version: 66.04
glider: 166
mission: 2
dive: 499
start: 8 17 109 7 28 58
data:
$ID,166
$MISSION,2
$DIVE,499
$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,-17267.604
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,072234,2425.002,12248.954,14,5.7,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-73.4
$GPS2,072837,2425.285,12249.044,11,1.8,11,-3.5
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_1
$TGT_LATLONG,2500.000,12210.000
$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,273.0,91805,-13.9,-10.000
$D_GRID,814
$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,15,-1.11,-243.4,0.0,0.0,0,67,0.00,0.00,-50.05,0.000,2,0.000,0.000,167,2073,2138
$GC,71,-1.11,-243.4,3.3,-4.7,7,136,8.80,2.17,-46.25,0.000,4,0.215,0.049,2388,651,3940
$GC,231,-1.11,-243.4,56.5,-43.4,33,238,0.00,2.08,0.00,0.000,6,0.000,0.033,2381,2064,3941
$GC,578,-1.11,-243.4,180.5,-34.7,94,585,0.00,2.10,0.00,0.000,4,0.000,0.035,2381,642,3943
$GC,721,-1.11,-243.4,226.1,-31.8,119,727,0.00,2.08,0.00,0.000,6,0.000,0.030,2371,2065,3944
$GC,1067,-1.11,-243.4,333.8,-31.4,171,1070,0.00,2.10,0.00,0.000,4,0.000,0.036,2371,651,3945
$GC,1220,-1.11,-243.4,379.8,-30.5,184,1228,0.08,2.08,0.00,0.000,6,0.166,0.032,2385,2039,3945
$GC,1546,-1.11,-243.4,471.9,-27.3,215,1550,0.00,2.10,0.00,0.000,4,0.000,0.040,2378,641,3944
$GC,1683,-1.11,-243.4,505.3,-24.2,227,1688,0.12,2.05,0.00,0.000,6,0.166,0.035,2392,2019,3943
$GC,2019,-1.11,-243.4,581.9,-22.0,243,2022,0.00,2.20,0.00,0.000,4,0.000,0.049,2380,3460,3941
$GC,2042,-1.11,-243.4,587.6,-21.8,244,2046,0.00,2.15,0.00,0.000,6,0.000,0.031,2383,1998,3940
$GC,2376,-1.11,-243.4,659.7,-21.6,260,2380,0.00,2.05,0.00,0.000,4,0.000,0.045,2382,646,3937
$GC,2562,-1.11,-243.4,701.8,-21.9,268,2565,0.00,2.03,0.00,0.000,6,0.000,0.039,2370,1989,3935
$GC,2890,-1.11,-243.4,771.3,-20.0,284,2894,0.00,2.05,0.00,0.000,4,0.000,0.048,2370,656,3931
$GC,3036,-1.11,-243.4,803.6,-21.1,290,3040,0.12,2.03,0.00,0.000,6,0.166,0.041,2392,1993,3930
$STATE,3107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3107,begin apogee
$GC,3115,-0.29,0.0,817.1,18.6,294,3329,0.82,0.00,205.60,1.295,6,0.127,0.000,2655,1689,2945
$STATE,3330,end apogee,CONTROL_FINISHED_OK
$STATE,3330,begin climb
$GC,3333,1.11,243.4,824.3,0.0,305,3551,1.27,2.33,207.40,1.253,4,0.080,0.054,3112,289,1952
$GC,3682,1.11,243.4,781.7,17.5,320,3688,0.00,2.15,0.00,0.000,6,0.000,0.040,3111,1698,1947
$GC,3998,1.11,243.4,721.5,18.8,336,4001,0.00,2.17,0.00,0.000,4,0.000,0.053,3112,3099,1942
$GC,4255,1.11,243.4,670.2,19.4,347,4259,0.00,2.08,0.00,0.000,6,0.000,0.040,3122,1723,1938
