version: 66.04
glider: 167
mission: 2
dive: 57
start: 5 31 109 8 39 30
data:
$ID,167
$MISSION,2
$DIVE,57
$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,-4884.8608
$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,64
$R_STBD_OVSHOOT,36
$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
$GPS1,083325,2536.375,12315.700,40,1.0,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-70.5
$GPS2,083908,2536.388,12315.715,13,0.9,13,-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,314.4,9398,-18.3,-12.000
$D_GRID,994
$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,-1.05,-194.7,0.0,0.0,0,48,0.00,0.00,-30.17,0.000,2,0.000,0.000,145,2417,2556
$GC,51,-1.05,-194.7,3.0,-2.2,5,112,8.40,2.10,-44.35,0.000,4,0.251,0.058,2190,3766,3987
$GC,304,0.12,-194.7,85.6,-45.2,49,311,1.42,1.98,0.00,0.000,6,0.209,0.025,2575,2392,3989
$GC,648,-1.01,-194.7,119.6,-7.4,110,654,0.98,2.12,0.00,0.000,4,0.097,0.048,2227,3765,3990
$GC,829,-0.32,-194.7,162.8,-28.6,142,835,0.73,1.65,0.00,0.000,6,0.180,0.027,2436,2605,3991
$GC,1176,-1.24,-194.7,190.5,-8.3,203,1183,0.80,1.77,0.00,0.000,4,0.089,0.048,2145,3765,3992
$GC,1195,-1.67,-194.7,192.7,-9.8,206,1202,0.38,1.62,0.00,0.000,6,0.067,0.027,2000,2614,3993
$GC,1544,-0.59,-194.7,314.2,-32.6,264,1550,1.23,2.28,0.00,0.000,4,0.210,0.027,2343,1032,3993
$GC,1720,-0.89,-194.7,332.8,-7.5,279,1725,0.25,2.33,0.00,0.000,6,0.061,0.035,2238,2595,3995
$GC,2045,-0.71,-194.7,378.2,-14.9,309,2049,0.22,1.77,0.00,0.000,4,0.164,0.049,2302,3765,3994
$GC,2095,-0.81,-194.7,383.8,-9.0,313,2101,0.00,1.67,0.00,0.000,6,0.000,0.029,2302,2589,3994
$GC,2422,-0.95,-194.7,407.0,-7.9,344,2426,0.17,2.22,0.00,0.000,4,0.073,0.030,2220,1049,3994
$GC,2499,-0.79,-194.7,416.5,-13.1,350,2506,0.25,2.33,0.00,0.000,6,0.162,0.037,2290,2594,3994
$GC,2825,-0.90,-194.7,447.9,-8.6,381,2827,0.12,0.00,0.00,0.000,6,0.084,0.000,2239,2596,3993
$GC,3143,-0.83,-194.7,480.8,-9.7,411,3147,0.15,2.28,0.00,0.000,4,0.165,0.031,2279,1044,3993
$GC,3237,-0.96,-194.7,488.5,-7.7,419,3244,0.12,2.30,0.00,0.000,6,0.085,0.038,2226,2573,3992
$GC,3571,-0.83,-194.7,525.1,-12.1,441,3573,0.17,0.00,0.00,0.000,6,0.170,0.000,2273,2574,3990
$GC,3876,-0.90,-194.7,556.4,-10.2,456,3880,0.00,2.22,0.00,0.000,4,0.000,0.033,2273,1052,3988
$GC,3944,-1.01,-194.7,563.6,-11.0,459,3949,0.15,2.30,0.00,0.000,6,0.080,0.040,2214,2568,3987
$GC,4272,-0.87,-194.7,608.0,-13.1,475,4276,0.17,2.22,0.00,0.000,4,0.171,0.032,2266,1051,3984
$GC,4340,-0.97,-194.7,615.7,-10.7,478,4344,0.00,2.30,0.00,0.000,6,0.000,0.039,2264,2565,3984
$GC,4667,-1.03,-194.7,645.9,-9.2,494,4669,0.15,0.00,0.00,0.000,6,0.084,0.000,2205,2568,3981
$GC,4977,-0.87,-194.7,682.5,-11.7,509,4979,0.22,0.00,0.00,0.000,6,0.175,0.000,2266,2568,3979
$GC,5285,-0.95,-194.7,709.1,-8.4,524,5289,0.00,1.85,0.00,0.000,4,0.000,0.061,2264,3756,3977
$GC,5324,-1.03,-194.7,712.7,-9.3,525,5331,0.15,1.70,0.00,0.000,6,0.084,0.035,2205,2599,3976
$GC,5641,-0.87,-194.7,748.5,-11.3,541,5646,0.20,2.28,0.00,0.000,4,0.172,0.034,2263,1053,3974
$GC,5736,-0.97,-194.7,757.6,-9.0,545,5740,0.00,2.30,0.00,0.000,6,0.000,0.042,2263,2559,3974
$GC,6052,-1.05,-194.7,784.2,-8.6,560,6056,0.17,2.25,0.00,0.000,4,0.086,0.033,2190,1043,3972
$GC,6090,-0.88,-194.7,788.7,-12.8,561,6097,0.25,2.33,0.00,0.000,6,0.178,0.042,2256,2559,3972
$STATE,6239,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6239,begin apogee
$GC,6245,-0.22,0.0,803.8,10.0,569,6334,0.68,0.00,86.57,1.302,6,0.152,0.000,2468,2560,3532
$STATE,6335,end apogee,CONTROL_FINISHED_OK
$STATE,6335,begin climb
