version: 66.04
glider: 166
mission: 2
dive: 426
start: 8 1 109 23 26 19
data:
$ID,166
$MISSION,2
$DIVE,426
$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,475
$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,-13970.279
$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,19
$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,1860
$C_ROLL_CLIMB,1486
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,66
$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
$GPS1,231537,2417.506,12518.497,36,1.1,36,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-62.0
$GPS2,232556,2417.475,12518.602,13,1.7,13,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2429.200,12515.600
$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,325.3,22296,-17.3,-12.000
$D_GRID,1611
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-219.0,0.0,0.0,0,97,0.00,0.00,-77.07,0.000,2,0.000,0.000,165,1886,2492
$GC,101,-1.18,-219.0,3.5,-4.7,12,153,9.10,2.10,-33.75,0.000,4,0.229,0.053,2366,3245,3840
$GC,278,-1.18,-219.0,38.9,-20.8,42,286,0.00,2.03,0.00,0.000,6,0.000,0.028,2369,1834,3840
$GC,626,-1.18,-219.0,101.0,-17.5,103,632,0.00,2.10,0.00,0.000,4,0.000,0.041,2364,3243,3841
$GC,768,-1.18,-219.0,127.0,-17.4,128,775,0.00,1.95,0.00,0.000,6,0.000,0.027,2355,1896,3841
$GC,1113,-1.18,-219.0,181.7,-14.4,189,1120,0.00,2.10,0.00,0.000,4,0.000,0.038,2358,466,3842
$GC,1229,-1.18,-219.0,200.2,-16.1,209,1235,0.00,2.10,0.00,0.000,6,0.000,0.029,2352,1917,3842
$GC,1575,-1.18,-219.0,251.7,-15.1,270,1583,0.15,2.00,0.00,0.000,4,0.163,0.041,2390,3242,3842
$GC,1667,-1.18,-219.0,264.1,-12.4,286,1675,0.00,1.85,0.00,0.000,6,0.000,0.027,2385,1960,3842
$GC,2012,-1.18,-219.0,305.1,-11.9,343,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,1960,3842
$GC,2333,-1.18,-219.0,342.2,-10.9,373,2336,0.00,1.95,0.00,0.000,4,0.000,0.044,2380,3251,3841
$GC,2394,-1.18,-219.0,349.7,-11.9,378,2406,0.00,1.88,0.00,0.000,6,0.000,0.028,2387,1964,3840
$GC,2722,-1.18,-219.0,386.1,-11.3,409,2726,0.00,1.95,0.00,0.000,4,0.000,0.046,2379,3248,3839
$GC,2769,-1.18,-219.0,391.8,-11.8,413,2772,0.00,1.80,0.00,0.000,6,0.000,0.028,2381,1992,3839
$GC,3100,-1.18,-219.0,429.1,-11.0,444,3103,0.00,1.90,0.00,0.000,4,0.000,0.047,2380,3242,3837
$GC,3174,-1.18,-219.0,437.2,-11.2,450,3181,0.00,1.77,0.00,0.000,6,0.000,0.030,2380,2030,3836
$GC,3501,-1.18,-219.0,472.7,-10.9,481,3505,0.00,1.85,0.00,0.000,4,0.000,0.048,2382,3245,3835
$GC,3537,-1.18,-219.0,476.9,-11.2,484,3541,0.00,1.73,0.00,0.000,6,0.000,0.031,2385,2048,3834
$GC,3877,-1.18,-219.0,514.9,-11.3,510,3881,0.00,2.38,0.00,0.000,4,0.000,0.044,2386,468,3832
$GC,3895,-1.18,-219.0,517.1,-11.4,511,3899,0.00,2.33,0.00,0.000,6,0.000,0.035,2375,2032,3831
$GC,4225,-1.18,-219.0,554.9,-11.2,527,4228,0.00,1.83,0.00,0.000,4,0.000,0.051,2386,3239,3828
$GC,4280,-1.18,-219.0,561.8,-12.0,529,4284,0.00,1.70,0.00,0.000,6,0.000,0.032,2382,2063,3828
$GC,4604,-1.18,-219.0,596.6,-10.8,545,4607,0.00,1.83,0.00,0.000,4,0.000,0.052,2387,3251,3825
$GC,4634,-1.18,-219.0,600.1,-11.5,546,4637,0.00,1.73,0.00,0.000,6,0.000,0.033,2383,2063,3824
