version: 66.04
glider: 166
mission: 2
dive: 447
start: 8 6 109 5 59 21
data:
$ID,166
$MISSION,2
$DIVE,447
$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,-14578.929
$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,36
$R_STBD_OVSHOOT,71
$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
$GPS1,054136,2419.061,12539.402,40,1.5,40,-3.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-52.1
$GPS2,055902,2418.948,12539.039,50,1.5,68,-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,250.2,45415,-16.4,-12.000
$D_GRID,1642
$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,-1.16,-243.4,0.0,0.0,0,97,0.00,0.00,-79.03,0.000,2,0.000,0.000,166,1999,2343
$GC,100,-1.16,-243.4,3.2,-5.6,12,152,9.40,2.00,-35.45,0.000,4,0.235,0.054,2386,3332,3938
$GC,318,-1.16,-243.4,49.1,-21.0,49,324,0.00,2.05,0.00,0.000,6,0.000,0.028,2376,1929,3938
$GC,663,-1.16,-243.4,108.6,-15.2,110,670,0.00,2.03,0.00,0.000,4,0.000,0.040,2395,556,3939
$GC,691,-1.16,-243.4,113.4,-17.8,114,699,0.00,2.03,0.00,0.000,6,0.000,0.033,2384,1949,3939
$GC,1038,-1.16,-243.4,166.7,-14.2,175,1045,0.00,2.10,0.00,0.000,4,0.000,0.046,2377,3363,3939
$GC,1159,-1.16,-243.4,185.6,-15.5,196,1165,0.00,2.03,0.00,0.000,6,0.000,0.028,2385,1944,3939
$GC,1505,-1.16,-243.4,236.5,-13.8,257,1511,0.00,2.12,0.00,0.000,4,0.000,0.044,2371,3355,3939
$GC,1545,-1.16,-243.4,242.6,-14.9,264,1552,0.00,2.00,0.00,0.000,6,0.000,0.028,2378,1979,3939
$GC,1891,-1.16,-243.4,285.7,-10.6,325,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1979,3938
$GC,2221,-1.16,-243.4,329.1,-14.0,366,2225,0.00,2.10,0.00,0.000,4,0.000,0.045,2366,3363,3937
$GC,2301,-1.16,-243.4,339.5,-13.0,373,2304,0.00,1.98,0.00,0.000,6,0.000,0.028,2366,1985,3937
$GC,2632,-1.16,-243.4,377.8,-10.7,404,2636,0.00,2.08,0.00,0.000,4,0.000,0.047,2366,3361,3935
$GC,2660,-1.16,-243.4,381.0,-11.5,406,2667,0.00,2.00,0.00,0.000,6,0.000,0.028,2365,1991,3935
$GC,2990,-1.16,-243.4,416.5,-11.3,437,2994,0.00,2.08,0.00,0.000,4,0.000,0.048,2366,3355,3933
$GC,3029,-1.16,-243.4,422.1,-12.2,440,3035,0.00,1.98,0.00,0.000,6,0.000,0.029,2367,2002,3933
$GC,3355,-1.16,-243.4,461.9,-12.3,471,3359,0.00,2.05,0.00,0.000,4,0.000,0.048,2357,3347,3931
$GC,3381,-1.16,-243.4,465.1,-12.4,473,3385,0.12,1.92,0.00,0.000,6,0.141,0.030,2394,2012,3931
$GC,3721,-1.16,-243.4,502.2,-10.1,504,3725,0.00,2.05,0.00,0.000,4,0.000,0.048,2385,3354,3928
$GC,3748,-1.16,-243.4,504.6,-10.1,505,3752,0.00,1.92,0.00,0.000,6,0.000,0.030,2386,2024,3927
$GC,4085,-1.16,-243.4,538.1,-9.9,521,4089,0.00,2.20,0.00,0.000,4,0.000,0.044,2388,557,3926
$GC,4142,-1.16,-243.4,544.8,-11.6,523,4146,0.00,2.17,0.00,0.000,6,0.000,0.036,2383,2024,3925
$GC,4466,-1.16,-243.4,579.8,-11.6,539,4469,0.00,2.00,0.00,0.000,4,0.000,0.052,2397,3351,3922
$GC,4560,-1.16,-243.4,591.4,-13.2,543,4563,0.00,1.90,0.00,0.000,6,0.000,0.035,2397,2060,3921
$GC,4895,-1.16,-243.4,630.7,-11.5,559,4899,0.00,1.98,0.00,0.000,4,0.000,0.052,2394,3347,3918
$GC,4945,-1.16,-243.4,637.2,-12.5,561,4949,0.00,1.85,0.00,0.000,6,0.000,0.033,2390,2073,3917
$GC,5275,-1.16,-243.4,675.4,-11.4,577,5278,0.00,1.98,0.00,0.000,4,0.000,0.054,2384,3348,3914
