version: 66.04
glider: 166
mission: 2
dive: 320
start: 7 12 109 7 20 21
data:
$ID,166
$MISSION,2
$DIVE,320
$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,-11653.118
$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,41
$R_STBD_OVSHOOT,80
$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
$GPS1,071024,2454.371,12409.596,40,1.4,40,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.5
$GPS2,071958,2454.461,12409.672,13,3.1,32,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2444.800,12409.700
$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,198.1,17892,-13.7,-7.990
$D_GRID,1734
$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,-52.30,0.000,2,0.000,0.000,150,1694,2328
$GC,72,-1.01,-170.3,3.3,-5.1,8,125,9.35,2.22,-34.75,0.000,4,0.232,0.055,2436,263,3642
$GC,166,-1.01,-170.3,20.6,-22.1,23,172,0.00,2.03,0.00,0.000,6,0.000,0.028,2434,1666,3642
$GC,511,-1.01,-170.3,81.1,-14.9,84,519,0.00,2.10,0.00,0.000,4,0.000,0.041,2447,259,3642
$GC,645,-1.01,-170.3,101.2,-15.5,107,652,0.00,2.05,0.00,0.000,6,0.000,0.027,2442,1694,3643
$GC,990,-1.01,-170.3,148.0,-11.5,168,998,0.00,2.05,0.00,0.000,4,0.000,0.040,2442,3062,3644
$GC,1055,-1.01,-170.3,155.5,-11.6,179,1062,0.00,2.05,0.00,0.000,6,0.000,0.029,2447,1662,3644
$GC,1401,-1.01,-170.3,200.5,-14.3,240,1409,0.00,2.08,0.00,0.000,4,0.000,0.039,2436,3061,3644
$GC,1433,-1.01,-170.3,205.2,-14.3,245,1439,0.00,2.00,0.00,0.000,6,0.000,0.030,2444,1671,3644
$GC,1776,-1.01,-170.3,251.7,-12.8,306,1783,0.00,2.10,0.00,0.000,4,0.000,0.043,2439,282,3644
$GC,1800,-1.01,-170.3,255.1,-13.1,310,1807,0.00,2.03,0.00,0.000,6,0.000,0.028,2431,1698,3644
$GC,2147,-1.01,-170.3,300.8,-13.0,371,2150,0.00,2.03,0.00,0.000,4,0.000,0.040,2427,3070,3644
$GC,2194,-1.01,-170.3,307.0,-12.9,375,2198,0.00,2.03,0.00,0.000,6,0.000,0.031,2427,1671,3644
$GC,2524,-1.01,-170.3,345.4,-9.9,406,2528,0.00,2.10,0.00,0.000,4,0.000,0.044,2426,271,3643
$GC,2559,-1.01,-170.3,349.3,-11.1,409,2564,0.00,2.03,0.00,0.000,6,0.000,0.029,2431,1673,3643
$GC,2889,-1.01,-170.3,379.9,-9.9,440,2892,0.00,2.08,0.00,0.000,4,0.000,0.043,2440,3064,3642
$GC,2916,-1.01,-170.3,382.7,-9.8,442,2922,0.00,2.05,0.00,0.000,6,0.000,0.031,2430,1680,3641
$GC,3241,-1.01,-170.3,420.6,-12.5,473,3245,0.00,2.12,0.00,0.000,4,0.000,0.047,2433,272,3640
$GC,3276,-1.01,-170.3,425.2,-13.0,476,3280,0.00,2.05,0.00,0.000,6,0.000,0.030,2446,1683,3639
$GC,3607,-1.01,-170.3,460.4,-9.6,507,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1683,3638
$GC,3926,-1.01,-170.3,493.0,-11.8,537,3929,0.00,2.17,0.00,0.000,4,0.000,0.049,2447,267,3635
