version: 66.04
glider: 166
mission: 2
dive: 261
start: 6 27 109 7 12 18
data:
$ID,166
$MISSION,2
$DIVE,261
$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,413
$T_MISSION,495
$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,200
$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,-10568.824
$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,1750
$C_ROLL_CLIMB,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,68
$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
$GPS1,065637,2442.695,12306.459,37,1.0,37,-3.5
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-67.6
$GPS2,071155,2443.094,12306.409,12,1.5,29,-3.5
$SPEED_LIMITS,0.138,0.273
$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,241.9,28022,-12.7,-7.990
$D_GRID,1432
$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,-0.98,-194.7,0.0,0.0,0,88,0.00,0.00,-70.57,0.000,2,0.000,0.000,170,1770,2312
$GC,91,-0.98,-194.7,3.1,-3.8,11,144,9.50,2.25,-38.88,0.000,4,0.239,0.054,2453,335,3741
$GC,319,-0.41,-194.7,51.1,-23.1,50,326,0.62,2.05,0.00,0.000,6,0.136,0.030,2642,1743,3741
$GC,663,-0.54,-194.7,84.7,-8.1,111,670,0.12,2.08,0.00,0.000,4,0.063,0.038,2573,3151,3741
$GC,693,-0.60,-194.7,88.3,-12.0,116,701,0.00,1.98,0.00,0.000,6,0.000,0.028,2573,1794,3741
$GC,1041,-0.53,-194.7,122.5,-9.6,177,1047,0.12,0.00,0.00,0.000,6,0.127,0.000,2610,1794,3741
$GC,1385,-0.74,-194.7,149.9,-6.4,238,1391,0.17,2.03,0.00,0.000,4,0.054,0.038,2508,3158,3741
$GC,1449,-0.74,-194.7,155.3,-9.1,249,1456,0.05,2.00,0.00,0.000,6,0.094,0.028,2543,1784,3741
$GC,1795,-0.77,-194.7,184.9,-7.5,310,1801,0.00,2.15,0.00,0.000,4,0.000,0.042,2543,357,3741
$GC,1899,-0.66,-194.7,195.0,-10.5,328,1907,0.00,2.15,0.00,0.000,6,0.000,0.029,2543,1852,3741
$GC,2244,-0.62,-194.7,231.4,-10.1,389,2251,0.12,2.25,0.00,0.000,4,0.136,0.041,2581,360,3741
$GC,2352,-0.68,-194.7,242.0,-9.7,408,2360,0.00,2.10,0.00,0.000,6,0.000,0.029,2580,1817,3741
$GC,2698,-0.89,-194.7,273.8,-8.3,469,2705,0.22,2.20,0.00,0.000,4,0.049,0.041,2459,355,3741
$GC,2868,-0.59,-194.7,299.1,-15.5,499,2875,0.43,2.17,0.00,0.000,6,0.133,0.031,2590,1841,3740
$GC,3202,-0.85,-194.7,325.7,-7.2,531,3206,0.20,1.95,0.00,0.000,4,0.050,0.043,2478,3154,3738
$GC,3251,-0.72,-194.7,331.1,-11.3,535,3258,0.22,1.85,0.00,0.000,6,0.122,0.030,2548,1866,3737
$GC,3576,-0.87,-194.7,359.8,-10.1,566,3578,0.15,0.00,0.00,0.000,6,0.057,0.000,2468,1866,3736
$GC,3897,-0.81,-194.7,401.0,-13.0,596,3901,0.17,2.28,0.00,0.000,4,0.118,0.044,2528,368,3734
$GC,3997,-0.71,-194.7,412.3,-10.8,604,4004,0.00,2.28,0.00,0.000,6,0.000,0.033,2528,1911,3733
$GC,4324,-0.78,-194.7,440.7,-8.0,635,4328,0.00,2.35,0.00,0.000,4,0.000,0.045,2528,366,3731
$GC,4363,-0.72,-194.7,444.4,-9.5,638,4367,0.00,2.25,0.00,0.000,6,0.000,0.033,2525,1890,3730
