version: 66.04
glider: 166
mission: 2
dive: 81
start: 6 4 109 5 15 23
data:
$ID,166
$MISSION,2
$DIVE,81
$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,300
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,-6777.1797
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$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,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,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,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
$GPS1,050254,2534.185,12318.647,42,1.4,42,-3.8
$_CALLS,3
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.5
$GPS2,051502,2534.182,12318.781,16,1.3,16,-3.8
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12314.300
$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,289.2,15157,-17.1,-11.000
$D_GRID,742
$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,14,-0.94,-194.7,0.0,0.0,0,112,0.00,0.00,-95.07,0.000,2,0.000,0.000,166,1466,2571
$GC,114,-0.94,-194.7,3.2,-4.8,15,160,8.68,2.15,-29.20,0.000,4,0.222,0.051,2432,2907,3657
$GC,284,-0.24,-194.7,54.0,-34.2,44,291,0.75,2.03,0.00,0.000,6,0.161,0.031,2653,1515,3658
$GC,631,-0.41,-194.7,98.9,-10.5,105,639,0.15,1.92,0.00,0.000,4,0.062,0.041,2582,201,3658
$GC,685,-0.26,-194.7,106.8,-15.7,114,692,0.17,1.90,0.00,0.000,6,0.133,0.028,2654,1507,3658
$GC,1030,-0.58,-194.7,137.0,-7.6,175,1037,0.25,2.03,0.00,0.000,4,0.045,0.038,2532,2898,3658
$GC,1122,-0.46,-194.7,151.1,-16.1,191,1129,0.20,2.03,0.00,0.000,6,0.137,0.031,2589,1489,3658
$GC,1469,-0.59,-194.7,188.9,-10.1,252,1475,0.12,2.08,0.00,0.000,4,0.066,0.039,2527,2901,3658
$GC,1516,-0.59,-194.7,195.0,-13.0,260,1523,0.00,2.00,0.00,0.000,6,0.000,0.031,2527,1532,3658
$GC,1860,-0.49,-194.7,241.9,-12.5,321,1868,0.17,1.98,0.00,0.000,4,0.144,0.045,2583,194,3658
$GC,1969,-0.64,-194.7,253.0,-8.9,340,1976,0.10,1.90,0.00,0.000,6,0.051,0.028,2502,1518,3658
$GC,2312,-0.50,-194.7,301.4,-13.9,400,2314,0.25,0.00,0.00,0.000,6,0.135,0.000,2577,1520,3659
$GC,2633,-0.75,-194.7,325.5,-7.6,430,2637,0.20,2.00,0.00,0.000,4,0.053,0.042,2454,2880,3658
$GC,2659,-0.75,-194.7,328.7,-11.9,432,2668,0.05,2.03,0.00,0.000,6,0.150,0.033,2492,1510,3658
$GC,2985,-0.65,-194.7,373.8,-13.0,463,2989,0.15,1.92,0.00,0.000,4,0.146,0.047,2534,208,3657
$GC,3103,-0.72,-194.7,386.7,-9.4,473,3110,0.00,1.85,0.00,0.000,6,0.000,0.031,2517,1501,3655
$GC,3428,-0.87,-194.7,413.1,-7.8,504,3430,0.17,0.00,0.00,0.000,6,0.058,0.000,2431,1502,3653
$GC,3746,-0.67,-194.7,457.2,-14.0,534,3750,0.25,2.08,0.00,0.000,4,0.143,0.044,2508,2900,3651
