version: 66.04
glider: 166
mission: 2
dive: 257
start: 6 26 109 9 38 25
data:
$ID,166
$MISSION,2
$DIVE,257
$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,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,450
$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,-10494.651
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.034000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1650
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,65
$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,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
$GPS1,092707,2441.673,12307.141,40,1.1,40,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.4
$GPS2,093802,2441.889,12307.205,16,1.4,16,-3.5
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2437.600,12250.900
$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,242.0,28576,-13.9,-10.000
$D_GRID,1308
$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,15,-1.12,-243.4,0.0,0.0,0,103,0.00,0.00,-85.60,0.000,2,0.000,0.000,170,1665,2393
$GC,106,-1.12,-243.4,3.1,-5.0,13,164,9.20,2.22,-39.97,0.000,4,0.234,0.054,2414,228,3940
$GC,177,-0.50,-243.4,17.1,-26.1,24,184,0.62,2.10,0.00,0.000,6,0.145,0.029,2616,1645,3941
$GC,523,-0.63,-243.4,59.4,-11.3,85,529,0.12,2.08,0.00,0.000,4,0.066,0.037,2550,3055,3940
$GC,570,-0.78,-243.4,65.5,-13.2,93,576,0.00,2.08,0.00,0.000,6,0.000,0.029,2551,1623,3942
$GC,913,-0.87,-243.4,103.8,-9.8,154,920,0.15,2.05,0.00,0.000,4,0.061,0.041,2476,244,3942
$GC,1086,-0.59,-243.4,130.8,-16.0,184,1093,0.38,2.12,0.00,0.000,6,0.127,0.028,2591,1723,3942
$GC,1432,-0.88,-243.4,164.1,-9.4,245,1439,0.22,2.20,0.00,0.000,4,0.047,0.039,2469,249,3943
$GC,1469,-0.70,-243.4,168.8,-13.4,251,1477,0.28,2.15,0.00,0.000,6,0.130,0.028,2553,1745,3943
$GC,1816,-0.88,-243.4,202.0,-9.1,312,1823,0.17,2.25,0.00,0.000,4,0.054,0.041,2456,246,3943
$GC,1858,-0.62,-243.4,207.2,-13.8,319,1866,0.40,2.30,0.00,0.000,6,0.124,0.028,2580,1833,3943
$GC,2205,-0.95,-243.4,239.5,-9.0,380,2211,0.28,1.77,0.00,0.000,4,0.044,0.038,2439,3048,3942
$GC,2247,-0.85,-243.4,244.3,-12.3,387,2254,0.22,1.75,0.00,0.000,6,0.123,0.028,2508,1813,3942
$GC,2591,-0.98,-243.4,283.7,-10.2,448,2598,0.12,1.85,0.00,0.000,4,0.067,0.040,2444,3064,3941
$GC,2656,-0.85,-243.4,291.3,-12.3,459,2664,0.20,1.70,0.00,0.000,6,0.127,0.028,2504,1866,3940
$GC,2988,-0.97,-243.4,321.9,-9.0,497,2993,0.12,1.75,0.00,0.000,4,0.067,0.041,2440,3045,3939
$GC,3038,-0.92,-243.4,327.6,-11.3,501,3045,0.10,1.62,0.00,0.000,6,0.125,0.029,2487,1919,3939
$GC,3364,-1.01,-243.4,363.3,-11.2,532,3367,0.00,1.67,0.00,0.000,4,0.000,0.044,2476,3041,3937
$GC,3414,-1.12,-243.4,368.8,-10.7,536,3421,0.15,1.58,0.00,0.000,6,0.044,0.031,2402,1958,3936
