version: 66.04
glider: 166
mission: 2
dive: 28
start: 5 25 109 18 46 16
data:
$ID,166
$MISSION,2
$DIVE,28
$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,-5798.6587
$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,63
$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
$GPS1,183957,2519.735,12240.858,27,3.1,46,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-68.3
$GPS2,184555,2519.944,12241.088,12,2.0,17,-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,140.7,32830,-16.8,-10.000
$D_GRID,803
$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,13,-0.88,-170.3,0.0,0.0,0,68,0.00,0.00,-52.55,0.000,2,0.000,0.000,170,1503,2304
$GC,70,-0.88,-170.3,3.1,-5.4,8,123,9.18,1.98,-36.80,0.000,4,0.242,0.061,2437,202,3558
$GC,196,-0.12,-170.3,39.1,-33.0,29,204,0.82,1.88,0.00,0.000,6,0.170,0.029,2686,1484,3559
$GC,544,-0.50,-170.3,70.9,-6.1,90,551,0.30,2.05,0.00,0.000,4,0.044,0.040,2550,2875,3562
$GC,579,-0.40,-170.3,75.2,-13.8,96,586,0.17,2.05,0.00,0.000,6,0.151,0.035,2596,1474,3562
$GC,925,-0.46,-170.3,118.3,-11.5,157,932,0.00,2.05,0.00,0.000,4,0.000,0.041,2597,2866,3564
$GC,1001,-0.69,-170.3,125.5,-8.7,170,1008,0.25,2.00,0.00,0.000,6,0.047,0.035,2480,1514,3564
$GC,1347,-0.40,-170.3,180.9,-16.6,231,1354,0.38,2.00,0.00,0.000,4,0.149,0.041,2597,2873,3565
$GC,1450,-0.71,-170.3,188.6,-5.8,249,1458,0.20,1.95,0.00,0.000,6,0.038,0.035,2472,1545,3566
$GC,1795,-0.43,-170.3,251.9,-15.7,310,1802,0.35,0.00,0.00,0.000,6,0.150,0.000,2583,1545,3566
$GC,2139,-0.69,-170.3,277.6,-6.1,371,2146,0.17,2.00,0.00,0.000,4,0.059,0.047,2481,198,3566
$GC,2219,-0.49,-170.3,287.2,-13.3,385,2227,0.32,1.92,0.00,0.000,6,0.145,0.031,2573,1538,3566
$GC,2555,-0.79,-170.3,310.0,-6.7,432,2560,0.25,1.95,0.00,0.000,4,0.049,0.042,2451,2867,3566
$GC,2623,-0.69,-170.3,318.2,-13.1,438,2627,0.20,1.90,0.00,0.000,6,0.145,0.035,2509,1556,3565
$GC,2952,-0.75,-170.3,355.3,-10.8,469,2956,0.00,2.00,0.00,0.000,4,0.000,0.050,2510,210,3564
$GC,3001,-0.75,-170.3,360.8,-11.1,473,3010,0.00,1.92,0.00,0.000,6,0.000,0.032,2510,1526,3563
$GC,3327,-0.84,-170.3,388.2,-7.3,504,3331,0.15,2.00,0.00,0.000,4,0.066,0.046,2439,2890,3562
$GC,3376,-0.74,-170.3,392.8,-9.9,508,3383,0.15,2.00,0.00,0.000,6,0.142,0.039,2489,1540,3562
$GC,3700,-0.74,-170.3,422.8,-9.2,539,3704,0.00,2.00,0.00,0.000,4,0.000,0.052,2488,2885,3560
$GC,3785,-0.81,-170.3,430.5,-9.0,546,3791,0.00,1.98,0.00,0.000,6,0.000,0.043,2490,1555,3559
$GC,4110,-0.86,-170.3,461.7,-9.5,577,4114,0.12,2.00,0.00,0.000,4,0.071,0.058,2430,210,3557
$GC,4192,-0.59,-170.3,472.9,-14.8,584,4200,0.32,1.95,0.00,0.000,6,0.148,0.036,2533,1531,3557
$GC,4518,-0.81,-170.3,494.7,-6.1,615,4522,0.17,2.03,0.00,0.000,4,0.060,0.048,2446,2893,3555
$GC,4552,-0.75,-170.3,497.8,-10.3,618,4556,0.15,1.98,0.00,0.000,6,0.149,0.039,2486,1544,3554
$GC,4872,-0.75,-170.3,531.9,-11.9,635,4876,0.00,2.00,0.00,0.000,4,0.000,0.054,2486,211,3552
