version: 66.04
glider: 166
mission: 2
dive: 231
start: 6 21 109 5 6 22
data:
$ID,166
$MISSION,2
$DIVE,231
$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,450
$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,-9886.1982
$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,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,60
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2945
$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
$GPS1,045946,2423.840,12333.964,11,3.1,30,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-63.4
$GPS2,050601,2423.840,12334.008,11,2.0,16,-3.5
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2435.000,12317.000
$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,314.6,35322,-16.4,-12.000
$D_GRID,808
$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,15,-0.97,-243.4,0.0,0.0,0,101,0.00,0.00,-83.65,0.000,2,0.000,0.000,197,1440,2324
$GC,104,-0.97,-243.4,3.1,-6.6,13,162,9.00,1.85,-42.17,0.000,4,0.232,0.058,2422,207,3938
$GC,271,-0.22,-243.4,45.1,-32.5,41,278,0.75,1.90,0.00,0.000,6,0.142,0.029,2666,1497,3939
$GC,618,-0.96,-243.4,80.6,-10.1,102,625,0.62,1.92,0.00,0.000,4,0.061,0.041,2418,206,3941
$GC,655,-0.60,-243.4,86.6,-18.8,108,662,0.35,1.83,0.00,0.000,6,0.139,0.028,2543,1462,3941
$GC,1000,-0.60,-243.4,133.1,-13.1,169,1006,0.00,2.10,0.00,0.000,4,0.000,0.041,2541,2892,3942
$GC,1143,-0.73,-243.4,149.4,-10.8,194,1150,0.08,2.08,0.00,0.000,6,0.055,0.031,2484,1489,3943
$GC,1488,-0.60,-243.4,196.3,-14.6,255,1496,0.17,2.10,0.00,0.000,4,0.137,0.039,2544,2900,3943
$GC,1571,-0.80,-243.4,204.8,-9.5,269,1577,0.17,2.00,0.00,0.000,6,0.054,0.031,2455,1519,3943
$GC,1915,-0.63,-243.4,256.1,-14.6,330,1922,0.20,2.05,0.00,0.000,4,0.135,0.040,2532,2904,3943
$GC,2004,-0.78,-243.4,264.8,-9.6,345,2011,0.12,1.98,0.00,0.000,6,0.064,0.031,2464,1536,3943
$GC,2350,-0.61,-243.4,313.1,-14.6,399,2354,0.22,2.05,0.00,0.000,4,0.131,0.041,2539,2904,3942
$GC,2399,-0.80,-243.4,318.8,-10.2,403,2407,0.17,1.98,0.00,0.000,6,0.054,0.032,2452,1545,3941
$GC,2724,-0.62,-243.4,364.7,-13.4,434,2729,0.25,2.03,0.00,0.000,4,0.131,0.041,2532,2899,3940
$GC,2775,-0.81,-243.4,369.6,-8.3,438,2779,0.15,1.95,0.00,0.000,6,0.058,0.033,2455,1561,3939
$GC,3105,-0.65,-243.4,415.2,-14.4,469,3109,0.20,2.00,0.00,0.000,4,0.134,0.042,2518,2895,3937
$GC,3140,-0.76,-243.4,419.2,-10.2,472,3144,0.00,1.90,0.00,0.000,6,0.000,0.033,2518,1587,3937
$GC,3471,-0.86,-243.4,453.8,-11.0,503,3476,0.17,1.95,0.00,0.000,4,0.057,0.043,2407,2891,3935
$GC,3556,-0.71,-243.4,466.0,-15.1,510,3563,0.25,1.90,0.00,0.000,6,0.124,0.035,2512,1606,3934
