version: 66.04
glider: 166
mission: 2
dive: 379
start: 7 23 109 17 54 6
data:
$ID,166
$MISSION,2
$DIVE,379
$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,330
$T_MISSION,396
$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,-12883.932
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$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,45
$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
$GPS1,174601,2357.013,12428.354,42,2.0,42,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.7
$GPS2,175346,2356.887,12428.620,12,2.3,31,-3.5
$SPEED_LIMITS,0.173,0.279
$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,286.3,75497,-16.8,-10.000
$D_GRID,2554
$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,-1.12,-170.3,0.0,0.0,0,69,0.00,0.00,-52.17,0.000,2,0.000,0.000,167,1675,2271
$GC,73,-1.12,-170.3,3.0,-5.5,8,126,8.95,2.20,-37.42,0.000,4,0.222,0.053,2392,263,3641
$GC,189,-1.12,-170.3,24.5,-18.7,27,196,0.00,2.08,0.00,0.000,6,0.000,0.028,2387,1667,3642
$GC,534,-1.12,-170.3,89.2,-16.6,88,541,0.00,2.08,0.00,0.000,4,0.000,0.038,2385,3082,3642
$GC,638,-1.12,-170.3,106.4,-17.3,106,644,0.00,2.08,0.00,0.000,6,0.000,0.029,2385,1668,3642
$GC,982,-1.12,-170.3,158.8,-14.5,167,988,0.00,2.10,0.00,0.000,4,0.000,0.038,2371,3081,3643
$GC,1047,-1.12,-170.3,168.4,-15.7,178,1054,0.12,2.03,0.00,0.000,6,0.166,0.028,2402,1664,3643
$GC,1393,-1.12,-170.3,212.8,-12.2,239,1399,0.00,2.10,0.00,0.000,4,0.000,0.038,2398,3079,3644
$GC,1480,-1.12,-170.3,223.8,-12.9,254,1486,0.00,2.03,0.00,0.000,6,0.000,0.028,2398,1664,3644
$GC,1826,-1.12,-170.3,271.2,-13.6,315,1832,0.00,2.10,0.00,0.000,4,0.000,0.038,2389,3075,3644
$GC,1906,-1.12,-170.3,282.8,-14.0,329,1913,0.00,2.03,0.00,0.000,6,0.000,0.028,2388,1669,3644
$GC,2240,-1.12,-170.3,326.2,-12.4,371,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1669,3644
$GC,2558,-1.12,-170.3,363.9,-11.1,401,2561,0.00,2.10,0.00,0.000,4,0.000,0.040,2387,3072,3644
$GC,2650,-1.12,-170.3,375.6,-12.6,409,2654,0.00,2.03,0.00,0.000,6,0.000,0.030,2386,1672,3644
$GC,2980,-1.12,-170.3,419.5,-12.1,440,2984,0.00,2.10,0.00,0.000,4,0.000,0.041,2388,3073,3643
$GC,3019,-1.12,-170.3,424.3,-12.4,443,3025,0.00,2.05,0.00,0.000,6,0.000,0.030,2384,1660,3643
$GC,3344,-1.12,-170.3,460.8,-11.5,474,3348,0.00,2.10,0.00,0.000,4,0.000,0.042,2398,3064,3641
$GC,3424,-1.12,-170.3,469.6,-10.6,481,3427,0.00,2.03,0.00,0.000,6,0.000,0.031,2392,1675,3641
$GC,3753,-1.12,-170.3,505.3,-11.2,510,3757,0.00,2.10,0.00,0.000,4,0.000,0.043,2403,3067,3639
$GC,3798,-1.12,-170.3,510.4,-11.0,512,3802,0.00,2.05,0.00,0.000,6,0.000,0.032,2401,1665,3639
$GC,4131,-1.12,-170.3,548.7,-11.5,528,4134,0.00,2.12,0.00,0.000,4,0.000,0.045,2404,3067,3637
$GC,4187,-1.12,-170.3,555.3,-11.8,530,4191,0.00,2.05,0.00,0.000,6,0.000,0.033,2403,1669,3637
$GC,4508,-1.12,-170.3,591.5,-11.0,546,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1669,3635
$GC,4818,-1.12,-170.3,623.5,-10.2,561,4822,0.00,2.12,0.00,0.000,4,0.000,0.047,2404,3064,3632
$GC,4869,-1.12,-170.3,628.9,-9.9,563,4873,0.00,2.05,0.00,0.000,6,0.000,0.035,2404,1670,3631
$GC,5196,-1.12,-170.3,664.0,-11.2,579,5199,0.00,2.15,0.00,0.000,4,0.000,0.051,2404,263,3630
