version: 66.04
glider: 166
mission: 2
dive: 31
start: 5 26 109 8 45 22
data:
$ID,166
$MISSION,2
$DIVE,31
$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,-5845.3887
$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,40
$R_STBD_OVSHOOT,55
$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
$GPS1,083855,2517.627,12248.186,43,0.9,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-67.8
$GPS2,084502,2517.760,12248.447,14,1.0,14,-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,168.3,20324,-16.8,-10.000
$D_GRID,1216
$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,-0.88,-170.3,0.0,0.0,0,69,0.00,0.00,-52.90,0.000,2,0.000,0.000,169,1476,2323
$GC,71,-0.88,-170.3,3.2,-5.5,8,123,8.82,2.15,-35.28,0.000,4,0.226,0.054,2434,2875,3559
$GC,186,-0.09,-170.3,34.4,-39.2,27,193,0.93,2.08,0.00,0.000,6,0.173,0.036,2697,1474,3561
$GC,532,-0.45,-170.3,63.9,-5.6,88,538,0.28,2.08,0.00,0.000,4,0.044,0.038,2563,2883,3563
$GC,606,-0.34,-170.3,73.1,-14.3,101,613,0.20,2.03,0.00,0.000,6,0.144,0.035,2619,1493,3563
$GC,951,-0.34,-170.3,121.0,-14.1,162,959,0.00,2.05,0.00,0.000,4,0.000,0.041,2618,2886,3564
$GC,987,-0.42,-170.3,125.9,-12.8,168,993,0.00,2.03,0.00,0.000,6,0.000,0.034,2619,1488,3564
$GC,1330,-0.58,-170.3,163.6,-11.1,229,1337,0.20,0.00,0.00,0.000,6,0.052,0.000,2520,1488,3565
$GC,1671,-0.43,-170.3,219.4,-15.1,290,1679,0.22,2.05,0.00,0.000,4,0.146,0.041,2590,2881,3566
$GC,1758,-0.70,-170.3,227.8,-8.3,305,1764,0.25,1.98,0.00,0.000,6,0.046,0.033,2472,1513,3567
$GC,2101,-0.48,-170.3,279.9,-11.4,366,2108,0.30,0.00,0.00,0.000,6,0.145,0.000,2568,1513,3566
$GC,2440,-0.67,-170.3,309.6,-9.6,418,2444,0.15,2.03,0.00,0.000,4,0.063,0.041,2480,2880,3566
$GC,2483,-0.67,-170.3,315.0,-12.7,422,2487,0.00,1.98,0.00,0.000,6,0.000,0.035,2494,1540,3566
$GC,2814,-0.57,-170.3,355.2,-11.3,453,2818,0.17,1.98,0.00,0.000,4,0.144,0.048,2553,208,3566
$GC,2914,-0.68,-170.3,366.0,-11.3,462,2918,0.00,1.90,0.00,0.000,6,0.000,0.031,2536,1534,3566
$GC,3245,-0.85,-170.3,395.1,-8.5,493,3249,0.17,1.98,0.00,0.000,4,0.059,0.044,2444,2880,3563
$GC,3390,-0.72,-170.3,413.0,-13.2,506,3395,0.17,1.98,0.00,0.000,6,0.146,0.037,2494,1531,3563
$GC,3720,-0.72,-170.3,447.8,-9.1,537,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1531,3560
$GC,4039,-0.72,-170.3,478.1,-10.4,567,4043,0.00,2.03,0.00,0.000,4,0.000,0.051,2493,2886,3558
$GC,4089,-0.85,-170.3,483.1,-9.4,571,4095,0.12,1.98,0.00,0.000,6,0.069,0.043,2432,1542,3558
$GC,4408,-0.66,-170.3,524.1,-12.4,593,4413,0.25,2.00,0.00,0.000,4,0.151,0.051,2512,207,3555
$GC,4498,-0.73,-170.3,531.6,-7.6,597,4501,0.00,1.92,0.00,0.000,6,0.000,0.035,2510,1535,3555
$GC,4824,-0.85,-170.3,552.4,-6.0,613,4826,0.15,0.00,0.00,0.000,6,0.067,0.000,2439,1537,3552
$GC,5133,-0.71,-170.3,582.1,-9.5,628,5137,0.17,2.03,0.00,0.000,4,0.156,0.054,2495,204,3550
$GC,5321,-0.71,-170.3,599.3,-9.7,636,5326,0.00,1.95,0.00,0.000,6,0.000,0.037,2496,1522,3549
$GC,5643,-0.79,-170.3,628.0,-9.2,652,5646,0.00,2.03,0.00,0.000,4,0.000,0.051,2504,2880,3546
$GC,5703,-0.95,-170.3,633.5,-9.0,654,5713,0.17,2.03,0.00,0.000,6,0.047,0.041,2410,1531,3546
$GC,6020,-0.70,-170.3,678.0,-14.8,670,6024,0.28,2.00,0.00,0.000,4,0.156,0.055,2495,206,3543
