version: 66.04
glider: 166
mission: 2
dive: 27
start: 5 25 109 14 55 57
data:
$ID,166
$MISSION,2
$DIVE,27
$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,-5780.4292
$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,39
$R_STBD_OVSHOOT,52
$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
$GPS1,145007,2521.291,12239.158,39,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.6
$GPS2,145538,2521.605,12239.178,16,1.2,16,-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,170.6,37160,-16.8,-10.000
$D_GRID,741
$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,13,begin dive
$GC,14,-0.88,-170.3,0.0,0.0,0,69,0.00,0.00,-52.38,0.000,2,0.000,0.000,196,1481,2263
$GC,71,-0.88,-170.3,3.1,-4.8,8,124,9.07,2.00,-38.35,0.000,4,0.244,0.062,2443,200,3559
$GC,253,-0.17,-170.3,54.5,-31.4,39,260,0.75,1.92,0.00,0.000,6,0.167,0.032,2675,1487,3561
$GC,599,-0.53,-170.3,82.3,-4.9,100,606,0.28,2.08,0.00,0.000,4,0.047,0.041,2541,2895,3564
$GC,646,-0.53,-170.3,86.7,-10.8,108,652,0.00,2.08,0.00,0.000,6,0.000,0.034,2542,1472,3564
$GC,989,-0.44,-170.3,132.6,-13.2,169,997,0.17,1.88,0.00,0.000,4,0.141,0.046,2596,201,3566
$GC,1126,-0.60,-170.3,144.7,-7.4,193,1135,0.15,1.83,0.00,0.000,6,0.048,0.030,2520,1464,3566
$GC,1473,-0.50,-170.3,188.5,-12.4,254,1480,0.17,2.08,0.00,0.000,4,0.138,0.044,2569,2874,3567
$GC,1583,-0.72,-170.3,197.2,-6.9,273,1591,0.22,2.05,0.00,0.000,6,0.048,0.035,2466,1454,3567
$GC,1929,-0.48,-170.3,249.7,-15.4,334,1940,0.32,1.85,0.00,0.000,4,0.146,0.047,2569,200,3567
$GC,1981,-0.61,-170.3,255.3,-9.3,342,1987,0.00,1.83,0.00,0.000,6,0.000,0.030,2556,1465,3567
$GC,2326,-0.84,-170.3,275.1,-5.3,403,2332,0.22,2.08,0.00,0.000,4,0.052,0.041,2445,2880,3567
$GC,2366,-0.69,-170.3,279.1,-11.3,410,2373,0.22,2.03,0.00,0.000,6,0.150,0.034,2509,1475,3567
$GC,2711,-0.74,-170.3,308.9,-8.2,462,2714,0.00,2.08,0.00,0.000,4,0.000,0.045,2510,2878,3566
$GC,2816,-0.89,-170.3,317.1,-7.4,471,2823,0.15,2.08,0.00,0.000,6,0.047,0.043,2427,1482,3565
$GC,3141,-0.60,-170.3,361.4,-14.7,502,3145,0.32,1.90,0.00,0.000,4,0.153,0.050,2528,210,3563
$GC,3207,-0.70,-170.3,368.8,-10.0,508,3211,0.00,1.83,0.00,0.000,6,0.000,0.041,2528,1476,3563
$GC,3538,-0.83,-170.3,397.7,-9.2,539,3543,0.17,1.90,0.00,0.000,4,0.141,0.049,2440,207,3562
$GC,3598,-0.53,-170.3,406.6,-16.0,544,3607,0.35,1.83,0.00,0.000,6,0.150,0.034,2552,1456,3561
$GC,3924,-0.79,-170.3,433.5,-7.5,575,3928,0.17,1.88,0.00,0.000,4,0.059,0.051,2459,210,3560
$GC,3961,-0.61,-170.3,437.6,-12.1,578,3969,0.22,1.85,0.00,0.000,6,0.140,0.035,2533,1468,3559
