version: 66.04
glider: 166
mission: 2
dive: 118
start: 6 10 109 13 4 54
data:
$ID,166
$MISSION,2
$DIVE,118
$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,396
$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,175
$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,-7424.3457
$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,48
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$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
$GPS1,125137,2449.214,12324.162,36,1.2,36,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.8
$GPS2,130433,2449.081,12324.302,11,2.0,12,-3.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$TGT_RADIUS,2000.000
$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,178.4,80173,-16.8,-10.000
$D_GRID,1824
$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,-0.90,-170.3,0.0,0.0,0,90,0.00,0.00,-73.90,0.000,2,0.000,0.000,166,1470,2329
$GC,93,-0.90,-170.3,3.0,-5.7,10,145,8.93,2.17,-36.33,0.000,4,0.228,0.050,2433,2916,3557
$GC,198,-0.08,-170.3,27.3,-34.4,27,206,0.95,2.08,0.00,0.000,6,0.161,0.031,2711,1499,3557
$GC,543,-0.50,-170.3,57.0,-6.5,88,550,0.32,2.10,0.00,0.000,4,0.040,0.035,2552,2919,3558
$GC,597,-0.32,-170.3,64.8,-17.9,97,604,0.28,2.05,0.00,0.000,6,0.139,0.029,2633,1494,3558
$GC,941,-0.49,-170.3,97.9,-7.3,158,948,0.15,2.10,0.00,0.000,4,0.063,0.035,2558,2901,3558
$GC,979,-0.49,-170.3,101.3,-10.6,164,985,0.00,2.00,0.00,0.000,6,0.000,0.029,2558,1534,3559
$GC,1323,-0.37,-170.3,151.1,-15.5,225,1330,0.17,2.00,0.00,0.000,4,0.144,0.041,2613,200,3560
$GC,1456,-0.54,-170.3,163.6,-8.4,248,1463,0.10,1.92,0.00,0.000,6,0.051,0.027,2547,1550,3560
$GC,1800,-0.54,-170.3,202.1,-11.2,309,1806,0.00,1.92,0.00,0.000,4,0.000,0.038,2544,2879,3560
$GC,1828,-0.60,-170.3,205.2,-10.8,314,1835,0.00,2.00,0.00,0.000,6,0.000,0.029,2545,1506,3560
$GC,2172,-0.60,-170.3,240.9,-9.9,375,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1506,3560
$GC,2516,-0.60,-170.3,275.9,-10.8,436,2522,0.00,2.03,0.00,0.000,4,0.000,0.040,2541,2883,3559
$GC,2567,-0.73,-170.3,281.4,-10.4,445,2574,0.12,1.98,0.00,0.000,6,0.067,0.031,2475,1511,3559
$GC,2900,-0.52,-170.3,329.6,-13.7,487,2902,0.30,0.00,0.00,0.000,6,0.137,0.000,2569,1512,3558
$GC,3220,-0.72,-170.3,352.9,-6.9,517,3222,0.17,0.00,0.00,0.000,6,0.058,0.000,2481,1511,3556
$GC,3537,-0.57,-170.3,394.8,-13.4,547,3539,0.22,0.00,0.00,0.000,6,0.136,0.000,2552,1512,3555
$GC,3859,-0.74,-170.3,425.4,-9.1,577,3863,0.15,2.05,0.00,0.000,4,0.065,0.043,2466,2876,3553
$GC,3892,-0.74,-170.3,429.3,-11.9,580,3897,0.10,1.98,0.00,0.000,6,0.146,0.035,2496,1527,3553
$GC,4222,-0.74,-170.3,466.7,-11.3,611,4226,0.00,2.03,0.00,0.000,4,0.000,0.045,2493,2876,3551
$GC,4260,-0.74,-170.3,470.9,-10.6,614,4267,0.00,2.00,0.00,0.000,6,0.000,0.035,2495,1535,3551
$GC,4584,-0.74,-170.3,504.3,-9.6,643,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1535,3549
$GC,4893,-0.74,-170.3,531.7,-9.3,658,4897,0.00,2.03,0.00,0.000,4,0.000,0.048,2492,2878,3546
$GC,4931,-0.83,-170.3,535.3,-8.7,659,4939,0.00,1.98,0.00,0.000,6,0.000,0.038,2494,1543,3546
$GC,5247,-0.83,-170.3,568.8,-10.9,675,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1542,3545
$GC,5555,-0.83,-170.3,597.7,-8.8,690,5559,0.00,2.05,0.00,0.000,4,0.000,0.052,2493,189,3542
$GC,5623,-0.83,-170.3,604.0,-10.0,693,5627,0.00,1.98,0.00,0.000,6,0.000,0.035,2492,1534,3542
