version: 66.04
glider: 166
mission: 2
dive: 562
start: 8 27 109 10 54 25
data:
$ID,166
$MISSION,2
$DIVE,562
$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,-18460.629
$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
$GPS1,104237,2518.546,12236.927,40,1.1,40,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-71.3
$GPS2,105401,2518.730,12237.261,10,1.3,15,-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,130.8,62309,-13.9,-10.000
$D_GRID,794
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.93,-243.4,0.0,0.0,0,89,0.00,0.00,-71.62,0.000,2,0.000,0.000,169,2107,2090
$GC,93,-0.93,-243.4,3.1,-6.0,11,158,9.32,2.33,-49.55,0.000,4,0.216,0.051,2511,645,3939
$GC,352,-0.61,-243.4,63.8,-19.3,55,359,0.40,2.10,0.00,0.000,6,0.123,0.035,2620,2053,3941
$GC,700,-0.61,-243.4,103.0,-10.2,116,706,0.00,2.15,0.00,0.000,4,0.000,0.046,2613,3462,3943
$GC,797,-0.73,-243.4,111.2,-7.1,133,806,0.10,2.08,0.00,0.000,6,0.065,0.028,2563,2027,3943
$GC,1147,-0.60,-243.4,158.4,-16.1,194,1154,0.17,2.25,0.00,0.000,4,0.130,0.044,2600,3466,3943
$GC,1203,-0.73,-243.4,164.7,-9.3,203,1209,0.00,2.03,0.00,0.000,6,0.000,0.028,2602,2066,3943
$GC,1552,-0.83,-243.4,194.4,-7.5,264,1559,0.15,2.10,0.00,0.000,4,0.056,0.037,2519,666,3941
$GC,1611,-0.67,-243.4,202.1,-15.0,274,1618,0.22,2.15,0.00,0.000,6,0.119,0.035,2601,2078,3941
$GC,1959,-0.79,-243.4,232.3,-9.4,335,1965,0.00,2.15,0.00,0.000,4,0.000,0.048,2598,3465,3939
$GC,2007,-0.95,-243.4,236.4,-8.2,343,2014,0.25,2.03,0.00,0.000,6,0.042,0.030,2479,2079,3938
$GC,2354,-0.74,-243.4,294.7,-16.6,404,2360,0.30,0.00,0.00,0.000,6,0.127,0.000,2576,2076,3937
$GC,2684,-0.82,-243.4,325.7,-9.9,438,2687,0.00,2.20,0.00,0.000,4,0.000,0.051,2573,3460,3935
$GC,2720,-0.93,-243.4,329.2,-9.2,441,2724,0.15,2.05,0.00,0.000,6,0.054,0.031,2496,2079,3935
$GC,3051,-0.79,-243.4,382.8,-16.6,472,3055,0.20,2.17,0.00,0.000,4,0.127,0.041,2560,663,3933
$GC,3177,-0.84,-243.4,398.5,-11.8,483,3181,0.00,2.12,0.00,0.000,6,0.000,0.038,2560,2055,3932
$GC,3509,-0.89,-243.4,433.8,-9.3,514,3513,0.00,2.15,0.00,0.000,4,0.000,0.044,2560,666,3928
$GC,3556,-0.95,-243.4,438.4,-10.5,518,3561,0.15,2.12,0.00,0.000,6,0.058,0.038,2486,2050,3928
$GC,3882,-0.82,-243.4,484.2,-13.0,548,3887,0.20,2.25,0.00,0.000,4,0.130,0.054,2543,3460,3926
$GC,3929,-0.89,-243.4,488.2,-7.0,551,3935,0.00,2.10,0.00,0.000,6,0.000,0.034,2543,2059,3926
$GC,4263,-0.93,-243.4,513.7,-10.4,576,4264,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2059,3924
