version: 66.04
glider: 166
mission: 2
dive: 82
start: 6 4 109 8 53 40
data:
$ID,166
$MISSION,2
$DIVE,82
$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,-6794.1851
$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,35
$R_STBD_OVSHOOT,75
$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
$GPS1,084724,2535.630,12318.329,29,1.4,46,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-62.8
$GPS2,085319,2535.702,12318.411,10,1.5,15,-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,285.3,12432,-17.1,-11.000
$D_GRID,801
$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,-194.7,0.0,0.0,0,75,0.00,0.00,-58.88,0.000,2,0.000,0.000,171,1533,2322
$GC,77,-0.94,-194.7,3.1,-5.4,9,130,8.98,2.05,-38.25,0.000,4,0.235,0.052,2421,2882,3658
$GC,276,-0.28,-194.7,63.8,-32.3,43,283,0.75,2.05,0.00,0.000,6,0.162,0.033,2640,1480,3659
$GC,622,-0.40,-194.7,111.0,-11.1,104,629,0.00,1.92,0.00,0.000,4,0.000,0.044,2640,201,3659
$GC,664,-0.53,-194.7,115.7,-10.8,111,671,0.17,1.85,0.00,0.000,6,0.047,0.028,2554,1489,3659
$GC,1010,-0.39,-194.7,174.0,-13.4,172,1018,0.17,2.05,0.00,0.000,4,0.144,0.041,2609,2885,3661
$GC,1102,-0.71,-194.7,182.3,-7.4,188,1110,0.28,2.03,0.00,0.000,6,0.041,0.032,2478,1507,3661
$GC,1448,-0.40,-194.7,243.7,-18.8,249,1455,0.40,1.92,0.00,0.000,4,0.142,0.045,2605,202,3662
$GC,1540,-0.68,-194.7,253.4,-8.1,265,1547,0.25,1.83,0.00,0.000,6,0.047,0.027,2489,1503,3663
$GC,1883,-0.50,-194.7,303.5,-13.8,324,1885,0.30,0.00,0.00,0.000,6,0.135,0.000,2580,1504,3663
$GC,2203,-0.77,-194.7,327.3,-7.5,354,2207,0.22,1.92,0.00,0.000,4,0.051,0.046,2470,210,3663
$GC,2258,-0.51,-194.7,335.0,-16.3,359,2263,0.38,1.83,0.00,0.000,6,0.144,0.030,2576,1490,3663
$GC,2583,-0.79,-194.7,360.0,-7.3,389,2588,0.20,2.05,0.00,0.000,4,0.054,0.042,2454,2891,3661
$GC,2610,-0.79,-194.7,362.9,-11.0,391,2617,0.00,2.03,0.00,0.000,6,0.000,0.034,2454,1516,3661
$GC,2935,-0.65,-194.7,408.9,-14.3,422,2937,0.25,0.00,0.00,0.000,6,0.136,0.000,2531,1516,3660
$GC,3254,-0.89,-194.7,435.2,-7.4,452,3256,0.22,0.00,0.00,0.000,6,0.051,0.000,2426,1516,3658
$GC,3572,-0.68,-194.7,479.3,-13.1,482,3576,0.28,1.98,0.00,0.000,4,0.142,0.050,2515,201,3655
$GC,3677,-0.81,-194.7,489.4,-8.2,491,3684,0.08,1.92,0.00,0.000,6,0.062,0.039,2466,1509,3654
$GC,3995,-0.81,-194.7,524.8,-11.3,512,4000,0.00,2.08,0.00,0.000,4,0.000,0.048,2465,2903,3652
$GC,4039,-0.90,-194.7,529.2,-9.7,514,4043,0.00,2.03,0.00,0.000,6,0.000,0.037,2464,1523,3651
$GC,4371,-0.90,-194.7,564.0,-11.0,530,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1523,3649
$GC,4681,-0.90,-194.7,598.2,-10.9,545,4685,0.00,2.00,0.00,0.000,4,0.000,0.054,2464,197,3646
$GC,4730,-0.85,-194.7,604.3,-12.4,547,4735,0.00,1.95,0.00,0.000,6,0.000,0.036,2464,1510,3645
$GC,5057,-0.85,-194.7,640.6,-11.0,563,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1511,3643
$GC,5366,-0.85,-194.7,672.2,-9.6,578,5370,0.00,2.00,0.00,0.000,4,0.000,0.055,2465,198,3641
$GC,5466,-0.85,-194.7,682.8,-10.9,582,5470,0.00,1.98,0.00,0.000,6,0.000,0.038,2465,1516,3639
$GC,5787,-0.85,-194.7,711.7,-9.2,598,5791,0.00,2.00,0.00,0.000,4,0.000,0.055,2465,204,3637
$GC,5832,-0.85,-194.7,716.1,-10.4,600,5835,0.00,1.92,0.00,0.000,6,0.000,0.037,2465,1514,3637
$GC,6163,-0.85,-194.7,748.3,-9.9,616,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1514,3634
$GC,6473,-0.85,-194.7,773.4,-7.5,631,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1514,3632
$GC,6782,-0.85,-194.7,795.8,-7.9,646,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1514,3630
$STATE,6843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6843,begin apogee
