version: 66.04
glider: 166
mission: 2
dive: 548
start: 8 25 109 19 4 23
data:
$ID,166
$MISSION,2
$DIVE,548
$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,-18168.939
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,185636,2520.756,12221.132,34,1.0,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-70.7
$GPS2,190402,2520.675,12221.098,15,1.0,15,-3.6
$SPEED_LIMITS,0.173,0.326
$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,76.9,10332,-13.9,-10.000
$D_GRID,631
$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,16,-0.93,-243.4,0.0,0.0,0,89,0.00,0.00,-70.93,0.000,2,0.000,0.000,142,2057,1976
$GC,94,-0.93,-243.4,3.0,-3.5,11,167,9.45,2.22,-56.28,0.000,4,0.222,0.052,2504,639,3940
$GC,192,-0.47,-243.4,19.5,-28.4,26,199,0.57,2.15,0.00,0.000,6,0.137,0.035,2666,2076,3941
$GC,539,-0.65,-243.4,47.4,-2.9,87,546,0.17,2.12,0.00,0.000,4,0.048,0.045,2557,3463,3943
$GC,565,-0.71,-243.4,48.8,-4.7,91,572,0.12,2.08,0.00,0.000,6,0.124,0.029,2593,2031,3943
$GC,912,-0.71,-243.4,76.1,-9.2,152,919,0.00,2.05,0.00,0.000,4,0.000,0.038,2594,681,3945
$GC,962,-0.75,-243.4,80.6,-9.5,160,968,0.00,2.12,0.00,0.000,6,0.000,0.033,2589,2086,3945
$GC,1308,-0.75,-243.4,125.8,-16.9,221,1316,0.00,2.12,0.00,0.000,4,0.000,0.038,2589,674,3945
$GC,1375,-0.80,-243.4,136.9,-16.6,232,1382,0.00,2.08,0.00,0.000,6,0.000,0.033,2587,2075,3945
$GC,1722,-0.85,-243.4,178.8,-11.0,293,1729,0.12,0.00,0.00,0.000,6,0.064,0.000,2515,2076,3945
$GC,2069,-0.71,-243.4,234.3,-17.5,354,2076,0.20,2.15,0.00,0.000,4,0.124,0.038,2582,667,3944
$GC,2113,-0.71,-243.4,239.4,-11.8,361,2120,0.00,2.12,0.00,0.000,6,0.000,0.035,2581,2078,3944
$GC,2461,-0.80,-243.4,273.6,-8.0,422,2467,0.00,0.00,0.00,0.000,6,0.000,0.000,2581,2079,3943
$GC,2810,-0.89,-243.4,304.2,-9.6,480,2815,0.15,2.15,0.00,0.000,4,0.056,0.048,2491,3463,3942
$GC,2844,-0.79,-243.4,309.2,-14.8,482,2852,0.25,2.03,0.00,0.000,6,0.119,0.031,2568,2076,3941
$GC,3172,-0.85,-243.4,344.4,-11.0,513,3176,0.00,2.12,0.00,0.000,4,0.000,0.042,2568,676,3940
$GC,3241,-0.91,-243.4,352.9,-12.4,519,3246,0.12,2.12,0.00,0.000,6,0.062,0.037,2504,2083,3940
$GC,3569,-0.79,-243.4,406.4,-15.6,549,3576,0.20,0.00,0.00,0.000,6,0.127,0.000,2564,2083,3938
$GC,3898,-0.86,-243.4,428.0,-4.1,580,3902,0.00,2.15,0.00,0.000,4,0.000,0.053,2560,3459,3937
$GC,3938,-0.96,-243.4,429.7,-4.3,583,3945,0.15,2.05,0.00,0.000,6,0.055,0.032,2486,2073,3936
$GC,4264,-0.83,-243.4,468.6,-13.9,614,4269,0.17,2.17,0.00,0.000,4,0.130,0.044,2545,667,3934
$GC,4321,-0.86,-243.4,475.0,-10.3,619,4327,0.00,2.15,0.00,0.000,6,0.000,0.040,2543,2072,3934
$GC,4655,-0.90,-243.4,505.7,-8.9,647,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2072,3933
$GC,4960,-0.94,-243.4,539.4,-12.0,662,4964,0.00,2.20,0.00,0.000,4,0.000,0.047,2542,663,3931
$GC,5035,-0.97,-243.4,548.1,-11.7,665,5040,0.10,2.17,0.00,0.000,6,0.074,0.042,2489,2072,3930
$GC,5360,-0.88,-243.4,592.9,-15.7,681,5364,0.15,2.20,0.00,0.000,4,0.136,0.046,2533,672,3928
$GC,5389,-0.85,-243.4,597.6,-14.2,682,5393,0.00,2.17,0.00,0.000,6,0.000,0.042,2531,2075,3928
$GC,5711,-0.85,-243.4,629.3,-9.0,698,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2075,3926
