version: 66.04
glider: 166
mission: 2
dive: 325
start: 7 13 109 11 47 18
data:
$ID,166
$MISSION,2
$DIVE,325
$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,-11746.165
$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,54
$R_STBD_OVSHOOT,70
$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
$GPS1,113437,2452.833,12415.050,29,1.0,29,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.0
$GPS2,114656,2453.165,12415.466,11,1.4,11,-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,237.5,18277,-13.7,-7.990
$D_GRID,1902
$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,18,-1.01,-170.3,0.0,0.0,0,78,0.00,0.00,-58.20,0.000,2,0.000,0.000,168,1659,2481
$GC,81,-1.01,-170.3,3.2,-4.3,9,127,9.40,2.08,-28.70,0.000,4,0.234,0.051,2447,274,3640
$GC,218,-1.01,-170.3,32.2,-19.6,32,225,0.00,2.03,0.00,0.000,6,0.000,0.028,2447,1683,3640
$GC,564,-1.01,-170.3,92.1,-16.3,93,570,0.00,2.05,0.00,0.000,4,0.000,0.039,2447,3075,3641
$GC,599,-1.01,-170.3,97.6,-15.1,99,606,0.00,2.03,0.00,0.000,6,0.000,0.028,2447,1663,3641
$GC,944,-1.01,-170.3,143.6,-12.2,160,951,0.00,2.08,0.00,0.000,4,0.000,0.038,2447,3067,3642
$GC,969,-1.01,-170.3,146.7,-11.9,164,977,0.00,2.03,0.00,0.000,6,0.000,0.028,2447,1677,3642
$GC,1316,-1.01,-170.3,190.4,-13.3,225,1322,0.00,2.08,0.00,0.000,4,0.000,0.041,2447,279,3642
$GC,1351,-1.01,-170.3,195.4,-13.9,231,1358,0.00,2.03,0.00,0.000,6,0.000,0.028,2448,1671,3642
$GC,1697,-1.01,-170.3,241.1,-12.5,292,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1672,3642
$GC,2042,-1.01,-170.3,282.2,-11.8,353,2047,0.00,2.08,0.00,0.000,4,0.000,0.040,2444,3076,3642
$GC,2070,-1.01,-170.3,285.6,-11.5,358,2077,0.00,2.05,0.00,0.000,6,0.000,0.031,2447,1680,3642
$GC,2403,-1.01,-170.3,324.8,-12.2,400,2411,0.00,2.10,0.00,0.000,4,0.000,0.043,2446,274,3641
$GC,2432,-1.01,-170.3,328.7,-13.2,402,2439,0.00,2.05,0.00,0.000,6,0.000,0.028,2435,1672,3641
$GC,2760,-1.01,-170.3,369.3,-12.3,433,2763,0.00,2.08,0.00,0.000,4,0.000,0.043,2431,3065,3639
$GC,2815,-1.01,-170.3,376.3,-11.9,438,2819,0.00,2.03,0.00,0.000,6,0.000,0.031,2428,1668,3639
$GC,3150,-1.01,-170.3,414.8,-11.0,469,3154,0.00,2.10,0.00,0.000,4,0.000,0.045,2428,270,3637
$GC,3179,-1.01,-170.3,418.5,-11.8,471,3185,0.00,2.05,0.00,0.000,6,0.000,0.029,2434,1683,3637
$GC,3503,-1.01,-170.3,452.0,-11.2,502,3507,0.00,2.08,0.00,0.000,4,0.000,0.044,2440,3070,3635
$GC,3521,-1.01,-170.3,453.8,-10.9,503,3527,0.00,2.05,0.00,0.000,6,0.000,0.032,2434,1663,3634
$GC,3847,-1.01,-170.3,489.7,-11.1,534,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1663,3632
