version: 66.04
glider: 166
mission: 2
dive: 297
start: 7 6 109 21 9 45
data:
$ID,166
$MISSION,2
$DIVE,297
$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,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-11232.502
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,205400,2509.346,12403.526,41,1.6,41,-3.8
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,3
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-71.7
$GPS2,210925,2509.483,12403.947,10,1.5,16,-3.8
$SPEED_LIMITS,0.138,0.241
$TGT_NAME,OFF_5
$TGT_LATLONG,2447.200,12418.000
$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,187.1,47554,-14.9,-7.990
$D_GRID,2044
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.06,-146.0,0.0,0.0,0,75,0.00,0.00,-55.55,0.000,2,0.000,0.000,167,1799,2408
$GC,78,-1.06,-146.0,3.3,-4.4,8,124,9.10,2.12,-30.15,0.000,4,0.227,0.054,2435,387,3540
$GC,153,-1.06,-146.0,17.6,-22.1,20,160,0.00,2.10,0.00,0.000,6,0.000,0.029,2434,1804,3540
$GC,497,-1.06,-146.0,84.5,-18.1,81,505,0.00,2.05,0.00,0.000,4,0.000,0.040,2434,3200,3540
$GC,551,-1.06,-146.0,93.7,-16.7,90,557,0.00,2.03,0.00,0.000,6,0.000,0.029,2423,1786,3540
$GC,895,-1.06,-146.0,144.3,-14.0,151,901,0.00,2.05,0.00,0.000,4,0.000,0.041,2421,392,3541
$GC,986,-1.06,-146.0,157.8,-14.8,167,993,0.00,2.05,0.00,0.000,6,0.000,0.027,2416,1805,3541
$GC,1331,-1.06,-146.0,205.4,-12.8,228,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1806,3541
$GC,1675,-1.06,-146.0,250.5,-13.7,289,1682,0.00,2.10,0.00,0.000,4,0.000,0.040,2414,392,3541
$GC,1791,-1.06,-146.0,266.3,-13.6,309,1798,0.00,2.03,0.00,0.000,6,0.000,0.028,2415,1805,3541
$GC,2133,-1.06,-146.0,302.7,-10.8,368,2137,0.00,2.10,0.00,0.000,4,0.000,0.041,2418,395,3541
$GC,2217,-1.06,-146.0,313.1,-12.2,375,2223,0.00,2.05,0.00,0.000,6,0.000,0.028,2424,1819,3541
$GC,2542,-1.06,-146.0,353.6,-12.3,406,2545,0.00,2.10,0.00,0.000,4,0.000,0.041,2426,407,3539
$GC,2622,-1.06,-146.0,364.0,-13.5,413,2625,0.00,2.03,0.00,0.000,6,0.000,0.030,2433,1806,3538
$GC,2952,-1.06,-146.0,400.6,-10.1,444,2956,0.00,2.10,0.00,0.000,4,0.000,0.044,2434,404,3536
$GC,3036,-1.06,-146.0,409.4,-10.5,451,3042,0.00,2.03,0.00,0.000,6,0.000,0.030,2430,1801,3535
$GC,3362,-1.06,-146.0,443.4,-10.5,482,3366,0.00,2.10,0.00,0.000,4,0.000,0.044,2420,405,3534
$GC,3408,-1.06,-146.0,448.9,-11.8,486,3411,0.00,2.03,0.00,0.000,6,0.000,0.031,2413,1798,3533
$GC,3738,-1.06,-146.0,482.9,-10.2,517,3742,0.00,2.10,0.00,0.000,4,0.000,0.046,2414,398,3530
$GC,3817,-1.06,-146.0,492.1,-12.0,524,3820,0.00,2.08,0.00,0.000,6,0.000,0.039,2412,1804,3530
