version: 66.04
glider: 166
mission: 2
dive: 99
start: 6 6 109 16 2 47
data:
$ID,166
$MISSION,2
$DIVE,99
$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,-7117.5059
$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,35
$R_STBD_OVSHOOT,63
$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
$GPS1,155007,2526.485,12332.685,42,0.9,42,-3.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-70.5
$GPS2,160225,2526.610,12332.689,12,1.1,17,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,192.0,26371,-17.1,-11.000
$D_GRID,1563
$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,-194.7,0.0,0.0,0,104,0.00,0.00,-87.12,0.000,2,0.000,0.000,208,1524,2403
$GC,106,-0.94,-194.7,3.3,-5.8,13,158,8.98,2.03,-35.28,0.000,4,0.241,0.059,2431,195,3658
$GC,194,-0.03,-194.7,23.7,-36.6,27,202,0.95,1.92,0.00,0.000,6,0.166,0.031,2720,1486,3658
$GC,540,-0.51,-194.7,52.6,-4.6,88,547,0.38,2.08,0.00,0.000,4,0.041,0.038,2545,2905,3658
$GC,581,-0.37,-194.7,57.8,-15.9,95,589,0.25,2.05,0.00,0.000,6,0.140,0.032,2617,1494,3658
$GC,929,-0.37,-194.7,97.3,-11.5,156,935,0.00,1.92,0.00,0.000,4,0.000,0.044,2617,214,3658
$GC,993,-0.44,-194.7,105.3,-12.8,167,1001,0.00,1.88,0.00,0.000,6,0.000,0.028,2617,1508,3658
$GC,1339,-0.64,-194.7,146.0,-11.1,228,1346,0.22,2.05,0.00,0.000,4,0.052,0.039,2508,2890,3659
$GC,1387,-0.53,-194.7,152.7,-15.0,236,1394,0.15,2.03,0.00,0.000,6,0.136,0.033,2559,1515,3660
$GC,1732,-0.53,-194.7,202.0,-12.7,297,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,1515,3660
$GC,2074,-0.59,-194.7,243.0,-11.3,358,2080,0.00,2.05,0.00,0.000,4,0.000,0.043,2559,2902,3659
$GC,2121,-0.79,-194.7,247.6,-9.2,366,2128,0.22,2.05,0.00,0.000,6,0.051,0.034,2457,1487,3659
$GC,2463,-0.48,-194.7,307.1,-15.9,423,2468,0.38,1.90,0.00,0.000,4,0.144,0.046,2576,209,3660
$GC,2507,-0.64,-194.7,312.3,-9.2,426,2514,0.10,1.88,0.00,0.000,6,0.052,0.028,2513,1503,3659
$GC,2832,-0.58,-194.7,354.0,-13.8,457,2836,0.12,2.05,0.00,0.000,4,0.149,0.042,2537,2895,3659
$GC,2934,-0.79,-194.7,364.2,-9.5,466,2938,0.15,2.03,0.00,0.000,6,0.061,0.035,2461,1504,3659
$GC,3263,-0.63,-194.7,411.0,-13.1,497,3268,0.22,2.08,0.00,0.000,4,0.139,0.044,2523,2888,3658
$GC,3315,-0.88,-194.7,415.8,-7.5,501,3320,0.20,2.00,0.00,0.000,6,0.051,0.035,2429,1517,3657
$GC,3645,-0.64,-194.7,460.3,-13.6,532,3650,0.30,1.98,0.00,0.000,4,0.138,0.048,2531,197,3655
$GC,3734,-0.79,-194.7,467.9,-8.2,539,3742,0.10,1.90,0.00,0.000,6,0.080,0.031,2468,1518,3654
$GC,4067,-0.79,-194.7,506.2,-12.9,569,4071,0.00,2.05,0.00,0.000,4,0.000,0.049,2465,2894,3652
$GC,4151,-0.86,-194.7,516.1,-11.4,572,4157,0.00,2.05,0.00,0.000,6,0.000,0.038,2465,1524,3651
$GC,4466,-0.86,-194.7,554.7,-11.7,588,4470,0.00,2.08,0.00,0.000,4,0.000,0.054,2464,2898,3648
$GC,4521,-0.96,-194.7,560.3,-9.6,590,4525,0.00,2.03,0.00,0.000,6,0.000,0.041,2465,1526,3648
$GC,4841,-0.96,-194.7,596.4,-11.7,606,4845,0.00,2.00,0.00,0.000,4,0.000,0.053,2465,200,3646
$GC,4930,-0.96,-194.7,607.5,-12.5,610,4934,0.00,1.95,0.00,0.000,6,0.000,0.035,2464,1513,3645