$GC,3778,-0.82,-194.7,460.5,-9.0,536,3785,0.00,2.05,0.00,0.000,6,0.000,0.036,2508,1517,3651
$GC,4103,-0.98,-194.7,485.4,-7.1,567,4107,0.20,1.98,0.00,0.000,4,0.053,0.050,2407,195,3648
$GC,4209,-0.68,-194.7,500.6,-15.6,576,4216,0.30,1.90,0.00,0.000,6,0.140,0.034,2520,1486,3647
$GC,4524,-0.89,-194.7,523.8,-7.4,592,4528,0.17,2.10,0.00,0.000,4,0.058,0.046,2426,2899,3644
$GC,4595,-0.83,-194.7,531.5,-11.2,595,4600,0.12,2.08,0.00,0.000,6,0.134,0.038,2469,1504,3643
$GC,4917,-0.83,-194.7,564.0,-10.4,611,4921,0.00,1.95,0.00,0.000,4,0.000,0.053,2469,207,3640
$GC,5023,-0.83,-194.7,575.7,-10.7,615,5029,0.00,1.92,0.00,0.000,6,0.000,0.035,2467,1500,3639
$GC,5339,-0.83,-194.7,607.8,-10.3,631,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1500,3637
$GC,5648,-0.83,-194.7,640.3,-10.1,646,5652,0.00,2.10,0.00,0.000,4,0.000,0.052,2467,2901,3634
$GC,5681,-0.95,-194.7,643.7,-9.7,647,5685,0.00,2.10,0.00,0.000,6,0.000,0.040,2467,1485,3634
$GC,6002,-0.95,-194.7,677.4,-10.9,663,6006,0.00,2.15,0.00,0.000,4,0.000,0.052,2467,2903,3631
$GC,6040,-1.07,-194.7,681.5,-10.4,664,6048,0.17,2.12,0.00,0.000,6,0.047,0.041,2377,1494,3631
$GC,6356,-0.77,-194.7,731.4,-16.7,680,6361,0.35,1.95,0.00,0.000,4,0.154,0.054,2486,206,3629
$STATE,6442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6442,begin apogee
$GC,6449,-0.20,0.0,742.0,10.5,684,6608,0.52,0.00,156.02,1.285,6,0.120,0.000,2667,1753,2863
$STATE,6609,end apogee,CONTROL_FINISHED_OK
$STATE,6609,begin climb
$GC,6610,0.94,194.7,750.2,0.0,692,6783,1.00,2.35,163.62,1.244,4,0.046,0.054,3046,3147,2068
$GC,6861,0.39,194.7,720.1,21.7,703,6866,0.62,2.20,0.00,0.000,6,0.163,0.041,2865,1757,2063
$GC,7184,0.47,197.3,684.5,10.9,719,7188,0.00,2.20,0.00,0.000,4,0.000,0.056,2870,343,2061
$GC,7245,0.53,197.9,677.4,11.0,721,7252,0.12,2.12,0.00,0.000,6,0.074,0.039,2929,1753,2060
$GC,7560,0.37,197.9,634.0,13.9,737,7565,0.22,2.15,0.00,0.000,4,0.149,0.054,2860,3158,2059
$GC,7616,0.45,197.9,627.5,11.5,739,7623,0.00,2.12,0.00,0.000,6,0.000,0.046,2868,1736,2057
$GC,7931,0.61,261.8,597.1,8.6,755,7996,0.20,2.28,54.83,1.190,4,0.057,0.054,2975,354,1794
$GC,8034,0.35,261.8,581.6,17.6,759,8043,0.38,2.17,0.00,0.000,6,0.148,0.040,2852,1740,1792
$GC,8351,0.62,310.4,550.6,9.2,775,8399,0.22,2.28,41.58,1.155,4,0.052,0.054,2956,3141,1596
$GC,8420,0.43,310.4,539.3,18.3,778,8425,0.28,2.17,0.00,0.000,6,0.146,0.040,2874,1745,1594
$GC,8747,0.63,317.3,502.7,10.7,794,8760,0.20,2.17,6.45,0.930,4,0.054,0.054,2982,339,1567
$GC,8834,0.43,317.3,486.8,20.4,800,8839,0.35,2.12,0.00,0.000,6,0.144,0.041,2880,1735,1567
$GC,9165,0.62,329.7,448.9,10.5,831,9182,0.17,2.17,12.10,1.042,4,0.060,0.053,2975,343,1518
