version: 66.04
glider: 166
mission: 2
dive: 313
start: 7 10 109 15 45 30
data:
$ID,166
$MISSION,2
$DIVE,313
$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,-11504.957
$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,44
$R_STBD_OVSHOOT,73
$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
$GPS1,153101,2457.337,12408.073,41,1.2,41,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-65.1
$GPS2,154508,2457.493,12408.183,14,1.4,14,-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,216.8,44930,-13.7,-7.990
$D_GRID,1638
$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,-1.01,-170.3,0.0,0.0,0,69,0.00,0.00,-51.85,0.000,2,0.000,0.000,182,1690,2316
$GC,72,-1.01,-170.3,3.1,-4.3,8,125,9.15,2.20,-34.95,0.000,4,0.231,0.054,2433,274,3641
$GC,194,-1.01,-170.3,27.2,-21.4,28,201,0.00,2.03,0.00,0.000,6,0.000,0.027,2434,1681,3642
$GC,538,-1.01,-170.3,86.0,-14.2,89,546,0.00,2.08,0.00,0.000,4,0.000,0.038,2436,3070,3642
$GC,577,-1.01,-170.3,91.1,-14.1,95,584,0.00,2.03,0.00,0.000,6,0.000,0.030,2442,1662,3642
$GC,921,-1.01,-170.3,144.1,-16.4,156,928,0.00,2.10,0.00,0.000,4,0.000,0.043,2438,275,3644
$GC,1035,-1.01,-170.3,162.5,-16.0,176,1042,0.00,2.05,0.00,0.000,6,0.000,0.027,2440,1685,3643
$GC,1381,-1.01,-170.3,205.9,-10.3,237,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1685,3643
$GC,1726,-1.01,-170.3,242.3,-11.7,298,1732,0.00,2.12,0.00,0.000,4,0.000,0.043,2439,264,3643
$GC,1774,-1.01,-170.3,248.7,-14.1,306,1780,0.00,2.03,0.00,0.000,6,0.000,0.028,2437,1681,3643
$GC,2117,-1.01,-170.3,295.9,-13.8,367,2123,0.00,2.05,0.00,0.000,4,0.000,0.042,2425,3064,3644
$GC,2175,-1.01,-170.3,303.6,-13.1,375,2179,0.00,2.03,0.00,0.000,6,0.000,0.032,2428,1670,3644
$GC,2505,-1.01,-170.3,338.7,-10.8,406,2509,0.00,2.10,0.00,0.000,4,0.000,0.047,2426,273,3643
$GC,2533,-1.01,-170.3,341.9,-11.6,408,2540,0.00,2.05,0.00,0.000,6,0.000,0.029,2423,1671,3642
$GC,2859,-1.01,-170.3,375.5,-10.1,439,2863,0.10,2.08,0.00,0.000,4,0.162,0.043,2450,3073,3640
$GC,2909,-1.01,-170.3,380.5,-9.4,443,2915,0.00,2.05,0.00,0.000,6,0.000,0.032,2450,1665,3640
$GC,3235,-1.01,-170.3,411.6,-10.1,474,3239,0.00,2.12,0.00,0.000,4,0.000,0.049,2450,263,3637
$GC,3307,-1.01,-170.3,420.1,-11.8,480,3314,0.00,2.08,0.00,0.000,6,0.000,0.030,2452,1673,3637
$GC,3632,-1.01,-170.3,456.5,-10.9,511,3636,0.00,2.12,0.00,0.000,4,0.000,0.048,2452,279,3634
$GC,3659,-1.01,-170.3,459.6,-12.0,513,3667,0.00,2.03,0.00,0.000,6,0.000,0.031,2458,1674,3633
$GC,3987,-1.01,-170.3,492.1,-9.9,544,3990,0.00,2.10,0.00,0.000,4,0.000,0.046,2464,3076,3631
$GC,4036,-1.01,-170.3,497.4,-9.7,548,4043,0.00,2.10,0.00,0.000,6,0.000,0.035,2468,1673,3631
