version: 66.04
glider: 166
mission: 2
dive: 395
start: 7 26 109 21 34 57
data:
$ID,166
$MISSION,2
$DIVE,395
$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,-13271.988
$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,45
$R_STBD_OVSHOOT,70
$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
$GPS1,212706,2358.144,12445.889,30,1.3,30,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-71.1
$GPS2,213436,2358.117,12445.962,10,1.3,26,-3.5
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.600,12444.000
$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,321.2,34390,-17.3,-12.000
$D_GRID,2629
$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,13,begin dive
$GC,16,-1.20,-219.0,0.0,0.0,0,73,0.00,0.00,-55.40,0.000,2,0.000,0.000,149,1680,2298
$GC,78,-1.20,-219.0,3.3,-6.4,9,136,9.02,2.20,-40.40,0.000,4,0.229,0.054,2368,267,3840
$GC,206,-1.20,-219.0,27.7,-21.4,30,212,0.00,2.03,0.00,0.000,6,0.000,0.028,2361,1667,3842
$GC,551,-1.20,-219.0,96.7,-17.9,91,559,0.00,2.10,0.00,0.000,4,0.000,0.037,2350,3075,3842
$GC,717,-1.20,-219.0,126.7,-17.4,120,724,0.00,2.08,0.00,0.000,6,0.000,0.028,2364,1658,3842
$GC,1063,-1.20,-219.0,185.3,-16.5,181,1069,0.00,2.10,0.00,0.000,4,0.000,0.038,2349,3073,3843
$GC,1161,-1.20,-219.0,201.9,-17.1,198,1167,0.00,2.03,0.00,0.000,6,0.000,0.028,2358,1658,3843
$GC,1506,-1.20,-219.0,259.0,-15.7,259,1513,0.00,2.10,0.00,0.000,4,0.000,0.037,2335,3076,3844
$GC,1614,-1.20,-219.0,277.8,-16.0,278,1621,0.15,2.03,0.00,0.000,6,0.164,0.028,2374,1656,3843
$GC,1950,-1.20,-219.0,325.2,-13.5,322,1954,0.00,2.12,0.00,0.000,4,0.000,0.038,2371,3082,3844
$GC,2069,-1.20,-219.0,341.6,-13.3,332,2076,0.00,2.03,0.00,0.000,6,0.000,0.028,2368,1671,3844
$GC,2395,-1.20,-219.0,380.0,-11.6,363,2399,0.00,2.10,0.00,0.000,4,0.000,0.039,2371,3079,3843
$GC,2479,-1.20,-219.0,389.1,-10.8,370,2485,0.00,2.03,0.00,0.000,6,0.000,0.029,2371,1671,3843
$GC,2804,-1.20,-219.0,427.1,-12.8,401,2808,0.00,2.10,0.00,0.000,4,0.000,0.041,2373,3078,3841
$GC,2899,-1.20,-219.0,439.9,-13.4,409,2905,0.00,2.03,0.00,0.000,6,0.000,0.030,2373,1676,3841
$GC,3225,-1.20,-219.0,481.4,-11.5,440,3229,0.00,2.10,0.00,0.000,4,0.000,0.042,2378,3075,3840
$GC,3320,-1.20,-219.0,493.2,-12.2,448,3327,0.00,2.05,0.00,0.000,6,0.000,0.031,2378,1685,3839
$GC,3638,-1.20,-219.0,528.4,-10.8,467,3642,0.00,2.10,0.00,0.000,4,0.000,0.044,2381,3074,3838
$GC,3696,-1.20,-219.0,534.9,-12.0,469,3699,0.00,2.05,0.00,0.000,6,0.000,0.031,2381,1667,3838
$GC,4017,-1.20,-219.0,573.5,-12.0,485,4021,0.00,2.12,0.00,0.000,4,0.000,0.045,2385,3067,3835
$GC,4108,-1.20,-219.0,585.2,-12.6,489,4112,0.00,2.03,0.00,0.000,6,0.000,0.032,2383,1675,3834
$GC,4442,-1.20,-219.0,623.8,-10.6,505,4445,0.00,2.12,0.00,0.000,4,0.000,0.046,2389,3072,3833
$GC,4503,-1.20,-219.0,630.6,-10.6,507,4511,0.00,2.08,0.00,0.000,6,0.000,0.034,2390,1665,3832
