version: 66.04
glider: 166
mission: 2
dive: 413
start: 7 30 109 9 5 5
data:
$ID,166
$MISSION,2
$DIVE,413
$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,-13645.684
$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,35
$R_STBD_OVSHOOT,68
$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
$GPS1,084236,2410.215,12505.421,39,1.2,39,-3.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.2
$GPS2,090443,2410.225,12505.600,10,1.5,15,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2425.000,12506.700
$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,324.8,27426,-17.3,-12.000
$D_GRID,2091
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.20,-219.0,0.0,0.0,0,100,0.00,0.00,-80.43,0.000,2,0.000,0.000,168,1693,2276
$GC,104,-1.20,-219.0,3.0,-5.7,12,163,8.82,2.08,-43.72,0.000,4,0.223,0.050,2354,3067,3838
$GC,350,-1.20,-219.0,50.7,-20.3,54,358,0.12,2.03,0.00,0.000,6,0.168,0.026,2377,1645,3839
$GC,698,-1.20,-219.0,111.8,-16.4,115,705,0.00,2.03,0.00,0.000,4,0.000,0.038,2376,266,3839
$GC,773,-1.20,-219.0,124.1,-16.3,128,780,0.00,2.10,0.00,0.000,6,0.000,0.026,2374,1737,3838
$GC,1118,-1.20,-219.0,176.1,-15.3,189,1124,0.00,2.15,0.00,0.000,4,0.000,0.037,2374,282,3838
$GC,1193,-1.20,-219.0,187.9,-15.0,202,1201,0.00,2.17,0.00,0.000,6,0.000,0.027,2373,1776,3838
$GC,1540,-1.20,-219.0,234.0,-13.7,263,1546,0.00,2.22,0.00,0.000,4,0.000,0.038,2370,276,3838
$GC,1593,-1.20,-219.0,241.5,-14.2,272,1600,0.00,2.20,0.00,0.000,6,0.000,0.028,2368,1806,3838
$GC,1937,-1.20,-219.0,291.4,-14.3,333,1943,0.00,2.28,0.00,0.000,4,0.000,0.038,2367,279,3837
$GC,2028,-1.20,-219.0,305.9,-15.3,346,2032,0.00,2.28,0.00,0.000,6,0.000,0.028,2366,1849,3837
$GC,2363,-1.20,-219.0,347.8,-11.1,377,2367,0.00,1.77,0.00,0.000,4,0.000,0.041,2366,3058,3835
$GC,2516,-1.20,-219.0,366.5,-12.1,390,2523,0.00,1.73,0.00,0.000,6,0.000,0.028,2366,1863,3834
$GC,2842,-1.20,-219.0,407.5,-11.8,421,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1864,3832
$GC,3162,-1.20,-219.0,440.7,-11.0,451,3165,0.00,1.80,0.00,0.000,4,0.000,0.042,2365,3066,3830
$GC,3218,-1.20,-219.0,447.8,-12.1,456,3222,0.00,1.73,0.00,0.000,6,0.000,0.029,2366,1865,3830
$GC,3550,-1.20,-219.0,489.2,-12.4,487,3554,0.00,2.38,0.00,0.000,4,0.000,0.042,2366,284,3827
$GC,3603,-1.20,-219.0,496.2,-13.2,491,3607,0.00,2.28,0.00,0.000,6,0.000,0.031,2368,1838,3827
$GC,3922,-1.20,-219.0,530.9,-9.7,507,3926,0.00,1.85,0.00,0.000,4,0.000,0.045,2377,3057,3825
$GC,4017,-1.20,-219.0,540.8,-9.6,511,4021,0.00,1.70,0.00,0.000,6,0.000,0.030,2379,1877,3824
$GC,4345,-1.20,-219.0,574.4,-10.6,527,4353,0.00,1.80,0.00,0.000,4,0.000,0.047,2389,3062,3820
$GC,4405,-1.20,-219.0,581.3,-11.5,529,4408,0.00,1.70,0.00,0.000,6,0.000,0.032,2386,1892,3819
$GC,4727,-1.20,-219.0,619.0,-11.8,545,4731,0.00,2.45,0.00,0.000,4,0.000,0.047,2386,282,3817
$GC,4765,-1.20,-219.0,624.2,-12.6,546,4774,0.00,2.38,0.00,0.000,6,0.000,0.035,2390,1852,3816
$GC,5083,-1.20,-219.0,662.9,-11.8,562,5086,0.00,1.83,0.00,0.000,4,0.000,0.051,2391,3057,3813
