version: 66.04
glider: 166
mission: 2
dive: 554
start: 8 26 109 11 21 56
data:
$ID,166
$MISSION,2
$DIVE,554
$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,-18297.162
$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,46
$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
$GPS1,111416,2521.391,12225.032,12,3.8,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-71.3
$GPS2,112136,2521.296,12225.031,18,1.4,34,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,120.9,81568,-13.9,-10.000
$D_GRID,608
$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,-243.4,0.0,0.0,0,95,0.00,0.00,-76.35,0.000,2,0.000,0.000,162,2099,2141
$GC,100,-0.93,-243.4,3.2,-5.7,12,158,9.48,0.00,-45.97,0.000,6,0.222,0.000,2503,2098,3939
$GC,499,-0.55,-243.4,100.6,-20.8,81,506,0.43,2.20,0.00,0.000,4,0.132,0.038,2644,644,3942
$GC,644,-0.66,-243.4,119.0,-12.0,106,651,0.00,2.08,0.00,0.000,6,0.000,0.031,2629,2062,3943
$GC,992,-0.82,-243.4,144.5,-5.0,167,999,0.17,2.12,0.00,0.000,4,0.049,0.044,2519,3462,3944
$GC,1073,-0.71,-243.4,152.8,-11.9,181,1080,0.22,2.05,0.00,0.000,6,0.118,0.028,2592,2037,3944
$GC,1420,-0.76,-243.4,184.2,-9.1,242,1427,0.00,2.03,0.00,0.000,4,0.000,0.038,2589,676,3943
$GC,1544,-0.83,-243.4,195.6,-8.9,263,1551,0.10,2.05,0.00,0.000,6,0.071,0.032,2529,2068,3943
$GC,1893,-0.74,-243.4,250.7,-17.7,324,1900,0.17,2.17,0.00,0.000,4,0.123,0.038,2589,669,3942
$GC,1960,-0.84,-243.4,258.8,-10.3,335,1966,0.12,2.08,0.00,0.000,6,0.063,0.034,2518,2055,3941
$GC,2303,-0.72,-243.4,312.3,-15.5,389,2308,0.20,2.12,0.00,0.000,4,0.123,0.040,2584,677,3939
$GC,2344,-0.79,-243.4,317.7,-10.9,392,2347,0.00,2.08,0.00,0.000,6,0.000,0.034,2583,2059,3940
$GC,2680,-0.89,-243.4,349.9,-9.6,423,2690,0.15,0.00,0.00,0.000,6,0.057,0.000,2504,2059,3937
$GC,3007,-0.73,-243.4,402.4,-15.9,454,3011,0.22,2.15,0.00,0.000,4,0.124,0.042,2578,673,3936
$GC,3046,-0.78,-243.4,407.5,-10.7,457,3052,0.00,2.08,0.00,0.000,6,0.000,0.036,2574,2045,3936
$GC,3373,-0.88,-243.4,433.2,-8.0,488,3377,0.12,2.22,0.00,0.000,4,0.062,0.050,2494,3471,3933
$GC,3414,-0.81,-243.4,437.7,-12.9,491,3419,0.22,2.10,0.00,0.000,6,0.111,0.032,2564,2055,3933
$STATE,3610,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3610,begin apogee
$GC,3619,-0.23,0.0,455.0,7.9,509,3817,0.50,0.00,193.30,1.031,6,0.097,0.000,2741,1684,2945
$STATE,3818,end apogee,CONTROL_FINISHED_OK
$STATE,3818,begin climb
$GC,3822,0.93,243.4,467.5,0.0,529,4031,1.00,2.25,195.48,1.004,4,0.048,0.050,3135,303,1949
$GC,4072,0.59,243.4,450.0,18.6,551,4079,0.43,2.15,0.00,0.000,6,0.152,0.036,3012,1711,1947
$GC,4399,0.61,310.2,421.9,8.2,582,4459,0.00,2.20,55.47,0.983,4,0.000,0.049,3012,3097,1679
$GC,4712,0.57,310.2,379.4,13.8,609,4719,0.00,2.08,0.00,0.000,6,0.000,0.036,3020,1729,1673
$GC,5042,0.53,310.2,330.4,12.8,640,5045,0.00,2.12,0.00,0.000,4,0.000,0.048,3020,3094,1673
$GC,5301,0.46,310.2,290.7,14.3,668,5308,0.20,2.05,0.00,0.000,6,0.129,0.036,2972,1732,1672
$GC,5651,0.64,375.3,255.4,8.2,729,5714,0.15,2.17,54.42,0.914,4,0.056,0.047,3056,3099,1414
$GC,5920,0.53,375.3,219.3,11.8,775,5926,0.25,2.00,0.00,0.000,6,0.132,0.035,2991,1773,1411
$GC,6267,0.75,476.2,194.0,7.2,836,6363,0.17,2.15,86.35,0.866,4,0.054,0.047,3093,3096,1002
$GC,6446,0.61,476.2,162.2,20.7,865,6454,0.25,2.00,0.00,0.000,6,0.128,0.035,3021,1796,1002
$GC,6795,0.91,612.1,120.8,6.2,926,6921,0.22,2.10,114.32,0.802,4,0.045,0.046,3146,3094,454
$GC,6985,0.82,612.1,77.1,28.3,957,6994,0.20,1.95,0.00,0.000,6,0.118,0.035,3087,1829,453
$GC,7335,1.27,824.0,51.6,4.1,1018,7342,0.35,1.95,0.00,0.000,4,0.035,0.041,3263,3108,450
$GC,7418,1.00,824.0,35.0,25.4,1032,7425,0.38,1.95,0.00,0.000,6,0.140,0.035,3140,1830,450
$STATE,7739,end climb,SURFACE_DEPTH_REACHED
$STATE,7739,begin surface coast
$FINISH,0.8,1.004724
$STATE,7779,end surface coast,CONTROL_FINISHED_OK
$STATE,7783,begin surface
$SM_CCo,7864,0.00,0.000,0,0,448,612.51
$SM_GC,1.77,7.88,0.00,0.00,0.038,0.000,0.000,135,2097,448,-8.29,1.05,612.51
$IRIDIUM_FIX,2512.73,12222.05,201198,090902
$TT8_MAMPS,0.026845
$HUMID,1809
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,23.40
$XPDR_PINGS,162
$ALTIM_BOTTOM_PING,425.5,53.9
$24V_AH,23.9,125.778
$10V_AH,10.6,80.627
$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,23.600,59.525,699.350,0.000,0.000,24.668,32.069,208.552,43.250,0.000,0.000,34.579,1758.472,3106.398,707.516,2135.364,587.692,0.000,1681.149,0.000,2105.990,0.000,20.613,0.000
$DEVICE_MAMPS,222.430,49.855,1030.848,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,737.282,839.444,1416.713,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63158,1096
$CAP_FILE_SIZE,96359,0
$CFSIZE,260165632,189575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,252.2,1
$GPS,260809,133350,2521.216,12226.001,12,1.9,13,-3.6