$GC,4141,-1.06,-146.0,526.0,-10.1,543,4145,0.00,2.12,0.00,0.000,4,0.000,0.048,2412,406,3527
$GC,4202,-1.06,-146.0,533.1,-11.1,545,4210,0.00,2.05,0.00,0.000,6,0.000,0.034,2413,1804,3526
$GC,4519,-1.06,-146.0,566.0,-10.8,561,4522,0.00,2.12,0.00,0.000,4,0.000,0.048,2412,409,3524
$GC,4564,-1.06,-146.0,571.5,-12.5,563,4568,0.00,2.05,0.00,0.000,6,0.000,0.035,2415,1798,3523
$GC,4896,-1.06,-146.0,606.8,-10.7,579,4900,0.00,2.15,0.00,0.000,4,0.000,0.052,2413,407,3521
$GC,4997,-1.06,-146.0,618.0,-10.7,583,5001,0.00,2.10,0.00,0.000,6,0.000,0.038,2418,1813,3520
$GC,5319,-1.06,-146.0,651.3,-10.7,599,5322,0.00,2.15,0.00,0.000,4,0.000,0.051,2413,414,3518
$GC,5391,-1.06,-146.0,660.3,-13.2,602,5395,0.00,2.08,0.00,0.000,6,0.000,0.040,2418,1798,3517
$GC,5719,-1.06,-146.0,697.9,-11.4,618,5722,0.00,2.15,0.00,0.000,4,0.000,0.052,2417,404,3515
$GC,5787,-1.06,-146.0,706.0,-12.0,621,5790,0.00,2.10,0.00,0.000,6,0.000,0.041,2417,1808,3514
$GC,6119,-1.06,-146.0,743.5,-11.0,637,6123,0.00,2.17,0.00,0.000,4,0.000,0.054,2420,403,3511
$GC,6210,-1.06,-146.0,753.8,-11.0,641,6214,0.00,2.10,0.00,0.000,6,0.000,0.037,2414,1813,3511
$GC,6542,-1.06,-146.0,786.1,-9.7,657,6546,0.00,2.20,0.00,0.000,4,0.000,0.059,2413,407,3509
$GC,6749,-1.06,-146.0,810.1,-11.9,666,6754,0.12,2.10,0.00,0.000,6,0.177,0.044,2434,1799,3508
$GC,7076,-1.06,-146.0,842.5,-9.7,682,7079,0.00,2.15,0.00,0.000,4,0.000,0.055,2435,417,3506
$GC,7189,-1.06,-146.0,854.6,-10.3,687,7193,0.00,2.10,0.00,0.000,6,0.000,0.041,2427,1811,3505
$GC,7522,-1.06,-146.0,887.1,-9.5,703,7525,0.00,2.20,0.00,0.000,4,0.000,0.057,2427,404,3502
$GC,7728,-1.06,-146.0,909.7,-10.4,712,7732,0.12,2.12,0.00,0.000,6,0.166,0.039,2439,1814,3501
$GC,8054,-1.06,-146.0,939.6,-9.4,728,8057,0.00,2.20,0.00,0.000,4,0.000,0.057,2436,410,3500
$GC,8191,-1.06,-146.0,953.7,-10.9,734,8194,0.00,2.12,0.00,0.000,6,0.000,0.041,2426,1814,3499
$GC,8524,-1.06,-146.0,986.4,-9.9,750,8527,0.00,2.20,0.00,0.000,4,0.000,0.058,2426,412,3497
$STATE,8554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8554,begin apogee
$GC,8562,-0.29,0.0,990.0,11.6,751,8695,0.77,0.00,124.38,1.488,6,0.121,0.000,2678,1374,2945
$STATE,8695,end apogee,CONTROL_FINISHED_OK
$STATE,8695,begin climb
$GC,8699,1.06,146.0,997.0,0.0,758,8839,1.20,2.35,132.25,1.462,4,0.048,0.056,3129,2746,2348
$GC,8992,1.06,146.0,974.1,13.1,771,8996,0.00,2.17,0.00,0.000,6,0.000,0.048,3139,1362,2344
$GC,9314,1.06,146.0,932.4,13.4,787,9318,0.00,2.15,0.00,0.000,4,0.000,0.058,3139,2749,2343
