version: 66.04
glider: 166
mission: 2
dive: 522
start: 8 21 109 8 29 29
data:
$ID,166
$MISSION,2
$DIVE,522
$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,-17734.174
$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,30
$R_STBD_OVSHOOT,57
$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
$GPS1,081630,2456.833,12235.154,39,1.1,44,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-71.4
$GPS2,082908,2456.547,12235.307,15,1.1,15,-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,300.5,55444,-13.9,-10.000
$D_GRID,1444
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,81,0.00,0.00,-59.22,0.000,2,0.000,0.000,127,2104,2266
$GC,85,-0.93,-243.4,3.3,-5.9,9,151,9.52,2.15,-46.00,0.000,4,0.219,0.061,2513,3447,3940
$GC,205,-0.49,-243.4,26.1,-26.1,28,212,0.52,2.08,0.00,0.000,6,0.143,0.031,2659,2025,3941
$GC,554,-0.70,-243.4,62.5,-5.5,89,561,0.17,2.05,0.00,0.000,4,0.050,0.038,2559,659,3942
$GC,706,-0.66,-243.4,79.4,-10.3,115,713,0.17,2.08,0.00,0.000,6,0.123,0.033,2609,2058,3942
$GC,1055,-0.76,-243.4,104.1,-7.1,176,1062,0.12,2.15,0.00,0.000,4,0.063,0.044,2534,3469,3943
$GC,1109,-0.70,-243.4,110.1,-11.6,185,1116,0.20,2.05,0.00,0.000,6,0.120,0.030,2593,2049,3943
$GC,1458,-0.78,-243.4,139.6,-9.4,246,1465,0.00,2.05,0.00,0.000,4,0.000,0.039,2594,672,3943
$GC,1491,-0.86,-243.4,143.0,-10.5,251,1498,0.15,2.08,0.00,0.000,6,0.059,0.034,2521,2080,3943
$GC,1841,-0.73,-243.4,200.0,-14.7,312,1847,0.22,2.12,0.00,0.000,4,0.129,0.047,2588,3459,3942
$GC,1873,-0.76,-243.4,203.9,-10.5,317,1879,0.00,2.03,0.00,0.000,6,0.000,0.030,2587,2068,3942
$GC,2218,-0.85,-243.4,227.1,-7.3,378,2226,0.12,0.00,0.00,0.000,6,0.063,0.000,2517,2068,3940
$GC,2564,-0.72,-243.4,278.7,-15.7,439,2571,0.20,2.12,0.00,0.000,4,0.128,0.039,2583,666,3939
$GC,2663,-0.81,-243.4,290.3,-11.0,456,2670,0.00,2.10,0.00,0.000,6,0.000,0.036,2583,2072,3938
$GC,2997,-0.91,-243.4,321.8,-10.0,496,3001,0.15,2.15,0.00,0.000,4,0.058,0.040,2506,667,3936
$GC,3060,-0.79,-243.4,330.7,-14.1,501,3065,0.20,2.15,0.00,0.000,6,0.128,0.038,2564,2081,3936
$GC,3387,-0.85,-243.4,360.7,-7.7,531,3391,0.00,2.15,0.00,0.000,4,0.000,0.052,2561,3461,3934
$GC,3436,-0.92,-243.4,364.8,-8.4,535,3441,0.12,2.05,0.00,0.000,6,0.063,0.032,2498,2072,3934
$GC,3768,-0.79,-243.4,417.6,-17.7,566,3772,0.17,2.15,0.00,0.000,4,0.127,0.042,2557,670,3933
$GC,3889,-0.82,-243.4,432.6,-11.6,576,3893,0.00,2.12,0.00,0.000,6,0.000,0.039,2551,2066,3932
$GC,4221,-0.86,-243.4,466.2,-10.4,607,4225,0.00,2.15,0.00,0.000,4,0.000,0.044,2551,668,3929
$GC,4272,-0.89,-243.4,472.0,-11.6,611,4278,0.00,2.15,0.00,0.000,6,0.000,0.040,2550,2078,3928
$GC,4600,-0.92,-243.4,504.2,-9.6,640,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2078,3928
$GC,4907,-0.97,-243.4,529.4,-8.5,655,4912,0.12,2.17,0.00,0.000,4,0.066,0.044,2484,676,3925
$GC,4949,-0.85,-243.4,534.9,-14.6,657,4953,0.22,2.15,0.00,0.000,6,0.127,0.042,2549,2072,3924
$GC,5285,-0.89,-243.4,569.0,-9.9,673,5288,0.00,2.17,0.00,0.000,4,0.000,0.049,2548,678,3923
$GC,5332,-0.94,-243.4,574.1,-10.6,675,5336,0.00,2.15,0.00,0.000,6,0.000,0.042,2550,2076,3923