$GC,4571,-0.98,-243.4,553.3,-12.0,591,4575,0.12,2.17,0.00,0.000,4,0.064,0.046,2477,663,3921
$GC,4635,-0.84,-243.4,562.7,-16.6,594,4640,0.25,2.17,0.00,0.000,6,0.121,0.044,2548,2059,3921
$GC,4966,-0.90,-243.4,592.7,-8.8,610,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2058,3918
$GC,5275,-0.97,-243.4,618.5,-8.3,625,5277,0.12,0.00,0.00,0.000,6,0.064,0.000,2484,2059,3917
$GC,5581,-0.86,-243.4,656.5,-12.5,640,5586,0.17,2.22,0.00,0.000,4,0.130,0.049,2541,667,3914
$GC,5633,-0.91,-243.4,661.5,-8.6,642,5637,0.00,2.17,0.00,0.000,6,0.000,0.044,2541,2057,3914
$GC,5957,-0.97,-243.4,685.4,-8.3,658,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2057,3912
$GC,6265,-1.03,-243.4,712.8,-7.9,673,6267,0.15,0.00,0.00,0.000,6,0.060,0.000,2468,2057,3910
$GC,6575,-0.90,-243.4,754.1,-12.9,688,6579,0.17,2.25,0.00,0.000,4,0.136,0.051,2526,657,3908
$GC,6670,-0.90,-243.4,764.4,-10.8,692,6674,0.00,2.20,0.00,0.000,6,0.000,0.045,2522,2056,3907
$STATE,6968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6968,begin apogee
$GC,6977,-0.23,0.0,794.9,10.8,707,7183,0.68,0.00,202.12,1.338,6,0.101,0.000,2744,1697,2945
$STATE,7184,end apogee,CONTROL_FINISHED_OK
$STATE,7184,begin climb
$GC,7187,0.93,243.4,812.5,0.0,717,7413,1.02,2.45,211.95,1.291,4,0.042,0.057,3133,3101,1950
$GC,7596,0.50,243.4,765.2,19.3,735,7601,0.57,2.17,0.00,0.000,6,0.160,0.043,2983,1690,1944
$GC,7915,0.54,274.7,734.8,9.1,750,7958,0.00,2.33,29.35,1.164,4,0.000,0.056,2983,3096,1825
$GC,8091,0.48,279.1,718.3,9.9,757,8101,0.00,2.15,5.38,0.921,6,0.000,0.042,2992,1703,1807
$GC,8431,0.51,336.6,689.5,8.4,774,8497,0.00,2.38,54.85,1.216,4,0.000,0.056,2992,3106,1572
$GC,8672,0.47,336.6,666.3,11.2,784,8680,0.08,2.17,0.00,0.000,6,0.137,0.041,2976,1722,1568
$GC,8991,0.47,336.9,634.6,10.0,800,8994,0.00,2.20,0.00,0.000,4,0.000,0.055,2976,3103,1566
$GC,9229,0.47,336.9,608.9,10.5,810,9232,0.00,2.08,0.00,0.000,6,0.000,0.041,2984,1757,1566
$GC,9552,0.49,352.4,577.8,9.6,826,9574,0.00,2.17,14.43,1.150,4,0.000,0.054,2983,3097,1508
$GC,9688,0.49,352.4,562.6,12.3,832,9692,0.00,2.05,0.00,0.000,6,0.000,0.041,2994,1772,1507
$GC,10023,0.51,370.2,530.9,9.5,848,10054,0.00,2.20,19.45,1.045,4,0.000,0.056,2994,3106,1435
$GC,10101,0.54,391.6,523.7,9.4,851,10126,0.00,2.03,20.73,1.129,6,0.000,0.041,3002,1784,1348
$GC,10443,0.59,435.1,494.2,8.8,870,10489,0.00,2.20,40.55,1.136,4,0.000,0.054,3003,3100,1171
$GC,10636,0.59,435.1,476.3,10.8,887,10640,0.00,1.98,0.00,0.000,6,0.000,0.041,3011,1813,1169