$GC,4961,-1.18,-219.0,635.8,-11.1,562,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2063,3822
$GC,5272,-1.18,-219.0,671.4,-11.8,577,5276,0.00,1.85,0.00,0.000,4,0.000,0.054,2382,3237,3819
$GC,5344,-1.18,-219.0,680.5,-12.2,580,5348,0.00,1.70,0.00,0.000,6,0.000,0.035,2380,2076,3818
$GC,5672,-1.18,-219.0,718.3,-11.5,596,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2076,3815
$GC,5983,-1.18,-219.0,752.9,-11.0,611,5986,0.00,1.83,0.00,0.000,4,0.000,0.056,2374,3247,3812
$GC,6061,-1.18,-219.0,762.5,-12.0,614,6065,0.00,1.73,0.00,0.000,6,0.000,0.038,2374,2081,3811
$GC,6384,-1.18,-219.0,798.7,-11.4,630,6388,0.00,2.47,0.00,0.000,4,0.000,0.051,2374,476,3809
$GC,6478,-1.18,-219.0,810.6,-12.2,634,6483,0.00,2.38,0.00,0.000,6,0.000,0.041,2366,2035,3808
$GC,6794,-1.18,-219.0,848.9,-12.5,649,6798,0.00,1.88,0.00,0.000,4,0.000,0.059,2358,3236,3806
$GC,6912,-1.18,-219.0,865.0,-13.8,654,6916,0.00,1.70,0.00,0.000,6,0.000,0.038,2358,2090,3804
$GC,7239,-1.18,-219.0,910.2,-14.0,670,7243,0.00,2.53,0.00,0.000,4,0.000,0.054,2358,476,3803
$GC,7285,-1.18,-219.0,917.0,-14.3,672,7290,0.12,2.42,0.00,0.000,6,0.170,0.050,2384,2038,3802
$GC,7615,-1.18,-219.0,957.2,-11.9,688,7618,0.00,1.92,0.00,0.000,4,0.000,0.065,2377,3233,3801
$GC,7715,-1.18,-219.0,970.6,-13.0,692,7719,0.00,1.67,0.00,0.000,6,0.000,0.040,2377,2111,3800
$STATE,7890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7890,begin apogee
$GC,7899,-0.26,0.0,991.7,11.4,701,8093,0.98,0.00,188.30,1.457,6,0.129,0.000,2680,1507,2945
$STATE,8094,end apogee,CONTROL_FINISHED_OK
$STATE,8094,begin climb
$GC,8097,1.18,219.0,1004.5,0.0,711,8303,1.27,2.25,195.18,1.414,4,0.051,0.056,3137,2863,2050
$GC,8332,1.18,219.0,987.3,14.9,722,8336,0.00,2.17,0.00,0.000,6,0.000,0.045,3147,1485,2047
$GC,8659,1.18,219.0,940.0,14.1,738,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,1485,2043
$GC,8970,1.18,219.0,898.1,12.8,753,8974,0.00,2.17,0.00,0.000,4,0.000,0.057,3145,2866,2041
$GC,9087,1.18,219.0,882.8,12.2,758,9091,0.00,2.10,0.00,0.000,6,0.000,0.051,3154,1493,2040
$GC,9414,1.18,219.0,842.4,12.6,774,9418,0.00,2.15,0.00,0.000,4,0.000,0.055,3152,2866,2039
$GC,9488,1.18,219.0,832.8,13.5,777,9491,0.00,2.08,0.00,0.000,6,0.000,0.044,3160,1509,2038
$GC,9815,1.18,219.0,789.6,13.3,793,9819,0.00,2.12,0.00,0.000,4,0.000,0.056,3160,2864,2037
$GC,9867,1.18,219.0,782.4,14.0,795,9870,0.00,2.05,0.00,0.000,6,0.000,0.045,3169,1525,2037
$GC,10195,1.18,219.0,736.5,14.3,811,10199,0.00,2.08,0.00,0.000,4,0.000,0.057,3180,199,2036
$GC,10212,1.18,219.0,733.8,14.1,811,10219,0.15,2.03,0.00,0.000,6,0.194,0.043,3144,1533,2036
$GC,10528,1.18,219.0,691.2,13.4,827,10531,0.00,2.12,0.00,0.000,4,0.000,0.061,3139,2885,2036
$GC,10636,1.18,219.0,676.7,13.4,831,10643,0.00,2.08,0.00,0.000,6,0.000,0.044,3147,1526,2035
$GC,10953,1.19,225.6,638.4,11.8,847,10962,0.00,2.17,4.15,0.834,4,0.000,0.055,3147,2876,2025
$GC,11025,1.19,225.6,629.0,12.1,850,11028,0.00,2.05,0.00,0.000,6,0.000,0.044,3156,1536,2025
$GC,11353,1.25,280.5,592.2,10.0,866,11418,0.00,2.20,53.05,1.182,4,0.000,0.054,3156,2892,1800
