version: 66.04
glider: 166
mission: 2
dive: 15
start: 5 24 109 5 8 28
data:
$ID,166
$MISSION,2
$DIVE,15
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51956
$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,-5572.3525
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2725
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25.4
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1503
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-27.273609
$PRESSURE_SLOPE,0.0001160501
$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,0
$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,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,0.0043153614
$SEABIRD_T_H,0.00063164165
$SEABIRD_T_I,2.3580644e-05
$SEABIRD_T_J,2.4654264e-06
$SEABIRD_C_G,-9.9826469
$SEABIRD_C_H,1.1204658
$SEABIRD_C_I,-0.0010752195
$SEABIRD_C_J,0.00016642714
$GPS1,050236,2521.695,12232.111,13,0.9,29,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.9
$GPS2,050808,2521.870,12232.235,12,1.0,12,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,279.6,13419,-16.8,-10.000
$D_GRID,508
$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,14,-0.87,-170.3,0.0,0.0,0,71,0.00,0.00,-55.28,0.000,2,0.000,0.000,167,1495,2351
$GC,73,-0.87,-170.3,3.1,-5.4,8,125,9.38,2.12,-35.75,0.000,4,0.251,0.057,2434,2901,3558
$GC,199,-0.17,-170.3,30.7,-29.9,29,207,0.82,2.08,0.00,0.000,6,0.177,0.036,2666,1497,3559
$GC,546,-0.49,-170.3,62.9,-7.6,90,553,0.25,1.92,0.00,0.000,4,0.052,0.045,2548,200,3560
$GC,796,-0.31,-170.3,104.2,-14.4,134,803,0.17,1.90,0.00,0.000,6,0.140,0.030,2619,1503,3561
$GC,1141,-0.57,-170.3,126.5,-6.1,195,1148,0.20,2.08,0.00,0.000,4,0.055,0.041,2521,2894,3563
$GC,1265,-0.57,-170.3,140.5,-12.0,217,1273,0.00,2.05,0.00,0.000,6,0.000,0.034,2520,1502,3563
$GC,1612,-0.47,-170.3,187.2,-9.0,278,1619,0.17,1.90,0.00,0.000,4,0.152,0.047,2574,210,3564
$GC,1839,-0.57,-170.3,214.6,-10.8,318,1846,0.08,1.85,0.00,0.000,6,0.064,0.030,2525,1498,3564
$GC,2184,-0.57,-170.3,250.1,-10.9,379,2190,0.00,1.92,0.00,0.000,4,0.000,0.047,2525,204,3564
$GC,2218,-0.51,-170.3,253.8,-11.2,385,2226,0.15,1.80,0.00,0.000,6,0.152,0.030,2563,1471,3564
$GC,2564,-0.68,-170.3,282.7,-8.2,446,2571,0.17,2.08,0.00,0.000,4,0.060,0.042,2475,2891,3564
$GC,2616,-0.59,-170.3,289.6,-15.6,455,2623,0.20,2.05,0.00,0.000,6,0.143,0.035,2536,1475,3563
$GC,2946,-0.67,-170.3,326.5,-11.0,493,2950,0.00,1.88,0.00,0.000,4,0.000,0.049,2535,205,3563
$GC,3035,-0.67,-170.3,336.3,-11.2,501,3039,0.00,1.83,0.00,0.000,6,0.000,0.031,2534,1482,3563
$GC,3365,-0.79,-170.3,367.3,-9.2,532,3369,0.17,1.92,0.00,0.000,4,0.063,0.056,2445,199,3561
$GC,3534,-0.46,-170.3,392.5,-13.8,547,3538,0.47,1.80,0.00,0.000,6,0.150,0.037,2574,1450,3560
$GC,3858,-0.84,-170.3,410.0,-4.7,577,3863,0.30,2.12,0.00,0.000,4,0.051,0.044,2431,2891,3559
$GC,3890,-0.75,-170.3,413.3,-11.7,579,3897,0.12,2.12,0.00,0.000,6,0.146,0.037,2476,1459,3558
$GC,4214,-0.75,-170.3,452.5,-10.6,610,4218,0.00,1.88,0.00,0.000,4,0.000,0.053,2475,203,3556
$GC,4286,-0.66,-170.3,461.6,-12.4,616,4294,0.10,1.83,0.00,0.000,6,0.150,0.035,2506,1447,3556
$GC,4611,-0.75,-170.3,491.2,-10.0,647,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1448,3554
