version: 66.04
glider: 166
mission: 2
dive: 445
start: 8 5 109 20 7 52
data:
$ID,166
$MISSION,2
$DIVE,445
$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,275
$T_MISSION,330
$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,250
$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,475
$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,-14475.479
$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,19
$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,1950
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,73
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,195424,2420.431,12538.561,39,1.3,39,-3.7
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-53.4
$GPS2,200732,2420.258,12538.448,12,1.4,12,-3.7
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2400.000,12522.000
$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,241.4,46711,-16.4,-12.000
$D_GRID,1520
$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,16,-1.16,-243.4,0.0,0.0,0,101,0.00,0.00,-83.30,0.000,2,0.000,0.000,125,1993,2518
$GC,105,-1.16,-243.4,3.4,-5.8,13,157,9.43,2.08,-34.62,0.000,4,0.236,0.056,2384,3315,3940
$GC,257,-1.16,-243.4,34.2,-18.4,38,264,0.00,2.05,0.00,0.000,6,0.000,0.029,2380,1923,3940
$GC,602,-1.16,-243.4,95.7,-16.4,99,610,0.00,2.03,0.00,0.000,4,0.000,0.038,2390,545,3941
$GC,635,-1.16,-243.4,100.9,-17.3,104,641,0.00,2.03,0.00,0.000,6,0.000,0.031,2386,1941,3941
$GC,982,-1.16,-243.4,154.6,-15.1,165,989,0.00,2.08,0.00,0.000,4,0.000,0.038,2385,546,3943
$GC,1073,-1.16,-243.4,169.7,-16.4,181,1080,0.00,2.10,0.00,0.000,6,0.000,0.033,2384,1959,3942
$GC,1420,-1.16,-243.4,218.7,-12.9,242,1427,0.00,2.12,0.00,0.000,4,0.000,0.040,2383,553,3942
$GC,1501,-1.16,-243.4,230.1,-14.1,256,1508,0.00,2.12,0.00,0.000,6,0.000,0.032,2370,2014,3942
$GC,1850,-1.16,-243.4,275.3,-12.2,317,1856,0.00,2.03,0.00,0.000,4,0.000,0.045,2369,3369,3942
$GC,1936,-1.16,-243.4,286.7,-13.3,332,1942,0.00,1.95,0.00,0.000,6,0.000,0.027,2370,2021,3942
$GC,2273,-1.16,-243.4,326.8,-12.2,373,2276,0.00,2.03,0.00,0.000,4,0.000,0.045,2367,3357,3941
$GC,2329,-1.16,-243.4,334.3,-13.1,378,2333,0.00,1.88,0.00,0.000,6,0.000,0.028,2366,2041,3940
$GC,2665,-1.16,-243.4,375.0,-11.4,409,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2041,3939
$GC,2993,-1.16,-243.4,411.5,-11.2,440,2997,0.00,2.03,0.00,0.000,4,0.000,0.048,2365,3368,3937
$GC,3066,-1.16,-243.4,420.5,-12.0,446,3073,0.00,1.90,0.00,0.000,6,0.000,0.028,2366,2062,3936
$GC,3393,-1.16,-243.4,458.7,-11.7,477,3396,0.00,2.25,0.00,0.000,4,0.000,0.041,2367,556,3935
$GC,3462,-1.16,-243.4,467.3,-12.2,483,3467,0.12,2.20,0.00,0.000,6,0.151,0.033,2390,2051,3935
$GC,3799,-1.16,-243.4,502.9,-10.0,513,3802,0.00,1.98,0.00,0.000,4,0.000,0.050,2392,3354,3932
$GC,3868,-1.16,-243.4,510.3,-11.3,516,3872,0.00,1.90,0.00,0.000,6,0.000,0.030,2393,2062,3931
$GC,4202,-1.16,-243.4,545.7,-10.6,532,4206,0.00,2.00,0.00,0.000,4,0.000,0.050,2391,3367,3928
$GC,4236,-1.16,-243.4,549.5,-11.0,533,4240,0.00,1.88,0.00,0.000,6,0.000,0.031,2393,2069,3928
$GC,4558,-1.16,-243.4,581.7,-10.0,549,4562,0.00,2.00,0.00,0.000,4,0.000,0.052,2391,3366,3926
$GC,4598,-1.16,-243.4,586.2,-10.9,550,4606,0.00,1.88,0.00,0.000,6,0.000,0.031,2390,2097,3925