$GC,4168,-1.01,-170.3,523.9,-10.0,554,4172,0.00,2.15,0.00,0.000,4,0.000,0.047,2446,3071,3629
$GC,4192,-1.01,-170.3,526.2,-9.4,555,4196,0.00,2.05,0.00,0.000,6,0.000,0.034,2444,1675,3629
$GC,4525,-1.01,-170.3,555.7,-8.6,571,4529,0.00,2.12,0.00,0.000,4,0.000,0.049,2444,273,3626
$GC,4587,-1.01,-170.3,561.8,-10.4,573,4593,0.00,2.05,0.00,0.000,6,0.000,0.032,2447,1672,3626
$GC,4903,-1.01,-170.3,591.4,-9.8,589,4906,0.00,2.15,0.00,0.000,4,0.000,0.049,2447,267,3624
$GC,4952,-1.01,-170.3,597.2,-11.9,591,4957,0.00,2.10,0.00,0.000,6,0.000,0.034,2447,1670,3623
$GC,5280,-1.01,-170.3,633.4,-11.0,607,5283,0.00,2.15,0.00,0.000,4,0.000,0.055,2447,3078,3621
$GC,5335,-1.01,-170.3,639.6,-11.1,609,5339,0.00,2.10,0.00,0.000,6,0.000,0.042,2447,1665,3620
$GC,5657,-1.01,-170.3,673.0,-9.8,625,5661,0.00,2.15,0.00,0.000,4,0.000,0.054,2447,275,3618
$GC,5741,-1.01,-170.3,682.0,-10.6,628,5749,0.00,2.08,0.00,0.000,6,0.000,0.034,2447,1680,3617
$GC,6056,-1.01,-170.3,707.7,-7.8,644,6060,0.00,2.20,0.00,0.000,4,0.000,0.053,2447,268,3616
$GC,6118,-1.01,-170.3,713.5,-8.9,646,6125,0.00,2.10,0.00,0.000,6,0.000,0.036,2447,1682,3615
$GC,6433,-1.01,-170.3,742.2,-9.6,662,6437,0.00,2.17,0.00,0.000,4,0.000,0.052,2447,276,3614
$GC,6456,-1.01,-170.3,744.5,-10.6,663,6460,0.00,2.10,0.00,0.000,6,0.000,0.036,2438,1681,3613
$GC,6789,-1.01,-170.3,780.0,-10.9,679,6792,0.00,2.20,0.00,0.000,4,0.000,0.053,2438,264,3611
$GC,6867,-1.01,-170.3,789.7,-11.9,682,6870,0.00,2.12,0.00,0.000,6,0.000,0.039,2428,1677,3610
$GC,7189,-1.01,-170.3,825.4,-11.3,698,7192,0.00,2.12,0.00,0.000,4,0.000,0.051,2418,3067,3608
$GC,7222,-1.01,-170.3,829.3,-11.8,699,7227,0.12,2.10,0.00,0.000,6,0.146,0.039,2451,1675,3607
$GC,7537,-1.01,-170.3,861.9,-10.5,714,7541,0.00,2.20,0.00,0.000,4,0.000,0.055,2451,260,3606
$GC,7606,-1.01,-170.3,869.9,-12.2,717,7610,0.00,2.12,0.00,0.000,6,0.000,0.038,2447,1677,3606
$GC,7940,-1.01,-170.3,908.1,-11.6,733,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1677,3604
$GC,8247,-1.01,-170.3,940.3,-10.0,748,8251,0.00,2.22,0.00,0.000,4,0.000,0.057,2443,261,3602
$GC,8331,-1.01,-170.3,950.1,-12.1,751,8337,0.00,2.15,0.00,0.000,6,0.000,0.040,2435,1681,3601
$GC,8648,-1.01,-170.3,982.6,-9.0,767,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1682,3599
$STATE,8728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8728,begin apogee
$GC,8735,-0.29,0.0,990.3,9.3,771,8883,0.77,0.00,145.30,1.499,6,0.114,0.000,2683,1343,2945
$STATE,8884,end apogee,CONTROL_FINISHED_OK
$STATE,8884,begin climb
$GC,8887,1.01,170.3,997.0,0.0,778,9051,1.15,2.38,154.43,1.452,4,0.046,0.050,3107,2754,2249
