version: 66.04
glider: 166
mission: 2
dive: 564
start: 8 27 109 20 27 2
data:
$ID,166
$MISSION,2
$DIVE,564
$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,-18487.912
$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,36
$R_STBD_OVSHOOT,63
$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
$GPS1,201755,2515.798,12244.692,41,1.5,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-72.4
$GPS2,202638,2516.050,12245.017,14,1.1,14,-3.7
$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,148.8,49422,-13.9,-10.000
$D_GRID,1223
$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,-243.4,0.0,0.0,0,88,0.00,0.00,-69.72,0.000,2,0.000,0.000,167,2100,2005
$GC,92,-0.93,-243.4,3.0,-5.6,11,157,9.50,2.30,-48.42,0.000,4,0.223,0.050,2514,642,3939
$GC,265,-0.51,-243.4,48.8,-31.1,39,273,0.47,2.10,0.00,0.000,6,0.123,0.036,2647,2041,3939
$GC,613,-0.48,-243.4,90.9,-9.6,100,619,0.00,2.20,0.00,0.000,4,0.000,0.049,2631,3465,3941
$GC,702,-0.60,-243.4,98.7,-7.7,115,710,0.00,2.08,0.00,0.000,6,0.000,0.028,2640,2032,3941
$GC,1051,-0.70,-243.4,130.9,-8.7,176,1058,0.12,2.22,0.00,0.000,4,0.061,0.043,2546,3465,3942
$GC,1144,-0.63,-243.4,143.0,-13.9,192,1151,0.22,2.03,0.00,0.000,6,0.117,0.028,2620,2061,3942
$GC,1494,-0.73,-243.4,171.9,-8.0,253,1501,0.00,2.20,0.00,0.000,4,0.000,0.044,2611,3475,3941
$GC,1527,-0.87,-243.4,174.3,-7.6,258,1534,0.22,2.03,0.00,0.000,6,0.044,0.028,2502,2075,3941
$GC,1877,-0.66,-243.4,229.5,-16.1,319,1883,0.30,2.12,0.00,0.000,4,0.127,0.036,2599,679,3940
$GC,1932,-0.76,-243.4,235.5,-7.9,328,1938,0.00,2.08,0.00,0.000,6,0.000,0.031,2589,2078,3940
$GC,2282,-0.85,-243.4,264.5,-8.3,389,2289,0.12,2.15,0.00,0.000,4,0.063,0.045,2515,3463,3938
$GC,2388,-0.78,-243.4,277.1,-12.5,407,2394,0.17,2.03,0.00,0.000,6,0.122,0.029,2568,2079,3937
$GC,2733,-0.82,-243.4,309.1,-9.4,459,2738,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,2079,3936
$GC,3064,-0.88,-243.4,340.6,-10.0,490,3067,0.00,2.20,0.00,0.000,4,0.000,0.049,2560,3465,3934
$GC,3093,-0.96,-243.4,344.1,-9.8,492,3100,0.12,2.08,0.00,0.000,6,0.041,0.031,2478,2085,3934
$GC,3420,-0.76,-243.4,394.3,-15.1,523,3425,0.28,2.17,0.00,0.000,4,0.128,0.040,2568,675,3931
$GC,3501,-0.84,-243.4,401.6,-7.1,529,3508,0.00,2.12,0.00,0.000,6,0.000,0.036,2561,2076,3930
$GC,3831,-0.90,-243.4,429.8,-9.8,560,3835,0.00,2.20,0.00,0.000,4,0.000,0.053,2554,3471,3927
$GC,3879,-1.00,-243.4,434.9,-9.4,564,3884,0.17,2.08,0.00,0.000,6,0.051,0.033,2470,2075,3927
$GC,4210,-0.80,-243.4,489.3,-16.0,595,4212,0.30,0.00,0.00,0.000,6,0.128,0.000,2561,2072,3925
$GC,4536,-0.89,-243.4,518.5,-9.1,616,4540,0.00,2.22,0.00,0.000,4,0.000,0.056,2560,3457,3923
$GC,4584,-1.02,-243.4,523.1,-9.0,618,4589,0.20,2.08,0.00,0.000,6,0.048,0.035,2466,2078,3922
$GC,4916,-0.83,-243.4,574.2,-15.7,634,4924,0.25,2.22,0.00,0.000,4,0.131,0.045,2547,660,3919
$GC,5028,-0.87,-243.4,586.0,-9.0,638,5034,0.00,2.17,0.00,0.000,6,0.000,0.041,2546,2071,3918
$GC,5345,-0.93,-243.4,613.6,-9.3,654,5349,0.00,2.25,0.00,0.000,4,0.000,0.058,2546,3471,3916
