version: 66.04
glider: 166
mission: 2
dive: 322
start: 7 12 109 18 42 6
data:
$ID,166
$MISSION,2
$DIVE,322
$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,-11684.493
$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,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
$GPS1,182430,2453.861,12411.793,39,1.4,39,-3.7
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.3
$GPS2,184144,2454.110,12412.139,14,1.7,14,-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,217.6,17722,-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,-170.3,0.0,0.0,0,95,0.00,0.00,-77.30,0.000,2,0.000,0.000,168,1684,2226
$GC,98,-1.01,-170.3,3.2,-4.4,11,151,9.40,2.22,-37.78,0.000,4,0.237,0.057,2443,264,3641
$GC,240,-1.01,-170.3,31.6,-20.7,34,246,0.00,2.03,0.00,0.000,6,0.000,0.028,2443,1676,3642
$GC,585,-1.01,-170.3,88.9,-14.9,95,591,0.00,2.15,0.00,0.000,4,0.000,0.042,2444,267,3642
$GC,626,-1.01,-170.3,95.5,-16.3,102,633,0.00,2.03,0.00,0.000,6,0.000,0.027,2444,1683,3642
$GC,972,-1.01,-170.3,142.5,-12.8,163,978,0.00,2.03,0.00,0.000,4,0.000,0.038,2443,3067,3642
$GC,1074,-1.01,-170.3,156.0,-12.7,181,1081,0.00,2.03,0.00,0.000,6,0.000,0.030,2443,1657,3642
$GC,1421,-1.01,-170.3,200.8,-12.6,242,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1658,3642
$GC,1766,-1.01,-170.3,245.8,-13.8,303,1772,0.00,2.10,0.00,0.000,4,0.000,0.041,2434,3063,3641
$GC,1813,-1.01,-170.3,252.6,-14.2,311,1819,0.00,2.03,0.00,0.000,6,0.000,0.031,2434,1669,3641
$GC,2155,-1.01,-170.3,298.2,-12.0,372,2162,0.00,2.10,0.00,0.000,4,0.000,0.046,2432,266,3641
$GC,2192,-1.01,-170.3,302.7,-12.8,377,2196,0.00,2.03,0.00,0.000,6,0.000,0.028,2436,1675,3640
$GC,2522,-1.01,-170.3,338.6,-10.4,408,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1676,3639
$GC,2843,-1.01,-170.3,372.2,-11.3,438,2847,0.00,2.08,0.00,0.000,4,0.000,0.044,2424,3070,3637
$GC,2882,-1.01,-170.3,376.9,-11.2,441,2890,0.00,2.05,0.00,0.000,6,0.000,0.033,2431,1665,3637
$GC,3208,-1.01,-170.3,413.9,-11.3,472,3212,0.00,2.10,0.00,0.000,4,0.000,0.049,2426,279,3635
$GC,3232,-1.01,-170.3,416.9,-12.2,474,3236,0.12,2.03,0.00,0.000,6,0.159,0.030,2449,1677,3635
$GC,3563,-1.01,-170.3,450.7,-9.5,505,3566,0.00,2.08,0.00,0.000,4,0.000,0.045,2468,3065,3631
$GC,3590,-1.01,-170.3,453.5,-9.5,507,3596,0.00,2.05,0.00,0.000,6,0.000,0.034,2463,1668,3631
$GC,3915,-1.01,-170.3,482.2,-8.8,538,3919,0.00,2.12,0.00,0.000,4,0.000,0.050,2467,273,3629
$GC,3954,-1.01,-170.3,486.0,-9.6,541,3961,0.00,2.05,0.00,0.000,6,0.000,0.031,2464,1680,3628
$GC,4283,-1.01,-170.3,519.4,-10.5,564,4287,0.00,2.15,0.00,0.000,4,0.000,0.049,2465,276,3626
$GC,4310,-1.01,-170.3,521.8,-10.8,565,4313,0.00,2.05,0.00,0.000,6,0.000,0.032,2463,1678,3626