$GC,4354,-1.01,-170.3,525.8,-8.7,565,4358,0.00,2.12,0.00,0.000,4,0.000,0.046,2454,3076,3628
$GC,4387,-1.01,-170.3,528.9,-8.9,566,4391,0.00,2.08,0.00,0.000,6,0.000,0.035,2457,1673,3627
$GC,4709,-1.01,-170.3,558.9,-10.0,582,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1672,3625
$GC,5020,-1.01,-170.3,588.6,-9.3,597,5023,0.00,2.15,0.00,0.000,4,0.000,0.055,2455,3072,3622
$GC,5076,-1.01,-170.3,593.7,-9.4,599,5079,0.00,2.08,0.00,0.000,6,0.000,0.037,2456,1672,3622
$GC,5397,-1.01,-170.3,622.0,-8.6,615,5401,0.00,2.15,0.00,0.000,4,0.000,0.053,2454,3070,3620
$GC,5430,-1.01,-170.3,624.8,-8.7,616,5435,0.00,2.12,0.00,0.000,6,0.000,0.040,2457,1674,3620
$GC,5751,-1.01,-170.3,654.1,-9.7,632,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1674,3618
$GC,6060,-1.01,-170.3,684.3,-9.8,647,6064,0.00,2.15,0.00,0.000,4,0.000,0.051,2453,3070,3615
$GC,6143,-1.01,-170.3,692.2,-10.0,650,6150,0.00,2.10,0.00,0.000,6,0.000,0.038,2454,1683,3615
$GC,6460,-1.01,-170.3,719.7,-8.6,666,6464,0.00,2.22,0.00,0.000,4,0.000,0.058,2453,261,3613
$GC,6518,-1.01,-170.3,725.2,-10.0,668,6522,0.00,2.10,0.00,0.000,6,0.000,0.036,2452,1676,3612
$GC,6840,-1.01,-170.3,752.0,-7.9,684,6843,0.00,2.15,0.00,0.000,4,0.000,0.058,2453,3070,3611
$GC,6912,-1.01,-170.3,758.0,-8.5,687,6916,0.00,2.12,0.00,0.000,6,0.000,0.042,2453,1664,3610
$GC,7240,-1.01,-170.3,783.2,-7.7,703,7243,0.00,2.17,0.00,0.000,4,0.000,0.052,2454,3069,3608
$GC,7279,-1.01,-170.3,786.6,-8.7,704,7285,0.00,2.10,0.00,0.000,6,0.000,0.040,2454,1666,3607
$GC,7594,-1.01,-170.3,814.4,-9.5,720,7598,0.00,2.17,0.00,0.000,4,0.000,0.053,2454,3071,3605
$GC,7640,-1.01,-170.3,819.0,-9.6,722,7643,0.00,2.10,0.00,0.000,6,0.000,0.041,2453,1676,3606
$GC,7973,-1.01,-170.3,852.1,-9.8,738,7977,0.00,2.17,0.00,0.000,4,0.000,0.053,2449,3079,3604
$GC,8011,-1.01,-170.3,856.2,-10.8,739,8017,0.00,2.12,0.00,0.000,6,0.000,0.041,2450,1668,3604
$GC,8329,-1.01,-170.3,885.9,-8.9,755,8332,0.00,2.20,0.00,0.000,4,0.000,0.057,2450,259,3602
$GC,8356,-1.01,-170.3,888.7,-9.8,756,8360,0.00,2.15,0.00,0.000,6,0.000,0.038,2443,1679,3602
$GC,8683,-1.01,-170.3,919.0,-9.4,772,8687,0.00,2.22,0.00,0.000,4,0.000,0.058,2445,272,3600
$GC,8740,-1.01,-170.3,925.1,-11.6,774,8746,0.00,2.12,0.00,0.000,6,0.000,0.040,2441,1682,3600
$GC,9056,-1.01,-170.3,955.0,-9.4,790,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1682,3598
$GC,9364,-1.01,-170.3,983.1,-8.9,805,9368,0.00,2.25,0.00,0.000,4,0.000,0.060,2442,264,3597
$GC,9410,-1.01,-170.3,987.6,-11.4,807,9414,0.00,2.15,0.00,0.000,6,0.000,0.041,2440,1681,3596
$STATE,9451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9451,begin apogee
$GC,9457,-0.29,0.0,991.6,9.1,809,9615,0.73,0.00,147.10,1.495,6,0.109,0.000,2680,1348,2945
