version: 66.04
glider: 166
mission: 2
dive: 35
start: 5 27 109 5 40 10
data:
$ID,166
$MISSION,2
$DIVE,35
$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,-5904.7437
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$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,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,46
$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
$GPS1,053231,2516.730,12253.616,40,1.7,40,-3.7
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.6
$GPS2,053950,2516.958,12253.626,14,1.9,14,-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,195.1,13248,-16.8,-10.000
$D_GRID,1386
$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,-0.90,-170.3,0.0,0.0,0,79,0.00,0.00,-62.65,0.000,2,0.000,0.000,195,1513,2479
$GC,81,-0.90,-170.3,3.2,-4.4,10,127,9.02,2.08,-31.50,0.000,4,0.239,0.059,2441,191,3559
$GC,324,-0.10,-170.3,76.4,-32.7,52,332,0.85,1.95,0.00,0.000,6,0.169,0.031,2702,1502,3561
$GC,671,-0.59,-170.3,104.1,-6.0,113,678,0.40,2.05,0.00,0.000,4,0.044,0.038,2527,2899,3563
$GC,712,-0.45,-170.3,109.0,-13.7,120,721,0.22,2.08,0.00,0.000,6,0.137,0.035,2591,1482,3563
$GC,1060,-0.49,-170.3,150.5,-10.1,181,1066,0.00,1.92,0.00,0.000,4,0.000,0.048,2592,210,3563
$GC,1145,-0.54,-170.3,160.0,-11.8,196,1153,0.00,1.90,0.00,0.000,6,0.000,0.029,2592,1515,3563
$GC,1493,-0.67,-170.3,196.5,-9.8,257,1499,0.17,0.00,0.00,0.000,6,0.058,0.000,2506,1516,3564
$GC,1835,-0.49,-170.3,244.7,-12.3,318,1842,0.22,1.95,0.00,0.000,4,0.147,0.047,2575,207,3564
$GC,1877,-0.54,-170.3,248.7,-8.6,325,1883,0.00,1.85,0.00,0.000,6,0.000,0.028,2575,1512,3564
$GC,2220,-0.71,-170.3,277.0,-8.1,386,2226,0.17,0.00,0.00,0.000,6,0.060,0.000,2489,1513,3564
$GC,2559,-0.55,-170.3,325.4,-14.7,432,2563,0.22,1.95,0.00,0.000,4,0.147,0.048,2559,207,3564
$GC,2737,-0.65,-170.3,344.4,-9.1,448,2741,0.00,1.85,0.00,0.000,6,0.000,0.030,2559,1504,3563
$GC,3068,-0.84,-170.3,365.9,-6.0,479,3072,0.22,2.05,0.00,0.000,4,0.054,0.043,2430,2900,3562
$GC,3207,-0.68,-170.3,382.9,-13.1,491,3212,0.28,2.05,0.00,0.000,6,0.143,0.036,2521,1497,3562
$GC,3531,-0.76,-170.3,414.3,-10.3,521,3535,0.00,1.92,0.00,0.000,4,0.000,0.054,2517,204,3560
$GC,3557,-0.76,-170.3,417.1,-10.2,523,3564,0.00,1.90,0.00,0.000,6,0.000,0.031,2513,1506,3560
$GC,3884,-0.87,-170.3,448.6,-9.1,554,3888,0.15,1.95,0.00,0.000,4,0.066,0.049,2442,208,3558
$GC,3910,-0.73,-170.3,452.2,-13.4,556,3919,0.17,1.90,0.00,0.000,6,0.146,0.039,2498,1502,3558
$GC,4236,-0.79,-170.3,477.8,-6.6,587,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1503,3555
$GC,4566,-0.85,-170.3,502.2,-8.2,617,4570,0.00,2.08,0.00,0.000,4,0.000,0.051,2499,2896,3553
$GC,4598,-0.97,-170.3,505.2,-8.3,618,4603,0.17,2.08,0.00,0.000,6,0.045,0.038,2407,1504,3552
$GC,4920,-0.71,-170.3,552.5,-15.5,634,4925,0.30,2.10,0.00,0.000,4,0.153,0.049,2496,2900,3550
$GC,4963,-0.87,-170.3,557.4,-8.7,636,4968,0.08,2.08,0.00,0.000,6,0.058,0.039,2444,1512,3550
$GC,5290,-0.77,-170.3,590.3,-9.2,652,5295,0.15,2.08,0.00,0.000,4,0.150,0.049,2485,2893,3548
$GC,5312,-0.77,-170.3,592.1,-7.9,653,5315,0.00,2.05,0.00,0.000,6,0.000,0.040,2485,1502,3548
$GC,5639,-0.83,-170.3,614.6,-7.2,669,5642,0.00,1.95,0.00,0.000,4,0.000,0.055,2485,205,3545
