version: 66.04
glider: 166
mission: 2
dive: 462
start: 8 9 109 10 18 12
data:
$ID,166
$MISSION,2
$DIVE,462
$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,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,-14933.564
$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,40
$R_STBD_OVSHOOT,62
$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
$GPS1,100601,2414.326,12545.098,42,1.3,42,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.1
$GPS2,101750,2414.492,12545.326,13,1.4,13,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2356.200,12530.000
$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,255.2,42670,-13.9,-10.000
$D_GRID,1371
$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,-1.07,-243.4,0.0,0.0,0,101,0.00,0.00,-83.05,0.000,2,0.000,0.000,160,2081,2480
$GC,104,-1.07,-243.4,3.2,-5.0,13,162,9.65,2.22,-39.10,0.000,4,0.239,0.051,2403,640,3940
$GC,200,-1.07,-243.4,20.1,-22.9,28,206,0.00,2.08,0.00,0.000,6,0.000,0.033,2406,2046,3939
$GC,543,-1.07,-243.4,75.8,-17.1,89,549,0.00,2.15,0.00,0.000,4,0.000,0.043,2394,3465,3940
$GC,585,-1.07,-243.4,83.4,-17.5,96,592,0.10,2.03,0.00,0.000,6,0.169,0.028,2414,2047,3940
$GC,933,-1.07,-243.4,130.1,-10.0,157,939,0.00,2.15,0.00,0.000,4,0.000,0.043,2410,3465,3940
$GC,957,-1.07,-243.4,133.0,-10.5,161,964,0.00,2.03,0.00,0.000,6,0.000,0.028,2418,2079,3941
$GC,1303,-1.07,-243.4,173.5,-12.5,222,1310,0.00,2.08,0.00,0.000,4,0.000,0.039,2420,674,3941
$GC,1373,-1.07,-243.4,182.9,-13.2,234,1381,0.00,2.08,0.00,0.000,6,0.000,0.031,2411,2073,3941
$GC,1720,-1.07,-243.4,224.7,-12.7,295,1728,0.00,2.10,0.00,0.000,4,0.000,0.045,2410,3471,3941
$GC,1747,-1.07,-243.4,228.1,-12.4,299,1753,0.00,2.03,0.00,0.000,6,0.000,0.028,2410,2061,3941
$GC,2091,-1.07,-243.4,270.8,-10.7,360,2097,0.00,2.12,0.00,0.000,4,0.000,0.044,2407,3463,3940
$GC,2128,-1.07,-243.4,274.6,-10.7,366,2137,0.00,2.03,0.00,0.000,6,0.000,0.028,2411,2053,3940
$GC,2472,-1.07,-243.4,310.5,-12.0,419,2475,0.00,2.15,0.00,0.000,4,0.000,0.046,2407,3457,3939
$GC,2499,-1.07,-243.4,314.0,-12.2,421,2505,0.00,1.98,0.00,0.000,6,0.000,0.028,2409,2083,3939
$GC,2829,-1.07,-243.4,350.5,-10.6,452,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2083,3938
$GC,3155,-1.07,-243.4,385.3,-11.8,483,3158,0.00,2.12,0.00,0.000,4,0.000,0.048,2407,3460,3936
$GC,3217,-1.07,-243.4,392.7,-12.3,488,3223,0.00,2.00,0.00,0.000,6,0.000,0.028,2407,2097,3936
$GC,3543,-1.07,-243.4,426.9,-9.7,519,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2097,3935
$GC,3862,-1.07,-243.4,457.8,-10.3,549,3866,0.00,2.15,0.00,0.000,4,0.000,0.042,2408,664,3934
