version: 66.04
glider: 166
mission: 2
dive: 599
start: 9 4 109 9 51 50
data:
$ID,166
$MISSION,2
$DIVE,599
$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,-19062.387
$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,68
$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
$GPS1,093037,2454.225,12349.962,31,1.0,31,-3.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-63.1
$GPS2,095125,2454.469,12350.361,11,1.0,16,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2341.000,12400.000
$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,187.7,137042,-13.9,-10.000
$D_GRID,1923
$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,-243.4,0.0,0.0,0,100,0.00,0.00,-81.38,0.000,2,0.000,0.000,167,2110,2425
$GC,104,-0.93,-243.4,3.3,-5.5,12,157,9.35,2.25,-36.45,0.000,4,0.218,0.047,2517,638,3939
$GC,302,-0.50,-243.4,64.0,-32.1,45,310,0.47,2.10,0.00,0.000,6,0.118,0.035,2658,2032,3939
$GC,652,-0.47,-243.4,112.0,-11.1,106,658,0.00,2.20,0.00,0.000,4,0.000,0.044,2658,3467,3941
$GC,678,-0.47,-243.4,115.2,-11.6,110,684,0.00,2.10,0.00,0.000,6,0.000,0.026,2658,2027,3940
$GC,1024,-0.51,-243.4,152.4,-10.5,171,1031,0.00,2.25,0.00,0.000,4,0.000,0.044,2658,3469,3941
$GC,1085,-0.66,-243.4,158.2,-8.6,181,1093,0.15,2.05,0.00,0.000,6,0.053,0.026,2580,2060,3940
$GC,1436,-0.51,-243.4,213.7,-15.3,242,1443,0.20,2.12,0.00,0.000,4,0.122,0.037,2646,664,3940
$GC,1475,-0.56,-243.4,218.2,-9.5,248,1481,0.00,2.10,0.00,0.000,6,0.000,0.032,2646,2072,3940
$GC,1823,-0.68,-243.4,245.6,-7.2,309,1831,0.15,2.15,0.00,0.000,4,0.054,0.045,2555,3459,3938
$GC,1909,-0.57,-243.4,255.6,-12.7,323,1916,0.28,2.05,0.00,0.000,6,0.111,0.027,2639,2065,3938
$GC,2256,-0.68,-243.4,282.4,-8.8,384,2263,0.12,2.20,0.00,0.000,4,0.064,0.045,2547,3462,3936
$GC,2316,-0.64,-243.4,290.1,-13.3,394,2323,0.12,2.08,0.00,0.000,6,0.107,0.028,2610,2072,3934
$GC,2647,-0.64,-243.4,327.6,-10.6,432,2651,0.00,2.20,0.00,0.000,4,0.000,0.048,2586,3465,3933
$GC,2699,-0.73,-243.4,332.8,-9.3,436,2705,0.00,2.03,0.00,0.000,6,0.000,0.028,2592,2081,3932
$GC,3031,-0.77,-243.4,363.0,-8.9,467,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2081,3930
$GC,3361,-0.81,-243.4,392.0,-9.1,498,3365,0.00,2.17,0.00,0.000,4,0.000,0.041,2591,673,3927
$GC,3421,-0.87,-243.4,397.7,-8.7,503,3425,0.15,2.15,0.00,0.000,6,0.056,0.035,2504,2082,3926
$GC,3747,-0.72,-243.4,449.8,-15.1,533,3749,0.28,0.00,0.00,0.000,6,0.121,0.000,2588,2082,3925
$GC,4069,-0.83,-243.4,475.7,-7.7,563,4075,0.10,0.00,0.00,0.000,6,0.070,0.000,2526,2082,3923
$GC,4394,-0.76,-243.4,515.2,-11.9,588,4399,0.17,2.22,0.00,0.000,4,0.119,0.042,2586,669,3920
$GC,4469,-0.87,-243.4,522.2,-8.0,591,4474,0.15,2.17,0.00,0.000,6,0.053,0.037,2503,2085,3919
$GC,4803,-0.78,-243.4,567.8,-14.2,607,4808,0.17,2.20,0.00,0.000,4,0.123,0.051,2553,3468,3916
$GC,4850,-0.87,-243.4,574.0,-10.0,609,4853,0.00,2.08,0.00,0.000,6,0.000,0.031,2554,2084,3916
$GC,5183,-0.93,-243.4,605.7,-8.7,625,5188,0.10,2.22,0.00,0.000,4,0.069,0.044,2491,660,3913
