version: 66.04
glider: 167
mission: 2
dive: 65
start: 6 1 109 13 24 24
data:
$ID,167
$MISSION,2
$DIVE,65
$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,-5067.7158
$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,81
$R_STBD_OVSHOOT,38
$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
$GPS1,131137,2532.924,12324.875,41,1.0,41,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-63.9
$GPS2,132402,2532.950,12324.876,17,1.2,17,-3.8
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,193.0,43286,-18.3,-12.000
$D_GRID,662
$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,-194.7,0.0,0.0,0,55,0.00,0.00,-37.05,0.000,2,0.000,0.000,145,2488,2751
$GC,58,-1.05,-194.7,3.3,-3.7,6,112,8.50,2.15,-36.85,0.000,4,0.254,0.043,2199,1050,3989
$GC,141,-0.24,-194.7,16.9,-32.5,20,148,0.95,2.08,0.00,0.000,6,0.189,0.034,2457,2428,3990
$GC,488,-0.44,-194.7,58.9,-9.3,81,495,0.17,2.03,0.00,0.000,4,0.067,0.048,2373,3756,3991
$GC,514,-0.44,-194.7,62.2,-12.4,85,521,0.00,1.90,0.00,0.000,6,0.000,0.025,2373,2414,3991
$GC,860,-0.44,-194.7,117.8,-10.5,146,865,0.00,1.95,0.00,0.000,4,0.000,0.029,2373,1047,3992
$GC,929,-0.53,-194.7,125.1,-10.3,158,935,0.00,2.03,0.00,0.000,6,0.000,0.034,2372,2416,3992
$GC,1273,-0.60,-194.7,162.4,-11.5,219,1279,0.00,2.03,0.00,0.000,4,0.000,0.048,2372,3753,3993
$GC,1325,-0.71,-194.7,168.5,-11.4,228,1332,0.15,1.90,0.00,0.000,6,0.073,0.025,2306,2401,3993
$GC,1669,-0.60,-194.7,222.0,-12.1,289,1676,0.15,1.92,0.00,0.000,4,0.155,0.028,2348,1047,3994
$GC,1797,-0.78,-194.7,233.8,-8.8,311,1804,0.15,1.98,0.00,0.000,6,0.071,0.033,2283,2390,3994
$GC,2141,-0.67,-194.7,279.6,-13.4,372,2147,0.15,2.08,0.00,0.000,4,0.164,0.048,2316,3761,3995
$GC,2210,-0.73,-194.7,287.8,-11.1,384,2216,0.00,1.92,0.00,0.000,6,0.000,0.027,2316,2401,3995
$GC,2542,-0.85,-194.7,317.0,-7.1,425,2547,0.12,1.95,0.00,0.000,4,0.081,0.029,2262,1038,3995
$GC,2588,-0.78,-194.7,321.4,-10.7,429,2593,0.12,2.00,0.00,0.000,6,0.166,0.034,2294,2393,3995
$GC,2918,-0.78,-194.7,354.8,-12.9,460,2922,0.00,2.08,0.00,0.000,4,0.000,0.050,2290,3757,3995
$GC,2997,-0.83,-194.7,365.9,-14.1,467,3001,0.00,1.92,0.00,0.000,6,0.000,0.028,2290,2402,3995
$GC,3328,-0.89,-194.7,415.2,-13.9,498,3332,0.00,1.95,0.00,0.000,4,0.000,0.031,2290,1035,3994
$GC,3384,-0.97,-194.7,422.6,-12.8,503,3389,0.17,2.05,0.00,0.000,6,0.074,0.037,2217,2416,3994
$GC,3709,-0.81,-194.7,471.2,-13.2,533,3713,0.20,2.05,0.00,0.000,4,0.167,0.051,2275,3756,3993
$GC,3777,-0.86,-194.7,478.2,-9.8,539,3780,0.00,1.90,0.00,0.000,6,0.000,0.029,2275,2430,3993
$GC,4107,-0.94,-194.7,507.5,-8.0,566,4111,0.00,2.00,0.00,0.000,4,0.000,0.032,2275,1042,3991
$GC,4169,-1.04,-194.7,512.7,-8.0,568,4175,0.17,2.05,0.00,0.000,6,0.075,0.037,2205,2417,3992
$GC,4485,-0.86,-194.7,547.8,-10.7,584,4487,0.22,0.00,0.00,0.000,6,0.168,0.000,2268,2417,3989
$GC,4794,-0.92,-194.7,570.8,-7.7,599,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2418,3987
$GC,5104,-0.99,-194.7,597.7,-9.7,614,5108,0.12,2.08,0.00,0.000,4,0.087,0.055,2219,3760,3983
$GC,5159,-0.88,-194.7,605.5,-15.8,616,5163,0.15,2.00,0.00,0.000,6,0.165,0.031,2258,2406,3983
$GC,5480,-0.88,-194.7,638.2,-9.3,632,5483,0.00,2.10,0.00,0.000,4,0.000,0.055,2258,3757,3981
$GC,5547,-0.88,-194.7,644.4,-9.0,635,5551,0.00,1.98,0.00,0.000,6,0.000,0.031,2258,2398,3980