$GC,11600,1.25,280.5,560.2,12.3,877,11603,0.00,2.05,0.00,0.000,6,0.000,0.041,3163,1559,1795
$GC,11933,1.25,280.5,518.7,12.4,893,11937,0.00,2.08,0.00,0.000,4,0.000,0.052,3163,2890,1794
$GC,11979,1.25,280.5,512.8,12.1,895,11982,0.00,2.00,0.00,0.000,6,0.000,0.041,3172,1574,1793
$GC,12311,1.25,280.5,472.8,12.7,921,12315,0.00,2.05,0.00,0.000,4,0.000,0.052,3172,2894,1793
$GC,12406,1.25,280.5,459.9,12.6,929,12412,0.00,1.98,0.00,0.000,6,0.000,0.041,3180,1584,1792
$GC,12735,1.28,304.2,421.4,11.1,960,12761,0.00,2.17,21.52,1.062,4,0.000,0.051,3193,192,1703
$GC,12830,1.28,304.2,409.2,13.9,968,12834,0.00,2.10,0.00,0.000,6,0.000,0.041,3194,1559,1701
$GC,13164,1.28,304.2,369.3,12.3,999,13168,0.00,2.12,0.00,0.000,4,0.000,0.051,3207,196,1700
$GC,13322,1.29,309.8,348.7,11.8,1013,13334,0.00,2.12,6.15,0.832,6,0.000,0.039,3209,1604,1680
$GC,13653,1.29,309.8,308.7,12.4,1044,13657,0.12,2.20,0.00,0.000,4,0.177,0.050,3189,198,1681
$GC,13708,1.33,344.4,302.4,10.7,1048,13749,0.00,2.10,32.00,0.963,6,0.000,0.039,3189,1594,1540
$GC,14090,1.41,408.3,260.9,9.7,1113,14157,0.00,2.08,57.28,0.918,4,0.000,0.045,3191,2892,1280
$GC,14277,1.42,417.4,238.5,11.7,1145,14296,0.00,1.90,9.45,0.788,6,0.000,0.037,3198,1631,1242
$GC,14634,1.42,417.4,190.2,12.2,1208,14641,0.00,2.20,0.00,0.000,4,0.000,0.049,3209,201,1241
$GC,14687,1.42,417.4,183.2,12.3,1217,14693,0.00,2.15,0.00,0.000,6,0.000,0.035,3209,1628,1240
$GC,15031,1.48,465.2,144.3,10.2,1278,15081,0.00,1.98,42.50,0.799,4,0.000,0.042,3209,2895,1048
$GC,15135,1.48,465.2,132.4,12.2,1295,15142,0.00,1.92,0.00,0.000,6,0.000,0.035,3218,1627,1048
$GC,15482,1.54,514.2,93.1,10.2,1356,15534,0.12,2.00,43.20,0.742,4,0.071,0.040,3278,2897,848
$GC,15606,1.54,514.2,78.2,12.8,1376,15613,0.00,1.85,0.00,0.000,6,0.000,0.033,3287,1669,848
$GC,15951,1.54,514.2,31.1,13.8,1437,15957,0.00,2.25,0.00,0.000,4,0.000,0.044,3298,187,847
$GC,15975,1.54,514.2,27.8,12.7,1441,15982,0.15,2.20,0.00,0.000,6,0.165,0.031,3259,1702,847
$STATE,16204,end climb,SURFACE_DEPTH_REACHED
$STATE,16204,begin surface coast
$FINISH,0.9,1.011123
$STATE,16239,end surface coast,CONTROL_FINISHED_OK
$STATE,16240,begin surface
$SM_CCo,16320,0.00,0.000,0,0,845,515.13
$SM_GC,1.67,8.35,0.00,0.00,0.049,0.000,0.000,166,1898,845,-8.11,1.07,515.13
$IRIDIUM_FIX,2408.65,12517.15,261098,232305
$TT8_MAMPS,0.027612
$HUMID,1628
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.40
$XPDR_PINGS,145
$24V_AH,23.1,92.797
$10V_AH,10.6,61.473
$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,20.525,143.375,652.775,0.000,0.000,47.515,115.083,220.309,44.250,0.000,0.000,14.010,2597.548,9640.262,735.216,3116.418,834.509,0.000,2159.343,0.000,3079.915,0.000,54.427,0.000
$DEVICE_MAMPS,229.333,65.195,1457.300,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.653,1017.315,1711.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88375,1488
$CAP_FILE_SIZE,158118,0
$CFSIZE,260165632,200347648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.257, 97.2,1
$GPS,020809,035937,2418.190,12520.188,41,1.2,41,-3.6