$GC,4642,-1.01,-170.3,554.9,-9.4,581,4646,0.00,2.10,0.00,0.000,4,0.000,0.047,2463,3071,3623
$GC,4675,-1.01,-170.3,558.0,-9.8,582,4679,0.00,2.08,0.00,0.000,6,0.000,0.035,2463,1665,3623
$GC,4997,-1.01,-170.3,588.6,-9.7,598,5001,0.00,2.15,0.00,0.000,4,0.000,0.048,2462,3073,3620
$GC,5024,-1.01,-170.3,591.5,-10.5,599,5029,0.00,2.08,0.00,0.000,6,0.000,0.036,2463,1669,3620
$GC,5352,-1.01,-170.3,620.7,-8.5,615,5356,0.00,2.12,0.00,0.000,4,0.000,0.048,2462,3065,3618
$GC,5408,-1.01,-170.3,625.8,-8.6,617,5412,0.00,2.08,0.00,0.000,6,0.000,0.038,2461,1665,3617
$GC,5730,-1.01,-170.3,655.0,-9.2,633,5733,0.00,2.15,0.00,0.000,4,0.000,0.054,2462,270,3615
$GC,5775,-1.01,-170.3,659.5,-9.9,635,5779,0.00,2.10,0.00,0.000,6,0.000,0.041,2460,1685,3614
$GC,6110,-1.01,-170.3,689.1,-8.6,651,6114,0.00,2.20,0.00,0.000,4,0.000,0.058,2460,276,3612
$GC,6137,-1.01,-170.3,692.0,-9.1,652,6141,0.00,2.10,0.00,0.000,6,0.000,0.038,2460,1683,3612
$GC,6464,-1.01,-170.3,720.2,-8.7,668,6468,0.00,2.15,0.00,0.000,4,0.000,0.052,2460,3080,3609
$GC,6503,-1.01,-170.3,723.1,-7.6,669,6511,0.00,2.12,0.00,0.000,6,0.000,0.044,2460,1669,3609
$GC,6821,-1.01,-170.3,750.7,-8.6,685,6825,0.00,2.17,0.00,0.000,4,0.000,0.056,2460,269,3607
$GC,6916,-1.01,-170.3,760.8,-10.3,689,6920,0.00,2.10,0.00,0.000,6,0.000,0.038,2459,1674,3606
$GC,7244,-1.01,-170.3,791.9,-9.8,705,7248,0.00,2.17,0.00,0.000,4,0.000,0.054,2447,3075,3604
$GC,7268,-1.01,-170.3,794.1,-9.2,706,7271,0.00,2.12,0.00,0.000,6,0.000,0.043,2456,1673,3603
$GC,7601,-1.01,-170.3,827.7,-10.3,722,7604,0.00,2.20,0.00,0.000,4,0.000,0.058,2456,264,3601
$GC,7656,-1.01,-170.3,834.1,-11.6,724,7660,0.00,2.15,0.00,0.000,6,0.000,0.043,2444,1665,3601
$GC,7977,-1.01,-170.3,867.5,-10.4,740,7981,0.00,2.22,0.00,0.000,4,0.000,0.058,2449,263,3599
$GC,8016,-1.01,-170.3,872.1,-12.3,741,8023,0.00,2.15,0.00,0.000,6,0.000,0.039,2441,1688,3598
$GC,8334,-1.01,-170.3,904.3,-9.7,757,8338,0.00,2.15,0.00,0.000,4,0.000,0.055,2436,3079,3597
$GC,8357,-1.01,-170.3,906.5,-8.9,758,8361,0.00,2.15,0.00,0.000,6,0.000,0.043,2439,1667,3596
$GC,8689,-1.01,-170.3,937.4,-9.2,774,8693,0.00,2.20,0.00,0.000,4,0.000,0.061,2439,269,3595
$GC,8768,-1.01,-170.3,945.3,-10.0,777,8771,0.00,2.15,0.00,0.000,6,0.000,0.046,2426,1680,3594
$GC,9089,-1.01,-170.3,974.5,-9.3,793,9097,0.00,2.25,0.00,0.000,4,0.000,0.060,2428,261,3592
$GC,9147,-1.01,-170.3,980.9,-10.9,795,9151,0.00,2.17,0.00,0.000,6,0.000,0.048,2424,1680,3593
$STATE,9260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9260,begin apogee
$GC,9267,-0.29,0.0,991.8,9.8,801,9414,0.77,0.00,143.18,1.507,6,0.115,0.000,2677,1346,2945