$GC,4287,-0.83,-170.3,461.9,-7.2,609,4291,0.17,2.10,0.00,0.000,4,0.061,0.051,2444,2881,3557
$GC,4314,-0.83,-170.3,464.5,-10.2,611,4317,0.00,2.08,0.00,0.000,6,0.000,0.038,2443,1468,3557
$GC,4643,-0.69,-170.3,503.2,-12.4,641,4647,0.20,1.90,0.00,0.000,4,0.149,0.052,2508,200,3555
$GC,4710,-0.76,-170.3,510.3,-9.5,644,4713,0.00,1.85,0.00,0.000,6,0.000,0.036,2508,1473,3555
$GC,5042,-0.87,-170.3,538.4,-8.3,660,5046,0.17,2.10,0.00,0.000,4,0.064,0.048,2419,2883,3553
$GC,5135,-0.71,-170.3,549.3,-11.8,664,5140,0.25,2.12,0.00,0.000,6,0.147,0.041,2497,1466,3552
$GC,5459,-0.80,-170.3,575.9,-8.7,680,5463,0.00,2.12,0.00,0.000,4,0.000,0.051,2500,2880,3550
$GC,5553,-0.97,-170.3,583.5,-7.9,684,5558,0.17,2.10,0.00,0.000,6,0.048,0.041,2391,1482,3549
$GC,5880,-0.66,-170.3,629.2,-15.2,700,5884,0.38,1.92,0.00,0.000,4,0.160,0.055,2509,204,3547
$GC,6024,-0.76,-170.3,643.5,-9.3,706,6031,0.00,1.88,0.00,0.000,6,0.000,0.039,2519,1466,3546
$GC,6340,-0.91,-170.3,669.9,-8.6,722,6345,0.20,2.12,0.00,0.000,4,0.062,0.052,2431,2881,3544
$GC,6394,-0.78,-170.3,676.4,-12.5,724,6402,0.12,2.12,0.00,0.000,6,0.156,0.043,2471,1470,3543
$GC,6709,-0.71,-170.3,712.2,-11.5,740,6711,0.12,0.00,0.00,0.000,6,0.163,0.000,2506,1470,3542
$STATE,7018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7018,begin apogee
$GC,7022,-0.20,0.0,742.8,10.2,755,7164,0.50,0.00,139.05,1.302,6,0.129,0.000,2662,1792,2864
$STATE,7165,end apogee,CONTROL_FINISHED_OK
$STATE,7165,begin climb
$GC,7166,0.88,170.3,749.8,0.0,762,7316,1.02,0.00,145.15,1.256,6,0.076,0.000,3007,1792,2167
$GC,7622,0.45,170.3,695.4,15.4,784,7627,0.43,2.22,0.00,0.000,4,0.176,0.055,2896,383,2161
$GC,7671,0.47,188.2,690.0,9.3,786,7693,0.00,2.15,15.90,1.165,6,0.000,0.041,2892,1776,2094
$GC,8015,0.47,188.2,656.8,10.3,803,8018,0.00,2.17,0.00,0.000,4,0.000,0.057,2901,383,2091
$GC,8060,0.40,188.2,651.6,12.3,805,8064,0.15,2.12,0.00,0.000,6,0.159,0.043,2861,1782,2090
$GC,8386,0.52,210.7,619.9,9.1,821,8411,0.12,2.22,19.65,1.193,4,0.073,0.056,2928,385,2003
$GC,8454,0.39,210.7,611.4,12.9,824,8460,0.22,2.15,0.00,0.000,6,0.150,0.042,2859,1771,2001
$GC,8781,0.58,256.1,583.9,8.2,840,8828,0.17,2.28,39.12,1.203,4,0.063,0.056,2951,389,1817
$GC,8861,0.38,256.1,573.9,14.6,843,8868,0.30,2.15,0.00,0.000,6,0.155,0.041,2862,1757,1815
$GC,9177,0.62,306.1,548.1,8.0,859,9228,0.17,2.35,43.65,1.177,4,0.061,0.055,2943,3187,1614
$GC,9266,0.49,306.1,535.0,16.3,863,9272,0.20,2.22,0.00,0.000,6,0.156,0.042,2895,1773,1610
$GC,9584,0.58,306.1,497.4,11.4,879,9587,0.00,2.17,0.00,0.000,4,0.000,0.056,2904,376,1607