$GC,3972,-1.01,-170.3,498.9,-13.4,541,3976,0.00,2.05,0.00,0.000,6,0.000,0.032,2447,1673,3635
$GC,4294,-1.01,-170.3,538.4,-12.1,557,4298,0.00,2.15,0.00,0.000,4,0.000,0.051,2448,277,3632
$GC,4349,-1.01,-170.3,545.7,-12.1,559,4354,0.00,2.08,0.00,0.000,6,0.000,0.034,2447,1680,3631
$GC,4671,-1.01,-170.3,577.2,-8.4,575,4672,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1680,3629
$GC,4982,-1.01,-170.3,601.3,-7.6,590,4986,0.00,2.17,0.00,0.000,4,0.000,0.052,2447,271,3627
$GC,5043,-1.01,-170.3,606.8,-8.8,592,5050,0.00,2.12,0.00,0.000,6,0.000,0.034,2447,1683,3626
$GC,5362,-1.01,-170.3,636.1,-10.1,608,5365,0.00,2.20,0.00,0.000,4,0.000,0.054,2447,276,3624
$GC,5385,-1.01,-170.3,639.0,-11.3,609,5389,0.00,2.10,0.00,0.000,6,0.000,0.035,2447,1683,3624
$GC,5719,-1.01,-170.3,675.4,-11.0,625,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1684,3622
$GC,6029,-1.01,-170.3,711.0,-11.6,640,6032,0.00,2.20,0.00,0.000,4,0.000,0.054,2446,270,3619
$GC,6084,-1.01,-170.3,718.1,-12.0,642,6088,0.00,2.12,0.00,0.000,6,0.000,0.040,2447,1686,3619
$GC,6408,-1.01,-170.3,751.0,-9.9,658,6411,0.00,2.12,0.00,0.000,4,0.000,0.051,2447,3076,3617
$GC,6433,-1.01,-170.3,753.4,-10.0,659,6437,0.00,2.10,0.00,0.000,6,0.000,0.040,2447,1676,3617
$GC,6767,-1.01,-170.3,786.9,-10.2,675,6770,0.00,2.20,0.00,0.000,4,0.000,0.056,2447,260,3615
$GC,6850,-1.01,-170.3,796.4,-11.1,678,6856,0.00,2.15,0.00,0.000,6,0.000,0.038,2447,1672,3614
$GC,7166,-1.01,-170.3,829.3,-10.6,694,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1671,3612
$GC,7475,-1.01,-170.3,860.2,-9.6,709,7479,0.00,2.20,0.00,0.000,4,0.000,0.061,2431,3081,3609
$GC,7524,-1.01,-170.3,865.0,-9.5,711,7529,0.00,2.12,0.00,0.000,6,0.000,0.042,2437,1674,3609
$GC,7852,-1.01,-170.3,895.6,-10.0,727,7856,0.00,2.22,0.00,0.000,4,0.000,0.060,2435,268,3607
$GC,7913,-1.01,-170.3,901.8,-11.0,729,7919,0.00,2.12,0.00,0.000,6,0.000,0.040,2427,1676,3607
$GC,8231,-1.01,-170.3,929.2,-7.9,745,8235,0.00,2.22,0.00,0.000,4,0.000,0.060,2431,270,3605
$GC,8300,-1.01,-170.3,936.2,-10.4,748,8303,0.00,2.15,0.00,0.000,6,0.000,0.041,2425,1679,3604
$GC,8632,-1.01,-170.3,964.1,-8.3,764,8635,0.00,2.22,0.00,0.000,4,0.000,0.060,2427,273,3603
$GC,8681,-1.01,-170.3,968.7,-9.6,766,8686,0.10,2.15,0.00,0.000,6,0.165,0.041,2448,1686,3602
$STATE,8986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8986,begin apogee
$GC,8993,-0.29,0.0,991.4,7.6,781,9149,0.70,0.00,148.15,1.493,6,0.110,0.000,2679,1353,2945
$STATE,9150,end apogee,CONTROL_FINISHED_OK
$STATE,9150,begin climb
$GC,9153,1.01,170.3,997.9,0.0,789,9318,1.17,2.40,155.65,1.460,4,0.048,0.052,3113,2755,2250