$GC,9353,1.06,146.0,927.0,13.0,788,9360,0.00,2.20,0.00,0.000,6,0.000,0.047,3150,1345,2342
$GC,9670,1.06,146.0,884.9,13.6,804,9673,0.00,2.20,0.00,0.000,4,0.000,0.053,3149,2758,2341
$GC,9703,1.06,146.0,879.9,15.1,805,9708,0.17,2.17,0.00,0.000,6,0.208,0.048,3120,1346,2340
$GC,10018,1.06,146.0,839.9,12.6,820,10019,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1346,2339
$GC,10328,1.06,146.0,802.6,12.0,835,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1346,2339
$GC,10638,1.06,146.0,766.8,11.4,850,10642,0.00,2.17,0.00,0.000,4,0.000,0.052,3112,2756,2338
$GC,10661,1.06,146.0,764.2,11.4,851,10665,0.00,2.17,0.00,0.000,6,0.000,0.047,3122,1336,2337
$GC,10994,1.06,146.0,728.5,10.6,867,10998,0.00,2.20,0.00,0.000,4,0.000,0.051,3115,2759,2336
$GC,11050,1.06,146.0,722.4,10.4,869,11054,0.00,2.17,0.00,0.000,6,0.000,0.045,3124,1337,2336
$GC,11371,1.06,146.0,687.5,11.0,885,11375,0.00,2.20,0.00,0.000,4,0.000,0.051,3124,2757,2336
$GC,11522,1.06,146.0,671.0,10.8,891,11528,0.00,2.15,0.00,0.000,6,0.000,0.044,3133,1349,2335
$GC,11838,1.06,146.0,640.3,9.8,907,11842,0.00,2.17,0.00,0.000,4,0.000,0.051,3130,2758,2336
$GC,11854,1.06,146.0,638.5,10.0,907,11860,0.00,2.15,0.00,0.000,6,0.000,0.044,3138,1349,2336
$GC,12170,1.06,146.0,605.9,10.4,923,12174,0.00,1.77,0.00,0.000,4,0.000,0.057,3146,202,2335
$GC,12198,1.06,146.0,602.8,10.9,924,12202,0.00,1.73,0.00,0.000,6,0.000,0.041,3147,1361,2335
$GC,12524,1.06,146.0,570.3,9.3,940,12528,0.00,2.12,0.00,0.000,4,0.000,0.049,3141,2752,2335
$GC,12750,1.06,146.0,548.0,10.3,950,12754,0.00,2.15,0.00,0.000,6,0.000,0.043,3149,1338,2335
$GC,13083,1.06,146.0,515.8,10.6,966,13086,0.00,2.17,0.00,0.000,4,0.000,0.048,3144,2754,2335
$GC,13128,1.06,146.0,511.1,10.3,968,13131,0.00,2.15,0.00,0.000,6,0.000,0.042,3150,1338,2335
$GC,13456,1.06,146.0,477.4,10.2,993,13460,0.00,2.17,0.00,0.000,4,0.000,0.048,3147,2754,2335
$GC,13607,1.06,146.0,462.5,9.4,1006,13614,0.10,2.15,0.00,0.000,6,0.198,0.041,3127,1355,2335
$GC,13934,1.06,146.0,434.4,9.0,1037,13937,0.00,2.17,0.00,0.000,4,0.000,0.053,3117,2760,2335
$GC,13990,1.06,146.0,428.9,9.7,1042,13994,0.00,2.17,0.00,0.000,6,0.000,0.041,3124,1337,2335
$GC,14323,1.06,146.0,398.5,8.0,1073,14327,0.00,1.77,0.00,0.000,4,0.000,0.056,3133,210,2335
$GC,14535,1.06,146.0,380.8,8.3,1092,14539,0.00,1.70,0.00,0.000,6,0.000,0.038,3133,1362,2336
$GC,14866,1.08,167.5,354.2,7.2,1123,14889,0.00,2.17,17.33,1.025,4,0.000,0.045,3128,2747,2261
$GC,15028,1.10,180.6,341.1,7.5,1137,15047,0.00,2.12,12.68,0.974,6,0.000,0.039,3134,1349,2207
