version: 66.04
glider: 166
mission: 2
dive: 569
start: 8 28 109 22 13 23
data:
$ID,166
$MISSION,2
$DIVE,569
$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,-18581.639
$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,60
$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
$GPS1,220437,2509.456,12300.238,39,0.9,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-71.1
$GPS2,221302,2509.673,12300.419,15,1.2,15,-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,209.3,25265,-13.9,-10.000
$D_GRID,1603
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.93,-243.4,0.0,0.0,0,94,0.00,0.00,-72.15,0.000,2,0.000,0.000,165,2099,2049
$GC,98,-0.93,-243.4,3.1,-5.7,11,163,9.52,2.17,-49.40,0.000,4,0.226,0.057,2487,3447,3940
$GC,391,-0.55,-243.4,79.7,-26.6,61,400,0.47,2.08,0.00,0.000,6,0.135,0.028,2636,2024,3942
$GC,740,-0.55,-243.4,116.6,-10.8,122,746,0.00,2.03,0.00,0.000,4,0.000,0.036,2628,667,3944
$GC,771,-0.55,-243.4,120.3,-11.2,127,777,0.00,2.05,0.00,0.000,6,0.000,0.031,2617,2050,3943
$GC,1116,-0.55,-243.4,158.8,-12.4,188,1123,0.00,2.15,0.00,0.000,4,0.000,0.044,2613,3457,3944
$GC,1187,-0.66,-243.4,166.4,-9.9,200,1194,0.00,2.03,0.00,0.000,6,0.000,0.028,2615,2057,3944
$GC,1535,-0.76,-243.4,196.8,-9.0,261,1543,0.12,2.17,0.00,0.000,4,0.060,0.043,2531,3463,3944
$GC,1593,-0.65,-243.4,204.2,-15.1,270,1600,0.28,2.03,0.00,0.000,6,0.118,0.027,2614,2049,3944
$GC,1943,-0.76,-243.4,235.8,-8.5,331,1949,0.12,0.00,0.00,0.000,6,0.063,0.000,2540,2048,3943
$GC,2289,-0.71,-243.4,276.1,-10.1,392,2296,0.17,2.08,0.00,0.000,4,0.121,0.036,2599,676,3942
$GC,2338,-0.83,-243.4,280.3,-7.4,400,2347,0.15,2.08,0.00,0.000,6,0.054,0.031,2520,2075,3942
$GC,2676,-0.74,-243.4,323.3,-13.2,444,2680,0.17,2.12,0.00,0.000,4,0.125,0.036,2577,685,3940
$GC,2735,-0.82,-243.4,328.7,-8.1,449,2739,0.00,2.08,0.00,0.000,6,0.000,0.033,2575,2061,3939
$GC,3067,-0.91,-243.4,358.0,-9.0,480,3071,0.15,2.20,0.00,0.000,4,0.055,0.048,2490,3467,3937
$GC,3164,-0.81,-243.4,370.6,-13.6,488,3169,0.22,2.05,0.00,0.000,6,0.120,0.031,2558,2070,3937
$GC,3492,-0.86,-243.4,399.7,-7.7,518,3497,0.00,2.12,0.00,0.000,4,0.000,0.040,2558,674,3935
$GC,3539,-0.90,-243.4,403.8,-8.7,522,3543,0.00,2.12,0.00,0.000,6,0.000,0.035,2555,2077,3934
$GC,3872,-0.95,-243.4,431.8,-8.3,553,3877,0.12,2.17,0.00,0.000,4,0.061,0.050,2475,3459,3932
$GC,3902,-0.89,-243.4,435.0,-11.0,555,3907,0.20,2.05,0.00,0.000,6,0.123,0.031,2535,2075,3931
$GC,4229,-0.89,-243.4,465.2,-9.2,585,4233,0.00,2.15,0.00,0.000,4,0.000,0.043,2535,672,3928
$GC,4269,-0.89,-243.4,469.4,-10.1,588,4275,0.00,2.15,0.00,0.000,6,0.000,0.038,2534,2079,3928
$GC,4594,-0.89,-243.4,503.1,-11.1,618,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2079,3926
$GC,4905,-0.89,-243.4,536.1,-10.9,633,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2080,3924
$GC,5212,-0.89,-243.4,568.5,-10.1,648,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2080,3921
$GC,5522,-0.89,-243.4,597.1,-8.6,663,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2080,3919
