version: 66.04
glider: 166
mission: 2
dive: 360
start: 7 19 109 4 23 27
data:
$ID,166
$MISSION,2
$DIVE,360
$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,-12521.543
$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,58
$R_STBD_OVSHOOT,67
$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
$GPS1,041454,2408.670,12418.927,36,1.4,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-65.7
$GPS2,042306,2408.733,12419.024,15,1.3,31,-3.5
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2352.500,12344.300
$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,248.7,66046,-13.7,-7.990
$D_GRID,1250
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.01,-170.3,0.0,0.0,0,78,0.00,0.00,-57.33,0.000,2,0.000,0.000,174,1658,2429
$GC,82,-1.01,-170.3,3.2,-4.5,9,134,9.15,2.15,-32.62,0.000,4,0.223,0.056,2437,280,3641
$GC,174,-1.01,-170.3,19.6,-20.2,24,182,0.00,2.03,0.00,0.000,6,0.000,0.028,2437,1679,3641
$GC,521,-1.01,-170.3,79.1,-17.1,85,528,0.00,2.08,0.00,0.000,4,0.000,0.041,2439,3085,3641
$GC,546,-1.01,-170.3,83.0,-15.7,89,553,0.00,2.08,0.00,0.000,6,0.000,0.031,2434,1681,3641
$GC,889,-1.01,-170.3,132.0,-13.0,150,896,0.00,2.12,0.00,0.000,4,0.000,0.045,2435,261,3643
$GC,941,-1.01,-170.3,139.3,-14.0,159,948,0.00,2.08,0.00,0.000,6,0.000,0.028,2431,1680,3643
$GC,1287,-1.01,-170.3,186.2,-13.8,220,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1681,3643
$GC,1631,-1.01,-170.3,234.1,-14.6,281,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1681,3643
$GC,1975,-1.01,-170.3,279.8,-13.0,342,1981,0.00,2.08,0.00,0.000,4,0.000,0.041,2424,3080,3643
$GC,2005,-1.01,-170.3,283.5,-12.6,347,2012,0.00,2.05,0.00,0.000,6,0.000,0.031,2426,1670,3643
$GC,2339,-1.01,-170.3,320.1,-10.9,391,2343,0.00,2.10,0.00,0.000,4,0.000,0.046,2424,273,3643
$GC,2400,-1.01,-170.3,328.0,-13.5,396,2408,0.00,2.05,0.00,0.000,6,0.000,0.028,2423,1677,3643
$GC,2728,-1.01,-170.3,364.2,-10.8,427,2732,0.10,2.08,0.00,0.000,4,0.165,0.040,2448,3073,3643
$GC,2755,-1.01,-170.3,367.5,-10.8,429,2761,0.00,2.05,0.00,0.000,6,0.000,0.031,2449,1664,3643
$GC,3080,-1.01,-170.3,398.8,-9.2,460,3084,0.00,2.10,0.00,0.000,4,0.000,0.048,2449,270,3642
$GC,3119,-1.01,-170.3,403.1,-11.0,463,3126,0.00,2.05,0.00,0.000,6,0.000,0.028,2448,1687,3642
$GC,3446,-1.01,-170.3,435.9,-9.5,494,3450,0.00,2.05,0.00,0.000,4,0.000,0.042,2450,3071,3640
$GC,3515,-1.01,-170.3,442.4,-9.7,500,3518,0.00,2.05,0.00,0.000,6,0.000,0.033,2451,1663,3639
$GC,3845,-1.01,-170.3,470.1,-8.4,531,3849,0.00,2.10,0.00,0.000,4,0.000,0.048,2452,273,3638
$GC,3869,-1.01,-170.3,472.3,-9.3,533,3873,0.00,2.05,0.00,0.000,6,0.000,0.029,2452,1691,3637
$GC,4198,-1.01,-170.3,507.7,-11.0,561,4202,0.00,2.05,0.00,0.000,4,0.000,0.044,2452,3064,3636