$GC,3739,-0.83,-243.4,414.9,-13.8,567,3745,0.32,2.58,0.00,0.000,4,0.137,0.044,2507,255,3934
$GC,3849,-0.78,-243.4,425.9,-9.5,576,3854,0.12,2.47,0.00,0.000,6,0.134,0.031,2532,1930,3932
$GC,4174,-1.08,-243.4,452.1,-9.0,606,4178,0.22,1.65,0.00,0.000,4,0.049,0.044,2403,3042,3930
$GC,4235,-0.99,-243.4,459.6,-12.6,611,4242,0.12,1.60,0.00,0.000,6,0.127,0.031,2465,1947,3929
$GC,4559,-1.11,-243.4,498.5,-11.7,642,4564,0.12,1.65,0.00,0.000,4,0.067,0.046,2393,3045,3926
$GC,4587,-1.02,-243.4,502.3,-14.1,644,4591,0.12,1.60,0.00,0.000,6,0.140,0.032,2442,1952,3926
$GC,4915,-0.90,-243.4,541.5,-11.3,660,4920,0.17,2.60,0.00,0.000,4,0.136,0.048,2501,248,3924
$GC,5024,-0.90,-243.4,551.9,-8.9,665,5028,0.00,2.50,0.00,0.000,6,0.000,0.033,2495,1931,3923
$GC,5351,-1.08,-243.4,578.9,-8.8,681,5356,0.17,2.58,0.00,0.000,4,0.055,0.048,2400,251,3921
$GC,5451,-0.82,-243.4,592.9,-14.4,685,5458,0.38,2.60,0.00,0.000,6,0.137,0.041,2514,1977,3920
$GC,5768,-1.09,-243.4,622.0,-8.8,701,5772,0.20,1.60,0.00,0.000,4,0.051,0.050,2407,3043,3918
$GC,5823,-1.03,-243.4,628.2,-11.3,703,5827,0.08,1.55,0.00,0.000,6,0.120,0.038,2448,2004,3917
$GC,6145,-0.97,-243.4,667.0,-12.3,719,6149,0.00,2.67,0.00,0.000,4,0.000,0.050,2447,257,3915
$GC,6308,-0.87,-243.4,688.2,-12.2,726,6313,0.20,2.58,0.00,0.000,6,0.130,0.038,2503,1966,3914
$GC,6626,-1.11,-243.4,717.1,-8.5,741,6630,0.20,1.62,0.00,0.000,4,0.051,0.052,2399,3038,3911
$GC,6716,-1.01,-243.4,726.9,-11.1,745,6720,0.12,1.55,0.00,0.000,6,0.124,0.037,2454,1998,3910
$GC,7049,-1.01,-243.4,760.4,-10.4,761,7052,0.00,1.60,0.00,0.000,4,0.000,0.054,2454,3042,3908
$GC,7162,-1.01,-243.4,771.8,-10.5,766,7165,0.00,1.62,0.00,0.000,6,0.000,0.045,2454,1951,3907
$GC,7493,-1.01,-243.4,806.9,-10.6,782,7498,0.00,2.62,0.00,0.000,4,0.000,0.053,2454,254,3906
$GC,7628,-0.95,-243.4,821.9,-10.9,788,7632,0.00,2.50,0.00,0.000,6,0.000,0.040,2452,1903,3904
$GC,7948,-0.95,-243.4,853.5,-10.0,804,7953,0.00,2.58,0.00,0.000,4,0.000,0.054,2452,251,3902
$GC,8038,-0.90,-243.4,863.2,-11.0,808,8043,0.15,2.50,0.00,0.000,6,0.137,0.041,2494,1894,3902
$GC,8361,-1.14,-243.4,890.5,-8.6,824,8365,0.20,1.77,0.00,0.000,4,0.054,0.064,2394,3034,3900
$GC,8421,-1.07,-243.4,897.4,-11.8,826,8428,0.10,1.65,0.00,0.000,6,0.137,0.039,2429,1941,3899
$GC,8738,-0.98,-243.4,933.3,-11.6,842,8743,0.12,2.65,0.00,0.000,4,0.148,0.055,2466,251,3897
$GC,8832,-0.98,-243.4,943.6,-10.8,846,8836,0.00,2.53,0.00,0.000,6,0.000,0.041,2467,1905,3896
$GC,9154,-0.98,-243.4,976.3,-10.7,862,9158,0.00,2.60,0.00,0.000,4,0.000,0.056,2466,250,3895
$GC,9214,-0.98,-243.4,983.5,-12.3,864,9221,0.00,2.53,0.00,0.000,6,0.000,0.041,2467,1878,3895