$GC,9107,1.01,170.3,982.8,14.5,788,9111,0.00,2.25,0.00,0.000,6,0.000,0.045,3117,1342,2246
$GC,9434,1.01,170.3,941.0,11.7,804,9437,0.00,2.17,0.00,0.000,4,0.000,0.050,3117,2754,2243
$GC,9484,1.01,170.3,934.9,11.5,806,9488,0.00,2.17,0.00,0.000,6,0.000,0.048,3127,1338,2242
$GC,9810,1.01,170.3,892.4,12.9,822,9811,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,1338,2241
$GC,10120,1.01,170.3,852.8,12.4,837,10124,0.00,2.20,0.00,0.000,4,0.000,0.051,3127,2761,2240
$GC,10176,1.01,170.3,845.5,11.9,839,10181,0.12,2.17,0.00,0.000,6,0.202,0.047,3109,1345,2239
$GC,10491,1.01,170.3,810.7,10.4,854,10495,0.00,2.20,0.00,0.000,4,0.000,0.051,3107,2764,2239
$GC,10574,1.01,170.3,801.5,11.5,857,10581,0.00,2.20,0.00,0.000,6,0.000,0.051,3116,1341,2238
$GC,10892,1.01,170.3,766.1,11.7,873,10896,0.00,2.17,0.00,0.000,4,0.000,0.051,3116,2762,2237
$GC,10919,1.01,170.3,762.6,11.9,874,10923,0.00,2.17,0.00,0.000,6,0.000,0.045,3125,1343,2237
$GC,11247,1.01,170.3,720.0,13.6,890,11251,0.00,2.20,0.00,0.000,4,0.000,0.051,3124,2762,2236
$GC,11320,1.01,170.3,709.9,13.3,893,11324,0.00,2.15,0.00,0.000,6,0.000,0.045,3132,1349,2236
$GC,11648,1.01,170.3,668.8,12.0,909,11651,0.00,1.80,0.00,0.000,4,0.000,0.058,3142,193,2236
$GC,11715,1.01,170.3,661.1,11.2,912,11720,0.10,1.77,0.00,0.000,6,0.190,0.043,3114,1352,2236
$GC,12047,1.01,170.3,630.3,8.9,928,12051,0.00,2.15,0.00,0.000,4,0.000,0.049,3110,2753,2235
$GC,12182,1.01,170.3,617.4,9.8,934,12186,0.00,2.15,0.00,0.000,6,0.000,0.044,3119,1344,2235
$GC,12515,1.01,170.3,584.6,9.9,950,12519,0.00,1.80,0.00,0.000,4,0.000,0.057,3128,195,2235
$GC,12660,1.01,170.3,568.9,10.4,956,12664,0.00,1.77,0.00,0.000,6,0.000,0.041,3128,1360,2234
$GC,12982,1.01,170.3,536.1,10.0,972,12986,0.00,2.12,0.00,0.000,4,0.000,0.048,3123,2750,2234
$GC,13157,1.01,170.3,518.0,10.5,979,13163,0.00,2.15,0.00,0.000,6,0.000,0.042,3131,1336,2235
$GC,13478,1.01,170.3,487.4,8.4,1001,13482,0.00,2.20,0.00,0.000,4,0.000,0.048,3131,2758,2234
$GC,13533,1.01,170.3,482.8,8.1,1006,13538,0.15,2.17,0.00,0.000,6,0.192,0.046,3104,1340,2234
$GC,13858,1.03,185.4,461.2,7.5,1036,13874,0.00,2.22,11.82,1.075,4,0.000,0.047,3094,2753,2189
$GC,14083,1.03,185.4,439.1,11.0,1056,14087,0.00,2.15,0.00,0.000,6,0.000,0.041,3103,1341,2188
$GC,14416,1.03,185.4,405.2,9.0,1087,14420,0.00,2.17,0.00,0.000,4,0.000,0.046,3104,2754,2188
$GC,14477,1.03,185.4,399.2,8.4,1092,14485,0.00,2.17,0.00,0.000,6,0.000,0.041,3114,1343,2188
$GC,14805,1.12,253.0,375.6,5.9,1123,14873,0.00,2.25,59.17,1.059,4,0.000,0.044,3117,2759,1912
$GC,14990,1.12,253.0,359.5,9.4,1139,14996,0.00,2.17,0.00,0.000,6,0.000,0.040,3129,1345,1908
