version: 66.04
glider: 166
mission: 2
dive: 12
start: 5 23 109 19 51 23
data:
$ID,166
$MISSION,2
$DIVE,12
$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,396
$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,175
$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,425
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5526.6875
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1503
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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,1
$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
$GPS1,194219,2518.691,12235.482,16,1.9,33,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-68.7
$GPS2,195102,2518.907,12235.625,14,1.1,14,-3.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,267.4,21052,-16.8,-10.000
$D_GRID,607
$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,13,-0.86,-170.3,0.0,0.0,0,71,0.00,0.00,-55.80,0.000,2,0.000,0.000,167,1490,2367
$GC,73,-0.86,-170.3,3.2,-5.4,8,126,9.12,1.95,-36.15,0.000,4,0.243,0.062,2429,201,3558
$GC,380,-0.25,-170.3,92.2,-21.1,61,389,0.62,1.92,0.00,0.000,6,0.163,0.031,2628,1502,3560
$GC,726,-0.57,-170.3,115.3,-3.2,122,733,0.25,1.98,0.00,0.000,4,0.048,0.045,2509,204,3562
$GC,889,-0.29,-170.3,138.9,-18.6,151,897,0.32,1.90,0.00,0.000,6,0.142,0.031,2613,1503,3562
$GC,1233,-0.61,-170.3,165.8,-4.5,212,1240,0.25,1.95,0.00,0.000,4,0.049,0.045,2494,197,3562
$GC,1280,-0.37,-170.3,171.2,-15.0,220,1287,0.28,1.90,0.00,0.000,6,0.142,0.031,2593,1500,3562
$GC,1626,-0.62,-170.3,199.5,-7.3,281,1635,0.20,2.05,0.00,0.000,4,0.055,0.041,2496,2900,3562
$GC,1735,-0.62,-170.3,212.3,-12.4,300,1742,0.00,2.08,0.00,0.000,6,0.000,0.035,2496,1499,3562
$GC,2080,-0.49,-170.3,254.2,-12.1,361,2087,0.17,1.92,0.00,0.000,4,0.152,0.048,2551,204,3562
$GC,2319,-0.55,-170.3,279.2,-10.6,403,2325,0.00,1.88,0.00,0.000,6,0.000,0.032,2549,1511,3562
$GC,2654,-0.65,-170.3,316.2,-11.6,451,2659,0.12,2.03,0.00,0.000,4,0.072,0.044,2486,2894,3560
$GC,2732,-0.65,-170.3,326.4,-13.1,458,2736,0.00,2.03,0.00,0.000,6,0.000,0.036,2486,1504,3559
$GC,3062,-0.55,-170.3,361.8,-10.7,489,3066,0.17,1.92,0.00,0.000,4,0.235,0.048,2542,207,3559
$GC,3191,-0.60,-170.3,373.5,-9.8,500,3197,0.00,1.90,0.00,0.000,6,0.000,0.036,2536,1503,3558
$GC,3515,-0.74,-170.3,402.1,-8.9,531,3519,0.17,1.95,0.00,0.000,4,0.061,0.050,2456,204,3556
$GC,3620,-0.49,-170.3,417.3,-15.0,540,3628,0.30,1.90,0.00,0.000,6,0.151,0.034,2553,1500,3554
$GC,3945,-0.71,-170.3,443.7,-7.5,571,3950,0.20,2.08,0.00,0.000,4,0.058,0.046,2445,2903,3553
$GC,3976,-0.63,-170.3,446.9,-10.4,573,3985,0.17,2.08,0.00,0.000,6,0.144,0.037,2507,1504,3553
$GC,4302,-0.73,-170.3,472.8,-8.6,604,4305,0.00,2.08,0.00,0.000,4,0.000,0.048,2502,2896,3551
$GC,4329,-0.87,-170.3,475.1,-8.5,606,4336,0.20,2.03,0.00,0.000,6,0.058,0.038,2416,1506,3551
$GC,4650,-0.60,-170.3,517.2,-13.6,631,4655,0.32,1.95,0.00,0.000,4,0.160,0.053,2516,204,3549
$GC,4734,-0.66,-170.3,524.4,-7.2,635,4738,0.00,1.88,0.00,0.000,6,0.000,0.035,2510,1503,3549
$GC,5068,-0.78,-170.3,548.1,-7.4,651,5072,0.12,2.08,0.00,0.000,4,0.076,0.048,2442,2896,3547
$GC,5116,-0.78,-170.3,552.6,-9.4,653,5121,0.00,2.08,0.00,0.000,6,0.000,0.040,2442,1509,3546
$GC,5444,-0.67,-170.3,583.9,-9.2,669,5448,0.17,1.98,0.00,0.000,4,0.155,0.054,2498,198,3545
$GC,5560,-0.73,-170.3,592.0,-7.1,674,5564,0.00,1.92,0.00,0.000,6,0.000,0.038,2498,1496,3544
$STATE,5843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5844,begin apogee
$GC,5847,-0.19,0.0,607.4,5.5,688,5988,0.47,0.00,136.05,1.178,6,0.129,0.000,2653,1795,2863