$STATE,5728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5728,begin apogee
$GC,5736,-0.23,0.0,631.4,9.5,699,5940,0.65,0.00,200.02,1.207,6,0.104,0.000,2745,1695,2945
$STATE,5940,end apogee,CONTROL_FINISHED_OK
$STATE,5941,begin climb
$GC,5945,0.93,243.4,648.6,0.0,709,6161,1.00,2.33,203.45,1.169,4,0.041,0.054,3147,299,1950
$GC,6192,0.56,243.4,634.0,16.9,721,6197,0.50,2.20,0.00,0.000,6,0.158,0.041,3005,1706,1947
$GC,6522,0.48,260.2,605.5,9.5,737,6543,0.00,2.22,14.50,1.074,4,0.000,0.055,3006,3102,1884
$GC,6798,0.41,289.3,574.5,9.2,749,6830,0.22,2.10,26.33,1.124,6,0.138,0.040,2950,1728,1765
$GC,7145,0.55,342.4,544.4,8.5,765,7200,0.15,2.30,47.35,1.134,4,0.058,0.053,3030,3105,1548
$GC,7414,0.42,342.4,507.4,15.3,777,7419,0.28,2.12,0.00,0.000,6,0.136,0.041,2960,1726,1545
$GC,7745,0.60,410.6,475.0,8.1,805,7815,0.15,2.20,60.90,1.102,4,0.058,0.053,3044,3093,1270
$GC,8031,0.49,410.6,437.2,12.6,830,8036,0.25,2.08,0.00,0.000,6,0.136,0.041,2981,1744,1267
$GC,8358,0.75,538.7,414.9,6.5,860,8483,0.20,2.28,113.82,1.054,4,0.051,0.052,3090,3100,748
$GC,8678,0.59,538.7,343.8,24.8,888,8683,0.30,2.03,0.00,0.000,6,0.138,0.041,3012,1774,747
$GC,9004,0.67,538.7,304.4,12.4,918,9007,0.00,2.10,0.00,0.000,4,0.000,0.051,3013,3107,745
$GC,9102,0.80,538.7,289.4,14.1,932,9111,0.15,2.03,0.00,0.000,6,0.054,0.040,3109,1802,745
$GC,9453,0.62,538.7,210.0,23.1,993,9460,0.28,2.05,0.00,0.000,4,0.137,0.049,3019,3102,745
$GC,9593,0.74,538.7,186.8,14.9,1017,9599,0.00,1.98,0.00,0.000,6,0.000,0.038,3026,1823,744
$GC,9940,0.82,538.7,144.3,11.4,1078,9947,0.15,2.00,0.00,0.000,4,0.056,0.048,3116,3108,745
$GC,9978,0.72,538.7,138.1,17.6,1084,9986,0.17,1.98,0.00,0.000,6,0.129,0.037,3052,1832,744
$GC,10328,0.77,538.7,83.6,17.2,1145,10335,0.00,2.00,0.00,0.000,4,0.000,0.047,3054,3102,744
$GC,10415,0.87,538.7,69.4,14.7,1160,10423,0.08,1.90,0.00,0.000,6,0.048,0.035,3125,1855,744
$GC,10765,0.92,538.7,20.8,12.6,1221,10772,0.00,1.95,0.00,0.000,4,0.000,0.044,3126,3103,744
$GC,10935,1.05,558.5,4.6,9.5,1250,10949,0.00,1.88,9.80,0.667,2,0.000,0.034,3133,1867,705
$STATE,10950,end climb,SURFACE_DEPTH_REACHED
$STATE,10950,begin surface coast
$FINISH,1.0,1.015777
$STATE,10984,end surface coast,CONTROL_FINISHED_OK
$STATE,10985,begin surface
$SM_CCo,11066,0.00,0.000,0,0,704,549.72
$SM_GC,1.77,7.90,0.00,0.00,0.041,0.000,0.000,151,2099,704,-8.27,1.07,549.72
$IRIDIUM_FIX,2507.97,12218.77,191198,151544
$TT8_MAMPS,0.027612
$HUMID,1818
$INTERNAL_PRESSURE,9.82918
$TCM_TEMP,22.50
$XPDR_PINGS,196
$24V_AH,23.6,124.497
$10V_AH,10.5,79.916
$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,24.375,89.500,676.175,0.000,0.000,26.234,32.515,213.034,53.500,0.000,0.000,15.277,2166.521,5316.402,744.821,2583.475,687.217,0.000,1904.592,0.000,2560.949,0.000,31.053,0.000
$DEVICE_MAMPS,221.663,55.224,1207.258,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,855.890,936.583,1579.561,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72599,1258
$CAP_FILE_SIZE,125965,0
$CFSIZE,260165632,189923328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.337,144.2,1
$GPS,250809,221006,2520.229,12224.113,38,0.9,38,-3.6