version: 66.04
glider: 167
mission: 2
dive: 55
start: 5 31 109 1 14 12
data:
$ID,167
$MISSION,2
$DIVE,55
$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,275
$T_MISSION,330
$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,-4854.3101
$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,2427
$C_ROLL_CLIMB,2505
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,71
$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
$GPS1,010807,2532.937,12316.837,27,1.2,27,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-68.5
$GPS2,011349,2532.938,12316.824,10,1.3,15,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$TGT_RADIUS,5000.000
$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,303.6,16050,-18.3,-12.000
$D_GRID,807
$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,-1.05,-194.7,0.0,0.0,0,53,0.00,0.00,-36.67,0.000,2,0.000,0.000,145,2424,2736
$GC,56,-1.05,-194.7,3.4,-3.9,6,110,8.50,2.12,-36.45,0.000,4,0.255,0.060,2187,3760,3989
$GC,192,0.01,-194.7,39.2,-41.7,29,201,1.27,1.95,0.00,0.000,6,0.203,0.026,2539,2403,3991
$GC,540,-0.87,-194.7,74.6,-9.8,90,547,0.75,2.10,0.00,0.000,4,0.089,0.048,2265,3765,3992
$GC,571,-1.00,-194.7,78.3,-12.2,95,577,0.12,1.90,0.00,0.000,6,0.082,0.026,2212,2428,3992
$GC,915,-0.41,-194.7,182.7,-25.3,156,922,0.62,2.05,0.00,0.000,4,0.177,0.045,2394,3765,3993
$GC,1008,-0.75,-194.7,193.8,-7.1,172,1016,0.25,1.88,0.00,0.000,6,0.058,0.027,2286,2439,3994
$GC,1355,-0.60,-194.7,239.5,-14.5,233,1361,0.17,2.03,0.00,0.000,4,0.158,0.048,2334,3759,3995
$GC,1390,-0.60,-194.7,244.3,-12.1,239,1396,0.00,1.88,0.00,0.000,6,0.000,0.028,2334,2435,3995
$GC,1734,-0.72,-194.7,277.9,-10.1,300,1741,0.00,2.03,0.00,0.000,4,0.000,0.050,2331,3754,3996
$GC,1815,-0.88,-194.7,286.1,-9.3,314,1822,0.20,1.88,0.00,0.000,6,0.067,0.028,2245,2433,3996
$GC,2147,-0.68,-194.7,336.4,-15.1,353,2151,0.22,2.00,0.00,0.000,4,0.158,0.029,2316,1049,3996
$GC,2214,-0.84,-194.7,344.4,-10.5,359,2219,0.12,2.08,0.00,0.000,6,0.081,0.035,2263,2439,3996
$GC,2540,-0.79,-194.7,384.3,-11.9,389,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2439,3996
$GC,2859,-0.79,-194.7,419.1,-10.7,419,2863,0.00,2.03,0.00,0.000,4,0.000,0.053,2261,3764,3996
$GC,2928,-0.79,-194.7,426.4,-10.5,425,2931,0.00,1.90,0.00,0.000,6,0.000,0.029,2261,2442,3996
$GC,3258,-0.79,-194.7,460.9,-10.9,456,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2441,3995
$GC,3578,-0.79,-194.7,493.7,-10.7,486,3582,0.00,2.03,0.00,0.000,4,0.000,0.033,2261,1033,3994
$GC,3673,-0.84,-194.7,503.3,-9.1,493,3677,0.00,2.12,0.00,0.000,6,0.000,0.038,2261,2450,3994
