version: 66.04
glider: 166
mission: 2
dive: 38
start: 5 27 109 21 5 30
data:
$ID,166
$MISSION,2
$DIVE,38
$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,300
$T_MISSION,360
$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,200
$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,-5949.0679
$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,55
$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
$GPS1,205906,2516.043,12255.002,28,1.2,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.6
$GPS2,210508,2516.194,12255.077,15,1.5,15,-3.7
$SPEED_LIMITS,0.191,0.306
$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,188.5,10795,-17.1,-11.000
$D_GRID,1430
$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,-0.94,-194.7,0.0,0.0,0,74,0.00,0.00,-58.15,0.000,2,0.000,0.000,195,1474,2443
$GC,76,-0.94,-194.7,3.3,-5.1,9,128,9.12,1.90,-35.35,0.000,4,0.245,0.061,2430,221,3659
$GC,383,-0.18,-194.7,106.0,-30.5,62,389,0.80,1.90,0.00,0.000,6,0.163,0.031,2677,1501,3659
$GC,727,-0.67,-194.7,130.3,-5.2,123,735,0.40,1.92,0.00,0.000,4,0.043,0.045,2500,220,3662
$GC,752,-0.67,-194.7,133.3,-11.5,127,759,0.00,1.90,0.00,0.000,6,0.000,0.030,2499,1515,3662
$GC,1096,-0.45,-194.7,205.2,-18.0,188,1103,0.28,0.00,0.00,0.000,6,0.141,0.000,2585,1516,3663
$GC,1440,-0.68,-194.7,236.1,-7.7,249,1446,0.17,0.00,0.00,0.000,6,0.058,0.000,2494,1517,3663
$GC,1783,-0.56,-194.7,288.9,-15.6,310,1790,0.17,1.95,0.00,0.000,4,0.146,0.047,2551,213,3663
$GC,1848,-0.63,-194.7,297.6,-12.4,321,1854,0.00,1.88,0.00,0.000,6,0.000,0.030,2549,1523,3663
$GC,2174,-0.78,-194.7,335.0,-10.8,353,2178,0.15,2.03,0.00,0.000,4,0.063,0.041,2458,2901,3663
$GC,2212,-0.73,-194.7,339.9,-12.4,356,2220,0.10,2.03,0.00,0.000,6,0.138,0.035,2497,1535,3663
$GC,2538,-0.73,-194.7,375.9,-10.0,387,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1535,3663
$GC,2858,-0.73,-194.7,404.9,-9.1,417,2861,0.00,2.00,0.00,0.000,4,0.000,0.050,2495,198,3663
$GC,2936,-0.73,-194.7,413.3,-10.5,424,2940,0.00,1.92,0.00,0.000,6,0.000,0.033,2492,1528,3662
$GC,3266,-0.79,-194.7,444.3,-9.6,455,3270,0.00,2.03,0.00,0.000,4,0.000,0.055,2493,2896,3660
$GC,3356,-0.94,-194.7,452.7,-9.4,463,3361,0.17,2.00,0.00,0.000,6,0.058,0.041,2410,1526,3659
$GC,3686,-0.71,-194.7,501.1,-12.9,494,3688,0.32,0.00,0.00,0.000,6,0.148,0.000,2509,1526,3657
$GC,3996,-0.86,-194.7,518.3,-5.3,509,4000,0.15,1.98,0.00,0.000,4,0.066,0.051,2439,208,3655
$GC,4056,-0.69,-194.7,524.3,-10.5,511,4064,0.20,1.95,0.00,0.000,6,0.142,0.035,2507,1531,3655
$GC,4373,-0.85,-194.7,545.3,-7.4,527,4375,0.12,0.00,0.00,0.000,6,0.070,0.000,2444,1531,3652
$GC,4681,-0.78,-194.7,579.9,-11.2,542,4685,0.15,2.03,0.00,0.000,4,0.148,0.053,2487,198,3650
$GC,4735,-0.78,-194.7,585.3,-9.5,544,4740,0.00,1.98,0.00,0.000,6,0.000,0.036,2491,1525,3650
$GC,5057,-0.86,-194.7,611.9,-9.2,560,5061,0.00,2.05,0.00,0.000,4,0.000,0.052,2502,2896,3647
$GC,5090,-1.00,-194.7,615.1,-9.3,561,5095,0.22,2.03,0.00,0.000,6,0.054,0.041,2391,1522,3647
