version: 66.04
glider: 166
mission: 2
dive: 391
start: 7 26 109 3 44 43
data:
$ID,166
$MISSION,2
$DIVE,391
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$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,-13199.113
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$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,43
$R_STBD_OVSHOOT,80
$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
$GPS1,033701,2356.587,12440.972,38,1.6,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.5
$GPS2,034420,2356.641,12441.090,11,1.6,11,-3.5
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2412.100,12421.900
$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,293.6,43248,-17.3,-12.000
$D_GRID,2626
$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,-1.20,-219.0,0.0,0.0,0,77,0.00,0.00,-59.88,0.000,2,0.000,0.000,169,1707,2410
$GC,81,-1.20,-219.0,3.4,-6.3,9,134,8.77,2.20,-37.42,0.000,4,0.220,0.053,2370,254,3838
$GC,188,-1.20,-219.0,23.9,-22.4,26,194,0.00,2.03,0.00,0.000,6,0.000,0.028,2366,1653,3840
$GC,532,-1.20,-219.0,94.3,-16.8,87,540,0.00,2.10,0.00,0.000,4,0.000,0.040,2367,270,3840
$GC,621,-1.20,-219.0,110.0,-18.1,102,627,0.00,2.03,0.00,0.000,6,0.000,0.028,2367,1684,3840
$GC,967,-1.20,-219.0,173.0,-17.4,163,974,0.00,2.05,0.00,0.000,4,0.000,0.038,2366,3061,3842
$GC,1082,-1.20,-219.0,191.8,-15.5,183,1090,0.00,2.05,0.00,0.000,6,0.000,0.028,2366,1656,3842
$GC,1429,-1.20,-219.0,248.4,-15.6,244,1436,0.00,2.12,0.00,0.000,4,0.000,0.036,2356,3074,3843
$GC,1500,-1.20,-219.0,259.5,-16.4,256,1506,0.00,2.05,0.00,0.000,6,0.000,0.028,2357,1669,3842
$GC,1842,-1.20,-219.0,313.0,-15.2,309,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1669,3843
$GC,2169,-1.20,-219.0,360.7,-13.7,340,2172,0.00,2.10,0.00,0.000,4,0.000,0.039,2337,3075,3842
$GC,2272,-1.20,-219.0,375.3,-14.3,349,2276,0.12,2.03,0.00,0.000,6,0.161,0.029,2374,1671,3842
$GC,2602,-1.20,-219.0,415.1,-11.6,380,2606,0.00,2.08,0.00,0.000,4,0.000,0.040,2363,3062,3841
$GC,2637,-1.20,-219.0,419.1,-11.3,383,2641,0.00,2.00,0.00,0.000,6,0.000,0.030,2365,1674,3841
$GC,2967,-1.20,-219.0,456.9,-11.0,414,2971,0.00,2.10,0.00,0.000,4,0.000,0.041,2360,3069,3839
$GC,3017,-1.20,-219.0,462.5,-11.2,418,3024,0.00,2.03,0.00,0.000,6,0.000,0.031,2361,1673,3838
$GC,3342,-1.20,-219.0,502.8,-12.7,448,3345,0.00,2.10,0.00,0.000,4,0.000,0.042,2363,3067,3837
$GC,3358,-1.20,-219.0,505.0,-12.9,448,3365,0.00,2.05,0.00,0.000,6,0.000,0.031,2364,1681,3837
$GC,3675,-1.20,-219.0,543.5,-11.0,464,3678,0.00,2.12,0.00,0.000,4,0.000,0.046,2364,276,3835
$GC,3721,-1.20,-219.0,548.9,-11.7,466,3725,0.00,2.05,0.00,0.000,6,0.000,0.031,2368,1680,3835
$GC,4054,-1.20,-219.0,585.4,-11.7,482,4057,0.00,2.10,0.00,0.000,4,0.000,0.047,2378,3073,3832
$GC,4144,-1.20,-219.0,596.5,-12.3,486,4148,0.00,2.05,0.00,0.000,6,0.000,0.034,2376,1675,3831
$GC,4477,-1.20,-219.0,636.9,-12.4,502,4481,0.00,2.12,0.00,0.000,4,0.000,0.048,2379,3066,3829