$GC,5263,-0.83,-243.4,615.9,-12.9,628,5271,0.17,2.22,0.00,0.000,6,0.113,0.041,2549,2073,3912
$GC,5584,-0.88,-243.4,644.0,-8.7,644,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2073,3910
$GC,5893,-0.95,-243.4,670.9,-8.5,659,5895,0.12,0.00,0.00,0.000,6,0.061,0.000,2479,2073,3907
$GC,6199,-0.83,-243.4,711.5,-13.3,674,6203,0.20,2.25,0.00,0.000,4,0.125,0.046,2547,663,3905
$GC,6241,-0.89,-243.4,715.7,-9.4,676,6244,0.00,2.22,0.00,0.000,6,0.000,0.041,2541,2087,3905
$GC,6578,-0.94,-243.4,743.3,-8.1,692,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2086,3902
$GC,6888,-1.00,-243.4,769.1,-8.3,707,6892,0.12,2.28,0.00,0.000,4,0.063,0.048,2473,660,3900
$GC,6949,-0.89,-243.4,776.7,-12.0,709,6958,0.22,2.22,0.00,0.000,6,0.119,0.044,2530,2076,3899
$GC,7273,-0.93,-243.4,802.0,-7.8,725,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2076,3896
$GC,7576,-0.97,-243.4,829.7,-9.4,740,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2076,3894
$GC,7889,-1.01,-243.4,859.1,-9.1,755,7893,0.12,2.28,0.00,0.000,4,0.062,0.049,2466,668,3892
$GC,7938,-0.88,-243.4,865.1,-13.2,757,7942,0.28,2.22,0.00,0.000,6,0.119,0.045,2538,2069,3892
$GC,8272,-0.94,-243.4,892.9,-7.9,773,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2069,3890
$GC,8575,-1.01,-243.4,916.6,-7.2,788,8576,0.12,0.00,0.00,0.000,6,0.060,0.000,2474,2069,3887
$GC,8891,-0.92,-243.4,951.0,-11.3,803,8896,0.17,2.28,0.00,0.000,4,0.129,0.051,2533,664,3886
$GC,8961,-0.97,-243.4,958.0,-8.2,806,8965,0.00,2.22,0.00,0.000,6,0.000,0.048,2529,2054,3885
$GC,9299,-1.01,-243.4,984.0,-7.7,822,9301,0.10,0.00,0.00,0.000,6,0.072,0.000,2474,2054,3883
$STATE,9355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9355,begin apogee
$GC,9364,-0.23,0.0,990.0,9.3,825,9581,0.85,0.00,213.93,1.473,6,0.107,0.000,2747,1702,2945
$STATE,9582,end apogee,CONTROL_FINISHED_OK
$STATE,9582,begin climb
$GC,9586,0.93,243.4,1000.5,0.0,836,10018,1.08,2.60,292.48,1.202,4,0.033,0.055,3136,3106,1951
$GC,10165,0.51,243.4,927.6,22.5,862,10171,0.60,2.35,0.00,0.000,6,0.159,0.042,2990,1693,1946
$GC,10499,0.43,243.4,890.3,10.4,878,10503,0.00,2.33,0.00,0.000,4,0.000,0.057,2990,3110,1944
$GC,10707,0.33,243.4,867.0,11.0,887,10712,0.25,2.20,0.00,0.000,6,0.137,0.042,2929,1710,1943
$GC,11029,0.54,349.2,844.7,7.1,902,11141,0.17,2.45,99.60,1.361,4,0.058,0.055,3027,3104,1520
$GC,11396,0.41,349.2,792.1,15.5,918,11401,0.30,2.15,0.00,0.000,6,0.136,0.043,2952,1729,1515
$GC,11723,0.53,369.3,761.2,9.4,934,11756,0.12,2.30,20.52,1.183,4,0.066,0.058,3023,3106,1439
$GC,11933,0.44,369.3,729.5,14.9,943,11937,0.25,2.10,0.00,0.000,6,0.132,0.043,2961,1753,1436
$GC,12261,0.56,402.3,698.8,9.1,959,12298,0.12,2.22,31.38,1.289,4,0.066,0.057,3034,3107,1304
$GC,12495,0.49,402.3,664.4,14.6,968,12502,0.17,2.08,0.00,0.000,6,0.123,0.043,2986,1790,1301
$GC,12816,0.54,402.3,631.4,10.0,984,12820,0.00,2.12,0.00,0.000,4,0.000,0.054,2986,3106,1300
$GC,12940,0.57,402.3,617.5,10.2,989,12943,0.00,2.03,0.00,0.000,6,0.000,0.041,2992,1810,1300