$STATE,5753,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5753,begin apogee
$GC,5759,-0.22,0.0,662.8,8.7,645,5848,0.68,0.00,85.88,1.185,6,0.149,0.000,2469,2505,3532
$STATE,5849,end apogee,CONTROL_FINISHED_OK
$STATE,5849,begin climb
$GC,5852,1.05,194.7,664.8,0.0,649,6010,1.12,2.20,150.60,1.146,4,0.054,0.035,2894,1122,2737
$GC,6250,0.50,194.7,617.1,18.3,667,6255,0.68,2.15,0.00,0.000,6,0.199,0.039,2712,2508,2733
$GC,6577,0.51,248.5,585.0,9.8,683,6623,0.00,2.00,41.10,1.101,4,0.000,0.055,2712,3754,2518
$GC,6841,0.51,248.5,550.1,14.5,695,6846,0.00,1.88,0.00,0.000,6,0.000,0.031,2717,2518,2513
$GC,7168,0.54,266.0,511.1,11.3,711,7188,0.00,0.00,13.88,1.025,6,0.000,0.000,2717,2516,2447
$GC,7506,0.62,291.8,476.5,10.9,737,7532,0.00,2.03,21.45,1.038,4,0.000,0.057,2717,3762,2342
$GC,7712,0.62,297.4,450.7,11.8,755,7722,0.00,1.90,5.70,0.830,6,0.000,0.031,2717,2496,2319
$GC,8043,0.80,347.5,417.3,9.9,786,8088,0.22,2.20,39.78,1.012,4,0.074,0.036,2815,1103,2113
$GC,8123,0.72,347.5,405.2,16.4,793,8128,0.15,2.15,0.00,0.000,6,0.179,0.038,2779,2479,2110
$GC,8448,0.67,347.5,356.3,14.8,823,8451,0.00,2.00,0.00,0.000,4,0.000,0.054,2779,3758,2105
$GC,8707,0.62,347.5,314.1,16.9,846,8712,0.15,1.85,0.00,0.000,6,0.177,0.031,2745,2503,2104
$GC,9045,0.74,347.5,271.3,13.0,897,9052,0.12,1.98,0.00,0.000,4,0.086,0.051,2792,3766,2102
$GC,9201,0.66,347.5,245.9,16.0,924,9207,0.15,1.80,0.00,0.000,6,0.186,0.030,2762,2525,2102
$GC,9546,0.78,352.3,204.7,11.8,985,9553,0.10,1.92,0.00,0.000,4,0.096,0.051,2801,3765,2102
$GC,9577,0.78,352.3,200.3,14.5,990,9583,0.00,1.75,0.00,0.000,6,0.000,0.028,2810,2546,2102
$GC,9920,0.78,352.3,152.4,14.2,1051,9926,0.00,2.08,0.00,0.000,4,0.000,0.032,2815,1118,2102
$GC,9955,0.78,352.3,148.1,12.0,1057,9962,0.00,2.17,0.00,0.000,6,0.000,0.036,2815,2570,2102
$GC,10302,0.84,352.6,104.7,12.0,1118,10308,0.00,1.83,0.00,0.000,4,0.000,0.052,2815,3772,2102
$GC,10561,0.86,369.0,77.1,11.3,1164,10581,0.00,1.67,16.23,0.676,6,0.000,0.027,2822,2586,2026
$GC,10920,1.11,459.2,45.3,8.3,1227,10997,0.17,1.90,67.88,0.653,4,0.071,0.049,2901,3755,1658
$GC,11061,1.00,459.2,23.2,15.5,1251,11068,0.17,1.67,0.00,0.000,6,0.178,0.026,2864,2589,1654
$STATE,11208,end climb,SURFACE_DEPTH_REACHED
$STATE,11208,begin surface coast
$FINISH,1.7,1.022196
$STATE,11230,end surface coast,CONTROL_FINISHED_OK
$STATE,11230,begin surface
$SM_CCo,11307,0.00,0.000,0,0,1651,461.41
$SM_GC,2.38,7.28,0.00,0.00,0.056,0.000,0.000,143,2422,1651,-7.50,-0.14,461.41
$IRIDIUM_FIX,2527.05,12326.17,260898,131347
$TT8_MAMPS,0.029146
$HUMID,1531
$INTERNAL_PRESSURE,9.42419
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,24.4,15.047
$10V_AH,10.8,9.467
$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,22.525,91.500,442.475,0.000,0.000,69.246,154.491,274.866,5.000,0.000,0.000,17.335,2225.028,6368.278,520.596,2208.348,726.866,0.000,1631.427,0.000,2151.627,0.000,35.667,0.000
$DEVICE_MAMPS,253.877,69.030,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.537,935.433,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66332,1281
$CAP_FILE_SIZE,132993,0
$CFSIZE,260165632,219836416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246, 75.6,1
$GPS,010609,163406,2531.885,12326.531,36,1.5,42,-3.8