$GC,5178,-1.20,-219.0,674.0,-11.2,566,5181,0.00,1.67,0.00,0.000,6,0.000,0.035,2391,1911,3812
$GC,5506,-1.20,-219.0,706.8,-9.8,582,5510,0.00,1.77,0.00,0.000,4,0.000,0.052,2389,3058,3809
$GC,5575,-1.20,-219.0,714.0,-9.9,585,5578,0.00,1.62,0.00,0.000,6,0.000,0.036,2389,1958,3808
$GC,5908,-1.20,-219.0,747.6,-10.3,601,5912,0.00,2.58,0.00,0.000,4,0.000,0.051,2388,295,3805
$GC,5926,-1.20,-219.0,749.4,-9.8,602,5931,0.00,2.47,0.00,0.000,6,0.000,0.039,2382,1926,3805
$GC,6258,-1.20,-219.0,785.7,-11.1,618,6262,0.00,1.73,0.00,0.000,4,0.000,0.055,2380,3050,3802
$GC,6374,-1.20,-219.0,798.9,-11.5,623,6378,0.00,1.60,0.00,0.000,6,0.000,0.037,2379,1991,3801
$GC,6708,-1.20,-219.0,838.2,-11.6,639,6712,0.00,2.65,0.00,0.000,4,0.000,0.053,2379,296,3799
$GC,6752,-1.20,-219.0,844.5,-14.5,641,6756,0.00,2.53,0.00,0.000,6,0.000,0.041,2369,1944,3798
$GC,7080,-1.20,-219.0,889.7,-13.8,657,7083,0.00,1.70,0.00,0.000,4,0.000,0.057,2366,3046,3795
$GC,7180,-1.20,-219.0,903.8,-13.2,661,7184,0.00,1.58,0.00,0.000,6,0.000,0.040,2367,2006,3795
$GC,7503,-1.20,-219.0,945.6,-12.6,677,7507,0.00,2.70,0.00,0.000,4,0.000,0.059,2366,298,3793
$GC,7536,-1.20,-219.0,950.2,-13.2,678,7544,0.00,2.53,0.00,0.000,6,0.000,0.042,2355,1947,3792
$GC,7853,-1.20,-219.0,989.5,-12.3,694,7857,0.00,1.73,0.00,0.000,4,0.000,0.059,2354,3057,3790
$STATE,7861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7862,begin apogee
$GC,7872,-0.27,0.0,991.2,12.4,694,8064,1.02,0.00,185.23,1.454,6,0.140,0.000,2670,1379,2945
$STATE,8065,end apogee,CONTROL_FINISHED_OK
$STATE,8065,begin climb
$GC,8067,1.20,219.0,1003.6,0.0,704,8271,1.33,1.95,193.38,1.412,4,0.057,0.060,3157,203,2051
$GC,8317,1.20,219.0,985.9,15.1,715,8321,0.00,1.77,0.00,0.000,6,0.000,0.043,3155,1331,2047
$GC,8639,1.20,219.0,941.4,13.6,731,8642,0.00,2.22,0.00,0.000,4,0.000,0.053,3150,2761,2043
$GC,8762,1.20,219.0,923.6,13.9,736,8766,0.00,2.15,0.00,0.000,6,0.000,0.046,3160,1354,2042
$GC,9084,1.20,219.0,877.5,14.5,752,9087,0.00,2.20,0.00,0.000,4,0.000,0.054,3158,2764,2040
$GC,9190,1.20,219.0,861.6,14.8,756,9197,0.00,2.12,0.00,0.000,6,0.000,0.046,3167,1377,2039
$GC,9506,1.20,219.0,817.2,13.8,772,9509,0.00,2.15,0.00,0.000,4,0.000,0.054,3166,2753,2038
$GC,9652,1.20,219.0,796.2,14.4,778,9656,0.00,2.10,0.00,0.000,6,0.000,0.052,3174,1392,2037
$GC,9973,1.20,219.0,752.9,13.6,794,9977,0.00,2.12,0.00,0.000,4,0.000,0.054,3173,2755,2037
$GC,10052,1.20,219.0,742.2,13.5,797,10056,0.00,2.05,0.00,0.000,6,0.000,0.045,3181,1415,2036
$GC,10375,1.20,219.0,696.4,14.4,813,10378,0.00,2.10,0.00,0.000,4,0.000,0.054,3180,2764,2035
$GC,10488,1.20,219.0,680.0,14.5,818,10492,0.15,2.03,0.00,0.000,6,0.199,0.045,3154,1445,2034
$GC,10821,1.20,219.0,636.7,12.9,834,10825,0.00,2.05,0.00,0.000,4,0.000,0.053,3152,2763,2034
$GC,10866,1.20,219.0,630.7,12.5,836,10870,0.00,2.05,0.00,0.000,6,0.000,0.049,3160,1440,2034
$GC,11200,1.20,219.0,588.2,12.5,852,11204,0.00,2.05,0.00,0.000,4,0.000,0.054,3160,2753,2034
