version: 66.04
glider: 166
mission: 2
dive: 468
start: 8 10 109 18 20 44
data:
$ID,166
$MISSION,2
$DIVE,468
$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,-15127.105
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$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,45
$R_STBD_OVSHOOT,66
$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
$GPS1,181206,2409.994,12548.264,38,1.3,43,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.7
$GPS2,182024,2409.986,12548.384,13,2.0,29,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2350.000,12545.000
$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,209.6,37455,-13.9,-10.000
$D_GRID,1354
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.11,-243.4,0.0,0.0,0,86,0.00,0.00,-65.40,0.000,2,0.000,0.000,133,2105,2404
$GC,90,-1.11,-243.4,3.1,-5.5,10,149,9.10,2.20,-42.25,0.000,4,0.224,0.049,2378,646,3938
$GC,162,-1.11,-243.4,13.6,-18.0,21,169,0.00,2.10,0.00,0.000,6,0.000,0.031,2377,2047,3939
$GC,509,-1.11,-243.4,76.6,-19.0,82,515,0.00,2.08,0.00,0.000,4,0.000,0.037,2378,647,3939
$GC,602,-1.11,-243.4,94.9,-19.6,98,609,0.00,2.12,0.00,0.000,6,0.000,0.031,2373,2095,3939
$GC,947,-1.11,-243.4,142.1,-13.0,159,954,0.00,2.08,0.00,0.000,4,0.000,0.044,2376,3460,3940
$GC,1023,-1.11,-243.4,153.3,-15.5,172,1030,0.00,1.98,0.00,0.000,6,0.000,0.027,2375,2092,3941
$GC,1371,-1.11,-243.4,197.7,-11.5,233,1377,0.00,2.08,0.00,0.000,4,0.000,0.044,2368,3466,3941
$GC,1436,-1.11,-243.4,205.9,-13.6,244,1443,0.00,1.90,0.00,0.000,6,0.000,0.027,2373,2143,3941
$GC,1783,-1.11,-243.4,249.5,-12.4,305,1790,0.00,2.17,0.00,0.000,4,0.000,0.038,2372,666,3941
$GC,1809,-1.11,-243.4,252.9,-12.3,309,1815,0.00,2.17,0.00,0.000,6,0.000,0.031,2366,2148,3941
$GC,2154,-1.11,-243.4,294.3,-11.9,370,2160,0.00,2.00,0.00,0.000,4,0.000,0.047,2368,3457,3941
$GC,2228,-1.11,-243.4,304.1,-13.0,380,2235,0.00,1.88,0.00,0.000,6,0.000,0.027,2366,2156,3941
$GC,2556,-1.11,-243.4,342.8,-11.9,411,2560,0.00,2.00,0.00,0.000,4,0.000,0.047,2367,3469,3940
$GC,2607,-1.11,-243.4,349.8,-12.6,415,2614,0.00,1.85,0.00,0.000,6,0.000,0.028,2366,2173,3939
$GC,2932,-1.11,-243.4,391.9,-13.1,446,2935,0.00,2.22,0.00,0.000,4,0.000,0.041,2366,675,3938
$GC,2981,-1.11,-243.4,398.5,-12.8,450,2988,0.00,2.25,0.00,0.000,6,0.000,0.034,2367,2172,3938
$GC,3309,-1.11,-243.4,434.0,-10.4,481,3313,0.00,1.95,0.00,0.000,4,0.000,0.049,2369,3457,3937
$GC,3360,-1.11,-243.4,439.8,-10.8,485,3366,0.00,1.83,0.00,0.000,6,0.000,0.029,2369,2186,3936
$GC,3688,-1.11,-243.4,474.3,-11.3,516,3695,0.00,2.25,0.00,0.000,4,0.000,0.042,2370,682,3935