$GC,5667,-0.99,-243.4,602.8,-8.9,691,5672,0.15,2.20,0.00,0.000,4,0.061,0.047,2477,667,3921
$GC,5823,-0.83,-243.4,625.4,-16.4,698,5828,0.25,2.17,0.00,0.000,6,0.127,0.045,2548,2066,3919
$GC,6154,-0.87,-243.4,657.5,-9.7,714,6158,0.00,2.25,0.00,0.000,4,0.000,0.060,2541,3475,3918
$GC,6205,-0.94,-243.4,663.2,-9.8,716,6209,0.00,2.12,0.00,0.000,6,0.000,0.038,2546,2066,3917
$GC,6534,-0.97,-243.4,694.9,-9.2,732,6536,0.12,0.00,0.00,0.000,6,0.065,0.000,2486,2066,3916
$GC,6843,-0.85,-243.4,733.2,-12.4,747,6847,0.17,2.20,0.00,0.000,4,0.133,0.051,2547,669,3914
$GC,6974,-0.85,-243.4,745.3,-8.4,753,6979,0.00,2.17,0.00,0.000,6,0.000,0.048,2538,2055,3913
$GC,7308,-0.85,-243.4,772.1,-7.7,769,7312,0.00,2.20,0.00,0.000,4,0.000,0.052,2542,662,3911
$GC,7370,-0.85,-243.4,777.2,-8.4,771,7376,0.00,2.17,0.00,0.000,6,0.000,0.047,2540,2048,3911
$GC,7689,-0.88,-243.4,803.7,-8.0,787,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2049,3910
$GC,7996,-0.91,-243.4,834.7,-10.1,802,8000,0.00,2.30,0.00,0.000,4,0.000,0.065,2538,3463,3908
$GC,8025,-0.97,-243.4,837.5,-9.8,803,8030,0.12,2.17,0.00,0.000,6,0.066,0.039,2486,2044,3908
$GC,8341,-0.87,-243.4,878.2,-12.6,818,8346,0.17,2.20,0.00,0.000,4,0.133,0.052,2544,656,3907
$GC,8374,-0.87,-243.4,882.0,-10.5,819,8378,0.00,2.20,0.00,0.000,6,0.000,0.048,2541,2059,3907
$GC,8699,-0.92,-243.4,908.9,-8.3,835,8703,0.00,2.30,0.00,0.000,4,0.000,0.066,2543,3472,3905
$GC,8740,-1.00,-243.4,912.3,-8.1,837,8745,0.15,2.20,0.00,0.000,6,0.061,0.040,2475,2038,3905
$GC,9071,-0.88,-243.4,954.7,-13.3,853,9076,0.20,2.20,0.00,0.000,4,0.130,0.053,2543,653,3904
$GC,9127,-0.92,-243.4,961.4,-10.0,855,9133,0.00,2.20,0.00,0.000,6,0.000,0.048,2535,2050,3904
$GC,9445,-0.92,-243.4,986.9,-7.2,871,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2050,3903
$STATE,9502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9502,begin apogee
$GC,9511,-0.23,0.0,991.3,7.1,874,9727,0.65,0.00,212.30,1.483,6,0.104,0.000,2745,1694,2945
$STATE,9728,end apogee,CONTROL_FINISHED_OK
$STATE,9728,begin climb
$GC,9731,0.93,243.4,999.8,0.0,885,9969,1.05,2.50,226.93,1.431,4,0.045,0.058,3132,3108,1950
$GC,10067,0.52,243.4,955.6,23.5,900,10074,0.55,2.22,0.00,0.000,6,0.163,0.044,2990,1696,1945
$GC,10384,0.48,243.4,917.6,10.9,916,10387,0.00,2.25,0.00,0.000,4,0.000,0.059,2989,3101,1943
$GC,10619,0.41,243.4,890.5,11.6,926,10623,0.17,2.15,0.00,0.000,6,0.146,0.045,2950,1707,1941
$GC,10942,0.57,341.5,865.4,7.3,942,11054,0.17,2.33,94.85,1.341,4,0.061,0.060,3031,3100,1551
$GC,11257,0.44,341.5,819.8,16.4,956,11262,0.28,2.15,0.00,0.000,6,0.143,0.045,2964,1718,1547
$GC,11574,0.53,341.5,785.8,10.8,971,11578,0.00,2.22,0.00,0.000,4,0.000,0.058,2963,3109,1545
$GC,11721,0.59,341.5,769.6,10.8,977,11725,0.10,2.12,0.00,0.000,6,0.076,0.044,3026,1740,1545
$GC,12044,0.51,341.5,725.3,14.2,993,12049,0.15,2.20,0.00,0.000,4,0.141,0.058,2983,3112,1545
$GC,12235,0.51,341.5,702.6,11.6,1001,12242,0.00,2.08,0.00,0.000,6,0.000,0.044,2991,1770,1545
$GC,12552,0.51,341.5,666.9,11.2,1017,12556,0.00,2.12,0.00,0.000,4,0.000,0.058,2990,3108,1544
$GC,12738,0.51,341.5,644.5,11.6,1025,12742,0.00,2.05,0.00,0.000,6,0.000,0.044,3000,1787,1544