$STATE,9281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9281,begin apogee
$GC,9286,-0.29,0.0,990.9,11.2,868,9495,0.65,0.00,205.43,1.480,6,0.107,0.000,2684,1410,2945
$STATE,9496,end apogee,CONTROL_FINISHED_OK
$STATE,9496,begin climb
$GC,9499,1.12,243.4,1009.2,0.0,878,9730,1.27,2.40,220.80,1.436,4,0.043,0.058,3157,2779,1951
$GC,9820,0.50,243.4,977.8,20.3,892,9827,0.82,2.20,0.00,0.000,6,0.183,0.046,2944,1402,1945
$GC,10135,0.40,243.4,946.2,10.1,908,10140,0.12,2.17,0.00,0.000,4,0.150,0.051,2909,2794,1943
$GC,10179,0.41,250.6,941.9,9.8,910,10190,0.00,2.15,6.43,1.104,6,0.000,0.051,2916,1407,1923
$GC,10500,0.42,264.5,910.0,9.6,925,10527,0.00,2.20,16.33,1.185,4,0.000,0.052,2916,2779,1866
$GC,10545,0.42,264.5,905.2,10.6,927,10549,0.00,2.15,0.00,0.000,6,0.000,0.045,2926,1414,1865
$GC,10874,0.38,268.6,872.3,9.9,943,10883,0.00,1.90,4.93,0.997,4,0.000,0.061,2935,202,1849
$GC,10900,0.34,268.6,869.2,10.5,944,10905,0.15,1.83,0.00,0.000,6,0.141,0.042,2893,1412,1849
$GC,11227,0.59,316.8,841.2,8.7,960,11285,0.17,1.98,47.00,1.342,4,0.053,0.060,2993,205,1652
$GC,11425,0.42,316.8,814.2,14.0,968,11430,0.28,1.92,0.00,0.000,6,0.139,0.043,2914,1463,1648
$GC,11752,0.48,316.8,780.1,10.2,984,11756,0.00,2.08,0.00,0.000,4,0.000,0.052,2914,2809,1646
$GC,11780,0.52,316.8,776.9,10.7,985,11784,0.00,2.10,0.00,0.000,6,0.000,0.045,2922,1445,1645
$GC,12107,0.56,321.7,743.5,9.9,1001,12117,0.12,1.95,4.68,0.948,4,0.067,0.061,2993,202,1633
$GC,12140,0.41,321.7,739.3,13.5,1002,12144,0.28,1.92,0.00,0.000,6,0.136,0.043,2911,1477,1633
$GC,12456,0.67,391.8,712.4,8.1,1017,12527,0.20,2.12,65.20,1.319,4,0.052,0.060,3027,195,1346
$GC,12587,0.50,391.8,696.6,14.5,1023,12591,0.30,1.95,0.00,0.000,6,0.135,0.042,2941,1447,1342
$GC,12915,0.58,402.1,663.5,9.7,1039,12929,0.00,2.12,9.55,1.152,4,0.000,0.053,2940,2808,1305
$GC,12964,0.64,402.1,658.2,10.7,1041,12968,0.10,2.12,0.00,0.000,6,0.074,0.045,3002,1439,1304
$GC,13291,0.56,402.1,620.9,10.6,1057,13295,0.15,1.95,0.00,0.000,4,0.142,0.059,2969,195,1303
$GC,13346,0.63,458.8,615.7,8.4,1059,13413,0.00,1.90,54.95,1.210,6,0.000,0.042,2968,1454,1073
$GC,13730,0.75,478.7,580.9,9.5,1078,13755,0.15,2.08,19.08,1.174,4,0.060,0.059,3058,199,993
$GC,13788,0.61,478.7,572.3,15.9,1080,13793,0.28,1.88,0.00,0.000,6,0.133,0.042,2979,1419,991
$GC,14110,0.86,478.7,536.3,10.9,1096,14115,0.20,2.12,0.00,0.000,4,0.048,0.048,3087,2802,989
$GC,14221,0.64,478.7,517.7,16.5,1101,14226,0.38,2.25,0.00,0.000,6,0.143,0.044,2987,1338,988
$GC,14548,0.88,478.7,482.1,11.4,1124,14552,0.17,1.77,0.00,0.000,4,0.055,0.058,3090,196,988
$GC,14631,0.69,478.7,468.6,16.5,1131,14638,0.30,1.67,0.00,0.000,6,0.137,0.042,2999,1320,987
