9274,0.45,295.6,475.8,12.4,885,9278,0.00,1.88,0.00,0.000,6,0.000,0.034,2691,2512,2312
$GC,9606,0.45,295.6,436.5,11.3,916,9610,0.00,2.00,0.00,0.000,4,0.000,0.058,2691,3775,2310
$GC,9734,0.45,295.6,420.0,13.1,927,9740,0.00,1.85,0.00,0.000,6,0.000,0.032,2691,2538,2310
$GC,10061,0.53,295.7,386.1,10.0,958,10065,0.00,2.17,0.00,0.000,4,0.000,0.038,2691,1066,2310
$GC,10107,0.71,337.3,381.9,8.6,962,10145,0.22,2.28,30.83,1.026,6,0.076,0.040,2776,2568,2155
$GC,10470,0.53,337.3,331.0,14.2,996,10474,0.17,1.88,0.00,0.000,4,0.177,0.055,2725,3772,2149
$GC,10610,0.48,337.3,312.2,13.8,1008,10616,0.00,1.80,0.00,0.000,6,0.000,0.032,2729,2551,2148
$GC,10948,0.48,337.3,264.4,12.7,1061,10954,0.00,1.92,0.00,0.000,4,0.000,0.057,2729,3770,2147
$GC,10988,0.48,337.3,259.1,13.3,1068,10994,0.12,1.77,0.00,0.000,6,0.176,0.033,2701,2563,2147
$GC,11332,0.76,409.9,231.3,7.5,1129,11393,0.22,2.35,55.40,0.879,4,0.071,0.037,2802,1074,1859
$GC,11507,0.76,409.9,209.8,14.1,1159,11513,0.00,2.33,0.00,0.000,6,0.000,0.038,2802,2575,1853
$GC,11850,0.68,409.9,157.5,16.9,1220,11857,0.15,1.85,0.00,0.000,4,0.166,0.052,2762,3772,1849
$GC,12010,0.68,409.9,134.4,12.2,1248,12016,0.00,1.77,0.00,0.000,6,0.000,0.030,2762,2552,1849
$GC,12354,0.96,481.0,103.2,7.5,1309,12415,0.22,2.03,53.20,0.735,4,0.068,0.052,2858,3772,1569
$GC,12496,0.81,481.0,80.9,16.5,1333,12503,0.22,1.83,0.00,0.000,6,0.163,0.028,2806,2536,1566
$GC,12840,1.03,481.0,42.0,10.8,1394,12848,0.17,2.15,0.00,0.000,4,0.070,0.032,2884,1073,1564
$GC,12882,1.03,481.0,36.8,13.0,1401,12888,0.00,2.25,0.00,0.000,6,0.000,0.035,2884,2567,1564
$STATE,13122,end climb,SURFACE_DEPTH_REACHED
$STATE,13122,begin surface coast
$FINISH,1.1,1.008858
$STATE,13145,end surface coast,CONTROL_FINISHED_OK
$STATE,13145,begin surface
$SM_CCo,13222,0.00,0.000,0,0,1563,483.00
$SM_GC,1.99,7.32,0.00,0.00,0.061,0.000,0.000,146,2432,1563,-7.49,-0.08,483.00
$IRIDIUM_FIX,2522.28,12302.33,190898,040420
$TT8_MAMPS,0.028379
$HUMID,1557
$INTERNAL_PRESSURE,9.40466
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.0,36.4
$24V_AH,24.1,8.437
$10V_AH,10.8,6.023
$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,26.125,105.000,458.300,0.000,0.000,27.295,33.418,252.209,5.250,0.000,0.000,16.159,2505.689,7609.160,557.420,2420.862,561.057,0.000,1781.277,0.000,2367.260,0.000,37.273,0.000
$DEVICE_MAMPS,262.314,166.439,1274.754,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,975.596,1023.872,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75821,1448
$CAP_FILE_SIZE,147059,0
$CFSIZE,260165632,223055872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.261, 30.5,1
$GPS,250509,114655,2531.516,12306.620,40,1.1,40,-3.8