$GC,4516,-1.20,-219.0,642.0,-13.2,503,4523,0.00,2.05,0.00,0.000,6,0.000,0.035,2378,1677,3828
$GC,4833,-1.20,-219.0,683.2,-12.7,519,4837,0.00,2.15,0.00,0.000,4,0.000,0.050,2379,3075,3826
$GC,4888,-1.20,-219.0,690.5,-12.5,521,4892,0.00,2.10,0.00,0.000,6,0.000,0.036,2379,1665,3825
$GC,5213,-1.20,-219.0,727.1,-10.8,537,5216,0.00,2.17,0.00,0.000,4,0.000,0.051,2379,3075,3822
$GC,5344,-1.20,-219.0,741.0,-9.9,542,5350,0.00,2.10,0.00,0.000,6,0.000,0.038,2379,1665,3820
$GC,5661,-1.20,-219.0,775.8,-11.2,558,5664,0.00,2.17,0.00,0.000,4,0.000,0.054,2379,260,3818
$GC,5699,-1.20,-219.0,780.8,-12.8,559,5707,0.00,2.12,0.00,0.000,6,0.000,0.038,2369,1676,3817
$GC,6018,-1.20,-219.0,821.2,-13.3,575,6021,0.00,2.17,0.00,0.000,4,0.000,0.060,2366,3075,3814
$GC,6068,-1.20,-219.0,828.5,-14.0,577,6072,0.00,2.10,0.00,0.000,6,0.000,0.039,2366,1673,3813
$GC,6397,-1.20,-219.0,875.7,-14.9,593,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1673,3811
$GC,6704,-1.20,-219.0,920.2,-14.4,608,6708,0.00,2.22,0.00,0.000,4,0.000,0.058,2357,3084,3808
$GC,6851,-1.20,-219.0,940.8,-14.9,614,6855,0.00,2.15,0.00,0.000,6,0.000,0.047,2357,1672,3807
$GC,7173,-1.20,-219.0,984.5,-13.4,630,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,1672,3804
$STATE,7211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7211,begin apogee
$GC,7218,-0.27,0.0,990.4,13.5,632,7417,1.02,0.00,189.98,1.450,6,0.130,0.000,2675,1342,2945
$STATE,7417,end apogee,CONTROL_FINISHED_OK
$STATE,7417,begin climb
$GC,7420,1.20,219.0,1004.9,0.0,642,7627,1.33,2.40,193.52,1.417,4,0.054,0.052,3142,2761,2050
$GC,7678,1.20,219.0,984.6,16.4,653,7685,0.00,2.22,0.00,0.000,6,0.000,0.045,3152,1345,2047
$GC,7994,1.20,219.0,936.2,15.5,669,7998,0.00,2.20,0.00,0.000,4,0.000,0.052,3150,2753,2043
$GC,8034,1.20,219.0,929.9,16.0,670,8041,0.00,2.15,0.00,0.000,6,0.000,0.044,3160,1348,2042
$GC,8349,1.20,219.0,880.5,16.1,686,8353,0.00,2.20,0.00,0.000,4,0.000,0.052,3160,2759,2041
$GC,8478,1.20,219.0,859.4,16.1,691,8484,0.00,2.17,0.00,0.000,6,0.000,0.046,3169,1343,2040
$GC,8795,1.20,219.0,812.4,14.4,707,8799,0.00,2.20,0.00,0.000,4,0.000,0.054,3167,2760,2039
$GC,8841,1.20,219.0,805.7,15.5,709,8845,0.00,2.17,0.00,0.000,6,0.000,0.051,3175,1349,2038
$GC,9168,1.20,219.0,759.8,14.2,725,9171,0.00,1.80,0.00,0.000,4,0.000,0.063,3184,202,2037
$GC,9263,1.20,219.0,745.2,15.5,729,9268,0.12,1.75,0.00,0.000,6,0.206,0.043,3157,1368,2037
$GC,9591,1.20,219.0,697.9,14.3,745,9594,0.00,2.15,0.00,0.000,4,0.000,0.057,3156,2746,2036
$GC,9664,1.20,219.0,687.3,14.6,748,9668,0.00,2.15,0.00,0.000,6,0.000,0.047,3163,1347,2035
$GC,9991,1.20,219.0,642.6,13.9,764,9994,0.00,1.80,0.00,0.000,4,0.000,0.060,3172,198,2035
$GC,10029,1.20,219.0,636.9,15.5,765,10035,0.00,1.75,0.00,0.000,6,0.000,0.043,3172,1358,2035
$GC,10345,1.20,219.0,594.4,13.2,781,10349,0.00,2.15,0.00,0.000,4,0.000,0.051,3171,2753,2034
$GC,10440,1.20,219.0,581.9,12.5,785,10444,0.00,2.17,0.00,0.000,6,0.000,0.045,3180,1335,2033