$GC,9645,0.66,306.1,490.3,11.9,884,9652,0.12,2.08,0.00,0.000,6,0.073,0.041,2960,1756,1607
$GC,9970,0.49,306.1,439.7,15.6,915,9974,0.22,2.20,0.00,0.000,4,0.163,0.054,2891,3191,1605
$GC,10015,0.58,306.1,433.5,12.4,919,10019,0.00,2.15,0.00,0.000,6,0.000,0.043,2903,1763,1604
$GC,10344,0.67,306.1,394.3,11.9,950,10349,0.12,2.12,0.00,0.000,4,0.071,0.055,2974,380,1604
$GC,10455,0.49,306.1,375.7,17.8,959,10463,0.25,2.08,0.00,0.000,6,0.154,0.042,2897,1750,1603
$GC,10780,0.63,306.1,334.0,13.3,990,10784,0.12,2.10,0.00,0.000,4,0.072,0.054,2963,383,1603
$GC,10864,0.49,306.1,319.2,20.0,997,10868,0.25,2.03,0.00,0.000,6,0.151,0.041,2891,1745,1603
$GC,11196,0.73,316.6,283.0,9.6,1042,11210,0.17,0.00,8.62,0.913,6,0.061,0.000,2980,1747,1571
$GC,11547,0.56,316.6,223.5,16.6,1104,11553,0.20,0.00,0.00,0.000,6,0.229,0.000,2920,1746,1569
$GC,11890,0.75,317.5,186.6,10.0,1165,11897,0.15,2.17,0.00,0.000,4,0.065,0.049,2992,3186,1569
$GC,11919,0.69,317.5,182.7,14.3,1170,11928,0.17,2.15,0.00,0.000,6,0.163,0.039,2958,1731,1569
$GC,12268,0.78,328.2,138.0,9.6,1231,12286,0.00,2.25,11.15,0.815,4,0.000,0.048,2957,3181,1525
$GC,12499,0.96,376.6,116.8,8.1,1272,12547,0.22,2.10,41.28,0.830,6,0.051,0.038,3061,1763,1326
$GC,12885,0.80,376.6,52.1,14.7,1339,12892,0.20,2.17,0.00,0.000,4,0.153,0.044,2993,3194,1320
$GC,12916,0.87,376.6,47.6,12.6,1344,12923,0.00,2.12,0.00,0.000,6,0.000,0.036,2998,1767,1320
$GC,13260,1.14,421.7,12.4,8.2,1405,13307,0.25,2.17,37.65,0.711,4,0.047,0.051,3133,384,1142
$STATE,13324,end climb,SURFACE_DEPTH_REACHED
$STATE,13324,begin surface coast
$FINISH,1.0,1.009622
$STATE,13341,end surface coast,CONTROL_FINISHED_OK
$STATE,13341,begin surface
$SM_CCo,13357,2.20,0.180,0,0,1129,425.10
$SM_GC,2.58,0.00,0.00,2.20,0.000,0.000,0.180,134,1502,1129,-8.14,0.51,425.10
$IRIDIUM_FIX,2510.35,12237.96,190898,111143
$TT8_MAMPS,0.026845
$HUMID,1520
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,23.70
$XPDR_PINGS,112
$24V_AH,23.9,8.475
$10V_AH,10.7,4.759
$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,28.650,119.700,501.225,2.200,0.000,25.531,32.422,176.904,33.500,0.000,0.000,16.663,2512.861,7358.427,611.506,2824.599,378.961,0.000,1867.342,0.000,2798.210,0.000,38.301,0.000
$DEVICE_MAMPS,243.906,62.127,1301.599,180.245,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,965.856,1009.324,1701.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82203,1418
$CAP_FILE_SIZE,153257,0
$CFSIZE,260165632,233144320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.162, 90.6,1
$GPS,250509,183957,2519.735,12240.858,27,3.1,46,-3.7