$GC,5324,-1.16,-243.4,681.3,-12.7,579,5327,0.00,1.83,0.00,0.000,6,0.000,0.035,2381,2098,3913
$GC,5658,-1.16,-243.4,719.9,-11.4,595,5662,0.00,1.95,0.00,0.000,4,0.000,0.056,2377,3352,3910
$GC,5682,-1.16,-243.4,722.8,-11.6,596,5685,0.00,1.80,0.00,0.000,6,0.000,0.034,2373,2123,3910
$GC,6016,-1.16,-243.4,759.6,-10.9,612,6019,0.00,1.90,0.00,0.000,4,0.000,0.057,2369,3345,3907
$GC,6041,-1.16,-243.4,762.3,-11.4,613,6045,0.00,1.75,0.00,0.000,6,0.000,0.035,2366,2153,3907
$GC,6376,-1.16,-243.4,798.4,-10.7,629,6380,0.00,2.45,0.00,0.000,4,0.000,0.049,2368,553,3903
$GC,6476,-1.16,-243.4,810.9,-12.9,633,6482,0.12,2.35,0.00,0.000,6,0.166,0.042,2392,2100,3903
$GC,6794,-1.16,-243.4,843.3,-10.0,649,6797,0.00,1.92,0.00,0.000,4,0.000,0.058,2386,3344,3901
$GC,6867,-1.16,-243.4,851.4,-10.9,652,6871,0.00,1.77,0.00,0.000,6,0.000,0.036,2386,2136,3900
$GC,7194,-1.16,-243.4,884.7,-10.2,668,7198,0.00,2.42,0.00,0.000,4,0.000,0.051,2387,560,3898
$GC,7251,-1.16,-243.4,891.3,-12.2,670,7259,0.00,2.42,0.00,0.000,6,0.000,0.044,2376,2147,3897
$GC,7568,-1.16,-243.4,925.4,-10.3,686,7572,0.00,2.45,0.00,0.000,4,0.000,0.050,2377,561,3895
$GC,7663,-1.16,-243.4,936.6,-11.7,690,7667,0.00,2.33,0.00,0.000,6,0.000,0.044,2366,2076,3894
$GC,7986,-1.16,-243.4,975.2,-12.1,706,7989,0.00,1.98,0.00,0.000,4,0.000,0.061,2358,3349,3892
$GC,8069,-1.16,-243.4,986.7,-12.7,709,8076,0.12,1.85,0.00,0.000,6,0.156,0.045,2389,2121,3891
$STATE,8114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8114,begin apogee
$GC,8123,-0.26,0.0,992.5,12.7,712,8342,0.90,0.00,209.73,1.452,6,0.115,0.000,2678,1588,2945
$STATE,8342,end apogee,CONTROL_FINISHED_OK
$STATE,8342,begin climb
$GC,8345,1.16,243.4,1009.0,0.0,723,8572,1.27,2.30,215.80,1.419,4,0.052,0.059,3138,2982,1951
$GC,8617,1.16,243.4,990.1,14.6,735,8622,0.00,2.17,0.00,0.000,6,0.000,0.044,3146,1577,1946
$GC,8939,1.16,243.4,945.2,14.1,751,8943,0.00,2.20,0.00,0.000,4,0.000,0.057,3143,2979,1943
$GC,8967,1.16,243.4,940.6,15.9,752,8971,0.00,2.12,0.00,0.000,6,0.000,0.044,3152,1577,1941
$GC,9295,1.16,243.4,893.4,14.3,768,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,1576,1941
$GC,9604,1.16,243.4,851.1,13.5,783,9607,0.00,2.22,0.00,0.000,4,0.000,0.061,3149,2987,1939
$GC,9717,1.16,243.4,835.3,14.1,788,9721,0.00,2.17,0.00,0.000,6,0.000,0.044,3159,1566,1938
$GC,10051,1.16,243.4,789.7,13.5,804,10054,0.00,2.22,0.00,0.000,4,0.000,0.056,3159,2979,1937
$GC,10157,1.16,243.4,773.9,14.3,808,10166,0.00,2.15,0.00,0.000,6,0.000,0.043,3168,1585,1936
$GC,10474,1.16,243.4,730.2,13.5,824,10478,0.00,2.20,0.00,0.000,4,0.000,0.057,3168,2989,1936
$GC,10507,1.16,243.4,725.1,14.1,825,10512,0.15,2.12,0.00,0.000,6,0.193,0.044,3141,1597,1935
$GC,10829,1.16,243.4,684.4,12.6,841,10833,0.00,2.17,0.00,0.000,4,0.000,0.057,3150,206,1935
$GC,10863,1.16,243.4,679.8,13.3,842,10867,0.00,2.12,0.00,0.000,6,0.000,0.043,3150,1602,1935
$GC,11185,1.16,243.4,638.0,13.1,858,11188,0.00,2.15,0.00,0.000,4,0.000,0.056,3150,2984,1935
$GC,11350,1.16,243.4,616.3,13.0,865,11353,0.00,2.08,0.00,0.000,6,0.000,0.044,3161,1618,1934