$GC,4255,-1.01,-170.3,513.8,-10.6,563,4259,0.00,2.05,0.00,0.000,6,0.000,0.033,2451,1665,3635
$GC,4578,-1.01,-170.3,541.4,-7.6,579,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1664,3633
$GC,4885,-1.01,-170.3,567.1,-9.1,594,4889,0.00,2.15,0.00,0.000,4,0.000,0.045,2454,3075,3631
$GC,4963,-1.01,-170.3,574.5,-9.8,597,4967,0.00,2.08,0.00,0.000,6,0.000,0.035,2456,1670,3631
$GC,5286,-1.01,-170.3,604.5,-9.0,613,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1670,3628
$GC,5593,-1.01,-170.3,633.2,-9.1,628,5597,0.00,2.12,0.00,0.000,4,0.000,0.046,2469,3063,3625
$GC,5638,-1.01,-170.3,637.2,-9.0,630,5643,0.00,2.08,0.00,0.000,6,0.000,0.038,2467,1666,3625
$GC,5971,-1.01,-170.3,667.4,-8.8,646,5975,0.00,2.12,0.00,0.000,4,0.000,0.048,2457,3061,3622
$GC,6004,-1.01,-170.3,670.4,-8.6,647,6008,0.00,2.08,0.00,0.000,6,0.000,0.039,2462,1672,3622
$GC,6327,-1.01,-170.3,697.1,-7.7,663,6330,0.00,2.15,0.00,0.000,4,0.000,0.051,2448,3062,3619
$GC,6374,-1.01,-170.3,700.8,-8.2,665,6377,0.00,2.08,0.00,0.000,6,0.000,0.039,2455,1674,3619
$GC,6707,-1.01,-170.3,727.4,-8.0,681,6711,0.00,2.15,0.00,0.000,4,0.000,0.055,2443,3060,3616
$GC,6802,-1.01,-170.3,735.5,-8.7,685,6806,0.00,2.10,0.00,0.000,6,0.000,0.045,2446,1672,3615
$GC,7131,-1.01,-170.3,762.4,-8.6,701,7134,0.00,2.17,0.00,0.000,4,0.000,0.054,2443,3067,3613
$GC,7198,-1.01,-170.3,768.5,-8.9,704,7202,0.00,2.12,0.00,0.000,6,0.000,0.043,2446,1666,3613
$GC,7531,-1.01,-170.3,797.3,-8.6,720,7535,0.00,2.17,0.00,0.000,4,0.000,0.053,2442,3071,3610
$GC,7599,-1.01,-170.3,803.1,-8.7,723,7603,0.00,2.12,0.00,0.000,6,0.000,0.044,2444,1675,3609
$GC,7932,-1.01,-170.3,832.2,-8.6,739,7936,0.00,2.22,0.00,0.000,4,0.000,0.064,2444,267,3607
$GC,8023,-1.01,-170.3,841.1,-10.8,743,8027,0.00,2.12,0.00,0.000,6,0.000,0.041,2440,1667,3607
$GC,8355,-1.01,-170.3,870.2,-8.2,759,8359,0.00,2.20,0.00,0.000,4,0.000,0.059,2436,3079,3605
$GC,8412,-1.01,-170.3,875.1,-8.6,761,8415,0.00,2.12,0.00,0.000,6,0.000,0.042,2437,1673,3605
$GC,8737,-1.01,-170.3,900.8,-7.9,777,8741,0.00,2.20,0.00,0.000,4,0.000,0.058,2436,273,3602
$GC,8850,-1.01,-170.3,911.3,-9.3,782,8854,0.00,2.12,0.00,0.000,6,0.000,0.038,2428,1680,3602
$GC,9183,-1.01,-170.3,939.0,-7.6,798,9187,0.00,2.20,0.00,0.000,4,0.000,0.060,2424,3077,3600
$GC,9217,-1.01,-170.3,941.7,-7.3,799,9220,0.00,2.15,0.00,0.000,6,0.000,0.048,2424,1676,3600
$GC,9538,-1.01,-170.3,968.5,-8.9,815,9542,0.00,2.20,0.00,0.000,4,0.000,0.057,2424,3076,3599
$GC,9561,-1.01,-170.3,970.5,-9.2,816,9564,0.00,2.15,0.00,0.000,6,0.000,0.044,2424,1665,3598
$STATE,9788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9788,begin apogee
$GC,9795,-0.29,0.0,991.4,8.6,827,9951,0.80,0.00,146.70,1.471,6,0.111,0.000,2685,1340,2946
$STATE,9952,end apogee,CONTROL_FINISHED_OK
$STATE,9952,begin climb
