version: 66.04
glider: 166
mission: 2
dive: 314
start: 7 10 109 21 32 48
data:
$ID,166
$MISSION,2
$DIVE,314
$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,-11520.439
$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,43
$R_STBD_OVSHOOT,68
$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
$GPS1,211907,2457.005,12408.429,38,1.0,38,-3.7
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.1
$GPS2,213226,2457.117,12408.522,14,1.0,14,-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,222.3,44656,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.01,-170.3,0.0,0.0,0,71,0.00,0.00,-51.80,0.000,2,0.000,0.000,123,1677,2313
$GC,75,-1.01,-170.3,3.1,-4.1,8,127,9.40,2.15,-36.05,0.000,4,0.232,0.055,2443,263,3641
$GC,234,-1.01,-170.3,32.1,-18.4,34,240,0.00,2.05,0.00,0.000,6,0.000,0.028,2440,1681,3641
$GC,578,-1.01,-170.3,81.7,-13.9,95,585,0.00,2.15,0.00,0.000,4,0.000,0.041,2442,268,3641
$GC,643,-1.01,-170.3,91.6,-15.9,106,650,0.00,2.05,0.00,0.000,6,0.000,0.028,2441,1673,3642
$GC,988,-1.01,-170.3,141.7,-13.6,167,994,0.00,2.08,0.00,0.000,4,0.000,0.040,2441,3082,3642
$GC,1063,-1.01,-170.3,150.9,-12.5,180,1070,0.00,2.05,0.00,0.000,6,0.000,0.030,2444,1658,3642
$GC,1408,-1.01,-170.3,195.3,-14.8,241,1415,0.00,2.10,0.00,0.000,4,0.000,0.044,2445,272,3642
$GC,1449,-1.01,-170.3,202.1,-16.6,248,1455,0.00,2.03,0.00,0.000,6,0.000,0.028,2441,1688,3643
$GC,1795,-1.01,-170.3,248.9,-12.0,309,1802,0.00,2.12,0.00,0.000,4,0.000,0.044,2444,273,3642
$GC,1826,-1.01,-170.3,253.0,-12.5,314,1832,0.00,2.05,0.00,0.000,6,0.000,0.029,2440,1673,3642
$GC,2170,-1.01,-170.3,291.8,-11.0,375,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1674,3642
$GC,2507,-1.01,-170.3,326.1,-10.5,413,2510,0.00,2.12,0.00,0.000,4,0.000,0.046,2441,271,3642
$GC,2552,-1.01,-170.3,331.2,-11.4,417,2556,0.00,2.05,0.00,0.000,6,0.000,0.029,2439,1691,3641
$GC,2882,-1.01,-170.3,365.7,-11.1,448,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,1691,3640
$GC,3202,-1.01,-170.3,398.6,-9.6,478,3206,0.00,2.15,0.00,0.000,4,0.000,0.048,2439,279,3638
$GC,3263,-1.01,-170.3,405.6,-11.2,483,3270,0.00,2.05,0.00,0.000,6,0.000,0.031,2440,1686,3637
$GC,3588,-1.01,-170.3,436.3,-9.2,514,3592,0.00,2.15,0.00,0.000,4,0.000,0.048,2440,277,3636
$GC,3623,-1.01,-170.3,439.8,-10.3,517,3626,0.00,2.05,0.00,0.000,6,0.000,0.031,2443,1683,3635
$GC,3955,-1.01,-170.3,474.3,-11.1,548,3960,0.00,2.15,0.00,0.000,4,0.000,0.050,2445,279,3632
$GC,3978,-1.01,-170.3,477.0,-11.3,550,3981,0.00,2.05,0.00,0.000,6,0.000,0.032,2447,1680,3632