$GC,4687,-0.76,-194.7,471.5,-8.6,668,4691,0.00,1.90,0.00,0.000,4,0.000,0.048,2512,3154,3728
$GC,4759,-0.86,-194.7,478.0,-8.9,674,4765,0.00,1.80,0.00,0.000,6,0.000,0.032,2520,1932,3728
$GC,5094,-0.95,-194.7,507.5,-8.5,702,5098,0.12,1.85,0.00,0.000,4,0.064,0.048,2439,3153,3725
$GC,5207,-0.78,-194.7,518.8,-10.0,707,5212,0.28,1.70,0.00,0.000,6,0.127,0.033,2533,1985,3724
$GC,5542,-0.96,-194.7,544.3,-7.5,723,5547,0.17,1.80,0.00,0.000,4,0.054,0.049,2431,3162,3722
$GC,5610,-0.79,-194.7,550.7,-9.4,726,5614,0.30,1.65,0.00,0.000,6,0.121,0.033,2531,2022,3722
$GC,5942,-0.92,-194.7,577.1,-8.4,742,5946,0.15,1.73,0.00,0.000,4,0.061,0.051,2450,3143,3720
$GC,6019,-0.73,-194.7,584.9,-10.2,745,6024,0.22,1.62,0.00,0.000,6,0.114,0.039,2543,2061,3719
$GC,6343,-0.99,-194.7,606.9,-6.8,761,6344,0.22,0.00,0.00,0.000,6,0.049,0.000,2430,2061,3717
$GC,6650,-0.79,-194.7,638.7,-11.4,776,6655,0.28,2.62,0.00,0.000,4,0.127,0.049,2525,371,3715
$GC,6774,-0.88,-194.7,651.0,-10.4,781,6780,0.00,2.58,0.00,0.000,6,0.000,0.038,2520,2075,3713
$GC,7093,-1.08,-194.7,678.6,-7.8,797,7097,0.22,1.62,0.00,0.000,4,0.051,0.053,2406,3141,3712
$GC,7199,-0.87,-194.7,690.4,-11.6,801,7205,0.22,1.52,0.00,0.000,6,0.127,0.036,2496,2112,3711
$GC,7516,-1.01,-194.7,718.2,-9.4,817,7521,0.12,2.70,0.00,0.000,4,0.063,0.051,2427,357,3709
$GC,7560,-0.74,-194.7,723.7,-13.0,819,7565,0.38,2.62,0.00,0.000,6,0.132,0.041,2540,2088,3709
$GC,7882,-1.05,-194.7,749.7,-7.6,835,7888,0.25,2.65,0.00,0.000,4,0.051,0.050,2423,369,3707
$GC,7905,-1.10,-194.7,751.8,-8.6,836,7910,0.00,2.62,0.00,0.000,6,0.000,0.040,2424,2096,3707
$GC,8232,-0.89,-194.7,786.6,-11.1,852,8237,0.20,2.67,0.00,0.000,4,0.141,0.050,2489,373,3705
$GC,8326,-0.84,-194.7,795.5,-9.3,856,8331,0.00,2.58,0.00,0.000,6,0.000,0.041,2488,2069,3705
$GC,8643,-0.95,-194.7,823.8,-9.5,871,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2071,3703
$GC,8951,-1.09,-194.7,852.2,-9.2,886,8955,0.17,1.65,0.00,0.000,4,0.055,0.057,2403,3140,3701
$GC,9154,-0.89,-194.7,877.0,-12.6,895,9158,0.22,1.55,0.00,0.000,6,0.128,0.038,2490,2113,3701
$GC,9487,-1.02,-194.7,908.6,-9.2,911,9491,0.12,1.62,0.00,0.000,4,0.064,0.058,2430,3136,3700
$GC,9533,-0.89,-194.7,913.2,-10.6,913,9537,0.22,1.65,0.00,0.000,6,0.129,0.040,2496,2028,3699
$GC,9868,-1.03,-194.7,938.9,-7.0,929,9872,0.15,1.75,0.00,0.000,4,0.059,0.058,2420,3155,3697
$GC,9884,-1.09,-194.7,940.4,-7.1,929,9889,0.00,1.80,0.00,0.000,6,0.000,0.040,2418,1950,3697
$GC,10200,-0.89,-194.7,971.6,-9.9,945,10205,0.20,2.47,0.00,0.000,4,0.140,0.055,2485,367,3696
$GC,10318,-0.81,-194.7,981.5,-8.7,950,10323,0.10,2.35,0.00,0.000,6,0.148,0.044,2515,1905,3695
$STATE,10445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10445,begin apogee