$GC,5833,-0.89,-243.4,622.6,-8.1,678,5836,0.00,2.22,0.00,0.000,4,0.000,0.047,2533,673,3916
$GC,5885,-0.89,-243.4,627.2,-9.1,680,5890,0.00,2.20,0.00,0.000,6,0.000,0.043,2531,2077,3916
$GC,6208,-0.89,-243.4,653.9,-8.2,696,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2077,3913
$GC,6518,-0.89,-243.4,680.3,-8.8,711,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2077,3911
$GC,6827,-0.89,-243.4,707.5,-8.8,726,6830,0.00,2.28,0.00,0.000,4,0.000,0.061,2534,3465,3909
$GC,6867,-0.95,-243.4,711.1,-8.9,727,6873,0.00,2.12,0.00,0.000,6,0.000,0.037,2534,2076,3909
$GC,7187,-0.98,-243.4,739.0,-8.7,743,7191,0.00,2.25,0.00,0.000,4,0.000,0.050,2534,661,3908
$GC,7238,-0.98,-243.4,744.2,-10.0,745,7242,0.00,2.22,0.00,0.000,6,0.000,0.045,2537,2070,3907
$GC,7568,-0.98,-243.4,773.4,-9.0,761,7571,0.00,2.25,0.00,0.000,4,0.000,0.051,2536,668,3906
$GC,7624,-0.98,-243.4,779.1,-9.5,763,7628,0.00,2.22,0.00,0.000,6,0.000,0.046,2536,2072,3905
$GC,7942,-1.01,-243.4,804.8,-7.8,778,7944,0.12,0.00,0.00,0.000,6,0.066,0.000,2474,2072,3904
$GC,8253,-0.89,-243.4,842.5,-12.7,793,8255,0.17,0.00,0.00,0.000,6,0.133,0.000,2529,2072,3902
$GC,8559,-0.89,-243.4,871.9,-9.6,808,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2072,3901
$GC,8870,-0.89,-243.4,903.6,-10.4,823,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2072,3900
$GC,9178,-0.89,-243.4,936.4,-10.8,838,9182,0.00,2.30,0.00,0.000,4,0.000,0.065,2533,3462,3898
$GC,9212,-0.94,-243.4,940.2,-11.4,839,9218,0.00,2.17,0.00,0.000,6,0.000,0.039,2530,2065,3898
$GC,9531,-0.94,-243.4,973.2,-10.2,855,9535,0.00,2.28,0.00,0.000,4,0.000,0.054,2528,656,3897
$GC,9576,-0.94,-243.4,978.4,-10.4,857,9580,0.00,2.25,0.00,0.000,6,0.000,0.048,2535,2061,3897
$STATE,9709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9709,begin apogee
$GC,9717,-0.23,0.0,991.9,10.0,864,9939,0.68,0.00,213.38,1.476,6,0.104,0.000,2748,1683,2945
$STATE,9940,end apogee,CONTROL_FINISHED_OK
$STATE,9940,begin climb
$GC,9945,0.93,243.4,1006.9,0.0,875,10231,1.05,2.65,245.73,1.378,4,0.041,0.058,3134,3092,1951
$GC,10484,0.50,243.4,940.2,20.4,899,10491,0.57,2.17,0.00,0.000,6,0.162,0.043,2983,1689,1943
$GC,10803,0.52,259.9,908.3,9.5,915,10832,0.00,2.35,16.98,1.184,4,0.000,0.058,2983,3103,1884
$GC,11025,0.46,259.9,884.8,10.3,925,11029,0.00,2.17,0.00,0.000,6,0.000,0.044,2991,1700,1882
$GC,11362,0.46,298.2,853.1,8.9,941,11410,0.00,2.30,38.05,1.323,4,0.000,0.058,2991,3102,1729
$GC,11645,0.40,298.2,823.4,11.1,953,11652,0.17,2.12,0.00,0.000,6,0.143,0.044,2954,1726,1725
$GC,11963,0.61,397.3,799.3,7.3,969,12063,0.17,2.35,92.18,1.361,4,0.058,0.058,3045,3105,1325
$GC,12243,0.44,397.3,753.3,17.9,981,12250,0.32,2.10,0.00,0.000,6,0.137,0.044,2962,1749,1320
$GC,12561,0.61,434.1,722.5,9.0,997,12609,0.17,2.25,36.22,1.236,4,0.054,0.058,3055,3099,1175
$GC,12728,0.42,434.1,691.6,21.0,1004,12733,0.38,2.05,0.00,0.000,6,0.140,0.043,2957,1775,1173
$GC,13046,0.65,481.2,661.9,8.7,1019,13111,0.17,2.17,48.55,1.183,4,0.051,0.057,3051,3103,982
