version: 66.04
glider: 166
mission: 2
dive: 57
start: 5 31 109 3 10 30
data:
$ID,166
$MISSION,2
$DIVE,57
$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,-6289.5928
$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,32
$R_STBD_OVSHOOT,53
$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
$GPS1,030406,2533.674,12259.105,38,1.0,43,-3.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-68.3
$GPS2,031008,2533.740,12259.157,13,1.1,13,-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,154.2,46684,-17.1,-11.000
$D_GRID,763
$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,-194.7,0.0,0.0,0,106,0.00,0.00,-89.35,0.000,2,0.000,0.000,167,1504,2488
$GC,108,-0.94,-194.7,3.4,-5.9,14,154,8.98,2.03,-32.58,0.000,4,0.236,0.058,2429,193,3658
$GC,351,-0.10,-194.7,86.2,-36.0,56,360,0.90,1.92,0.00,0.000,6,0.172,0.032,2701,1487,3658
$GC,699,-1.05,-194.7,114.3,-8.8,117,706,0.77,2.08,0.00,0.000,4,0.055,0.035,2396,2917,3660
$GC,785,-0.30,-194.7,135.1,-32.2,132,792,0.85,2.08,0.00,0.000,6,0.174,0.032,2640,1486,3660
$GC,1131,-0.65,-194.7,167.0,-6.8,193,1138,0.28,2.10,0.00,0.000,4,0.045,0.037,2508,2914,3661
$GC,1167,-0.57,-194.7,171.6,-14.4,199,1174,0.15,2.03,0.00,0.000,6,0.152,0.031,2550,1511,3661
$GC,1511,-0.51,-194.7,220.3,-13.3,260,1517,0.00,2.05,0.00,0.000,4,0.000,0.040,2547,2909,3661
$GC,1557,-0.51,-194.7,226.2,-12.5,268,1563,0.00,2.03,0.00,0.000,6,0.000,0.031,2549,1526,3661
$GC,1901,-0.51,-194.7,272.2,-11.9,329,1907,0.00,1.95,0.00,0.000,4,0.000,0.045,2545,204,3661
$GC,2019,-0.51,-194.7,286.3,-10.9,350,2027,0.08,1.90,0.00,0.000,6,0.138,0.029,2566,1519,3661
$GC,2354,-0.75,-194.7,316.1,-9.3,395,2358,0.20,2.03,0.00,0.000,4,0.054,0.041,2465,2897,3661
$GC,2409,-0.68,-194.7,323.1,-13.8,400,2414,0.17,2.03,0.00,0.000,6,0.140,0.034,2522,1501,3661
$GC,2733,-0.76,-194.7,356.7,-9.2,430,2737,0.00,1.92,0.00,0.000,4,0.000,0.048,2521,201,3661
$GC,2857,-0.82,-194.7,368.5,-9.1,441,2861,0.12,1.88,0.00,0.000,6,0.075,0.030,2455,1514,3661
$GC,3186,-0.71,-194.7,407.4,-11.1,472,3190,0.17,2.05,0.00,0.000,4,0.148,0.044,2507,2900,3660
$GC,3247,-0.94,-194.7,412.3,-7.2,477,3252,0.22,2.03,0.00,0.000,6,0.051,0.035,2410,1509,3660
$GC,3572,-0.67,-194.7,456.9,-14.3,507,3576,0.32,1.95,0.00,0.000,4,0.150,0.049,2518,204,3657
$GC,3678,-0.79,-194.7,467.5,-9.2,516,3682,0.00,1.88,0.00,0.000,6,0.000,0.036,2507,1503,3657
$GC,4009,-0.94,-194.7,495.9,-8.6,547,4013,0.17,2.08,0.00,0.000,4,0.059,0.047,2414,2899,3654
$GC,4064,-0.83,-194.7,502.7,-13.3,550,4073,0.20,2.05,0.00,0.000,6,0.143,0.044,2474,1496,3653
$GC,4379,-0.88,-194.7,534.5,-9.7,566,4383,0.00,1.92,0.00,0.000,4,0.000,0.053,2474,208,3650
$GC,4405,-0.88,-194.7,537.5,-10.9,567,4410,0.00,1.90,0.00,0.000,6,0.000,0.035,2476,1493,3650
$GC,4733,-0.94,-194.7,571.4,-11.2,583,4735,0.12,0.00,0.00,0.000,6,0.073,0.000,2419,1494,3648
$GC,5043,-0.77,-194.7,616.5,-15.1,598,5045,0.25,0.00,0.00,0.000,6,0.150,0.000,2493,1495,3644
$GC,5352,-0.91,-194.7,644.5,-7.9,613,5356,0.15,2.12,0.00,0.000,4,0.068,0.051,2430,2904,3641
$GC,5423,-0.85,-194.7,652.3,-11.4,616,5428,0.08,2.12,0.00,0.000,6,0.153,0.041,2456,1496,3641
$GC,5744,-0.85,-194.7,683.9,-10.7,632,5747,0.00,1.95,0.00,0.000,4,0.000,0.055,2459,203,3638
$GC,5788,-0.77,-194.7,688.9,-11.6,634,5792,0.00,1.90,0.00,0.000,6,0.000,0.038,2468,1496,3638
$GC,6120,-0.77,-194.7,721.8,-9.6,650,6123,0.00,1.98,0.00,0.000,4,0.000,0.056,2468,201,3636
$GC,6188,-0.69,-194.7,729.1,-10.8,653,6192,0.15,1.90,0.00,0.000,6,0.160,0.038,2514,1491,3635
$GC,6520,-0.84,-194.7,757.8,-8.4,669,6522,0.15,0.00,0.00,0.000,6,0.067,0.000,2447,1493,3633