$GC,5403,-1.03,-243.4,618.8,-8.8,656,5407,0.17,2.10,0.00,0.000,6,0.053,0.036,2464,2078,3916
$GC,5721,-0.86,-243.4,666.8,-16.1,671,5723,0.25,0.00,0.00,0.000,6,0.129,0.000,2539,2075,3913
$GC,6029,-0.91,-243.4,697.0,-8.7,686,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2075,3911
$GC,6341,-0.97,-243.4,722.5,-7.4,701,6345,0.00,2.25,0.00,0.000,4,0.000,0.051,2539,666,3910
$GC,6389,-1.01,-243.4,726.8,-8.8,703,6393,0.12,2.25,0.00,0.000,6,0.065,0.045,2477,2088,3910
$GC,6719,-0.90,-243.4,767.4,-12.7,719,6721,0.17,0.00,0.00,0.000,6,0.139,0.000,2528,2089,3907
$GC,7027,-0.90,-243.4,793.0,-8.0,734,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2089,3906
$GC,7337,-0.94,-243.4,816.8,-7.7,749,7341,0.00,2.30,0.00,0.000,4,0.000,0.064,2520,3466,3905
$GC,7383,-0.99,-243.4,820.5,-7.6,751,7387,0.00,2.12,0.00,0.000,6,0.000,0.039,2520,2085,3904
$GC,7712,-0.99,-243.4,849.0,-9.0,767,7717,0.00,2.28,0.00,0.000,4,0.000,0.052,2520,658,3902
$GC,7780,-0.99,-243.4,855.7,-9.7,770,7784,0.00,2.25,0.00,0.000,6,0.000,0.048,2519,2080,3902
$GC,8110,-0.99,-243.4,885.0,-9.1,786,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2080,3901
$GC,8418,-0.99,-243.4,913.9,-9.6,801,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2080,3900
$GC,8728,-0.99,-243.4,944.0,-9.5,816,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2081,3898
$GC,9038,-0.99,-243.4,972.1,-8.8,831,9042,0.00,2.30,0.00,0.000,4,0.000,0.054,2521,665,3897
$GC,9089,-0.99,-243.4,977.1,-9.6,833,9093,0.00,2.30,0.00,0.000,6,0.000,0.050,2521,2089,3896
$STATE,9259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9259,begin apogee
$GC,9269,-0.23,0.0,990.9,8.0,841,9484,0.70,0.00,211.48,1.480,6,0.105,0.000,2747,1691,2945
$STATE,9484,end apogee,CONTROL_FINISHED_OK
$STATE,9484,begin climb
$GC,9488,0.93,243.4,1001.3,0.0,852,9756,1.10,2.62,241.18,1.392,4,0.048,0.058,3136,3102,1951
$GC,9875,0.48,243.4,955.2,22.6,870,9882,0.62,2.22,0.00,0.000,6,0.164,0.044,2978,1694,1945
$GC,10192,0.46,256.6,921.5,9.6,886,10217,0.00,2.33,14.15,1.114,4,0.000,0.058,2980,3107,1897
$GC,10406,0.40,256.6,899.1,11.2,895,10410,0.15,2.17,0.00,0.000,6,0.145,0.044,2948,1704,1895
$GC,10724,0.55,330.5,873.2,8.0,910,10798,0.15,2.35,68.80,1.391,4,0.064,0.059,3018,3112,1596
$GC,10945,0.44,330.5,843.5,14.1,920,10950,0.22,2.15,0.00,0.000,6,0.141,0.044,2966,1726,1592
$GC,11268,0.55,375.1,813.8,8.8,936,11322,0.00,2.25,42.95,1.299,4,0.000,0.058,2966,3105,1416
$GC,11459,0.61,375.1,795.7,10.2,944,11467,0.12,2.08,0.00,0.000,6,0.065,0.044,3034,1759,1413
$GC,11776,0.50,375.1,749.0,15.6,960,11781,0.17,2.17,0.00,0.000,4,0.140,0.057,2980,3112,1411
$GC,11976,0.50,375.1,725.4,11.8,969,11979,0.00,2.05,0.00,0.000,6,0.000,0.044,2987,1795,1410
$GC,12309,0.50,375.1,688.7,10.5,985,12313,0.00,2.12,0.00,0.000,4,0.000,0.057,2986,3113,1410
$GC,12461,0.50,375.1,671.6,10.7,991,12467,0.00,2.03,0.00,0.000,6,0.000,0.041,2996,1808,1410
$GC,12779,0.50,375.1,636.2,11.9,1007,12783,0.00,2.10,0.00,0.000,4,0.000,0.057,2995,3110,1410
