version: 66.04
glider: 166
mission: 2
dive: 152
start: 6 16 109 6 51 10
data:
$ID,166
$MISSION,2
$DIVE,152
$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,-8136.3594
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,064606,2420.999,12320.135,39,0.9,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.2
$GPS2,065050,2421.065,12320.196,13,1.0,13,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2357.000,12321.000
$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,226.8,44588,-16.4,-12.000
$D_GRID,445
$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,14,-0.97,-243.4,0.0,0.0,0,101,0.00,0.00,-84.62,0.000,2,0.000,0.000,170,1490,2345
$GC,103,-0.97,-243.4,3.1,-5.7,13,161,8.75,1.98,-41.10,0.000,4,0.225,0.058,2420,192,3857
$GC,341,-0.09,-243.4,80.7,-36.4,54,349,0.90,1.92,0.00,0.000,6,0.154,0.028,2703,1515,3859
$GC,687,-0.93,-243.4,115.7,-11.7,115,695,0.70,2.00,0.00,0.000,4,0.067,0.035,2437,2902,3860
$GC,740,-0.60,-243.4,124.0,-18.1,124,748,0.35,2.03,0.00,0.000,6,0.141,0.031,2543,1491,3860
$GC,1086,-0.53,-243.4,175.9,-12.8,185,1093,0.00,2.08,0.00,0.000,4,0.000,0.040,2543,2901,3861
$GC,1152,-0.60,-243.4,183.2,-10.7,196,1158,0.00,2.03,0.00,0.000,6,0.000,0.031,2543,1492,3861
$GC,1496,-0.67,-243.4,226.6,-10.6,257,1503,0.00,2.08,0.00,0.000,4,0.000,0.041,2541,2895,3862
$GC,1578,-0.85,-243.4,235.1,-9.9,271,1584,0.22,1.98,0.00,0.000,6,0.049,0.032,2437,1531,3861
$GC,1923,-0.44,-243.4,302.9,-20.6,331,1928,0.47,2.03,0.00,0.000,4,0.141,0.043,2589,2889,3861
$GC,2000,-0.85,-243.4,311.2,-7.4,337,2009,0.32,1.95,0.00,0.000,6,0.041,0.033,2441,1539,3862
$GC,2325,-0.54,-243.4,368.3,-15.6,368,2327,0.40,0.00,0.00,0.000,6,0.137,0.000,2566,1539,3860
$GC,2645,-0.79,-243.4,395.2,-8.3,398,2647,0.22,0.00,0.00,0.000,6,0.051,0.000,2456,1539,3859
$GC,2961,-0.59,-243.4,442.6,-14.8,428,2966,0.25,2.05,0.00,0.000,4,0.134,0.044,2531,2900,3857
$STATE,2980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2980,begin apogee
$GC,2986,-0.20,0.0,445.2,11.7,429,3184,0.38,0.00,190.62,0.992,6,0.102,0.000,2654,1744,2863
$STATE,3184,end apogee,CONTROL_FINISHED_OK
$STATE,3185,begin climb
$GC,3186,0.97,243.4,453.6,0.0,449,3390,1.08,2.25,191.73,0.978,4,0.054,0.051,3066,348,1869
$GC,3529,0.49,243.4,405.5,20.3,479,3536,0.50,2.10,0.00,0.000,6,0.144,0.033,2900,1742,1866
$GC,3855,0.73,348.5,375.4,8.5,510,3948,0.17,2.28,85.18,0.941,4,0.058,0.050,2993,357,1442
$GC,4067,0.61,348.5,345.9,15.7,529,4072,0.20,2.08,0.00,0.000,6,0.135,0.033,2934,1749,1438
$GC,4392,0.76,362.6,306.4,11.5,559,4414,0.15,2.20,12.18,0.838,4,0.061,0.048,3017,353,1383
$GC,4442,0.57,362.6,298.2,18.4,564,4449,0.28,2.05,0.00,0.000,6,0.130,0.033,2928,1724,1383
$GC,4788,0.94,498.0,263.2,7.5,625,4910,0.28,2.20,114.32,0.886,4,0.045,0.048,3074,351,831
$GC,4967,0.65,498.0,223.3,25.5,655,4973,0.43,2.03,0.00,0.000,6,0.137,0.032,2948,1708,828
$GC,5311,1.21,628.8,190.5,7.7,716,5395,0.43,2.20,77.53,0.823,4,0.037,0.046,3158,354,454
$GC,5453,0.79,628.8,152.4,32.1,739,5460,0.55,2.03,0.00,0.000,6,0.137,0.031,2991,1718,452
$GC,5799,1.36,746.6,117.8,8.1,800,5806,0.45,2.10,0.00,0.000,4,0.035,0.047,3200,343,450
$GC,5975,0.94,746.6,70.4,29.1,831,5982,0.45,1.92,0.00,0.000,6,0.143,0.031,3044,1657,449
$GC,6320,1.43,858.8,36.1,8.3,892,6327,0.38,1.98,0.00,0.000,4,0.038,0.046,3225,340,449
$STATE,6455,end climb,SURFACE_DEPTH_REACHED
$STATE,6455,begin surface coast
$FINISH,0.9,1.009804
$STATE,6467,end surface coast,CONTROL_FINISHED_OK
$STATE,6467,begin surface
$SM_CCo,6544,0.00,0.000,0,0,448,592.40
$SM_GC,1.59,8.18,0.00,0.00,0.049,0.000,0.000,167,1528,448,-8.03,0.79,592.40
$IRIDIUM_FIX,2411.01,12319.77,100998,050544
$TT8_MAMPS,0.026845
$HUMID,1529
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.70
$XPDR_PINGS,105
$24V_AH,24.5,35.521
$10V_AH,10.8,21.916
$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,26.475,52.950,671.550,0.000,0.000,22.937,31.166,135.374,28.750,0.000,0.000,13.455,1482.344,2596.344,678.173,1750.625,323.757,0.000,1517.753,0.000,1740.271,0.000,17.709,0.000
$DEVICE_MAMPS,225.498,57.525,991.731,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,611.874,696.653,1171.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50581,918
$CAP_FILE_SIZE,83443,0
$CFSIZE,260165632,222756864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.446, 85.3,1
$GPS,160609,084116,2420.676,12320.644,10,99.0,29,-3.5