$GC,4915,-1.16,-243.4,618.9,-10.5,566,4916,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2096,3922
$GC,5223,-1.16,-243.4,652.9,-11.4,581,5227,0.00,1.95,0.00,0.000,4,0.000,0.054,2385,3357,3919
$GC,5285,-1.16,-243.4,660.2,-11.2,583,5292,0.00,1.85,0.00,0.000,6,0.000,0.034,2384,2112,3918
$GC,5603,-1.16,-243.4,694.7,-10.4,599,5606,0.00,1.92,0.00,0.000,4,0.000,0.055,2380,3353,3916
$GC,5656,-1.16,-243.4,700.5,-11.1,601,5659,0.00,1.77,0.00,0.000,6,0.000,0.034,2384,2140,3915
$GC,5983,-1.16,-243.4,733.2,-9.9,617,5987,0.00,2.42,0.00,0.000,4,0.000,0.048,2379,553,3913
$GC,6070,-1.16,-243.4,742.6,-11.0,621,6074,0.00,2.35,0.00,0.000,6,0.000,0.040,2373,2104,3911
$GC,6398,-1.16,-243.4,776.4,-10.4,637,6402,0.00,1.95,0.00,0.000,4,0.000,0.058,2358,3364,3909
$GC,6446,-1.16,-243.4,781.5,-10.7,639,6450,0.12,1.83,0.00,0.000,6,0.146,0.036,2388,2128,3908
$GC,6779,-1.16,-243.4,814.1,-9.4,655,6783,0.00,1.95,0.00,0.000,4,0.000,0.063,2380,3358,3906
$GC,6847,-1.16,-243.4,820.9,-9.9,658,6851,0.00,1.80,0.00,0.000,6,0.000,0.042,2380,2167,3905
$GC,7182,-1.16,-243.4,851.3,-8.7,674,7186,0.00,2.47,0.00,0.000,4,0.000,0.051,2380,564,3903
$GC,7238,-1.16,-243.4,857.1,-9.9,676,7243,0.00,2.42,0.00,0.000,6,0.000,0.043,2370,2148,3902
$GC,7556,-1.16,-243.4,887.0,-9.6,691,7560,0.00,1.92,0.00,0.000,4,0.000,0.067,2359,3348,3900
$GC,7595,-1.16,-243.4,891.4,-11.4,692,7604,0.08,1.75,0.00,0.000,6,0.153,0.038,2384,2181,3900
$GC,7911,-1.16,-243.4,923.0,-10.4,708,7916,0.00,2.53,0.00,0.000,4,0.000,0.052,2385,554,3898
$GC,7936,-1.16,-243.4,925.6,-11.0,709,7940,0.00,2.55,0.00,0.000,6,0.000,0.047,2376,2200,3897
$GC,8258,-1.16,-243.4,959.3,-10.3,725,8259,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2202,3896
$STATE,8564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8564,begin apogee
$GC,8573,-0.26,0.0,990.6,10.0,740,8792,0.90,0.00,210.55,1.457,6,0.107,0.000,2673,1603,2945
$STATE,8793,end apogee,CONTROL_FINISHED_OK
$STATE,8793,begin climb
$GC,8796,1.16,243.4,1005.6,0.0,751,9023,1.25,2.30,216.65,1.420,4,0.048,0.057,3141,2989,1951
$GC,9165,1.16,243.4,970.1,14.3,768,9170,0.00,2.17,0.00,0.000,6,0.000,0.045,3151,1582,1945
$GC,9492,1.16,243.4,922.8,14.2,784,9496,0.00,2.22,0.00,0.000,4,0.000,0.057,3150,2993,1942
$GC,9555,1.16,243.4,913.8,14.5,786,9561,0.00,2.15,0.00,0.000,6,0.000,0.045,3160,1588,1941
$GC,9870,1.16,243.4,869.5,14.1,802,9874,0.00,2.17,0.00,0.000,4,0.000,0.058,3170,208,1940
$GC,9939,1.16,243.4,859.3,15.6,805,9944,0.12,2.12,0.00,0.000,6,0.193,0.045,3142,1592,1939
$GC,10268,1.16,243.4,815.5,13.1,821,10272,0.00,2.17,0.00,0.000,4,0.000,0.061,3138,2984,1939
$GC,10396,1.16,243.4,797.6,13.2,826,10403,0.00,2.12,0.00,0.000,6,0.000,0.043,3146,1605,1937
$GC,10714,1.16,243.4,756.5,12.9,842,10718,0.00,2.20,0.00,0.000,4,0.000,0.054,3157,198,1937
$GC,10804,1.16,243.4,744.2,13.1,846,10808,0.00,2.17,0.00,0.000,6,0.000,0.051,3157,1599,1936
$GC,11138,1.16,243.4,700.9,13.1,862,11142,0.00,2.17,0.00,0.000,4,0.000,0.057,3157,2994,1936
$GC,11230,1.16,243.4,688.2,14.1,866,11234,0.00,2.12,0.00,0.000,6,0.000,0.044,3168,1606,1935
$GC,11562,1.16,243.4,643.5,13.0,882,11566,0.00,2.17,0.00,0.000,4,0.000,0.055,3167,2993,1935
