version: 66.04
glider: 166
mission: 2
dive: 147
start: 6 15 109 17 8 59
data:
$ID,166
$MISSION,2
$DIVE,147
$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,275
$T_MISSION,330
$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,250
$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,-8046.2778
$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,37
$R_STBD_OVSHOOT,65
$ROLL_AD_RATE,350
$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
$GPS1,170307,2424.189,12318.385,28,1.8,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.0
$GPS2,170838,2424.226,12318.511,14,1.1,14,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,246.9,33234,-16.4,-12.000
$D_GRID,723
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.97,-243.4,0.0,0.0,0,102,0.00,0.00,-85.88,0.000,2,0.000,0.000,155,1533,2380
$GC,105,-0.97,-243.4,3.3,-5.8,13,158,8.80,2.08,-38.92,0.000,4,0.226,0.056,2419,198,3858
$GC,238,-0.25,-243.4,40.2,-33.1,35,246,0.73,1.90,0.00,0.000,6,0.151,0.030,2651,1488,3859
$GC,584,-0.57,-243.4,73.1,-6.2,96,591,0.22,2.08,0.00,0.000,4,0.047,0.035,2537,2913,3860
$GC,771,-0.52,-243.4,99.7,-13.4,129,778,0.10,2.03,0.00,0.000,6,0.128,0.028,2565,1521,3860
$GC,1116,-0.57,-243.4,145.6,-11.4,190,1122,0.00,2.03,0.00,0.000,4,0.000,0.035,2569,2911,3861
$GC,1185,-0.78,-243.4,152.9,-9.9,202,1192,0.20,1.98,0.00,0.000,6,0.038,0.029,2460,1553,3862
$GC,1531,-0.48,-243.4,222.7,-18.6,263,1539,0.35,1.98,0.00,0.000,4,0.133,0.040,2572,207,3862
$GC,1557,-0.42,-243.4,226.5,-14.9,267,1564,0.00,1.95,0.00,0.000,6,0.000,0.027,2577,1587,3863
$GC,1902,-0.73,-243.4,252.7,-7.3,328,1909,0.17,1.92,0.00,0.000,4,0.052,0.037,2485,2911,3863
$GC,1944,-0.73,-243.4,257.3,-12.1,335,1951,0.00,1.90,0.00,0.000,6,0.000,0.029,2483,1578,3863
$GC,2288,-0.62,-243.4,304.7,-11.0,392,2292,0.17,2.03,0.00,0.000,4,0.133,0.041,2542,213,3863
$GC,2310,-0.62,-243.4,307.3,-11.1,394,2314,0.00,1.98,0.00,0.000,6,0.000,0.028,2543,1595,3863
$GC,2642,-0.81,-243.4,334.3,-8.3,425,2646,0.17,1.90,0.00,0.000,4,0.056,0.040,2443,2895,3862
$GC,2691,-0.71,-243.4,340.5,-12.4,429,2698,0.22,1.90,0.00,0.000,6,0.127,0.031,2512,1576,3862
$GC,3016,-0.82,-243.4,370.9,-10.1,460,3021,0.12,1.95,0.00,0.000,4,0.069,0.041,2448,2895,3860
$GC,3066,-0.82,-243.4,377.9,-13.7,464,3073,0.00,1.90,0.00,0.000,6,0.000,0.033,2448,1603,3860
$GC,3391,-0.69,-243.4,428.8,-15.7,495,3396,0.20,2.08,0.00,0.000,4,0.133,0.045,2515,214,3858
$GC,3447,-0.83,-243.4,435.7,-10.6,499,3454,0.12,2.00,0.00,0.000,6,0.071,0.031,2453,1604,3858
$GC,3771,-0.73,-243.4,477.5,-13.1,530,3775,0.17,1.92,0.00,0.000,4,0.134,0.045,2513,2900,3855
$GC,3793,-0.73,-243.4,479.9,-10.7,532,3797,0.00,1.90,0.00,0.000,6,0.000,0.035,2516,1591,3855
$GC,4133,-0.92,-243.4,507.6,-8.7,560,4135,0.20,0.00,0.00,0.000,6,0.051,0.000,2419,1590,3852
$GC,4441,-0.70,-243.4,554.3,-15.3,575,4446,0.28,1.95,0.00,0.000,4,0.138,0.047,2501,2886,3851
$GC,4464,-0.70,-243.4,557.4,-13.1,576,4468,0.00,1.92,0.00,0.000,6,0.000,0.041,2501,1581,3850
$GC,4797,-0.86,-243.4,590.2,-10.8,592,4798,0.12,0.00,0.00,0.000,6,0.066,0.000,2436,1581,3847
$GC,5106,-0.74,-243.4,641.0,-16.2,607,5108,0.22,0.00,0.00,0.000,6,0.134,0.000,2504,1581,3845
$GC,5415,-0.93,-243.4,668.2,-7.9,622,5419,0.17,2.00,0.00,0.000,4,0.060,0.050,2412,2893,3842
$GC,5441,-0.93,-243.4,671.2,-11.5,623,5445,0.00,1.95,0.00,0.000,6,0.000,0.039,2413,1600,3842
$GC,5769,-0.76,-243.4,722.7,-16.0,639,5771,0.28,0.00,0.00,0.000,6,0.134,0.000,2498,1600,3839
$STATE,5788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5788,begin apogee