$GC,10767,1.20,219.0,540.1,12.2,801,10771,0.00,2.20,0.00,0.000,4,0.000,0.050,3176,2755,2033
$GC,10933,1.23,242.2,520.9,11.1,808,10958,0.00,2.17,18.83,1.151,6,0.000,0.044,3185,1341,1956
$GC,11274,1.29,289.8,482.9,10.3,832,11327,0.00,2.30,42.83,1.127,4,0.000,0.048,3186,2748,1761
$GC,11352,1.29,289.8,473.9,12.8,839,11356,0.00,2.17,0.00,0.000,6,0.000,0.041,3196,1352,1760
$GC,11682,1.29,289.8,429.7,13.2,870,11686,0.00,2.17,0.00,0.000,4,0.000,0.048,3194,2759,1758
$GC,11802,1.29,289.8,414.0,12.4,880,11809,0.00,2.15,0.00,0.000,6,0.000,0.041,3203,1345,1757
$GC,12131,1.29,289.8,369.0,13.8,911,12135,0.00,2.17,0.00,0.000,4,0.000,0.046,3206,2762,1757
$GC,12193,1.29,289.8,360.2,12.0,916,12201,0.15,2.15,0.00,0.000,6,0.187,0.039,3183,1338,1755
$GC,12519,1.29,289.8,320.7,12.7,947,12523,0.00,2.15,0.00,0.000,4,0.000,0.044,3185,2751,1756
$GC,12621,1.29,289.8,307.5,13.0,956,12625,0.00,2.12,0.00,0.000,6,0.000,0.038,3193,1338,1755
$GC,12960,1.34,330.8,268.1,10.5,1011,13009,0.00,1.83,38.42,0.885,4,0.000,0.050,3202,204,1596
$GC,13045,1.35,337.4,258.6,11.8,1025,13059,0.00,1.73,7.45,0.761,6,0.000,0.035,3202,1367,1569
$GC,13398,1.37,354.9,218.0,11.4,1087,13424,0.00,2.12,16.67,0.836,4,0.000,0.041,3201,2743,1497
$GC,13494,1.40,378.1,207.0,11.1,1103,13520,0.00,2.10,21.67,0.831,6,0.000,0.035,3209,1348,1403
$GC,13859,1.43,403.9,163.2,11.1,1167,13891,0.00,2.17,23.60,0.795,4,0.000,0.038,3208,2745,1298
$GC,14029,1.44,408.0,143.0,11.8,1196,14041,0.00,2.10,5.43,0.594,6,0.000,0.035,3218,1340,1280
$GC,14380,1.48,444.4,103.4,10.7,1258,14421,0.00,1.77,32.55,0.745,4,0.000,0.051,3227,212,1133
$GC,14433,1.48,444.4,97.2,12.3,1266,14441,0.00,1.70,0.00,0.000,6,0.000,0.031,3227,1363,1132
$GC,14781,1.55,499.0,58.7,10.0,1327,14833,0.10,1.85,47.65,0.704,4,0.081,0.045,3285,205,909
$GC,14897,1.55,499.0,43.3,13.8,1346,14905,0.00,1.67,0.00,0.000,6,0.000,0.029,3285,1351,908
$STATE,15191,end climb,SURFACE_DEPTH_REACHED
$STATE,15191,begin surface coast
$FINISH,0.7,1.021032
$STATE,15215,end surface coast,CONTROL_FINISHED_OK
$STATE,15215,begin surface
$SM_CCo,15295,0.00,0.000,0,0,906,500.17
$SM_GC,1.64,8.20,0.00,0.00,0.036,0.000,0.000,168,1680,906,-8.11,0.14,500.17
$IRIDIUM_FIX,2347.41,12436.34,191098,232324
$TT8_MAMPS,0.026845
$HUMID,1574
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.70
$XPDR_PINGS,124
$24V_AH,23.2,84.143
$10V_AH,10.6,56.224
$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,19.825,142.275,638.600,0.000,0.000,23.230,33.507,217.157,39.000,0.000,0.000,11.660,2448.556,8948.033,720.885,2921.246,680.831,0.000,2074.863,0.000,2894.707,0.000,54.431,0.000
$DEVICE_MAMPS,220.129,62.894,1449.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,946.830,965.146,1619.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82151,1402
$CAP_FILE_SIZE,148384,0
$CFSIZE,260165632,203444224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.255, 98.0,1
$GPS,260709,080055,2356.834,12442.126,41,1.1,41,-3.5