$GC,5262,-0.96,-194.7,644.6,-10.7,626,5266,0.00,2.00,0.00,0.000,4,0.000,0.054,2464,199,3642
$GC,5329,-0.96,-194.7,652.4,-11.5,629,5333,0.00,1.95,0.00,0.000,6,0.000,0.037,2464,1523,3641
$GC,5662,-0.96,-194.7,687.2,-10.1,645,5666,0.00,2.08,0.00,0.000,4,0.000,0.051,2464,2905,3638
$GC,5700,-1.06,-194.7,691.0,-9.3,646,5707,0.15,2.08,0.00,0.000,6,0.047,0.041,2384,1527,3637
$GC,6015,-0.82,-194.7,736.2,-14.9,662,6017,0.30,0.00,0.00,0.000,6,0.151,0.000,2474,1527,3635
$GC,6326,-0.92,-194.7,764.8,-9.2,677,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1527,3633
$GC,6635,-1.02,-194.7,793.6,-9.4,692,6637,0.17,0.00,0.00,0.000,6,0.064,0.000,2398,1527,3630
$GC,6944,-0.83,-194.7,836.9,-14.3,707,6948,0.22,2.03,0.00,0.000,4,0.150,0.058,2468,207,3628
$GC,6983,-0.83,-194.7,841.7,-11.6,708,6989,0.00,1.98,0.00,0.000,6,0.000,0.040,2466,1519,3628
$GC,7298,-0.90,-194.7,872.3,-9.6,724,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1520,3626
$GC,7609,-0.98,-194.7,901.7,-9.5,739,7610,0.12,0.00,0.00,0.000,6,0.076,0.000,2409,1521,3624
$GC,7916,-0.84,-194.7,939.0,-11.6,754,7918,0.20,0.00,0.00,0.000,6,0.150,0.000,2468,1521,3623
$GC,8226,-0.93,-194.7,964.9,-8.5,769,8228,0.00,0.00,0.00,0.000,6,0.000,0.000,2468,1521,3621
$STATE,8533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8533,begin apogee
$GC,8538,-0.20,0.0,991.1,8.6,784,8702,0.62,0.00,161.15,1.479,6,0.120,0.000,2674,1748,2863
$STATE,8703,end apogee,CONTROL_FINISHED_OK
$STATE,8703,begin climb
$GC,8704,0.94,194.7,998.0,0.0,792,8886,1.00,2.40,172.95,1.434,4,0.040,0.057,3057,3153,2068
$GC,8969,0.33,194.7,963.3,21.0,804,8975,0.75,2.25,0.00,0.000,6,0.193,0.044,2851,1752,2062
$GC,9292,0.51,253.4,933.4,8.8,820,9349,0.15,2.33,51.45,1.387,4,0.067,0.058,2929,344,1829
$GC,9432,0.39,253.4,913.3,16.1,825,9440,0.20,2.20,0.00,0.000,6,0.142,0.041,2868,1735,1825
$GC,9749,0.48,253.4,877.7,11.2,841,9752,0.00,2.20,0.00,0.000,4,0.000,0.058,2876,339,1822
$GC,9781,0.55,253.4,873.8,11.7,842,9786,0.08,2.15,0.00,0.000,6,0.062,0.041,2924,1725,1822
$GC,10102,0.42,253.4,828.3,13.7,858,10107,0.17,2.22,0.00,0.000,4,0.151,0.056,2876,3160,1820
$GC,10151,0.50,259.3,822.3,10.8,860,10163,0.00,2.17,5.28,1.023,6,0.000,0.044,2884,1725,1804
$GC,10472,0.55,259.3,786.7,11.3,876,10476,0.00,2.12,0.00,0.000,4,0.000,0.058,2895,341,1803
$GC,10532,0.55,259.3,779.2,12.4,878,10539,0.00,2.12,0.00,0.000,6,0.000,0.041,2895,1726,1803
$GC,10848,0.55,259.3,741.8,11.8,894,10851,0.00,2.15,0.00,0.000,4,0.000,0.057,2905,342,1802
$GC,10874,0.55,259.3,738.4,12.8,895,10879,0.00,2.10,0.00,0.000,6,0.000,0.041,2905,1720,1802
$GC,11201,0.55,259.3,699.2,11.6,911,11205,0.00,2.20,0.00,0.000,4,0.000,0.055,2905,3160,1801
$GC,11268,0.55,259.3,691.1,12.5,914,11272,0.00,2.15,0.00,0.000,6,0.000,0.044,2915,1728,1800
$GC,11600,0.50,259.3,648.1,13.5,930,11603,0.00,2.12,0.00,0.000,4,0.000,0.056,2926,345,1800
$GC,11649,0.42,259.3,641.0,14.1,932,11654,0.15,2.10,0.00,0.000,6,0.143,0.042,2878,1730,1800