$GC,3752,-1.11,-243.4,482.3,-11.9,521,3758,0.00,2.20,0.00,0.000,6,0.000,0.035,2368,2164,3934
$GC,4085,-1.11,-243.4,518.7,-10.9,545,4088,0.00,1.98,0.00,0.000,4,0.000,0.051,2369,3456,3932
$GC,4108,-1.11,-243.4,521.5,-10.9,546,4111,0.00,1.88,0.00,0.000,6,0.000,0.030,2370,2162,3932
$GC,4441,-1.11,-243.4,556.7,-10.9,562,4445,0.00,2.00,0.00,0.000,4,0.000,0.051,2364,3455,3928
$GC,4511,-1.11,-243.4,564.6,-11.5,565,4514,0.00,1.85,0.00,0.000,6,0.000,0.031,2364,2184,3928
$GC,4847,-1.11,-243.4,601.5,-11.1,581,4851,0.00,2.28,0.00,0.000,4,0.000,0.045,2363,682,3925
$GC,4881,-1.11,-243.4,606.0,-12.1,582,4888,0.12,2.25,0.00,0.000,6,0.150,0.038,2389,2185,3925
$GC,5197,-1.11,-243.4,640.5,-10.7,598,5201,0.00,2.30,0.00,0.000,4,0.000,0.046,2389,681,3923
$GC,5247,-1.11,-243.4,646.2,-11.0,600,5251,0.00,2.25,0.00,0.000,6,0.000,0.039,2379,2170,3922
$GC,5564,-1.11,-243.4,679.3,-10.5,615,5567,0.00,2.00,0.00,0.000,4,0.000,0.055,2382,3461,3919
$GC,5603,-1.11,-243.4,683.9,-10.9,616,5610,0.00,1.90,0.00,0.000,6,0.000,0.035,2379,2190,3919
$GC,5919,-1.11,-243.4,715.7,-9.8,632,5923,0.00,2.33,0.00,0.000,4,0.000,0.048,2378,673,3916
$GC,5986,-1.11,-243.4,722.8,-10.6,635,5991,0.00,2.28,0.00,0.000,6,0.000,0.041,2380,2167,3916
$GC,6309,-1.11,-243.4,753.2,-9.5,651,6313,0.00,2.30,0.00,0.000,4,0.000,0.048,2377,675,3913
$GC,6364,-1.11,-243.4,759.2,-11.5,653,6370,0.00,2.25,0.00,0.000,6,0.000,0.042,2376,2149,3912
$GC,6682,-1.11,-243.4,791.3,-10.5,669,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2149,3910
$GC,6989,-1.11,-243.4,824.4,-10.6,684,6997,0.00,2.28,0.00,0.000,4,0.000,0.050,2378,681,3908
$GC,7053,-1.11,-243.4,831.9,-11.6,686,7059,0.00,2.22,0.00,0.000,6,0.000,0.042,2369,2140,3907
$GC,7370,-1.11,-243.4,865.8,-10.3,702,7374,0.00,2.10,0.00,0.000,4,0.000,0.061,2357,3463,3905
$GC,7403,-1.11,-243.4,869.7,-11.6,703,7407,0.12,1.95,0.00,0.000,6,0.156,0.037,2390,2170,3905
$GC,7724,-1.11,-243.4,903.4,-10.5,719,7728,0.00,2.30,0.00,0.000,4,0.000,0.051,2390,682,3904
$GC,7747,-1.11,-243.4,906.0,-10.8,720,7751,0.00,2.28,0.00,0.000,6,0.000,0.047,2381,2148,3903
$GC,8068,-1.11,-243.4,944.0,-12.5,736,8072,0.00,2.08,0.00,0.000,4,0.000,0.061,2373,3463,3901
$GC,8101,-1.11,-243.4,948.6,-13.9,737,8105,0.00,1.92,0.00,0.000,6,0.000,0.038,2373,2176,3901
$GC,8425,-1.11,-243.4,989.1,-12.3,753,8429,0.00,2.25,0.00,0.000,3,0.000,0.053,2374,717,3899
$STATE,8430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8430,begin apogee
$GC,8438,-0.29,0.0,990.0,12.3,753,8656,0.88,0.00,210.07,1.470,6,0.126,0.000,2645,1688,2944
$STATE,8656,end apogee,CONTROL_FINISHED_OK
$STATE,8656,begin climb
$GC,8659,1.11,243.4,1007.1,0.0,764,8890,1.30,2.38,218.12,1.424,4,0.068,0.058,3101,3096,1951