$GC,13073,0.51,341.5,607.7,10.6,1041,13076,0.00,2.12,0.00,0.000,4,0.000,0.058,3000,3108,1544
$GC,13146,0.51,341.5,599.1,11.6,1044,13149,0.00,2.03,0.00,0.000,6,0.000,0.043,3009,1801,1544
$GC,13474,0.51,341.5,561.5,11.9,1060,13475,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,1801,1544
$GC,13783,0.56,386.3,528.6,8.8,1075,13828,0.00,2.17,40.28,1.193,4,0.000,0.058,3009,3104,1370
$GC,13934,0.56,386.3,513.2,10.3,1081,13941,0.00,2.03,0.00,0.000,6,0.000,0.043,3016,1801,1369
$GC,14257,0.56,386.3,475.3,12.9,1106,14260,0.00,2.08,0.00,0.000,4,0.000,0.057,3015,3103,1367
$GC,14429,0.56,386.3,450.8,14.4,1121,14433,0.00,1.98,0.00,0.000,6,0.000,0.041,3025,1820,1367
$GC,14764,0.53,386.3,399.4,16.5,1152,14768,0.12,2.08,0.00,0.000,4,0.141,0.057,2990,3112,1366
$GC,14859,0.60,386.3,387.1,11.9,1160,14866,0.00,1.98,0.00,0.000,6,0.000,0.041,2996,1842,1365
$GC,15189,0.67,390.8,349.3,9.9,1191,15202,0.12,2.00,5.32,0.820,4,0.065,0.054,3062,3105,1350
$GC,15313,0.53,390.8,331.1,16.0,1201,15320,0.28,1.90,0.00,0.000,6,0.139,0.040,2991,1860,1349
$GC,15639,0.72,465.0,301.3,7.9,1232,15722,0.17,2.08,70.05,0.983,4,0.056,0.055,3086,3106,1048
$GC,15780,0.58,465.0,281.3,15.6,1253,15788,0.30,1.90,0.00,0.000,6,0.138,0.039,3006,1872,1047
$GC,16129,0.71,486.3,251.3,9.4,1314,16155,0.12,0.00,19.95,0.929,6,0.065,0.000,3074,1870,961
$GC,16497,0.63,486.3,198.8,14.6,1378,16504,0.17,1.95,0.00,0.000,4,0.133,0.051,3019,3106,961
$GC,16596,0.78,505.1,188.5,9.5,1395,16623,0.10,1.90,18.08,0.875,6,0.045,0.038,3096,1875,884
$GC,16968,0.66,505.1,122.2,15.7,1459,16975,0.17,1.95,0.00,0.000,4,0.134,0.049,3038,3109,884
$GC,17104,0.75,505.1,106.7,13.3,1482,17111,0.00,1.88,0.00,0.000,6,0.000,0.036,3043,1882,883
$GC,17451,0.89,505.1,77.8,10.5,1543,17458,0.17,2.50,0.00,0.000,4,0.050,0.048,3157,269,883
$GC,17477,0.89,505.1,73.9,14.6,1547,17484,0.17,2.50,0.00,0.000,6,0.130,0.038,3107,1917,882
$GC,17825,1.06,560.0,41.0,8.5,1608,17883,0.15,2.62,47.83,0.759,4,0.058,0.045,3199,282,660
$GC,17974,1.06,560.0,17.3,15.9,1632,17981,0.15,2.45,0.00,0.000,6,0.127,0.036,3158,1890,658
$STATE,18080,end climb,SURFACE_DEPTH_REACHED
$STATE,18080,begin surface coast
$FINISH,1.0,1.002332
$STATE,18112,end surface coast,CONTROL_FINISHED_OK
$STATE,18113,begin surface
$SM_CCo,18193,0.00,0.000,0,0,657,561.25
$SM_GC,1.82,8.02,0.00,0.00,0.039,0.000,0.000,163,2089,657,-8.27,0.79,561.25
$IRIDIUM_FIX,2448.93,12234.83,151198,080819
$TT8_MAMPS,0.026845
$HUMID,1726
$INTERNAL_PRESSURE,9.79988
$TCM_TEMP,23.00
$XPDR_PINGS,199
$24V_AH,22.2,117.705
$10V_AH,10.5,76.118
$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,27.150,155.325,735.575,0.000,0.000,48.647,69.367,376.612,57.750,0.000,0.000,15.691,2965.305,10506.507,834.284,3547.494,1073.827,0.000,2422.846,0.000,3498.982,0.000,56.802,0.000
$DEVICE_MAMPS,218.595,65.962,1483.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.911,1149.414,1940.671,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94792,1656
$CAP_FILE_SIZE,192897,0
$CFSIZE,260165632,192000000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.159, 84.1,1
$GPS,210809,133401,2457.278,12233.840,39,1.2,39,-3.6