$GC,10971,0.59,435.1,436.9,12.4,918,10975,0.00,2.05,0.00,0.000,4,0.000,0.054,3011,3106,1169
$GC,11107,0.59,435.1,417.8,13.5,930,11111,0.00,1.95,0.00,0.000,6,0.000,0.040,3020,1842,1169
$GC,11443,0.59,435.1,371.6,14.9,961,11447,0.00,2.00,0.00,0.000,4,0.000,0.054,3020,3103,1167
$GC,11523,0.56,435.1,359.1,14.5,968,11527,0.00,1.92,0.00,0.000,6,0.000,0.040,3028,1845,1167
$GC,11859,0.56,435.1,313.4,14.0,999,11863,0.00,2.00,0.00,0.000,4,0.000,0.053,3028,3106,1167
$GC,11921,0.56,435.1,303.0,14.5,1004,11929,0.08,1.95,0.00,0.000,6,0.127,0.039,2997,1857,1167
$GC,12265,0.72,472.1,264.0,9.0,1063,12305,0.15,2.08,33.33,0.969,4,0.061,0.053,3073,3112,1019
$GC,12448,0.57,472.1,230.6,19.3,1094,12455,0.22,1.95,0.00,0.000,6,0.133,0.038,3010,1862,1020
$GC,12798,0.72,512.3,194.5,8.9,1155,12845,0.12,2.05,36.20,0.900,4,0.065,0.049,3078,3111,855
$GC,12882,0.62,512.3,181.0,18.5,1168,12890,0.15,1.92,0.00,0.000,6,0.130,0.037,3021,1879,855
$GC,13233,0.73,512.3,138.5,11.5,1229,13240,0.10,2.50,0.00,0.000,4,0.073,0.048,3091,278,855
$GC,13260,0.78,512.3,134.9,12.8,1233,13266,0.00,2.47,0.00,0.000,6,0.000,0.038,3091,1897,854
$GC,13607,0.72,512.3,83.2,16.9,1294,13614,0.15,1.90,0.00,0.000,4,0.137,0.046,3048,3106,853
$GC,13668,0.84,512.3,75.1,11.1,1304,13677,0.08,1.90,0.00,0.000,6,0.050,0.035,3122,1865,853
$GC,14021,0.91,529.7,29.4,9.5,1365,14047,0.00,1.98,16.20,0.726,4,0.000,0.045,3122,3110,785
$GC,14119,1.09,589.4,20.4,8.3,1381,14178,0.08,1.90,52.20,0.726,6,0.048,0.034,3194,1860,541
$STATE,14267,end climb,SURFACE_DEPTH_REACHED
$STATE,14267,begin surface coast
$FINISH,1.1,1.011938
$STATE,14290,end surface coast,CONTROL_FINISHED_OK
$STATE,14290,begin surface
$SM_CCo,14371,0.00,0.000,0,0,540,589.95
$SM_GC,1.83,8.05,0.00,0.00,0.035,0.000,0.000,140,2108,540,-8.28,1.33,589.95
$IRIDIUM_FIX,2510.35,12235.95,211198,101008
$TT8_MAMPS,0.027612
$HUMID,1790
$INTERNAL_PRESSURE,9.81941
$TCM_TEMP,22.90
$XPDR_PINGS,183
$24V_AH,23.1,127.598
$10V_AH,10.5,81.677
$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,24.150,115.675,736.725,0.000,0.000,48.213,70.189,316.925,51.750,0.000,0.000,15.616,2468.060,7896.517,790.545,2961.243,928.636,0.000,2145.558,0.000,2926.226,0.000,41.049,0.000
$DEVICE_MAMPS,215.527,56.758,1338.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,960.174,995.357,1680.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82182,1409
$CAP_FILE_SIZE,154485,0
$CFSIZE,260165632,188952576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.143,151.5,1
$GPS,270809,145507,2516.876,12240.316,33,1.1,33,-3.6