$GC,3882,-0.84,-243.4,496.4,-8.8,541,3886,0.12,1.95,0.00,0.000,4,0.067,0.044,2438,2901,3932
$GC,3931,-0.84,-243.4,502.0,-11.5,545,3935,0.00,1.90,0.00,0.000,6,0.000,0.035,2439,1624,3931
$GC,4259,-0.75,-243.4,539.8,-11.7,561,4263,0.17,1.92,0.00,0.000,4,0.136,0.046,2496,2900,3929
$GC,4314,-0.96,-243.4,544.7,-7.7,563,4318,0.20,1.85,0.00,0.000,6,0.050,0.035,2398,1634,3929
$GC,4636,-0.72,-243.4,587.8,-14.8,579,4640,0.30,1.92,0.00,0.000,4,0.136,0.047,2497,2895,3926
$GC,4658,-0.72,-243.4,590.5,-12.1,580,4662,0.00,1.88,0.00,0.000,6,0.000,0.041,2496,1629,3926
$GC,4986,-0.86,-243.4,618.0,-9.5,596,4990,0.10,1.92,0.00,0.000,4,0.074,0.056,2444,2897,3923
$GC,5062,-0.86,-243.4,627.5,-13.2,599,5067,0.00,1.88,0.00,0.000,6,0.000,0.038,2444,1650,3923
$GC,5385,-0.79,-243.4,668.0,-12.6,615,5389,0.12,1.90,0.00,0.000,4,0.143,0.048,2477,2886,3920
$GC,5426,-0.89,-243.4,672.3,-10.3,616,5432,0.00,1.85,0.00,0.000,6,0.000,0.038,2479,1656,3920
$GC,5742,-0.95,-243.4,706.8,-10.1,632,5747,0.15,2.22,0.00,0.000,4,0.062,0.051,2407,207,3918
$GC,5781,-0.67,-243.4,712.1,-15.1,634,5786,0.40,2.15,0.00,0.000,6,0.143,0.041,2523,1643,3917
$GC,6109,-0.88,-243.4,738.5,-7.7,650,6113,0.17,1.90,0.00,0.000,4,0.058,0.049,2432,2894,3914
$GC,6154,-0.80,-243.4,743.5,-12.1,652,6158,0.17,1.85,0.00,0.000,6,0.134,0.045,2482,1654,3914
$GC,6486,-0.87,-243.4,774.0,-8.7,668,6490,0.00,2.22,0.00,0.000,4,0.000,0.054,2483,208,3911
$GC,6519,-0.87,-243.4,777.3,-9.7,669,6523,0.00,2.15,0.00,0.000,6,0.000,0.037,2487,1648,3911
$GC,6843,-0.93,-243.4,805.6,-9.6,685,6847,0.15,1.90,0.00,0.000,4,0.066,0.051,2409,2895,3909
$STATE,6863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6863,begin apogee
$GC,6869,-0.20,0.0,808.5,12.3,686,7071,0.82,0.00,198.05,1.329,6,0.127,0.000,2668,1649,2945
$STATE,7072,end apogee,CONTROL_FINISHED_OK
$STATE,7072,begin climb
$GC,7074,0.97,243.4,821.7,0.0,696,7286,1.10,0.00,207.88,1.285,6,0.052,0.000,3055,1649,1952
$GC,7582,0.57,243.4,762.8,16.1,721,7587,0.43,2.20,0.00,0.000,4,0.159,0.059,2939,245,1943
$GC,7660,0.63,298.4,753.7,10.2,724,7713,0.00,2.15,47.03,1.242,6,0.000,0.043,2939,1638,1727
$GC,8043,0.77,341.7,714.1,10.6,743,8088,0.15,2.33,37.67,1.232,4,0.064,0.054,3018,242,1552
$GC,8234,0.62,341.7,684.7,15.8,751,8239,0.28,2.12,0.00,0.000,6,0.140,0.038,2940,1638,1548
$GC,8550,0.87,401.6,654.7,10.0,766,8615,0.20,2.33,53.30,1.218,4,0.055,0.054,3046,246,1305
$GC,8694,0.67,401.6,629.3,18.6,772,8699,0.30,2.08,0.00,0.000,6,0.142,0.038,2958,1609,1302
$GC,9010,0.85,433.5,593.6,10.9,787,9045,0.17,2.22,28.83,1.169,4,0.057,0.055,3058,248,1176
$GC,9097,0.63,433.5,578.3,19.4,791,9102,0.40,2.05,0.00,0.000,6,0.142,0.038,2942,1591,1174