$GC,8987,1.11,243.4,984.3,12.9,779,8991,0.00,2.12,0.00,0.000,6,0.000,0.043,3111,1719,1944
$GC,9321,1.11,243.4,943.2,12.5,795,9325,0.00,2.28,0.00,0.000,4,0.000,0.058,3122,281,1942
$GC,9405,1.11,243.4,931.8,12.7,798,9411,0.00,2.17,0.00,0.000,6,0.000,0.044,3122,1678,1941
$GC,9721,1.11,243.4,890.4,13.7,814,9724,0.00,2.22,0.00,0.000,4,0.000,0.058,3122,3096,1940
$GC,9790,1.11,243.4,880.9,13.9,817,9794,0.00,2.17,0.00,0.000,6,0.000,0.044,3132,1677,1940
$GC,10123,1.11,243.4,838.0,12.3,833,10127,0.00,2.20,0.00,0.000,4,0.000,0.058,3143,280,1938
$GC,10151,1.11,243.4,834.2,12.8,834,10156,0.15,2.15,0.00,0.000,6,0.179,0.044,3106,1683,1938
$GC,10473,1.11,243.4,799.2,10.8,850,10477,0.00,2.22,0.00,0.000,4,0.000,0.057,3105,3102,1938
$GC,10535,1.11,243.4,791.7,12.0,852,10541,0.00,2.17,0.00,0.000,6,0.000,0.044,3113,1674,1937
$GC,10852,1.11,243.4,756.1,11.5,868,10856,0.00,2.20,0.00,0.000,4,0.000,0.057,3124,277,1936
$GC,10921,1.11,243.4,747.5,12.3,871,10925,0.00,2.15,0.00,0.000,6,0.000,0.045,3124,1670,1937
$GC,11254,1.11,243.4,710.2,11.3,887,11258,0.00,2.25,0.00,0.000,4,0.000,0.058,3124,3102,1936
$GC,11317,1.11,243.4,703.0,11.4,889,11323,0.00,2.22,0.00,0.000,6,0.000,0.044,3134,1649,1934
$GC,11634,1.11,243.4,667.3,11.9,905,11638,0.00,2.15,0.00,0.000,4,0.000,0.056,3144,280,1935
$GC,11662,1.11,243.4,663.6,11.9,906,11667,0.15,2.12,0.00,0.000,6,0.176,0.044,3107,1668,1934
$GC,11984,1.11,243.4,627.8,11.1,922,11988,0.00,2.25,0.00,0.000,4,0.000,0.057,3105,3096,1934
$GC,12086,1.11,243.4,616.0,11.0,926,12090,0.00,2.20,0.00,0.000,6,0.000,0.043,3114,1653,1933
$GC,12403,1.13,263.7,584.0,9.4,941,12432,0.00,2.33,18.62,1.090,4,0.000,0.056,3113,3088,1870
$GC,12485,1.13,263.7,575.4,10.8,944,12492,0.00,2.15,0.00,0.000,6,0.000,0.043,3121,1688,1869
$GC,12802,1.14,266.2,544.5,9.9,960,12811,0.00,2.25,3.95,0.771,4,0.000,0.055,3121,3086,1859
$GC,12857,1.14,266.2,538.4,10.8,962,12861,0.00,2.12,0.00,0.000,6,0.000,0.042,3131,1692,1858
$GC,13180,1.14,266.2,505.6,10.3,978,13183,0.00,2.20,0.00,0.000,4,0.000,0.054,3131,3091,1859
$GC,13196,1.14,266.2,503.5,10.6,978,13203,0.00,2.17,0.00,0.000,6,0.000,0.041,3141,1684,1858
$GC,13524,1.15,275.9,471.8,9.7,1007,13540,0.00,2.28,10.52,1.055,4,0.000,0.055,3141,3096,1820
$GC,13619,1.15,275.9,461.2,10.8,1015,13627,0.12,2.10,0.00,0.000,6,0.176,0.041,3121,1720,1818
$GC,13945,1.18,302.2,429.5,9.3,1046,13983,0.00,2.33,27.30,1.022,4,0.000,0.054,3130,285,1712
$GC,14047,1.21,329.6,419.9,9.2,1055,14082,0.00,2.25,26.38,1.057,6,0.000,0.041,3130,1741,1600
$GC,14401,1.25,358.5,387.4,9.2,1088,14435,0.00,2.15,26.85,1.029,4,0.000,0.051,3130,3098,1482