$GC,5793,-0.20,0.0,725.4,15.3,640,5994,0.52,0.00,198.05,1.256,6,0.105,0.000,2674,1753,2863
$STATE,5995,end apogee,CONTROL_FINISHED_OK
$STATE,5995,begin climb
$GC,5997,0.97,243.4,738.1,0.0,650,6209,1.02,2.30,203.85,1.211,4,0.057,0.058,3063,3138,1869
$GC,6265,0.42,243.4,705.1,23.1,662,6270,0.65,2.17,0.00,0.000,6,0.160,0.039,2874,1772,1865
$GC,6581,0.55,278.4,670.1,10.8,677,6617,0.12,2.30,29.90,1.157,4,0.067,0.054,2946,336,1728
$GC,6683,0.41,278.4,654.1,16.7,681,6690,0.25,2.17,0.00,0.000,6,0.135,0.038,2875,1734,1725
$GC,7000,0.53,278.4,615.5,12.0,697,7004,0.12,2.17,0.00,0.000,4,0.065,0.053,2948,335,1722
$GC,7054,0.40,278.4,607.0,15.8,699,7061,0.28,2.10,0.00,0.000,6,0.137,0.038,2867,1735,1722
$GC,7371,0.66,345.3,575.7,9.8,715,7435,0.20,2.33,57.47,1.160,4,0.054,0.053,2976,330,1454
$GC,7525,0.48,345.3,548.8,19.5,722,7530,0.28,2.12,0.00,0.000,6,0.140,0.038,2898,1724,1450
$GC,7857,0.63,378.9,510.2,10.9,738,7894,0.12,2.28,29.33,1.109,4,0.067,0.054,2969,330,1318
$GC,7915,0.51,378.9,501.3,16.4,740,7923,0.20,2.15,0.00,0.000,6,0.133,0.038,2905,1713,1316
$GC,8240,0.69,424.2,467.3,10.5,770,8287,0.17,2.25,40.25,1.090,4,0.057,0.052,3001,340,1133
$GC,8360,0.50,424.2,444.8,21.0,780,8367,0.35,2.05,0.00,0.000,6,0.137,0.038,2899,1687,1130
$GC,8685,0.79,450.4,406.2,11.1,811,8715,0.28,0.00,23.92,1.033,6,0.048,0.000,3023,1689,1025
$GC,9032,0.53,450.4,328.9,22.5,844,9037,0.35,2.08,0.00,0.000,4,0.141,0.049,2922,339,1021
$GC,9060,0.53,450.4,323.3,20.6,846,9063,0.00,2.00,0.00,0.000,6,0.000,0.036,2921,1689,1019
$GC,9391,0.83,483.9,286.0,10.9,887,9428,0.20,2.10,28.92,0.955,4,0.051,0.050,3040,339,890
$GC,9474,0.58,483.9,269.4,23.9,901,9481,0.38,2.03,0.00,0.000,6,0.132,0.042,2928,1683,888
$GC,9819,0.94,535.6,232.2,10.3,962,9869,0.28,2.20,45.15,0.905,4,0.044,0.048,3072,326,678
$GC,9925,0.67,535.6,208.4,23.1,980,9932,0.40,2.03,0.00,0.000,6,0.137,0.034,2953,1679,676
$GC,10269,1.05,548.9,173.8,11.6,1041,10290,0.30,2.10,12.50,0.797,4,0.041,0.048,3110,344,624
$GC,10388,0.76,548.9,143.3,27.6,1061,10395,0.38,1.92,0.00,0.000,6,0.137,0.032,2990,1639,622
$GC,10733,1.29,682.0,108.6,7.6,1122,10775,0.40,2.08,36.03,0.781,4,0.038,0.046,3182,334,454
$GC,10895,0.85,682.0,67.4,28.1,1149,10902,0.50,1.92,0.00,0.000,6,0.141,0.031,3010,1629,451
$GC,11238,1.62,901.3,47.4,4.7,1210,11247,0.60,1.98,0.00,0.000,4,0.031,0.045,3290,326,451
$GC,11304,0.97,901.3,29.5,35.6,1221,11311,0.75,1.88,0.00,0.000,6,0.163,0.031,3052,1603,451
$STATE,11534,end climb,SURFACE_DEPTH_REACHED
$STATE,11534,begin surface coast
$FINISH,0.9,1.009011
$STATE,11568,end surface coast,CONTROL_FINISHED_OK
$STATE,11568,begin surface
$SM_CCo,11644,0.00,0.000,0,0,451,591.66
$SM_GC,1.55,7.62,0.00,0.00,0.041,0.000,0.000,165,1476,451,-8.03,-0.71,591.66
$IRIDIUM_FIX,2415.74,12315.81,090998,141459
$TT8_MAMPS,0.026845
$HUMID,1512
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.00
$XPDR_PINGS,119
$24V_AH,23.9,34.425
$10V_AH,10.7,21.408
$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,29.775,98.275,705.375,0.000,0.000,26.029,34.164,164.475,35.250,0.000,0.000,14.605,2187.044,6117.977,789.839,2453.598,423.293,0.000,1909.098,0.000,2437.544,0.000,38.591,0.000
$DEVICE_MAMPS,226.265,61.360,1256.346,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,854.985,915.029,1537.123,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72650,1268
$CAP_FILE_SIZE,132774,0
$CFSIZE,260165632,223002624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.332, 81.9,1
$GPS,150609,202406,2423.881,12318.604,30,1.8,30,-3.5