version: 66.04
glider: 166
mission: 2
dive: 454
start: 8 7 109 15 41 46
data:
$ID,166
$MISSION,2
$DIVE,454
$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,-14746.877
$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
$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,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,69
$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
$GPS1,152831,2416.743,12540.845,41,2.0,41,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-57.4
$GPS2,154126,2416.756,12540.527,13,1.9,13,-3.6
$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,240.3,44109,-16.4,-12.000
$D_GRID,1493
$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,-1.21,-243.4,0.0,0.0,0,109,0.00,0.00,-90.97,0.000,2,0.000,0.000,125,2094,2505
$GC,114,-1.21,-243.4,3.4,-6.0,14,166,8.77,2.17,-36.03,0.000,4,0.216,0.051,2365,656,3937
$GC,241,-1.21,-243.4,29.2,-20.5,35,247,0.00,2.05,0.00,0.000,6,0.000,0.035,2369,2035,3940
$GC,586,-1.21,-243.4,86.4,-13.6,96,594,0.00,2.05,0.00,0.000,4,0.000,0.038,2361,659,3940
$GC,645,-1.21,-243.4,95.7,-16.2,106,652,0.00,2.20,0.00,0.000,6,0.000,0.032,2359,2135,3939
$GC,991,-1.21,-243.4,148.4,-14.6,167,997,0.00,2.20,0.00,0.000,4,0.000,0.039,2362,660,3941
$GC,1034,-1.21,-243.4,154.4,-14.5,174,1040,0.00,2.12,0.00,0.000,6,0.000,0.034,2357,2111,3941
$GC,1380,-1.21,-243.4,204.2,-14.3,235,1387,0.00,2.17,0.00,0.000,4,0.000,0.040,2359,653,3941
$GC,1422,-1.21,-243.4,210.8,-15.5,242,1429,0.00,2.10,0.00,0.000,6,0.000,0.033,2355,2090,3941
$GC,1766,-1.21,-243.4,257.0,-12.6,303,1772,0.00,2.15,0.00,0.000,4,0.000,0.040,2356,652,3942
$GC,1814,-1.21,-243.4,263.4,-13.5,311,1820,0.00,2.08,0.00,0.000,6,0.000,0.032,2354,2072,3941
$GC,2156,-1.21,-243.4,307.4,-13.5,367,2159,0.00,2.10,0.00,0.000,4,0.000,0.047,2354,3463,3940
$GC,2247,-1.21,-243.4,320.5,-14.2,375,2251,0.00,2.00,0.00,0.000,6,0.000,0.028,2353,2069,3940
$GC,2579,-1.21,-243.4,360.8,-10.4,406,2582,0.00,2.12,0.00,0.000,4,0.000,0.047,2357,3462,3939
$GC,2615,-1.21,-243.4,364.5,-10.8,409,2618,0.00,1.92,0.00,0.000,6,0.000,0.028,2354,2115,3938
$GC,2945,-1.21,-243.4,402.7,-12.2,440,2949,0.00,2.15,0.00,0.000,4,0.000,0.041,2354,666,3937
$GC,2974,-1.21,-243.4,406.4,-13.7,442,2980,0.00,2.17,0.00,0.000,6,0.000,0.035,2358,2139,3937
$GC,3302,-1.21,-243.4,445.5,-11.4,473,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2139,3936
$GC,3631,-1.21,-243.4,481.6,-11.8,504,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2140,3934
$GC,3952,-1.21,-243.4,520.6,-11.9,527,3955,0.00,2.22,0.00,0.000,4,0.000,0.043,2356,675,3931
$GC,4037,-1.21,-243.4,531.0,-11.8,530,4043,0.00,2.15,0.00,0.000,6,0.000,0.036,2348,2124,3930
$GC,4353,-1.21,-243.4,564.6,-10.3,546,4357,0.00,2.05,0.00,0.000,4,0.000,0.051,2352,3462,3927
$GC,4377,-1.21,-243.4,567.1,-11.0,547,4380,0.00,1.95,0.00,0.000,6,0.000,0.031,2354,2127,3927
$GC,4711,-1.21,-243.4,602.5,-11.0,563,4715,0.00,2.20,0.00,0.000,4,0.000,0.045,2354,673,3924
$GC,4779,-1.21,-243.4,610.9,-12.8,566,4784,0.12,2.15,0.00,0.000,6,0.158,0.036,2376,2109,3924