$GC,14539,1.25,358.5,372.7,10.9,1100,14542,0.00,2.05,0.00,0.000,6,0.000,0.039,3139,1759,1481
$GC,14873,1.25,358.5,336.6,10.6,1131,14877,0.00,2.10,0.00,0.000,4,0.000,0.050,3139,3109,1480
$GC,14964,1.25,358.5,326.0,11.3,1139,14968,0.00,1.98,0.00,0.000,6,0.000,0.038,3147,1804,1479
$GC,15295,1.28,381.8,292.3,9.4,1176,15326,0.00,2.05,21.73,0.932,4,0.000,0.049,3148,3091,1388
$GC,15422,1.28,381.8,278.9,10.2,1198,15428,0.00,1.90,0.00,0.000,6,0.000,0.036,3157,1850,1387
$GC,15767,1.28,381.8,242.9,10.4,1259,15774,0.00,1.92,0.00,0.000,4,0.000,0.048,3157,3100,1386
$GC,15872,1.29,392.0,232.3,9.7,1277,15891,0.00,1.77,10.75,0.821,6,0.000,0.036,3166,1906,1345
$GC,16231,1.29,392.0,194.4,12.3,1340,16237,0.00,2.50,0.00,0.000,4,0.000,0.048,3177,278,1344
$GC,16284,1.29,392.0,187.6,12.7,1349,16290,0.00,2.35,0.00,0.000,6,0.000,0.035,3177,1847,1344
$GC,16629,1.29,392.0,147.4,11.1,1410,16635,0.00,1.92,0.00,0.000,4,0.000,0.044,3177,3103,1344
$GC,16705,1.30,403.4,139.5,9.7,1423,16730,0.00,2.03,13.77,0.659,6,0.000,0.034,3186,1735,1299
$GC,17072,1.30,403.4,100.7,10.5,1487,17079,0.00,2.08,0.00,0.000,4,0.000,0.042,3187,3106,1299
$GC,17206,1.32,417.4,87.2,9.6,1510,17226,0.00,1.98,13.88,0.710,6,0.000,0.033,3196,1793,1243
$GC,17565,1.38,468.8,54.8,8.6,1573,17616,0.00,2.35,44.95,0.712,4,0.000,0.044,3206,279,1033
$GC,17637,1.44,510.9,48.2,8.8,1584,17682,0.00,2.30,37.45,0.687,6,0.000,0.031,3205,1822,861
$GC,18026,1.45,522.6,8.7,9.7,1651,18042,0.00,2.00,11.25,0.595,4,0.000,0.040,3206,3113,814
$STATE,18086,end climb,SURFACE_DEPTH_REACHED
$STATE,18086,begin surface coast
$FINISH,1.0,1.022013
$STATE,18120,end surface coast,CONTROL_FINISHED_OK
$STATE,18120,begin surface
$SM_CCo,18203,0.00,0.000,0,0,814,522.98
$SM_GC,1.68,7.97,0.00,0.00,0.035,0.000,0.000,147,2039,814,-8.05,-0.62,522.98
$IRIDIUM_FIX,2359.20,12549.83,041198,131344
$TT8_MAMPS,0.026845
$HUMID,1628
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.00
$XPDR_PINGS,197
$24V_AH,22.9,103.971
$10V_AH,10.6,68.235
$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,19.925,190.875,695.600,0.000,0.000,23.421,36.026,238.783,57.250,0.000,0.000,30.019,2905.451,10694.477,821.853,3428.620,828.130,0.000,2408.761,0.000,3384.241,0.000,54.455,0.000
$DEVICE_MAMPS,223.964,61.360,1470.339,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1129.290,1146.829,1926.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97881,1667
$CAP_FILE_SIZE,177543,0
$CFSIZE,260165632,196427776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.092, 68.3,1
$GPS,100809,232525,2408.947,12549.044,40,1.2,40,-3.6