version: 66.04
glider: 167
mission: 2
dive: 551
start: 8 23 109 17 35 34
data:
$ID,167
$MISSION,2
$DIVE,551
$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,250
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,475
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20045.822
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$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,2383
$C_ROLL_CLIMB,2365
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,40
$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
$GPS1,172236,2519.872,12235.396,37,1.0,37,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-70.1
$GPS2,173514,2519.721,12235.380,11,2.0,11,-3.6
$SPEED_LIMITS,0.229,0.259
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,-0.158
$KALMAN_X,11863.0,1074.4,313.9,-12549.1,1366.5
$KALMAN_Y,11194.8,508.1,444.1,-2876.3,1519.9
$MHEAD_RNG_PITCHd_Wd,339.9,19927,-25.0,-13.200
$D_GRID,607
$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,-1.50,-121.7,0.0,0.0,0,42,0.00,0.00,-23.48,0.000,2,0.000,0.000,136,2410,2164
$GC,46,-1.50,-121.7,3.1,-2.1,4,125,8.20,2.15,-62.97,0.000,4,0.236,0.054,2086,3763,3990
$GC,193,-0.59,-121.7,37.2,-37.2,28,200,1.10,2.03,0.00,0.000,6,0.189,0.023,2381,2347,3991
$GC,539,-1.00,-121.7,63.9,-5.4,89,546,0.30,2.20,0.00,0.000,4,0.059,0.044,2246,3754,3993
$GC,724,-0.74,-121.7,100.8,-22.6,121,730,0.32,1.95,0.00,0.000,6,0.156,0.024,2340,2389,3994
$GC,1071,-1.06,-121.7,136.1,-7.1,182,1079,0.25,2.12,0.00,0.000,4,0.060,0.044,2221,3754,3995
$GC,1170,-0.82,-121.7,151.2,-18.5,199,1177,0.32,1.92,0.00,0.000,6,0.170,0.024,2311,2403,3995
$GC,1519,-1.01,-121.7,203.7,-16.3,260,1525,0.17,2.12,0.00,0.000,4,0.069,0.045,2232,3763,3995
$GC,1781,-0.76,-121.7,264.6,-27.0,306,1789,0.38,1.92,0.00,0.000,6,0.176,0.025,2335,2429,3995
$GC,2130,-1.16,-121.7,310.5,-11.1,360,2135,0.32,2.10,0.00,0.000,4,0.060,0.047,2192,3758,3995
$GC,2389,-0.93,-121.7,367.3,-22.8,383,2393,0.30,1.92,0.00,0.000,6,0.171,0.025,2274,2423,3995
$GC,2721,-1.13,-121.7,421.7,-13.9,414,2725,0.17,2.10,0.00,0.000,4,0.070,0.048,2204,3755,3994
$GC,2767,-1.01,-121.7,430.3,-20.0,418,2771,0.17,1.92,0.00,0.000,6,0.164,0.025,2250,2420,3994
$GC,3099,-1.11,-121.7,487.7,-17.4,449,3102,0.00,2.10,0.00,0.000,4,0.000,0.048,2245,3755,3993
$GC,3145,-1.11,-121.7,496.9,-19.7,453,3149,0.00,1.95,0.00,0.000,6,0.000,0.025,2245,2405,3994
$GC,3478,-1.23,-121.7,545.4,-11.8,470,3483,0.17,2.15,0.00,0.000,4,0.071,0.048,2166,3764,3992
$GC,3689,-1.03,-121.7,582.8,-18.5,479,3694,0.30,1.92,0.00,0.000,6,0.165,0.026,2248,2434,3991
$STATE,3878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3878,begin apogee
$GC,3886,-0.27,0.0,607.5,12.7,488,3982,0.80,0.00,92.47,1.079,6,0.150,0.000,2489,2434,3532