$GC,4305,-1.01,-170.3,513.2,-10.7,575,4308,0.00,2.15,0.00,0.000,4,0.000,0.049,2446,277,3630
$GC,4333,-1.01,-170.3,516.4,-11.8,576,4336,0.00,2.05,0.00,0.000,6,0.000,0.032,2449,1679,3629
$GC,4659,-1.01,-170.3,548.6,-9.8,592,4662,0.00,2.10,0.00,0.000,4,0.000,0.048,2456,3073,3627
$GC,4692,-1.01,-170.3,552.1,-10.5,593,4696,0.00,2.05,0.00,0.000,6,0.000,0.035,2455,1681,3626
$GC,5014,-1.01,-170.3,584.5,-10.2,609,5018,0.00,2.17,0.00,0.000,4,0.000,0.052,2454,263,3624
$GC,5086,-1.01,-170.3,593.1,-11.5,612,5091,0.00,2.12,0.00,0.000,6,0.000,0.034,2455,1681,3624
$GC,5413,-1.01,-170.3,629.0,-10.7,628,5414,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1681,3622
$GC,5724,-1.01,-170.3,659.0,-9.0,643,5728,0.00,2.12,0.00,0.000,4,0.000,0.055,2443,3069,3620
$GC,5784,-1.01,-170.3,664.9,-9.2,645,5792,0.00,2.10,0.00,0.000,6,0.000,0.045,2446,1672,3619
$GC,6100,-1.01,-170.3,694.4,-9.9,661,6104,0.00,2.17,0.00,0.000,4,0.000,0.054,2441,3079,3617
$GC,6134,-1.01,-170.3,697.8,-10.6,662,6137,0.00,2.12,0.00,0.000,6,0.000,0.042,2442,1669,3616
$GC,6455,-1.01,-170.3,729.2,-9.8,678,6459,0.00,2.17,0.00,0.000,4,0.000,0.051,2440,3071,3614
$GC,6493,-1.01,-170.3,733.0,-10.0,679,6500,0.00,2.10,0.00,0.000,6,0.000,0.040,2441,1678,3613
$GC,6810,-1.01,-170.3,763.2,-9.9,695,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1678,3612
$GC,7119,-1.01,-170.3,790.8,-8.0,710,7122,0.00,2.15,0.00,0.000,4,0.000,0.053,2442,3067,3610
$GC,7197,-1.01,-170.3,796.9,-7.9,713,7201,0.00,2.10,0.00,0.000,6,0.000,0.041,2441,1671,3609
$GC,7520,-1.01,-170.3,820.8,-7.5,729,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1671,3607
$GC,7827,-1.01,-170.3,844.7,-7.8,744,7831,0.00,2.20,0.00,0.000,4,0.000,0.055,2442,3071,3605
$GC,7917,-1.01,-170.3,852.5,-8.9,748,7921,0.00,2.10,0.00,0.000,6,0.000,0.039,2443,1670,3605
$GC,8250,-1.01,-170.3,881.9,-8.9,764,8254,0.00,2.20,0.00,0.000,4,0.000,0.058,2443,262,3603
$GC,8305,-1.01,-170.3,887.6,-10.6,766,8309,0.00,2.12,0.00,0.000,6,0.000,0.039,2432,1671,3602
$GC,8628,-1.01,-170.3,920.1,-10.5,782,8632,0.00,2.20,0.00,0.000,4,0.000,0.057,2432,270,3601
$GC,8668,-1.01,-170.3,924.7,-11.9,783,8675,0.00,2.12,0.00,0.000,6,0.000,0.041,2429,1676,3600
$GC,8983,-1.01,-170.3,959.0,-10.9,799,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1677,3599
$STATE,9290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9290,begin apogee
$GC,9297,-0.29,0.0,992.0,10.8,814,9453,0.77,0.00,147.30,1.498,6,0.113,0.000,2681,1342,2945
$STATE,9454,end apogee,CONTROL_FINISHED_OK
$STATE,9454,begin climb
$GC,9457,1.01,170.3,1001.3,0.0,822,9624,1.17,2.47,155.68,1.466,4,0.049,0.052,3109,2756,2249
