version: 66.04
glider: 166
mission: 2
dive: 463
start: 8 9 109 15 46 23
data:
$ID,166
$MISSION,2
$DIVE,463
$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,-14954.157
$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,38
$R_STBD_OVSHOOT,67
$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
$GPS1,153107,2414.261,12545.224,36,1.4,36,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-61.5
$GPS2,154601,2414.246,12545.543,14,1.7,19,-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,241.3,42535,-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,16,-1.07,-243.4,0.0,0.0,0,84,0.00,0.00,-66.38,0.000,2,0.000,0.000,139,2101,2393
$GC,89,-1.07,-243.4,3.0,-5.1,10,148,9.20,2.28,-43.15,0.000,4,0.226,0.052,2410,647,3939
$GC,206,-1.07,-243.4,19.9,-15.8,29,212,0.00,2.05,0.00,0.000,6,0.000,0.033,2408,2039,3940
$GC,551,-1.07,-243.4,72.8,-13.9,90,557,0.00,2.15,0.00,0.000,4,0.000,0.046,2409,3466,3940
$GC,610,-1.07,-243.4,81.0,-14.6,100,617,0.00,2.10,0.00,0.000,6,0.000,0.028,2413,2038,3940
$GC,955,-1.07,-243.4,124.7,-11.9,161,961,0.00,2.17,0.00,0.000,4,0.000,0.045,2410,3464,3941
$GC,1032,-1.07,-243.4,133.8,-11.8,174,1038,0.00,2.03,0.00,0.000,6,0.000,0.028,2414,2051,3941
$GC,1380,-1.07,-243.4,174.5,-12.6,235,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2051,3941
$GC,1727,-1.07,-243.4,216.6,-11.5,296,1734,0.00,2.15,0.00,0.000,4,0.000,0.045,2408,3460,3941
$GC,1785,-1.07,-243.4,223.5,-11.9,306,1792,0.00,1.98,0.00,0.000,6,0.000,0.028,2410,2107,3941
$GC,2131,-1.07,-243.4,262.2,-10.8,367,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2108,3941
$GC,2476,-1.07,-243.4,299.6,-11.2,428,2483,0.00,2.08,0.00,0.000,4,0.000,0.046,2408,3466,3939
$GC,2505,-1.07,-243.4,303.0,-10.7,431,2513,0.00,1.98,0.00,0.000,6,0.000,0.028,2408,2091,3939
$GC,2830,-1.07,-243.4,336.6,-10.5,462,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2091,3939
$GC,3149,-1.07,-243.4,368.9,-10.4,492,3153,0.00,2.12,0.00,0.000,4,0.000,0.048,2407,3470,3937
$GC,3178,-1.07,-243.4,372.1,-11.1,494,3185,0.00,1.98,0.00,0.000,6,0.000,0.029,2407,2127,3936
$GC,3504,-1.07,-243.4,405.8,-10.4,525,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2127,3935
$GC,3826,-1.07,-243.4,437.8,-9.7,555,3830,0.00,2.17,0.00,0.000,4,0.000,0.041,2408,675,3933
$GC,3865,-1.07,-243.4,442.1,-10.3,558,3871,0.00,2.17,0.00,0.000,6,0.000,0.035,2407,2144,3933
$GC,4194,-1.07,-243.4,473.8,-10.2,589,4198,0.00,2.00,0.00,0.000,4,0.000,0.050,2409,3457,3930
$GC,4241,-1.07,-243.4,479.0,-10.3,593,4245,0.00,1.92,0.00,0.000,6,0.000,0.031,2412,2134,3929
