version: 66.04
glider: 166
mission: 2
dive: 124
start: 6 11 109 19 50 29
data:
$ID,166
$MISSION,2
$DIVE,124
$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,-7551.8472
$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,44
$R_STBD_OVSHOOT,44
$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
$GPS1,194336,2440.595,12322.339,37,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-70.5
$GPS2,195008,2440.593,12322.285,13,1.1,13,-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,182.8,64105,-16.8,-10.000
$D_GRID,1080
$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,13,begin dive
$GC,15,-0.90,-170.3,0.0,0.0,0,73,0.00,0.00,-56.08,0.000,2,0.000,0.000,168,1488,2405
$GC,76,-0.90,-170.3,3.4,-6.6,9,122,9.15,2.22,-30.90,0.000,4,0.236,0.051,2427,2920,3559
$GC,141,-0.07,-170.3,17.3,-30.3,19,150,0.95,2.10,0.00,0.000,6,0.156,0.032,2712,1499,3560
$GC,487,-0.46,-170.3,46.5,-5.9,80,493,0.28,0.00,0.00,0.000,6,0.043,0.000,2564,1499,3562
$GC,829,-0.28,-170.3,105.1,-18.1,141,836,0.20,1.92,0.00,0.000,4,0.136,0.043,2630,199,3562
$GC,909,-0.46,-170.3,115.7,-10.8,155,918,0.08,1.92,0.00,0.000,6,0.060,0.027,2577,1540,3563
$GC,1255,-0.46,-170.3,158.6,-11.8,216,1262,0.00,1.98,0.00,0.000,4,0.000,0.039,2576,2872,3564
$GC,1297,-0.62,-170.3,163.3,-10.6,223,1305,0.10,2.03,0.00,0.000,6,0.071,0.031,2518,1469,3564
$GC,1644,-0.50,-170.3,210.4,-12.5,284,1650,0.17,2.10,0.00,0.000,4,0.137,0.040,2571,2889,3565
$GC,1741,-0.77,-170.3,218.3,-7.4,301,1748,0.22,1.98,0.00,0.000,6,0.048,0.031,2461,1522,3565
$GC,2086,-0.46,-170.3,270.4,-15.1,362,2092,0.38,1.95,0.00,0.000,4,0.135,0.045,2583,208,3565
$GC,2160,-0.66,-170.3,276.8,-7.1,375,2168,0.17,1.85,0.00,0.000,6,0.058,0.028,2497,1512,3565
$GC,2504,-0.58,-170.3,314.0,-10.4,425,2509,0.17,2.03,0.00,0.000,4,0.135,0.041,2554,2889,3565
$GC,2527,-0.66,-170.3,315.9,-8.6,427,2531,0.00,2.00,0.00,0.000,6,0.000,0.034,2554,1510,3565
$GC,2857,-0.86,-170.3,341.0,-7.9,458,2861,0.22,1.95,0.00,0.000,4,0.051,0.048,2441,202,3565
$GC,2901,-0.51,-170.3,347.0,-15.8,462,2906,0.43,1.90,0.00,0.000,6,0.139,0.038,2570,1521,3565
$GC,3226,-0.81,-170.3,367.5,-5.1,492,3228,0.25,0.00,0.00,0.000,6,0.049,0.000,2454,1523,3562
$GC,3544,-0.62,-170.3,406.2,-13.1,522,3546,0.28,0.00,0.00,0.000,6,0.132,0.000,2541,1523,3561
$GC,3864,-0.81,-170.3,430.6,-7.8,552,3868,0.17,2.00,0.00,0.000,4,0.059,0.049,2449,204,3560
$GC,3910,-0.56,-170.3,436.3,-14.0,556,3914,0.32,1.88,0.00,0.000,6,0.138,0.032,2553,1502,3559
$GC,4240,-0.81,-170.3,463.9,-7.8,587,4244,0.20,2.08,0.00,0.000,4,0.054,0.044,2454,2898,3557
$GC,4313,-0.75,-170.3,472.4,-12.0,593,4317,0.15,2.05,0.00,0.000,6,0.136,0.038,2501,1511,3557
$GC,4641,-0.75,-170.3,504.1,-9.1,622,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,1512,3554
$GC,4951,-0.80,-170.3,531.1,-8.2,637,4954,0.00,2.00,0.00,0.000,4,0.000,0.053,2501,194,3553
$GC,4989,-0.80,-170.3,534.6,-8.4,638,4996,0.00,1.95,0.00,0.000,6,0.000,0.034,2497,1507,3552
$GC,5305,-0.85,-170.3,562.0,-9.4,654,5308,0.00,2.08,0.00,0.000,4,0.000,0.048,2496,2896,3550
$GC,5360,-0.99,-170.3,567.3,-9.1,656,5365,0.20,2.08,0.00,0.000,6,0.054,0.038,2405,1496,3550
$GC,5676,-0.70,-170.3,618.9,-17.1,671,5680,0.32,1.98,0.00,0.000,4,0.142,0.052,2513,197,3547
$GC,5727,-0.77,-170.3,625.5,-11.1,673,5731,0.00,1.92,0.00,0.000,6,0.000,0.035,2509,1513,3547
