version: 66.04
glider: 166
mission: 2
dive: 311
start: 7 10 109 4 7 48
data:
$ID,166
$MISSION,2
$DIVE,311
$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,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,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,-11456.046
$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,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,77
$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
$GPS1,035930,2458.253,12407.853,39,1.3,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-68.9
$GPS2,040726,2458.422,12407.869,13,1.8,13,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2437.000,12353.900
$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,221.7,46120,-13.7,-7.990
$D_GRID,1593
$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,16,-1.01,-170.3,0.0,0.0,0,69,0.00,0.00,-50.40,0.000,2,0.000,0.000,168,1687,2278
$GC,72,-1.01,-170.3,3.2,-4.3,8,125,9.45,2.17,-36.95,0.000,4,0.238,0.054,2444,252,3641
$GC,154,-1.01,-170.3,17.3,-21.6,21,162,0.00,2.08,0.00,0.000,6,0.000,0.028,2436,1660,3641
$GC,500,-1.01,-170.3,77.5,-16.2,82,507,0.00,2.10,0.00,0.000,4,0.000,0.041,2426,251,3641
$GC,603,-1.01,-170.3,94.7,-17.3,100,610,0.08,2.08,0.00,0.000,6,0.161,0.027,2443,1679,3641
$GC,947,-1.01,-170.3,140.3,-11.3,161,954,0.00,2.12,0.00,0.000,4,0.000,0.040,2445,250,3643
$GC,995,-1.01,-170.3,146.3,-13.0,169,1003,0.00,2.05,0.00,0.000,6,0.000,0.026,2439,1691,3643
$GC,1342,-1.01,-170.3,187.7,-12.2,230,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1691,3643
$GC,1686,-1.01,-170.3,227.5,-11.4,291,1692,0.00,2.15,0.00,0.000,4,0.000,0.041,2439,251,3643
$GC,1757,-1.01,-170.3,235.9,-12.0,303,1763,0.00,2.05,0.00,0.000,6,0.000,0.026,2437,1688,3643
$GC,2099,-1.01,-170.3,273.8,-11.7,364,2105,0.00,2.03,0.00,0.000,4,0.000,0.039,2437,3071,3643
$GC,2119,-1.01,-170.3,275.9,-11.4,367,2125,0.00,2.03,0.00,0.000,6,0.000,0.030,2438,1664,3643
$GC,2461,-1.01,-170.3,310.2,-8.6,418,2465,0.00,2.08,0.00,0.000,4,0.000,0.044,2437,277,3642
$GC,2496,-1.01,-170.3,313.4,-9.7,421,2500,0.00,2.00,0.00,0.000,6,0.000,0.028,2438,1681,3642
$GC,2829,-1.01,-170.3,341.5,-8.8,452,2832,0.00,2.05,0.00,0.000,4,0.000,0.041,2441,3061,3642
$GC,2856,-1.01,-170.3,344.2,-9.1,454,2862,0.00,2.05,0.00,0.000,6,0.000,0.031,2440,1670,3641
$GC,3184,-1.01,-170.3,375.3,-10.2,485,3188,0.00,2.10,0.00,0.000,4,0.000,0.045,2440,274,3639
$GC,3245,-1.01,-170.3,382.8,-11.4,490,3252,0.00,2.05,0.00,0.000,6,0.000,0.028,2444,1671,3639
$GC,3570,-1.01,-170.3,417.0,-10.6,521,3574,0.00,2.08,0.00,0.000,4,0.000,0.043,2447,3067,3637
$GC,3627,-1.01,-170.3,423.0,-10.2,526,3631,0.00,2.03,0.00,0.000,6,0.000,0.032,2444,1677,3636
$GC,3957,-1.01,-170.3,454.0,-8.6,557,3961,0.00,2.10,0.00,0.000,4,0.000,0.044,2442,3070,3633
