version: 66.04
glider: 166
mission: 2
dive: 490
start: 8 15 109 13 14 42
data:
$ID,166
$MISSION,2
$DIVE,490
$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,-15754.116
$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,36
$R_STBD_OVSHOOT,46
$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
$GPS1,130606,2348.745,12548.716,26,1.2,26,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.6
$GPS2,131420,2348.723,12548.678,14,1.2,14,-3.5
$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,303.3,6664,-13.9,-10.000
$D_GRID,2267
$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,-243.4,0.0,0.0,0,79,0.00,0.00,-58.17,0.000,2,0.000,0.000,119,2083,2279
$GC,82,-1.11,-243.4,3.2,-5.4,9,147,9.23,2.20,-45.92,0.000,4,0.227,0.047,2385,642,3939
$GC,171,-1.11,-243.4,16.2,-19.8,23,179,0.00,2.10,0.00,0.000,6,0.000,0.031,2372,2070,3940
$GC,519,-1.11,-243.4,74.0,-16.1,84,525,0.00,2.10,0.00,0.000,4,0.000,0.043,2374,3474,3939
$GC,533,-1.11,-243.4,76.4,-15.9,86,539,0.00,2.05,0.00,0.000,6,0.000,0.027,2388,2038,3940
$GC,879,-1.11,-243.4,127.0,-12.7,147,886,0.00,2.03,0.00,0.000,4,0.000,0.035,2385,678,3941
$GC,935,-1.11,-243.4,134.5,-14.5,156,941,0.00,2.08,0.00,0.000,6,0.000,0.029,2388,2115,3941
$GC,1284,-1.11,-243.4,178.9,-12.0,217,1290,0.00,2.03,0.00,0.000,4,0.000,0.041,2379,3478,3942
$GC,1387,-1.11,-243.4,192.6,-14.1,235,1394,0.00,1.95,0.00,0.000,6,0.000,0.026,2391,2123,3942
$GC,1734,-1.11,-243.4,237.5,-12.9,296,1740,0.00,2.12,0.00,0.000,4,0.000,0.035,2380,672,3942
$GC,1760,-1.11,-243.4,240.7,-12.7,300,1767,0.00,2.17,0.00,0.000,6,0.000,0.030,2371,2137,3941
$GC,2106,-1.11,-243.4,280.9,-11.9,361,2112,0.00,2.00,0.00,0.000,4,0.000,0.044,2365,3471,3941
$GC,2142,-1.11,-243.4,285.2,-12.1,367,2149,0.00,1.90,0.00,0.000,6,0.000,0.027,2367,2130,3941
$GC,2476,-1.11,-243.4,323.5,-11.5,409,2480,0.00,2.03,0.00,0.000,4,0.000,0.044,2364,3462,3940
$GC,2525,-1.11,-243.4,329.0,-11.8,413,2529,0.00,1.85,0.00,0.000,6,0.000,0.027,2365,2162,3939
$GC,2859,-1.11,-243.4,367.0,-11.5,444,2862,0.00,2.20,0.00,0.000,4,0.000,0.037,2365,683,3938
$GC,2887,-1.11,-243.4,370.6,-12.0,446,2894,0.00,2.17,0.00,0.000,6,0.000,0.032,2365,2162,3938
$GC,3213,-1.11,-243.4,407.1,-10.9,477,3217,0.00,1.98,0.00,0.000,4,0.000,0.046,2364,3466,3936
$GC,3230,-1.11,-243.4,409.1,-10.6,478,3236,0.00,1.90,0.00,0.000,6,0.000,0.028,2365,2166,3936
$GC,3561,-1.11,-243.4,440.7,-9.6,509,3565,0.00,2.00,0.00,0.000,4,0.000,0.047,2357,3462,3934
$GC,3585,-1.11,-243.4,443.7,-10.2,511,3589,0.08,1.90,0.00,0.000,6,0.135,0.029,2395,2162,3934
$GC,3916,-1.11,-243.4,475.6,-9.7,542,3920,0.00,2.00,0.00,0.000,4,0.000,0.048,2388,3460,3933
$GC,3951,-1.11,-243.4,479.1,-10.1,545,3954,0.00,1.83,0.00,0.000,6,0.000,0.029,2389,2196,3932
$GC,4283,-1.11,-243.4,511.3,-10.0,571,4287,0.00,2.28,0.00,0.000,4,0.000,0.040,2389,681,3930