$GC,13266,0.61,402.3,584.5,10.1,1005,13270,0.00,2.10,0.00,0.000,4,0.000,0.054,2993,3112,1299
$GC,13385,0.61,402.3,571.5,10.5,1010,13388,0.00,2.00,0.00,0.000,6,0.000,0.040,3002,1825,1299
$GC,13714,0.61,402.3,538.0,10.9,1026,13718,0.00,2.08,0.00,0.000,4,0.000,0.054,3002,3111,1299
$GC,13760,0.61,402.3,532.4,11.7,1028,13764,0.00,2.00,0.00,0.000,6,0.000,0.039,3010,1827,1299
$GC,14091,0.61,402.3,493.4,12.2,1046,14094,0.00,2.08,0.00,0.000,4,0.000,0.053,3011,3115,1299
$GC,14163,0.61,402.3,483.2,11.8,1052,14172,0.00,2.00,0.00,0.000,6,0.000,0.038,3019,1841,1299
$GC,14491,0.61,402.3,442.6,12.2,1083,14494,0.00,2.05,0.00,0.000,4,0.000,0.051,3019,3115,1299
$GC,14616,0.61,402.3,427.4,12.3,1094,14619,0.00,1.95,0.00,0.000,6,0.000,0.038,3028,1856,1299
$GC,14952,0.61,402.3,388.6,11.4,1125,14955,0.00,2.00,0.00,0.000,4,0.000,0.050,3028,3113,1298
$GC,15036,0.61,402.3,378.5,11.0,1132,15044,0.00,1.92,0.00,0.000,6,0.000,0.036,3036,1879,1299
$GC,15362,0.61,402.3,339.3,11.8,1163,15365,0.00,1.95,0.00,0.000,4,0.000,0.048,3037,3108,1299
$GC,15527,0.61,402.3,318.5,12.8,1177,15534,0.00,1.85,0.00,0.000,6,0.000,0.035,3044,1895,1299
$GC,15867,0.61,402.3,277.5,10.8,1225,15874,0.00,1.92,0.00,0.000,4,0.000,0.046,3044,3115,1299
$GC,16049,0.61,402.3,256.5,11.8,1256,16055,0.10,1.85,0.00,0.000,6,0.119,0.035,3019,1915,1299
$GC,16397,0.67,402.3,222.4,10.3,1317,16406,0.00,1.90,0.00,0.000,4,0.000,0.045,3018,3120,1299
$GC,16455,0.75,402.3,216.5,11.1,1326,16462,0.08,1.85,0.00,0.000,6,0.053,0.033,3089,1916,1299
$GC,16803,0.69,402.3,169.6,11.8,1387,16810,0.17,1.90,0.00,0.000,4,0.127,0.043,3028,3113,1299
$GC,16897,0.89,490.3,161.1,7.6,1403,16986,0.15,1.83,78.25,0.815,6,0.038,0.033,3130,1924,945
$GC,17328,0.81,490.3,94.0,14.9,1477,17335,0.17,0.00,0.00,0.000,6,0.127,0.000,3073,1924,944
$GC,17678,1.14,605.2,61.1,6.8,1538,17782,0.28,1.95,97.03,0.730,4,0.038,0.041,3218,3115,477
$GC,17848,1.03,605.2,32.5,18.8,1565,17856,0.22,1.80,0.00,0.000,6,0.122,0.031,3145,1937,476
$STATE,18136,end climb,SURFACE_DEPTH_REACHED
$STATE,18136,begin surface coast
$FINISH,0.8,1.007056
$STATE,18209,end surface coast,CONTROL_FINISHED_OK
$STATE,18209,begin surface
$SM_CCo,18290,0.00,0.000,0,0,472,606.63
$SM_GC,1.56,8.02,0.00,0.00,0.035,0.000,0.000,166,2097,472,-8.27,1.02,606.63
$IRIDIUM_FIX,2444.18,12348.65,291198,090949
$TT8_MAMPS,0.027612
$HUMID,1704
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,168
$24V_AH,21.0,139.062
$10V_AH,10.5,88.397
$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,26.750,131.950,833.175,0.000,0.000,115.746,290.090,376.166,50.000,0.000,0.000,16.640,2866.343,10270.493,944.195,4001.840,1435.872,0.000,2591.317,0.000,3961.645,0.000,54.416,0.000
$DEVICE_MAMPS,217.828,57.525,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1103.575,1092.108,2371.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91553,1628
$CAP_FILE_SIZE,195591,0
$CFSIZE,260165632,185364480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,29,0
$CURRENT,0.070, 13.0,1
$GPS,040909,145800,2452.147,12351.012,37,1.3,41,-3.7