version: 66.04
glider: 166
mission: 2
dive: 521
start: 8 21 109 3 10 51
data:
$ID,166
$MISSION,2
$DIVE,521
$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,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17717.854
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,38
$R_STBD_OVSHOOT,62
$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,2
$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
$GPS1,030206,2456.921,12235.346,34,0.9,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.6
$GPS2,031026,2457.024,12235.507,11,1.4,11,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,300.2,54711,-13.9,-10.000
$D_GRID,1443
$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,-0.93,-243.4,0.0,0.0,0,85,0.00,0.00,-66.72,0.000,2,0.000,0.000,147,2103,2113
$GC,89,-0.93,-243.4,3.0,-4.9,10,160,9.55,2.08,-53.92,0.000,4,0.220,0.060,2504,3445,3939
$GC,202,-0.52,-243.4,23.9,-30.1,28,210,0.50,2.08,0.00,0.000,6,0.135,0.031,2649,2028,3940
$GC,551,-0.63,-243.4,60.9,-5.4,89,557,0.00,2.03,0.00,0.000,4,0.000,0.039,2647,663,3941
$GC,627,-0.76,-243.4,65.6,-6.5,102,634,0.20,2.05,0.00,0.000,6,0.049,0.032,2545,2059,3941
$GC,973,-0.65,-243.4,116.3,-15.2,163,980,0.17,2.15,0.00,0.000,4,0.127,0.045,2599,3462,3943
$GC,1023,-0.75,-243.4,122.5,-11.4,171,1029,0.00,2.05,0.00,0.000,6,0.000,0.030,2599,2050,3942
$GC,1371,-0.81,-243.4,161.8,-9.4,232,1381,0.12,2.08,0.00,0.000,4,0.063,0.038,2534,661,3942
$GC,1418,-0.68,-243.4,167.9,-14.4,239,1425,0.22,2.08,0.00,0.000,6,0.129,0.035,2596,2064,3942
$GC,1768,-0.76,-243.4,192.5,-3.8,300,1776,0.00,2.10,0.00,0.000,4,0.000,0.039,2596,666,3942
$GC,1806,-0.84,-243.4,194.1,-4.5,306,1813,0.15,2.08,0.00,0.000,6,0.058,0.034,2522,2066,3941
$GC,2154,-0.70,-243.4,234.3,-12.7,367,2160,0.20,2.12,0.00,0.000,4,0.131,0.038,2588,667,3941
$GC,2217,-0.77,-243.4,239.5,-7.2,377,2223,0.00,2.08,0.00,0.000,6,0.000,0.034,2587,2056,3940
$GC,2563,-0.85,-243.4,266.8,-8.9,438,2570,0.12,2.10,0.00,0.000,4,0.064,0.039,2517,669,3939
$GC,2661,-0.74,-243.4,280.4,-15.2,455,2668,0.22,2.08,0.00,0.000,6,0.126,0.036,2583,2051,3939
$GC,3000,-0.84,-243.4,312.8,-9.9,504,3004,0.00,2.17,0.00,0.000,4,0.000,0.051,2583,3460,3937
$GC,3105,-0.97,-243.4,322.9,-10.0,513,3110,0.22,2.08,0.00,0.000,6,0.047,0.031,2475,2049,3937
$GC,3431,-0.78,-243.4,385.0,-17.2,543,3436,0.28,2.10,0.00,0.000,4,0.130,0.041,2564,673,3936
$GC,3540,-0.83,-243.4,396.5,-8.9,552,3544,0.00,2.08,0.00,0.000,6,0.000,0.037,2562,2045,3935
$GC,3875,-0.88,-243.4,421.7,-7.4,583,3879,0.00,2.12,0.00,0.000,4,0.000,0.045,2562,664,3934
$GC,3933,-0.92,-243.4,426.6,-8.1,588,3938,0.12,2.08,0.00,0.000,6,0.067,0.038,2494,2047,3934
$GC,4265,-0.79,-243.4,463.1,-10.8,619,4270,0.20,2.12,0.00,0.000,4,0.133,0.043,2559,671,3931
$GC,4373,-0.85,-243.4,470.8,-6.1,628,4377,0.00,2.08,0.00,0.000,6,0.000,0.038,2560,2035,3930
$GC,4707,-0.93,-243.4,495.8,-8.9,659,4711,0.12,2.10,0.00,0.000,4,0.065,0.044,2492,675,3928
$GC,4742,-0.83,-243.4,500.6,-14.4,662,4747,0.20,2.05,0.00,0.000,6,0.129,0.041,2551,2027,3928
$GC,5064,-0.90,-243.4,536.9,-10.2,678,5068,0.00,2.28,0.00,0.000,4,0.000,0.057,2549,3465,3927
$GC,5144,-0.99,-243.4,543.8,-7.7,681,5150,0.15,2.12,0.00,0.000,6,0.058,0.035,2476,2039,3926
