version: 66.04
glider: 166
mission: 2
dive: 120
start: 6 10 109 23 43 15
data:
$ID,166
$MISSION,2
$DIVE,120
$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,-7488.6411
$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,52
$R_STBD_OVSHOOT,60
$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
$GPS1,233537,2445.568,12322.941,28,1.4,28,-3.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.9
$GPS2,234255,2445.575,12322.938,13,1.4,30,-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,169.9,73311,-16.8,-10.000
$D_GRID,1707
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.90,-170.3,0.0,0.0,0,75,0.00,0.00,-58.15,0.000,2,0.000,0.000,161,1475,2421
$GC,77,-0.90,-170.3,3.2,-5.3,9,124,9.25,2.20,-31.38,0.000,4,0.240,0.050,2421,2899,3560
$GC,170,-0.10,-170.3,26.5,-36.4,24,177,0.88,2.08,0.00,0.000,6,0.160,0.031,2699,1506,3561
$GC,513,-0.50,-170.3,59.7,-5.3,85,520,0.28,2.08,0.00,0.000,4,0.041,0.036,2554,2908,3563
$GC,549,-0.50,-170.3,63.4,-12.4,91,556,0.00,2.05,0.00,0.000,6,0.000,0.031,2557,1518,3563
$GC,893,-0.35,-170.3,116.1,-15.2,152,900,0.17,1.95,0.00,0.000,4,0.139,0.041,2618,195,3563
$GC,951,-0.48,-170.3,123.5,-11.4,162,959,0.00,1.90,0.00,0.000,6,0.000,0.027,2610,1510,3563
$GC,1298,-0.74,-170.3,152.3,-6.7,223,1305,0.28,2.00,0.00,0.000,4,0.048,0.036,2479,2892,3564
$GC,1340,-0.55,-170.3,157.3,-15.2,230,1349,0.22,2.03,0.00,0.000,6,0.137,0.031,2555,1485,3564
$GC,1685,-0.55,-170.3,203.4,-11.2,291,1691,0.00,1.90,0.00,0.000,4,0.000,0.044,2550,198,3565
$GC,1753,-0.55,-170.3,211.6,-11.9,303,1759,0.00,1.85,0.00,0.000,6,0.000,0.028,2547,1500,3565
$GC,2097,-0.63,-170.3,243.4,-8.8,364,2103,0.00,2.03,0.00,0.000,4,0.000,0.041,2544,2890,3565
$GC,2172,-0.82,-170.3,249.6,-8.0,377,2179,0.20,2.00,0.00,0.000,6,0.052,0.031,2452,1502,3564
$GC,2521,-0.53,-170.3,305.8,-16.1,436,2525,0.32,2.05,0.00,0.000,4,0.139,0.041,2557,2889,3564
$GC,2556,-0.70,-170.3,309.4,-8.8,439,2560,0.15,2.00,0.00,0.000,6,0.056,0.032,2480,1503,3565
$GC,2886,-0.55,-170.3,351.4,-13.1,470,2888,0.25,0.00,0.00,0.000,6,0.133,0.000,2557,1503,3564
$GC,3204,-0.77,-170.3,376.6,-7.5,500,3209,0.17,2.08,0.00,0.000,4,0.057,0.042,2465,2898,3562
$GC,3259,-0.71,-170.3,382.5,-11.2,504,3266,0.12,2.05,0.00,0.000,6,0.128,0.035,2509,1516,3562
$GC,3584,-0.71,-170.3,413.4,-10.5,535,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2509,1516,3560
$GC,3905,-0.71,-170.3,444.2,-9.9,565,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1516,3560
$GC,4222,-0.77,-170.3,473.6,-9.6,595,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1516,3557
$GC,4539,-0.86,-170.3,504.6,-9.9,623,4544,0.15,1.98,0.00,0.000,4,0.064,0.049,2437,205,3555
$GC,4607,-0.57,-170.3,514.8,-16.4,626,4611,0.38,1.90,0.00,0.000,6,0.142,0.035,2551,1505,3555
$GC,4934,-0.86,-170.3,538.2,-6.7,642,4938,0.22,2.08,0.00,0.000,4,0.051,0.045,2441,2898,3553
$GC,4995,-0.78,-170.3,544.9,-12.1,645,4999,0.15,2.05,0.00,0.000,6,0.137,0.041,2485,1509,3552
$GC,5327,-0.78,-170.3,580.3,-10.4,661,5330,0.00,2.10,0.00,0.000,4,0.000,0.048,2482,2902,3550
$GC,5354,-0.85,-170.3,583.1,-9.9,662,5358,0.00,2.03,0.00,0.000,6,0.000,0.038,2482,1527,3550
$GC,5680,-0.85,-170.3,611.6,-9.0,678,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1527,3548
$GC,5991,-0.89,-170.3,639.7,-9.3,693,5994,0.00,2.00,0.00,0.000,4,0.000,0.054,2482,206,3546