$GC,13227,0.51,481.2,628.5,20.1,1027,13231,0.25,2.05,0.00,0.000,6,0.138,0.043,2989,1781,981
$GC,13556,0.61,481.2,588.6,11.5,1043,13560,0.00,2.10,0.00,0.000,4,0.000,0.056,2989,3106,981
$GC,13652,0.70,481.2,577.1,12.2,1047,13656,0.15,2.00,0.00,0.000,6,0.056,0.043,3068,1814,981
$GC,13982,0.55,481.2,513.0,19.9,1063,13987,0.20,2.10,0.00,0.000,4,0.143,0.055,3004,3111,981
$GC,14138,0.62,481.2,491.2,11.7,1073,14142,0.00,1.98,0.00,0.000,6,0.000,0.041,3011,1841,980
$GC,14473,0.66,481.2,453.7,11.4,1104,14477,0.00,2.03,0.00,0.000,4,0.000,0.055,3010,3103,980
$GC,14577,0.70,481.2,441.1,11.4,1113,14580,0.00,1.95,0.00,0.000,6,0.000,0.041,3019,1849,980
$GC,14912,0.73,481.2,403.4,11.9,1144,14916,0.10,2.03,0.00,0.000,4,0.074,0.054,3072,3113,980
$GC,15025,0.60,481.2,383.2,19.2,1154,15030,0.25,1.92,0.00,0.000,6,0.138,0.040,3010,1861,980
$GC,15357,0.68,481.2,345.3,10.5,1185,15361,0.00,1.98,0.00,0.000,4,0.000,0.053,3011,3105,979
$GC,15429,0.76,481.2,337.4,11.1,1191,15433,0.15,1.90,0.00,0.000,6,0.057,0.039,3086,1876,980
$GC,15762,0.64,481.2,274.9,18.9,1233,15769,0.17,2.00,0.00,0.000,4,0.140,0.051,3030,3114,980
$GC,15903,0.69,481.2,257.1,11.9,1257,15909,0.00,1.88,0.00,0.000,6,0.000,0.038,3034,1891,980
$GC,16249,0.74,481.2,215.0,12.6,1318,16258,0.00,1.95,0.00,0.000,4,0.000,0.050,3035,3101,980
$GC,16358,0.79,481.2,201.9,12.4,1336,16365,0.08,1.85,0.00,0.000,6,0.051,0.037,3097,1904,980
$GC,16705,0.72,481.2,145.8,14.1,1397,16711,0.15,1.92,0.00,0.000,4,0.137,0.047,3054,3117,980
$GC,16835,0.79,481.2,130.5,11.9,1419,16841,0.00,1.85,0.00,0.000,6,0.000,0.035,3060,1919,980
$GC,17182,0.88,481.2,91.1,10.6,1480,17189,0.12,0.00,0.00,0.000,6,0.060,0.000,3142,1919,980
$GC,17528,0.88,481.2,42.0,11.1,1541,17534,0.15,0.00,0.00,0.000,6,0.123,0.000,3097,1919,980
$GC,17873,1.27,622.2,19.3,6.1,1602,17984,0.32,0.00,107.20,0.698,2,0.036,0.000,3258,1919,469
$STATE,17985,end climb,SURFACE_DEPTH_REACHED
$STATE,17985,begin surface coast
$FINISH,1.0,1.009472
$STATE,18003,end surface coast,CONTROL_FINISHED_OK
$STATE,18007,begin surface
$SM_CCo,18088,0.00,0.000,0,0,466,607.61
$SM_GC,1.81,8.30,0.00,0.00,0.038,0.000,0.000,136,2093,466,-8.28,0.90,607.61
$IRIDIUM_FIX,2500.82,12255.84,221198,171733
$TT8_MAMPS,0.027612
$HUMID,1700
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.40
$XPDR_PINGS,147
$24V_AH,21.5,129.761
$10V_AH,10.4,82.830
$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,26.125,127.850,798.275,0.000,0.000,33.223,38.899,231.890,44.750,0.000,0.000,15.553,2871.365,10505.860,869.489,3449.951,874.553,0.000,2450.518,0.000,3403.207,0.000,56.999,0.000
$DEVICE_MAMPS,226.265,65.195,1476.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1106.073,1110.569,1872.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94954,1622
$CAP_FILE_SIZE,177841,0
$CFSIZE,260165632,188256256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$CURRENT,0.311, 50.1,1
$GPS,290809,031607,2508.580,12302.296,38,0.9,38,-3.6