version: 66.04
glider: 166
mission: 2
dive: 56
start: 5 30 109 23 34 54
data:
$ID,166
$MISSION,2
$DIVE,56
$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,-2
$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,-6275.0781
$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,42
$R_STBD_OVSHOOT,58
$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
$GPS1,232836,2534.249,12258.125,26,0.9,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-69.1
$GPS2,233432,2534.373,12258.197,16,1.5,16,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_4
$TGT_LATLONG,2517.000,12320.000
$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,150.0,48665,-17.1,-11.000
$D_GRID,782
$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,-0.94,-194.7,0.0,0.0,0,74,0.00,0.00,-57.90,0.000,2,0.000,0.000,166,1488,2370
$GC,76,-0.94,-194.7,3.1,-5.0,9,128,9.00,2.00,-37.83,0.000,4,0.235,0.060,2433,200,3658
$GC,303,-0.09,-194.7,75.8,-35.8,48,311,0.88,1.92,0.00,0.000,6,0.170,0.032,2706,1495,3659
$GC,648,-0.99,-194.7,108.5,-10.9,109,655,0.75,2.05,0.00,0.000,4,0.059,0.035,2416,2906,3661
$GC,735,-0.32,-194.7,127.8,-31.7,124,742,0.73,2.05,0.00,0.000,6,0.165,0.032,2629,1496,3661
$GC,1081,-0.59,-194.7,164.6,-9.3,185,1088,0.20,1.90,0.00,0.000,4,0.051,0.043,2529,209,3662
$GC,1156,-0.32,-194.7,176.9,-20.6,198,1163,0.30,1.90,0.00,0.000,6,0.141,0.030,2635,1508,3662
$GC,1500,-0.70,-194.7,202.9,-6.2,259,1507,0.28,2.03,0.00,0.000,4,0.045,0.038,2495,2897,3663
$GC,1569,-0.56,-194.7,211.9,-14.7,271,1577,0.20,2.03,0.00,0.000,6,0.146,0.031,2557,1491,3662
$GC,1916,-0.64,-194.7,253.8,-9.4,332,1922,0.00,2.08,0.00,0.000,4,0.000,0.041,2553,2904,3663
$GC,2002,-0.87,-194.7,261.1,-7.5,347,2010,0.25,2.00,0.00,0.000,6,0.048,0.032,2439,1517,3663
$GC,2341,-0.51,-194.7,326.0,-19.5,396,2343,0.43,0.00,0.00,0.000,6,0.151,0.000,2571,1517,3663
$GC,2660,-0.75,-194.7,354.4,-8.3,426,2664,0.20,2.05,0.00,0.000,4,0.056,0.042,2468,2897,3664
$GC,2716,-0.67,-194.7,361.2,-13.1,431,2721,0.17,2.03,0.00,0.000,6,0.143,0.035,2521,1507,3664
$GC,3045,-0.73,-194.7,398.2,-10.5,462,3049,0.00,1.92,0.00,0.000,4,0.000,0.048,2521,208,3664
$GC,3157,-0.73,-194.7,411.6,-12.5,472,3161,0.00,1.88,0.00,0.000,6,0.000,0.031,2520,1489,3663
$GC,3488,-0.84,-194.7,441.9,-6.8,503,3490,0.15,0.00,0.00,0.000,6,0.065,0.000,2447,1491,3663
$GC,3806,-0.67,-194.7,479.5,-14.0,533,3810,0.22,2.10,0.00,0.000,4,0.189,0.047,2509,2900,3661
$GC,3849,-0.88,-194.7,483.8,-8.1,536,3856,0.15,2.10,0.00,0.000,6,0.044,0.041,2433,1488,3660
$GC,4179,-0.69,-194.7,526.9,-12.2,558,4183,0.25,1.92,0.00,0.000,4,0.149,0.050,2515,199,3659
$GC,4375,-0.78,-194.7,544.7,-8.7,566,4382,0.00,1.88,0.00,0.000,6,0.000,0.034,2498,1474,3657
$GC,4691,-0.91,-194.7,576.1,-11.1,582,4696,0.15,2.12,0.00,0.000,4,0.065,0.048,2427,2902,3655
$GC,4756,-0.85,-194.7,584.7,-12.5,585,4761,0.10,2.12,0.00,0.000,6,0.147,0.038,2460,1475,3655
$GC,5085,-0.85,-194.7,623.2,-11.7,601,5089,0.00,2.12,0.00,0.000,4,0.000,0.051,2465,2892,3652
$GC,5157,-0.91,-194.7,630.4,-9.0,604,5162,0.00,2.08,0.00,0.000,6,0.000,0.039,2466,1503,3651
$GC,5484,-0.91,-194.7,663.8,-10.1,620,5488,0.00,1.95,0.00,0.000,4,0.000,0.055,2466,205,3649
$GC,5551,-0.85,-194.7,671.6,-12.1,623,5555,0.00,1.88,0.00,0.000,6,0.000,0.037,2473,1485,3648
$GC,5884,-0.85,-194.7,708.0,-10.4,639,5887,0.00,2.12,0.00,0.000,4,0.000,0.052,2476,2900,3645
$GC,5944,-0.92,-194.7,714.4,-10.6,641,5951,0.10,2.10,0.00,0.000,6,0.078,0.041,2430,1481,3645
$GC,6260,-0.74,-194.7,760.7,-15.7,657,6264,0.20,1.92,0.00,0.000,4,0.159,0.055,2492,206,3643
$GC,6372,-0.74,-194.7,776.1,-13.7,662,6376,0.00,1.90,0.00,0.000,6,0.000,0.039,2491,1478,3641