$GC,4311,-1.11,-243.4,514.8,-11.1,572,4315,0.00,2.28,0.00,0.000,6,0.000,0.037,2386,2197,3930
$GC,4633,-1.11,-243.4,546.9,-9.8,588,4637,0.00,1.92,0.00,0.000,4,0.000,0.051,2383,3456,3927
$GC,4702,-1.11,-243.4,554.1,-10.7,591,4706,0.00,1.80,0.00,0.000,6,0.000,0.031,2384,2215,3927
$GC,5035,-1.11,-243.4,588.3,-10.2,607,5039,0.00,2.33,0.00,0.000,4,0.000,0.044,2385,678,3924
$GC,5059,-1.11,-243.4,590.8,-10.4,608,5063,0.00,2.30,0.00,0.000,6,0.000,0.039,2383,2195,3924
$GC,5388,-1.11,-243.4,623.4,-9.8,624,5392,0.00,2.33,0.00,0.000,4,0.000,0.044,2383,681,3921
$GC,5500,-1.11,-243.4,635.2,-10.5,629,5505,0.00,2.38,0.00,0.000,6,0.000,0.041,2382,2234,3920
$GC,5823,-1.11,-243.4,664.6,-9.0,645,5826,0.00,1.90,0.00,0.000,4,0.000,0.056,2392,3456,3917
$GC,5919,-1.11,-243.4,673.4,-9.2,649,5923,0.00,1.75,0.00,0.000,6,0.000,0.035,2390,2280,3917
$GC,6247,-1.11,-243.4,704.9,-10.2,665,6251,0.00,2.45,0.00,0.000,4,0.000,0.047,2390,685,3914
$GC,6264,-1.11,-243.4,706.8,-10.5,666,6268,0.00,2.45,0.00,0.000,6,0.000,0.044,2394,2274,3914
$GC,6592,-1.11,-243.4,741.5,-10.9,682,6596,0.00,1.88,0.00,0.000,4,0.000,0.058,2394,3454,3911
$GC,6653,-1.11,-243.4,748.8,-11.7,684,6660,0.00,1.70,0.00,0.000,6,0.000,0.035,2389,2319,3911
$GC,6971,-1.11,-243.4,785.5,-11.6,700,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2320,3909
$GC,7279,-1.11,-243.4,822.0,-12.1,715,7283,0.00,1.80,0.00,0.000,4,0.000,0.061,2389,3457,3906
$GC,7313,-1.11,-243.4,826.3,-12.6,716,7316,0.00,1.65,0.00,0.000,6,0.000,0.037,2386,2338,3906
$GC,7636,-1.11,-243.4,862.8,-10.9,732,7639,0.00,1.77,0.00,0.000,4,0.000,0.061,2390,3457,3904
$GC,7736,-1.11,-243.4,874.3,-11.4,736,7740,0.00,1.73,0.00,0.000,6,0.000,0.038,2389,2316,3903
$GC,8059,-1.11,-243.4,908.1,-10.5,752,8062,0.00,1.83,0.00,0.000,4,0.000,0.062,2383,3460,3901
$GC,8099,-1.11,-243.4,912.5,-10.6,753,8104,0.00,1.65,0.00,0.000,6,0.000,0.038,2382,2348,3901
$GC,8417,-1.11,-243.4,946.9,-10.7,769,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2348,3899
$GC,8724,-1.11,-243.4,979.1,-10.2,784,8728,0.00,1.77,0.00,0.000,4,0.000,0.064,2375,3450,3897
$GC,8787,-1.11,-243.4,985.8,-11.0,786,8793,0.00,1.62,0.00,0.000,6,0.000,0.039,2375,2377,3896
$STATE,8832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8832,begin apogee
$GC,8840,-0.29,0.0,990.8,10.7,789,9060,0.88,0.00,211.32,1.468,6,0.116,0.000,2653,1724,2945
$STATE,9061,end apogee,CONTROL_FINISHED_OK
$STATE,9061,begin climb
$GC,9064,1.11,243.4,1005.4,0.0,800,9295,1.27,2.33,218.52,1.431,4,0.061,0.058,3105,3091,1951
$GC,9385,1.11,243.4,982.0,13.2,814,9391,0.00,2.15,0.00,0.000,6,0.000,0.041,3115,1699,1945
$GC,9702,1.11,243.4,944.0,12.2,830,9705,0.00,2.22,0.00,0.000,4,0.000,0.054,3126,284,1942
$GC,9780,1.11,243.4,934.3,11.4,833,9784,0.00,2.15,0.00,0.000,6,0.000,0.044,3126,1680,1942