$GC,3984,-1.01,-170.3,456.5,-8.7,559,3991,0.00,2.05,0.00,0.000,6,0.000,0.033,2442,1668,3633
$GC,4311,-1.01,-170.3,486.6,-9.8,590,4315,0.00,2.10,0.00,0.000,4,0.000,0.044,2440,3059,3631
$GC,4369,-1.01,-170.3,492.6,-10.6,595,4373,0.00,2.05,0.00,0.000,6,0.000,0.035,2441,1664,3630
$GC,4693,-1.01,-170.3,526.0,-10.3,614,4697,0.00,2.12,0.00,0.000,4,0.000,0.047,2439,3066,3628
$GC,4720,-1.01,-170.3,529.0,-10.4,615,4724,0.00,2.05,0.00,0.000,6,0.000,0.035,2441,1674,3627
$GC,5048,-1.01,-170.3,561.2,-9.7,631,5052,0.00,2.10,0.00,0.000,4,0.000,0.047,2439,3058,3625
$GC,5093,-1.01,-170.3,565.8,-10.1,633,5097,0.00,2.05,0.00,0.000,6,0.000,0.037,2439,1669,3625
$GC,5427,-1.01,-170.3,594.4,-8.0,649,5430,0.00,2.17,0.00,0.000,4,0.000,0.054,2440,263,3622
$GC,5451,-1.01,-170.3,596.5,-8.6,650,5455,0.00,2.08,0.00,0.000,6,0.000,0.035,2438,1670,3622
$GC,5785,-1.01,-170.3,625.9,-9.3,666,5788,0.00,2.12,0.00,0.000,4,0.000,0.050,2438,3069,3621
$GC,5891,-1.01,-170.3,637.1,-10.8,670,5898,0.00,2.08,0.00,0.000,6,0.000,0.038,2438,1668,3620
$GC,6207,-1.01,-170.3,669.6,-9.8,686,6211,0.00,2.15,0.00,0.000,4,0.000,0.050,2437,3073,3618
$GC,6268,-1.01,-170.3,675.6,-9.7,688,6274,0.00,2.12,0.00,0.000,6,0.000,0.039,2438,1671,3618
$GC,6585,-1.01,-170.3,700.3,-7.4,704,6589,0.00,2.15,0.00,0.000,4,0.000,0.051,2438,3073,3616
$GC,6635,-1.01,-170.3,704.4,-7.5,706,6639,0.00,2.12,0.00,0.000,6,0.000,0.042,2438,1664,3615
$GC,6962,-1.01,-170.3,729.7,-8.1,722,6966,0.00,2.20,0.00,0.000,4,0.000,0.054,2438,3078,3613
$GC,7024,-1.01,-170.3,735.0,-8.9,724,7030,0.00,2.12,0.00,0.000,6,0.000,0.043,2438,1674,3613
$GC,7339,-1.01,-170.3,764.8,-9.8,740,7343,0.00,2.15,0.00,0.000,4,0.000,0.052,2439,3067,3611
$GC,7366,-1.01,-170.3,767.7,-10.6,741,7370,0.00,2.12,0.00,0.000,6,0.000,0.043,2439,1669,3611
$GC,7694,-1.01,-170.3,797.9,-8.6,757,7698,0.00,2.17,0.00,0.000,4,0.000,0.058,2439,3065,3609
$GC,7749,-1.01,-170.3,803.0,-9.5,759,7753,0.00,2.10,0.00,0.000,6,0.000,0.041,2438,1669,3608
$GC,8071,-1.01,-170.3,830.3,-8.5,775,8075,0.00,2.20,0.00,0.000,4,0.000,0.059,2438,3075,3607
$GC,8121,-1.01,-170.3,834.7,-8.9,777,8125,0.00,2.12,0.00,0.000,6,0.000,0.043,2439,1671,3606
$GC,8448,-1.01,-170.3,863.5,-8.8,793,8451,0.00,2.17,0.00,0.000,4,0.000,0.054,2437,3069,3605
$GC,8538,-1.01,-170.3,871.4,-8.8,797,8542,0.00,2.12,0.00,0.000,6,0.000,0.042,2439,1665,3604
$GC,8872,-1.01,-170.3,898.3,-7.8,813,8876,0.00,2.20,0.00,0.000,4,0.000,0.056,2436,3072,3603
$GC,8945,-1.01,-170.3,904.5,-8.0,816,8949,0.00,2.15,0.00,0.000,6,0.000,0.047,2438,1672,3603
$GC,9271,-1.01,-170.3,929.8,-8.5,832,9275,0.00,2.17,0.00,0.000,4,0.000,0.055,2428,3064,3601
$GC,9318,-1.01,-170.3,933.7,-8.6,834,9322,0.00,2.12,0.00,0.000,6,0.000,0.044,2431,1672,3601
$GC,9650,-1.01,-170.3,965.0,-9.4,850,9654,0.00,2.22,0.00,0.000,4,0.000,0.061,2431,262,3599