$STATE,6579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6579,begin apogee
$GC,6583,-0.20,0.0,764.5,10.1,672,6744,0.73,0.00,157.50,1.309,6,0.141,0.000,2672,1755,2863
$STATE,6744,end apogee,CONTROL_FINISHED_OK
$STATE,6745,begin climb
$GC,6746,0.94,194.7,768.4,0.0,680,6920,1.02,2.40,165.45,1.267,4,0.054,0.056,3044,345,2068
$GC,6964,0.40,194.7,742.7,20.1,690,6970,0.60,2.22,0.00,0.000,6,0.174,0.041,2873,1738,2064
$GC,7286,0.54,250.7,710.4,8.9,706,7339,0.12,2.30,47.15,1.224,4,0.074,0.057,2937,340,1840
$GC,7440,0.46,250.7,690.8,12.2,713,7445,0.17,2.17,0.00,0.000,6,0.154,0.041,2890,1748,1835
$GC,7767,0.61,325.8,663.5,8.2,729,7839,0.15,2.38,64.53,1.223,4,0.067,0.055,2963,339,1533
$GC,7900,0.50,325.8,645.4,13.9,735,7905,0.22,2.17,0.00,0.000,6,0.149,0.041,2903,1730,1529
$GC,8227,0.66,407.3,618.8,7.9,751,8305,0.15,2.30,72.12,1.201,4,0.067,0.051,2966,3151,1200
$GC,8333,0.57,407.3,601.7,13.8,755,8338,0.20,2.20,0.00,0.000,6,0.163,0.041,2926,1733,1198
$GC,8660,0.57,407.3,560.7,12.4,771,8664,0.00,2.17,0.00,0.000,4,0.000,0.057,2934,343,1192
$GC,8715,0.61,407.3,553.3,13.5,773,8719,0.00,2.12,0.00,0.000,6,0.000,0.040,2934,1720,1192
$GC,9036,0.61,407.3,507.7,14.5,789,9040,0.00,2.15,0.00,0.000,4,0.000,0.055,2945,340,1191
$GC,9062,0.61,407.3,503.6,14.3,790,9067,0.00,2.08,0.00,0.000,6,0.000,0.041,2944,1705,1191
$GC,9388,0.61,407.3,451.3,17.1,819,9392,0.00,2.20,0.00,0.000,4,0.000,0.053,2944,3152,1190
$GC,9460,0.61,407.3,439.4,16.0,825,9466,0.00,2.20,0.00,0.000,6,0.000,0.043,2955,1716,1189
$GC,9786,0.61,407.3,381.0,18.8,856,9790,0.00,2.10,0.00,0.000,4,0.000,0.054,2968,341,1189
$GC,9853,0.61,407.3,368.7,17.5,862,9857,0.12,2.05,0.00,0.000,6,0.155,0.041,2938,1720,1188
$GC,10182,0.68,407.3,314.3,15.9,893,10186,0.00,2.12,0.00,0.000,4,0.000,0.054,2952,336,1187
$GC,10237,0.79,407.3,306.1,14.4,898,10242,0.12,2.00,0.00,0.000,6,0.075,0.040,3016,1698,1187
$GC,10579,0.63,407.3,240.8,17.9,955,10584,0.22,0.00,0.00,0.000,6,0.150,0.000,2949,1702,1186
$GC,10921,0.81,407.3,200.7,11.1,1016,10929,0.15,2.10,0.00,0.000,4,0.062,0.052,3036,344,1185
$GC,11002,0.65,407.3,186.2,20.5,1030,11010,0.30,2.00,0.00,0.000,6,0.143,0.037,2947,1692,1185
$GC,11350,1.04,492.3,148.1,7.8,1091,11426,0.30,0.00,70.05,0.839,6,0.044,0.000,3087,1693,854
$GC,11765,0.87,492.3,59.3,18.8,1163,11772,0.20,2.08,0.00,0.000,4,0.150,0.046,3028,340,850
$GC,11796,0.87,492.3,53.5,17.2,1168,11802,0.00,2.03,0.00,0.000,6,0.000,0.033,3029,1715,849
$GC,12139,0.96,492.3,7.4,13.8,1229,12145,0.00,2.10,0.00,0.000,4,0.000,0.047,3034,329,849
$STATE,12172,end climb,SURFACE_DEPTH_REACHED
$STATE,12173,begin surface coast
$FINISH,0.9,0.998775
$STATE,12196,end surface coast,CONTROL_FINISHED_OK
$STATE,12196,begin surface
$SM_CCo,12272,0.00,0.000,0,0,848,494.03
$SM_GC,1.73,7.68,0.00,0.00,0.047,0.000,0.000,152,1509,848,-8.04,0.25,494.03
$IRIDIUM_FIX,2524.66,12257.03,240898,232352
$TT8_MAMPS,0.026845
$HUMID,1487
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,24.20
$XPDR_PINGS,90
$24V_AH,23.9,14.870
$10V_AH,10.7,8.992
$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,26.975,107.600,576.800,0.000,0.000,22.707,31.972,209.599,28.250,0.000,0.000,13.886,2195.050,6866.949,662.659,2491.531,414.199,0.000,1801.092,0.000,2467.216,0.000,40.100,0.000
$DEVICE_MAMPS,236.236,58.292,1309.269,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,841.363,866.208,1456.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72552,1239
$CAP_FILE_SIZE,135642,0
$CFSIZE,260165632,230559744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.224,345.0,1
$GPS,310509,063606,2533.288,12259.718,32,1.0,32,-3.7