$GC,6048,-0.91,-170.3,657.0,-9.1,689,6050,0.17,0.00,0.00,0.000,6,0.061,0.000,2426,1514,3546
$GC,6358,-0.74,-170.3,695.6,-11.9,704,6362,0.20,2.10,0.00,0.000,4,0.141,0.050,2492,2901,3544
$GC,6397,-0.90,-170.3,699.0,-7.7,706,6401,0.12,2.08,0.00,0.000,6,0.066,0.041,2428,1510,3544
$GC,6729,-0.77,-170.3,735.8,-11.6,722,6733,0.17,2.00,0.00,0.000,4,0.141,0.055,2486,201,3542
$GC,6818,-0.77,-170.3,744.9,-10.0,726,6821,0.00,1.92,0.00,0.000,6,0.000,0.036,2482,1508,3540
$GC,7150,-0.85,-170.3,774.4,-9.2,742,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2482,1508,3539
$GC,7460,-0.93,-170.3,802.0,-8.6,757,7462,0.12,0.00,0.00,0.000,6,0.074,0.000,2422,1509,3537
$GC,7768,-0.79,-170.3,838.6,-12.2,772,7773,0.17,2.03,0.00,0.000,4,0.146,0.058,2478,207,3534
$GC,7824,-0.79,-170.3,844.8,-10.6,774,7828,0.00,1.95,0.00,0.000,6,0.000,0.039,2479,1500,3534
$GC,8145,-0.87,-170.3,870.9,-7.6,790,8149,0.00,2.15,0.00,0.000,4,0.000,0.054,2479,2908,3532
$GC,8203,-1.02,-170.3,875.0,-7.2,792,8207,0.20,2.12,0.00,0.000,6,0.055,0.043,2389,1493,3532
$GC,8518,-0.78,-170.3,914.5,-12.8,807,8523,0.28,2.00,0.00,0.000,4,0.148,0.058,2476,198,3530
$GC,8567,-0.78,-170.3,919.9,-10.0,809,8571,0.00,1.98,0.00,0.000,6,0.000,0.041,2476,1500,3530
$GC,8889,-0.85,-170.3,949.0,-9.3,825,8893,0.00,2.15,0.00,0.000,4,0.000,0.055,2476,2908,3529
$GC,8939,-1.01,-170.3,953.7,-9.1,827,8943,0.17,2.10,0.00,0.000,6,0.061,0.044,2397,1513,3528
$STATE,9222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9222,begin apogee
$GC,9227,-0.20,0.0,991.9,13.6,841,9380,0.88,0.00,143.80,1.473,6,0.138,0.000,2673,1762,2863
$STATE,9380,end apogee,CONTROL_FINISHED_OK
$STATE,9381,begin climb
$GC,9382,0.90,170.3,998.7,0.0,848,9544,0.98,2.42,151.23,1.436,4,0.041,0.058,3046,3151,2167
$GC,9723,0.29,170.3,948.5,21.6,863,9731,0.80,2.22,0.00,0.000,6,0.173,0.044,2833,1740,2162
$GC,10039,0.48,210.3,919.4,8.4,879,10088,0.17,2.30,37.40,1.328,4,0.063,0.058,2922,352,2005
$GC,10139,0.34,210.3,906.5,14.3,883,10144,0.28,2.17,0.00,0.000,6,0.142,0.042,2845,1742,2002
$GC,10454,0.51,235.6,877.2,9.0,898,10485,0.17,2.33,22.95,1.356,4,0.059,0.058,2944,343,1901
$GC,10535,0.31,235.6,865.8,15.8,901,10542,0.35,2.15,0.00,0.000,6,0.143,0.042,2844,1728,1898
$GC,10851,0.55,280.9,838.4,8.2,917,10897,0.17,2.30,40.92,1.374,4,0.059,0.058,2943,335,1716
$GC,10965,0.41,280.9,822.0,15.1,922,10970,0.25,2.15,0.00,0.000,6,0.141,0.042,2873,1714,1713
$GC,11285,0.51,280.9,787.7,10.8,938,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1716,1710
$GC,11595,0.63,280.9,754.3,11.1,953,11599,0.20,2.15,0.00,0.000,4,0.054,0.057,2977,332,1709
$GC,11621,0.48,280.9,750.0,16.1,954,11626,0.22,2.12,0.00,0.000,6,0.150,0.043,2898,1713,1709
$GC,11942,0.48,280.9,710.1,12.0,970,11945,0.00,2.15,0.00,0.000,4,0.000,0.057,2906,333,1708
$GC,11974,0.48,280.9,705.6,14.4,971,11978,0.00,2.08,0.00,0.000,6,0.000,0.044,2906,1689,1708
$GC,12297,0.48,280.9,667.7,11.8,987,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1690,1707
$GC,12604,0.48,280.9,630.6,12.2,1002,12608,0.00,2.10,0.00,0.000,4,0.000,0.058,2916,340,1707
$GC,12626,0.48,280.9,627.7,12.7,1003,12630,0.00,2.03,0.00,0.000,6,0.000,0.043,2916,1685,1707
$GC,12960,0.48,280.9,584.6,13.2,1019,12963,0.00,2.08,0.00,0.000,4,0.000,0.056,2926,341,1706