$GC,9768,-1.01,-170.3,977.6,-10.9,855,9772,0.00,2.15,0.00,0.000,6,0.000,0.041,2425,1677,3598
$STATE,9906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9907,begin apogee
$GC,9913,-0.29,0.0,991.2,9.6,862,10070,0.77,0.00,147.50,1.496,6,0.110,0.000,2681,1343,2945
$STATE,10070,end apogee,CONTROL_FINISHED_OK
$STATE,10070,begin climb
$GC,10073,1.01,170.3,999.7,0.0,870,10241,1.17,2.45,156.20,1.463,4,0.045,0.052,3116,2748,2249
$GC,10308,1.01,170.3,982.4,14.8,880,10314,0.00,2.28,0.00,0.000,6,0.000,0.048,3126,1357,2246
$GC,10623,1.01,170.3,937.4,14.3,896,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1357,2243
$GC,10934,1.01,170.3,893.6,13.9,911,10935,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1357,2242
$GC,11242,1.01,170.3,852.2,13.0,926,11245,0.00,2.17,0.00,0.000,4,0.000,0.053,3126,2756,2240
$GC,11332,1.01,170.3,840.0,13.4,930,11336,0.00,2.17,0.00,0.000,6,0.000,0.048,3136,1345,2240
$GC,11659,1.01,170.3,796.8,12.8,946,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,1345,2239
$GC,11968,1.01,170.3,755.7,13.1,961,11972,0.00,2.20,0.00,0.000,4,0.000,0.053,3136,2757,2238
$GC,12051,1.01,170.3,744.3,13.0,964,12059,0.12,2.20,0.00,0.000,6,0.192,0.048,3111,1351,2238
$GC,12367,1.01,170.3,704.4,13.1,980,12371,0.00,2.20,0.00,0.000,4,0.000,0.052,3111,2766,2237
$GC,12428,1.01,170.3,695.9,13.7,982,12436,0.00,2.22,0.00,0.000,6,0.000,0.047,3119,1342,2238
$GC,12746,1.01,170.3,658.2,10.8,998,12749,0.00,2.20,0.00,0.000,4,0.000,0.052,3119,2760,2237
$GC,12801,1.01,170.3,652.2,10.6,1000,12805,0.00,2.17,0.00,0.000,6,0.000,0.047,3129,1346,2237
$GC,13122,1.01,170.3,617.8,11.0,1016,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1346,2237
$GC,13433,1.01,170.3,582.3,11.9,1031,13437,0.00,2.20,0.00,0.000,4,0.000,0.051,3129,2769,2236
$GC,13602,1.01,170.3,562.9,11.3,1038,13607,0.12,2.20,0.00,0.000,6,0.202,0.046,3111,1334,2236
$GC,13918,1.01,170.3,531.1,9.9,1053,13922,0.00,2.20,0.00,0.000,4,0.000,0.050,3106,2759,2236
$GC,14088,1.01,170.3,513.8,9.8,1060,14091,0.00,2.17,0.00,0.000,6,0.000,0.045,3116,1340,2236
$GC,14414,1.01,170.3,481.0,9.1,1085,14418,0.00,2.17,0.00,0.000,4,0.000,0.050,3116,2759,2236
$GC,14461,1.01,170.3,476.8,9.0,1089,14464,0.00,2.17,0.00,0.000,6,0.000,0.044,3126,1337,2236
$GC,14792,1.01,170.3,446.9,9.5,1120,14796,0.00,2.20,0.00,0.000,4,0.000,0.048,3125,2766,2236
$GC,14831,1.01,170.3,443.1,9.4,1123,14837,0.00,2.17,0.00,0.000,6,0.000,0.044,3132,1345,2236
$GC,15157,1.01,170.3,414.0,8.7,1154,15161,0.00,2.17,0.00,0.000,4,0.000,0.048,3132,2759,2236
$GC,15252,1.01,170.3,405.5,8.5,1162,15260,0.10,2.20,0.00,0.000,6,0.187,0.045,3114,1353,2236
$GC,15577,1.04,189.9,381.1,7.4,1193,15601,0.00,2.20,16.12,1.046,4,0.000,0.047,3112,2768,2169
