version: 66.04
glider: 166
mission: 2
dive: 399
start: 7 27 109 15 33 6
data:
$ID,166
$MISSION,2
$DIVE,399
$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,-13335.944
$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,50
$R_STBD_OVSHOOT,73
$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
$GPS1,152507,2359.925,12450.854,31,0.9,31,-3.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-70.4
$GPS2,153244,2359.924,12450.914,16,1.3,16,-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,323.1,33016,-17.3,-12.000
$D_GRID,2646
$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,-219.0,0.0,0.0,0,75,0.00,0.00,-56.88,0.000,2,0.000,0.000,165,1696,2242
$GC,79,-1.20,-219.0,3.2,-5.8,9,138,8.85,2.15,-43.40,0.000,4,0.223,0.052,2368,273,3838
$GC,212,-1.20,-219.0,28.4,-21.9,31,219,0.00,2.03,0.00,0.000,6,0.000,0.028,2358,1673,3840
$GC,558,-1.20,-219.0,94.8,-17.7,92,564,0.00,2.10,0.00,0.000,4,0.000,0.039,2360,260,3840
$GC,600,-1.20,-219.0,102.5,-18.6,99,606,0.00,2.08,0.00,0.000,6,0.000,0.029,2353,1673,3840
$GC,945,-1.20,-219.0,160.7,-16.1,160,952,0.00,2.10,0.00,0.000,4,0.000,0.038,2356,260,3841
$GC,1043,-1.20,-219.0,176.9,-15.9,177,1050,0.00,2.05,0.00,0.000,6,0.000,0.028,2349,1689,3841
$GC,1387,-1.20,-219.0,232.4,-16.3,238,1395,0.12,2.03,0.00,0.000,4,0.169,0.038,2376,3066,3842
$GC,1538,-1.20,-219.0,255.1,-15.1,264,1545,0.00,2.05,0.00,0.000,6,0.000,0.028,2376,1659,3842
$GC,1888,-1.20,-219.0,303.6,-13.8,324,1891,0.00,2.10,0.00,0.000,4,0.000,0.038,2373,3066,3842
$GC,1968,-1.20,-219.0,315.0,-14.7,331,1971,0.00,2.00,0.00,0.000,6,0.000,0.028,2371,1668,3841
$GC,2298,-1.20,-219.0,359.4,-13.0,362,2302,0.00,2.10,0.00,0.000,4,0.000,0.039,2372,3075,3841
$GC,2404,-1.20,-219.0,373.1,-13.3,371,2410,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,1668,3841
$GC,2730,-1.20,-219.0,413.8,-12.9,402,2733,0.00,2.10,0.00,0.000,4,0.000,0.041,2373,3069,3840
$GC,2825,-1.20,-219.0,426.4,-13.5,410,2832,0.00,2.05,0.00,0.000,6,0.000,0.029,2374,1675,3839
$GC,3152,-1.20,-219.0,466.4,-11.5,441,3156,0.00,2.10,0.00,0.000,4,0.000,0.041,2377,3078,3838
$GC,3282,-1.20,-219.0,482.7,-11.4,452,3288,0.00,2.03,0.00,0.000,6,0.000,0.031,2377,1676,3838
$GC,3602,-1.20,-219.0,520.4,-12.3,475,3606,0.00,2.10,0.00,0.000,4,0.000,0.043,2384,3067,3836
$GC,3704,-1.20,-219.0,532.3,-11.1,479,3708,0.00,2.03,0.00,0.000,6,0.000,0.031,2381,1677,3835
$GC,4027,-1.20,-219.0,568.0,-11.6,495,4030,0.00,2.10,0.00,0.000,4,0.000,0.044,2388,3067,3834
$GC,4090,-1.20,-219.0,575.5,-11.5,497,4096,0.00,2.05,0.00,0.000,6,0.000,0.032,2387,1662,3833
$GC,4406,-1.20,-219.0,612.0,-11.6,513,4410,0.00,2.12,0.00,0.000,4,0.000,0.047,2390,3061,3832
$GC,4498,-1.20,-219.0,622.9,-11.9,517,4502,0.00,2.03,0.00,0.000,6,0.000,0.034,2390,1678,3831