$GC,4821,-1.20,-219.0,661.8,-9.5,523,4824,0.00,2.15,0.00,0.000,4,0.000,0.048,2391,3073,3830
$GC,4916,-1.20,-219.0,671.9,-10.6,527,4920,0.00,2.08,0.00,0.000,6,0.000,0.036,2391,1672,3830
$GC,5243,-1.20,-219.0,707.5,-11.1,543,5247,0.00,2.15,0.00,0.000,4,0.000,0.050,2391,3073,3826
$GC,5340,-1.20,-219.0,718.6,-11.2,547,5344,0.00,2.08,0.00,0.000,6,0.000,0.037,2391,1678,3826
$GC,5667,-1.20,-219.0,756.9,-12.0,563,5670,0.00,2.12,0.00,0.000,4,0.000,0.051,2382,3061,3823
$GC,5746,-1.20,-219.0,766.9,-13.4,566,5749,0.00,2.08,0.00,0.000,6,0.000,0.038,2382,1673,3822
$GC,6067,-1.20,-219.0,808.0,-13.0,582,6070,0.00,2.17,0.00,0.000,4,0.000,0.056,2379,3063,3819
$GC,6180,-1.20,-219.0,823.5,-13.3,587,6184,0.00,2.10,0.00,0.000,6,0.000,0.044,2379,1676,3817
$GC,6513,-1.20,-219.0,867.3,-13.0,603,6516,0.00,2.17,0.00,0.000,4,0.000,0.056,2370,3063,3815
$GC,6613,-1.20,-219.0,881.4,-13.5,607,6617,0.00,2.10,0.00,0.000,6,0.000,0.041,2370,1672,3814
$GC,6937,-1.20,-219.0,925.4,-13.9,623,6941,0.00,2.17,0.00,0.000,4,0.000,0.055,2366,3064,3811
$GC,6975,-1.20,-219.0,931.2,-13.8,624,6982,0.00,2.12,0.00,0.000,6,0.000,0.042,2366,1657,3811
$GC,7292,-1.20,-219.0,975.3,-14.3,640,7296,0.00,2.20,0.00,0.000,4,0.000,0.057,2366,3056,3808
$GC,7354,-1.20,-219.0,984.0,-13.5,642,7361,0.00,2.10,0.00,0.000,6,0.000,0.042,2366,1669,3808
$STATE,7401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7401,begin apogee
$GC,7407,-0.27,0.0,990.6,14.0,645,7607,1.00,0.00,190.70,1.446,6,0.129,0.000,2677,1340,2945
$STATE,7608,end apogee,CONTROL_FINISHED_OK
$STATE,7608,begin climb
$GC,7610,1.20,219.0,1005.8,0.0,655,7817,1.33,2.35,193.62,1.417,4,0.054,0.056,3151,2735,2051
$GC,7869,1.20,219.0,985.9,15.2,666,7875,0.00,2.17,0.00,0.000,6,0.000,0.047,3156,1351,2047
$GC,8184,1.20,219.0,937.9,15.4,682,8188,0.00,2.17,0.00,0.000,4,0.000,0.054,3154,2741,2043
$GC,8212,1.20,219.0,933.4,15.5,683,8216,0.00,2.17,0.00,0.000,6,0.000,0.054,3163,1340,2042
$GC,8534,1.20,219.0,881.8,16.2,699,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,1340,2041
$GC,8843,1.20,219.0,829.9,17.1,714,8846,0.00,2.20,0.00,0.000,4,0.000,0.053,3161,2744,2040
$GC,8934,1.20,219.0,814.1,17.7,718,8938,0.00,2.15,0.00,0.000,6,0.000,0.049,3170,1349,2039
$GC,9266,1.20,219.0,758.7,16.1,734,9270,0.00,2.17,0.00,0.000,4,0.000,0.054,3170,2742,2038
$GC,9344,1.20,219.0,745.7,17.2,737,9348,0.00,2.17,0.00,0.000,6,0.000,0.054,3180,1340,2037
$GC,9667,1.20,219.0,695.2,14.8,753,9670,0.00,2.17,0.00,0.000,4,0.000,0.053,3180,2740,2036
$GC,9802,1.20,219.0,674.4,15.8,759,9807,0.15,2.15,0.00,0.000,6,0.205,0.046,3156,1340,2035
$GC,10131,1.20,219.0,629.5,13.8,775,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,1340,2035
$GC,10440,1.20,219.0,589.2,12.4,790,10444,0.00,2.20,0.00,0.000,4,0.000,0.051,3152,2746,2034
$GC,10681,1.22,232.2,560.2,11.5,800,10696,0.00,2.15,9.98,1.110,6,0.000,0.045,3161,1341,1998
