version: 66.04
glider: 166
mission: 2
dive: 24
start: 5 25 109 4 29 23
data:
$ID,166
$MISSION,2
$DIVE,24
$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,-5731.4258
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2732
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$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,1485
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,42
$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,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,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
$GPS1,042337,2521.646,12234.271,38,1.1,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.4
$GPS2,042902,2521.791,12234.479,11,1.6,11,-3.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,129.9,44196,-16.8,-10.000
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.88,-170.3,0.0,0.0,0,74,0.00,0.00,-58.85,0.000,2,0.000,0.000,164,1476,2465
$GC,76,-0.88,-170.3,3.4,-6.2,9,121,9.18,1.92,-28.98,0.000,4,0.245,0.061,2444,203,3557
$GC,263,-0.17,-170.3,62.0,-32.0,41,270,0.73,1.92,0.00,0.000,6,0.167,0.033,2671,1494,3558
$GC,608,-0.56,-170.3,93.9,-6.6,102,615,0.30,2.05,0.00,0.000,4,0.045,0.040,2530,2893,3561
$GC,762,-0.33,-170.3,116.5,-17.6,129,769,0.32,2.03,0.00,0.000,6,0.146,0.034,2623,1494,3561
$GC,1109,-0.63,-170.3,144.3,-5.7,190,1116,0.22,2.05,0.00,0.000,4,0.051,0.040,2512,2888,3562
$GC,1161,-0.58,-170.3,150.0,-11.8,199,1168,0.12,2.05,0.00,0.000,6,0.153,0.035,2544,1473,3562
$GC,1506,-0.70,-170.3,183.5,-11.1,260,1514,0.12,2.08,0.00,0.000,4,0.069,0.041,2483,2886,3564
$GC,1589,-0.64,-170.3,194.5,-14.6,274,1596,0.15,2.03,0.00,0.000,6,0.150,0.035,2524,1482,3564
$GC,1934,-0.70,-170.3,228.6,-7.4,335,1940,0.00,2.08,0.00,0.000,4,0.000,0.044,2530,2887,3564
$GC,1981,-0.86,-170.3,232.0,-6.7,343,1987,0.20,2.00,0.00,0.000,6,0.054,0.034,2433,1504,3564
$GC,2325,-0.53,-170.3,285.3,-16.3,404,2332,0.35,0.00,0.00,0.000,6,0.155,0.000,2546,1504,3563
$GC,2666,-0.72,-170.3,311.4,-7.0,451,2671,0.15,2.05,0.00,0.000,4,0.064,0.043,2472,2897,3563
$GC,2727,-0.72,-170.3,317.2,-9.5,456,2736,0.00,2.05,0.00,0.000,6,0.000,0.036,2473,1517,3562
$GC,3052,-0.64,-170.3,356.0,-13.0,487,3056,0.17,1.95,0.00,0.000,4,0.147,0.048,2526,198,3561
$GC,3203,-0.72,-170.3,373.6,-11.9,500,3210,0.00,1.90,0.00,0.000,6,0.000,0.032,2523,1501,3560
$GC,3527,-0.85,-170.3,404.2,-9.3,531,3529,0.17,0.00,0.00,0.000,6,0.061,0.000,2440,1503,3559
$GC,3847,-0.68,-170.3,444.9,-13.2,561,3849,0.25,0.00,0.00,0.000,6,0.154,0.000,2513,1503,3557
$GC,4165,-0.80,-170.3,471.6,-7.0,591,4169,0.12,2.05,0.00,0.000,4,0.074,0.054,2453,2880,3555
$GC,4219,-0.80,-170.3,476.6,-9.2,596,4223,0.00,2.03,0.00,0.000,6,0.000,0.038,2454,1501,3554
$GC,4558,-0.71,-170.3,507.8,-9.5,624,4562,0.17,2.08,0.00,0.000,4,0.150,0.049,2507,2883,3552
$GC,4606,-0.91,-170.3,511.3,-6.6,626,4612,0.15,2.05,0.00,0.000,6,0.048,0.038,2424,1509,3552
$GC,4928,-0.72,-170.3,549.9,-13.1,642,4933,0.22,1.95,0.00,0.000,4,0.156,0.054,2493,207,3550
$GC,4999,-0.72,-170.3,557.4,-9.8,645,5004,0.00,1.90,0.00,0.000,6,0.000,0.037,2493,1492,3549
$GC,5327,-0.80,-170.3,588.8,-9.8,661,5331,0.00,2.08,0.00,0.000,4,0.000,0.052,2500,2889,3547
$GC,5359,-0.95,-170.3,592.2,-9.6,662,5364,0.12,2.08,0.00,0.000,6,0.050,0.040,2407,1504,3547
$STATE,5472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5472,begin apogee
$GC,5476,-0.20,0.0,608.1,14.8,668,5616,0.80,0.00,137.05,1.185,6,0.146,0.000,2664,1794,2863
