version: 66.04
glider: 166
mission: 2
dive: 516
start: 8 20 109 1 6 41
data:
$ID,166
$MISSION,2
$DIVE,516
$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,-17610.783
$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,35
$R_STBD_OVSHOOT,60
$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
$GPS1,005806,2456.799,12237.309,36,1.0,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-69.4
$GPS2,010620,2456.940,12237.740,16,1.9,16,-3.6
$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,249.8,46905,-13.9,-10.000
$D_GRID,1444
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.93,-243.4,0.0,0.0,0,100,0.00,0.00,-79.05,0.000,2,0.000,0.000,124,2102,2195
$GC,104,-0.93,-243.4,3.2,-5.6,12,168,9.65,2.08,-47.35,0.000,4,0.222,0.060,2500,3445,3939
$GC,226,-0.59,-243.4,26.5,-23.5,32,234,0.43,2.08,0.00,0.000,6,0.133,0.031,2625,2025,3940
$GC,574,-0.59,-243.4,68.6,-7.9,93,581,0.00,2.20,0.00,0.000,4,0.000,0.047,2623,3453,3941
$GC,629,-0.68,-243.4,73.0,-9.0,102,636,0.00,2.03,0.00,0.000,6,0.000,0.029,2623,2052,3942
$GC,976,-0.76,-243.4,96.6,-6.1,163,982,0.15,0.00,0.00,0.000,6,0.057,0.000,2546,2051,3942
$GC,1321,-0.64,-243.4,147.3,-11.5,224,1328,0.17,2.08,0.00,0.000,4,0.130,0.037,2604,664,3942
$GC,1384,-0.72,-243.4,151.6,-5.3,234,1391,0.00,2.05,0.00,0.000,6,0.000,0.033,2601,2061,3942
$GC,1733,-0.82,-243.4,176.8,-7.4,295,1739,0.12,0.00,0.00,0.000,6,0.064,0.000,2530,2061,3942
$GC,2081,-0.72,-243.4,220.2,-14.0,356,2088,0.17,2.12,0.00,0.000,4,0.129,0.038,2587,659,3942
$GC,2149,-0.80,-243.4,228.0,-11.7,367,2155,0.00,2.10,0.00,0.000,6,0.000,0.034,2586,2070,3942
$GC,2496,-0.88,-243.4,263.7,-8.7,428,2502,0.15,0.00,0.00,0.000,6,0.059,0.000,2504,2072,3941
$GC,2836,-0.72,-243.4,317.2,-14.8,479,2841,0.22,2.15,0.00,0.000,4,0.129,0.048,2570,3457,3939
$GC,2865,-0.72,-243.4,320.9,-10.6,481,2869,0.00,2.05,0.00,0.000,6,0.000,0.031,2570,2063,3939
$GC,3198,-0.79,-243.4,351.5,-11.2,512,3201,0.00,2.10,0.00,0.000,4,0.000,0.042,2570,668,3937
$GC,3311,-0.84,-243.4,365.2,-11.2,522,3315,0.00,2.10,0.00,0.000,6,0.000,0.037,2568,2061,3937
$GC,3648,-0.91,-243.4,396.4,-9.0,553,3654,0.12,0.00,0.00,0.000,6,0.064,0.000,2500,2062,3935
$GC,3976,-0.83,-243.4,441.7,-10.8,584,3980,0.17,2.15,0.00,0.000,4,0.123,0.043,2552,670,3933
$GC,4098,-0.88,-243.4,451.3,-7.8,594,4102,0.00,2.10,0.00,0.000,6,0.000,0.038,2551,2044,3933
$GC,4430,-0.95,-243.4,476.7,-9.0,625,4435,0.12,2.25,0.00,0.000,4,0.065,0.055,2484,3473,3930
$GC,4532,-0.86,-243.4,490.0,-12.8,633,4539,0.20,2.10,0.00,0.000,6,0.129,0.035,2543,2062,3929
$GC,4854,-0.90,-243.4,523.7,-9.6,653,4858,0.00,2.15,0.00,0.000,4,0.000,0.048,2542,662,3927
$GC,4918,-0.94,-243.4,530.9,-10.7,655,4924,0.00,2.12,0.00,0.000,6,0.000,0.041,2541,2051,3927
$GC,5235,-0.94,-243.4,565.0,-9.9,671,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2051,3924
$GC,5544,-0.94,-243.4,596.3,-10.3,686,5547,0.00,2.25,0.00,0.000,4,0.000,0.061,2552,3460,3922
$GC,5578,-0.99,-243.4,600.0,-9.8,687,5587,0.15,2.12,0.00,0.000,6,0.060,0.037,2480,2052,3922
