version: 66.04
glider: 166
mission: 2
dive: 600
start: 9 4 109 15 7 43
data:
$ID,166
$MISSION,2
$DIVE,600
$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,-19083.496
$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,37
$R_STBD_OVSHOOT,61
$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
$GPS1,145800,2452.147,12351.012,37,1.3,41,-3.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.2
$GPS2,150719,2452.182,12351.020,15,1.6,20,-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,181.2,132705,-13.9,-10.000
$D_GRID,1950
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.93,-243.4,0.0,0.0,0,95,0.00,0.00,-75.55,0.000,2,0.000,0.000,167,2097,2156
$GC,99,-0.93,-243.4,3.1,-5.6,11,164,9.12,2.25,-47.78,0.000,4,0.210,0.047,2513,635,3939
$GC,365,-0.52,-243.4,81.6,-27.8,56,374,0.50,2.10,0.00,0.000,6,0.121,0.030,2654,2050,3939
$GC,714,-0.52,-243.4,131.5,-10.6,117,721,0.00,2.15,0.00,0.000,4,0.000,0.041,2648,3459,3941
$GC,776,-0.58,-243.4,137.6,-9.5,127,782,0.00,2.08,0.00,0.000,6,0.000,0.025,2648,2027,3941
$GC,1122,-0.58,-243.4,174.7,-10.8,188,1130,0.00,2.03,0.00,0.000,4,0.000,0.035,2648,673,3941
$GC,1143,-0.58,-243.4,176.9,-10.0,191,1150,0.00,2.08,0.00,0.000,6,0.000,0.029,2648,2075,3941
$GC,1492,-0.63,-243.4,213.0,-10.0,252,1499,0.00,2.12,0.00,0.000,4,0.000,0.043,2646,3465,3940
$GC,1540,-0.77,-243.4,217.4,-8.6,260,1549,0.22,2.05,0.00,0.000,6,0.045,0.026,2539,2050,3940
$GC,1892,-0.55,-243.4,281.2,-18.5,321,1899,0.32,2.10,0.00,0.000,4,0.126,0.035,2641,670,3939
$GC,1936,-0.60,-243.4,287.5,-10.2,328,1944,0.00,2.08,0.00,0.000,6,0.000,0.031,2627,2066,3939
$GC,2272,-0.69,-243.4,313.8,-7.3,372,2276,0.00,2.15,0.00,0.000,4,0.000,0.045,2614,3459,3938
$GC,2382,-0.85,-243.4,321.5,-7.1,381,2389,0.20,2.03,0.00,0.000,6,0.045,0.028,2519,2070,3936
$GC,2712,-0.65,-243.4,376.4,-17.6,412,2719,0.22,0.00,0.00,0.000,6,0.124,0.000,2603,2068,3935
$GC,3043,-0.68,-243.4,412.1,-9.5,443,3046,0.00,2.17,0.00,0.000,4,0.000,0.047,2585,3456,3934
$GC,3125,-0.80,-243.4,419.5,-7.7,450,3129,0.00,2.05,0.00,0.000,6,0.000,0.028,2586,2068,3933
$GC,3460,-0.86,-243.4,447.8,-9.1,481,3466,0.12,0.00,0.00,0.000,6,0.060,0.000,2515,2068,3932
$GC,3786,-0.73,-243.4,497.6,-15.6,512,3791,0.20,2.17,0.00,0.000,4,0.122,0.040,2580,661,3929
$GC,3837,-0.79,-243.4,504.3,-11.0,514,3841,0.00,2.15,0.00,0.000,6,0.000,0.036,2576,2069,3929
$GC,4161,-0.88,-243.4,533.7,-8.5,530,4163,0.12,0.00,0.00,0.000,6,0.061,0.000,2503,2070,3927
$GC,4475,-0.76,-243.4,575.2,-13.7,545,4479,0.20,2.20,0.00,0.000,4,0.120,0.042,2571,673,3925
$GC,4527,-0.85,-243.4,581.5,-9.4,547,4530,0.00,2.12,0.00,0.000,6,0.000,0.037,2568,2063,3924
$GC,4855,-0.94,-243.4,607.7,-7.5,563,4856,0.15,0.00,0.00,0.000,6,0.055,0.000,2486,2064,3922
$GC,5160,-0.82,-243.4,651.2,-14.9,578,5165,0.20,2.20,0.00,0.000,4,0.124,0.044,2553,675,3919
$GC,5200,-0.86,-243.4,656.4,-10.6,580,5205,0.00,2.15,0.00,0.000,6,0.000,0.038,2546,2066,3918