$STATE,9615,end apogee,CONTROL_FINISHED_OK
$STATE,9615,begin climb
$GC,9619,1.01,170.3,999.3,0.0,817,9784,1.17,2.42,155.85,1.463,4,0.051,0.052,3106,2762,2250
$GC,9829,1.01,170.3,986.5,13.6,826,9836,0.00,2.33,0.00,0.000,6,0.000,0.048,3116,1352,2246
$GC,10146,1.01,170.3,945.5,12.8,842,10149,0.00,2.22,0.00,0.000,4,0.000,0.056,3117,2765,2243
$GC,10219,1.01,170.3,935.8,13.2,845,10224,0.00,2.22,0.00,0.000,6,0.000,0.048,3127,1338,2242
$GC,10541,1.01,170.3,893.1,13.3,861,10545,0.00,2.22,0.00,0.000,4,0.000,0.052,3126,2768,2241
$GC,10597,1.01,170.3,885.1,14.4,863,10602,0.10,2.22,0.00,0.000,6,0.192,0.053,3110,1355,2241
$GC,10918,1.01,170.3,843.1,13.2,879,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,1355,2240
$GC,11228,1.01,170.3,805.1,12.1,894,11231,0.00,1.83,0.00,0.000,4,0.000,0.061,3118,190,2239
$GC,11260,1.01,170.3,800.4,13.6,895,11264,0.00,1.77,0.00,0.000,6,0.000,0.043,3117,1357,2239
$GC,11582,1.01,170.3,760.0,12.9,911,11586,0.00,2.15,0.00,0.000,4,0.000,0.052,3117,2753,2238
$GC,11677,1.01,170.3,747.1,13.1,915,11681,0.00,2.17,0.00,0.000,6,0.000,0.047,3127,1336,2238
$GC,12005,1.01,170.3,708.5,11.0,931,12008,0.00,1.77,0.00,0.000,4,0.000,0.061,3136,202,2237
$GC,12037,1.01,170.3,704.4,11.5,932,12041,0.00,1.75,0.00,0.000,6,0.000,0.041,3136,1350,2238
$GC,12359,1.01,170.3,668.8,11.3,948,12363,0.00,2.17,0.00,0.000,4,0.000,0.052,3136,2756,2237
$GC,12516,1.01,170.3,650.4,11.5,955,12521,0.15,2.15,0.00,0.000,6,0.198,0.048,3110,1351,2236
$GC,12849,1.01,170.3,614.1,10.7,971,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1351,2236
$GC,13158,1.01,170.3,583.2,9.7,986,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1351,2236
$GC,13467,1.01,170.3,554.5,9.2,1001,13470,0.00,2.17,0.00,0.000,4,0.000,0.051,3107,2753,2235
$GC,13534,1.01,170.3,547.8,10.1,1004,13538,0.00,2.17,0.00,0.000,6,0.000,0.046,3115,1337,2236
$GC,13867,1.01,170.3,514.6,9.8,1020,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1337,2235
$GC,14181,1.03,183.9,488.0,7.6,1042,14196,0.00,2.20,10.57,1.092,4,0.000,0.049,3115,2750,2195
$GC,14272,1.03,183.9,480.1,9.5,1050,14276,0.00,2.17,0.00,0.000,6,0.000,0.048,3125,1342,2194
$GC,14605,1.03,183.9,446.7,11.9,1081,14609,0.00,2.17,0.00,0.000,4,0.000,0.048,3125,2753,2194
$GC,14663,1.03,183.9,439.0,12.5,1086,14667,0.00,2.17,0.00,0.000,6,0.000,0.050,3132,1343,2194
$GC,14987,1.03,183.9,401.3,9.9,1116,14991,0.00,2.15,0.00,0.000,4,0.000,0.047,3132,2750,2194
$GC,15190,1.03,185.8,382.7,7.9,1134,15194,0.00,2.15,0.00,0.000,6,0.000,0.043,3143,1337,2194
$GC,15520,1.03,185.8,357.0,8.6,1165,15525,0.12,2.20,0.00,0.000,4,0.193,0.044,3107,2759,2194
$GC,15628,1.03,185.8,347.9,8.3,1174,15632,0.00,2.17,0.00,0.000,6,0.000,0.048,3116,1344,2194