$GC,3896,-1.07,-243.4,461.8,-11.3,552,3900,0.00,2.15,0.00,0.000,6,0.000,0.035,2407,2108,3933
$GC,4228,-1.07,-243.4,496.8,-10.3,583,4232,0.00,2.08,0.00,0.000,4,0.000,0.051,2407,3464,3931
$GC,4274,-1.07,-243.4,501.7,-10.8,587,4278,0.00,1.98,0.00,0.000,6,0.000,0.030,2410,2106,3930
$GC,4608,-1.07,-243.4,535.6,-10.1,603,4612,0.00,2.10,0.00,0.000,4,0.000,0.051,2408,3464,3928
$GC,4631,-1.07,-243.4,538.2,-10.5,604,4635,0.00,1.98,0.00,0.000,6,0.000,0.031,2410,2109,3928
$GC,4965,-1.07,-243.4,572.0,-10.1,620,4969,0.00,2.10,0.00,0.000,4,0.000,0.051,2406,3463,3925
$GC,5004,-1.07,-243.4,576.3,-10.7,621,5010,0.00,1.92,0.00,0.000,6,0.000,0.032,2409,2141,3924
$GC,5321,-1.07,-243.4,609.6,-10.6,637,5325,0.00,2.22,0.00,0.000,4,0.000,0.045,2408,672,3923
$GC,5344,-1.07,-243.4,612.4,-10.9,638,5348,0.00,2.22,0.00,0.000,6,0.000,0.039,2406,2145,3923
$GC,5672,-1.07,-243.4,645.6,-9.6,654,5675,0.00,2.03,0.00,0.000,4,0.000,0.054,2400,3460,3919
$GC,5742,-1.07,-243.4,652.0,-9.6,657,5745,0.00,1.90,0.00,0.000,6,0.000,0.033,2401,2165,3918
$GC,6076,-1.07,-243.4,680.3,-8.5,673,6079,0.00,2.03,0.00,0.000,4,0.000,0.054,2389,3462,3916
$GC,6104,-1.07,-243.4,683.1,-10.0,674,6107,0.00,1.92,0.00,0.000,6,0.000,0.035,2390,2177,3916
$GC,6432,-1.07,-243.4,714.4,-10.0,690,6437,0.10,2.30,0.00,0.000,4,0.137,0.046,2420,673,3912
$GC,6459,-1.07,-243.4,717.6,-10.7,691,6463,0.00,2.30,0.00,0.000,6,0.000,0.041,2413,2187,3912
$GC,6775,-1.07,-243.4,749.2,-10.0,706,6779,0.00,1.98,0.00,0.000,4,0.000,0.058,2410,3457,3910
$GC,6849,-1.07,-243.4,756.6,-9.7,709,6853,0.00,1.83,0.00,0.000,6,0.000,0.035,2412,2214,3910
$GC,7177,-1.07,-243.4,787.8,-9.6,725,7181,0.00,1.98,0.00,0.000,4,0.000,0.058,2410,3467,3908
$GC,7216,-1.07,-243.4,791.8,-10.0,726,7224,0.00,1.85,0.00,0.000,6,0.000,0.036,2411,2234,3907
$GC,7533,-1.07,-243.4,822.0,-9.6,742,7537,0.00,1.95,0.00,0.000,4,0.000,0.059,2409,3466,3905
$GC,7562,-1.07,-243.4,825.1,-11.0,743,7565,0.00,1.80,0.00,0.000,6,0.000,0.037,2409,2251,3905
$GC,7890,-1.07,-243.4,858.7,-10.4,759,7894,0.00,1.92,0.00,0.000,4,0.000,0.061,2410,3466,3902
$GC,7924,-1.07,-243.4,862.5,-10.9,760,7928,0.00,1.77,0.00,0.000,6,0.000,0.037,2411,2270,3903
$GC,8246,-1.07,-243.4,896.3,-10.4,776,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2270,3900
$GC,8557,-1.07,-243.4,928.2,-10.1,791,8561,0.00,1.90,0.00,0.000,4,0.000,0.062,2409,3464,3899
$GC,8659,-1.07,-243.4,938.7,-9.8,795,8663,0.00,1.75,0.00,0.000,6,0.000,0.038,2409,2290,3897
$GC,8982,-1.07,-243.4,969.4,-9.3,811,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2290,3896