$GC,4966,-0.75,-170.3,543.6,-12.3,639,4971,0.00,1.98,0.00,0.000,6,0.000,0.038,2487,1540,3551
$GC,5293,-0.75,-170.3,579.9,-10.0,655,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1540,3549
$GC,5603,-0.81,-170.3,603.4,-7.5,670,5607,0.00,2.03,0.00,0.000,4,0.000,0.053,2493,2892,3547
$GC,5652,-0.93,-170.3,607.3,-7.8,672,5657,0.12,2.03,0.00,0.000,6,0.051,0.041,2417,1540,3546
$GC,5978,-0.70,-170.3,643.1,-12.0,688,5983,0.28,2.03,0.00,0.000,4,0.158,0.054,2502,2878,3545
$GC,6055,-0.86,-170.3,649.4,-7.7,691,6062,0.10,2.00,0.00,0.000,6,0.054,0.042,2436,1554,3544
$GC,6371,-0.72,-170.3,684.3,-11.2,707,6375,0.17,2.03,0.00,0.000,4,0.155,0.054,2491,2889,3542
$GC,6420,-0.84,-170.3,688.8,-8.0,709,6424,0.00,2.00,0.00,0.000,6,0.000,0.043,2490,1561,3542
$GC,6747,-0.90,-170.3,716.0,-8.1,725,6751,0.15,2.05,0.00,0.000,4,0.067,0.057,2422,210,3541
$GC,6819,-0.62,-170.3,724.8,-13.0,728,6825,0.30,1.98,0.00,0.000,6,0.156,0.041,2523,1526,3540
$GC,7146,-0.77,-170.3,747.3,-6.3,744,7150,0.12,2.05,0.00,0.000,4,0.072,0.053,2459,2890,3539
$GC,7179,-0.77,-170.3,750.1,-8.9,745,7183,0.00,1.98,0.00,0.000,6,0.000,0.042,2462,1555,3538
$GC,7500,-0.69,-170.3,783.3,-10.7,761,7504,0.17,2.05,0.00,0.000,4,0.150,0.058,2520,207,3537
$GC,7539,-0.77,-170.3,786.9,-8.7,763,7543,0.00,1.98,0.00,0.000,6,0.000,0.040,2516,1546,3536
$STATE,7745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7745,begin apogee
$GC,7749,-0.20,0.0,803.6,8.2,773,7892,0.47,0.00,139.50,1.345,6,0.123,0.000,2664,1796,2863
$STATE,7893,end apogee,CONTROL_FINISHED_OK
$STATE,7893,begin climb
$GC,7894,0.88,170.3,808.4,0.0,780,8048,1.00,2.33,146.30,1.295,4,0.071,0.057,3008,3189,2168
$GC,8204,0.41,170.3,769.4,16.9,794,8210,0.47,2.20,0.00,0.000,6,0.174,0.043,2872,1800,2162
$GC,8532,0.48,223.1,743.2,7.9,810,8582,0.00,2.33,45.60,1.266,4,0.000,0.059,2877,384,1953
$GC,8679,0.54,223.1,728.8,10.9,816,8685,0.00,2.15,0.00,0.000,6,0.000,0.043,2876,1776,1948
$GC,8993,0.59,223.1,692.4,12.0,832,8998,0.12,2.17,0.00,0.000,4,0.074,0.055,2942,384,1944
$GC,9025,0.41,223.1,687.7,15.7,833,9034,0.22,2.15,0.00,0.000,6,0.154,0.043,2873,1778,1944
$GC,9341,0.48,223.1,649.8,11.3,849,9345,0.00,2.17,0.00,0.000,4,0.000,0.057,2872,3190,1942
$GC,9378,0.54,223.1,645.2,11.3,850,9386,0.00,2.17,0.00,0.000,6,0.000,0.044,2879,1777,1942
$GC,9694,0.54,223.1,610.2,10.8,866,9698,0.00,2.15,0.00,0.000,4,0.000,0.058,2890,383,1941
$GC,9754,0.54,223.1,603.0,12.3,868,9761,0.00,2.12,0.00,0.000,6,0.000,0.043,2889,1774,1941
$GC,10069,0.54,223.1,569.7,10.0,884,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1775,1941
$GC,10380,0.55,231.8,540.7,9.7,899,10393,0.00,2.22,6.70,1.017,4,0.000,0.057,2901,377,1918
$GC,10445,0.55,231.8,533.3,12.4,902,10448,0.00,2.10,0.00,0.000,6,0.000,0.044,2901,1771,1917
$GC,10767,0.55,231.8,496.3,10.8,919,10770,0.00,2.12,0.00,0.000,4,0.000,0.057,2912,383,1916