$GC,11678,1.18,258.9,576.6,11.5,881,11702,0.00,2.20,14.15,1.010,4,0.000,0.055,3162,2984,1889
$GC,11753,1.18,258.9,566.8,12.7,884,11757,0.00,2.05,0.00,0.000,6,0.000,0.041,3173,1639,1888
$GC,12076,1.18,258.9,527.2,12.6,900,12080,0.00,2.10,0.00,0.000,4,0.000,0.054,3173,2991,1888
$GC,12192,1.18,258.9,511.8,13.3,905,12197,0.15,2.03,0.00,0.000,6,0.187,0.042,3149,1660,1887
$GC,12522,1.26,324.3,475.5,9.8,931,12590,0.00,2.15,60.00,1.127,4,0.000,0.054,3148,2985,1621
$GC,12606,1.26,324.3,465.8,12.7,938,12613,0.00,2.10,0.00,0.000,6,0.000,0.041,3155,1631,1619
$GC,12935,1.31,364.8,428.7,10.7,969,12980,0.00,2.20,36.62,1.068,4,0.000,0.051,3157,2982,1456
$GC,13089,1.31,364.8,409.2,12.2,982,13095,0.00,2.00,0.00,0.000,6,0.000,0.039,3165,1687,1453
$GC,13417,1.31,364.8,366.9,13.1,1013,13421,0.00,2.03,0.00,0.000,4,0.000,0.051,3165,2998,1451
$GC,13487,1.31,364.8,357.3,13.6,1019,13491,0.00,1.92,0.00,0.000,6,0.000,0.038,3173,1715,1451
$GC,13818,1.35,396.5,317.5,11.0,1050,13856,0.00,2.03,28.50,0.968,4,0.000,0.048,3173,2987,1328
$GC,13960,1.35,396.5,300.7,12.4,1062,13964,0.00,1.90,0.00,0.000,6,0.000,0.038,3181,1753,1326
$GC,14305,1.37,411.6,260.2,11.5,1122,14325,0.00,1.98,14.65,0.878,4,0.000,0.047,3181,2995,1267
$GC,14350,1.39,425.9,255.0,11.5,1129,14369,0.00,1.80,14.30,0.857,6,0.000,0.036,3189,1795,1208
$GC,14710,1.39,425.9,212.9,12.2,1192,14716,0.00,1.85,0.00,0.000,4,0.000,0.044,3189,2985,1206
$GC,14813,1.39,425.9,199.6,13.2,1210,14819,0.00,1.73,0.00,0.000,6,0.000,0.035,3197,1839,1206
$GC,15160,1.45,478.3,157.4,10.3,1271,15212,0.00,1.85,46.65,0.815,4,0.000,0.042,3197,2991,994
$GC,15287,1.45,478.3,142.8,12.6,1292,15293,0.00,1.83,0.00,0.000,6,0.000,0.033,3205,1793,994
$GC,15633,1.47,494.4,102.3,11.5,1353,15654,0.00,1.90,15.50,0.720,4,0.000,0.041,3205,3005,929
$GC,15763,1.47,494.4,86.2,12.5,1375,15770,0.00,1.75,0.00,0.000,6,0.000,0.032,3213,1833,929
$GC,16110,1.57,579.6,52.4,9.2,1436,16193,0.15,2.60,73.43,0.703,4,0.060,0.044,3303,197,581
$GC,16230,1.57,579.6,37.6,13.1,1455,16238,0.00,2.53,0.00,0.000,6,0.000,0.031,3299,1876,580
$STATE,16478,end climb,SURFACE_DEPTH_REACHED
$STATE,16478,begin surface coast
$FINISH,0.4,1.011706
$STATE,16496,end surface coast,CONTROL_FINISHED_OK
$STATE,16496,begin surface
$SM_CCo,16576,0.00,0.000,0,0,577,580.87
$SM_GC,1.14,8.23,0.00,0.00,0.034,0.000,0.000,168,1973,577,-8.10,0.65,580.87
$IRIDIUM_FIX,2411.01,12540.78,311098,050504
$TT8_MAMPS,0.027612
$HUMID,1627
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.20
$XPDR_PINGS,177
$24V_AH,23.1,98.396
$10V_AH,10.6,64.763
$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,20.625,157.550,729.325,0.000,0.000,74.777,129.178,477.693,52.250,0.000,0.000,68.282,2632.998,9639.431,792.849,3386.647,1150.597,0.000,2268.850,0.000,3281.660,0.000,57.493,0.000
$DEVICE_MAMPS,234.702,75.166,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.878,1024.958,1883.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88460,1502
$CAP_FILE_SIZE,171289,0
$CFSIZE,260165632,198443008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.135, 91.8,1
$GPS,060809,103654,2418.109,12539.021,39,1.3,39,-3.6