$GC,5412,-0.72,-194.7,666.6,-15.9,577,5414,0.38,0.00,0.00,0.000,6,0.156,0.000,2506,1521,3645
$GC,5721,-0.87,-194.7,692.9,-7.6,592,5723,0.15,0.00,0.00,0.000,6,0.068,0.000,2440,1521,3643
$GC,6031,-0.75,-194.7,729.0,-12.1,607,6033,0.17,0.00,0.00,0.000,6,0.153,0.000,2495,1521,3640
$GC,6340,-0.83,-194.7,761.4,-10.7,622,6342,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1521,3639
$GC,6648,-0.93,-194.7,792.5,-10.1,637,6650,0.17,0.00,0.00,0.000,6,0.067,0.000,2420,1521,3636
$GC,6958,-0.74,-194.7,835.2,-13.2,652,6960,0.28,0.00,0.00,0.000,6,0.153,0.000,2502,1521,3635
$GC,7267,-0.84,-194.7,857.9,-6.5,667,7269,0.10,0.00,0.00,0.000,6,0.084,0.000,2457,1521,3633
$GC,7576,-0.79,-194.7,884.6,-8.7,682,7579,0.00,2.00,0.00,0.000,4,0.000,0.060,2457,209,3631
$GC,7608,-0.66,-194.7,887.9,-10.5,683,7613,0.20,1.98,0.00,0.000,6,0.144,0.041,2527,1520,3631
$GC,7930,-0.87,-194.7,904.0,-5.0,699,7935,0.20,2.10,0.00,0.000,4,0.062,0.055,2434,2906,3629
$GC,7992,-0.81,-194.7,909.3,-9.4,702,7997,0.15,2.08,0.00,0.000,6,0.156,0.044,2474,1520,3629
$GC,8317,-0.81,-194.7,935.2,-7.9,718,8321,0.00,2.00,0.00,0.000,4,0.000,0.060,2474,205,3628
$GC,8372,-0.81,-194.7,939.8,-8.3,720,8376,0.00,1.98,0.00,0.000,6,0.000,0.041,2470,1521,3628
$GC,8694,-0.81,-194.7,962.9,-7.7,736,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1522,3626
$GC,9003,-0.81,-194.7,988.3,-8.4,751,9006,0.00,2.03,0.00,0.000,4,0.000,0.060,2470,204,3625
$STATE,9024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9024,begin apogee
$GC,9030,-0.20,0.0,990.5,9.8,752,9196,0.68,0.00,162.57,1.478,6,0.135,0.000,2666,1753,2863
$STATE,9196,end apogee,CONTROL_FINISHED_OK
$STATE,9197,begin climb
$GC,9198,0.94,194.7,995.3,0.0,760,9375,1.05,0.00,172.43,1.429,6,0.055,0.000,3041,1754,2069
$GC,9676,0.42,194.7,916.9,20.1,783,9681,0.55,2.25,0.00,0.000,4,0.176,0.057,2894,346,2061
$GC,9708,0.35,194.7,912.0,13.2,784,9717,0.12,2.20,0.00,0.000,6,0.147,0.043,2856,1752,2062
$GC,10024,0.54,250.9,883.9,8.9,800,10076,0.17,0.00,49.05,1.381,6,0.063,0.000,2935,1753,1840
$GC,10377,0.42,250.9,836.9,12.8,817,10382,0.20,2.22,0.00,0.000,4,0.159,0.058,2887,336,1833
$GC,10409,0.49,269.7,833.2,10.3,818,10431,0.00,2.20,17.50,1.305,6,0.000,0.044,2886,1750,1763
$GC,10740,0.57,269.7,798.6,11.0,834,10742,0.12,0.00,0.00,0.000,6,0.072,0.000,2940,1751,1758
$GC,11050,0.45,269.7,752.4,15.4,849,11052,0.20,0.00,0.00,0.000,6,0.157,0.000,2887,1752,1757
$GC,11359,0.55,269.7,714.1,12.6,864,11362,0.00,2.20,0.00,0.000,4,0.000,0.058,2896,339,1757
$GC,11430,0.61,269.7,704.4,13.8,867,11435,0.08,2.15,0.00,0.000,6,0.063,0.043,2943,1742,1757
$GC,11757,0.50,269.7,652.3,16.0,883,11761,0.15,2.17,0.00,0.000,4,0.160,0.056,2902,3158,1756
$GC,11788,0.50,269.7,647.4,14.0,884,11797,0.00,2.17,0.00,0.000,6,0.000,0.044,2910,1739,1755
$GC,12103,0.50,269.7,606.9,12.4,900,12104,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1739,1755