$GC,9424,0.94,467.6,542.3,10.9,807,9460,0.25,2.15,31.12,1.141,4,0.048,0.053,3077,237,1037
$GC,9583,0.68,467.6,509.4,21.9,813,9588,0.40,2.00,0.00,0.000,6,0.142,0.038,2958,1560,1033
$GC,9913,1.06,548.1,475.5,9.3,840,9992,0.30,2.15,71.70,1.101,4,0.043,0.053,3112,238,709
$GC,10094,0.79,548.1,437.8,21.8,856,10099,0.40,1.95,0.00,0.000,6,0.143,0.044,2995,1522,706
$GC,10419,1.12,604.8,402.2,10.1,886,10477,0.25,2.08,50.47,1.035,4,0.046,0.051,3129,233,478
$GC,10591,0.85,604.8,366.0,23.9,901,10595,0.40,1.92,0.00,0.000,6,0.143,0.042,3010,1514,476
$GC,10921,1.15,624.0,325.9,11.4,932,10935,0.25,1.98,6.03,0.779,4,0.046,0.052,3146,242,455
$GC,11014,0.84,624.0,305.8,25.2,940,11019,0.38,1.88,0.00,0.000,6,0.134,0.036,3013,1482,454
$GC,11357,1.79,689.0,267.8,9.8,997,11363,0.85,1.92,0.00,0.000,4,0.103,0.051,3305,234,453
$GC,11398,1.15,689.0,258.7,29.9,1004,11406,0.62,1.83,0.00,0.000,6,0.180,0.035,3112,1458,453
$GC,11745,1.15,689.0,199.1,15.2,1065,11751,0.00,1.90,0.00,0.000,4,0.000,0.049,3121,232,453
$GC,11782,1.10,689.0,193.1,17.3,1071,11788,0.00,1.77,0.00,0.000,6,0.000,0.034,3121,1440,453
$GC,12125,1.18,689.0,140.4,14.4,1132,12133,0.00,1.85,0.00,0.000,4,0.000,0.050,3126,242,453
$GC,12258,1.25,689.0,122.8,12.4,1155,12265,0.00,1.73,0.00,0.000,6,0.000,0.032,3126,1420,453
$GC,12603,1.37,689.0,79.5,12.9,1216,12611,0.15,1.83,0.00,0.000,4,0.057,0.046,3214,234,453
$GC,12714,1.15,689.0,57.4,20.1,1235,12721,0.32,1.70,0.00,0.000,6,0.133,0.031,3096,1400,453
$GC,13058,1.59,776.5,21.7,9.1,1296,13067,0.38,1.77,0.00,0.000,4,0.035,0.046,3278,243,453
$STATE,13150,end climb,SURFACE_DEPTH_REACHED
$STATE,13150,begin surface coast
$FINISH,0.7,0.997671
$STATE,13164,end surface coast,CONTROL_FINISHED_OK
$STATE,13164,begin surface
$SM_CCo,13242,0.00,0.000,0,0,452,611.29
$SM_GC,1.33,8.10,0.00,0.00,0.040,0.000,0.000,154,1526,452,-8.02,0.74,611.29
$IRIDIUM_FIX,2413.38,12332.87,150998,020231
$TT8_MAMPS,0.026845
$HUMID,1586
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.10
$XPDR_PINGS,137
$24V_AH,23.5,48.119
$10V_AH,10.7,28.521
$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,31.875,122.575,732.075,0.000,0.000,24.783,38.839,178.384,40.500,0.000,0.000,16.507,2345.451,7230.726,826.084,2707.029,503.647,0.000,2068.159,0.000,2671.781,0.000,42.738,0.000
$DEVICE_MAMPS,232.401,59.059,1329.211,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,889.077,932.462,1568.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75872,1314
$CAP_FILE_SIZE,149344,0
$CFSIZE,260165632,219226112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 48.4,1
$GPS,210609,084806,2426.335,12333.801,28,0.8,28,-3.5