$GC,4582,-1.07,-243.4,512.5,-9.9,619,4585,0.00,2.05,0.00,0.000,4,0.000,0.051,2410,3463,3927
$GC,4629,-1.07,-243.4,517.4,-10.9,621,4633,0.00,1.95,0.00,0.000,6,0.000,0.031,2414,2151,3927
$GC,4963,-1.07,-243.4,551.5,-10.6,637,4967,0.00,2.22,0.00,0.000,4,0.000,0.045,2413,678,3924
$GC,5070,-1.07,-243.4,563.1,-10.8,641,5076,0.00,2.15,0.00,0.000,6,0.000,0.037,2401,2118,3923
$GC,5387,-1.07,-243.4,595.8,-10.4,657,5391,0.00,2.08,0.00,0.000,4,0.000,0.054,2397,3469,3920
$GC,5460,-1.07,-243.4,604.0,-10.9,660,5463,0.00,1.95,0.00,0.000,6,0.000,0.034,2401,2140,3919
$GC,5787,-1.07,-243.4,638.5,-10.3,676,5791,0.00,2.22,0.00,0.000,4,0.000,0.048,2400,680,3917
$GC,5861,-1.07,-243.4,646.5,-11.2,679,5865,0.00,2.15,0.00,0.000,6,0.000,0.039,2392,2108,3916
$GC,6188,-1.07,-243.4,681.0,-10.6,695,6192,0.00,2.10,0.00,0.000,4,0.000,0.055,2386,3462,3913
$GC,6273,-1.07,-243.4,690.7,-11.5,698,6280,0.00,1.98,0.00,0.000,6,0.000,0.035,2392,2148,3912
$GC,6590,-1.07,-243.4,726.1,-11.2,714,6594,0.00,2.08,0.00,0.000,4,0.000,0.057,2378,3474,3910
$GC,6640,-1.07,-243.4,732.4,-12.2,716,6644,0.15,1.92,0.00,0.000,6,0.130,0.035,2425,2173,3910
$GC,6968,-1.07,-243.4,766.7,-10.1,732,6972,0.00,2.03,0.00,0.000,4,0.000,0.058,2417,3461,3907
$GC,7014,-1.07,-243.4,771.6,-10.3,734,7018,0.00,1.92,0.00,0.000,6,0.000,0.036,2418,2189,3907
$GC,7347,-1.07,-243.4,802.2,-8.8,750,7351,0.00,2.03,0.00,0.000,4,0.000,0.060,2418,3469,3905
$GC,7387,-1.07,-243.4,805.8,-9.3,751,7394,0.00,1.88,0.00,0.000,6,0.000,0.037,2420,2206,3905
$GC,7704,-1.07,-243.4,832.8,-8.5,767,7708,0.00,2.00,0.00,0.000,4,0.000,0.060,2415,3468,3903
$GC,7751,-1.07,-243.4,836.9,-8.9,769,7755,0.00,1.83,0.00,0.000,6,0.000,0.036,2416,2238,3903
$GC,8086,-1.07,-243.4,865.7,-8.7,785,8090,0.00,1.95,0.00,0.000,4,0.000,0.061,2414,3466,3901
$GC,8132,-1.07,-243.4,870.1,-9.3,787,8136,0.00,1.80,0.00,0.000,6,0.000,0.037,2416,2258,3900
$GC,8467,-1.07,-243.4,902.1,-9.7,803,8471,0.00,2.47,0.00,0.000,4,0.000,0.056,2416,674,3898
$GC,8495,-1.07,-243.4,905.5,-11.5,804,8499,0.00,2.50,0.00,0.000,6,0.000,0.053,2416,2270,3898
$GC,8816,-1.07,-243.4,939.4,-11.0,820,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2271,3896
$GC,9126,-1.07,-243.4,973.3,-11.0,835,9131,0.00,2.50,0.00,0.000,4,0.000,0.051,2417,672,3895
$GC,9222,-1.07,-243.4,984.6,-11.5,839,9226,0.00,2.55,0.00,0.000,6,0.000,0.048,2412,2295,3894
$STATE,9287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9287,begin apogee
$GC,9295,-0.28,0.0,992.0,11.1,842,9515,0.80,0.00,211.38,1.463,6,0.100,0.000,2675,1713,2946
$STATE,9516,end apogee,CONTROL_FINISHED_OK
$STATE,9516,begin climb