$GC,11976,0.53,260.4,606.0,11.0,948,11980,0.00,2.15,0.00,0.000,4,0.000,0.056,2886,339,1800
$GC,12059,0.63,271.8,596.8,10.6,951,12088,0.15,2.08,13.98,1.025,6,0.064,0.041,2955,1731,1753
$GC,12397,0.46,271.8,548.7,14.3,968,12401,0.20,2.17,0.00,0.000,4,0.153,0.053,2892,3145,1751
$GC,12428,0.46,271.8,544.3,11.0,969,12435,0.00,2.17,0.00,0.000,6,0.000,0.042,2900,1726,1750
$GC,12745,0.51,271.8,509.1,12.0,985,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1726,1751
$GC,13061,0.59,285.5,471.9,10.5,1011,13078,0.00,2.12,13.07,1.088,4,0.000,0.054,2911,346,1698
$GC,13106,0.68,311.7,467.2,10.0,1014,13138,0.10,2.10,24.10,1.101,6,0.056,0.040,2968,1720,1591
$GC,13454,0.49,311.7,412.8,17.2,1047,13459,0.22,2.20,0.00,0.000,4,0.149,0.051,2900,3147,1586
$GC,13561,0.65,326.5,400.0,10.4,1056,13584,0.12,2.15,13.40,1.017,6,0.064,0.041,2975,1727,1530
$GC,13902,0.48,326.5,341.8,17.8,1088,13906,0.25,2.12,0.00,0.000,4,0.148,0.051,2907,349,1527
$GC,13956,0.61,326.5,334.0,12.2,1092,13963,0.00,2.10,0.00,0.000,6,0.000,0.038,2907,1725,1527
$GC,14282,0.76,326.5,297.3,11.4,1125,14288,0.20,2.12,0.00,0.000,4,0.052,0.051,3024,345,1527
$GC,14362,0.47,326.5,282.3,21.6,1139,14370,0.45,2.05,0.00,0.000,6,0.146,0.038,2889,1729,1527
$GC,14708,0.88,410.9,247.9,7.8,1200,14788,0.32,2.22,71.90,0.928,4,0.087,0.048,3057,341,1187
$GC,14906,0.55,410.9,204.7,23.5,1234,14913,0.47,2.05,0.00,0.000,6,0.143,0.035,2920,1705,1182
$GC,15250,0.99,471.7,173.0,8.7,1295,15310,0.35,2.15,51.95,0.841,4,0.039,0.046,3090,346,939
$GC,15385,0.66,471.7,141.3,25.6,1317,15392,0.47,2.03,0.00,0.000,6,0.143,0.034,2949,1700,935
$GC,15731,1.20,575.3,103.9,7.1,1378,15828,0.43,2.20,87.40,0.773,4,0.037,0.045,3153,346,516
$GC,15907,0.82,575.3,59.6,28.5,1407,15915,0.50,2.00,0.00,0.000,6,0.143,0.032,3004,1664,513
$GC,16255,1.32,645.0,25.3,8.4,1468,16275,0.40,2.08,13.68,0.652,4,0.037,0.044,3196,344,454
$STATE,16343,end climb,SURFACE_DEPTH_REACHED
$STATE,16343,begin surface coast
$FINISH,1.0,1.009868
$STATE,16355,end surface coast,CONTROL_FINISHED_OK
$STATE,16355,begin surface
$SM_CCo,16432,0.00,0.000,0,0,450,591.66
$SM_GC,1.69,8.07,0.00,0.00,0.044,0.000,0.000,151,1523,450,-8.04,0.65,591.66
$IRIDIUM_FIX,2517.50,12335.45,310898,161636
$TT8_MAMPS,0.026845
$HUMID,1473
$INTERNAL_PRESSURE,9.81941
$TCM_TEMP,24.40
$XPDR_PINGS,105
$24V_AH,23.3,23.663
$10V_AH,10.7,14.434
$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,29.750,137.450,680.300,0.000,0.000,74.640,108.215,306.994,34.250,0.000,0.000,17.330,2614.069,10049.349,776.016,3010.323,709.021,0.000,2167.052,0.000,2976.147,0.000,55.858,0.000
$DEVICE_MAMPS,240.838,59.059,1478.776,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1006.832,1036.832,1742.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85103,1485
$CAP_FILE_SIZE,173672,0
$CFSIZE,260165632,227192832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.195, 86.5,1
$GPS,060609,203755,2524.010,12333.963,44,1.1,44,-3.8