$GC,10452,-0.29,0.0,990.9,7.5,956,10629,0.50,0.00,164.95,1.482,6,0.089,0.000,2685,1314,2946
$STATE,10630,end apogee,CONTROL_FINISHED_OK
$STATE,10630,begin climb
$GC,10632,0.98,194.7,1002.9,0.0,965,10818,1.17,2.42,177.80,1.448,4,0.050,0.053,3110,2688,2151
$GC,10872,0.38,194.7,986.4,15.4,976,10877,0.80,2.28,0.00,0.000,6,0.175,0.047,2904,1294,2146
$GC,11195,0.34,238.6,963.9,6.8,992,11247,0.00,2.30,41.60,1.360,4,0.000,0.054,2904,2684,1971
$GC,11309,0.27,238.6,954.6,8.7,997,11314,0.17,2.17,0.00,0.000,6,0.141,0.047,2864,1304,1966
$GC,11631,0.46,240.7,930.4,7.9,1013,11635,0.17,2.17,0.00,0.000,4,0.051,0.051,2956,2698,1963
$GC,11738,0.25,240.7,918.6,11.5,1018,11743,0.35,2.15,0.00,0.000,6,0.143,0.048,2866,1312,1962
$GC,12065,0.45,240.7,892.4,8.1,1034,12070,0.17,2.15,0.00,0.000,4,0.053,0.050,2954,2703,1961
$GC,12172,0.24,240.7,880.8,11.0,1039,12177,0.35,2.10,0.00,0.000,6,0.138,0.048,2861,1339,1960
$GC,12500,0.50,285.3,856.9,6.8,1055,12552,0.20,0.00,43.25,1.358,6,0.051,0.000,2966,1339,1781
$GC,12853,0.33,285.3,822.8,9.9,1072,12858,0.22,2.12,0.00,0.000,4,0.137,0.051,2893,2697,1776
$GC,12908,0.34,289.8,818.3,7.9,1074,12918,0.00,2.10,5.12,1.015,6,0.000,0.047,2900,1364,1762
$GC,13248,0.48,318.7,794.1,7.2,1091,13291,0.10,2.15,29.62,1.286,4,0.076,0.053,2959,2688,1643
$GC,13405,0.33,318.7,778.0,10.9,1098,13409,0.28,2.05,0.00,0.000,6,0.137,0.047,2890,1380,1640
$GC,13733,0.55,332.3,753.5,7.6,1114,13759,0.17,1.90,15.07,1.129,4,0.053,0.061,2997,205,1590
$GC,13889,0.33,332.3,734.6,12.5,1121,13894,0.38,1.73,0.00,0.000,6,0.139,0.044,2887,1339,1588
$GC,14224,0.62,358.9,708.9,7.3,1137,14252,0.22,0.00,25.17,1.302,6,0.051,0.000,3005,1339,1482
$GC,14575,0.44,358.9,662.8,14.0,1154,14580,0.25,2.12,0.00,0.000,4,0.139,0.051,2927,2705,1476
$GC,14643,0.44,358.9,654.5,11.3,1157,14647,0.00,2.15,0.00,0.000,6,0.000,0.045,2936,1312,1476
$GC,14970,0.44,358.9,619.8,10.0,1173,14973,0.00,2.15,0.00,0.000,4,0.000,0.050,2936,2704,1475
$GC,15041,0.44,358.9,612.2,10.5,1176,15045,0.00,2.12,0.00,0.000,6,0.000,0.045,2949,1341,1475
$GC,15369,0.44,358.9,583.8,8.2,1192,15372,0.00,2.10,0.00,0.000,4,0.000,0.050,2949,2706,1474
$GC,15437,0.47,408.3,578.7,6.6,1195,15495,0.12,2.08,47.20,1.189,6,0.144,0.044,2928,1348,1280
$GC,15804,0.75,408.3,550.5,8.7,1212,15808,0.22,1.80,0.00,0.000,4,0.049,0.058,3058,200,1273
$GC,15926,0.52,408.3,533.0,15.5,1217,15930,0.30,1.70,0.00,0.000,6,0.132,0.042,2953,1304,1273
$GC,16248,0.75,408.3,499.6,10.6,1233,16253,0.20,2.15,0.00,0.000,4,0.051,0.047,3061,2715,1273
$GC,16342,0.53,408.3,485.4,14.6,1241,16350,0.40,2.12,0.00,0.000,6,0.137,0.044,2952,1328,1273
$GC,16667,0.79,408.3,451.8,9.9,1272,16672,0.20,2.12,0.00,0.000,4,0.049,0.045,3060,2715,1273