$GC,6080,-0.89,-170.3,649.2,-10.4,697,6084,0.00,1.92,0.00,0.000,6,0.000,0.035,2479,1519,3545
$GC,6413,-0.94,-170.3,680.9,-9.6,713,6415,0.12,0.00,0.00,0.000,6,0.074,0.000,2419,1521,3543
$GC,6721,-0.77,-170.3,719.4,-12.4,728,6725,0.20,2.10,0.00,0.000,4,0.145,0.051,2479,2904,3541
$GC,6809,-0.90,-170.3,727.3,-7.8,732,6813,0.00,2.05,0.00,0.000,6,0.000,0.041,2479,1527,3540
$GC,7136,-0.96,-170.3,757.3,-9.3,748,7140,0.15,2.03,0.00,0.000,4,0.064,0.055,2408,201,3538
$GC,7219,-0.70,-170.3,769.0,-14.9,751,7226,0.30,1.98,0.00,0.000,6,0.139,0.038,2517,1514,3537
$GC,7536,-0.93,-170.3,791.2,-6.6,767,7541,0.17,2.10,0.00,0.000,4,0.060,0.052,2426,2910,3535
$GC,7575,-0.86,-170.3,795.0,-10.6,769,7580,0.12,2.08,0.00,0.000,6,0.143,0.041,2461,1516,3535
$GC,7908,-0.86,-170.3,826.8,-9.8,785,7912,0.00,2.00,0.00,0.000,4,0.000,0.057,2461,204,3533
$GC,7946,-0.81,-170.3,830.8,-10.6,786,7955,0.00,2.00,0.00,0.000,6,0.000,0.038,2454,1532,3533
$GC,8262,-0.81,-170.3,860.6,-9.5,802,8265,0.00,2.05,0.00,0.000,4,0.000,0.057,2454,201,3531
$GC,8300,-0.73,-170.3,864.6,-10.5,803,8307,0.17,2.00,0.00,0.000,6,0.145,0.040,2505,1525,3531
$GC,8617,-0.91,-170.3,886.5,-6.7,819,8622,0.17,2.10,0.00,0.000,4,0.061,0.053,2425,2905,3530
$GC,8672,-0.86,-170.3,892.0,-10.4,821,8678,0.12,2.08,0.00,0.000,6,0.144,0.043,2458,1523,3530
$GC,8989,-0.86,-170.3,921.0,-8.9,837,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1523,3528
$GC,9297,-0.86,-170.3,950.2,-9.7,852,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1523,3527
$GC,9606,-0.86,-170.3,981.6,-10.4,867,9607,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1523,3526
$STATE,9687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9687,begin apogee
$GC,9691,-0.20,0.0,990.3,10.4,871,9836,0.65,0.00,141.82,1.491,6,0.122,0.000,2669,1759,2862
$STATE,9837,end apogee,CONTROL_FINISHED_OK
$STATE,9837,begin climb
$GC,9839,0.90,170.3,997.8,0.0,878,9999,0.98,2.42,151.18,1.437,4,0.042,0.057,3042,3151,2167
$GC,10057,0.31,170.3,977.9,18.4,888,10062,0.77,2.25,0.00,0.000,6,0.170,0.044,2841,1752,2163
$GC,10384,0.50,236.2,953.2,7.4,904,10458,0.17,2.40,60.62,1.371,4,0.061,0.059,2938,338,1898
$GC,10520,0.33,236.2,934.5,16.8,910,10525,0.32,2.20,0.00,0.000,6,0.142,0.042,2846,1740,1894
$GC,10840,0.50,236.5,901.5,10.0,926,10842,0.17,0.00,0.00,0.000,6,0.058,0.000,2926,1741,1891
$GC,11150,0.37,236.5,856.2,14.8,941,11154,0.20,2.20,0.00,0.000,4,0.145,0.058,2873,341,1890
$GC,11182,0.42,236.5,851.8,11.6,942,11190,0.00,2.15,0.00,0.000,6,0.000,0.043,2873,1734,1890
$GC,11498,0.49,237.5,819.1,10.0,958,11501,0.00,2.17,0.00,0.000,4,0.000,0.058,2883,339,1888
$GC,11575,0.49,237.5,811.0,11.2,961,11579,0.00,2.12,0.00,0.000,6,0.000,0.043,2883,1722,1888
$GC,11898,0.53,267.9,781.4,8.8,977,11932,0.00,2.28,27.48,1.342,4,0.000,0.058,2893,342,1769
$GC,11966,0.54,274.9,774.9,9.7,980,11979,0.00,2.15,7.55,1.127,6,0.000,0.041,2892,1711,1742
$GC,12288,0.54,274.9,742.0,10.6,995,12291,0.00,2.15,0.00,0.000,4,0.000,0.056,2902,342,1738
$GC,12365,0.54,274.9,732.9,11.3,998,12369,0.00,2.10,0.00,0.000,6,0.000,0.041,2902,1697,1738
$GC,12686,0.54,274.9,694.2,11.9,1014,12690,0.00,2.25,0.00,0.000,4,0.000,0.057,2902,3154,1737
$GC,12724,0.54,274.9,689.4,12.9,1016,12728,0.00,2.22,0.00,0.000,6,0.000,0.044,2913,1692,1736
$GC,13055,0.54,274.9,646.0,13.2,1032,13059,0.00,2.10,0.00,0.000,4,0.000,0.056,2923,329,1736