$GC,5955,-0.83,-170.3,633.3,-8.6,709,5959,0.00,2.05,0.00,0.000,4,0.000,0.052,2493,189,3539
$GC,5988,-0.83,-170.3,636.5,-9.3,710,5992,0.00,2.03,0.00,0.000,6,0.000,0.036,2490,1546,3539
$GC,6311,-0.89,-170.3,661.7,-7.9,726,6313,0.12,0.00,0.00,0.000,6,0.071,0.000,2429,1547,3537
$GC,6619,-0.72,-170.3,701.3,-13.3,741,6624,0.22,2.08,0.00,0.000,4,0.140,0.053,2503,195,3535
$GC,6754,-0.80,-170.3,715.0,-9.4,747,6757,0.00,2.00,0.00,0.000,6,0.000,0.037,2495,1552,3534
$GC,7081,-0.92,-170.3,743.3,-8.5,763,7082,0.15,0.00,0.00,0.000,6,0.065,0.000,2423,1553,3532
$GC,7389,-0.76,-170.3,778.9,-11.8,778,7393,0.20,2.05,0.00,0.000,4,0.143,0.053,2486,2901,3531
$GC,7421,-0.88,-170.3,782.1,-9.1,779,7425,0.00,2.03,0.00,0.000,6,0.000,0.041,2486,1539,3530
$GC,7743,-0.99,-170.3,807.7,-7.4,795,7748,0.20,2.08,0.00,0.000,4,0.058,0.052,2385,2897,3528
$GC,7809,-0.80,-170.3,815.4,-12.0,798,7814,0.30,2.05,0.00,0.000,6,0.143,0.041,2476,1522,3528
$GC,8137,-0.87,-170.3,844.3,-9.6,814,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1522,3527
$GC,8446,-0.94,-170.3,873.2,-9.6,829,8448,0.12,0.00,0.00,0.000,6,0.073,0.000,2420,1522,3525
$GC,8755,-0.81,-170.3,911.1,-11.8,844,8756,0.20,0.00,0.00,0.000,6,0.146,0.000,2480,1521,3523
$GC,9064,-0.89,-170.3,935.9,-7.9,859,9068,0.00,2.03,0.00,0.000,4,0.000,0.059,2479,204,3522
$GC,9097,-0.89,-170.3,938.8,-9.2,860,9101,0.00,2.03,0.00,0.000,6,0.000,0.040,2479,1543,3521
$GC,9419,-0.98,-170.3,963.1,-7.4,876,9421,0.15,0.00,0.00,0.000,6,0.067,0.000,2409,1544,3519
$STATE,9645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9645,begin apogee
$GC,9650,-0.20,0.0,990.3,12.1,887,9793,0.82,0.00,140.48,1.488,6,0.137,0.000,2670,1753,2863
$STATE,9794,end apogee,CONTROL_FINISHED_OK
$STATE,9794,begin climb
$GC,9796,0.90,170.3,996.0,0.0,894,9956,0.98,2.40,151.40,1.437,4,0.040,0.057,3047,3147,2167
$GC,10024,0.28,170.3,970.6,19.1,904,10029,0.75,2.28,0.00,0.000,6,0.166,0.044,2835,1748,2163
$GC,10340,0.51,244.9,946.2,7.1,919,10420,0.17,2.33,68.10,1.378,4,0.061,0.058,2933,344,1863
$GC,10466,0.37,244.9,930.8,14.1,924,10471,0.25,2.20,0.00,0.000,6,0.143,0.047,2864,1744,1859
$GC,10799,0.48,249.1,898.1,9.8,940,10803,0.00,2.22,0.00,0.000,4,0.000,0.058,2872,336,1855
$GC,10867,0.55,249.1,890.7,10.6,943,10872,0.12,2.15,0.00,0.000,6,0.073,0.042,2933,1740,1854
$GC,11193,0.42,249.1,843.1,14.8,959,11198,0.17,2.20,0.00,0.000,4,0.150,0.056,2879,3162,1853
$GC,11236,0.48,249.1,837.3,12.0,961,11241,0.00,2.17,0.00,0.000,6,0.000,0.043,2887,1744,1852
$GC,11563,0.48,249.1,800.2,11.5,977,11566,0.00,2.17,0.00,0.000,4,0.000,0.058,2897,339,1852
$GC,11600,0.48,249.1,795.4,11.6,978,11607,0.00,2.15,0.00,0.000,6,0.000,0.043,2897,1741,1852
$GC,11916,0.48,249.1,758.9,11.4,994,11920,0.00,2.17,0.00,0.000,4,0.000,0.056,2897,3157,1851
$GC,11961,0.48,249.1,753.5,11.7,996,11965,0.00,2.15,0.00,0.000,6,0.000,0.044,2907,1735,1849
$GC,12293,0.48,249.1,714.0,11.9,1012,12296,0.00,2.15,0.00,0.000,4,0.000,0.058,2918,339,1849
$GC,12337,0.43,249.1,708.4,12.8,1014,12342,0.15,2.12,0.00,0.000,6,0.148,0.043,2877,1749,1849
$GC,12664,0.57,285.4,678.9,8.6,1030,12708,0.12,2.30,33.95,1.284,4,0.067,0.057,2950,346,1698
$GC,12821,0.44,285.4,655.8,16.5,1037,12826,0.22,2.12,0.00,0.000,6,0.140,0.043,2887,1726,1695
$GC,13148,0.56,285.4,616.3,11.7,1053,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1728,1693