$GC,9698,1.01,170.3,987.1,12.6,833,9703,0.00,2.25,0.00,0.000,6,0.000,0.046,3119,1343,2245
$GC,10025,1.01,170.3,946.1,12.6,849,10029,0.00,2.22,0.00,0.000,4,0.000,0.052,3119,2765,2243
$GC,10086,1.01,170.3,938.1,12.6,851,10093,0.00,2.20,0.00,0.000,6,0.000,0.046,3129,1340,2242
$GC,10403,1.01,170.3,898.6,12.6,867,10407,0.00,2.22,0.00,0.000,4,0.000,0.054,3129,2765,2241
$GC,10430,1.01,170.3,894.8,12.7,868,10434,0.15,2.17,0.00,0.000,6,0.201,0.046,3105,1350,2241
$GC,10757,1.01,170.3,856.2,11.7,884,10758,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,1351,2239
$GC,11068,1.01,170.3,823.0,10.4,899,11071,0.00,2.20,0.00,0.000,4,0.000,0.051,3103,2767,2238
$GC,11123,1.01,170.3,816.8,10.5,901,11127,0.00,2.17,0.00,0.000,6,0.000,0.045,3112,1351,2238
$GC,11445,1.01,170.3,782.3,11.2,917,11448,0.00,1.83,0.00,0.000,4,0.000,0.059,3121,202,2238
$GC,11545,1.01,170.3,769.6,12.6,921,11549,0.00,1.75,0.00,0.000,6,0.000,0.042,3121,1368,2238
$GC,11866,1.01,170.3,728.6,13.0,937,11870,0.00,2.12,0.00,0.000,4,0.000,0.051,3120,2748,2237
$GC,11984,1.01,170.3,713.2,12.0,942,11988,0.00,2.15,0.00,0.000,6,0.000,0.045,3129,1343,2236
$GC,12310,1.01,170.3,674.5,11.6,958,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1343,2236
$GC,12620,1.01,170.3,641.5,10.6,973,12623,0.00,2.20,0.00,0.000,4,0.000,0.051,3127,2759,2236
$GC,12642,1.01,170.3,639.0,11.1,974,12646,0.00,2.17,0.00,0.000,6,0.000,0.045,3134,1339,2236
$GC,12975,1.01,170.3,602.9,10.8,990,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1339,2235
$GC,13284,1.01,170.3,570.4,10.0,1005,13288,0.00,2.20,0.00,0.000,4,0.000,0.050,3134,2756,2235
$GC,13391,1.01,170.3,560.1,9.1,1009,13398,0.15,2.15,0.00,0.000,6,0.195,0.044,3107,1349,2235
$GC,13707,1.07,212.5,536.7,6.7,1025,13750,0.00,0.00,35.88,1.210,6,0.000,0.000,3107,1349,2076
$GC,14057,1.07,212.5,503.2,10.6,1042,14061,0.00,2.17,0.00,0.000,4,0.000,0.048,3104,2749,2073
$GC,14137,1.07,212.5,494.7,10.7,1047,14142,0.00,2.15,0.00,0.000,6,0.000,0.041,3112,1339,2073
$GC,14467,1.07,212.5,458.6,11.1,1078,14471,0.00,1.75,0.00,0.000,4,0.000,0.054,3121,205,2072
$GC,14491,1.07,212.5,456.1,11.1,1080,14494,0.00,1.73,0.00,0.000,6,0.000,0.041,3121,1357,2072
$GC,14823,1.07,212.5,419.1,10.3,1111,14826,0.00,2.15,0.00,0.000,4,0.000,0.053,3121,2756,2072
$GC,14947,1.07,212.5,406.6,9.8,1122,14950,0.00,2.15,0.00,0.000,6,0.000,0.044,3129,1346,2072
$GC,15280,1.07,212.5,372.8,11.2,1153,15284,0.00,1.77,0.00,0.000,4,0.000,0.054,3137,198,2072
$GC,15341,1.07,212.5,365.4,11.1,1158,15348,0.00,1.73,0.00,0.000,6,0.000,0.038,3138,1349,2072