$GC,13082,0.54,274.9,642.0,14.4,1033,13087,0.00,2.10,0.00,0.000,6,0.000,0.041,2923,1701,1736
$GC,13409,0.54,274.9,598.2,13.1,1049,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1702,1735
$GC,13718,0.54,274.9,556.6,13.3,1064,13722,0.00,2.22,0.00,0.000,4,0.000,0.054,2924,3157,1735
$GC,13744,0.54,274.9,552.9,13.4,1065,13749,0.00,2.25,0.00,0.000,6,0.000,0.042,2934,1685,1734
$GC,14072,0.47,274.9,511.4,12.1,1081,14076,0.15,2.08,0.00,0.000,4,0.152,0.054,2900,332,1733
$GC,14132,0.58,289.6,505.3,9.4,1083,14152,0.00,2.05,13.32,1.115,6,0.000,0.041,2901,1704,1682
$GC,14476,0.67,289.6,470.4,10.8,1113,14481,0.15,2.12,0.00,0.000,4,0.060,0.054,2984,335,1680
$GC,14576,0.46,289.6,454.9,15.3,1121,14583,0.32,2.05,0.00,0.000,6,0.142,0.039,2889,1686,1680
$GC,14901,0.64,311.0,426.5,9.2,1152,14924,0.17,0.00,19.92,1.071,6,0.055,0.000,2971,1687,1594
$GC,15239,0.50,311.0,371.1,17.7,1184,15244,0.22,2.10,0.00,0.000,4,0.144,0.051,2910,329,1591
$GC,15271,0.57,311.0,366.4,12.5,1186,15279,0.00,2.05,0.00,0.000,6,0.000,0.038,2910,1680,1591
$GC,15597,0.69,313.9,331.8,9.9,1217,15601,0.15,2.08,0.00,0.000,4,0.060,0.051,2996,334,1591
$GC,15635,0.50,313.9,326.2,16.6,1220,15644,0.28,2.03,3.47,0.578,6,0.136,0.037,2908,1684,1583
$GC,15962,0.71,354.9,296.5,8.4,1254,16006,0.17,2.30,36.47,0.968,4,0.055,0.047,2992,3154,1414
$GC,16042,0.59,354.9,285.5,15.3,1267,16048,0.25,2.30,0.00,0.000,6,0.142,0.038,2933,1652,1413
$GC,16386,0.70,354.9,243.2,14.1,1328,16393,0.00,2.03,0.00,0.000,4,0.000,0.051,2942,326,1410
$GC,16438,0.80,354.9,235.4,14.2,1337,16445,0.15,2.00,0.00,0.000,6,0.065,0.035,3020,1681,1409
$GC,16781,0.64,354.9,175.4,14.4,1398,16789,0.22,2.08,0.00,0.000,4,0.141,0.047,2957,340,1409
$GC,16820,0.70,354.9,170.8,11.0,1404,16826,0.00,1.95,0.00,0.000,6,0.000,0.035,2957,1657,1409
$GC,17163,0.89,395.9,142.8,8.4,1465,17203,0.17,0.00,35.05,0.824,6,0.052,0.000,3058,1658,1248
$GC,17544,0.83,395.9,86.7,10.3,1531,17551,0.17,2.25,0.00,0.000,4,0.136,0.041,3003,3148,1245
$GC,17619,1.04,408.1,79.0,9.5,1544,17640,0.12,2.25,11.55,0.707,6,0.042,0.035,3092,1658,1198
$GC,17980,0.92,408.1,28.9,15.8,1607,17987,0.17,2.00,0.00,0.000,4,0.142,0.044,3045,330,1196
$GC,18038,1.03,408.1,21.5,11.1,1617,18044,0.00,1.98,0.00,0.000,6,0.000,0.033,3045,1672,1196
$STATE,18212,end climb,SURFACE_DEPTH_REACHED
$STATE,18212,begin surface coast
$FINISH,0.9,1.008698
$STATE,18246,end surface coast,CONTROL_FINISHED_OK
$STATE,18246,begin surface
$SM_CCo,18261,14.73,0.645,0,0,1130,425.10
$SM_GC,2.18,0.00,0.00,14.73,0.000,0.000,0.645,142,1475,1130,-8.09,-0.71,425.10
$IRIDIUM_FIX,2439.44,12325.61,040998,181817
$TT8_MAMPS,0.026845
$HUMID,1504
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.10
$XPDR_PINGS,114
$24V_AH,23.3,28.529
$10V_AH,10.7,17.655
$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,28.600,150.875,508.450,14.725,0.000,23.701,32.632,243.942,36.500,0.000,0.000,30.799,2959.008,11223.591,655.924,3320.656,540.157,0.000,2128.105,0.000,3270.126,0.000,54.415,0.000
$DEVICE_MAMPS,240.071,59.059,1491.048,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.683,1136.371,1910.872,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94664,1654
$CAP_FILE_SIZE,187368,0
$CFSIZE,260165632,225214464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.180,338.8,1
$GPS,110609,044907,2444.369,12322.899,41,1.1,41,-3.6