$GC,5234,-1.12,-170.3,668.9,-12.3,580,5241,0.00,2.10,0.00,0.000,6,0.000,0.033,2395,1665,3629
$GC,5551,-1.12,-170.3,706.6,-11.1,596,5554,0.00,2.15,0.00,0.000,4,0.000,0.048,2389,3078,3626
$GC,5651,-1.12,-170.3,717.0,-10.4,600,5655,0.00,2.10,0.00,0.000,6,0.000,0.037,2391,1666,3625
$GC,5973,-1.12,-170.3,746.0,-9.4,616,5977,0.00,2.17,0.00,0.000,4,0.000,0.051,2379,3077,3623
$GC,6006,-1.12,-170.3,749.8,-11.2,617,6014,0.00,2.10,0.00,0.000,6,0.000,0.038,2380,1671,3622
$GC,6330,-1.12,-170.3,789.1,-13.2,633,6334,0.00,2.20,0.00,0.000,4,0.000,0.060,2380,264,3620
$GC,6364,-1.12,-170.3,794.4,-15.5,634,6369,0.12,2.12,0.00,0.000,6,0.175,0.037,2399,1686,3620
$GC,6680,-1.12,-170.3,836.2,-13.2,649,6683,0.00,2.12,0.00,0.000,4,0.000,0.053,2394,3069,3617
$GC,6713,-1.12,-170.3,840.7,-13.3,650,6717,0.00,2.10,0.00,0.000,6,0.000,0.039,2395,1671,3617
$GC,7035,-1.12,-170.3,881.5,-12.5,666,7039,0.00,2.20,0.00,0.000,4,0.000,0.056,2391,3070,3614
$GC,7109,-1.12,-170.3,890.4,-11.4,669,7113,0.00,2.12,0.00,0.000,6,0.000,0.041,2391,1665,3614
$GC,7436,-1.12,-170.3,929.3,-11.9,685,7440,0.00,2.22,0.00,0.000,4,0.000,0.058,2383,3075,3611
$GC,7550,-1.12,-170.3,942.4,-11.7,690,7554,0.00,2.12,0.00,0.000,6,0.000,0.043,2383,1674,3610
$GC,7883,-1.12,-170.3,978.1,-10.4,706,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1674,3609
$STATE,8003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8004,begin apogee
$GC,8011,-0.27,0.0,991.1,10.7,712,8161,0.95,0.00,146.20,1.461,6,0.134,0.000,2671,1349,2945
$STATE,8162,end apogee,CONTROL_FINISHED_OK
$STATE,8162,begin climb
$GC,8164,1.12,170.3,996.9,0.0,719,8323,1.27,2.33,151.23,1.421,4,0.064,0.058,3112,2747,2249
$GC,8347,1.12,170.3,986.1,12.9,727,8351,0.00,2.25,0.00,0.000,6,0.000,0.047,3123,1341,2247
$GC,8670,1.12,170.3,943.7,13.2,743,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1342,2244
$GC,8978,1.12,170.3,905.6,12.2,758,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,1342,2242
$GC,9287,1.12,170.3,867.6,12.2,773,9291,0.00,2.20,0.00,0.000,4,0.000,0.052,3122,2752,2240
$GC,9366,1.12,170.3,857.7,12.5,776,9370,0.00,2.17,0.00,0.000,6,0.000,0.047,3131,1339,2239
$GC,9682,1.12,170.3,818.9,12.0,791,9686,0.00,2.22,0.00,0.000,4,0.000,0.053,3131,2761,2238
$GC,9773,1.12,170.3,808.4,11.3,795,9777,0.00,2.17,0.00,0.000,6,0.000,0.048,3141,1351,2238
$GC,10101,1.12,170.3,773.0,10.9,811,10104,0.00,1.80,0.00,0.000,4,0.000,0.060,3150,202,2237
$GC,10326,1.12,170.3,748.2,10.8,821,10330,0.00,1.75,0.00,0.000,6,0.000,0.043,3150,1366,2236
$GC,10659,1.12,170.3,713.6,10.8,837,10663,0.00,1.88,0.00,0.000,4,0.000,0.061,3157,208,2235
$GC,10732,1.12,170.3,705.3,11.3,840,10736,0.12,1.75,0.00,0.000,6,0.199,0.051,3130,1362,2235
$GC,11060,1.12,170.3,672.3,10.2,856,11064,0.00,2.15,0.00,0.000,4,0.000,0.052,3130,2750,2235
$GC,11138,1.12,170.3,663.5,10.4,859,11142,0.00,2.17,0.00,0.000,6,0.000,0.046,3138,1335,2234
$GC,11460,1.14,185.4,630.6,9.4,875,11481,0.00,2.22,11.80,1.185,4,0.000,0.051,3135,2752,2188
$GC,11607,1.14,185.4,616.6,10.2,881,11610,0.00,2.17,0.00,0.000,6,0.000,0.045,3144,1345,2187
$GC,11930,1.15,194.1,587.1,9.7,897,11944,0.00,1.85,9.18,1.110,4,0.000,0.060,3153,198,2153
$GC,12029,1.15,194.1,575.5,11.0,901,12033,0.00,1.77,0.00,0.000,6,0.000,0.044,3153,1346,2152