$GC,15668,1.07,212.5,332.5,9.6,1189,15671,0.00,2.12,0.00,0.000,4,0.000,0.044,3138,2756,2072
$GC,15871,1.07,212.5,312.4,9.6,1207,15875,0.00,2.15,0.00,0.000,6,0.000,0.042,3148,1344,2072
$GC,16208,1.07,212.5,279.6,8.3,1257,16214,0.00,1.75,0.00,0.000,4,0.000,0.051,3158,198,2072
$GC,16415,1.07,212.5,262.6,8.3,1294,16423,0.10,1.73,0.00,0.000,6,0.176,0.037,3130,1349,2073
$GC,16762,1.07,212.5,237.5,8.4,1355,16768,0.00,2.08,0.00,0.000,4,0.000,0.041,3128,2753,2074
$GC,16824,1.07,212.5,231.8,8.6,1366,16832,0.00,2.12,0.00,0.000,6,0.000,0.038,3136,1349,2074
$GC,17171,1.09,231.0,204.9,7.4,1427,17196,0.00,2.12,17.20,0.871,4,0.000,0.040,3137,2751,2002
$GC,17360,1.09,231.0,189.3,8.2,1460,17366,0.00,2.12,0.00,0.000,6,0.000,0.036,3146,1352,2002
$GC,17704,1.17,294.7,162.1,6.0,1521,17768,0.00,2.20,53.97,0.854,4,0.000,0.038,3147,2752,1742
$GC,17881,1.17,294.7,148.9,8.5,1551,17888,0.00,2.15,0.00,0.000,6,0.000,0.035,3154,1345,1740
$GC,18227,1.17,294.7,116.0,10.3,1612,18233,0.00,2.10,0.00,0.000,4,0.000,0.038,3153,2756,1740
$GC,18354,1.17,294.7,103.1,10.5,1634,18362,0.00,2.10,0.00,0.000,6,0.000,0.035,3162,1340,1739
$GC,18700,1.23,344.7,74.6,6.4,1695,18751,0.00,0.00,42.45,0.765,6,0.000,0.000,3161,1340,1538
$GC,19092,1.23,344.7,41.2,8.3,1763,19098,0.00,1.75,0.00,0.000,4,0.000,0.047,3174,199,1536
$GC,19208,1.23,344.7,30.1,8.8,1783,19214,0.00,1.70,0.00,0.000,6,0.000,0.030,3173,1372,1536
$GC,19552,1.26,372.1,4.2,7.1,1844,19573,0.00,0.00,19.25,0.668,2,0.000,0.000,3173,1373,1453
$STATE,19574,end climb,SURFACE_DEPTH_REACHED
$STATE,19574,begin surface coast
$FINISH,0.9,1.004705
$STATE,19613,end surface coast,CONTROL_FINISHED_OK
$STATE,19613,begin surface
$SM_CCo,19631,68.57,0.687,0,0,1110,450.13
$SM_GC,1.65,0.00,0.00,68.57,0.000,0.000,0.687,202,1685,1110,-8.11,0.28,450.13
$IRIDIUM_FIX,2446.56,12409.09,041098,212126
$TT8_MAMPS,0.026845
$HUMID,1502
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.50
$XPDR_PINGS,159
$24V_AH,22.7,69.059
$10V_AH,10.7,43.724
$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,19.700,159.475,471.725,68.575,0.000,48.811,68.565,449.916,47.750,0.000,0.000,14.856,3230.917,11872.901,676.544,3699.765,1002.272,0.000,2290.162,0.000,3668.871,0.000,54.437,0.000
$DEVICE_MAMPS,231.634,59.059,1497.951,687.232,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1260.648,1286.724,2162.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107478,1854
$CAP_FILE_SIZE,184671,0
$CFSIZE,260165632,210300928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093, 18.6,1
$GPS,110709,030231,2456.524,12407.769,43,1.2,43,-3.7