$GC,4832,-1.20,-219.0,657.5,-10.2,533,4835,0.00,2.15,0.00,0.000,4,0.000,0.049,2390,270,3828
$GC,4938,-1.20,-219.0,670.4,-12.7,537,4944,0.00,2.08,0.00,0.000,6,0.000,0.035,2390,1674,3827
$GC,5255,-1.20,-219.0,707.2,-12.0,553,5259,0.00,2.17,0.00,0.000,4,0.000,0.051,2390,264,3825
$GC,5339,-1.20,-219.0,718.6,-13.6,556,5345,0.00,2.12,0.00,0.000,6,0.000,0.037,2387,1688,3823
$GC,5654,-1.20,-219.0,757.3,-12.0,572,5658,0.00,2.20,0.00,0.000,4,0.000,0.051,2387,267,3820
$GC,5769,-1.20,-219.0,771.7,-12.6,577,5772,0.00,2.10,0.00,0.000,6,0.000,0.038,2378,1673,3818
$GC,6102,-1.20,-219.0,809.3,-10.7,593,6105,0.00,2.20,0.00,0.000,4,0.000,0.055,2376,274,3816
$GC,6204,-1.20,-219.0,821.2,-11.7,597,6208,0.00,2.12,0.00,0.000,6,0.000,0.040,2375,1685,3814
$GC,6525,-1.20,-219.0,857.6,-11.7,613,6529,0.00,2.17,0.00,0.000,4,0.000,0.056,2368,3082,3811
$GC,6710,-1.20,-219.0,879.9,-13.6,621,6714,0.00,2.12,0.00,0.000,6,0.000,0.045,2368,1685,3810
$GC,7043,-1.20,-219.0,924.2,-13.4,637,7047,0.00,2.20,0.00,0.000,4,0.000,0.058,2366,3080,3808
$GC,7160,-1.20,-219.0,940.1,-13.6,642,7164,0.00,2.17,0.00,0.000,6,0.000,0.044,2366,1664,3807
$GC,7488,-1.20,-219.0,983.5,-13.3,658,7492,0.00,2.25,0.00,0.000,4,0.000,0.061,2357,3084,3804
$STATE,7535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7535,begin apogee
$GC,7544,-0.27,0.0,990.4,13.7,660,7737,1.00,0.00,188.55,1.461,6,0.133,0.000,2669,1351,2945
$STATE,7737,end apogee,CONTROL_FINISHED_OK
$STATE,7738,begin climb
$GC,7741,1.20,219.0,1003.6,0.0,670,7944,1.38,2.33,195.00,1.418,4,0.055,0.054,3149,2753,2052
$GC,7994,1.20,219.0,984.6,15.7,682,7998,0.00,2.22,0.00,0.000,6,0.000,0.047,3158,1345,2047
$GC,8311,1.20,219.0,938.2,14.8,697,8315,0.00,2.22,0.00,0.000,4,0.000,0.061,3157,2759,2043
$GC,8430,1.20,219.0,920.4,14.8,702,8434,0.00,2.20,0.00,0.000,6,0.000,0.048,3166,1336,2042
$GC,8750,1.20,219.0,871.0,15.8,718,8754,0.00,2.22,0.00,0.000,4,0.000,0.054,3165,2755,2041
$GC,8852,1.20,219.0,854.5,15.7,722,8856,0.00,2.17,0.00,0.000,6,0.000,0.049,3173,1340,2040
$GC,9173,1.20,219.0,804.5,15.2,738,9176,0.00,2.22,0.00,0.000,4,0.000,0.054,3173,2762,2039
$GC,9301,1.20,219.0,784.8,14.3,743,9307,0.00,2.17,0.00,0.000,6,0.000,0.047,3180,1350,2039
$GC,9619,1.20,219.0,737.5,15.2,759,9622,0.00,2.20,0.00,0.000,4,0.000,0.053,3179,2753,2038
$GC,9758,1.20,219.0,716.5,14.6,765,9763,0.15,2.17,0.00,0.000,6,0.202,0.046,3153,1341,2037
$GC,10082,1.20,219.0,674.6,12.8,781,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,1341,2036
$GC,10390,1.20,219.0,635.2,12.6,796,10393,0.00,2.22,0.00,0.000,4,0.000,0.053,3151,2761,2035
$GC,10565,1.20,219.0,611.8,12.8,803,10571,0.00,2.17,0.00,0.000,6,0.000,0.047,3159,1349,2035
$GC,10883,1.20,219.0,572.2,12.2,819,10886,0.00,2.22,0.00,0.000,4,0.000,0.061,3159,2759,2035
$GC,10921,1.20,219.0,566.9,12.7,820,10928,0.00,2.17,0.00,0.000,6,0.000,0.046,3169,1343,2034