$GC,16696,0.70,408.3,448.7,11.4,1274,16700,0.22,2.15,0.00,0.000,6,0.149,0.044,3006,1304,1273
$GC,17020,0.64,408.3,410.3,13.2,1304,17024,0.00,2.17,0.00,0.000,4,0.000,0.049,3006,2717,1273
$GC,17055,0.57,408.3,405.6,14.1,1307,17059,0.17,2.15,0.00,0.000,6,0.132,0.049,2961,1318,1273
$GC,17380,0.76,408.3,368.2,10.0,1337,17384,0.17,1.73,0.00,0.000,4,0.050,0.063,3059,202,1272
$GC,17496,0.56,408.3,353.3,13.1,1347,17503,0.28,1.60,0.00,0.000,6,0.146,0.040,2959,1265,1272
$GC,17822,0.82,436.3,328.0,7.2,1378,17858,0.20,0.00,27.42,0.952,6,0.048,0.000,3067,1265,1166
$GC,18181,0.65,436.3,287.5,12.4,1420,18187,0.22,2.20,0.00,0.000,4,0.133,0.044,2994,2705,1163
$GC,18256,0.65,436.3,279.3,10.6,1433,18263,0.00,2.28,0.00,0.000,6,0.000,0.044,3001,1221,1162
$GC,18601,0.82,436.3,241.2,11.3,1494,18608,0.12,1.60,0.00,0.000,4,0.065,0.055,3081,201,1162
$GC,18665,0.61,436.3,232.4,14.9,1505,18673,0.35,1.65,0.00,0.000,6,0.129,0.038,2977,1321,1162
$GC,19012,0.81,436.3,197.0,8.5,1566,19019,0.17,1.75,0.00,0.000,4,0.051,0.053,3088,206,1161
$GC,19128,0.60,436.3,184.2,10.9,1586,19135,0.32,1.55,0.00,0.000,6,0.123,0.036,2979,1255,1161
$GC,19472,0.85,436.3,156.9,8.6,1647,19479,0.17,1.65,0.00,0.000,4,0.055,0.052,3084,198,1161
$GC,19559,0.71,436.3,146.9,12.1,1662,19566,0.20,1.48,0.00,0.000,6,0.120,0.036,3014,1196,1161
$GC,19903,1.00,436.3,111.4,10.5,1723,19910,0.20,2.25,0.00,0.000,4,0.051,0.038,3138,2708,1161
$GC,20017,0.83,436.3,97.0,12.2,1743,20024,0.32,2.20,0.00,0.000,6,0.128,0.038,3048,1232,1161
$GC,20364,1.08,456.3,70.6,7.4,1804,20386,0.17,0.00,19.08,0.736,6,0.049,0.000,3156,1232,1083
$GC,20726,0.93,456.3,28.1,11.2,1867,20732,0.22,0.00,0.00,0.000,6,0.134,0.000,3085,1232,1083
$STATE,20993,end climb,SURFACE_DEPTH_REACHED
$STATE,20993,begin surface coast
$FINISH,0.9,1.008432
$STATE,21024,end surface coast,CONTROL_FINISHED_OK
$STATE,21024,begin surface
$SM_CCo,21101,0.00,0.000,0,0,1082,457.24
$SM_GC,1.71,7.72,0.00,0.00,0.040,0.000,0.000,169,1754,1082,-8.15,0.11,457.24
$IRIDIUM_FIX,2432.32,12307.20,210998,070741
$TT8_MAMPS,0.026845
$HUMID,1532
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.20
$XPDR_PINGS,185
$24V_AH,22.8,57.463
$10V_AH,10.7,33.294
$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,34.725,173.950,596.300,0.000,0.000,70.262,99.792,452.132,54.250,0.000,0.000,29.944,3528.758,12643.192,766.757,4056.533,1005.970,0.000,2545.697,0.000,3987.228,0.000,54.423,0.000
$DEVICE_MAMPS,239.304,62.894,1481.844,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1307.941,1336.355,2249.543,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110274,1920
$CAP_FILE_SIZE,226910,0
$CFSIZE,260165632,216256512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.171, 29.8,1
$GPS,270609,130506,2443.095,12305.736,33,1.0,33,-3.5