$GC,4000,-0.84,-194.7,534.8,-9.0,509,4004,0.00,2.03,0.00,0.000,4,0.000,0.055,2261,3771,3993
$GC,4073,-0.84,-194.7,541.9,-10.2,512,4077,0.00,1.90,0.00,0.000,6,0.000,0.031,2261,2460,3992
$GC,4400,-0.89,-194.7,573.3,-9.7,528,4404,0.00,2.08,0.00,0.000,4,0.000,0.034,2261,1028,3990
$GC,4473,-0.97,-194.7,580.8,-10.9,531,4477,0.00,2.17,0.00,0.000,6,0.000,0.041,2261,2467,3990
$GC,4794,-1.02,-194.7,610.8,-8.8,547,4799,0.12,2.12,0.00,0.000,4,0.087,0.033,2210,1027,3987
$GC,4838,-0.92,-194.7,615.7,-10.9,549,4843,0.15,2.15,0.00,0.000,6,0.163,0.040,2247,2452,3986
$GC,5159,-0.92,-194.7,643.3,-8.2,565,5163,0.00,2.10,0.00,0.000,4,0.000,0.034,2247,1031,3984
$GC,5187,-0.92,-194.7,645.9,-9.1,566,5191,0.00,2.15,0.00,0.000,6,0.000,0.041,2247,2450,3984
$GC,5513,-0.92,-194.7,674.2,-8.7,582,5517,0.00,2.03,0.00,0.000,4,0.000,0.058,2247,3758,3981
$GC,5552,-0.92,-194.7,678.0,-9.5,583,5558,0.00,1.92,0.00,0.000,6,0.000,0.035,2247,2450,3981
$GC,5868,-0.92,-194.7,706.0,-8.6,599,5872,0.00,2.05,0.00,0.000,4,0.000,0.058,2247,3757,3979
$GC,5914,-0.92,-194.7,709.9,-8.6,601,5917,0.00,1.92,0.00,0.000,6,0.000,0.033,2247,2442,3978
$GC,6247,-0.92,-194.7,741.2,-10.0,617,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2441,3976
$GC,6556,-0.92,-194.7,768.5,-8.3,632,6559,0.00,2.08,0.00,0.000,4,0.000,0.058,2247,3761,3974
$GC,6605,-0.92,-194.7,773.5,-10.1,634,6609,0.00,1.95,0.00,0.000,6,0.000,0.035,2247,2441,3974
$STATE,6930,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6930,begin apogee
$GC,6936,-0.22,0.0,807.5,11.2,650,7026,0.70,0.00,86.57,1.308,6,0.150,0.000,2466,2516,3532
$STATE,7026,end apogee,CONTROL_FINISHED_OK
$STATE,7027,begin climb
$GC,7029,1.05,194.7,810.9,0.0,654,7193,1.15,2.15,154.62,1.266,4,0.063,0.058,2881,3757,2737
$GC,7290,0.33,194.7,790.9,21.3,666,7297,0.90,1.92,0.00,0.000,6,0.216,0.033,2659,2502,2732
$GC,7606,0.52,271.8,761.8,8.8,682,7670,0.17,0.00,61.55,1.226,6,0.085,0.000,2722,2501,2423
$GC,7974,0.52,271.8,711.8,13.5,700,7978,0.00,2.03,0.00,0.000,4,0.000,0.058,2722,3762,2416
$GC,8042,0.43,271.8,701.4,15.6,703,8047,0.15,1.92,0.00,0.000,6,0.183,0.034,2686,2493,2415
$GC,8375,0.59,299.5,663.0,10.9,719,8405,0.15,2.12,22.12,1.164,4,0.087,0.058,2742,3758,2310
$GC,8439,0.46,299.5,653.6,16.7,722,8444,0.20,1.92,0.00,0.000,6,0.183,0.035,2695,2501,2308
$GC,8772,0.58,307.3,613.8,11.7,738,8786,0.12,2.17,7.28,1.002,4,0.094,0.039,2745,1103,2279
$GC,8820,0.58,307.3,606.9,14.8,740,8824,0.00,2.20,0.00,0.000,6,0.000,0.041,2745,2519,2278
$GC,9146,0.58,307.3,559.5,14.3,756,9147,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2519,2276
$GC,9455,0.58,307.3,514.7,14.4,771,9459,0.00,2.15,0.00,0.000,4,0.000,0.040,2745,1103,2275