$GC,9415,1.01,170.3,975.7,15.4,801,9419,0.00,2.25,0.00,0.000,6,0.000,0.049,3124,1342,2246
$GC,9741,1.01,170.3,929.6,13.8,817,9745,0.00,2.22,0.00,0.000,4,0.000,0.058,3124,2756,2243
$GC,9769,1.01,170.3,925.6,14.0,818,9773,0.00,2.20,0.00,0.000,6,0.000,0.051,3132,1349,2243
$GC,10090,1.01,170.3,884.6,12.3,834,10093,0.00,1.83,0.00,0.000,4,0.000,0.063,3141,192,2242
$GC,10207,1.01,170.3,868.4,13.9,839,10211,0.10,1.80,0.00,0.000,6,0.196,0.051,3114,1358,2241
$GC,10535,1.01,170.3,829.9,11.6,855,10539,0.00,2.15,0.00,0.000,4,0.000,0.054,3110,2747,2240
$GC,10613,1.01,170.3,820.4,11.5,858,10617,0.00,2.20,0.00,0.000,6,0.000,0.052,3119,1350,2240
$GC,10935,1.01,170.3,784.4,11.2,874,10938,0.00,2.17,0.00,0.000,4,0.000,0.053,3119,2750,2239
$GC,10996,1.01,170.3,776.7,12.3,876,11003,0.00,2.20,0.00,0.000,6,0.000,0.048,3129,1343,2238
$GC,11313,1.01,170.3,739.8,11.8,892,11317,0.00,2.20,0.00,0.000,4,0.000,0.053,3129,2759,2238
$GC,11374,1.01,170.3,731.9,12.6,894,11381,0.10,2.20,0.00,0.000,6,0.190,0.048,3111,1356,2237
$GC,11691,1.01,170.3,696.7,11.1,910,11694,0.00,1.83,0.00,0.000,4,0.000,0.061,3118,195,2237
$GC,11736,1.01,170.3,690.9,12.7,912,11739,0.00,1.75,0.00,0.000,6,0.000,0.042,3117,1359,2237
$GC,12068,1.01,170.3,652.7,11.8,928,12072,0.00,2.15,0.00,0.000,4,0.000,0.051,3111,2757,2237
$GC,12230,1.01,170.3,635.2,10.5,935,12235,0.00,2.20,0.00,0.000,6,0.000,0.045,3119,1344,2236
$GC,12558,1.01,170.3,603.9,9.3,951,12561,0.00,2.17,0.00,0.000,4,0.000,0.050,3119,2753,2236
$GC,12704,1.01,170.3,589.2,11.0,957,12707,0.00,2.15,0.00,0.000,6,0.000,0.044,3129,1348,2236
$GC,13026,1.01,170.3,553.8,11.2,973,13030,0.00,2.17,0.00,0.000,4,0.000,0.048,3129,2754,2236
$GC,13053,1.01,170.3,550.2,11.6,974,13058,0.12,2.15,0.00,0.000,6,0.199,0.044,3111,1348,2235
$GC,13381,1.01,170.3,519.9,8.5,990,13385,0.00,1.80,0.00,0.000,4,0.000,0.057,3118,192,2236
$GC,13494,1.01,170.3,510.1,8.2,995,13498,0.00,1.75,0.00,0.000,6,0.000,0.041,3113,1348,2236
$GC,13824,1.06,204.7,486.4,6.9,1019,13859,0.00,2.25,28.98,1.160,4,0.000,0.048,3112,2753,2109
$GC,14043,1.06,204.7,465.2,10.3,1038,14050,0.00,2.20,0.00,0.000,6,0.000,0.042,3120,1345,2106
$GC,14372,1.06,204.7,430.0,11.0,1069,14376,0.00,2.17,0.00,0.000,4,0.000,0.052,3121,2749,2106
$GC,14512,1.06,204.7,413.1,11.4,1081,14520,0.00,2.15,0.00,0.000,6,0.000,0.041,3130,1337,2106
$GC,14840,1.06,204.7,378.7,10.4,1112,14843,0.00,2.17,0.00,0.000,4,0.000,0.048,3131,2747,2106
$GC,14912,1.06,204.7,371.2,9.3,1118,14919,0.00,2.15,0.00,0.000,6,0.000,0.041,3140,1354,2106
$GC,15240,1.06,204.7,340.4,9.5,1149,15243,0.00,2.12,0.00,0.000,4,0.000,0.044,3141,2753,2106