$GC,10860,0.56,238.7,485.9,9.7,927,10872,0.00,2.08,7.57,1.020,6,0.000,0.043,2912,1747,1889
$GC,11190,0.56,238.7,453.9,10.2,958,11194,0.00,2.22,0.00,0.000,4,0.000,0.055,2912,3198,1888
$GC,11314,0.49,238.7,437.8,13.6,969,11319,0.12,2.20,0.00,0.000,6,0.172,0.044,2892,1739,1887
$GC,11638,0.49,238.7,399.4,11.3,999,11642,0.00,2.22,0.00,0.000,4,0.000,0.053,2892,3197,1887
$GC,11694,0.55,238.7,392.9,11.5,1004,11697,0.00,2.17,0.00,0.000,6,0.000,0.043,2901,1745,1887
$GC,12023,0.55,238.7,357.8,10.8,1035,12027,0.00,2.08,0.00,0.000,4,0.000,0.054,2914,379,1887
$GC,12168,0.58,259.7,342.7,9.2,1048,12193,0.00,2.03,18.85,1.029,6,0.000,0.041,2914,1748,1803
$GC,12509,0.69,308.6,313.7,8.1,1080,12558,0.12,2.20,42.20,1.009,4,0.072,0.054,2987,395,1602
$GC,12626,0.50,308.6,297.6,16.0,1091,12633,0.32,2.03,0.00,0.000,6,0.152,0.039,2896,1721,1599
$GC,12970,0.80,330.4,265.2,9.1,1152,12997,0.22,2.10,19.05,0.937,4,0.052,0.053,3014,381,1514
$GC,13070,0.58,330.4,249.3,17.4,1169,13078,0.35,2.03,0.00,0.000,6,0.151,0.039,2915,1726,1511
$GC,13415,0.86,375.3,215.8,8.2,1230,13459,0.22,2.17,38.28,0.904,4,0.052,0.051,3037,388,1332
$GC,13505,0.62,375.3,200.2,19.3,1245,13512,0.35,2.00,0.00,0.000,6,0.146,0.038,2938,1708,1329
$GC,13852,0.82,375.3,159.5,10.4,1306,13859,0.17,2.25,0.00,0.000,4,0.058,0.046,3021,3190,1326
$GC,13989,0.61,375.3,134.3,21.2,1330,13996,0.35,2.22,0.00,0.000,6,0.153,0.038,2931,1702,1326
$GC,14333,1.08,458.2,106.0,6.7,1391,14411,0.38,2.08,69.65,0.793,4,0.039,0.048,3109,383,995
$GC,14523,0.85,458.2,65.6,22.3,1423,14530,0.35,2.03,0.00,0.000,6,0.143,0.035,3005,1741,990
$GC,14870,1.22,508.6,29.6,8.0,1484,14922,0.30,2.28,42.25,0.706,4,0.044,0.048,3146,3184,788
$GC,14945,0.99,508.6,15.0,21.8,1496,14952,0.38,2.22,0.00,0.000,6,0.154,0.035,3051,1704,787
$STATE,15029,end climb,SURFACE_DEPTH_REACHED
$STATE,15029,begin surface coast
$FINISH,1.1,1.021710
$STATE,15055,end surface coast,CONTROL_FINISHED_OK
$STATE,15055,begin surface
$SM_CCo,15129,0.00,0.000,0,0,784,509.98
$SM_GC,1.68,7.72,0.00,0.00,0.044,0.000,0.000,151,1485,784,-8.00,0.00,509.98
$IRIDIUM_FIX,2510.35,12235.95,190898,151520
$TT8_MAMPS,0.027612
$HUMID,1457
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.30
$XPDR_PINGS,106
$24V_AH,23.8,8.677
$10V_AH,10.7,4.905
$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,28.775,141.400,575.950,0.000,0.000,21.969,45.294,187.723,33.000,0.000,0.000,17.599,2681.611,8651.165,668.322,3066.700,411.461,0.000,2054.965,0.000,3031.064,0.000,45.650,0.000
$DEVICE_MAMPS,242.372,60.593,1345.318,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.224,1045.426,1762.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88475,1515
$CAP_FILE_SIZE,166786,0
$CFSIZE,260165632,233041920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.219, 37.0,1
$GPS,250509,225937,2519.684,12243.935,40,1.1,40,-3.7