$GC,11020,1.25,259.0,524.0,11.0,817,11062,0.00,2.28,27.05,1.088,4,0.000,0.051,3161,2740,1888
$GC,11202,1.25,259.0,501.9,12.6,825,11206,0.00,2.15,0.00,0.000,6,0.000,0.044,3170,1349,1884
$GC,11531,1.25,259.0,462.4,12.1,855,11535,0.00,2.17,0.00,0.000,4,0.000,0.054,3170,2740,1884
$GC,11622,1.25,259.0,450.6,12.7,863,11626,0.00,2.12,0.00,0.000,6,0.000,0.043,3179,1350,1883
$GC,11955,1.27,276.4,410.2,11.4,894,11977,0.00,0.00,16.48,1.023,6,0.000,0.000,3181,1350,1817
$GC,12295,1.27,276.4,369.8,12.3,926,12299,0.00,2.15,0.00,0.000,4,0.000,0.045,3184,2755,1815
$GC,12498,1.27,276.4,344.4,12.2,944,12502,0.00,2.15,0.00,0.000,6,0.000,0.039,3193,1333,1813
$GC,12832,1.33,324.0,307.1,10.3,975,12885,0.00,2.28,42.75,0.954,4,0.000,0.043,3192,2754,1623
$GC,12914,1.33,324.0,297.6,12.3,984,12921,0.00,2.15,0.00,0.000,6,0.000,0.038,3200,1350,1622
$GC,13259,1.36,342.8,255.9,11.3,1045,13285,0.00,2.20,17.60,0.871,4,0.000,0.044,3200,2752,1546
$GC,13406,1.36,342.8,238.6,13.0,1070,13413,0.00,2.15,0.00,0.000,6,0.000,0.040,3209,1340,1546
$GC,13751,1.38,359.8,198.1,11.4,1131,13772,0.00,2.20,16.50,0.813,4,0.000,0.040,3210,2747,1478
$GC,13914,1.38,365.3,178.1,11.8,1159,13928,0.00,2.10,6.35,0.663,6,0.000,0.036,3219,1346,1455
$GC,14266,1.41,389.6,136.0,11.1,1221,14298,0.00,2.20,22.52,0.772,4,0.000,0.038,3219,2755,1356
$GC,14345,1.41,389.6,126.2,12.5,1234,14351,0.00,2.15,0.00,0.000,6,0.000,0.035,3227,1350,1356
$GC,14689,1.46,429.0,86.8,10.6,1295,14728,0.00,2.20,35.00,0.736,4,0.000,0.037,3227,2752,1196
$GC,14809,1.46,429.0,73.4,12.1,1315,14818,0.00,2.15,0.00,0.000,6,0.000,0.035,3236,1342,1196
$GC,15158,1.53,487.9,35.2,9.8,1376,15215,0.00,2.15,50.75,0.687,4,0.000,0.035,3236,2758,955
$GC,15256,1.53,487.9,24.0,12.1,1392,15263,0.00,2.12,0.00,0.000,6,0.000,0.033,3246,1337,955
$STATE,15434,end climb,SURFACE_DEPTH_REACHED
$STATE,15434,begin surface coast
$FINISH,0.8,1.017576
$STATE,15456,end surface coast,CONTROL_FINISHED_OK
$STATE,15456,begin surface
$SM_CCo,15536,0.00,0.000,0,0,952,488.39
$SM_GC,1.72,8.18,0.00,0.00,0.039,0.000,0.000,167,1692,952,-8.10,0.51,488.39
$IRIDIUM_FIX,2349.77,12422.62,201098,171748
$TT8_MAMPS,0.026845
$HUMID,1568
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.60
$XPDR_PINGS,138
$24V_AH,23.2,85.086
$10V_AH,10.7,56.799
$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,19.825,141.800,629.300,0.000,0.000,24.711,30.202,219.133,42.500,0.000,0.000,27.064,2497.109,9018.227,711.607,3069.577,676.611,0.000,2102.552,0.000,3015.708,0.000,59.145,0.000
$DEVICE_MAMPS,228.566,56.758,1445.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,964.225,982.762,1652.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82326,1427
$CAP_FILE_SIZE,149744,0
$CFSIZE,260165632,203100160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.237,104.4,1
$GPS,270709,015507,2358.717,12447.310,38,1.8,38,-3.5