version: 66.04
glider: 166
mission: 2
dive: 348
start: 7 16 109 19 21 15
data:
$ID,166
$MISSION,2
$DIVE,348
$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,413
$T_MISSION,495
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,-12245.781
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,87
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,191454,2421.021,12429.685,41,1.4,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.9
$GPS2,192055,2421.005,12429.636,14,1.3,31,-3.6
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2413.900,12429.800
$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,183.8,13162,-13.7,-7.990
$D_GRID,368
$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,-1.01,-170.3,0.0,0.0,0,70,0.00,0.00,-52.30,0.000,2,0.000,0.000,165,1684,2297
$GC,73,-1.01,-170.3,3.0,-4.1,8,126,8.95,2.12,-37.92,0.000,4,0.225,0.053,2436,257,3640
$GC,167,-1.01,-170.3,18.8,-21.1,23,174,0.00,2.03,0.00,0.000,6,0.000,0.028,2433,1677,3640
$GC,512,-1.01,-170.3,81.3,-14.4,84,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1678,3640
$GC,856,-1.01,-170.3,131.1,-11.1,145,863,0.00,2.12,0.00,0.000,4,0.000,0.041,2428,270,3641
$GC,894,-1.01,-170.3,135.6,-12.9,151,900,0.00,2.03,0.00,0.000,6,0.000,0.027,2427,1697,3641
$GC,1238,-1.01,-170.3,186.2,-13.4,212,1245,0.00,2.03,0.00,0.000,4,0.000,0.038,2427,3067,3641
$GC,1259,-1.01,-170.3,188.7,-12.8,215,1265,0.00,2.03,0.00,0.000,6,0.000,0.029,2425,1652,3642
$GC,1602,-1.01,-170.3,233.7,-14.1,276,1609,0.00,2.05,0.00,0.000,4,0.000,0.043,2427,260,3642
$GC,1661,-1.01,-170.3,241.8,-13.6,286,1668,0.00,2.03,0.00,0.000,6,0.000,0.027,2427,1691,3642
$GC,2007,-1.01,-170.3,282.1,-12.5,347,2013,0.00,2.03,0.00,0.000,4,0.000,0.039,2428,3077,3641
$GC,2143,-1.01,-170.3,299.9,-13.6,371,2150,0.00,2.03,0.00,0.000,6,0.000,0.031,2429,1671,3642
$GC,2468,-1.01,-170.3,343.3,-12.0,402,2471,0.00,2.08,0.00,0.000,4,0.000,0.044,2429,274,3642
$GC,2597,-1.01,-170.3,359.1,-11.3,413,2603,0.00,2.00,0.00,0.000,6,0.000,0.026,2425,1681,3642
$STATE,2686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2686,begin apogee
$GC,2692,-0.29,0.0,368.2,10.2,422,2830,0.73,0.00,133.23,0.885,6,0.107,0.000,2675,1331,2945
$STATE,2830,end apogee,CONTROL_FINISHED_OK
$STATE,2830,begin climb
$GC,2834,1.01,170.3,377.4,0.0,436,2972,1.15,1.73,131.57,0.873,4,0.064,0.047,3111,211,2249
$GC,3080,1.01,170.3,370.4,8.3,457,3087,0.00,1.62,0.00,0.000,6,0.000,0.027,3111,1370,2247
$GC,3407,1.06,210.1,348.0,6.7,488,3445,0.00,2.05,31.90,0.848,4,0.000,0.035,3111,2729,2087
$GC,3497,1.06,210.1,340.6,9.3,496,3501,0.00,2.05,0.00,0.000,6,0.000,0.035,3121,1345,2085
$GC,3830,1.09,229.6,313.3,7.4,527,3851,0.00,0.00,16.60,0.808,6,0.000,0.000,3121,1345,2006
$GC,4180,1.11,245.4,285.1,7.5,575,4200,0.00,1.77,13.50,0.785,4,0.000,0.047,3129,202,1943
$GC,4286,1.11,248.1,276.4,7.9,593,4293,0.00,1.62,0.00,0.000,6,0.000,0.028,3130,1365,1940
$GC,4630,1.11,248.1,250.2,10.2,654,4637,0.00,2.03,0.00,0.000,4,0.000,0.036,3130,2734,1939
$GC,4868,1.11,248.1,227.2,9.2,696,4874,0.00,2.03,0.00,0.000,6,0.000,0.035,3139,1347,1937
$GC,5213,1.14,271.9,200.1,7.2,757,5239,0.00,1.77,22.17,0.775,4,0.000,0.047,3149,205,1835
$GC,5280,1.14,271.9,194.6,8.5,768,5286,0.00,1.62,0.00,0.000,6,0.000,0.028,3148,1346,1833
$GC,5624,1.14,271.9,166.2,8.2,829,5632,0.00,1.73,0.00,0.000,4,0.000,0.045,3158,210,1832
$GC,5723,1.14,271.9,156.4,10.6,846,5730,0.00,1.62,0.00,0.000,6,0.000,0.028,3157,1359,1831
$GC,6068,1.15,281.9,126.0,7.7,907,6082,0.00,2.08,9.52,0.657,4,0.000,0.035,3157,2746,1795
$GC,6319,1.15,281.9,104.2,9.2,951,6325,0.00,2.03,0.00,0.000,6,0.000,0.034,3167,1347,1793
$GC,6663,1.16,285.6,77.5,7.9,1012,6677,0.00,1.73,4.62,0.485,4,0.000,0.044,3176,213,1780
$GC,6791,1.16,285.6,66.9,8.8,1034,6798,0.00,1.60,0.00,0.000,6,0.000,0.028,3176,1351,1780
$GC,7136,1.31,410.7,43.9,4.0,1095,7245,0.00,1.75,102.03,0.665,4,0.000,0.043,3185,206,1269
$GC,7291,1.31,410.7,34.2,8.0,1120,7298,0.00,1.62,0.00,0.000,6,0.000,0.027,3185,1349,1268
$GC,7636,1.31,410.7,3.5,9.2,1181,7643,0.00,1.73,0.00,0.000,4,0.000,0.042,3194,205,1266
$STATE,7648,end climb,SURFACE_DEPTH_REACHED
$STATE,7648,begin surface coast
$FINISH,0.7,1.009359
$STATE,7677,end surface coast,CONTROL_FINISHED_OK
$STATE,7677,begin surface
$SM_CCo,7698,32.38,0.612,0,0,1109,450.13
$SM_GC,1.79,0.00,0.00,32.38,0.000,0.000,0.612,168,1665,1109,-8.16,-0.28,450.13
$IRIDIUM_FIX,2413.38,12429.29,101098,171716
$TT8_MAMPS,0.026845
$HUMID,1595
$INTERNAL_PRESSURE,10.1124
$TCM_TEMP,26.10
$XPDR_PINGS,10
$24V_AH,24.3,74.995
$10V_AH,10.9,48.883
$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,18.775,61.350,465.150,32.375,0.000,22.595,32.001,164.552,4.250,0.000,0.000,32.125,1926.018,2903.797,556.212,2244.276,462.593,0.000,1516.534,0.000,2222.884,0.000,12.713,0.000
$DEVICE_MAMPS,224.731,52.923,885.118,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,793.984,945.608,1589.108,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66537,1188
$CAP_FILE_SIZE,92167,0
$CFSIZE,260165632,207650816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.381,179.2,1
$GPS,160709,213116,2418.914,12429.759,12,2.2,31,-3.6