$GC,5907,-0.84,-243.4,644.1,-13.4,703,5909,0.22,0.00,0.00,0.000,6,0.130,0.000,2547,2050,3919
$GC,6214,-0.87,-243.4,671.0,-7.7,718,6218,0.00,2.17,0.00,0.000,4,0.000,0.051,2546,666,3917
$GC,6276,-0.90,-243.4,676.0,-8.3,720,6284,0.00,2.15,0.00,0.000,6,0.000,0.046,2551,2053,3916
$GC,6593,-0.90,-243.4,698.3,-6.9,736,6597,0.00,2.20,0.00,0.000,4,0.000,0.052,2550,660,3915
$GC,6641,-0.90,-243.4,702.3,-9.5,738,6645,0.00,2.17,0.00,0.000,6,0.000,0.047,2554,2050,3914
$GC,6974,-0.90,-243.4,730.1,-8.7,754,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,2050,3912
$GC,7285,-0.90,-243.4,758.6,-9.3,769,7289,0.00,2.30,0.00,0.000,4,0.000,0.064,2555,3475,3910
$GC,7313,-0.96,-243.4,761.5,-9.0,770,7318,0.12,2.17,0.00,0.000,6,0.065,0.040,2497,2046,3910
$GC,7635,-0.84,-243.4,803.7,-13.7,786,7637,0.17,0.00,0.00,0.000,6,0.133,0.000,2548,2045,3909
$GC,7946,-0.84,-243.4,832.4,-8.5,801,7950,0.00,2.33,0.00,0.000,4,0.000,0.066,2542,3469,3908
$GC,7974,-0.84,-243.4,835.1,-8.7,802,7978,0.00,2.17,0.00,0.000,6,0.000,0.040,2542,2045,3907
$GC,8303,-0.84,-243.4,862.6,-8.4,818,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2045,3906
$GC,8611,-0.84,-243.4,888.7,-8.2,833,8612,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2045,3905
$GC,8920,-0.84,-243.4,915.2,-9.0,848,8924,0.00,2.20,0.00,0.000,4,0.000,0.055,2543,653,3904
$GC,8983,-0.84,-243.4,921.1,-9.6,850,8991,0.00,2.20,0.00,0.000,6,0.000,0.049,2542,2053,3904
$GC,9301,-0.84,-243.4,950.9,-9.7,866,9305,0.00,2.30,0.00,0.000,4,0.000,0.067,2542,3465,3903
$GC,9346,-0.89,-243.4,955.4,-9.5,868,9350,0.00,2.17,0.00,0.000,6,0.000,0.042,2542,2042,3902
$GC,9674,-0.89,-243.4,987.7,-10.1,884,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2041,3902
$STATE,9711,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9711,begin apogee
$GC,9719,-0.23,0.0,991.8,9.8,886,9936,0.62,0.00,212.90,1.483,6,0.105,0.000,2744,1693,2945
$STATE,9936,end apogee,CONTROL_FINISHED_OK
$STATE,9936,begin climb
$GC,9940,0.93,243.4,1005.0,0.0,897,10178,1.05,0.00,228.40,1.436,6,0.044,0.000,3127,1693,1952
$GC,10485,0.59,243.4,927.2,18.6,923,10490,0.38,2.28,0.00,0.000,4,0.163,0.061,3016,3108,1943
$GC,10743,0.47,243.4,893.4,12.3,934,10750,0.15,2.17,0.00,0.000,6,0.137,0.047,2967,1724,1941
$GC,11061,0.57,323.7,868.1,7.8,950,11155,0.12,2.33,78.10,1.328,4,0.071,0.061,3027,3109,1625
$GC,11363,0.46,323.7,831.5,12.9,963,11370,0.25,2.15,0.00,0.000,6,0.141,0.045,2966,1729,1620
$GC,11681,0.66,419.8,808.2,7.3,979,11788,0.17,2.33,92.38,1.325,4,0.057,0.060,3055,3096,1233
$GC,11919,0.53,419.8,774.3,15.6,989,11927,0.25,2.12,0.00,0.000,6,0.141,0.045,2995,1731,1230
$GC,12236,0.59,431.2,744.7,9.7,1005,12251,0.00,2.20,10.90,1.197,4,0.000,0.059,2995,3106,1187
$GC,12393,0.65,431.2,729.0,10.4,1011,12397,0.00,2.10,0.00,0.000,6,0.000,0.045,3002,1749,1187
$GC,12727,0.69,431.2,690.9,11.8,1027,12732,0.12,2.17,0.00,0.000,4,0.065,0.058,3067,3112,1186
$GC,12784,0.55,431.2,681.4,18.2,1029,12792,0.28,2.08,0.00,0.000,6,0.142,0.044,2999,1769,1186
$GC,13102,0.61,438.6,647.3,9.8,1045,13116,0.00,2.17,8.73,1.127,4,0.000,0.058,2999,3104,1156