$GC,12413,0.50,269.7,567.8,13.3,915,12417,0.00,2.15,0.00,0.000,4,0.000,0.058,2924,344,1755
$GC,12458,0.50,269.7,561.9,13.7,917,12462,0.00,2.10,0.00,0.000,6,0.000,0.044,2923,1741,1755
$GC,12790,0.50,269.7,517.2,13.5,933,12794,0.00,2.15,0.00,0.000,4,0.000,0.057,2935,336,1755
$GC,12834,0.50,269.7,510.8,14.1,935,12839,0.12,2.08,0.00,0.000,6,0.160,0.043,2903,1724,1755
$GC,13162,0.60,269.7,471.9,12.7,961,13166,0.00,2.17,0.00,0.000,4,0.000,0.054,2902,3154,1753
$GC,13195,0.69,269.7,467.6,12.3,964,13200,0.15,2.15,0.00,0.000,6,0.066,0.043,2980,1721,1752
$GC,13519,0.53,269.7,413.8,16.0,994,13524,0.22,2.17,0.00,0.000,4,0.159,0.051,2910,3148,1752
$GC,13559,0.61,269.7,408.6,11.8,997,13562,0.00,2.12,0.00,0.000,6,0.000,0.042,2919,1727,1752
$GC,13888,0.68,270.5,376.2,11.0,1028,13892,0.10,2.08,0.00,0.000,4,0.078,0.055,2981,350,1752
$GC,13939,0.54,270.5,369.3,14.7,1032,13947,0.22,2.05,0.00,0.000,6,0.154,0.041,2917,1739,1752
$GC,14263,0.65,270.5,328.6,12.5,1063,14267,0.00,2.12,0.00,0.000,4,0.000,0.052,2918,3153,1752
$GC,14312,0.76,270.5,322.5,12.1,1067,14319,0.12,2.10,0.00,0.000,6,0.051,0.041,2996,1759,1752
$GC,14648,0.61,270.5,272.9,16.6,1114,14655,0.20,2.15,0.00,0.000,4,0.156,0.051,2944,336,1752
$GC,14734,0.67,270.5,261.4,12.2,1129,14740,0.00,2.10,0.00,0.000,6,0.000,0.041,2945,1759,1753
$GC,15079,0.84,337.1,226.3,8.5,1190,15140,0.17,0.00,55.67,0.916,6,0.110,0.000,3033,1760,1487
$GC,15477,0.70,337.1,160.9,18.2,1260,15485,0.22,2.17,0.00,0.000,4,0.150,0.049,2974,348,1482
$GC,15558,0.83,337.1,149.2,12.7,1274,15564,0.00,2.12,0.00,0.000,6,0.000,0.036,2974,1778,1481
$GC,15903,1.12,443.3,116.0,7.0,1335,16000,0.32,2.30,88.88,0.789,4,0.044,0.046,3126,339,1054
$GC,16163,0.82,443.3,60.5,23.8,1379,16170,0.40,2.12,0.00,0.000,6,0.147,0.034,3007,1760,1048
$GC,16510,1.01,448.7,19.7,10.8,1440,16519,0.15,0.00,5.00,0.515,6,0.061,0.000,3078,1762,1034
$STATE,16608,end climb,SURFACE_DEPTH_REACHED
$STATE,16608,begin surface coast
$FINISH,1.1,1.009258
$STATE,16626,end surface coast,CONTROL_FINISHED_OK
$STATE,16626,begin surface
$SM_CCo,16701,0.00,0.000,0,0,1031,449.39
$SM_GC,2.03,7.90,0.00,0.00,0.052,0.000,0.000,156,1498,1031,-8.02,-0.06,449.39
$IRIDIUM_FIX,2507.97,12255.14,210898,161645
$TT8_MAMPS,0.026845
$HUMID,1443
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.50
$XPDR_PINGS,93
$24V_AH,23.5,10.794
$10V_AH,10.7,6.452
$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,28.000,108.375,551.100,0.000,0.000,23.402,36.582,196.059,31.250,0.000,0.000,15.547,2584.102,10598.316,637.855,2817.671,413.723,0.000,1903.504,0.000,2789.299,0.000,54.390,0.000
$DEVICE_MAMPS,245.440,60.593,1478.009,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,995.401,962.926,1618.668,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85367,1460
$CAP_FILE_SIZE,160024,0
$CFSIZE,260165632,232103936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.283, 19.4,1
$GPS,280509,014500,2516.009,12255.749,37,1.6,37,-3.7