$GC,9520,1.07,243.4,1010.9,0.0,853,9751,1.17,2.35,218.25,1.430,4,0.049,0.057,3125,295,1951
$GC,9785,1.07,243.4,995.8,13.2,865,9789,0.00,2.20,0.00,0.000,6,0.000,0.043,3125,1694,1947
$GC,10109,1.07,243.4,953.9,13.0,881,10113,0.00,2.20,0.00,0.000,4,0.000,0.057,3123,3100,1943
$GC,10155,1.07,243.4,947.1,14.9,883,10158,0.00,2.15,0.00,0.000,6,0.000,0.043,3132,1699,1942
$GC,10490,1.07,243.4,904.6,12.6,899,10494,0.00,2.20,0.00,0.000,4,0.000,0.057,3130,3100,1941
$GC,10507,1.07,243.4,901.8,12.7,899,10513,0.00,2.15,0.00,0.000,6,0.000,0.048,3137,1699,1940
$GC,10823,1.07,243.4,861.6,12.8,915,10827,0.00,2.20,0.00,0.000,4,0.000,0.060,3137,3099,1939
$GC,10856,1.07,243.4,856.8,14.2,916,10860,0.15,2.12,0.00,0.000,6,0.189,0.043,3111,1706,1938
$GC,11173,1.07,243.4,818.9,12.1,931,11177,0.00,2.25,0.00,0.000,4,0.000,0.059,3120,280,1938
$GC,11268,1.07,243.4,806.5,12.6,935,11272,0.00,2.20,0.00,0.000,6,0.000,0.044,3120,1713,1938
$GC,11590,1.07,243.4,768.8,11.5,951,11594,0.00,2.17,0.00,0.000,4,0.000,0.057,3120,3103,1937
$GC,11674,1.07,243.4,758.2,12.2,954,11681,0.00,2.12,0.00,0.000,6,0.000,0.043,3130,1704,1936
$GC,11991,1.07,243.4,722.7,11.1,970,11994,0.00,2.22,0.00,0.000,4,0.000,0.055,3142,286,1936
$GC,12083,1.07,243.4,712.0,11.4,974,12087,0.12,2.17,0.00,0.000,6,0.190,0.044,3114,1701,1936
$GC,12410,1.07,243.4,675.9,11.0,990,12413,0.00,2.20,0.00,0.000,4,0.000,0.057,3111,3102,1936
$GC,12443,1.07,243.4,671.8,11.4,991,12447,0.00,2.12,0.00,0.000,6,0.000,0.042,3121,1705,1935
$GC,12766,1.07,243.4,636.2,11.0,1007,12769,0.00,2.25,0.00,0.000,4,0.000,0.058,3134,286,1935
$GC,12879,1.07,243.4,623.9,10.1,1012,12883,0.00,2.15,0.00,0.000,6,0.000,0.043,3133,1686,1935
$GC,13212,1.07,243.4,591.1,10.1,1028,13215,0.00,2.20,0.00,0.000,4,0.000,0.055,3129,3095,1935
$GC,13401,1.07,243.4,570.8,10.7,1036,13405,0.00,2.12,0.00,0.000,6,0.000,0.041,3138,1698,1935
$GC,13729,1.08,247.1,537.4,9.9,1052,13732,0.00,2.20,0.00,0.000,4,0.000,0.055,3136,3097,1935
$GC,13814,1.08,247.1,528.3,10.1,1055,13820,0.12,2.10,0.00,0.000,6,0.186,0.041,3115,1719,1935
$GC,14130,1.13,291.2,499.9,8.8,1071,14195,0.00,2.35,45.53,1.076,4,0.000,0.054,3126,289,1756
$GC,14243,1.13,291.2,488.7,10.8,1081,14247,0.00,2.28,0.00,0.000,6,0.000,0.042,3127,1746,1755
$GC,14573,1.14,300.1,455.6,9.8,1111,14587,0.00,2.15,9.07,0.998,4,0.000,0.054,3128,3092,1721
$GC,14712,1.18,327.8,441.7,9.2,1123,14745,0.00,2.05,26.55,1.078,6,0.000,0.041,3134,1748,1608
$GC,15063,1.18,327.8,406.4,10.2,1156,15067,0.00,2.12,0.00,0.000,4,0.000,0.052,3136,3101,1604
$GC,15144,1.18,327.8,397.7,11.0,1163,15148,0.00,2.00,0.00,0.000,6,0.000,0.039,3140,1792,1604