$GC,15953,1.04,192.8,321.4,7.8,1204,15968,0.00,2.20,9.80,0.936,4,0.000,0.051,3116,2745,2159
$GC,16159,1.04,192.8,302.7,8.5,1222,16166,0.00,2.15,0.00,0.000,6,0.000,0.042,3127,1354,2159
$GC,16501,1.04,192.8,276.3,8.7,1280,16508,0.00,1.80,0.00,0.000,4,0.000,0.054,3137,205,2159
$GC,16559,1.04,192.8,271.5,8.3,1290,16565,0.00,1.73,0.00,0.000,6,0.000,0.038,3137,1357,2159
$GC,16903,1.07,218.0,244.0,7.2,1351,16934,0.00,2.12,23.50,0.931,4,0.000,0.042,3139,2749,2055
$GC,16990,1.07,218.0,236.5,9.7,1366,16997,0.00,2.12,0.00,0.000,6,0.000,0.039,3149,1350,2054
$GC,17335,1.12,253.9,207.2,6.9,1427,17372,0.00,2.17,30.48,0.898,4,0.000,0.041,3150,2756,1911
$GC,17452,1.12,253.9,197.1,9.4,1447,17459,0.00,2.15,0.00,0.000,6,0.000,0.039,3163,1342,1908
$GC,17798,1.12,253.9,162.4,11.0,1508,17804,0.00,2.12,0.00,0.000,4,0.000,0.040,3165,2753,1908
$GC,17862,1.12,253.9,155.4,11.1,1519,17869,0.15,2.10,0.00,0.000,6,0.177,0.035,3139,1341,1908
$GC,18207,1.16,289.9,128.0,6.9,1580,18246,0.00,2.15,31.40,0.821,4,0.000,0.038,3139,2759,1763
$GC,18292,1.16,289.9,121.5,8.4,1594,18299,0.00,2.15,0.00,0.000,6,0.000,0.035,3141,1352,1762
$GC,18636,1.16,289.9,91.7,8.6,1655,18643,0.00,2.10,0.00,0.000,4,0.000,0.037,3141,2762,1761
$GC,18724,1.16,289.9,83.7,9.3,1670,18730,0.00,2.12,0.00,0.000,6,0.000,0.035,3150,1353,1761
$GC,19068,1.16,289.9,52.8,8.3,1731,19075,0.00,1.75,0.00,0.000,4,0.000,0.046,3158,205,1760
$GC,19166,1.18,305.3,45.2,7.5,1748,19186,0.00,1.67,14.77,0.705,6,0.000,0.031,3159,1366,1700
$GC,19527,1.26,366.1,21.5,6.1,1811,19583,0.00,0.00,51.45,0.718,6,0.000,0.000,3160,1366,1451
$STATE,19806,end climb,SURFACE_DEPTH_REACHED
$STATE,19806,begin surface coast
$FINISH,0.8,1.001351
$STATE,19853,end surface coast,CONTROL_FINISHED_OK
$STATE,19853,begin surface
$SM_CCo,19872,68.20,0.686,0,0,1110,450.13
$SM_GC,1.80,0.00,0.00,68.20,0.000,0.000,0.686,128,1677,1110,-8.23,0.06,450.13
$IRIDIUM_FIX,2448.93,12407.12,041098,151500
$TT8_MAMPS,0.027612
$HUMID,1509
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.40
$XPDR_PINGS,165
$24V_AH,22.7,68.839
$10V_AH,10.7,43.541
$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,19.700,177.750,474.925,68.200,0.000,74.679,103.872,367.371,49.250,0.000,0.000,16.423,3269.840,12053.232,683.633,3745.799,1017.477,0.000,2337.796,0.000,3729.571,0.000,54.429,0.000
$DEVICE_MAMPS,230.867,61.360,1494.883,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1270.056,1293.003,2166.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107427,1868
$CAP_FILE_SIZE,191701,0
$CFSIZE,260165632,210403328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.143, 42.8,1
$GPS,100709,211907,2457.005,12408.429,38,1.0,38,-3.7