$GC,5112,-1.21,-243.4,647.4,-11.2,582,5115,0.00,2.10,0.00,0.000,4,0.000,0.054,2366,3469,3921
$GC,5146,-1.21,-243.4,651.5,-12.2,583,5150,0.00,1.98,0.00,0.000,6,0.000,0.033,2369,2120,3920
$GC,5470,-1.21,-243.4,688.2,-11.3,599,5473,0.00,2.10,0.00,0.000,4,0.000,0.054,2357,3468,3917
$GC,5509,-1.21,-243.4,693.2,-11.8,600,5517,0.00,1.98,0.00,0.000,6,0.000,0.034,2359,2143,3916
$GC,5827,-1.21,-243.4,729.4,-11.4,616,5830,0.00,2.25,0.00,0.000,4,0.000,0.048,2358,669,3914
$GC,5888,-1.21,-243.4,737.3,-12.9,618,5894,0.00,2.17,0.00,0.000,6,0.000,0.041,2351,2107,3913
$GC,6205,-1.21,-243.4,774.0,-11.6,634,6209,0.00,2.12,0.00,0.000,4,0.000,0.058,2352,3466,3911
$GC,6261,-1.21,-243.4,781.1,-12.6,636,6264,0.00,2.00,0.00,0.000,6,0.000,0.035,2357,2115,3910
$GC,6582,-1.21,-243.4,818.7,-11.7,652,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2115,3908
$GC,6893,-1.21,-243.4,857.6,-12.9,667,6896,0.00,2.12,0.00,0.000,4,0.000,0.058,2340,3463,3906
$GC,6917,-1.21,-243.4,860.8,-13.2,668,6922,0.12,1.98,0.00,0.000,6,0.152,0.036,2374,2136,3906
$GC,7253,-1.21,-243.4,902.2,-11.8,684,7257,0.00,2.25,0.00,0.000,4,0.000,0.051,2374,671,3904
$GC,7316,-1.21,-243.4,910.3,-12.3,686,7322,0.00,2.22,0.00,0.000,6,0.000,0.044,2366,2127,3903
$GC,7632,-1.21,-243.4,946.0,-11.1,702,7636,0.00,2.25,0.00,0.000,4,0.000,0.051,2367,679,3901
$GC,7693,-1.21,-243.4,953.3,-11.9,704,7701,0.00,2.17,0.00,0.000,6,0.000,0.044,2361,2103,3900
$STATE,8006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8006,begin apogee
$GC,8014,-0.28,0.0,990.8,11.6,720,8230,0.98,0.00,209.18,1.458,6,0.122,0.000,2672,1706,2945
$STATE,8231,end apogee,CONTROL_FINISHED_OK
$STATE,8231,begin climb
$GC,8234,1.21,243.4,1006.2,0.0,731,8462,1.33,2.33,216.98,1.413,4,0.054,0.058,3169,299,1951
$GC,8524,1.21,243.4,983.4,14.8,744,8528,0.00,2.20,0.00,0.000,6,0.000,0.044,3169,1708,1946
$GC,8840,1.21,243.4,940.8,13.5,759,8844,0.00,2.20,0.00,0.000,4,0.000,0.056,3169,3109,1942
$GC,8869,1.21,243.4,936.7,14.0,760,8873,0.00,2.17,0.00,0.000,6,0.000,0.042,3179,1681,1941
$GC,9190,1.21,243.4,889.3,15.3,776,9194,0.00,2.22,0.00,0.000,4,0.000,0.056,3176,3100,1940
$GC,9248,1.21,243.4,880.0,16.7,778,9251,0.00,2.15,0.00,0.000,6,0.000,0.042,3184,1690,1939
$GC,9570,1.21,243.4,830.6,15.1,794,9574,0.00,2.20,0.00,0.000,4,0.000,0.056,3194,287,1939
$GC,9626,1.21,243.4,821.4,15.8,796,9630,0.15,2.17,0.00,0.000,6,0.188,0.049,3158,1705,1938
$GC,9947,1.21,243.4,778.0,13.4,812,9951,0.00,2.22,0.00,0.000,4,0.000,0.054,3164,292,1937
$GC,9993,1.21,243.4,771.8,13.0,814,9997,0.00,2.12,0.00,0.000,6,0.000,0.049,3163,1672,1937
$GC,10326,1.21,243.4,728.9,12.5,830,10329,0.00,2.22,0.00,0.000,4,0.000,0.054,3159,3097,1937
$GC,10440,1.21,243.4,713.4,14.5,835,10444,0.00,2.17,0.00,0.000,6,0.000,0.043,3169,1680,1935
$GC,10773,1.21,243.4,668.6,13.5,851,10777,0.00,2.17,0.00,0.000,4,0.000,0.054,3180,289,1935
$GC,10852,1.21,243.4,657.3,13.7,854,10855,0.00,2.12,0.00,0.000,6,0.000,0.042,3179,1685,1935
$GC,11174,1.21,243.4,615.0,12.3,870,11178,0.00,2.20,0.00,0.000,4,0.000,0.054,3180,3098,1934
$GC,11213,1.21,243.4,609.6,12.9,871,11221,0.12,2.20,0.00,0.000,6,0.199,0.046,3158,1667,1934