$GC,14958,0.98,533.7,435.5,8.5,1162,15016,0.22,2.35,49.40,1.097,4,0.050,0.048,3113,2803,768
$GC,15090,0.77,533.7,414.9,16.9,1173,15096,0.32,2.28,0.00,0.000,6,0.144,0.042,3030,1338,767
$GC,15414,0.77,533.7,374.7,13.0,1204,15418,0.00,2.25,0.00,0.000,4,0.000,0.046,3030,2800,767
$GC,15441,0.77,533.7,370.9,13.3,1206,15449,0.00,2.25,0.00,0.000,6,0.000,0.045,3034,1353,766
$GC,15768,0.77,533.7,323.7,14.0,1237,15772,0.00,2.22,0.00,0.000,4,0.000,0.045,3035,2805,766
$GC,15795,0.77,533.7,319.3,14.5,1239,15801,0.00,2.22,0.00,0.000,6,0.000,0.048,3043,1351,766
$GC,16130,0.77,533.7,275.3,11.2,1287,16136,0.00,2.22,0.00,0.000,4,0.000,0.051,3044,2805,766
$GC,16154,0.77,533.7,272.4,12.4,1291,16160,0.00,2.17,0.00,0.000,6,0.000,0.044,3050,1372,766
$GC,16499,0.77,533.7,233.3,12.0,1352,16505,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1372,766
$GC,16843,0.82,533.7,193.2,11.0,1413,16849,0.00,1.83,0.00,0.000,4,0.000,0.054,3060,203,766
$GC,16873,0.82,533.7,189.6,12.9,1418,16881,0.00,1.77,0.00,0.000,6,0.000,0.036,3062,1389,766
$GC,17218,1.06,533.7,151.4,11.2,1479,17225,0.15,1.85,0.00,0.000,4,0.055,0.051,3157,184,766
$GC,17305,0.88,533.7,138.1,18.1,1494,17314,0.28,1.75,0.00,0.000,6,0.127,0.035,3067,1364,766
$GC,17650,1.12,533.7,99.3,11.2,1555,17656,0.17,1.80,0.00,0.000,4,0.051,0.051,3172,205,766
$GC,17770,0.95,533.7,81.1,16.7,1576,17777,0.25,1.62,0.00,0.000,6,0.127,0.033,3090,1314,766
$GC,18115,1.22,545.4,49.2,9.7,1637,18136,0.20,2.25,11.80,0.679,4,0.044,0.037,3203,2802,721
$GC,18229,1.04,545.4,33.4,16.3,1656,18236,0.35,2.35,0.00,0.000,6,0.134,0.036,3109,1223,720
$STATE,18526,end climb,SURFACE_DEPTH_REACHED
$STATE,18526,begin surface coast
$FINISH,0.8,1.001596
$STATE,18562,end surface coast,CONTROL_FINISHED_OK
$STATE,18562,begin surface
$SM_CCo,18639,0.00,0.000,0,0,720,545.79
$SM_GC,1.59,7.82,0.00,0.00,0.043,0.000,0.000,170,1658,720,-8.14,0.23,545.79
$IRIDIUM_FIX,2432.32,12246.82,200998,090906
$TT8_MAMPS,0.026845
$HUMID,1557
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.20
$XPDR_PINGS,201
$24V_AH,22.8,56.254
$10V_AH,10.7,32.585
$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,31.775,183.250,715.550,0.000,0.000,48.811,102.041,292.100,58.250,0.000,0.000,16.144,3128.255,10852.758,857.174,3629.280,808.939,0.000,2519.511,0.000,3589.836,0.000,55.737,0.000
$DEVICE_MAMPS,233.935,63.661,1480.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1165.116,1195.476,2008.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100833,1715
$CAP_FILE_SIZE,206006,0
$CFSIZE,260165632,216702976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.264, 26.2,1
$GPS,260609,145006,2442.939,12306.542,27,1.2,27,-3.5