$GC,11237,1.25,257.0,533.1,10.6,836,11288,0.00,2.28,35.72,1.080,4,0.000,0.056,3169,2756,1896
$GC,11490,1.25,257.0,502.1,12.4,847,11493,0.00,2.17,0.00,0.000,6,0.000,0.044,3180,1348,1892
$GC,11823,1.30,299.2,464.6,10.4,877,11877,0.00,2.33,40.25,1.067,4,0.000,0.050,3182,2766,1724
$GC,11963,1.30,299.2,447.2,12.3,889,11971,0.00,2.20,0.00,0.000,6,0.000,0.044,3194,1351,1722
$GC,12291,1.31,305.7,407.3,11.8,920,12304,0.00,2.25,6.90,0.889,4,0.000,0.048,3197,2761,1697
$GC,12446,1.31,305.7,387.7,12.7,933,12452,0.00,2.17,0.00,0.000,6,0.000,0.042,3208,1340,1697
$GC,12774,1.34,332.4,349.7,11.0,964,12808,0.00,2.25,25.23,0.981,4,0.000,0.045,3210,2758,1588
$GC,12967,1.34,332.4,325.3,14.0,981,12971,0.00,2.15,0.00,0.000,6,0.000,0.038,3219,1341,1587
$GC,13300,1.35,335.0,281.4,11.9,1024,13306,0.00,2.15,0.00,0.000,4,0.000,0.041,3217,2768,1586
$GC,13336,1.35,335.0,276.9,12.3,1030,13344,0.00,2.12,0.00,0.000,6,0.000,0.038,3225,1346,1586
$GC,13684,1.37,357.8,236.0,11.2,1091,13715,0.00,2.20,23.67,0.867,4,0.000,0.041,3225,2775,1485
$GC,13870,1.38,362.3,212.9,11.8,1123,13882,0.00,2.15,5.30,0.644,6,0.000,0.037,3235,1343,1468
$GC,14221,1.41,384.5,171.5,11.2,1185,14248,0.00,2.22,20.98,0.798,4,0.000,0.039,3235,2774,1377
$GC,14339,1.41,384.5,156.3,13.3,1205,14345,0.00,2.12,0.00,0.000,6,0.000,0.035,3244,1349,1376
$GC,14684,1.41,384.5,113.5,12.3,1266,14691,0.00,2.12,0.00,0.000,4,0.000,0.038,3245,2775,1376
$GC,14829,1.42,394.5,96.3,11.6,1291,14848,0.12,2.12,10.65,0.680,6,0.177,0.035,3223,1335,1335
$GC,15191,1.53,482.9,56.0,8.7,1354,15275,0.00,2.17,76.35,0.711,4,0.000,0.034,3219,2770,975
$GC,15323,1.59,535.6,43.5,10.1,1375,15375,0.12,2.15,45.17,0.681,6,0.051,0.033,3290,1353,760
$STATE,15633,end climb,SURFACE_DEPTH_REACHED
$STATE,15633,begin surface coast
$FINISH,0.8,1.009593
$STATE,15656,end surface coast,CONTROL_FINISHED_OK
$STATE,15659,begin surface
$SM_CCo,15739,0.00,0.000,0,0,757,536.72
$SM_GC,1.60,8.27,0.00,0.00,0.040,0.000,0.000,159,1727,757,-8.10,1.47,536.72
$IRIDIUM_FIX,2352.12,12451.41,211098,111121
$TT8_MAMPS,0.026845
$HUMID,1589
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.40
$XPDR_PINGS,168
$24V_AH,22.9,86.040
$10V_AH,10.6,57.379
$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,20.025,147.100,673.775,0.000,0.000,25.622,28.732,231.868,50.000,0.000,0.000,16.563,2516.067,9062.776,766.665,3138.578,698.292,0.000,2192.695,0.000,3095.490,0.000,54.430,0.000
$DEVICE_MAMPS,223.197,60.593,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,967.456,985.160,1656.002,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82180,1433
$CAP_FILE_SIZE,152268,0
$CFSIZE,260165632,202752000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.136, 75.3,1
$GPS,270709,195637,2400.764,12451.732,36,1.0,36,-3.5