version: 66.04
glider: 166
mission: 2
dive: 479
start: 8 13 109 2 58 4
data:
$ID,166
$MISSION,2
$DIVE,479
$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,330
$T_MISSION,396
$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,250
$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,-15533.478
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$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,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,52
$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
$GPS1,024807,2357.623,12551.144,42,1.5,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.9
$GPS2,025744,2357.448,12551.135,107,99.0,126,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2350.000,12545.000
$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,238.7,17272,-13.9,-10.000
$D_GRID,1007
$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,16,-1.11,-243.4,0.0,0.0,0,94,0.00,0.00,-75.95,0.000,2,0.000,0.000,161,2089,2323
$GC,98,-1.11,-243.4,3.2,-6.0,12,163,9.20,2.20,-46.17,0.000,4,0.228,0.049,2381,656,3939
$GC,188,-1.11,-243.4,15.9,-19.7,26,195,0.00,2.05,0.00,0.000,6,0.000,0.031,2380,2056,3940
$GC,534,-1.11,-243.4,76.3,-17.6,87,541,0.00,2.08,0.00,0.000,4,0.000,0.035,2374,650,3940
$GC,615,-1.11,-243.4,90.5,-17.1,101,623,0.00,2.10,0.00,0.000,6,0.000,0.030,2371,2098,3940
$GC,963,-1.11,-243.4,136.9,-12.2,162,970,0.00,2.03,0.00,0.000,4,0.000,0.042,2374,3463,3941
$GC,1063,-1.11,-243.4,150.6,-13.9,179,1069,0.00,1.92,0.00,0.000,6,0.000,0.025,2368,2114,3941
$GC,1410,-1.11,-243.4,195.2,-13.5,240,1417,0.00,2.03,0.00,0.000,4,0.000,0.042,2369,3463,3942
$GC,1436,-1.11,-243.4,198.6,-12.8,244,1442,0.00,1.90,0.00,0.000,6,0.000,0.026,2367,2132,3942
$GC,1780,-1.11,-243.4,242.6,-12.6,305,1787,0.00,2.03,0.00,0.000,4,0.000,0.043,2366,3465,3941
$GC,1835,-1.11,-243.4,249.2,-12.3,314,1842,0.00,1.88,0.00,0.000,6,0.000,0.026,2368,2155,3941
$GC,2181,-1.11,-243.4,289.0,-11.0,375,2187,0.00,2.00,0.00,0.000,4,0.000,0.044,2366,3469,3940
$GC,2222,-1.11,-243.4,293.7,-11.1,382,2229,0.00,1.88,0.00,0.000,6,0.000,0.027,2366,2165,3940
$GC,2558,-1.11,-243.4,329.7,-10.9,418,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2165,3939
$GC,2875,-1.11,-243.4,365.9,-12.1,448,2879,0.00,2.25,0.00,0.000,4,0.000,0.038,2365,654,3937
$GC,2903,-1.11,-243.4,369.5,-13.2,450,2910,0.00,2.28,0.00,0.000,6,0.000,0.032,2365,2197,3937
$GC,3229,-1.11,-243.4,408.7,-12.0,481,3232,0.00,1.90,0.00,0.000,4,0.000,0.047,2369,3456,3935
$GC,3314,-1.11,-243.4,419.6,-13.5,488,3321,0.00,1.83,0.00,0.000,6,0.000,0.028,2367,2201,3935
$GC,3640,-1.11,-243.4,457.5,-10.6,519,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2200,3934
$GC,3958,-1.11,-243.4,490.8,-10.6,549,3960,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2201,3931
$GC,4271,-1.11,-243.4,525.0,-10.5,568,4275,0.00,2.33,0.00,0.000,4,0.000,0.042,2369,659,3929
$GC,4326,-1.11,-243.4,531.2,-11.4,570,4330,0.00,2.35,0.00,0.000,6,0.000,0.037,2368,2230,3929
$GC,4648,-1.11,-243.4,565.4,-10.9,586,4651,0.00,1.88,0.00,0.000,4,0.000,0.052,2374,3453,3927