$GC,9955,1.01,170.3,1000.0,0.0,835,10119,1.15,2.38,153.85,1.441,4,0.048,0.053,3114,2755,2249
$GC,10249,1.01,170.3,977.2,13.0,848,10253,0.00,2.20,0.00,0.000,6,0.000,0.049,3124,1355,2243
$GC,10570,1.01,170.3,940.4,11.2,864,10574,0.00,2.20,0.00,0.000,4,0.000,0.053,3124,2764,2241
$GC,10648,1.01,170.3,930.4,12.6,867,10652,0.00,2.20,0.00,0.000,6,0.000,0.049,3133,1349,2240
$GC,10970,1.01,170.3,891.1,12.1,883,10973,0.00,2.20,0.00,0.000,4,0.000,0.054,3133,2759,2239
$GC,11031,1.01,170.3,883.7,11.9,885,11038,0.15,2.20,0.00,0.000,6,0.199,0.054,3108,1346,2239
$GC,11348,1.01,170.3,849.9,10.8,901,11352,0.00,2.20,0.00,0.000,4,0.000,0.054,3107,2753,2238
$GC,11387,1.01,170.3,845.2,11.6,902,11393,0.00,2.20,0.00,0.000,6,0.000,0.048,3116,1351,2238
$GC,11703,1.01,170.3,808.5,11.9,918,11707,0.00,2.20,0.00,0.000,4,0.000,0.057,3116,2754,2237
$GC,11798,1.01,170.3,797.0,11.4,922,11802,0.00,2.20,0.00,0.000,6,0.000,0.054,3126,1340,2237
$GC,12125,1.01,170.3,760.2,11.2,938,12128,0.00,2.22,0.00,0.000,4,0.000,0.053,3126,2765,2236
$GC,12203,1.01,170.3,751.0,10.3,941,12207,0.00,2.22,0.00,0.000,6,0.000,0.049,3135,1339,2236
$GC,12518,1.01,170.3,715.0,11.7,956,12522,0.00,1.80,0.00,0.000,4,0.000,0.061,3144,193,2235
$GC,12591,1.01,170.3,705.9,12.4,959,12595,0.15,1.77,0.00,0.000,6,0.193,0.044,3111,1353,2235
$GC,12918,1.01,170.3,670.5,10.3,975,12922,0.00,2.17,0.00,0.000,4,0.000,0.052,3108,2756,2235
$GC,12945,1.01,170.3,667.5,10.0,976,12949,0.00,2.17,0.00,0.000,6,0.000,0.048,3116,1346,2234
$GC,13272,1.01,170.3,635.8,9.9,992,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1346,2234
$GC,13583,1.01,170.3,605.9,9.4,1007,13587,0.00,2.22,0.00,0.000,4,0.000,0.058,3116,2756,2234
$GC,13616,1.01,170.3,602.5,9.5,1008,13619,0.00,2.17,0.00,0.000,6,0.000,0.047,3126,1348,2234
$GC,13938,1.01,170.3,571.8,9.5,1024,13942,0.00,2.17,0.00,0.000,4,0.000,0.051,3126,2748,2234
$GC,14116,1.01,170.3,555.1,9.4,1031,14122,0.00,2.17,0.00,0.000,6,0.000,0.047,3136,1340,2234
$GC,14432,1.05,195.5,529.2,7.2,1047,14457,0.00,2.22,20.88,1.172,4,0.000,0.051,3136,2747,2146
$GC,14609,1.05,195.5,512.0,10.2,1055,14612,0.00,2.17,0.00,0.000,6,0.000,0.046,3145,1348,2143
$GC,14931,1.05,195.5,478.7,10.2,1080,14935,0.00,1.85,0.00,0.000,4,0.000,0.061,3157,201,2143
$GC,14954,1.05,195.5,476.2,10.6,1082,14958,0.15,1.73,0.00,0.000,6,0.186,0.041,3122,1353,2143
$GC,15284,1.06,207.9,446.4,7.6,1113,15301,0.00,1.88,12.15,1.054,4,0.000,0.058,3130,199,2097
$GC,15417,1.07,218.5,435.7,7.7,1124,15433,0.00,1.77,11.12,1.019,6,0.000,0.044,3128,1352,2053
$GC,15759,1.07,218.5,406.6,9.0,1156,15763,0.00,2.17,0.00,0.000,4,0.000,0.046,3129,2762,2051
$GC,15895,1.07,218.5,394.4,9.4,1168,15899,0.00,2.17,0.00,0.000,6,0.000,0.044,3136,1341,2050