$GC,11529,1.21,243.4,572.2,12.2,887,11533,0.00,2.28,0.00,0.000,4,0.000,0.057,3158,3104,1934
$GC,11553,1.21,243.4,569.2,12.4,888,11557,0.00,2.20,0.00,0.000,6,0.000,0.042,3170,1660,1934
$GC,11887,1.22,252.5,528.8,11.7,904,11898,0.00,2.22,6.45,0.973,4,0.000,0.054,3180,286,1915
$GC,11999,1.22,252.5,514.2,12.5,909,12003,0.00,2.12,0.00,0.000,6,0.000,0.042,3182,1679,1914
$GC,12325,1.29,311.0,478.3,10.1,933,12392,0.00,2.35,56.10,1.096,4,0.000,0.053,3183,3102,1676
$GC,12426,1.29,311.0,466.1,12.9,942,12431,0.00,2.25,0.00,0.000,6,0.000,0.041,3193,1659,1673
$GC,12752,1.34,346.5,428.6,10.8,972,12787,0.00,0.00,32.35,1.066,6,0.000,0.000,3192,1658,1532
$GC,13105,1.34,346.5,384.2,12.5,1005,13108,0.00,2.15,0.00,0.000,4,0.000,0.052,3204,282,1528
$GC,13218,1.34,346.5,369.4,12.5,1015,13222,0.00,2.12,0.00,0.000,6,0.000,0.040,3203,1683,1526
$GC,13550,1.37,374.2,332.2,11.1,1046,13585,0.00,2.25,25.38,0.979,4,0.000,0.049,3204,3094,1419
$GC,13691,1.37,374.2,313.4,13.8,1058,13698,0.00,2.12,0.00,0.000,6,0.000,0.038,3213,1693,1416
$GC,14030,1.37,374.2,269.9,13.1,1109,14036,0.00,2.17,0.00,0.000,4,0.000,0.050,3224,284,1414
$GC,14146,1.37,374.2,254.4,14.1,1129,14152,0.00,2.22,0.00,0.000,6,0.000,0.037,3224,1759,1414
$GC,14491,1.37,374.2,209.9,12.3,1190,14498,0.00,2.28,0.00,0.000,4,0.000,0.047,3235,280,1414
$GC,14527,1.37,374.2,205.5,12.0,1196,14533,0.00,2.20,0.00,0.000,6,0.000,0.035,3235,1758,1414
$GC,14875,1.37,377.4,159.2,11.9,1257,14881,0.00,2.25,0.00,0.000,4,0.000,0.046,3245,289,1414
$GC,15037,1.44,434.6,141.0,10.1,1285,15106,0.00,2.20,55.22,0.785,6,0.000,0.035,3246,1773,1173
$GC,15448,1.50,476.6,90.7,10.6,1356,15491,0.00,2.33,36.75,0.747,4,0.000,0.045,3256,287,1003
$GC,15549,1.55,521.9,79.8,10.5,1373,15595,0.00,2.17,40.42,0.729,6,0.000,0.031,3256,1750,816
$GC,15939,1.55,521.9,33.6,12.5,1440,15946,0.00,2.03,0.00,0.000,4,0.000,0.040,3257,3110,816
$GC,16027,1.55,521.9,21.4,15.1,1455,16034,0.00,2.00,0.00,0.000,6,0.000,0.032,3265,1768,816
$STATE,16162,end climb,SURFACE_DEPTH_REACHED
$STATE,16162,begin surface coast
$FINISH,0.8,1.015761
$STATE,16194,end surface coast,CONTROL_FINISHED_OK
$STATE,16194,begin surface
$SM_CCo,16275,0.00,0.000,0,0,814,522.73
$SM_GC,1.65,8.23,0.00,0.00,0.038,0.000,0.000,164,2092,814,-8.11,0.88,522.73
$IRIDIUM_FIX,2406.29,12540.78,011198,151558
$TT8_MAMPS,0.026845
$HUMID,1640
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.00
$XPDR_PINGS,166
$24V_AH,23.0,100.275
$10V_AH,10.6,65.835
$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,19.825,156.250,678.825,0.000,0.000,48.238,80.062,408.368,49.500,0.000,0.000,13.732,2581.771,9629.359,777.031,3039.359,1005.108,0.000,2193.947,0.000,3008.583,0.000,56.577,0.000
$DEVICE_MAMPS,215.527,58.292,1458.067,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.492,1021.690,1716.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88375,1484
$CAP_FILE_SIZE,160507,0
$CFSIZE,260165632,197828608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.115, 66.5,1
$GPS,070809,201406,2416.231,12540.296,28,1.1,28,-3.6