$STATE,5989,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5990,0.86,170.3,609.0,0.0,695,6139,0.98,2.33,141.55,1.133,4,0.081,0.054,2997,3180,2167
$GC,6185,0.50,170.3,589.7,15.7,704,6190,0.50,2.17,0.00,0.000,6,0.176,0.040,2875,1790,2164
$GC,6510,0.62,192.1,560.5,9.1,720,6536,0.12,2.28,18.77,1.083,4,0.070,0.055,2943,386,2078
$GC,6648,0.50,192.1,541.8,15.0,726,6653,0.17,2.15,0.00,0.000,6,0.154,0.040,2879,1783,2076
$GC,6974,0.64,202.2,507.9,9.6,742,6989,0.12,2.22,9.35,1.003,4,0.071,0.057,2943,386,2038
$GC,7044,0.52,202.2,499.1,13.9,745,7051,0.17,2.15,0.00,0.000,6,0.150,0.041,2889,1790,2036
$GC,7369,0.67,247.1,465.4,8.2,776,7415,0.12,2.22,37.80,1.096,4,0.074,0.054,2941,3186,1853
$GC,7460,0.59,247.1,453.7,13.7,784,7464,0.17,2.15,0.00,0.000,6,0.165,0.041,2906,1791,1850
$GC,7783,0.65,247.1,417.4,10.7,814,7787,0.00,2.17,0.00,0.000,4,0.000,0.055,2914,383,1847
$GC,7840,0.69,247.1,411.6,10.6,819,7844,0.00,2.12,0.00,0.000,6,0.000,0.040,2914,1798,1847
$GC,8169,0.69,247.1,376.1,11.8,850,8173,0.00,2.17,0.00,0.000,4,0.000,0.054,2926,384,1846
$GC,8206,0.69,247.1,371.4,12.8,853,8214,0.00,2.12,0.00,0.000,6,0.000,0.040,2925,1788,1846
$GC,8532,0.69,247.1,335.0,10.1,884,8535,0.00,2.15,0.00,0.000,4,0.000,0.054,2936,382,1845
$GC,8688,0.69,247.1,318.2,11.0,898,8692,0.00,2.12,0.00,0.000,6,0.000,0.041,2936,1792,1845
$GC,9022,0.69,247.1,280.4,11.5,943,9028,0.00,2.12,0.00,0.000,4,0.000,0.052,2936,3195,1843
$GC,9100,0.69,247.1,270.4,11.9,957,9107,0.00,2.10,0.00,0.000,6,0.000,0.041,2948,1782,1843
$GC,9444,0.69,247.1,232.0,10.5,1018,9451,0.00,2.12,0.00,0.000,4,0.000,0.054,2960,376,1843
$GC,9580,0.69,247.1,217.8,10.8,1042,9588,0.00,2.12,0.00,0.000,6,0.000,0.039,2960,1794,1843
$GC,9925,0.69,247.1,182.5,10.2,1103,9931,0.00,2.10,0.00,0.000,4,0.000,0.051,2960,3194,1843
$GC,9967,0.65,247.1,178.0,11.0,1110,9975,0.17,2.08,0.00,0.000,6,0.164,0.038,2923,1780,1843
$GC,10313,0.82,267.6,149.3,9.2,1171,10340,0.17,2.15,16.33,0.837,4,0.060,0.051,3009,389,1771
$GC,10594,0.66,267.6,108.6,16.3,1220,10601,0.28,2.08,0.00,0.000,6,0.160,0.038,2928,1808,1769
$GC,10939,0.95,366.8,78.1,6.1,1281,11029,0.22,2.25,80.38,0.777,4,0.051,0.048,3046,385,1365
$GC,11115,0.87,366.8,59.1,12.4,1310,11123,0.17,2.10,0.00,0.000,6,0.147,0.035,2998,1797,1361
$GC,11462,1.05,386.7,24.0,9.2,1371,11488,0.15,2.22,16.58,0.690,4,0.061,0.050,3082,383,1285
$GC,11541,0.91,386.7,13.7,14.1,1384,11548,0.25,2.08,0.00,0.000,6,0.155,0.033,3010,1805,1283
$STATE,11641,end climb,SURFACE_DEPTH_REACHED
$STATE,11641,begin surface coast
$FINISH,1.0,1.022310
$STATE,11673,end surface coast,CONTROL_FINISHED_OK
$STATE,11673,begin surface
$SM_CCo,11687,33.08,0.585,3,0,1129,425.10
$SM_GC,1.85,0.00,0.00,33.08,0.000,0.000,0.585,165,1490,1129,-7.97,-0.40,425.10
$IRIDIUM_FIX,2510.35,12235.95,170898,191932
$TT8_MAMPS,0.026845
$HUMID,1475
$INTERNAL_PRESSURE,9.85848
$TCM_TEMP,23.80
$XPDR_PINGS,126
$ALTIM_BOTTOM_PING,576.3,107.0
$24V_AH,24.0,5.979
$10V_AH,10.7,2.936
$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,25.275,108.325,456.800,33.075,0.000,50.419,70.904,241.195,35.750,0.000,0.000,14.536,2438.378,5933.907,615.010,2765.144,501.863,0.000,1826.356,0.000,2749.171,0.000,30.761,0.000
$DEVICE_MAMPS,243.139,62.127,1178.112,585.221,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,957.817,1035.718,1745.093,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79027,1407
$CAP_FILE_SIZE,140634,0
$CFSIZE,260165632,234196992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.221,357.4,1
$GPS,230509,230807,2520.207,12233.966,35,1.2,35,-3.6