$GC,5539,-0.91,-243.4,688.1,-9.5,596,5542,0.00,2.25,0.00,0.000,4,0.000,0.055,2541,3462,3915
$GC,5579,-0.99,-243.4,692.4,-9.4,597,5586,0.12,2.12,0.00,0.000,6,0.059,0.034,2475,2057,3915
$GC,5902,-0.86,-243.4,734.8,-13.6,613,5906,0.17,2.25,0.00,0.000,4,0.129,0.051,2535,654,3913
$GC,6047,-0.89,-243.4,749.6,-8.9,619,6052,0.00,2.17,0.00,0.000,6,0.000,0.041,2530,2046,3911
$GC,6381,-0.89,-243.4,777.9,-8.4,635,6386,0.00,2.30,0.00,0.000,4,0.000,0.058,2530,3469,3909
$GC,6413,-0.94,-243.4,780.9,-8.7,636,6418,0.00,2.20,0.00,0.000,6,0.000,0.035,2530,2030,3909
$GC,6736,-0.97,-243.4,807.6,-8.2,651,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2030,3906
$GC,7041,-1.01,-243.4,832.7,-8.5,666,7043,0.10,0.00,0.00,0.000,6,0.071,0.000,2474,2030,3904
$GC,7352,-0.90,-243.4,868.3,-11.3,681,7356,0.17,2.20,0.00,0.000,4,0.130,0.051,2531,660,3901
$GC,7402,-0.95,-243.4,873.2,-8.4,683,7406,0.00,2.20,0.00,0.000,6,0.000,0.044,2530,2051,3901
$GC,7743,-0.99,-243.4,900.6,-8.1,699,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2051,3899
$GC,8046,-1.03,-243.4,928.3,-9.3,714,8048,0.12,0.00,0.00,0.000,6,0.064,0.000,2465,2051,3897
$GC,8357,-0.92,-243.4,969.5,-13.4,729,8361,0.20,2.25,0.00,0.000,4,0.128,0.050,2529,666,3894
$GC,8421,-0.96,-243.4,976.9,-9.7,731,8427,0.00,2.20,0.00,0.000,6,0.000,0.046,2529,2047,3894
$STATE,8571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8571,begin apogee
$GC,8580,-0.23,0.0,990.8,9.1,739,8800,0.65,0.00,216.90,1.471,6,0.094,0.000,2747,1693,2945
$STATE,8801,end apogee,CONTROL_FINISHED_OK
$STATE,8801,begin climb
$GC,8805,0.93,243.4,1003.7,0.0,750,9241,1.15,2.62,292.45,1.203,4,0.043,0.054,3133,3102,1950
$GC,9451,0.50,243.4,924.2,21.0,779,9458,0.60,2.30,0.00,0.000,6,0.154,0.041,2982,1699,1945
$GC,9775,0.45,243.4,889.8,10.3,795,9779,0.00,2.30,0.00,0.000,4,0.000,0.056,2983,3107,1943
$GC,9983,0.37,243.4,864.9,11.7,804,9988,0.20,2.20,0.00,0.000,6,0.133,0.041,2936,1713,1941
$GC,10316,0.47,284.1,836.5,8.9,820,10366,0.12,2.33,38.58,1.319,4,0.069,0.056,2999,3109,1786
$GC,10599,0.38,284.1,799.1,13.5,832,10606,0.20,2.17,0.00,0.000,6,0.128,0.042,2946,1731,1782
$GC,10919,0.51,333.0,770.3,8.6,848,10977,0.12,2.33,46.95,1.302,4,0.067,0.057,3018,3101,1587
$GC,11194,0.41,333.0,732.2,14.5,860,11198,0.25,2.08,0.00,0.000,6,0.131,0.042,2956,1762,1583
$GC,11521,0.53,365.9,702.9,9.1,876,11559,0.10,2.25,30.30,1.289,4,0.074,0.055,3014,3104,1452
$GC,11684,0.47,365.9,681.1,13.7,883,11689,0.17,2.05,0.00,0.000,6,0.132,0.042,2975,1781,1450
$GC,12014,0.52,365.9,647.9,10.2,899,12018,0.00,2.12,0.00,0.000,4,0.000,0.054,2975,3102,1448
$GC,12159,0.56,365.9,631.1,10.7,905,12162,0.00,2.03,0.00,0.000,6,0.000,0.041,2982,1802,1448
$GC,12490,0.60,365.9,595.4,10.7,921,12494,0.00,2.10,0.00,0.000,4,0.000,0.054,2982,3106,1447
$GC,12615,0.60,365.9,581.3,10.8,926,12619,0.00,2.00,0.00,0.000,6,0.000,0.041,2991,1823,1447