$GC,11646,1.16,243.4,631.9,13.8,885,11653,0.15,2.10,0.00,0.000,6,0.192,0.044,3141,1620,1935
$GC,11963,1.18,261.9,594.3,11.4,901,11987,0.00,0.00,17.25,1.078,6,0.000,0.000,3140,1620,1877
$GC,12294,1.19,268.8,555.2,11.8,917,12308,0.00,2.22,7.80,1.048,4,0.000,0.055,3141,2991,1849
$GC,12477,1.20,274.4,532.5,11.8,925,12490,0.00,2.05,6.82,0.990,6,0.000,0.044,3149,1656,1826
$GC,12812,1.25,314.4,494.3,10.7,943,12862,0.00,2.15,39.58,1.095,4,0.000,0.053,3153,2993,1663
$GC,12931,1.25,314.4,479.3,13.6,953,12935,0.00,2.05,0.00,0.000,6,0.000,0.042,3168,1666,1660
$GC,13265,1.25,314.4,437.0,12.2,984,13268,0.00,2.08,0.00,0.000,4,0.000,0.054,3168,2991,1658
$GC,13367,1.25,314.4,423.5,12.4,993,13371,0.00,1.98,0.00,0.000,6,0.000,0.042,3176,1693,1657
$GC,13701,1.25,319.7,383.1,11.8,1024,13716,0.00,2.05,5.68,0.838,4,0.000,0.052,3176,2982,1640
$GC,13818,1.25,319.7,367.3,14.3,1034,13822,0.00,1.90,0.00,0.000,6,0.000,0.040,3183,1723,1640
$GC,14150,1.30,357.2,327.1,10.8,1065,14189,0.00,2.08,34.72,0.992,4,0.000,0.050,3184,2999,1488
$GC,14276,1.30,357.2,312.0,12.4,1075,14282,0.00,1.90,0.00,0.000,6,0.000,0.038,3192,1750,1486
$GC,14616,1.31,366.7,271.9,11.7,1127,14629,0.00,0.00,9.35,0.848,6,0.000,0.000,3192,1749,1449
$GC,14969,1.35,396.2,229.8,11.0,1189,15005,0.00,2.00,27.70,0.889,4,0.000,0.052,3192,3000,1328
$GC,15102,1.35,396.2,213.3,13.1,1212,15109,0.00,1.88,0.00,0.000,6,0.000,0.036,3199,1777,1328
$GC,15449,1.38,419.4,172.0,11.2,1273,15475,0.00,1.95,21.62,0.820,4,0.000,0.044,3199,2998,1235
$GC,15524,1.39,430.2,163.3,11.6,1285,15542,0.00,1.77,11.20,0.749,6,0.000,0.035,3207,1828,1190
$GC,15883,1.42,454.5,123.0,11.2,1348,15910,0.00,1.85,22.62,0.764,4,0.000,0.043,3207,2994,1092
$GC,16001,1.42,454.5,107.5,12.4,1368,16009,0.00,1.70,0.00,0.000,6,0.000,0.034,3215,1874,1091
$GC,16349,1.47,493.0,69.8,10.7,1429,16388,0.00,1.77,33.85,0.720,4,0.000,0.041,3215,2998,934
$GC,16418,1.51,528.9,62.2,10.8,1440,16458,0.00,1.80,32.53,0.701,6,0.000,0.032,3223,1812,787
$GC,16798,1.65,644.7,26.8,8.2,1506,16875,0.17,1.83,69.70,0.671,4,0.054,0.037,3313,3001,456
$GC,16921,1.65,644.7,10.1,15.8,1526,16928,0.00,1.85,0.00,0.000,6,0.000,0.031,3319,1771,455
$STATE,16977,end climb,SURFACE_DEPTH_REACHED
$STATE,16977,begin surface coast
$FINISH,0.7,1.011444
$STATE,17001,end surface coast,CONTROL_FINISHED_OK
$STATE,17001,begin surface
$SM_CCo,17082,0.00,0.000,0,0,451,611.78
$SM_GC,1.38,8.43,0.00,0.00,0.038,0.000,0.000,163,1991,451,-8.11,1.16,611.78
$IRIDIUM_FIX,2413.38,12538.86,301098,151504
$TT8_MAMPS,0.026845
$HUMID,1628
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.10
$XPDR_PINGS,168
$24V_AH,23.1,97.828
$10V_AH,10.6,64.440
$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,20.775,148.375,767.625,0.000,0.000,89.272,154.356,242.498,50.000,0.000,0.000,12.434,2678.870,10080.089,833.689,3305.114,952.873,0.000,2336.508,0.000,3269.037,0.000,54.435,0.000
$DEVICE_MAMPS,236.236,67.496,1456.533,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.016,1057.310,1868.709,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88441,1540
$CAP_FILE_SIZE,168891,0
$CFSIZE,260165632,198627328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.130, 83.0,1
$GPS,060809,005400,2419.806,12538.791,43,1.6,48,-3.7