$GC,5683,-0.83,-170.3,618.3,-8.2,671,5687,0.00,1.90,0.00,0.000,6,0.000,0.036,2503,1510,3545
$GC,6015,-0.88,-170.3,644.7,-7.6,687,6020,0.15,2.08,0.00,0.000,4,0.069,0.051,2436,2895,3542
$GC,6042,-0.78,-170.3,647.4,-10.6,688,6046,0.12,2.08,0.00,0.000,6,0.150,0.041,2477,1514,3542
$GC,6363,-0.78,-170.3,677.1,-9.4,704,6366,0.00,1.98,0.00,0.000,4,0.000,0.057,2477,205,3540
$GC,6423,-0.69,-170.3,683.7,-11.1,706,6431,0.10,1.92,0.00,0.000,6,0.148,0.039,2510,1498,3540
$GC,6739,-0.77,-170.3,708.3,-7.7,722,6743,0.00,2.10,0.00,0.000,4,0.000,0.054,2510,2895,3539
$GC,6829,-0.93,-170.3,714.3,-6.2,726,6833,0.20,2.05,0.00,0.000,6,0.058,0.042,2422,1516,3538
$GC,7155,-0.70,-170.3,750.7,-10.8,742,7160,0.28,2.00,0.00,0.000,4,0.156,0.056,2507,195,3535
$GC,7311,-0.75,-170.3,762.3,-6.9,749,7315,0.00,1.92,0.00,0.000,6,0.000,0.041,2506,1500,3534
$GC,7638,-0.82,-170.3,781.5,-6.2,765,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1502,3533
$GC,7947,-0.89,-170.3,801.9,-7.0,780,7949,0.15,0.00,0.00,0.000,6,0.071,0.000,2440,1503,3531
$GC,8257,-0.73,-170.3,834.6,-10.6,795,8259,0.22,0.00,0.00,0.000,6,0.155,0.000,2505,1503,3530
$GC,8565,-0.80,-170.3,857.4,-7.2,810,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1503,3529
$GC,8876,-0.89,-170.3,878.3,-6.8,825,8878,0.15,0.00,0.00,0.000,6,0.073,0.000,2441,1503,3528
$GC,9184,-0.74,-170.3,908.5,-9.9,840,9186,0.20,0.00,0.00,0.000,6,0.155,0.000,2498,1503,3527
$GC,9494,-0.80,-170.3,930.3,-6.7,855,9497,0.00,2.12,0.00,0.000,4,0.000,0.058,2494,2898,3525
$GC,9526,-0.93,-170.3,932.8,-7.4,856,9531,0.12,2.12,0.00,0.000,6,0.055,0.047,2430,1504,3525
$GC,9847,-0.76,-170.3,966.7,-11.1,872,9849,0.22,0.00,0.00,0.000,6,0.153,0.000,2496,1504,3525
$STATE,10133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10133,begin apogee
$GC,10137,-0.20,0.0,990.9,8.1,886,10281,0.55,0.00,140.65,1.491,6,0.129,0.000,2668,1754,2863
$STATE,10282,end apogee,CONTROL_FINISHED_OK
$STATE,10282,begin climb
$GC,10283,0.90,170.3,994.9,0.0,893,10442,1.02,2.35,150.35,1.436,4,0.069,0.058,3015,3150,2167
$GC,10486,0.38,170.3,973.0,19.3,902,10494,0.57,2.25,0.00,0.000,6,0.180,0.044,2868,1754,2164
$GC,10801,0.42,203.6,943.3,8.7,918,10842,0.00,0.00,32.05,1.315,6,0.000,0.000,2867,1754,2032
$GC,11151,0.49,203.6,908.7,10.4,935,11155,0.00,2.22,0.00,0.000,4,0.000,0.061,2878,342,2026
$GC,11218,0.49,203.6,901.3,10.7,938,11222,0.00,2.15,0.00,0.000,6,0.000,0.044,2879,1744,2026
$GC,11549,0.49,203.6,864.1,11.7,954,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1744,2025
$GC,11859,0.49,203.6,826.3,12.3,969,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1744,2024
$GC,12167,0.49,203.6,787.9,12.3,984,12171,0.00,2.20,0.00,0.000,4,0.000,0.058,2891,329,2024
$GC,12194,0.49,203.6,784.4,13.1,985,12199,0.00,2.17,0.00,0.000,6,0.000,0.043,2891,1747,2023
$GC,12522,0.49,203.6,740.9,13.3,1001,12525,0.00,2.20,0.00,0.000,4,0.000,0.059,2902,331,2023
$GC,12604,0.49,203.6,729.3,12.9,1004,12613,0.00,2.12,0.00,0.000,6,0.000,0.043,2900,1721,2023
$GC,12920,0.49,203.6,687.6,12.9,1020,12923,0.00,2.20,0.00,0.000,4,0.000,0.058,2899,3160,2022
$GC,12987,0.49,203.6,678.7,13.2,1023,12990,0.00,2.17,0.00,0.000,6,0.000,0.045,2910,1720,2021