$GC,4682,-1.11,-243.4,569.4,-11.4,587,4685,0.00,1.83,0.00,0.000,6,0.000,0.031,2374,2194,3926
$GC,5005,-1.11,-243.4,604.7,-10.8,603,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2194,3924
$GC,5313,-1.11,-243.4,636.5,-10.3,618,5317,0.00,1.98,0.00,0.000,4,0.000,0.052,2368,3459,3921
$GC,5360,-1.11,-243.4,641.7,-11.0,620,5363,0.00,1.80,0.00,0.000,6,0.000,0.032,2366,2226,3921
$GC,5692,-1.11,-243.4,678.1,-11.2,636,5697,0.00,2.38,0.00,0.000,4,0.000,0.045,2366,664,3918
$GC,5726,-1.11,-243.4,682.4,-12.8,637,5734,0.12,2.35,0.00,0.000,6,0.156,0.039,2390,2220,3917
$GC,6043,-1.11,-243.4,719.2,-12.0,653,6047,0.00,1.92,0.00,0.000,4,0.000,0.056,2390,3445,3914
$GC,6105,-1.11,-243.4,727.1,-11.7,655,6111,0.00,1.75,0.00,0.000,6,0.000,0.035,2388,2248,3914
$GC,6423,-1.11,-243.4,764.8,-11.8,671,6427,0.00,2.42,0.00,0.000,4,0.000,0.048,2390,666,3911
$GC,6451,-1.11,-243.4,768.3,-11.9,672,6455,0.00,2.42,0.00,0.000,6,0.000,0.042,2383,2252,3911
$GC,6773,-1.11,-243.4,805.3,-12.2,688,6776,0.00,1.88,0.00,0.000,4,0.000,0.059,2377,3453,3908
$GC,6819,-1.11,-243.4,811.7,-14.6,690,6823,0.00,1.77,0.00,0.000,6,0.000,0.036,2374,2273,3908
$GC,7153,-1.11,-243.4,853.0,-11.9,706,7157,0.00,1.90,0.00,0.000,4,0.000,0.060,2370,3456,3905
$STATE,7219,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7220,begin apogee
$GC,7229,-0.29,0.0,861.8,13.0,709,7442,0.90,0.00,205.10,1.364,6,0.123,0.000,2652,1696,2944
$STATE,7443,end apogee,CONTROL_FINISHED_OK
$STATE,7443,begin climb
$GC,7447,1.11,243.4,877.7,0.0,720,7668,1.27,2.30,209.85,1.322,4,0.074,0.055,3112,287,1951
$GC,7732,1.11,243.4,860.4,11.7,733,7736,0.00,2.17,0.00,0.000,6,0.000,0.041,3112,1698,1947
$GC,8067,1.11,243.4,821.6,11.7,749,8071,0.00,2.17,0.00,0.000,4,0.000,0.054,3111,3102,1942
$GC,8117,1.11,243.4,814.3,14.8,751,8121,0.00,2.12,0.00,0.000,6,0.000,0.041,3120,1703,1941
$GC,8444,1.11,243.4,769.1,13.8,767,8448,0.00,2.22,0.00,0.000,4,0.000,0.055,3131,279,1940
$GC,8529,1.11,243.4,757.5,13.4,770,8536,0.00,2.12,0.00,0.000,6,0.000,0.042,3131,1679,1939
$GC,8845,1.11,243.4,720.0,11.4,786,8849,0.00,2.20,0.00,0.000,4,0.000,0.054,3131,3097,1938
$GC,8873,1.11,243.4,716.4,13.0,787,8878,0.15,2.20,0.00,0.000,6,0.178,0.042,3105,1648,1937
$GC,9197,1.11,243.4,681.4,10.3,803,9201,0.00,2.28,0.00,0.000,4,0.000,0.054,3105,3101,1936
$GC,9321,1.14,271.8,668.7,9.2,808,9358,0.00,2.15,26.58,1.164,6,0.000,0.042,3113,1680,1836
$GC,9685,1.14,271.8,629.1,11.1,826,9688,0.00,2.22,0.00,0.000,4,0.000,0.054,3113,3097,1831
$GC,9757,1.14,271.8,620.3,11.4,829,9761,0.00,2.12,0.00,0.000,6,0.000,0.041,3121,1704,1830
$GC,10085,1.14,271.8,586.2,10.9,845,10089,0.00,2.22,0.00,0.000,4,0.000,0.054,3132,277,1829
$GC,10209,1.14,271.8,572.6,10.8,850,10213,0.00,2.17,0.00,0.000,6,0.000,0.042,3132,1703,1829
$GC,10531,1.14,271.8,540.0,10.0,866,10534,0.00,2.22,0.00,0.000,4,0.000,0.054,3142,287,1828
$GC,10677,1.14,271.8,524.1,10.4,872,10681,0.00,2.20,0.00,0.000,6,0.000,0.041,3142,1730,1828
$GC,11001,1.14,271.8,489.4,11.5,892,11005,0.00,2.12,0.00,0.000,4,0.000,0.053,3142,3099,1828