$GC,6080,-0.70,-170.3,685.1,-10.5,673,6084,0.00,1.92,0.00,0.000,6,0.000,0.038,2508,1519,3543
$GC,6414,-0.76,-170.3,712.3,-7.9,689,6417,0.00,2.05,0.00,0.000,4,0.000,0.054,2511,2886,3541
$GC,6452,-0.92,-170.3,715.7,-8.2,690,6461,0.17,2.05,0.00,0.000,6,0.050,0.042,2422,1526,3541
$GC,6768,-0.67,-170.3,756.4,-13.7,706,6772,0.28,2.00,0.00,0.000,4,0.156,0.057,2506,204,3538
$GC,6829,-0.67,-170.3,763.1,-9.5,709,6832,0.00,1.92,0.00,0.000,6,0.000,0.040,2510,1512,3538
$GC,7162,-0.76,-170.3,790.3,-7.9,725,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1513,3536
$GC,7471,-0.84,-170.3,810.3,-6.6,740,7475,0.15,2.08,0.00,0.000,4,0.071,0.053,2437,2891,3535
$GC,7510,-0.71,-170.3,813.6,-9.9,742,7514,0.22,2.05,0.00,0.000,6,0.150,0.044,2503,1513,3534
$GC,7835,-0.76,-170.3,837.1,-7.5,758,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1513,3533
$GC,8146,-0.83,-170.3,860.7,-7.2,773,8150,0.12,2.08,0.00,0.000,4,0.075,0.055,2447,2880,3531
$GC,8192,-0.76,-170.3,864.7,-9.0,775,8196,0.15,2.05,0.00,0.000,6,0.156,0.045,2488,1512,3531
$GC,8524,-0.76,-170.3,889.1,-7.0,791,8528,0.00,1.98,0.00,0.000,4,0.000,0.060,2487,203,3530
$GC,8606,-0.76,-170.3,896.0,-8.5,794,8615,0.00,1.95,0.00,0.000,6,0.000,0.041,2486,1506,3529
$GC,8922,-0.76,-170.3,922.1,-8.8,810,8926,0.00,2.08,0.00,0.000,4,0.000,0.055,2477,2885,3528
$GC,8950,-0.76,-170.3,924.6,-9.2,811,8955,0.00,2.05,0.00,0.000,6,0.000,0.044,2477,1509,3528
$GC,9276,-0.76,-170.3,953.5,-8.7,827,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1509,3527
$GC,9584,-0.76,-170.3,980.4,-8.7,842,9588,0.00,2.00,0.00,0.000,4,0.000,0.061,2476,198,3526
$STATE,9684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9684,begin apogee
$GC,9689,-0.20,0.0,990.3,10.6,846,9834,0.57,0.00,141.55,1.481,6,0.139,0.000,2655,1780,2863
$STATE,9835,end apogee,CONTROL_FINISHED_OK
$STATE,9835,begin climb
$GC,9836,0.88,170.3,993.8,0.0,853,9995,1.05,2.38,150.85,1.430,4,0.077,0.058,3002,3194,2168
$GC,10118,0.42,170.3,955.3,19.0,866,10123,0.47,2.22,0.00,0.000,6,0.176,0.044,2871,1788,2163
$GC,10444,0.42,170.3,919.2,10.7,882,10448,0.00,2.22,0.00,0.000,4,0.000,0.059,2879,377,2160
$GC,10556,0.42,170.3,906.5,10.9,887,10560,0.00,2.15,0.00,0.000,6,0.000,0.044,2878,1783,2160
$GC,10887,0.42,170.3,870.4,10.8,903,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1784,2159
$GC,11196,0.42,170.3,837.2,10.4,918,11200,0.00,2.20,0.00,0.000,4,0.000,0.058,2890,375,2158
$GC,11268,0.36,170.3,828.9,12.3,921,11273,0.12,2.15,0.00,0.000,6,0.156,0.044,2851,1775,2158
$GC,11595,0.48,201.9,799.6,8.8,937,11625,0.12,0.00,27.73,1.350,6,0.076,0.000,2905,1775,2039
$GC,11924,0.40,201.9,756.5,13.5,953,11925,0.17,0.00,0.00,0.000,6,0.163,0.000,2861,1775,2033
$GC,12233,0.49,201.9,723.3,10.5,968,12236,0.00,2.17,0.00,0.000,4,0.000,0.059,2870,379,2033
$GC,12287,0.56,201.9,716.9,10.9,970,12292,0.10,2.12,0.00,0.000,6,0.058,0.044,2927,1764,2032
$GC,12608,0.41,201.9,669.1,15.0,986,12613,0.20,2.20,0.00,0.000,4,0.156,0.056,2867,3196,2032
$GC,12646,0.47,201.9,663.9,12.8,988,12650,0.00,2.17,0.00,0.000,6,0.000,0.044,2876,1761,2031
$GC,12978,0.52,201.9,627.7,10.3,1004,12981,0.00,2.10,0.00,0.000,4,0.000,0.058,2887,385,2031