$GC,6847,-0.20,0.0,802.0,9.5,649,7009,0.62,0.00,158.43,1.337,6,0.124,0.000,2669,1750,2863
$STATE,7010,end apogee,CONTROL_FINISHED_OK
$STATE,7010,begin climb
$GC,7012,0.94,194.7,806.3,0.0,657,7186,1.00,2.35,165.57,1.289,4,0.045,0.056,3049,3137,2068
$GC,7320,0.35,194.7,752.0,24.8,671,7325,0.68,2.17,0.00,0.000,6,0.174,0.041,2857,1762,2062
$GC,7648,0.54,267.0,719.7,8.3,687,7716,0.17,2.35,61.42,1.244,4,0.060,0.055,2946,345,1773
$GC,7800,0.38,267.0,696.4,17.1,694,7805,0.30,2.15,0.00,0.000,6,0.146,0.041,2862,1729,1769
$GC,8126,0.54,267.0,661.1,11.0,710,8131,0.15,2.17,0.00,0.000,4,0.063,0.054,2941,336,1765
$GC,8158,0.44,267.0,656.2,16.2,711,8165,0.17,2.12,0.00,0.000,6,0.142,0.041,2886,1723,1765
$GC,8474,0.51,267.0,616.6,11.8,727,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1724,1763
$GC,8783,0.60,274.5,582.5,10.7,742,8794,0.15,2.20,6.32,0.983,4,0.065,0.055,2962,340,1743
$GC,8816,0.43,274.5,577.7,15.5,743,8823,0.25,2.10,0.00,0.000,6,0.146,0.041,2884,1713,1742
$GC,9132,0.52,274.5,541.9,11.4,759,9136,0.00,2.20,0.00,0.000,4,0.000,0.054,2883,3151,1740
$GC,9222,0.63,274.5,531.1,12.1,763,9227,0.15,2.17,0.00,0.000,6,0.064,0.041,2959,1705,1739
$GC,9541,0.44,274.5,479.3,15.7,784,9546,0.25,2.22,0.00,0.000,4,0.153,0.052,2880,3154,1740
$GC,9580,0.54,274.5,474.3,11.4,787,9584,0.00,2.15,0.00,0.000,6,0.000,0.041,2888,1716,1739
$GC,9911,0.73,334.6,441.9,8.7,818,9969,0.20,2.25,51.72,1.108,4,0.054,0.054,3000,342,1497
$GC,10042,0.50,334.6,418.1,19.3,829,10048,0.35,2.08,0.00,0.000,6,0.147,0.039,2900,1696,1493
$GC,10366,0.65,343.4,380.9,10.7,860,10381,0.15,2.30,7.88,0.924,4,0.064,0.051,2968,3148,1463
$GC,10453,0.53,343.4,366.7,17.2,867,10460,0.20,2.22,0.00,0.000,6,0.150,0.040,2917,1704,1461
$GC,10778,0.62,343.4,327.6,11.6,898,10781,0.00,2.08,0.00,0.000,4,0.000,0.053,2925,345,1460
$GC,10883,0.74,343.4,314.5,12.6,907,10890,0.10,2.05,0.00,0.000,6,0.056,0.038,2988,1701,1460
$GC,11221,0.56,343.4,252.9,19.7,960,11229,0.20,2.20,0.00,0.000,4,0.150,0.050,2924,3148,1459
$GC,11338,0.70,343.4,237.8,11.6,980,11345,0.00,2.15,0.00,0.000,6,0.000,0.039,2932,1698,1458
$GC,11683,0.88,381.1,199.0,9.6,1041,11723,0.20,2.10,32.72,0.892,4,0.081,0.048,3049,339,1307
$GC,11810,0.65,381.1,177.5,19.0,1062,11817,0.35,2.05,0.00,0.000,6,0.140,0.035,2946,1715,1304
$GC,12154,0.95,446.9,142.1,8.5,1123,12219,0.25,2.17,55.62,0.824,4,0.046,0.051,3077,343,1040
$GC,12243,0.73,446.9,127.5,18.7,1137,12250,0.35,2.05,0.00,0.000,6,0.138,0.033,2974,1704,1039
$GC,12589,1.14,526.0,92.1,8.0,1198,12659,0.32,0.00,66.62,0.759,6,0.041,0.000,3131,1706,717
$STATE,12990,end climb,SURFACE_DEPTH_REACHED
$STATE,12990,begin surface coast
$FINISH,0.9,1.021938
$STATE,13001,end surface coast,CONTROL_FINISHED_OK
$STATE,13002,begin surface
$SM_CCo,13077,0.00,0.000,0,0,711,527.89
$SM_GC,1.74,8.02,0.00,0.00,0.046,0.000,0.000,157,1471,711,-8.03,-0.82,527.89
$IRIDIUM_FIX,2524.66,12320.86,290898,050510
$TT8_MAMPS,0.026845
$HUMID,1498
$INTERNAL_PRESSURE,9.86824
$TCM_TEMP,24.40
$XPDR_PINGS,83
$ALTIM_BOTTOM_PING,776.5,48.6
$24V_AH,23.9,20.233
$10V_AH,10.7,12.361
$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,27.525,96.100,606.325,0.000,0.000,24.203,34.767,189.282,27.000,0.000,0.000,16.376,2218.573,7605.315,654.864,2540.938,405.087,0.000,1812.077,0.000,2507.209,0.000,43.966,0.000
$DEVICE_MAMPS,235.469,55.991,1336.881,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,861.496,871.797,1468.509,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72541,1270
$CAP_FILE_SIZE,136876,0
$CFSIZE,260165632,228474880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183, 63.0,1
$GPS,040609,123237,2536.671,12317.427,28,1.3,28,-3.8