$GC,11127,1.14,271.8,475.1,10.7,903,11131,0.12,2.05,0.00,0.000,6,0.176,0.041,3121,1745,1826
$GC,11457,1.18,306.0,443.3,9.1,934,11503,0.00,2.20,32.60,1.039,4,0.000,0.053,3118,3099,1696
$GC,11550,1.20,320.6,434.2,9.6,942,11572,0.00,2.03,14.73,1.017,6,0.000,0.039,3126,1777,1636
$GC,11891,1.20,320.6,398.8,10.5,974,11895,0.00,2.05,0.00,0.000,4,0.000,0.051,3126,3096,1634
$GC,12005,1.20,320.6,386.4,11.0,984,12009,0.00,1.98,0.00,0.000,6,0.000,0.038,3135,1790,1633
$GC,12340,1.20,320.6,350.2,10.5,1015,12343,0.00,2.03,0.00,0.000,4,0.000,0.050,3135,3102,1632
$GC,12432,1.20,320.6,340.1,10.5,1023,12435,0.00,1.88,0.00,0.000,6,0.000,0.037,3144,1846,1633
$GC,12765,1.20,321.8,307.6,10.0,1054,12769,0.00,2.42,0.00,0.000,4,0.000,0.049,3156,274,1633
$GC,12851,1.20,321.8,298.5,10.2,1062,12857,0.00,2.38,0.00,0.000,6,0.000,0.038,3156,1847,1633
$GC,13196,1.20,321.8,262.1,11.0,1123,13202,0.00,1.90,0.00,0.000,4,0.000,0.048,3156,3100,1633
$GC,13233,1.20,321.8,257.9,11.4,1129,13239,0.00,1.90,0.00,0.000,6,0.000,0.036,3164,1821,1633
$GC,13579,1.23,342.6,221.9,9.4,1190,13605,0.00,2.45,20.48,0.861,4,0.000,0.047,3176,280,1547
$GC,13651,1.24,353.9,215.0,9.7,1202,13670,0.00,2.42,11.27,0.797,6,0.000,0.036,3176,1885,1501
$GC,14010,1.32,413.6,181.1,8.3,1265,14068,0.00,1.95,52.83,0.836,4,0.000,0.044,3176,3106,1257
$GC,14092,1.32,416.9,172.9,9.9,1278,14105,0.00,2.03,4.50,0.551,6,0.000,0.035,3185,1766,1245
$GC,14444,1.32,416.9,135.7,10.3,1340,14451,0.00,2.05,0.00,0.000,4,0.000,0.043,3185,3104,1242
$GC,14555,1.32,418.0,124.2,10.0,1359,14562,0.00,2.03,0.00,0.000,6,0.000,0.033,3195,1738,1243
$GC,14900,1.33,424.3,89.7,9.8,1420,14915,0.00,2.10,7.80,0.641,4,0.000,0.041,3195,3112,1215
$GC,15023,1.33,424.3,76.4,10.4,1441,15029,0.00,2.00,0.00,0.000,6,0.000,0.032,3204,1779,1215
$GC,15369,1.41,492.3,44.9,8.1,1502,15433,0.00,2.12,58.47,0.698,4,0.000,0.039,3202,3113,939
$GC,15572,1.42,501.2,25.6,9.8,1536,15586,0.00,2.03,9.88,0.600,6,0.000,0.031,3210,1733,900
$STATE,15798,end climb,SURFACE_DEPTH_REACHED
$STATE,15798,begin surface coast
$FINISH,0.8,1.007881
$STATE,15833,end surface coast,CONTROL_FINISHED_OK
$STATE,15833,begin surface
$SM_CCo,15915,0.00,0.000,0,0,898,502.13
$SM_GC,1.82,7.95,0.00,0.00,0.030,0.000,0.000,161,2095,898,-8.06,0.93,502.13
$IRIDIUM_FIX,2349.77,12552.28,061198,222240
$TT8_MAMPS,0.026845
$HUMID,1644
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.10
$XPDR_PINGS,205
$ALTIM_BOTTOM_PING,850.6,35.6
$24V_AH,23.2,106.814
$10V_AH,10.6,70.058
$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,19.725,147.725,654.075,0.000,0.000,25.848,30.649,232.686,58.250,0.000,0.000,127.582,2728.296,8900.376,750.370,3342.156,752.343,0.000,2207.096,0.000,3194.329,0.000,48.944,0.000
$DEVICE_MAMPS,227.799,59.826,1363.726,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.779,1115.743,1877.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91748,1582
$CAP_FILE_SIZE,157162,0
$CFSIZE,260165632,195407872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.120, 98.7,1
$GPS,130809,072437,2356.780,12551.201,41,1.4,41,-3.6