$GC,13457,0.68,285.4,582.2,10.2,1068,13461,0.17,2.15,0.00,0.000,4,0.057,0.055,2984,347,1692
$GC,13517,0.43,285.4,572.0,18.1,1070,13524,0.30,2.08,0.00,0.000,6,0.142,0.041,2876,1710,1692
$GC,13833,0.62,306.2,540.7,9.2,1086,13858,0.20,2.17,18.80,1.154,4,0.054,0.054,2982,354,1613
$GC,13899,0.42,306.2,531.2,16.5,1089,13903,0.38,2.08,0.00,0.000,6,0.138,0.041,2872,1714,1611
$GC,14225,0.67,335.3,502.3,8.9,1105,14254,0.22,0.00,26.10,1.130,6,0.049,0.000,2974,1715,1495
$GC,14562,0.52,335.3,446.6,17.0,1135,14567,0.20,2.15,0.00,0.000,4,0.146,0.052,2921,338,1491
$GC,14600,0.52,335.3,440.6,13.7,1138,14604,0.00,2.08,0.00,0.000,6,0.000,0.039,2921,1713,1491
$GC,14932,0.58,335.3,400.1,11.5,1169,14936,0.00,2.12,0.00,0.000,4,0.000,0.053,2932,336,1490
$GC,14979,0.64,335.3,394.2,12.5,1173,14982,0.00,2.05,0.00,0.000,6,0.000,0.039,2932,1704,1490
$GC,15308,0.64,335.3,353.4,12.6,1204,15312,0.00,2.10,0.00,0.000,4,0.000,0.052,2942,332,1490
$GC,15353,0.64,335.3,347.4,13.0,1208,15357,0.00,2.03,0.00,0.000,6,0.000,0.038,2942,1696,1490
$GC,15684,0.64,335.3,302.5,13.3,1239,15687,0.00,2.08,0.00,0.000,4,0.000,0.051,2953,339,1490
$GC,15711,0.64,335.3,298.5,13.2,1242,15718,0.00,2.03,0.00,0.000,6,0.000,0.037,2952,1689,1490
$GC,16055,0.64,335.3,251.0,14.1,1303,16063,0.00,2.08,0.00,0.000,4,0.000,0.049,2964,329,1490
$GC,16085,0.64,335.3,246.9,14.3,1308,16091,0.00,2.00,0.00,0.000,6,0.000,0.036,2964,1677,1490
$GC,16431,0.64,335.3,203.2,11.3,1369,16436,0.00,2.03,0.00,0.000,4,0.000,0.050,2975,329,1490
$GC,16459,0.64,335.3,199.2,12.8,1374,16465,0.00,2.00,0.00,0.000,6,0.000,0.035,2975,1680,1490
$GC,16804,0.70,335.3,154.0,12.4,1435,16811,0.00,2.03,0.00,0.000,4,0.000,0.049,2984,340,1491
$GC,16823,0.70,335.3,151.4,12.2,1438,16829,0.00,1.95,0.00,0.000,6,0.000,0.035,2985,1664,1491
$GC,17166,0.75,335.3,115.8,11.4,1499,17173,0.00,2.03,0.00,0.000,4,0.000,0.048,2996,343,1492
$GC,17185,0.75,335.3,113.8,11.3,1502,17191,0.00,1.95,0.00,0.000,6,0.000,0.033,2996,1670,1491
$GC,17527,0.90,376.1,82.2,8.4,1563,17568,0.10,2.10,34.90,0.762,4,0.073,0.046,3067,341,1328
$GC,17625,0.79,376.1,70.5,14.7,1579,17633,0.17,1.95,0.00,0.000,6,0.126,0.031,2996,1655,1326
$GC,17973,1.20,476.2,41.7,6.1,1640,18061,0.30,0.00,83.32,0.709,6,0.042,0.000,3148,1656,920
$STATE,18184,end climb,SURFACE_DEPTH_REACHED
$STATE,18184,begin surface coast
$FINISH,1.0,1.021727
$STATE,18201,end surface coast,CONTROL_FINISHED_OK
$STATE,18201,begin surface
$SM_CCo,18278,0.00,0.000,0,0,914,478.09
$SM_GC,1.73,8.12,0.00,0.00,0.048,0.000,0.000,161,1475,914,-8.02,-0.68,478.09
$IRIDIUM_FIX,2439.44,12357.87,040998,131308
$TT8_MAMPS,0.026845
$HUMID,1469
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.00
$XPDR_PINGS,129
$24V_AH,23.4,28.094
$10V_AH,10.7,17.328
$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,27.600,141.875,557.050,0.000,0.000,76.174,147.882,305.014,40.250,0.000,0.000,12.867,2964.529,11285.804,681.020,3327.629,778.900,0.000,2163.278,0.000,3298.442,0.000,54.412,0.000
$DEVICE_MAMPS,227.799,59.826,1487.980,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1141.570,1172.784,1970.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94572,1679
$CAP_FILE_SIZE,185915,0
$CFSIZE,260165632,225406976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.140,324.7,1
$GPS,100609,181037,2447.342,12323.728,32,1.1,32,-3.6