$GC,15673,1.04,189.9,372.6,9.1,1201,15679,0.00,2.20,0.00,0.000,6,0.000,0.045,3121,1348,2168
$GC,16000,1.04,189.9,341.5,10.2,1232,16004,0.00,2.17,0.00,0.000,4,0.000,0.046,3121,2768,2168
$GC,16247,1.04,189.9,316.9,8.4,1254,16251,0.00,2.20,0.00,0.000,6,0.000,0.046,3131,1339,2168
$GC,16579,1.04,189.9,290.4,8.7,1295,16585,0.00,2.17,0.00,0.000,4,0.000,0.044,3132,2767,2168
$GC,16771,1.04,189.9,274.1,8.5,1329,16777,0.00,2.15,0.00,0.000,6,0.000,0.041,3143,1346,2168
$GC,17113,1.06,208.6,247.6,7.4,1390,17138,0.00,2.20,17.90,0.923,4,0.000,0.051,3147,2772,2093
$GC,17392,1.06,208.6,226.1,8.1,1439,17399,0.15,2.17,0.00,0.000,6,0.179,0.040,3120,1336,2092
$GC,17737,1.08,219.4,202.2,7.6,1500,17756,0.00,2.20,10.88,0.829,4,0.000,0.044,3122,2761,2050
$GC,17836,1.08,219.4,194.1,8.2,1517,17842,0.00,2.15,0.00,0.000,6,0.000,0.039,3130,1335,2049
$GC,18181,1.08,219.4,165.4,9.1,1578,18189,0.00,2.15,0.00,0.000,4,0.000,0.040,3132,2771,2049
$GC,18285,1.08,219.4,156.6,8.4,1596,18291,0.00,2.12,0.00,0.000,6,0.000,0.037,3142,1350,2049
$GC,18630,1.10,241.0,129.7,7.3,1657,18656,0.00,1.75,20.02,0.802,4,0.000,0.049,3150,207,1961
$GC,18731,1.12,252.6,122.1,7.6,1674,18746,0.00,1.73,10.60,0.731,6,0.000,0.032,3150,1374,1915
$GC,19086,1.16,292.0,97.0,6.7,1736,19123,0.00,0.00,33.75,0.779,6,0.000,0.000,3150,1375,1754
$GC,19462,1.18,304.9,64.6,7.6,1802,19482,0.00,1.83,12.20,0.695,4,0.000,0.048,3155,212,1701
$GC,19645,1.26,368.2,51.8,6.0,1834,19704,0.00,1.67,53.42,0.738,6,0.000,0.032,3153,1355,1443
$GC,20046,1.26,372.0,19.3,7.9,1903,20059,0.00,1.80,4.38,0.462,4,0.000,0.047,3167,204,1428
$GC,20067,1.26,372.0,17.3,8.3,1906,20074,0.00,1.67,0.00,0.000,6,0.000,0.030,3167,1354,1427
$STATE,20269,end climb,SURFACE_DEPTH_REACHED
$STATE,20269,begin surface coast
$FINISH,0.8,0.999915
$STATE,20315,end surface coast,CONTROL_FINISHED_OK
$STATE,20315,begin surface
$SM_CCo,20334,64.07,0.684,0,0,1109,450.13
$SM_GC,1.73,0.00,0.00,64.07,0.000,0.000,0.684,152,1684,1109,-8.17,0.25,450.13
$IRIDIUM_FIX,2451.31,12432.84,031098,222247
$TT8_MAMPS,0.027612
$HUMID,1512
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.30
$XPDR_PINGS,161
$24V_AH,22.6,68.405
$10V_AH,10.7,43.175
$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,20.000,187.075,482.975,64.075,0.000,24.883,35.061,254.420,48.250,0.000,0.000,13.647,3410.040,12031.270,694.221,3967.585,754.045,0.000,2432.602,0.000,3928.106,0.000,56.787,0.000
$DEVICE_MAMPS,237.770,60.593,1496.417,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1325.805,1352.347,2273.910,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113824,1950
$CAP_FILE_SIZE,193858,0
$CFSIZE,260165632,210599936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.155, 59.0,1
$GPS,100709,094906,2457.672,12408.544,35,1.2,41,-3.7