$STATE,9226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9227,begin apogee
$GC,9236,-0.28,0.0,991.8,9.1,823,9449,0.80,0.00,209.93,1.472,6,0.098,0.000,2679,1699,2945
$STATE,9450,end apogee,CONTROL_FINISHED_OK
$STATE,9450,begin climb
$GC,9453,1.07,243.4,1006.2,0.0,834,9683,1.15,2.38,218.32,1.425,4,0.045,0.058,3126,293,1951
$GC,9768,1.07,243.4,980.1,14.5,848,9772,0.00,2.17,0.00,0.000,6,0.000,0.043,3126,1691,1946
$GC,10089,1.07,243.4,937.6,13.1,864,10092,0.00,2.22,0.00,0.000,4,0.000,0.056,3125,3109,1942
$GC,10139,1.07,243.4,930.7,14.4,866,10143,0.00,2.17,0.00,0.000,6,0.000,0.042,3133,1682,1941
$GC,10466,1.07,243.4,888.5,12.6,882,10470,0.00,2.22,0.00,0.000,4,0.000,0.057,3131,3099,1941
$GC,10535,1.07,243.4,879.2,13.5,885,10539,0.00,2.15,0.00,0.000,6,0.000,0.048,3139,1691,1940
$GC,10869,1.07,243.4,834.8,13.4,901,10873,0.00,2.20,0.00,0.000,4,0.000,0.056,3150,290,1939
$GC,10960,1.07,243.4,822.1,13.4,905,10965,0.15,2.15,0.00,0.000,6,0.185,0.044,3114,1694,1939
$GC,11288,1.07,243.4,780.9,12.7,921,11292,0.00,2.22,0.00,0.000,4,0.000,0.063,3110,3105,1938
$GC,11316,1.07,243.4,776.9,13.1,922,11320,0.00,2.17,0.00,0.000,6,0.000,0.043,3118,1676,1937
$GC,11642,1.07,243.4,736.5,12.2,938,11644,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1675,1937
$GC,11953,1.07,243.4,700.8,11.5,953,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,1676,1937
$GC,12263,1.07,243.4,663.7,12.2,968,12267,0.00,2.25,0.00,0.000,4,0.000,0.056,3115,3103,1935
$GC,12302,1.07,243.4,658.4,12.2,969,12308,0.00,2.20,0.00,0.000,6,0.000,0.042,3123,1663,1935
$GC,12619,1.07,243.4,620.5,12.1,985,12623,0.00,2.17,0.00,0.000,4,0.000,0.055,3133,280,1935
$GC,12698,1.07,243.4,610.7,12.0,988,12702,0.00,2.10,0.00,0.000,6,0.000,0.043,3133,1656,1935
$GC,13020,1.07,243.4,572.3,12.0,1004,13024,0.00,2.25,0.00,0.000,4,0.000,0.054,3134,3096,1935
$GC,13135,1.07,243.4,558.5,12.3,1009,13140,0.15,2.22,0.00,0.000,6,0.187,0.042,3108,1653,1935
$GC,13462,1.07,243.4,523.3,11.0,1025,13466,0.00,2.28,0.00,0.000,4,0.000,0.054,3104,3100,1935
$GC,13486,1.07,243.4,520.5,11.4,1026,13489,0.00,2.20,0.00,0.000,6,0.000,0.041,3113,1659,1935
$GC,13813,1.07,243.4,483.7,10.6,1048,13817,0.00,2.28,0.00,0.000,4,0.000,0.054,3113,3102,1935
$GC,13848,1.07,243.4,479.6,11.6,1051,13852,0.00,2.22,0.00,0.000,6,0.000,0.044,3121,1656,1935
$GC,14181,1.10,264.7,447.5,9.4,1082,14215,0.00,2.33,19.77,1.007,4,0.000,0.053,3122,3092,1865
$GC,14296,1.10,268.6,436.0,9.9,1092,14309,0.00,2.12,5.03,0.825,6,0.000,0.040,3131,1703,1849
$GC,14628,1.14,297.0,404.2,9.2,1123,14662,0.00,2.22,26.70,1.061,4,0.000,0.053,3132,3094,1732