$GC,12870,0.50,375.1,625.0,12.3,1011,12874,0.00,2.00,0.00,0.000,6,0.000,0.043,3004,1829,1409
$GC,13205,0.50,375.1,582.2,13.8,1027,13209,0.00,2.08,0.00,0.000,4,0.000,0.057,3004,3112,1410
$GC,13319,0.45,375.1,565.5,14.3,1032,13323,0.17,1.98,0.00,0.000,6,0.133,0.041,2966,1845,1409
$GC,13653,0.65,447.6,535.7,8.0,1048,13727,0.17,2.12,66.62,1.190,4,0.054,0.057,3057,3109,1119
$GC,13777,0.51,447.6,516.8,18.6,1053,13781,0.28,1.95,0.00,0.000,6,0.136,0.043,2986,1849,1119
$GC,14110,0.62,469.6,483.6,9.4,1077,14136,0.10,2.05,20.98,1.110,4,0.075,0.056,3042,3118,1030
$GC,14220,0.53,469.6,466.6,16.6,1086,14226,0.15,1.95,0.00,0.000,6,0.127,0.041,2988,1873,1029
$GC,14546,0.62,469.6,429.4,10.2,1117,14550,0.00,1.98,0.00,0.000,4,0.000,0.054,2988,3112,1029
$GC,14581,0.73,486.9,425.8,9.5,1120,14606,0.17,1.90,16.92,1.063,6,0.054,0.041,3075,1873,960
$GC,14925,0.57,486.9,362.8,19.0,1152,14929,0.22,1.98,0.00,0.000,4,0.140,0.054,3005,3108,959
$GC,15098,0.64,486.9,340.5,12.1,1167,15101,0.00,1.83,0.00,0.000,6,0.000,0.041,3010,1922,958
$GC,15428,0.69,486.9,298.1,12.2,1198,15434,0.00,1.92,0.00,0.000,4,0.000,0.053,3010,3111,958
$GC,15527,0.74,486.9,285.1,12.8,1215,15533,0.12,1.80,0.00,0.000,6,0.063,0.039,3083,1934,958
$GC,15873,0.58,486.9,220.2,19.4,1276,15881,0.22,1.90,0.00,0.000,4,0.141,0.051,3011,3117,957
$GC,15934,0.63,486.9,211.0,13.0,1286,15941,0.00,1.77,0.00,0.000,6,0.000,0.038,3016,1967,958
$GC,16281,0.73,502.6,172.6,9.6,1347,16302,0.12,1.80,14.95,0.864,4,0.065,0.050,3086,3109,895
$GC,16410,0.59,502.6,151.8,17.2,1368,16418,0.25,1.75,0.00,0.000,6,0.127,0.038,2998,1967,895
$GC,16760,0.88,574.3,124.0,8.0,1429,16830,0.25,1.90,63.58,0.838,4,0.041,0.048,3134,3120,602
$GC,16914,0.77,574.3,96.8,18.6,1454,16920,0.20,1.75,0.00,0.000,6,0.123,0.035,3074,1978,602
$GC,17259,1.02,630.5,55.5,8.4,1515,17300,0.17,1.77,32.62,0.754,4,0.048,0.045,3175,3115,454
$GC,17400,1.02,630.5,34.4,14.6,1538,17407,0.08,1.70,0.00,0.000,6,0.129,0.034,3155,1991,452
$STATE,17681,end climb,SURFACE_DEPTH_REACHED
$STATE,17681,begin surface coast
$FINISH,1.0,1.007129
$STATE,17715,end surface coast,CONTROL_FINISHED_OK
$STATE,17715,begin surface
$SM_CCo,17797,0.00,0.000,0,0,450,612.02
$SM_GC,1.80,8.05,0.00,0.00,0.038,0.000,0.000,157,2103,450,-8.29,1.22,612.02
$IRIDIUM_FIX,2507.97,12241.25,211198,151519
$TT8_MAMPS,0.027612
$HUMID,1770
$INTERNAL_PRESSURE,9.83895
$TCM_TEMP,23.60
$XPDR_PINGS,193
$24V_AH,21.5,128.221
$10V_AH,10.5,82.011
$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,27.200,138.775,794.225,0.000,0.000,26.638,36.761,249.701,56.250,0.000,0.000,14.509,2839.436,10311.772,893.676,3360.095,895.236,0.000,2408.432,0.000,3320.290,0.000,58.160,0.000
$DEVICE_MAMPS,223.197,64.428,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1088.569,1111.496,1874.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91702,1594
$CAP_FILE_SIZE,180665,0
$CFSIZE,260165632,188731392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.200, 87.6,1
$GPS,280809,012500,2514.133,12249.451,37,0.9,42,-3.6