$STATE,4788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4788,begin apogee
$GC,4792,-0.20,0.0,508.4,9.2,660,4931,0.47,0.00,135.27,1.080,6,0.124,0.000,2661,1785,2863
$STATE,4932,end apogee,CONTROL_FINISHED_OK
$STATE,4932,begin climb
$GC,4933,0.87,170.3,513.8,0.0,667,5083,0.98,2.33,138.50,1.040,4,0.074,0.051,3012,3187,2167
$GC,5164,0.48,170.3,491.8,15.6,679,5169,0.50,2.15,0.00,0.000,6,0.167,0.039,2884,1788,2164
$GC,5489,0.59,199.1,465.5,8.9,709,5522,0.00,2.25,24.15,1.012,4,0.000,0.054,2889,384,2049
$GC,5641,0.77,254.7,451.7,7.8,722,5693,0.25,2.08,46.05,1.019,6,0.053,0.038,2994,1771,1824
$GC,6010,0.53,254.7,391.9,16.0,757,6014,0.30,2.15,0.00,0.000,4,0.158,0.051,2913,382,1817
$GC,6127,0.60,254.7,379.0,10.5,767,6130,0.00,2.05,0.00,0.000,6,0.000,0.038,2913,1753,1817
$GC,6457,0.71,275.6,345.8,9.2,798,6482,0.12,2.28,17.42,0.963,4,0.072,0.051,2971,3194,1738
$GC,6561,0.61,275.6,332.1,13.9,807,6566,0.22,2.17,0.00,0.000,6,0.160,0.039,2919,1749,1735
$GC,6886,0.73,304.9,306.3,8.8,837,6920,0.12,2.12,25.38,0.953,4,0.070,0.051,2986,383,1618
$GC,6942,0.59,304.9,298.6,15.3,842,6949,0.25,2.10,0.00,0.000,6,0.156,0.038,2918,1775,1616
$GC,7287,0.71,304.9,261.8,12.2,903,7294,0.12,2.15,0.00,0.000,4,0.071,0.056,2978,379,1613
$GC,7335,0.59,304.9,254.7,16.3,911,7343,0.22,2.05,0.00,0.000,6,0.157,0.038,2915,1763,1613
$GC,7681,0.72,304.9,211.9,11.4,972,7688,0.12,2.10,0.00,0.000,4,0.071,0.051,2981,382,1612
$GC,7733,0.59,304.9,204.6,14.5,981,7739,0.22,2.00,0.00,0.000,6,0.154,0.040,2918,1741,1612
$GC,8077,0.70,311.8,170.0,9.7,1042,8091,0.10,2.08,6.15,0.709,4,0.077,0.050,2976,379,1591
$GC,8266,0.63,311.8,143.7,14.2,1075,8274,0.17,2.00,0.00,0.000,6,0.154,0.037,2929,1726,1591
$GC,8613,0.79,311.8,111.1,10.4,1136,8620,0.15,2.17,0.00,0.000,4,0.062,0.046,3004,3191,1590
$GC,8662,0.63,311.8,103.7,16.9,1144,8669,0.30,2.15,0.00,0.000,6,0.150,0.037,2928,1724,1590
$GC,9007,0.92,360.4,66.7,8.1,1205,9053,0.22,2.12,40.38,0.755,4,0.050,0.048,3050,379,1392
$GC,9295,0.79,360.4,23.1,16.3,1255,9303,0.17,1.95,0.00,0.000,6,0.135,0.034,2977,1693,1388
$STATE,9527,end climb,SURFACE_DEPTH_REACHED
$STATE,9527,begin surface coast
$FINISH,1.1,1.011995
$STATE,9578,end surface coast,CONTROL_FINISHED_OK
$STATE,9578,begin surface
$SM_CCo,9592,51.75,0.685,0,0,1129,425.10
$SM_GC,1.85,0.00,0.00,51.75,0.000,0.000,0.685,166,1476,1129,-8.00,-0.76,425.10
$IRIDIUM_FIX,2512.73,12230.65,180898,020218
$TT8_MAMPS,0.027612
$HUMID,1492
$INTERNAL_PRESSURE,9.84871
$TCM_TEMP,23.20
$XPDR_PINGS,146
$ALTIM_BOTTOM_PING,475.1,90.1
$24V_AH,24.2,6.452
$10V_AH,10.8,3.321
$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,25.375,82.350,433.300,51.750,0.000,24.631,37.941,177.978,40.000,0.000,0.000,13.088,2237.799,4288.290,585.115,2506.667,356.342,0.000,1660.900,0.000,2490.720,0.000,26.996,0.000
$DEVICE_MAMPS,250.809,56.758,1079.936,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,887.524,981.437,1655.899,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72874,1305
$CAP_FILE_SIZE,120738,0
$CFSIZE,260165632,234008576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224, 78.7,1
$GPS,240509,075013,2522.277,12232.063,11,1.8,27,-3.7