$GC,15365,1.10,180.6,309.8,9.8,1169,15369,0.00,2.15,0.00,0.000,4,0.000,0.044,3132,2756,2206
$GC,15448,1.10,180.6,300.2,12.4,1176,15455,0.00,2.17,0.00,0.000,6,0.000,0.044,3139,1352,2206
$GC,15794,1.15,217.7,269.0,6.6,1237,15831,0.00,0.00,32.42,0.966,6,0.000,0.000,3140,1352,2056
$GC,16169,1.15,217.7,235.5,10.5,1303,16176,0.00,2.15,0.00,0.000,4,0.000,0.041,3142,2760,2052
$GC,16183,1.15,217.7,233.8,10.5,1305,16190,0.00,2.15,0.00,0.000,6,0.000,0.038,3150,1339,2052
$GC,16528,1.15,217.7,198.2,11.0,1366,16534,0.00,1.75,0.00,0.000,4,0.000,0.049,3161,207,2052
$GC,16633,1.15,217.7,186.2,11.4,1384,16639,0.00,1.70,0.00,0.000,6,0.000,0.034,3162,1353,2052
$GC,16976,1.18,248.5,155.3,6.9,1445,17010,0.00,2.12,26.05,0.852,4,0.000,0.038,3165,2759,1930
$GC,17119,1.18,248.5,143.4,9.2,1469,17127,0.00,2.12,0.00,0.000,6,0.000,0.037,3174,1344,1928
$GC,17467,1.18,248.5,108.2,8.8,1530,17473,0.00,2.12,0.00,0.000,4,0.000,0.038,3175,2762,1928
$GC,17576,1.18,248.5,99.4,8.0,1549,17584,0.00,2.15,0.00,0.000,6,0.000,0.037,3185,1344,1928
$GC,17921,1.28,328.8,76.1,5.0,1610,17997,0.00,2.20,66.75,0.777,4,0.000,0.037,3186,2750,1603
$GC,18087,1.28,328.8,63.2,9.9,1637,18094,0.00,2.10,0.00,0.000,6,0.000,0.035,3195,1348,1601
$GC,18433,1.29,338.2,31.8,7.6,1698,18447,0.00,2.17,8.48,0.620,4,0.000,0.035,3196,2766,1566
$GC,18509,1.29,338.2,25.5,8.4,1711,18516,0.00,2.15,0.00,0.000,6,0.000,0.034,3198,1340,1566
$STATE,18774,end climb,SURFACE_DEPTH_REACHED
$STATE,18774,begin surface coast
$FINISH,0.8,1.007337
$STATE,18814,end surface coast,CONTROL_FINISHED_OK
$STATE,18814,begin surface
$SM_CCo,18832,91.32,0.686,0,0,1110,450.13
$SM_GC,1.58,0.00,0.00,91.32,0.000,0.000,0.686,170,1827,1110,-8.16,0.76,450.13
$IRIDIUM_FIX,2458.45,12404.52,300998,212144
$TT8_MAMPS,0.026845
$HUMID,1499
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.70
$XPDR_PINGS,161
$24V_AH,22.8,65.510
$10V_AH,10.7,40.619
$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,19.675,172.550,420.325,91.325,0.000,81.109,133.206,411.932,48.250,0.000,0.000,16.195,3127.604,11253.000,645.585,3757.101,1046.729,0.000,2290.366,0.000,3710.190,0.000,54.422,0.000
$DEVICE_MAMPS,227.032,59.059,1487.980,685.698,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1200.895,1219.809,2055.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101102,1765
$CAP_FILE_SIZE,184995,0
$CFSIZE,260165632,212021248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.101, 98.7,1
$GPS,070709,022625,2507.717,12405.565,37,1.6,37,-3.8