$GC,6337,1.05,194.7,807.5,0.0,573,6500,1.15,2.33,154.88,1.263,4,0.058,0.037,2895,1133,2737
$GC,6757,0.49,194.7,758.3,20.6,593,6762,0.70,2.17,0.00,0.000,6,0.203,0.045,2708,2509,2732
$GC,7084,0.44,208.6,719.9,11.4,609,7100,0.00,2.12,11.73,1.124,4,0.000,0.039,2708,1139,2680
$GC,7184,0.45,219.3,708.3,11.6,612,7199,0.00,2.12,10.10,1.091,6,0.000,0.041,2708,2507,2637
$GC,7521,0.50,255.5,670.4,10.5,629,7557,0.00,2.10,28.95,1.183,4,0.000,0.059,2708,3763,2489
$GC,7655,0.41,255.5,653.5,13.2,635,7658,0.00,1.88,0.00,0.000,6,0.000,0.035,2708,2536,2486
$GC,7987,0.42,261.2,614.4,11.8,651,7997,0.00,2.17,5.32,0.907,4,0.000,0.039,2708,1097,2466
$GC,8049,0.52,261.5,607.4,12.0,654,8053,0.00,2.22,0.00,0.000,6,0.000,0.042,2708,2524,2465
$GC,8382,0.57,264.4,567.6,11.9,670,8392,0.00,1.98,4.30,0.803,4,0.000,0.058,2708,3756,2453
$GC,8449,0.57,264.4,558.5,14.0,673,8453,0.00,1.90,0.00,0.000,6,0.000,0.034,2708,2516,2452
$GC,8783,0.66,298.5,519.7,10.6,689,8814,0.15,0.00,28.42,1.105,6,0.087,0.000,2765,2513,2315
$GC,9131,0.57,298.5,469.7,13.5,715,9135,0.15,2.00,0.00,0.000,4,0.186,0.058,2729,3762,2309
$GC,9188,0.57,298.5,461.5,14.6,720,9192,0.00,1.88,0.00,0.000,6,0.000,0.035,2733,2533,2308
$GC,9519,0.57,298.5,420.1,12.3,751,9523,0.00,2.15,0.00,0.000,4,0.000,0.039,2733,1097,2307
$GC,9614,0.71,318.3,409.2,11.2,759,9636,0.12,2.22,15.80,1.001,6,0.086,0.041,2780,2542,2233
$GC,9955,0.61,318.3,355.2,16.6,791,9959,0.15,1.92,0.00,0.000,4,0.185,0.058,2742,3767,2229
$GC,10045,0.61,318.3,340.5,16.1,799,10048,0.00,1.88,0.00,0.000,6,0.000,0.033,2746,2511,2229
$GC,10370,0.70,329.4,298.0,11.5,831,10389,0.00,2.12,9.50,0.873,4,0.000,0.038,2746,1120,2188
$GC,10458,0.87,362.0,288.7,10.7,846,10494,0.22,2.17,26.83,0.913,6,0.074,0.040,2831,2536,2055
$GC,10834,0.73,362.0,226.0,14.9,912,10840,0.17,1.92,0.00,0.000,4,0.168,0.055,2780,3764,2049
$GC,10937,0.73,362.0,212.4,12.6,930,10943,0.00,1.83,0.00,0.000,6,0.000,0.032,2780,2534,2047
$GC,11281,0.88,392.5,171.7,10.7,991,11311,0.15,2.15,23.85,0.796,4,0.081,0.034,2845,1102,1930
$GC,11335,0.88,392.5,164.9,13.2,1000,11341,0.00,2.22,0.00,0.000,6,0.000,0.038,2845,2545,1928
$GC,11678,0.88,392.5,113.7,15.1,1061,11685,0.00,1.88,0.00,0.000,4,0.000,0.054,2845,3756,1926
$GC,11851,0.81,392.5,88.1,13.1,1091,11857,0.17,1.73,0.00,0.000,6,0.172,0.029,2805,2565,1925
$GC,12195,1.09,457.2,54.1,9.3,1152,12254,0.22,2.22,49.90,0.672,4,0.066,0.034,2911,1113,1665
$GC,12300,1.09,457.2,37.4,16.5,1170,12306,0.00,2.28,0.00,0.000,6,0.000,0.035,2911,2593,1663
$STATE,12502,end climb,SURFACE_DEPTH_REACHED
$STATE,12502,begin surface coast
$FINISH,1.6,1.004256
$STATE,12520,end surface coast,CONTROL_FINISHED_OK
$STATE,12520,begin surface
$SM_CCo,12597,0.00,0.000,0,0,1659,459.45
$SM_GC,2.42,7.53,0.00,0.00,0.064,0.000,0.000,144,2418,1659,-7.50,-0.23,459.45
$IRIDIUM_FIX,2524.66,12317.55,250898,050517
$TT8_MAMPS,0.029146
$HUMID,1541
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,26.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.4,51.7
$24V_AH,24.1,13.849
$10V_AH,10.8,8.841
$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,28.450,103.975,456.150,0.000,0.000,24.645,38.853,162.766,6.750,0.000,0.000,13.211,2165.765,7627.229,537.192,2150.790,455.987,0.000,1637.198,0.000,2093.491,0.000,49.910,0.000
$DEVICE_MAMPS,250.809,60.593,1302.366,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,815.971,857.909,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66253,1209
$CAP_FILE_SIZE,135856,0
$CFSIZE,260165632,220422144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190, 90.9,1
$GPS,310509,121037,2537.520,12315.473,36,1.1,36,-3.8