$GC,13320,0.43,203.6,637.6,11.9,1039,13324,0.00,2.12,0.00,0.000,4,0.000,0.058,2923,333,2021
$GC,13369,0.35,203.6,631.0,13.0,1041,13374,0.20,2.12,0.00,0.000,6,0.151,0.044,2858,1735,2021
$GC,13696,0.57,266.4,604.1,7.5,1057,13752,0.17,0.00,52.80,1.252,6,0.063,0.000,2940,1736,1777
$GC,14070,0.47,266.4,558.1,13.0,1075,14075,0.17,2.17,0.00,0.000,4,0.156,0.056,2906,342,1770
$GC,14110,0.53,266.4,553.3,11.0,1077,14113,0.00,2.12,0.00,0.000,6,0.000,0.044,2906,1731,1769
$GC,14442,0.59,266.4,516.2,12.1,1093,14443,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1732,1768
$GC,14755,0.65,266.4,478.4,12.1,1116,14757,0.12,0.00,0.00,0.000,6,0.072,0.000,2963,1732,1768
$GC,15074,0.49,266.4,431.0,14.7,1146,15079,0.20,2.15,0.00,0.000,4,0.156,0.054,2908,341,1767
$GC,15191,0.69,351.4,421.7,6.7,1156,15271,0.15,2.08,72.43,1.104,6,0.067,0.041,2980,1732,1429
$GC,15588,0.59,351.4,356.6,17.2,1193,15593,0.17,2.17,0.00,0.000,4,0.155,0.052,2936,341,1420
$GC,15608,0.59,351.4,352.9,16.5,1194,15616,0.00,2.12,0.00,0.000,6,0.000,0.040,2937,1716,1420
$GC,15935,0.68,351.4,308.4,12.7,1225,15936,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1718,1419
$GC,16266,0.78,351.4,271.1,11.6,1278,16273,0.15,2.12,0.00,0.000,4,0.063,0.053,3027,338,1418
$GC,16303,0.62,351.4,265.7,16.0,1284,16311,0.30,2.05,0.00,0.000,6,0.153,0.044,2943,1718,1418
$GC,16649,0.77,351.4,225.5,11.1,1345,16655,0.12,0.00,0.00,0.000,6,0.069,0.000,3006,1720,1418
$GC,16990,0.71,351.4,171.3,13.9,1406,16996,0.15,0.00,0.00,0.000,6,0.150,0.000,2966,1720,1418
$GC,17334,0.98,405.2,140.7,7.9,1467,17386,0.22,2.15,44.40,0.820,4,0.050,0.048,3080,339,1209
$GC,17422,0.82,405.2,127.1,19.0,1481,17430,0.25,2.03,0.00,0.000,6,0.144,0.034,3006,1700,1208
$GC,17768,0.95,412.7,88.6,9.7,1542,17782,0.12,2.08,7.72,0.653,4,0.067,0.047,3074,337,1179
$GC,17851,0.86,412.7,76.2,16.1,1556,17859,0.20,2.00,0.00,0.000,6,0.146,0.032,3017,1686,1177
$GC,18197,1.03,412.7,35.1,10.5,1617,18205,0.15,2.08,0.00,0.000,4,0.060,0.047,3090,339,1178
$GC,18222,1.03,412.7,31.9,12.5,1621,18229,0.00,1.95,0.00,0.000,6,0.000,0.031,3090,1666,1178
$STATE,18402,end climb,SURFACE_DEPTH_REACHED
$STATE,18402,begin surface coast
$FINISH,0.9,1.011604
$STATE,18419,end surface coast,CONTROL_FINISHED_OK
$STATE,18419,begin surface
$SM_CCo,18434,10.88,0.621,0,0,1130,425.10
$SM_GC,2.39,0.00,0.00,10.88,0.000,0.000,0.621,168,1473,1130,-8.04,-0.76,425.10
$IRIDIUM_FIX,2507.97,12249.84,210898,000029
$TT8_MAMPS,0.027612
$HUMID,1432
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,25.10
$XPDR_PINGS,118
$24V_AH,23.6,10.158
$10V_AH,10.7,6.009
$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,27.625,124.250,500.400,10.875,0.000,24.813,36.747,272.935,37.500,0.000,0.000,14.550,2951.721,11498.729,631.539,3273.830,517.443,0.000,2080.351,0.000,3249.489,0.000,54.393,0.000
$DEVICE_MAMPS,239.304,60.593,1491.048,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1129.765,1127.099,1894.632,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94832,1656
$CAP_FILE_SIZE,182354,0
$CFSIZE,260165632,232353792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.243, 43.7,1
$GPS,270509,104837,2515.970,12254.824,28,1.2,28,-3.7