$GC,14764,1.14,297.0,390.4,10.3,1135,14768,0.00,2.10,0.00,0.000,6,0.000,0.039,3142,1724,1731
$GC,15099,1.16,313.4,358.5,9.5,1166,15121,0.00,2.17,15.73,0.987,4,0.000,0.051,3143,3101,1667
$GC,15259,1.16,313.4,341.2,10.6,1180,15263,0.00,2.03,0.00,0.000,6,0.000,0.038,3154,1767,1665
$GC,15594,1.16,317.6,306.2,9.9,1211,15605,0.00,2.08,5.38,0.752,4,0.000,0.049,3158,3098,1650
$GC,15651,1.16,317.6,299.4,11.2,1216,15659,0.00,1.98,0.00,0.000,6,0.000,0.037,3168,1808,1650
$GC,16000,1.16,317.6,258.2,12.8,1277,16006,0.12,2.38,0.00,0.000,4,0.171,0.048,3150,275,1650
$GC,16153,1.16,317.6,241.3,10.0,1303,16159,0.00,2.25,0.00,0.000,6,0.000,0.036,3150,1771,1650
$GC,16499,1.22,364.8,208.0,8.7,1364,16548,0.00,2.35,42.78,0.874,4,0.000,0.047,3160,285,1456
$GC,16658,1.22,364.8,191.3,10.3,1391,16664,0.00,2.30,0.00,0.000,6,0.000,0.035,3160,1811,1454
$GC,17004,1.24,378.9,160.6,9.6,1452,17024,0.00,2.00,13.12,0.773,4,0.000,0.045,3160,3097,1400
$GC,17116,1.24,378.9,148.8,11.4,1471,17122,0.00,1.92,0.00,0.000,6,0.000,0.034,3169,1821,1400
$GC,17461,1.24,378.9,114.3,10.3,1532,17468,0.00,1.98,0.00,0.000,4,0.000,0.044,3169,3099,1399
$GC,17588,1.36,475.6,103.8,7.3,1554,17677,0.00,1.88,84.07,0.763,6,0.000,0.033,3178,1845,1005
$GC,18017,1.38,497.9,63.4,9.4,1628,18042,0.00,0.00,20.38,0.687,6,0.000,0.000,3178,1845,915
$GC,18382,1.38,497.9,26.1,10.7,1692,18389,0.00,1.95,0.00,0.000,4,0.000,0.040,3178,3107,915
$GC,18507,1.38,497.9,13.1,11.8,1714,18516,0.08,1.85,0.00,0.000,6,0.054,0.031,3235,1863,915
$STATE,18595,end climb,SURFACE_DEPTH_REACHED
$STATE,18595,begin surface coast
$FINISH,0.9,1.022103
$STATE,18621,end surface coast,CONTROL_FINISHED_OK
$STATE,18621,begin surface
$SM_CCo,18701,0.00,0.000,0,0,913,498.45
$SM_GC,1.70,8.07,0.00,0.00,0.042,0.000,0.000,145,2100,913,-8.11,1.10,498.45
$IRIDIUM_FIX,2406.29,12546.00,031198,101048
$TT8_MAMPS,0.026845
$HUMID,1641
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,24.90
$XPDR_PINGS,184
$24V_AH,22.9,102.401
$10V_AH,10.6,67.216
$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,20.375,168.750,661.200,0.000,0.000,50.004,76.875,325.636,54.000,0.000,0.000,13.752,3010.072,11116.838,771.271,3503.806,987.404,0.000,2364.518,0.000,3474.345,0.000,54.437,0.000
$DEVICE_MAMPS,238.537,62.894,1471.873,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1175.252,1203.805,2022.384,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101133,1733
$CAP_FILE_SIZE,178472,0
$CFSIZE,260165632,197013504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151, 84.3,1
$GPS,090809,153107,2414.261,12545.224,36,1.4,36,-3.6