$GC,5461,-0.86,-243.4,579.9,-10.2,697,5466,0.17,2.12,0.00,0.000,4,0.130,0.045,2536,665,3924
$GC,5525,-0.86,-243.4,584.7,-7.0,700,5529,0.00,2.10,0.00,0.000,6,0.000,0.042,2534,2037,3924
$GC,5858,-0.86,-243.4,608.9,-9.0,716,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2037,3922
$GC,6167,-0.86,-243.4,643.7,-11.9,731,6171,0.00,2.15,0.00,0.000,4,0.000,0.050,2534,663,3919
$GC,6221,-0.86,-243.4,650.1,-12.6,733,6225,0.00,2.12,0.00,0.000,6,0.000,0.044,2536,2035,3919
$GC,6550,-0.86,-243.4,685.0,-9.2,749,6554,0.00,2.30,0.00,0.000,4,0.000,0.061,2550,3471,3917
$GC,6574,-0.90,-243.4,687.1,-8.6,750,6578,0.00,2.17,0.00,0.000,6,0.000,0.038,2541,2037,3917
$GC,6908,-0.90,-243.4,709.1,-5.9,766,6912,0.00,2.15,0.00,0.000,4,0.000,0.051,2542,659,3915
$GC,7015,-0.90,-243.4,716.4,-7.2,770,7021,0.00,2.15,0.00,0.000,6,0.000,0.046,2550,2020,3914
$GC,7332,-0.90,-243.4,742.2,-9.7,786,7336,0.00,2.15,0.00,0.000,4,0.000,0.051,2548,657,3912
$GC,7405,-0.90,-243.4,750.2,-10.8,789,7409,0.00,2.12,0.00,0.000,6,0.000,0.047,2552,2021,3912
$GC,7734,-0.93,-243.4,787.3,-12.5,805,7738,0.00,2.33,0.00,0.000,4,0.000,0.064,2551,3462,3910
$GC,7764,-0.99,-243.4,791.2,-12.1,806,7768,0.15,2.20,0.00,0.000,6,0.061,0.039,2482,2016,3910
$GC,8087,-0.86,-243.4,842.1,-15.4,822,8091,0.17,2.15,0.00,0.000,4,0.134,0.053,2539,659,3909
$GC,8138,-0.86,-243.4,849.2,-12.6,824,8142,0.00,2.12,0.00,0.000,6,0.000,0.048,2539,2016,3908
$GC,8460,-0.86,-243.4,881.5,-9.7,840,8464,0.00,2.35,0.00,0.000,4,0.000,0.065,2533,3463,3907
$GC,8501,-0.91,-243.4,885.3,-8.8,842,8505,0.00,2.22,0.00,0.000,6,0.000,0.040,2538,2013,3906
$GC,8835,-0.91,-243.4,917.5,-10.2,858,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2013,3905
$GC,9144,-0.91,-243.4,957.1,-14.4,873,9148,0.00,2.15,0.00,0.000,4,0.000,0.054,2538,656,3904
$GC,9200,-0.91,-243.4,966.0,-14.8,875,9204,0.00,2.15,0.00,0.000,6,0.000,0.048,2533,2013,3904
$STATE,9374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9374,begin apogee
$GC,9383,-0.23,0.0,991.2,14.0,884,9599,0.65,0.00,212.85,1.489,6,0.106,0.000,2743,1696,2945
$STATE,9600,end apogee,CONTROL_FINISHED_OK
$STATE,9600,begin climb
$GC,9603,0.93,243.4,1013.5,0.0,895,9840,1.02,0.00,226.43,1.443,6,0.041,0.000,3130,1696,1952
$GC,10147,0.57,243.4,960.7,15.7,921,10152,0.40,2.28,0.00,0.000,4,0.163,0.060,3015,3105,1943
$GC,10407,0.46,243.4,933.4,10.5,932,10414,0.17,2.15,0.00,0.000,6,0.140,0.043,2969,1732,1942
$GC,10724,0.56,327.2,909.3,7.7,948,10822,0.00,2.33,81.50,1.355,4,0.000,0.058,2969,3102,1611
$GC,11078,0.60,327.2,873.4,11.0,964,11082,0.10,2.12,0.00,0.000,6,0.074,0.041,3029,1730,1606
$GC,11406,0.51,327.2,821.5,16.2,980,11411,0.15,2.20,0.00,0.000,4,0.143,0.058,2988,3102,1606
$GC,11660,0.51,327.2,786.9,13.6,991,11664,0.00,2.08,0.00,0.000,6,0.000,0.044,2995,1759,1604
$GC,11983,0.51,327.2,745.2,13.2,1007,11987,0.00,2.15,0.00,0.000,4,0.000,0.060,2995,3103,1604
$GC,12067,0.51,327.2,733.5,13.4,1010,12074,0.00,2.05,0.00,0.000,6,0.000,0.044,3004,1771,1603
$GC,12383,0.51,327.2,696.8,10.5,1026,12387,0.00,2.12,0.00,0.000,4,0.000,0.058,3004,3103,1604
$GC,12538,0.48,327.2,679.2,11.6,1032,12545,0.15,2.03,0.00,0.000,6,0.143,0.044,2974,1785,1603