$STATE,6434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6434,begin apogee
$GC,6438,-0.20,0.0,784.0,12.6,665,6600,0.57,0.00,158.95,1.314,6,0.127,0.000,2674,1764,2863
$STATE,6601,end apogee,CONTROL_FINISHED_OK
$STATE,6601,begin climb
$GC,6602,0.94,194.7,795.2,0.0,673,6776,1.02,2.33,164.88,1.272,4,0.052,0.055,3036,3139,2068
$GC,6844,0.45,194.7,771.4,19.2,684,6849,0.57,2.17,0.00,0.000,6,0.170,0.041,2889,1750,2064
$GC,7170,0.52,255.8,740.5,8.7,700,7227,0.00,2.28,51.42,1.239,4,0.000,0.057,2891,346,1820
$GC,7311,0.61,274.5,727.4,10.3,705,7338,0.12,2.15,17.67,1.170,6,0.071,0.039,2945,1738,1742
$GC,7646,0.49,274.5,678.1,15.2,722,7651,0.17,2.20,0.00,0.000,4,0.151,0.053,2892,3160,1737
$GC,7672,0.49,274.5,674.3,13.2,723,7677,0.00,2.17,0.00,0.000,6,0.000,0.041,2900,1749,1736
$GC,7994,0.54,274.5,630.8,13.5,739,7998,0.00,2.17,0.00,0.000,4,0.000,0.057,2911,346,1735
$GC,8065,0.54,274.5,620.3,14.9,742,8070,0.00,2.12,0.00,0.000,6,0.000,0.041,2910,1740,1734
$GC,8392,0.54,274.5,570.7,14.7,758,8396,0.00,2.17,0.00,0.000,4,0.000,0.054,2910,3159,1733
$GC,8469,0.54,274.5,559.1,14.8,761,8474,0.00,2.12,0.00,0.000,6,0.000,0.042,2920,1765,1732
$GC,8792,0.54,274.5,505.6,16.9,777,8796,0.00,2.17,0.00,0.000,4,0.000,0.055,2931,347,1731
$GC,8938,0.54,274.5,480.9,16.4,788,8942,0.00,2.10,0.00,0.000,6,0.000,0.041,2931,1756,1731
$GC,9269,0.54,274.5,434.5,13.9,819,9273,0.00,2.12,0.00,0.000,4,0.000,0.051,2931,3161,1731
$GC,9307,0.54,274.5,429.1,13.5,822,9314,0.00,2.12,0.00,0.000,6,0.000,0.041,2941,1758,1729
$GC,9633,0.54,274.5,385.6,12.7,853,9636,0.00,2.15,0.00,0.000,4,0.000,0.054,2956,346,1729
$GC,9737,0.54,274.5,371.8,13.0,862,9746,0.12,2.10,0.00,0.000,6,0.144,0.040,2917,1745,1729
$GC,10063,0.75,327.3,337.2,9.0,893,10112,0.17,2.25,42.83,1.022,4,0.061,0.053,3013,349,1527
$GC,10157,0.59,327.3,323.6,16.3,901,10164,0.30,2.08,0.00,0.000,6,0.146,0.039,2928,1714,1525
$GC,10489,0.80,337.0,288.5,10.6,941,10508,0.17,2.20,9.02,0.871,4,0.059,0.051,3029,323,1488
$GC,10526,0.65,337.0,282.8,17.4,947,10534,0.30,2.08,0.00,0.000,6,0.146,0.037,2944,1708,1487
$GC,10873,0.89,395.9,245.1,8.8,1008,10928,0.20,0.00,51.08,0.912,6,0.054,0.000,3047,1709,1249
$GC,11266,0.69,395.9,172.2,18.5,1077,11272,0.28,0.00,0.00,0.000,6,0.150,0.000,2963,1710,1242
$GC,11610,1.02,475.0,139.2,8.0,1138,11682,0.25,2.22,66.45,0.802,4,0.046,0.047,3089,343,925
$GC,11723,0.75,475.0,118.9,21.5,1156,11730,0.38,2.03,0.00,0.000,6,0.143,0.032,2979,1698,923
$GC,12070,1.15,580.3,84.3,7.0,1217,12165,0.32,0.00,86.68,0.734,6,0.041,0.000,3129,1699,495
$STATE,12389,end climb,SURFACE_DEPTH_REACHED
$STATE,12389,begin surface coast
$FINISH,1.0,1.021754
$STATE,12402,end surface coast,CONTROL_FINISHED_OK
$STATE,12402,begin surface
$SM_CCo,12477,0.00,0.000,0,0,490,582.10
$SM_GC,1.54,8.02,0.00,0.00,0.045,0.000,0.000,165,1503,490,-8.01,0.08,582.10
$IRIDIUM_FIX,2527.05,12258.33,240898,191955
$TT8_MAMPS,0.026845
$HUMID,1473
$INTERNAL_PRESSURE,9.83895
$TCM_TEMP,24.30
$XPDR_PINGS,91
$24V_AH,23.9,14.656
$10V_AH,10.7,8.869
$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,27.700,104.375,648.975,0.000,0.000,23.962,33.622,193.636,28.750,0.000,0.000,16.967,2233.021,6877.964,693.030,2613.783,409.796,0.000,1896.115,0.000,2588.727,0.000,41.820,0.000
$DEVICE_MAMPS,235.469,59.826,1313.871,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.775,896.020,1505.655,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72720,1274
$CAP_FILE_SIZE,137697,0
$CFSIZE,260165632,230641664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,345.8,1
$GPS,310509,030406,2533.674,12259.105,38,1.0,43,-3.7