$STATE,3983,end apogee,CONTROL_FINISHED_OK
$STATE,3983,begin climb
$GC,3987,1.50,121.7,611.2,0.0,493,4095,1.60,2.20,97.90,1.054,4,0.067,0.051,3058,3767,3035
$GC,4350,0.69,123.7,588.5,13.1,509,4355,1.05,2.05,0.00,0.000,6,0.218,0.024,2806,2368,3030
$GC,4673,0.90,231.2,570.5,5.4,525,4766,0.17,2.33,86.12,1.047,4,0.078,0.048,2880,3751,2588
$GC,5020,0.80,231.2,523.0,15.7,540,5026,0.17,2.05,0.00,0.000,6,0.183,0.025,2841,2371,2581
$GC,5345,0.93,231.2,478.2,15.0,563,5349,0.12,2.08,0.00,0.000,4,0.082,0.028,2898,969,2579
$GC,5475,0.93,231.2,452.7,19.7,574,5478,0.00,2.10,0.00,0.000,6,0.000,0.032,2898,2353,2579
$GC,5809,0.93,231.2,382.9,19.5,605,5813,0.00,2.20,0.00,0.000,4,0.000,0.050,2898,3760,2577
$GC,6069,0.78,231.2,330.6,17.1,628,6074,0.28,2.08,0.00,0.000,6,0.179,0.025,2835,2337,2576
$GC,6396,0.99,266.2,296.8,10.7,660,6432,0.17,2.33,26.25,0.890,4,0.072,0.051,2911,3750,2445
$GC,6452,0.88,266.2,289.0,16.8,669,6459,0.22,2.05,0.00,0.000,6,0.183,0.025,2863,2356,2444
$GC,6798,1.07,303.4,246.0,10.5,730,6835,0.17,2.08,30.33,0.851,4,0.077,0.031,2938,990,2296
$GC,6966,1.07,303.4,222.6,14.8,759,6972,0.00,2.10,0.00,0.000,6,0.000,0.034,2938,2356,2292
$GC,7312,1.07,303.4,157.9,22.1,820,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2356,2289
$GC,7657,1.07,303.4,96.1,14.7,881,7663,0.00,2.20,0.00,0.000,4,0.000,0.050,2938,3761,2288
$GC,7687,1.01,303.4,91.4,16.2,886,7695,0.17,2.00,0.00,0.000,6,0.183,0.024,2902,2388,2288
$GC,8036,1.33,377.1,47.5,7.9,947,8100,0.25,2.20,57.03,0.696,4,0.063,0.046,3009,3760,1994
$GC,8194,1.24,383.1,28.7,12.8,974,8208,0.15,1.95,5.40,0.535,6,0.179,0.025,2983,2428,1970
$STATE,8413,end climb,SURFACE_DEPTH_REACHED
$STATE,8413,begin surface coast
$FINISH,1.9,1.000203
$STATE,8442,end surface coast,CONTROL_FINISHED_OK
$STATE,8443,begin surface
$SM_CCo,8464,69.62,0.645,0,0,1594,475.15
$SM_GC,2.85,0.00,0.00,69.62,0.000,0.000,0.645,135,2425,1594,-7.64,1.19,475.15
$IRIDIUM_FIX,2507.97,12235.95,171198,171700
$TT8_MAMPS,0.029146
$HUMID,1803
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,24.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,575.8,102.3
$24V_AH,23.5,96.292
$10V_AH,10.6,50.629
$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,25.625,66.575,395.500,69.625,0.000,89.807,106.273,278.911,5.750,0.000,0.000,11.932,1751.757,4377.805,539.939,1802.922,817.096,0.000,1452.455,0.000,1769.609,0.000,30.750,0.000
$DEVICE_MAMPS,236.236,54.457,1079.169,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,687.150,771.874,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53764,1018
$CAP_FILE_SIZE,103722,0
$CFSIZE,260165632,182112256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.285,167.5,1
$GPS,230809,195904,2519.398,12235.494,14,3.8,33,-3.6