version: 66.04
glider: 166
mission: 2
dive: 535
start: 8 24 109 4 2 27
data:
$ID,166
$MISSION,2
$DIVE,535
$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,-17931.219
$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,32
$R_STBD_OVSHOOT,32
$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
$GPS1,035337,2507.885,12226.704,36,0.9,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.7
$GPS2,040202,2508.148,12226.891,12,1.2,18,-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,335.7,31369,-13.9,-10.000
$D_GRID,754
$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,-0.93,-243.4,0.0,0.0,0,92,0.00,0.00,-73.93,0.000,2,0.000,0.000,131,2080,2092
$GC,96,-0.93,-243.4,3.2,-4.2,11,161,9.40,2.28,-49.40,0.000,4,0.217,0.050,2508,633,3939
$GC,412,-0.60,-243.4,77.2,-21.9,65,420,0.32,2.17,0.00,0.000,6,0.129,0.035,2622,2065,3941
$GC,762,-0.70,-243.4,117.5,-14.9,126,768,0.00,2.12,0.00,0.000,4,0.000,0.045,2614,3466,3943
$GC,916,-0.85,-243.4,139.4,-12.8,153,925,0.15,2.10,0.00,0.000,6,0.038,0.028,2524,2039,3943
$GC,1266,-0.70,-243.4,189.4,-9.4,214,1273,0.20,2.03,0.00,0.000,4,0.133,0.035,2588,676,3943
$GC,1345,-0.77,-243.4,194.5,-5.2,227,1352,0.00,2.10,0.00,0.000,6,0.000,0.031,2588,2102,3944
$GC,1691,-0.84,-243.4,228.7,-13.2,288,1698,0.12,2.08,0.00,0.000,4,0.064,0.045,2517,3463,3942
$GC,1724,-0.84,-243.4,233.5,-15.5,293,1732,0.12,2.00,0.00,0.000,6,0.132,0.029,2551,2078,3942
$GC,2071,-0.84,-243.4,285.9,-10.4,354,2077,0.00,2.10,0.00,0.000,4,0.000,0.038,2551,671,3940
$GC,2235,-0.84,-243.4,301.9,-9.4,381,2239,0.00,2.12,0.00,0.000,6,0.000,0.035,2547,2082,3940
$GC,2566,-0.84,-243.4,335.6,-11.0,412,2569,0.00,2.15,0.00,0.000,4,0.000,0.039,2548,669,3937
$GC,2650,-0.84,-243.4,345.6,-11.7,419,2656,0.00,2.12,0.00,0.000,6,0.000,0.036,2546,2076,3937
$GC,2976,-0.84,-243.4,379.4,-8.8,450,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2077,3935
$GC,3296,-0.84,-243.4,410.7,-11.8,480,3300,0.00,2.17,0.00,0.000,4,0.000,0.052,2545,3469,3933
$GC,3356,-0.91,-243.4,418.1,-12.1,485,3360,0.00,2.05,0.00,0.000,6,0.000,0.032,2544,2087,3932
$GC,3687,-0.91,-243.4,458.4,-11.2,516,3691,0.00,2.17,0.00,0.000,4,0.000,0.053,2543,3460,3929
$GC,3722,-0.96,-243.4,461.9,-10.2,519,3726,0.00,2.08,0.00,0.000,6,0.000,0.033,2543,2066,3929
$GC,4055,-0.99,-243.4,490.0,-8.0,550,4059,0.12,2.15,0.00,0.000,4,0.064,0.042,2480,656,3927
$GC,4137,-0.85,-243.4,500.2,-13.9,557,4142,0.22,2.17,0.00,0.000,6,0.126,0.040,2545,2074,3926
$GC,4453,-0.89,-243.4,535.1,-10.4,572,4457,0.00,2.17,0.00,0.000,4,0.000,0.044,2545,664,3924
$GC,4504,-0.92,-243.4,541.3,-11.9,574,4508,0.00,2.15,0.00,0.000,6,0.000,0.041,2546,2068,3923
$GC,4834,-0.96,-243.4,579.5,-11.6,590,4836,0.12,0.00,0.00,0.000,6,0.064,0.000,2482,2068,3921
$GC,5142,-0.85,-243.4,624.7,-14.8,605,5147,0.20,2.20,0.00,0.000,4,0.129,0.045,2546,664,3919
$GC,5223,-0.89,-243.4,633.0,-9.4,608,5227,0.00,2.17,0.00,0.000,6,0.000,0.041,2539,2073,3919
$GC,5545,-0.89,-243.4,661.8,-8.7,624,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,2540,2074,3917
$GC,5855,-0.92,-243.4,692.0,-10.3,639,5859,0.00,2.22,0.00,0.000,4,0.000,0.048,2540,658,3915
$GC,5890,-0.92,-243.4,696.1,-12.3,640,5894,0.00,2.20,0.00,0.000,6,0.000,0.044,2541,2074,3915
$GC,6211,-0.92,-243.4,732.9,-11.6,656,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2074,3912
$STATE,6394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6394,begin apogee
$GC,6402,-0.23,0.0,754.7,12.5,665,6608,0.62,0.00,202.07,1.300,6,0.101,0.000,2746,1694,2945
$STATE,6608,end apogee,CONTROL_FINISHED_OK
$STATE,6608,begin climb