$GC,12939,0.64,365.9,549.3,10.1,942,12943,0.10,2.08,0.00,0.000,4,0.074,0.053,3051,3105,1447
$GC,13056,0.51,365.9,533.1,13.6,947,13061,0.28,1.98,0.00,0.000,6,0.131,0.040,2981,1843,1447
$GC,13391,0.59,381.4,501.4,9.6,963,13412,0.00,2.03,14.52,1.107,4,0.000,0.054,2982,3105,1390
$GC,13556,0.68,401.5,483.6,9.4,976,13588,0.10,1.95,19.45,1.104,6,0.048,0.039,3053,1860,1308
$GC,13904,0.61,401.5,434.0,15.2,1009,13909,0.15,1.98,0.00,0.000,4,0.135,0.051,3009,3104,1307
$GC,13977,0.61,401.5,424.5,13.4,1015,13980,0.00,1.92,0.00,0.000,6,0.000,0.038,3014,1858,1306
$GC,14311,0.61,401.5,384.8,10.7,1046,14315,0.00,1.98,0.00,0.000,4,0.000,0.049,3015,3104,1306
$GC,14448,0.61,401.5,368.5,12.0,1058,14451,0.00,1.88,0.00,0.000,6,0.000,0.037,3023,1885,1306
$GC,14782,0.61,401.5,330.9,11.3,1089,14786,0.00,1.95,0.00,0.000,4,0.000,0.048,3024,3116,1306
$GC,14920,0.61,401.5,314.2,13.4,1101,14923,0.00,1.88,0.00,0.000,6,0.000,0.035,3033,1893,1306
$GC,15261,0.61,401.5,275.9,10.6,1150,15270,0.00,1.95,0.00,0.000,4,0.000,0.047,3033,3105,1306
$GC,15418,0.61,401.5,257.8,10.8,1177,15424,0.00,1.83,0.00,0.000,6,0.000,0.035,3041,1906,1306
$GC,15765,0.61,401.5,219.3,10.3,1238,15773,0.00,1.92,0.00,0.000,4,0.000,0.044,3041,3108,1306
$GC,15913,0.61,406.2,203.9,9.9,1263,15926,0.12,1.80,5.78,0.680,6,0.127,0.033,3015,1918,1288
$GC,16269,0.92,548.2,178.3,6.1,1325,16402,0.25,1.98,123.88,0.838,4,0.042,0.043,3147,3103,710
$GC,16484,0.79,548.2,139.8,19.8,1360,16491,0.22,1.83,0.00,0.000,6,0.120,0.032,3069,1928,709
$GC,16832,0.92,548.2,101.2,11.3,1421,16839,0.12,2.58,0.00,0.000,4,0.059,0.041,3164,281,707
$GC,16876,0.86,548.2,94.9,18.3,1428,16883,0.22,2.58,0.00,0.000,6,0.120,0.032,3096,1982,707
$GC,17224,1.24,693.1,61.9,6.0,1489,17284,0.30,1.83,54.00,0.723,4,0.037,0.041,3248,3120,455
$GC,17423,1.05,693.1,22.6,23.2,1522,17431,0.25,1.77,0.00,0.000,6,0.134,0.030,3163,1944,453
$STATE,17594,end climb,SURFACE_DEPTH_REACHED
$STATE,17594,begin surface coast
$FINISH,0.9,1.008851
$STATE,17619,end surface coast,CONTROL_FINISHED_OK
$STATE,17619,begin surface
$SM_CCo,17701,0.00,0.000,0,0,450,611.78
$SM_GC,1.61,8.12,0.00,0.00,0.038,0.000,0.000,165,2122,450,-8.29,1.72,611.78
$IRIDIUM_FIX,2444.18,12350.63,291198,090900
$TT8_MAMPS,0.027612
$HUMID,1720
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.40
$XPDR_PINGS,152
$24V_AH,20.6,139.369
$10V_AH,10.5,88.581
$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,26.325,135.850,842.800,0.000,0.000,32.523,44.498,272.652,46.000,0.000,0.000,20.481,2759.454,9669.052,948.583,3879.633,983.914,0.000,2571.815,0.000,3844.184,0.000,54.430,0.000
$DEVICE_MAMPS,210.158,57.525,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.331,1060.208,2268.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88502,1556
$CAP_FILE_SIZE,187478,0
$CFSIZE,260165632,185278464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,28,0
$CURRENT,0.095, 61.4,1
$GPS,040909,200401,2449.950,12352.901,38,1.1,38,-3.7