$STATE,5617,end apogee,CONTROL_FINISHED_OK
$STATE,5617,begin climb
$GC,5618,0.88,170.3,614.6,0.0,675,5769,1.00,2.28,140.90,1.142,4,0.071,0.054,3023,3183,2166
$GC,5869,0.43,170.3,588.0,17.3,686,5874,0.52,2.17,0.00,0.000,6,0.170,0.040,2873,1794,2163
$GC,6191,0.57,208.7,561.3,8.5,702,6228,0.15,2.25,31.83,1.118,4,0.064,0.054,2949,382,2011
$GC,6324,0.41,208.7,543.6,13.1,707,6329,0.30,2.12,0.00,0.000,6,0.154,0.040,2865,1775,2007
$GC,6645,0.65,276.2,518.8,7.3,723,6710,0.20,2.30,56.50,1.122,4,0.058,0.054,2963,383,1735
$GC,6793,0.49,276.2,498.4,15.9,729,6800,0.22,2.15,0.00,0.000,6,0.149,0.039,2896,1763,1731
$GC,7118,0.57,279.7,468.2,9.9,760,7122,0.00,2.20,0.00,0.000,4,0.000,0.053,2892,3197,1728
$GC,7220,0.63,279.7,457.6,10.8,769,7224,0.10,2.15,0.00,0.000,6,0.078,0.041,2948,1772,1726
$GC,7544,0.52,279.7,406.3,13.9,799,7548,0.17,2.12,0.00,0.000,4,0.159,0.053,2904,381,1725
$GC,7582,0.60,279.7,400.7,14.4,802,7586,0.00,2.10,0.00,0.000,6,0.000,0.040,2904,1791,1725
$GC,7913,0.69,279.7,365.6,10.1,833,7915,0.15,0.00,0.00,0.000,6,0.066,0.000,2973,1793,1723
$GC,8232,0.48,279.7,317.1,15.9,863,8237,0.28,2.12,0.00,0.000,4,0.162,0.051,2888,3198,1723
$GC,8320,0.70,302.2,306.9,9.1,870,8350,0.12,2.12,21.00,0.989,6,0.051,0.041,2968,1790,1630
$GC,8681,0.56,302.2,250.2,16.6,930,8688,0.17,2.15,0.00,0.000,4,0.160,0.051,2921,379,1626
$GC,8727,0.64,302.2,244.1,11.9,938,8734,0.00,2.12,0.00,0.000,6,0.000,0.038,2921,1811,1626
$GC,9071,0.73,302.2,201.4,11.6,999,9077,0.12,2.17,0.00,0.000,4,0.071,0.051,2993,386,1626
$GC,9111,0.55,302.2,195.5,15.6,1006,9119,0.30,2.08,0.00,0.000,6,0.150,0.040,2907,1797,1626
$GC,9458,0.84,367.4,166.1,7.4,1067,9524,0.22,2.22,53.97,0.874,4,0.053,0.048,3019,3187,1363
$GC,9580,0.70,367.4,147.1,17.1,1087,9588,0.25,2.12,0.00,0.000,6,0.153,0.038,2958,1782,1360
$GC,9927,0.96,415.9,110.5,8.1,1148,9974,0.22,2.25,40.83,0.808,4,0.050,0.048,3070,377,1166
$GC,10031,0.70,415.9,91.3,21.4,1165,10038,0.38,2.08,0.00,0.000,6,0.148,0.035,2961,1766,1163
$GC,10377,0.94,415.9,54.9,10.7,1226,10384,0.17,2.10,0.00,0.000,4,0.054,0.048,3062,383,1160
$GC,10429,0.85,415.9,46.3,18.2,1235,10436,0.20,2.03,0.00,0.000,6,0.149,0.034,3005,1781,1160
$GC,10776,1.17,460.2,11.4,8.3,1296,10822,0.25,2.20,37.10,0.698,4,0.048,0.045,3140,380,985
$STATE,10833,end climb,SURFACE_DEPTH_REACHED
$STATE,10833,begin surface coast
$FINISH,1.0,1.021665
$STATE,10850,end surface coast,CONTROL_FINISHED_OK
$STATE,10850,begin surface
$SM_CCo,10926,0.00,0.000,0,0,981,461.41
$SM_GC,1.73,8.07,0.00,0.00,0.051,0.000,0.000,142,1508,981,-8.01,0.65,461.41
$IRIDIUM_FIX,2515.12,12231.93,190898,010115
$TT8_MAMPS,0.027612
$HUMID,1467
$INTERNAL_PRESSURE,9.87801
$TCM_TEMP,24.20
$XPDR_PINGS,123
$ALTIM_BOTTOM_PING,602.0,60.1
$24V_AH,24.1,7.930
$10V_AH,10.7,4.368
$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,27.650,96.075,519.175,0.000,0.000,26.252,30.437,175.300,35.250,0.000,0.000,12.471,2274.397,5452.296,593.367,2560.843,366.717,0.000,1736.212,0.000,2548.420,0.000,32.690,0.000
$DEVICE_MAMPS,245.440,61.360,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,887.961,970.996,1636.780,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75830,1308
$CAP_FILE_SIZE,131629,0
$CFSIZE,260165632,233406464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.276, 90.3,1
$GPS,250509,073237,2520.701,12237.693,36,1.0,36,-3.7