$GC,15402,1.06,204.7,323.1,11.1,1163,15408,0.00,2.12,0.00,0.000,6,0.000,0.041,3150,1348,2106
$GC,15733,1.06,204.7,291.3,8.4,1203,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1348,2106
$GC,16076,1.06,204.7,262.1,8.6,1264,16082,0.12,2.15,0.00,0.000,4,0.186,0.041,3119,2763,2107
$GC,16247,1.06,207.9,248.3,7.9,1294,16259,0.00,2.15,4.57,0.663,6,0.000,0.039,3130,1335,2096
$GC,16596,1.06,207.9,220.6,8.3,1356,16602,0.00,2.15,0.00,0.000,4,0.000,0.041,3132,2765,2096
$GC,16811,1.08,220.5,204.1,7.6,1394,16830,0.00,2.12,12.77,0.848,6,0.000,0.038,3143,1344,2046
$GC,17169,1.10,238.7,177.5,7.4,1457,17195,0.00,2.20,16.80,0.841,4,0.000,0.039,3143,2756,1971
$GC,17382,1.10,238.7,157.8,10.6,1494,17388,0.00,2.12,0.00,0.000,6,0.000,0.036,3153,1337,1970
$GC,17727,1.12,258.1,127.3,7.4,1555,17753,0.00,2.17,17.75,0.800,4,0.000,0.038,3152,2754,1890
$GC,17827,1.14,273.5,120.2,7.5,1572,17848,0.00,2.10,14.32,0.769,6,0.000,0.035,3160,1350,1828
$GC,18187,1.15,283.4,89.6,7.7,1635,18206,0.00,2.15,9.60,0.703,4,0.000,0.036,3160,2760,1789
$GC,18226,1.16,290.2,86.6,7.8,1641,18240,0.00,2.12,7.62,0.655,6,0.000,0.035,3171,1337,1760
$GC,18581,1.27,381.7,62.3,5.1,1703,18664,0.00,1.77,76.45,0.759,4,0.000,0.048,3179,199,1388
$GC,18718,1.28,387.7,53.2,7.8,1725,18733,0.00,1.73,6.38,0.572,6,0.000,0.031,3179,1362,1364
$GC,19072,1.35,443.5,27.2,6.2,1787,19129,0.10,2.12,48.42,0.705,4,0.077,0.034,3229,2750,1136
$GC,19267,1.35,443.5,6.5,10.8,1820,19273,0.00,2.08,0.00,0.000,6,0.000,0.032,3240,1343,1136
$STATE,19306,end climb,SURFACE_DEPTH_REACHED
$STATE,19306,begin surface coast
$FINISH,0.8,1.021088
$STATE,19341,end surface coast,CONTROL_FINISHED_OK
$STATE,19341,begin surface
$SM_CCo,19359,5.12,0.479,0,0,1110,450.13
$SM_GC,2.72,0.00,0.00,5.12,0.000,0.000,0.479,168,1684,1110,-8.16,0.25,450.13
$IRIDIUM_FIX,2444.18,12407.76,061098,010142
$TT8_MAMPS,0.026845
$HUMID,1559
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.60
$XPDR_PINGS,160
$24V_AH,22.7,70.315
$10V_AH,10.7,44.813
$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,20.000,177.975,547.475,5.125,0.000,27.475,31.344,335.951,48.000,0.000,0.000,33.394,3202.631,11389.332,670.472,3826.558,833.961,0.000,2339.167,0.000,3780.071,0.000,54.428,0.000
$DEVICE_MAMPS,231.634,62.894,1493.349,479.375,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1244.543,1281.993,2213.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107342,1833
$CAP_FILE_SIZE,187677,0
$CFSIZE,260165632,209702912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.163, 46.1,1
$GPS,120709,124425,2453.983,12410.925,41,1.1,41,-3.7