$GC,13173,0.67,438.6,639.5,10.8,1048,13177,0.00,2.03,0.00,0.000,6,0.000,0.044,3006,1794,1155
$GC,13502,0.71,438.6,602.1,11.2,1064,13506,0.12,2.10,0.00,0.000,4,0.066,0.056,3072,3114,1155
$GC,13580,0.57,438.6,588.9,16.8,1067,13587,0.28,2.03,0.00,0.000,6,0.143,0.044,3003,1796,1155
$GC,13898,0.79,562.1,562.0,6.6,1083,14026,0.17,2.25,115.93,1.203,4,0.057,0.058,3096,3112,652
$GC,14059,0.65,562.1,534.4,17.9,1090,14064,0.28,2.08,0.00,0.000,6,0.144,0.043,3030,1792,652
$GC,14379,0.70,562.1,493.5,10.9,1107,14382,0.00,2.10,0.00,0.000,4,0.000,0.057,3030,3113,649
$GC,14418,0.76,562.1,488.5,11.5,1110,14425,0.00,2.03,0.00,0.000,6,0.000,0.042,3037,1818,649
$GC,14747,0.76,562.1,452.2,11.2,1141,14751,0.00,2.05,0.00,0.000,4,0.000,0.055,3037,3113,648
$GC,14787,0.80,562.1,447.0,11.3,1144,14793,0.00,2.00,0.00,0.000,6,0.000,0.042,3046,1833,648
$GC,15118,0.80,562.1,403.2,14.3,1175,15123,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1833,647
$GC,15443,0.80,562.1,355.9,15.0,1206,15447,0.00,2.03,0.00,0.000,4,0.000,0.054,3046,3113,647
$GC,15599,0.86,562.1,330.9,15.0,1219,15606,0.12,1.98,0.00,0.000,6,0.064,0.041,3124,1824,647
$GC,15936,0.69,562.1,254.3,20.5,1267,15943,0.25,2.05,0.00,0.000,4,0.138,0.052,3044,3115,647
$GC,15979,0.69,562.1,247.2,13.5,1274,15986,0.00,1.98,0.00,0.000,6,0.000,0.040,3051,1844,647
$GC,16328,0.74,562.1,207.3,11.2,1335,16334,0.00,2.00,0.00,0.000,4,0.000,0.051,3050,3117,647
$GC,16376,0.81,564.8,201.7,9.9,1343,16382,0.00,1.95,0.00,0.000,6,0.000,0.038,3059,1833,647
$GC,16720,0.87,564.8,155.8,15.2,1404,16727,0.12,2.00,0.00,0.000,4,0.065,0.049,3137,3117,647
$GC,16748,0.82,564.8,150.7,19.8,1408,16754,0.15,1.95,0.00,0.000,6,0.130,0.038,3082,1851,647
$GC,17096,0.87,564.8,98.4,12.7,1469,17103,0.00,1.98,0.00,0.000,4,0.000,0.048,3082,3103,647
$GC,17145,0.95,564.8,91.8,11.5,1477,17153,0.08,1.90,0.00,0.000,6,0.051,0.037,3147,1861,647
$GC,17493,0.95,564.8,31.9,14.0,1538,17499,0.00,0.00,0.00,0.000,6,0.000,0.000,3147,1861,647
$STATE,17763,end climb,SURFACE_DEPTH_REACHED
$STATE,17763,begin surface coast
$FINISH,1.0,1.002306
$STATE,17791,end surface coast,CONTROL_FINISHED_OK
$STATE,17791,begin surface
$SM_CCo,17872,0.00,0.000,0,0,647,563.70
$SM_GC,1.75,8.02,0.00,0.00,0.041,0.000,0.000,160,2090,647,-8.29,0.82,563.70
$IRIDIUM_FIX,2446.56,12236.83,131198,202003
$TT8_MAMPS,0.026845
$HUMID,1754
$INTERNAL_PRESSURE,9.78035
$TCM_TEMP,22.50
$XPDR_PINGS,170
$24V_AH,22.1,115.896
$10V_AH,10.5,75.104
$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,25.375,132.325,747.325,0.000,0.000,23.081,40.255,239.983,50.500,0.000,0.000,16.359,2833.541,10474.358,849.645,3365.784,823.775,0.000,2376.546,0.000,3317.011,0.000,56.773,0.000
$DEVICE_MAMPS,222.430,66.729,1483.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1088.342,1106.391,1868.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91450,1591
$CAP_FILE_SIZE,176624,0
$CFSIZE,260165632,192610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.222, 78.4,1
$GPS,200809,060536,2455.719,12237.203,24,1.1,24,-3.6