$GC,15477,1.19,341.8,363.1,9.6,1194,15499,0.00,2.12,13.30,0.978,4,0.000,0.052,3144,3106,1551
$GC,15547,1.20,345.0,355.9,9.9,1200,15559,0.00,1.92,4.82,0.738,6,0.000,0.038,3152,1841,1537
$GC,15877,1.20,345.0,321.9,10.5,1231,15881,0.00,1.95,0.00,0.000,4,0.000,0.051,3153,3099,1537
$GC,15980,1.20,345.0,310.2,11.6,1240,15984,0.00,2.00,0.00,0.000,6,0.000,0.038,3163,1774,1536
$GC,16320,1.23,371.4,275.4,9.3,1292,16351,0.00,2.10,24.48,0.931,4,0.000,0.048,3163,3106,1431
$GC,16449,1.23,371.4,261.2,12.0,1314,16456,0.00,1.98,0.00,0.000,6,0.000,0.037,3173,1819,1431
$GC,16795,1.23,371.4,220.7,10.1,1375,16801,0.00,2.00,0.00,0.000,4,0.000,0.048,3173,3110,1430
$GC,16887,1.23,371.4,210.9,10.8,1391,16893,0.00,1.88,0.00,0.000,6,0.000,0.035,3182,1858,1430
$GC,17233,1.23,371.4,178.0,12.7,1452,17239,0.00,1.92,0.00,0.000,4,0.000,0.046,3181,3094,1430
$GC,17298,1.23,371.4,170.1,12.2,1463,17304,0.00,1.98,0.00,0.000,6,0.000,0.034,3191,1789,1430
$GC,17643,1.23,371.4,132.8,10.1,1524,17650,0.12,2.00,0.00,0.000,4,0.151,0.043,3157,3101,1430
$GC,17708,1.25,392.3,127.2,9.4,1535,17734,0.00,1.92,20.08,0.775,6,0.000,0.034,3164,1819,1345
$GC,18075,1.37,485.3,91.9,7.4,1599,18164,0.12,2.42,80.60,0.751,4,0.064,0.045,3240,280,965
$GC,18272,1.37,485.7,70.7,10.0,1632,18279,0.12,2.28,0.00,0.000,6,0.144,0.032,3207,1809,964
$GC,18618,1.37,485.7,34.1,13.2,1693,18626,0.00,2.33,0.00,0.000,4,0.000,0.044,3214,282,964
$GC,18752,1.37,485.7,19.9,11.6,1716,18758,0.00,2.15,0.00,0.000,6,0.000,0.031,3213,1755,963
$STATE,18906,end climb,SURFACE_DEPTH_REACHED
$STATE,18907,begin surface coast
$FINISH,1.0,1.022147
$STATE,18937,end surface coast,CONTROL_FINISHED_OK
$STATE,18937,begin surface
$SM_CCo,19018,0.00,0.000,0,0,962,486.43
$SM_GC,1.59,7.97,0.00,0.00,0.031,0.000,0.000,162,2095,962,-8.11,0.96,486.43
$IRIDIUM_FIX,2403.92,12601.64,031198,151521
$TT8_MAMPS,0.026845
$HUMID,1626
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.90
$XPDR_PINGS,201
$24V_AH,22.9,102.669
$10V_AH,10.6,67.393
$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,20.075,178.950,654.050,0.000,0.000,70.303,192.543,306.241,58.250,0.000,0.000,19.964,3075.168,11296.335,772.813,3626.489,1121.033,0.000,2415.750,0.000,3586.475,0.000,54.418,0.000
$DEVICE_MAMPS,226.265,61.360,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.078,1207.485,2029.134,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101062,1749
$CAP_FILE_SIZE,185504,0
$CFSIZE,260165632,196907008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.180, 78.5,1
$GPS,090809,210437,2413.848,12545.958,38,1.2,38,-3.6