$GC,9204,0.47,329.7,442.9,16.9,834,9209,0.30,2.10,0.00,0.000,6,0.141,0.041,2888,1727,1516
$GC,9529,0.64,333.6,405.5,10.9,864,9542,0.17,2.17,4.38,0.750,4,0.058,0.054,2983,352,1502
$GC,9552,0.64,333.6,402.0,14.3,866,9557,0.15,2.05,0.00,0.000,6,0.155,0.039,2944,1720,1502
$GC,9882,0.58,333.6,351.8,14.8,897,9886,0.00,2.17,0.00,0.000,4,0.000,0.051,2944,3151,1500
$GC,9927,0.53,333.6,345.0,15.2,901,9932,0.15,2.17,0.00,0.000,6,0.154,0.040,2912,1696,1500
$GC,10251,0.64,333.6,307.0,11.1,931,10255,0.00,2.05,0.00,0.000,4,0.000,0.052,2920,342,1499
$GC,10386,0.76,333.6,291.6,11.5,949,10393,0.17,1.98,0.00,0.000,6,0.062,0.038,3004,1689,1499
$GC,10730,0.54,333.6,227.2,20.6,1010,10737,0.28,2.05,0.00,0.000,4,0.166,0.048,2929,332,1499
$GC,10805,0.69,333.6,215.9,12.9,1023,10813,0.10,1.95,0.00,0.000,6,0.079,0.038,2984,1662,1499
$GC,11150,0.69,333.6,166.0,11.8,1084,11156,0.00,2.22,0.00,0.000,4,0.000,0.045,2984,3149,1499
$GC,11218,0.69,333.6,157.8,11.2,1096,11225,0.12,2.22,0.00,0.000,6,0.152,0.038,2961,1640,1498
$GC,11564,0.97,404.6,129.9,8.3,1157,11629,0.22,2.40,59.00,0.813,4,0.048,0.043,3077,3148,1212
$GC,11665,0.77,404.6,112.1,21.6,1173,11672,0.32,2.25,0.00,0.000,6,0.140,0.035,2991,1654,1210
$GC,12010,1.04,453.7,73.9,9.1,1234,12057,0.20,2.10,41.30,0.739,4,0.049,0.046,3110,330,1012
$GC,12165,0.86,453.7,47.1,18.7,1260,12172,0.25,1.98,0.00,0.000,6,0.133,0.030,3015,1654,1009
$GC,12510,1.10,453.7,12.1,11.2,1321,12517,0.17,2.00,0.00,0.000,4,0.053,0.045,3123,333,1009
$STATE,12560,end climb,SURFACE_DEPTH_REACHED
$STATE,12560,begin surface coast
$FINISH,1.8,1.021914
$STATE,12566,end surface coast,CONTROL_FINISHED_OK
$STATE,12567,begin surface
$SM_CCo,12643,0.00,0.000,0,0,1005,455.52
$SM_GC,1.61,7.90,0.00,0.00,0.044,0.000,0.000,168,1532,1005,-8.03,0.90,455.52
$IRIDIUM_FIX,2524.66,12319.55,290898,050515
$TT8_MAMPS,0.026845
$HUMID,1464
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.20
$XPDR_PINGS,89
$24V_AH,24.0,20.019
$10V_AH,10.7,12.237
$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,27.825,120.775,539.275,0.000,0.000,67.035,158.704,271.861,27.750,0.000,0.000,16.355,2341.550,7041.862,651.538,2656.818,675.602,0.000,1857.909,0.000,2630.919,0.000,38.597,0.000
$DEVICE_MAMPS,222.430,55.991,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,901.157,965.122,1624.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75891,1331
$CAP_FILE_SIZE,147850,0
$CFSIZE,260165632,228540416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.263, 59.4,1
$GPS,040609,084724,2535.630,12318.329,29,1.4,46,-3.8