$GC,16226,1.07,218.5,363.7,9.6,1199,16229,0.00,1.77,0.00,0.000,4,0.000,0.055,3144,193,2050
$GC,16306,1.07,218.7,356.8,8.0,1206,16310,0.00,1.77,0.00,0.000,6,0.000,0.044,3145,1357,2050
$GC,16640,1.07,218.7,331.0,8.3,1237,16644,0.00,1.80,0.00,0.000,4,0.000,0.054,3153,199,2050
$GC,16803,1.07,218.7,316.2,8.8,1251,16809,0.00,1.73,0.00,0.000,6,0.000,0.038,3155,1369,2050
$GC,17136,1.08,223.0,287.5,7.9,1295,17149,0.00,2.08,5.43,0.726,4,0.000,0.041,3157,2753,2036
$GC,17295,1.10,238.5,275.3,7.5,1323,17316,0.12,2.12,15.48,0.887,6,0.181,0.039,3134,1342,1972
$GC,17656,1.12,254.4,248.8,7.5,1386,17677,0.00,1.83,14.90,0.853,4,0.000,0.051,3143,197,1906
$GC,17750,1.12,254.4,240.9,8.4,1402,17757,0.00,1.73,0.00,0.000,6,0.000,0.035,3143,1353,1905
$GC,18096,1.13,267.9,212.8,7.6,1463,18117,0.00,2.10,12.98,0.802,4,0.000,0.040,3144,2752,1852
$GC,18304,1.17,296.6,197.8,7.1,1499,18336,0.00,2.15,25.62,0.823,6,0.000,0.038,3151,1343,1735
$GC,18674,1.17,296.6,163.1,9.5,1564,18682,0.00,2.12,0.00,0.000,4,0.000,0.038,3153,2760,1734
$GC,18750,1.17,296.6,156.2,8.3,1577,18757,0.00,2.15,0.00,0.000,6,0.000,0.036,3163,1347,1733
$GC,19095,1.17,296.6,125.1,9.6,1638,19101,0.00,2.10,0.00,0.000,4,0.000,0.037,3161,2752,1733
$GC,19189,1.17,296.6,115.8,10.2,1654,19195,0.00,2.10,0.00,0.000,6,0.000,0.036,3169,1340,1733
$GC,19534,1.20,322.5,86.6,7.2,1715,19566,0.00,2.15,23.67,0.721,4,0.000,0.035,3171,2744,1629
$GC,19664,1.25,364.9,76.8,6.6,1737,19708,0.00,2.12,36.28,0.716,6,0.000,0.035,3176,1346,1457
$GC,20051,1.31,406.8,44.4,6.7,1804,20092,0.00,1.83,36.30,0.684,4,0.000,0.048,3183,198,1285
$GC,20222,1.31,406.8,30.2,9.8,1833,20229,0.00,1.70,0.00,0.000,6,0.000,0.030,3183,1364,1284
$STATE,20524,end climb,SURFACE_DEPTH_REACHED
$STATE,20524,begin surface coast
$FINISH,0.8,1.021488
$STATE,20559,end surface coast,CONTROL_FINISHED_OK
$STATE,20560,begin surface
$SM_CCo,20579,36.03,0.641,0,0,1110,450.13
$SM_GC,1.69,0.00,0.00,36.03,0.000,0.000,0.641,160,1695,1110,-8.17,0.54,450.13
$IRIDIUM_FIX,2401.56,12420.05,121098,222249
$TT8_MAMPS,0.026845
$HUMID,1538
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,25.80
$XPDR_PINGS,173
$24V_AH,23.0,77.205
$10V_AH,10.7,50.940
$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,19.750,188.375,515.350,36.025,0.000,22.821,40.377,240.503,51.250,0.000,0.000,32.037,3349.377,12314.158,670.974,3951.749,800.319,0.000,2406.457,0.000,3901.394,0.000,54.426,0.000
$DEVICE_MAMPS,223.197,63.661,1471.106,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1284.907,1296.199,2179.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110619,1893
$CAP_FILE_SIZE,194624,0
$CFSIZE,260165632,206409728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074, 45.6,1
$GPS,190709,100824,2408.413,12418.078,26,1.0,43,-3.5