$GC,13014,0.48,280.9,576.4,13.4,1021,13019,0.08,2.03,0.00,0.000,6,0.146,0.041,2900,1677,1706
$GC,13336,0.54,280.9,539.1,11.8,1037,13340,0.00,2.25,0.00,0.000,4,0.000,0.053,2900,3149,1706
$GC,13382,0.60,280.9,533.5,11.8,1039,13386,0.00,2.25,0.00,0.000,6,0.000,0.042,2909,1651,1705
$GC,13698,0.60,280.9,493.6,12.3,1056,13702,0.00,2.03,0.00,0.000,4,0.000,0.056,2919,327,1705
$GC,13804,0.60,280.9,479.5,12.6,1065,13810,0.00,2.00,0.00,0.000,6,0.000,0.041,2919,1654,1705
$GC,14130,0.60,280.9,438.7,13.2,1096,14133,0.00,2.03,0.00,0.000,4,0.000,0.054,2929,335,1705
$GC,14163,0.60,280.9,433.8,13.6,1099,14167,0.00,1.95,0.00,0.000,6,0.000,0.039,2929,1649,1705
$GC,14493,0.60,280.9,392.0,10.7,1130,14497,0.00,2.03,0.00,0.000,4,0.000,0.054,2939,330,1705
$GC,14527,0.60,280.9,388.0,12.4,1133,14530,0.00,1.95,0.00,0.000,6,0.000,0.040,2939,1650,1704
$GC,14858,0.60,280.9,348.3,11.3,1164,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,1651,1705
$GC,15175,0.60,280.9,312.3,11.4,1194,15179,0.00,2.28,0.00,0.000,4,0.000,0.048,2940,3154,1705
$GC,15202,0.60,280.9,309.0,12.0,1196,15206,0.00,2.28,0.00,0.000,6,0.000,0.039,2951,1630,1705
$GC,15540,0.60,280.9,263.4,13.4,1249,15546,0.00,1.95,0.00,0.000,4,0.000,0.052,2961,338,1705
$GC,15699,0.55,280.9,242.1,12.8,1277,15706,0.17,1.90,0.00,0.000,6,0.140,0.036,2912,1643,1705
$GC,16044,0.77,305.7,211.4,9.0,1338,16071,0.17,2.38,20.95,0.881,4,0.054,0.044,3008,3168,1616
$GC,16112,0.61,305.7,201.7,15.3,1349,16118,0.28,2.33,0.00,0.000,6,0.144,0.037,2939,1620,1614
$GC,16458,0.75,317.8,162.6,9.5,1410,16479,0.12,2.40,11.30,0.785,4,0.067,0.044,3008,3157,1566
$GC,16542,0.61,317.8,151.7,14.3,1424,16550,0.22,2.30,0.00,0.000,6,0.131,0.036,2935,1641,1565
$GC,16887,0.92,347.0,120.6,8.9,1485,16920,0.25,2.00,25.65,0.792,4,0.045,0.048,3072,337,1447
$GC,16991,0.68,347.0,106.0,14.0,1502,16998,0.32,1.98,0.00,0.000,6,0.127,0.031,2956,1663,1445
$GC,17336,1.12,435.6,86.8,6.5,1563,17419,0.35,2.33,74.12,0.756,4,0.039,0.040,3124,3161,1086
$GC,17460,0.90,435.6,65.2,21.4,1583,17469,0.38,2.30,0.00,0.000,6,0.140,0.033,3026,1640,1084
$GC,17808,1.11,439.2,27.9,9.9,1644,17822,0.17,2.03,4.28,0.461,4,0.052,0.045,3136,329,1071
$STATE,17949,end climb,SURFACE_DEPTH_REACHED
$STATE,17949,begin surface coast
$FINISH,0.9,1.009871
$STATE,17968,end surface coast,CONTROL_FINISHED_OK
$STATE,17968,begin surface
$SM_CCo,18045,0.00,0.000,0,0,1067,440.56
$SM_GC,1.78,7.85,0.00,0.00,0.044,0.000,0.000,155,1541,1067,-8.02,1.16,440.56
$IRIDIUM_FIX,2432.32,12348.64,050998,151548
$TT8_MAMPS,0.026845
$HUMID,1450
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.10
$XPDR_PINGS,117
$24V_AH,23.3,29.390
$10V_AH,10.7,18.270
$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,30.900,154.325,532.600,0.000,0.000,23.791,32.778,219.798,37.250,0.000,0.000,13.860,2984.957,10938.503,642.524,3336.491,521.930,0.000,2130.686,0.000,3309.818,0.000,54.412,0.000
$DEVICE_MAMPS,236.236,58.292,1473.407,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.134,1158.888,1946.631,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94822,1672
$CAP_FILE_SIZE,186662,0
$CFSIZE,260165632,224841728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.155,349.6,1
$GPS,120609,005230,2439.338,12321.990,38,1.0,43,-3.6