$GC,12351,1.15,198.0,540.7,9.8,917,12361,0.00,2.17,5.35,0.922,4,0.000,0.048,3151,2752,2136
$GC,12501,1.19,227.8,526.6,8.8,923,12533,0.00,2.17,27.52,1.151,6,0.000,0.044,3159,1344,2016
$GC,12849,1.19,227.8,487.3,12.0,945,12852,0.00,2.20,0.00,0.000,4,0.000,0.055,3160,2752,2012
$GC,13032,1.19,227.8,465.7,11.7,961,13036,0.00,2.15,0.00,0.000,6,0.000,0.043,3171,1347,2011
$GC,13364,1.20,235.4,431.3,9.7,992,13377,0.00,2.17,7.62,0.939,4,0.000,0.048,3173,2753,1984
$GC,13417,1.20,235.4,425.6,10.3,996,13424,0.12,2.15,0.00,0.000,6,0.198,0.042,3155,1341,1984
$GC,13742,1.23,262.5,393.5,8.9,1027,13776,0.00,2.25,25.12,1.029,4,0.000,0.046,3154,2758,1873
$GC,13813,1.23,262.5,386.2,11.3,1033,13817,0.00,2.17,0.00,0.000,6,0.000,0.041,3159,1347,1871
$GC,14147,1.23,262.5,348.7,10.9,1064,14152,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,1347,1870
$GC,14475,1.25,274.5,317.4,9.5,1095,14491,0.00,2.15,11.60,0.899,4,0.000,0.042,3164,2755,1824
$GC,14607,1.29,306.5,304.6,8.7,1106,14641,0.00,2.15,28.92,0.939,6,0.000,0.039,3172,1334,1695
$GC,14976,1.29,306.5,260.4,13.4,1167,14982,0.00,2.17,0.00,0.000,4,0.000,0.041,3177,2766,1692
$GC,15074,1.29,306.5,248.3,11.1,1184,15080,0.00,2.15,0.00,0.000,6,0.000,0.038,3187,1337,1690
$GC,15421,1.29,308.6,216.1,9.9,1245,15428,0.00,2.15,0.00,0.000,4,0.000,0.040,3187,2766,1690
$GC,15530,1.29,311.8,204.7,9.9,1264,15543,0.00,2.12,5.88,0.672,6,0.000,0.038,3196,1344,1673
$GC,15882,1.30,315.2,168.4,9.9,1326,15895,0.00,2.17,5.07,0.604,4,0.000,0.044,3196,2757,1659
$GC,16039,1.30,315.2,152.4,10.9,1353,16046,0.00,2.10,0.00,0.000,6,0.000,0.036,3206,1345,1658
$GC,16385,1.30,315.2,119.0,10.3,1414,16392,0.00,2.12,0.00,0.000,4,0.000,0.038,3206,2772,1659
$GC,16484,1.32,333.0,109.4,9.3,1431,16510,0.00,2.12,17.35,0.731,6,0.000,0.035,3214,1337,1586
$GC,16849,1.41,405.0,75.8,7.2,1495,16918,0.00,0.00,61.40,0.727,6,0.000,0.000,3214,1337,1293
$GC,17259,1.41,405.0,35.6,12.2,1566,17265,0.00,1.75,0.00,0.000,4,0.000,0.046,3222,202,1290
$GC,17374,1.45,439.8,23.9,8.6,1586,17412,0.00,1.70,30.50,0.663,6,0.000,0.028,3222,1380,1151
$STATE,17568,end climb,SURFACE_DEPTH_REACHED
$STATE,17568,begin surface coast
$FINISH,0.8,1.021535
$STATE,17599,end surface coast,CONTROL_FINISHED_OK
$STATE,17599,begin surface
$SM_CCo,17618,8.48,0.558,0,0,1110,450.13
$SM_GC,2.21,0.00,0.00,8.48,0.000,0.000,0.558,168,1684,1110,-8.12,0.25,450.13
$IRIDIUM_FIX,2347.41,12427.84,171098,121237
$TT8_MAMPS,0.026845
$HUMID,1582
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.80
$XPDR_PINGS,144
$24V_AH,23.2,81.369
$10V_AH,10.7,54.398
$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,19.725,151.775,544.750,8.475,0.000,25.837,30.471,225.764,44.000,0.000,0.000,32.781,2861.171,10451.749,641.526,3399.604,722.040,0.000,2148.904,0.000,3349.021,0.000,57.141,0.000
$DEVICE_MAMPS,222.430,61.360,1461.135,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1101.152,1125.679,1890.036,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94673,1625
$CAP_FILE_SIZE,167253,0
$CFSIZE,260165632,204480512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.309,104.5,1
$GPS,230709,224907,2356.588,12430.154,34,1.4,34,-3.5