$GC,4577,1.11,243.4,608.3,19.4,363,4581,0.00,2.15,0.00,0.000,4,0.000,0.053,3122,3108,1936
$GC,4834,1.11,243.4,557.8,19.9,374,4838,0.00,2.08,0.00,0.000,6,0.000,0.041,3130,1736,1934
$GC,5157,1.11,243.4,504.2,14.8,390,5160,0.00,2.12,0.00,0.000,4,0.000,0.053,3130,3102,1933
$GC,5418,1.11,243.4,453.6,21.2,411,5422,0.12,2.05,0.00,0.000,6,0.173,0.040,3109,1743,1931
$GC,5749,1.11,243.4,398.8,15.0,442,5752,0.00,2.12,0.00,0.000,4,0.000,0.051,3107,3108,1930
$GC,6008,1.11,243.4,360.0,14.6,465,6011,0.00,2.05,0.00,0.000,6,0.000,0.040,3115,1754,1929
$GC,6342,1.11,243.4,313.8,14.1,496,6346,0.00,2.10,0.00,0.000,4,0.000,0.051,3115,3105,1929
$GC,6525,1.11,243.4,286.4,14.8,520,6531,0.00,2.03,0.00,0.000,6,0.000,0.038,3123,1753,1928
$GC,6870,1.11,243.4,234.1,15.1,581,6877,0.00,2.28,0.00,0.000,4,0.000,0.050,3134,283,1928
$GC,6918,1.11,243.4,227.2,14.1,589,6925,0.00,2.22,0.00,0.000,6,0.000,0.038,3134,1750,1928
$GC,7265,1.11,243.4,179.9,14.2,650,7271,0.00,2.05,0.00,0.000,4,0.000,0.047,3134,3099,1928
$GC,7527,1.11,243.4,149.6,13.3,696,7534,0.15,2.03,0.00,0.000,6,0.155,0.035,3104,1729,1928
$GC,7876,1.14,269.1,122.4,9.3,757,7909,0.00,2.17,21.45,0.716,4,0.000,0.044,3103,3103,1846
$GC,8168,1.14,269.1,92.1,12.6,807,8174,0.00,1.98,0.00,0.000,6,0.000,0.033,3111,1789,1845
$GC,8515,1.31,411.0,71.3,6.1,868,8641,0.17,2.33,119.45,0.721,4,0.053,0.042,3222,299,1268
$GC,8705,1.31,411.0,45.5,14.0,899,8712,0.12,2.22,0.00,0.000,6,0.133,0.031,3168,1768,1266
$GC,9052,1.33,422.6,9.5,9.7,960,9067,0.00,2.08,10.55,0.595,4,0.000,0.040,3176,3108,1222
$STATE,9118,end climb,SURFACE_DEPTH_REACHED
$STATE,9118,begin surface coast
$FINISH,0.9,0.998700
$STATE,9152,end surface coast,CONTROL_FINISHED_OK
$STATE,9152,begin surface
$SM_CCo,9174,42.92,0.646,0,0,1008,475.15
$SM_GC,1.60,0.00,0.00,42.92,0.000,0.000,0.646,166,2049,1008,-8.07,-0.34,475.15
$IRIDIUM_FIX,2415.74,12250.23,111198,050519
$TT8_MAMPS,0.027612
$HUMID,1740
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.00
$XPDR_PINGS,111
$24V_AH,22.8,111.400
$10V_AH,10.6,72.786
$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,19.850,76.050,564.450,42.925,0.000,24.778,39.109,164.089,34.000,0.000,0.000,11.152,1696.825,4545.676,639.602,2170.429,528.932,0.000,1614.381,0.000,2139.827,0.000,42.747,0.000
$DEVICE_MAMPS,214.760,53.690,1294.696,645.814,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.636,732.561,1235.595,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57009,977
$CAP_FILE_SIZE,96325,0
$CFSIZE,260165632,194019328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.673,  6.9,1
$GPS,170809,100354,2427.842,12248.535,37,1.3,37,-3.5