$GC,9502,0.64,307.3,508.6,14.0,773,9505,0.00,2.17,0.00,0.000,6,0.000,0.041,2745,2515,2274
$GC,9833,0.64,307.3,461.9,13.9,801,9837,0.00,1.92,0.00,0.000,4,0.000,0.061,2745,3762,2274
$GC,9946,0.54,307.3,444.3,15.2,811,9950,0.00,1.85,0.00,0.000,6,0.000,0.035,2745,2521,2273
$GC,10277,0.54,307.3,401.8,14.4,842,10281,0.00,2.10,0.00,0.000,4,0.000,0.041,2745,1109,2272
$GC,10372,0.62,307.3,388.9,13.5,850,10379,0.00,2.15,0.00,0.000,6,0.000,0.041,2745,2518,2272
$GC,10700,0.62,307.3,346.2,13.2,881,10704,0.00,1.92,0.00,0.000,4,0.000,0.060,2745,3759,2271
$GC,10851,0.62,307.3,324.4,14.4,894,10858,0.00,1.88,0.00,0.000,6,0.000,0.034,2745,2497,2272
$GC,11183,0.72,331.0,285.7,11.0,936,11207,0.00,2.00,18.17,0.904,4,0.000,0.055,2745,3765,2183
$GC,11259,0.72,331.0,276.1,13.0,949,11265,0.00,1.85,0.00,0.000,6,0.000,0.032,2745,2518,2181
$GC,11603,0.87,348.9,234.7,11.3,1010,11623,0.17,2.05,15.32,0.835,4,0.077,0.055,2821,3769,2108
$GC,11703,0.70,348.9,218.6,16.7,1027,11709,0.20,1.83,0.00,0.000,6,0.174,0.031,2775,2530,2106
$GC,12048,0.80,348.9,176.0,12.4,1088,12055,0.00,2.10,0.00,0.000,4,0.000,0.035,2776,1107,2105
$GC,12125,1.03,384.9,167.0,10.5,1101,12161,0.28,2.15,28.38,0.780,6,0.066,0.038,2883,2529,1961
$GC,12497,0.89,384.9,108.3,12.6,1167,12504,0.17,2.12,0.00,0.000,4,0.182,0.031,2841,1103,1957
$GC,12539,1.05,458.0,104.1,9.0,1174,12604,0.12,2.12,56.60,0.718,6,0.084,0.035,2890,2513,1663
$GC,12943,1.05,458.0,41.2,16.0,1245,12949,0.00,1.92,0.00,0.000,4,0.000,0.051,2890,3756,1656
$GC,13092,0.97,458.0,14.7,17.6,1271,13099,0.15,1.83,0.00,0.000,6,0.173,0.026,2857,2495,1656
$STATE,13171,end climb,SURFACE_DEPTH_REACHED
$STATE,13171,begin surface coast
$FINISH,1.6,1.022155
$STATE,13197,end surface coast,CONTROL_FINISHED_OK
$STATE,13197,begin surface
$SM_CCo,13273,0.00,0.000,0,0,1654,460.67
$SM_GC,2.35,7.22,0.00,0.00,0.056,0.000,0.000,144,2493,1654,-7.49,1.87,460.67
$IRIDIUM_FIX,2519.89,12318.24,240898,212149
$TT8_MAMPS,0.029146
$HUMID,1548
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,24.2,13.545
$10V_AH,10.8,8.690
$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,24.400,113.275,450.625,0.000,0.000,30.863,33.988,159.774,6.250,0.000,0.000,15.120,2274.572,8119.864,550.451,2206.939,461.984,0.000,1680.756,0.000,2153.706,0.000,42.750,0.000
$DEVICE_MAMPS,254.644,87.438,1307.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,869.240,872.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69504,1289
$CAP_FILE_SIZE,139536,0
$CFSIZE,260165632,220565504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149, 64.8,1
$GPS,310509,045637,2534.335,12315.905,37,1.1,38,-3.8