$GC,12855,0.61,379.5,651.9,8.6,1048,12911,0.12,2.25,48.15,1.278,4,0.068,0.058,3038,3112,1397
$GC,13080,0.52,379.5,618.3,15.2,1058,13085,0.20,2.00,0.00,0.000,6,0.140,0.043,2992,1816,1394
$GC,13408,0.58,388.1,584.3,9.8,1074,13422,0.00,2.10,8.45,1.086,4,0.000,0.058,2991,3105,1362
$GC,13464,0.64,388.1,578.8,10.3,1076,13468,0.00,1.98,0.00,0.000,6,0.000,0.042,2995,1817,1362
$GC,13788,0.68,398.0,547.0,9.7,1092,13804,0.12,2.05,10.82,1.111,4,0.064,0.058,3057,3106,1323
$GC,13891,0.54,398.0,531.9,15.8,1095,13899,0.25,1.95,0.00,0.000,6,0.143,0.042,2996,1835,1323
$GC,14209,0.60,402.9,499.5,9.9,1111,14222,0.00,2.03,6.30,0.963,4,0.000,0.056,2996,3109,1301
$GC,14362,0.64,402.9,482.1,11.9,1124,14365,0.00,1.95,0.00,0.000,6,0.000,0.042,3002,1844,1301
$GC,14697,0.68,402.9,445.4,11.3,1155,14701,0.10,2.03,0.00,0.000,4,0.074,0.056,3059,3114,1301
$GC,14755,0.55,402.9,436.1,16.7,1160,14759,0.25,1.95,0.00,0.000,6,0.138,0.041,2999,1844,1301
$GC,15086,0.65,418.2,401.6,9.6,1191,15110,0.00,2.05,15.73,1.064,4,0.000,0.056,2999,3104,1239
$GC,15146,0.72,418.2,395.2,11.7,1196,15150,0.15,1.98,0.00,0.000,6,0.058,0.041,3075,1842,1238
$GC,15477,0.59,418.2,335.8,16.7,1227,15481,0.20,2.03,0.00,0.000,4,0.142,0.055,3010,3114,1237
$GC,15669,0.64,418.2,312.4,11.2,1244,15673,0.00,1.90,0.00,0.000,6,0.000,0.041,3017,1869,1237
$GC,16010,0.69,418.2,271.5,12.1,1295,16017,0.00,1.98,0.00,0.000,4,0.000,0.053,3016,3116,1237
$GC,16042,0.73,418.2,267.5,12.1,1300,16048,0.00,1.90,0.00,0.000,6,0.000,0.039,3025,1884,1236
$GC,16389,0.73,418.2,217.1,12.7,1361,16395,0.00,1.92,0.00,0.000,4,0.000,0.052,3024,3108,1236
$GC,16509,0.73,418.2,201.1,12.8,1382,16516,0.00,1.85,0.00,0.000,6,0.000,0.038,3032,1906,1236
$GC,16855,0.73,418.2,156.1,10.9,1443,16863,0.00,1.90,0.00,0.000,4,0.000,0.050,3032,3103,1236
$GC,16943,0.73,418.2,145.9,11.6,1458,16950,0.00,1.83,0.00,0.000,6,0.000,0.037,3040,1912,1236
$GC,17289,0.73,418.2,103.4,10.5,1519,17296,0.00,1.90,0.00,0.000,4,0.000,0.048,3040,3109,1236
$GC,17435,0.73,418.2,85.1,15.2,1544,17441,0.00,1.80,0.00,0.000,6,0.000,0.035,3048,1927,1236
$GC,17782,0.91,484.3,43.6,8.2,1605,17846,0.17,0.00,58.15,0.782,6,0.053,0.000,3146,1926,970
$STATE,18138,end climb,SURFACE_DEPTH_REACHED
$STATE,18138,begin surface coast
$FINISH,1.0,1.009477
$STATE,18174,end surface coast,CONTROL_FINISHED_OK
$STATE,18174,begin surface
$SM_CCo,18256,0.00,0.000,0,0,964,485.69
$SM_GC,1.96,8.05,0.00,0.00,0.041,0.000,0.000,167,2104,964,-8.26,1.22,485.69
$IRIDIUM_FIX,2446.56,12236.83,141198,212129
$TT8_MAMPS,0.027612
$HUMID,1763
$INTERNAL_PRESSURE,9.79012
$TCM_TEMP,22.10
$XPDR_PINGS,205
$24V_AH,22.3,117.401
$10V_AH,10.5,75.946
$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,25.550,159.250,668.375,0.000,0.000,25.220,42.354,240.576,59.250,0.000,0.000,12.032,3007.171,10480.964,785.719,3604.579,857.995,0.000,2398.273,0.000,3562.742,0.000,54.375,0.000
$DEVICE_MAMPS,220.129,65.195,1488.747,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.067,1168.217,1967.871,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97950,1673
$CAP_FILE_SIZE,189495,0
$CFSIZE,260165632,192106496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.282,105.8,1
$GPS,210809,081630,2456.833,12235.154,39,1.1,44,-3.6