$STATE,9414,end apogee,CONTROL_FINISHED_OK
$STATE,9415,begin climb
$GC,9417,1.01,170.3,998.4,0.0,808,9581,1.17,2.40,154.85,1.460,4,0.048,0.053,3111,2754,2249
$GC,9621,1.01,170.3,986.1,14.1,817,9625,0.00,2.30,0.00,0.000,6,0.000,0.053,3122,1336,2246
$GC,9943,1.01,170.3,942.7,13.3,833,9946,0.00,1.80,0.00,0.000,4,0.000,0.071,3131,199,2244
$GC,9999,1.01,170.3,934.6,14.2,835,10003,0.00,1.75,0.00,0.000,6,0.000,0.041,3131,1364,2243
$GC,10320,1.01,170.3,889.2,13.5,851,10324,0.00,2.12,0.00,0.000,4,0.000,0.052,3131,2748,2242
$GC,10365,1.01,170.3,882.6,15.1,853,10370,0.15,2.15,0.00,0.000,6,0.203,0.048,3107,1347,2241
$GC,10692,1.01,170.3,838.6,13.6,869,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,1347,2240
$GC,11000,1.01,170.3,800.6,12.0,884,11004,0.00,2.17,0.00,0.000,4,0.000,0.052,3103,2747,2239
$GC,11061,1.01,170.3,792.6,14.0,886,11068,0.00,2.17,0.00,0.000,6,0.000,0.047,3112,1351,2238
$GC,11378,1.01,170.3,753.5,11.6,902,11382,0.00,2.17,0.00,0.000,4,0.000,0.051,3111,2751,2237
$GC,11406,1.01,170.3,750.0,11.4,903,11409,0.00,2.15,0.00,0.000,6,0.000,0.047,3120,1348,2237
$GC,11733,1.01,170.3,714.9,10.7,919,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,1348,2237
$GC,12043,1.01,170.3,683.1,9.9,934,12046,0.00,2.17,0.00,0.000,4,0.000,0.052,3119,2746,2236
$GC,12149,1.01,170.3,671.6,10.0,938,12155,0.00,2.17,0.00,0.000,6,0.000,0.047,3129,1351,2236
$GC,12465,1.01,170.3,638.6,10.9,954,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1350,2236
$GC,12775,1.01,170.3,603.7,11.0,969,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1351,2236
$GC,13083,1.01,170.3,571.7,10.3,984,13084,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1351,2235
$GC,13392,1.01,170.3,541.8,9.3,999,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1350,2235
$GC,13702,1.01,170.3,514.5,8.6,1014,13705,0.00,2.17,0.00,0.000,4,0.000,0.050,3129,2756,2235
$GC,13815,1.04,190.5,505.0,7.4,1019,13837,0.00,2.17,16.33,1.152,6,0.000,0.045,3137,1334,2168
$GC,14154,1.04,190.5,470.4,10.9,1048,14158,0.00,2.20,0.00,0.000,4,0.000,0.051,3137,2750,2165
$GC,14301,1.04,190.5,454.3,10.4,1061,14305,0.12,2.15,0.00,0.000,6,0.195,0.043,3120,1345,2166
$GC,14626,1.04,193.1,425.4,7.9,1091,14637,0.00,1.83,3.80,0.690,4,0.000,0.058,3127,201,2157
$GC,14687,1.04,193.1,419.8,8.2,1096,14693,0.00,1.75,0.00,0.000,6,0.000,0.047,3126,1350,2157
$GC,15012,1.04,193.1,391.6,9.6,1127,15016,0.00,2.15,0.00,0.000,4,0.000,0.049,3126,2752,2157
$GC,15092,1.04,193.1,383.2,10.9,1134,15096,0.00,2.15,0.00,0.000,6,0.000,0.041,3134,1335,2157
$GC,15422,1.04,193.1,348.4,9.8,1165,15426,0.00,2.17,0.00,0.000,4,0.000,0.045,3133,2758,2157