$GC,6613,0.93,243.4,773.6,0.0,675,6833,1.00,2.38,208.62,1.262,4,0.041,0.055,3148,292,1950
$GC,6846,0.56,243.4,764.6,16.6,685,6851,0.52,2.25,0.00,0.000,6,0.165,0.043,3005,1700,1948
$GC,7163,0.59,301.9,735.7,8.4,700,7220,0.00,2.30,51.72,1.226,4,0.000,0.057,3005,3109,1713
$GC,7412,0.54,301.9,708.7,12.5,710,7416,0.00,2.15,0.00,0.000,6,0.000,0.041,3013,1710,1709
$GC,7734,0.51,301.9,675.6,10.1,726,7738,0.00,2.22,0.00,0.000,4,0.000,0.056,3013,3108,1708
$GC,7994,0.44,301.9,646.5,11.8,737,7999,0.20,2.12,0.00,0.000,6,0.137,0.040,2967,1726,1707
$GC,8311,0.61,368.1,620.0,8.2,752,8376,0.15,2.33,59.12,1.210,4,0.061,0.056,3044,3105,1444
$GC,8528,0.51,368.1,588.8,15.9,761,8535,0.25,2.10,0.00,0.000,6,0.135,0.041,2982,1747,1440
$GC,8847,0.61,376.2,558.5,9.8,777,8861,0.00,2.22,7.72,1.004,4,0.000,0.054,2982,3108,1411
$GC,8952,0.69,377.4,547.1,10.0,781,8959,0.15,2.05,0.00,0.000,6,0.058,0.040,3063,1772,1410
$GC,9270,0.58,377.4,500.0,16.3,797,9274,0.20,2.12,0.00,0.000,4,0.135,0.054,3000,3104,1410
$GC,9473,0.61,377.4,473.5,11.6,814,9479,0.00,2.05,0.00,0.000,6,0.000,0.041,3008,1766,1409
$GC,9804,0.65,377.4,436.0,10.8,845,9807,0.00,2.12,0.00,0.000,4,0.000,0.054,3008,3105,1409
$GC,10000,0.65,377.4,414.3,10.4,862,10006,0.00,2.00,0.00,0.000,6,0.000,0.040,3017,1819,1409
$GC,10330,0.65,377.4,377.2,11.9,893,10333,0.00,2.05,0.00,0.000,4,0.000,0.053,3017,3112,1408
$GC,10403,0.65,377.4,367.6,12.1,899,10410,0.00,1.95,0.00,0.000,6,0.000,0.038,3026,1832,1409
$GC,10732,0.65,377.4,335.0,11.5,930,10735,0.00,2.00,0.00,0.000,4,0.000,0.051,3026,3104,1408
$GC,10879,0.65,377.4,316.3,11.8,943,10883,0.00,1.95,0.00,0.000,6,0.000,0.039,3035,1852,1409
$GC,11216,0.65,377.4,278.0,11.8,990,11222,0.00,2.00,0.00,0.000,4,0.000,0.051,3035,3103,1409
$GC,11354,0.65,377.4,261.8,10.2,1014,11360,0.00,1.90,0.00,0.000,6,0.000,0.038,3044,1875,1408
$GC,11701,0.65,377.4,225.5,12.8,1075,11708,0.00,1.92,0.00,0.000,4,0.000,0.048,3044,3111,1408
$GC,11822,0.62,377.4,211.5,12.8,1095,11829,0.12,1.85,0.00,0.000,6,0.136,0.036,3017,1884,1408
$GC,12170,0.70,377.4,174.7,11.0,1156,12176,0.00,1.92,0.00,0.000,4,0.000,0.048,3017,3100,1408
$GC,12286,0.76,377.4,160.8,12.8,1176,12293,0.08,1.85,0.00,0.000,6,0.051,0.036,3081,1888,1408
$GC,12637,0.76,410.6,117.5,9.1,1237,12674,0.00,1.95,30.98,0.822,4,0.000,0.048,3080,3117,1272
$GC,12713,0.72,420.6,110.3,9.7,1249,12734,0.10,1.85,10.75,0.740,6,0.127,0.035,3051,1907,1229
$GC,13079,1.10,635.4,71.0,4.1,1312,13251,0.30,1.95,161.73,0.762,4,0.040,0.044,3196,3109,455
$GC,13312,1.00,635.4,33.0,16.9,1349,13319,0.17,1.83,0.00,0.000,6,0.130,0.034,3129,1918,453
$STATE,13604,end climb,SURFACE_DEPTH_REACHED
$STATE,13604,begin surface coast
$FINISH,1.0,1.008317
$STATE,13644,end surface coast,CONTROL_FINISHED_OK
$STATE,13645,begin surface
$SM_CCo,13725,0.00,0.000,0,0,451,612.02
$SM_GC,1.86,7.82,0.00,0.00,0.035,0.000,0.000,140,2094,451,-8.28,0.93,612.02
$IRIDIUM_FIX,2456.07,12154.52,171198,222255
$TT8_MAMPS,0.026845
$HUMID,1737
$INTERNAL_PRESSURE,9.80965
$TCM_TEMP,23.10
$XPDR_PINGS,179
$24V_AH,23.3,121.654
$10V_AH,10.5,78.267
$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,22.700,109.500,732.725,0.000,0.000,24.199,35.509,242.656,50.500,0.000,0.000,18.568,2432.342,7316.727,772.424,2904.013,784.398,0.000,2096.758,0.000,2884.055,0.000,39.391,0.000
$DEVICE_MAMPS,217.061,56.758,1300.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,957.050,999.036,1681.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82186,1408
$CAP_FILE_SIZE,143742,0
$CFSIZE,260165632,190803968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185, 88.5,1
$GPS,240809,075230,2509.676,12226.722,39,1.8,39,-3.6