version: 66.04
glider: 166
mission: 2
dive: 549
start: 8 25 109 22 17 44
data:
$ID,166
$MISSION,2
$DIVE,549
$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,-18190.523
$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,39
$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
$GPS1,221006,2520.229,12224.113,38,0.9,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-71.8
$GPS2,221725,2520.327,12224.177,15,1.1,20,-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,327.6,8764,-13.9,-10.000
$D_GRID,591
$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,-243.4,0.0,0.0,0,87,0.00,0.00,-68.00,0.000,2,0.000,0.000,167,2099,2199
$GC,92,-0.93,-243.4,3.3,-5.1,11,156,9.52,2.15,-44.95,0.000,4,0.225,0.059,2495,3439,3940
$GC,321,-0.59,-243.4,61.1,-21.6,50,329,0.43,2.05,0.00,0.000,6,0.135,0.030,2628,2037,3942
$GC,669,-0.65,-243.4,101.8,-3.2,111,676,0.00,2.08,0.00,0.000,4,0.000,0.038,2622,672,3943
$GC,793,-0.74,-243.4,105.2,-3.0,132,800,0.12,2.03,0.00,0.000,6,0.061,0.031,2545,2053,3944
$GC,1139,-0.63,-243.4,154.7,-16.4,193,1146,0.20,0.00,0.00,0.000,6,0.126,0.000,2612,2053,3945
$GC,1487,-0.75,-243.4,188.0,-8.0,254,1493,0.00,2.10,0.00,0.000,4,0.000,0.038,2611,661,3945
$GC,1565,-0.87,-243.4,196.7,-12.4,267,1572,0.20,2.05,0.00,0.000,6,0.047,0.033,2511,2049,3945
$GC,1916,-0.72,-243.4,263.5,-15.8,328,1922,0.22,0.00,0.00,0.000,6,0.129,0.000,2584,2050,3944
$GC,2263,-0.80,-243.4,301.3,-10.4,388,2267,0.00,2.17,0.00,0.000,4,0.000,0.048,2582,3454,3943
$GC,2314,-0.95,-243.4,306.5,-9.3,392,2321,0.20,2.08,0.00,0.000,6,0.046,0.030,2485,2035,3943
$GC,2641,-0.76,-243.4,360.6,-13.3,423,2643,0.30,0.00,0.00,0.000,6,0.126,0.000,2578,2032,3942
$GC,2961,-0.84,-243.4,380.0,-5.8,453,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2577,2032,3940
$GC,3291,-0.91,-243.4,404.2,-9.3,484,3296,0.15,2.28,0.00,0.000,4,0.058,0.050,2492,3459,3938
$GC,3326,-0.81,-243.4,409.1,-14.6,487,3331,0.22,2.12,0.00,0.000,6,0.126,0.032,2559,2039,3938
$GC,3653,-0.86,-243.4,447.0,-10.9,517,3657,0.00,2.12,0.00,0.000,4,0.000,0.043,2559,653,3936
$STATE,3730,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3730,begin apogee
$GC,3740,-0.23,0.0,453.9,11.2,524,3939,0.52,0.00,195.23,1.033,6,0.099,0.000,2742,1696,2945
$STATE,3940,end apogee,CONTROL_FINISHED_OK
$STATE,3940,begin climb
$GC,3943,0.93,243.4,476.0,0.0,544,4155,1.05,2.33,197.93,1.014,4,0.072,0.049,3128,302,1949
$GC,4303,0.63,243.4,461.9,13.1,575,4308,0.38,2.12,0.00,0.000,6,0.150,0.038,3019,1692,1945
$GC,4636,0.54,243.4,430.2,11.9,606,4639,0.00,2.17,0.00,0.000,4,0.000,0.048,3019,3102,1942
$GC,4765,0.40,243.4,411.3,15.8,617,4773,0.25,2.10,0.00,0.000,6,0.124,0.036,2953,1712,1940
$GC,5091,0.49,243.4,377.9,10.5,648,5095,0.00,2.17,0.00,0.000,4,0.000,0.048,2952,3100,1941
$GC,5286,0.76,411.7,364.4,5.3,665,5435,0.30,2.10,142.00,0.966,6,0.043,0.043,3093,1728,1265
$GC,5768,0.57,411.7,281.6,22.8,716,5775,0.28,2.15,0.00,0.000,4,0.136,0.047,3003,3105,1261
$GC,6004,0.61,411.7,244.9,10.5,757,6011,0.00,2.08,0.00,0.000,6,0.000,0.037,3012,1729,1259
$GC,6351,0.66,411.7,214.6,11.9,818,6358,0.00,2.15,0.00,0.000,4,0.000,0.052,3011,3100,1258
$GC,6427,0.71,411.7,204.4,13.4,831,6433,0.00,2.05,0.00,0.000,6,0.000,0.036,3021,1738,1258
$GC,6774,0.74,411.7,158.0,15.1,892,6781,0.12,2.10,0.00,0.000,4,0.064,0.044,3092,3108,1258
$GC,7004,0.59,411.7,117.8,15.9,932,7011,0.30,2.03,0.00,0.000,6,0.134,0.035,3013,1746,1258
$GC,7350,0.85,472.6,98.9,8.3,993,7410,0.20,2.28,51.50,0.787,4,0.045,0.045,3144,293,1017
$GC,7431,0.75,472.6,85.4,20.5,1005,7439,0.28,2.25,0.00,0.000,6,0.119,0.034,3060,1774,1016
$GC,7782,1.07,601.6,51.2,6.4,1066,7898,0.25,2.42,109.07,0.730,4,0.042,0.044,3199,280,491
$GC,7997,1.03,601.6,18.9,14.6,1101,8006,0.10,2.30,0.00,0.000,6,0.110,0.032,3154,1795,489
$STATE,8121,end climb,SURFACE_DEPTH_REACHED
$STATE,8122,begin surface coast
$FINISH,1.0,1.007173
$STATE,8152,end surface coast,CONTROL_FINISHED_OK
$STATE,8152,begin surface
$SM_CCo,8234,0.00,0.000,0,0,488,602.95
$SM_GC,1.78,7.93,0.00,0.00,0.038,0.000,0.000,146,2104,488,-8.27,1.19,602.95
$IRIDIUM_FIX,2512.73,12222.05,191198,191908
$TT8_MAMPS,0.026845
$HUMID,1736
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,23.20
$XPDR_PINGS,168
$ALTIM_BOTTOM_PING,400.2,78.4
$24V_AH,23.7,124.702
$10V_AH,10.6,80.031
$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,23.525,60.050,695.725,0.000,0.000,26.149,31.914,201.170,44.500,0.000,0.000,20.955,1836.716,3320.983,694.151,2198.476,607.828,0.000,1689.940,0.000,2182.098,0.000,21.513,0.000
$DEVICE_MAMPS,225.498,59.059,1033.149,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,760.473,864.101,1458.690,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63190,1128
$CAP_FILE_SIZE,99180,0
$CFSIZE,260165632,189886464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,140.3,1
$GPS,260809,003604,2520.333,12223.574,8,3.3,28,-3.6