$GC,11295,1.20,219.0,576.0,13.0,856,11298,0.00,1.98,0.00,0.000,6,0.000,0.044,3170,1460,2033
$GC,11624,1.24,245.1,538.3,11.0,872,11651,0.00,2.03,21.38,1.160,4,0.000,0.057,3181,205,1944
$GC,11675,1.24,245.1,531.9,12.6,874,11679,0.00,1.95,0.00,0.000,6,0.000,0.042,3181,1481,1942
$GC,11993,1.26,268.8,493.1,11.1,892,12020,0.00,2.05,21.88,1.117,4,0.000,0.055,3193,202,1848
$GC,12158,1.26,268.8,471.4,13.3,906,12165,0.00,2.05,0.00,0.000,6,0.000,0.041,3194,1527,1845
$GC,12486,1.27,274.5,433.1,11.8,937,12497,0.00,2.10,6.30,0.896,4,0.000,0.054,3207,193,1824
$GC,12538,1.29,290.4,426.6,11.4,941,12559,0.00,2.00,15.95,1.032,6,0.000,0.041,3206,1518,1760
$GC,12885,1.29,290.4,384.7,12.3,974,12888,0.00,1.90,0.00,0.000,4,0.000,0.049,3208,2757,1756
$GC,13026,1.31,303.0,367.5,11.5,986,13045,0.08,1.90,12.52,0.964,6,0.184,0.041,3193,1524,1708
$GC,13362,1.33,320.9,328.8,11.3,1018,13383,0.00,0.00,17.12,0.952,6,0.000,0.000,3193,1524,1635
$GC,13710,1.35,335.8,288.4,11.5,1059,13728,0.00,0.00,14.25,0.898,6,0.000,0.000,3193,1524,1576
$GC,14067,1.36,347.5,245.7,11.6,1122,14087,0.00,1.90,11.65,0.841,4,0.000,0.043,3191,2764,1528
$GC,14196,1.38,363.6,231.2,11.4,1144,14217,0.00,1.95,15.80,0.848,6,0.000,0.038,3198,1492,1462
$GC,14555,1.43,403.3,193.3,10.5,1207,14596,0.00,2.03,35.55,0.842,4,0.000,0.041,3198,2768,1300
$GC,14650,1.43,403.3,182.7,12.4,1222,14656,0.00,1.90,0.00,0.000,6,0.000,0.036,3206,1528,1298
$GC,14994,1.43,403.3,138.8,12.2,1283,15001,0.00,2.03,0.00,0.000,4,0.000,0.048,3215,195,1297
$GC,15047,1.43,403.3,131.9,12.8,1292,15055,0.00,2.03,0.00,0.000,6,0.000,0.033,3215,1580,1296
$GC,15393,1.45,423.6,90.9,11.3,1353,15419,0.00,2.12,18.92,0.726,4,0.000,0.045,3226,193,1217
$GC,15456,1.48,440.6,84.0,11.4,1363,15478,0.00,2.00,15.93,0.699,6,0.000,0.031,3226,1540,1148
$GC,15818,1.60,542.1,48.4,8.3,1426,15914,0.15,1.90,86.28,0.698,4,0.064,0.036,3295,2768,736
$GC,15939,1.60,542.1,33.8,13.0,1445,15945,0.00,1.83,0.00,0.000,6,0.000,0.033,3302,1567,736
$STATE,16168,end climb,SURFACE_DEPTH_REACHED
$STATE,16168,begin surface coast
$FINISH,0.8,1.019681
$STATE,16193,end surface coast,CONTROL_FINISHED_OK
$STATE,16193,begin surface
$SM_CCo,16274,0.00,0.000,0,0,731,543.09
$SM_GC,1.58,8.45,0.00,0.00,0.048,0.000,0.000,167,1702,731,-8.11,0.76,543.09
$IRIDIUM_FIX,2359.20,12505.91,241098,090926
$TT8_MAMPS,0.026845
$HUMID,1616
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,137
$24V_AH,22.7,89.542
$10V_AH,10.6,59.487
$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,20.125,147.275,672.125,0.000,0.000,92.266,204.641,666.681,42.250,0.000,0.000,16.009,2604.236,9656.028,743.495,3161.524,1421.496,0.000,2195.668,0.000,3130.290,0.000,54.446,0.000
$DEVICE_MAMPS,223.197,59.826,1454.232,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.490,1024.574,1721.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88452,1490
$CAP_FILE_SIZE,169536,0
$CFSIZE,260165632,201502720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,100.7,1
$GPS,300709,133737,2410.736,12506.727,42,1.2,42,-3.6