$GC,15319,1.12,253.0,325.0,11.1,1170,15322,0.00,2.15,0.00,0.000,4,0.000,0.043,3132,2754,1907
$GC,15347,1.12,253.0,321.0,12.0,1172,15355,0.00,2.12,0.00,0.000,6,0.000,0.038,3142,1348,1906
$GC,15682,1.12,253.0,280.7,11.4,1217,15688,0.00,1.75,0.00,0.000,4,0.000,0.052,3152,205,1906
$GC,15706,1.12,253.0,277.8,11.4,1221,15712,0.00,1.70,0.00,0.000,6,0.000,0.035,3152,1365,1906
$GC,16050,1.12,253.0,246.0,8.0,1282,16056,0.00,2.08,0.00,0.000,4,0.000,0.041,3153,2753,1906
$GC,16271,1.12,253.0,226.5,9.6,1321,16277,0.00,2.12,0.00,0.000,6,0.000,0.037,3163,1334,1906
$GC,16616,1.12,255.3,193.1,7.9,1382,16622,0.00,2.12,0.00,0.000,4,0.000,0.039,3164,2749,1906
$GC,16820,1.12,255.3,174.8,10.1,1418,16827,0.12,2.10,0.00,0.000,6,0.179,0.037,3145,1335,1906
$GC,17166,1.15,276.3,141.3,7.3,1479,17192,0.00,1.80,20.85,0.815,4,0.000,0.049,3151,202,1817
$GC,17390,1.15,278.5,124.1,7.9,1518,17397,0.00,1.70,0.00,0.000,6,0.000,0.031,3151,1356,1816
$GC,17734,1.17,296.7,98.5,7.4,1579,17760,0.00,2.12,18.70,0.762,4,0.000,0.040,3151,2746,1734
$GC,17892,1.17,296.7,84.2,9.0,1606,17898,0.00,2.10,0.00,0.000,6,0.000,0.035,3160,1359,1734
$GC,18237,1.27,380.0,61.5,5.4,1667,18314,0.00,2.12,69.80,0.746,4,0.000,0.033,3160,2748,1394
$GC,18337,1.27,380.0,54.8,8.1,1683,18344,0.00,2.12,0.00,0.000,6,0.000,0.033,3170,1340,1392
$GC,18681,1.29,394.2,27.6,7.5,1744,18701,0.00,2.10,13.23,0.651,4,0.000,0.032,3170,2759,1336
$GC,18793,1.29,394.2,17.9,9.0,1763,18799,0.00,2.10,0.00,0.000,6,0.000,0.033,3180,1336,1336
$STATE,18943,end climb,SURFACE_DEPTH_REACHED
$STATE,18944,begin surface coast
$FINISH,0.8,1.002304
$STATE,18973,end surface coast,CONTROL_FINISHED_OK
$STATE,18973,begin surface
$SM_CCo,18992,45.60,0.673,0,0,1110,450.13
$SM_GC,1.81,0.00,0.00,45.60,0.000,0.000,0.673,164,1699,1110,-8.16,0.68,450.13
$IRIDIUM_FIX,2444.18,12413.02,071098,111155
$TT8_MAMPS,0.027612
$HUMID,1519
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.70
$XPDR_PINGS,147
$24V_AH,22.8,71.416
$10V_AH,10.7,45.728
$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,20.150,176.975,493.300,45.600,0.000,49.507,61.639,402.915,44.750,0.000,0.000,11.920,3154.968,11292.084,673.701,3681.679,955.868,0.000,2299.320,0.000,3647.895,0.000,54.428,0.000
$DEVICE_MAMPS,233.935,58.292,1499.485,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1218.912,1258.894,2113.514,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104130,1795
$CAP_FILE_SIZE,185681,0
$CFSIZE,260165632,209203200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.155, 34.3,1
$GPS,130709,170555,2453.229,12415.061,40,1.1,40,-3.7