$GC,13022,0.52,201.9,623.1,10.7,1006,13026,0.00,2.08,0.00,0.000,6,0.000,0.044,2886,1766,2031
$GC,13354,0.60,267.1,593.7,7.4,1022,13418,0.12,2.33,55.35,1.236,4,0.074,0.056,2946,3181,1773
$GC,13433,0.45,267.1,584.9,11.8,1025,13442,0.25,2.25,0.00,0.000,6,0.153,0.044,2881,1763,1771
$GC,13750,0.58,286.3,557.0,9.2,1041,13774,0.12,2.25,17.55,1.159,4,0.068,0.057,2954,384,1695
$GC,13913,0.46,286.3,532.4,15.7,1048,13919,0.22,2.12,0.00,0.000,6,0.146,0.043,2885,1751,1692
$GC,14230,0.61,286.3,497.7,10.9,1064,14234,0.15,2.15,0.00,0.000,4,0.064,0.055,2963,376,1690
$GC,14280,0.47,286.3,490.6,15.0,1068,14284,0.28,2.05,0.00,0.000,6,0.149,0.043,2884,1730,1690
$GC,14604,0.68,302.9,458.3,9.3,1098,14624,0.20,0.00,15.32,1.093,6,0.057,0.000,2971,1732,1627
$GC,14942,0.53,302.9,402.0,18.6,1130,14944,0.25,0.00,0.00,0.000,6,0.154,0.000,2906,1732,1624
$GC,15261,0.65,302.9,366.3,10.1,1160,15263,0.12,0.00,0.00,0.000,6,0.069,0.000,2966,1732,1624
$GC,15580,0.54,302.9,325.9,12.4,1190,15585,0.17,2.22,0.00,0.000,4,0.155,0.051,2912,3188,1624
$GC,15634,0.72,342.8,320.5,8.4,1194,15676,0.08,2.25,34.55,1.003,6,0.060,0.041,2970,1709,1464
$GC,16003,0.66,342.8,269.2,16.2,1246,16008,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1709,1459
$GC,16347,0.66,342.8,217.7,13.7,1307,16353,0.00,2.03,0.00,0.000,4,0.000,0.053,2981,382,1458
$GC,16414,0.66,342.8,208.8,12.7,1319,16421,0.12,2.00,0.00,0.000,6,0.150,0.041,2949,1730,1458
$GC,16758,0.93,402.2,182.1,7.7,1380,16816,0.20,2.15,50.22,0.867,4,0.054,0.057,3059,376,1221
$GC,16839,0.72,402.2,169.7,19.2,1393,16847,0.32,2.03,0.00,0.000,6,0.147,0.036,2965,1718,1220
$GC,17187,1.02,452.2,134.8,8.0,1454,17238,0.25,2.12,43.12,0.801,4,0.047,0.048,3087,372,1016
$GC,17312,0.85,452.2,112.1,19.0,1475,17319,0.28,2.00,0.00,0.000,6,0.144,0.034,3007,1690,1014
$GC,17658,1.01,452.2,68.6,13.1,1536,17665,0.15,2.28,0.00,0.000,4,0.061,0.041,3078,3204,1014
$GC,17699,0.94,452.2,61.9,17.1,1543,17706,0.20,2.28,0.00,0.000,6,0.157,0.035,3035,1673,1013
$GC,18045,1.13,452.2,19.7,11.2,1604,18051,0.17,1.95,0.00,0.000,4,0.055,0.045,3136,374,1013
$GC,18114,0.91,452.2,6.6,20.6,1616,18120,0.30,1.95,0.00,0.000,6,0.144,0.031,3026,1711,1013
$STATE,18136,end climb,SURFACE_DEPTH_REACHED
$STATE,18136,begin surface coast
$FINISH,1.0,1.021763
$STATE,18155,end surface coast,CONTROL_FINISHED_OK
$STATE,18155,begin surface
$SM_CCo,18229,0.00,0.000,0,0,1012,454.05
$SM_GC,1.73,7.78,0.00,0.00,0.056,0.000,0.000,164,1466,1012,-8.01,-0.57,454.05
$IRIDIUM_FIX,2510.35,12247.84,200898,030312
$TT8_MAMPS,0.026845
$HUMID,1432
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.10
$XPDR_PINGS,96
$24V_AH,23.6,9.306
$10V_AH,10.7,5.370
$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,28.700,141.800,536.250,0.000,0.000,23.356,31.616,206.599,32.000,0.000,0.000,14.920,2927.557,11239.508,651.432,3344.312,419.102,0.000,2134.390,0.000,3300.664,0.000,54.409,0.000
$DEVICE_MAMPS,226.265,60.593,1481.077,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.311,1112.747,1874.572,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94701,1623
$CAP_FILE_SIZE,184461,0
$CFSIZE,260165632,232734720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.331, 20.2,1
$GPS,260509,135030,2518.146,12250.354,41,1.1,47,-3.7