$GC,15562,1.04,193.1,334.8,9.1,1177,15569,0.00,2.15,0.00,0.000,6,0.000,0.041,3142,1342,2157
$GC,15889,1.04,193.1,307.1,8.2,1208,15893,0.00,2.15,0.00,0.000,4,0.000,0.044,3144,2757,2158
$GC,16042,1.06,205.1,295.3,7.6,1226,16068,0.15,2.12,14.90,0.831,6,0.184,0.041,3119,1347,2108
$GC,16408,1.07,214.9,268.5,7.7,1290,16426,0.00,2.17,10.20,0.879,4,0.000,0.043,3120,2748,2067
$GC,16472,1.07,214.9,262.6,10.0,1301,16479,0.00,2.12,0.00,0.000,6,0.000,0.039,3128,1343,2066
$GC,16818,1.08,220.0,231.3,7.8,1362,16830,0.00,1.75,6.03,0.737,4,0.000,0.052,3138,204,2047
$GC,16888,1.08,220.0,225.3,8.8,1374,16894,0.00,1.73,0.00,0.000,6,0.000,0.035,3137,1365,2047
$GC,17233,1.11,248.6,199.1,7.1,1435,17265,0.00,2.10,24.95,0.881,4,0.000,0.040,3138,2749,1929
$GC,17387,1.11,248.6,187.1,8.9,1461,17395,0.00,2.12,0.00,0.000,6,0.000,0.038,3146,1340,1927
$GC,17733,1.11,248.6,157.6,8.3,1522,17740,0.00,1.77,0.00,0.000,4,0.000,0.051,3155,199,1927
$GC,17758,1.11,248.6,155.4,8.6,1526,17764,0.00,1.70,0.00,0.000,6,0.000,0.032,3155,1352,1927
$GC,18104,1.11,248.6,123.2,10.0,1587,18110,0.00,2.08,0.00,0.000,4,0.000,0.038,3155,2756,1927
$GC,18364,1.16,289.6,103.0,6.7,1633,18404,0.00,2.12,34.62,0.797,6,0.000,0.037,3164,1347,1763
$GC,18746,1.17,295.1,76.9,7.8,1699,18759,0.00,2.10,6.32,0.610,4,0.000,0.036,3165,2750,1740
$GC,18829,1.17,295.1,69.5,8.8,1713,18837,0.00,2.10,0.00,0.000,6,0.000,0.035,3175,1337,1739
$GC,19176,1.40,479.9,49.2,2.2,1774,19335,0.15,1.77,152.12,0.732,4,0.064,0.046,3250,200,987
$GC,19462,1.40,479.9,20.7,15.3,1821,19470,0.00,1.70,0.00,0.000,6,0.000,0.030,3250,1356,984
$STATE,19608,end climb,SURFACE_DEPTH_REACHED
$STATE,19608,begin surface coast
$FINISH,0.7,1.009034
$STATE,19638,end surface coast,CONTROL_FINISHED_OK
$STATE,19638,begin surface
$SM_CCo,19717,0.00,0.000,0,0,981,481.77
$SM_GC,1.76,8.15,0.00,0.00,0.037,0.000,0.000,170,1682,981,-8.14,0.20,481.77
$IRIDIUM_FIX,2444.18,12411.06,061098,181853
$TT8_MAMPS,0.026845
$HUMID,1523
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.70
$XPDR_PINGS,158
$24V_AH,22.8,70.782
$10V_AH,10.7,45.185
$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,20.200,176.300,567.300,0.000,0.000,51.407,79.270,675.786,47.500,0.000,0.000,14.447,3203.312,11855.340,699.493,3716.044,1257.059,0.000,2349.924,0.000,3693.831,0.000,54.428,0.000
$DEVICE_MAMPS,237.003,70.564,1507.155,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1257.095,1286.256,2196.013,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107256,1852
$CAP_FILE_SIZE,194472,0
$CFSIZE,260165632,209494016
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.180, 61.7,1
$GPS,130709,001200,2453.405,12413.104,36,1.2,41,-3.7