$GC,10102,1.11,243.4,898.3,11.0,849,10106,0.00,2.22,0.00,0.000,4,0.000,0.058,3125,3094,1940
$GC,10137,1.11,243.4,894.0,12.0,850,10140,0.00,2.17,0.00,0.000,6,0.000,0.043,3135,1671,1939
$GC,10458,1.11,243.4,857.2,10.7,866,10462,0.00,2.17,0.00,0.000,4,0.000,0.057,3144,289,1939
$GC,10553,1.11,243.4,846.2,11.4,870,10558,0.15,2.12,0.00,0.000,6,0.184,0.044,3108,1676,1938
$GC,10881,1.11,243.4,811.9,11.0,886,10885,0.00,2.25,0.00,0.000,4,0.000,0.058,3105,3099,1938
$GC,10937,1.11,243.4,805.1,12.1,888,10941,0.00,2.20,0.00,0.000,6,0.000,0.043,3113,1663,1937
$GC,11253,1.11,243.4,766.7,12.6,903,11257,0.00,2.17,0.00,0.000,4,0.000,0.062,3123,293,1937
$GC,11301,1.11,243.4,760.7,12.9,905,11305,0.00,2.12,0.00,0.000,6,0.000,0.044,3122,1671,1937
$GC,11635,1.11,243.4,717.8,12.7,921,11639,0.00,2.25,0.00,0.000,4,0.000,0.058,3122,3099,1936
$GC,11721,1.11,243.4,706.5,12.3,925,11725,0.00,2.17,0.00,0.000,6,0.000,0.044,3132,1683,1935
$GC,12057,1.11,243.4,666.2,11.7,941,12060,0.00,2.20,0.00,0.000,4,0.000,0.057,3142,289,1935
$GC,12180,1.11,243.4,650.7,12.0,946,12185,0.15,2.12,0.00,0.000,6,0.179,0.044,3106,1673,1935
$GC,12502,1.15,279.5,619.0,9.0,962,12545,0.00,2.35,33.38,1.191,4,0.000,0.056,3105,3093,1805
$GC,12655,1.15,279.5,603.2,10.5,968,12662,0.00,2.20,0.00,0.000,6,0.000,0.042,3114,1662,1802
$GC,12972,1.15,280.2,571.7,10.0,984,12976,0.00,2.28,0.00,0.000,4,0.000,0.056,3114,3099,1801
$GC,13050,1.15,280.2,562.9,10.7,987,13056,0.00,2.17,0.00,0.000,6,0.000,0.042,3125,1677,1799
$GC,13366,1.15,280.2,528.4,11.4,1003,13370,0.00,2.20,0.00,0.000,4,0.000,0.058,3137,287,1800
$GC,13440,1.15,280.2,519.6,11.4,1006,13444,0.00,2.17,0.00,0.000,6,0.000,0.043,3137,1703,1799
$GC,13761,1.17,291.8,486.6,9.7,1027,13777,0.00,2.20,11.82,1.086,4,0.000,0.054,3137,3099,1755
$GC,13885,1.17,291.8,473.6,11.0,1037,13891,0.00,2.15,0.00,0.000,6,0.000,0.041,3149,1695,1754
$GC,14213,1.17,291.8,440.2,10.4,1068,14216,0.00,2.22,0.00,0.000,4,0.000,0.054,3149,3103,1754
$GC,14326,1.17,291.8,427.2,11.7,1078,14331,0.15,2.05,0.00,0.000,6,0.172,0.041,3121,1768,1753
$GC,14658,1.19,311.5,395.2,9.5,1109,14684,0.00,2.15,19.20,1.049,4,0.000,0.053,3120,3097,1675
$GC,14753,1.19,311.5,385.9,10.3,1117,14758,0.00,2.00,0.00,0.000,6,0.000,0.039,3128,1787,1673
$GC,15080,1.24,351.3,356.4,8.9,1148,15129,0.00,2.08,38.65,0.982,4,0.000,0.051,3128,3096,1513
$GC,15210,1.24,351.3,343.8,10.4,1159,15213,0.00,1.92,0.00,0.000,6,0.000,0.038,3137,1837,1510
$GC,15543,1.24,351.3,309.6,10.4,1190,15546,0.00,1.98,0.00,0.000,4,0.000,0.050,3137,3106,1509
$GC,15589,1.24,351.3,304.5,10.5,1194,15592,0.00,1.88,0.00,0.000,6,0.000,0.037,3146,1864,1509
$GC,15933,1.24,351.3,267.3,11.1,1251,15938,0.00,1.92,0.00,0.000,4,0.000,0.048,3145,3109,1509
$GC,15974,1.24,351.3,262.7,11.5,1258,15980,0.00,1.88,0.00,0.000,6,0.000,0.037,3155,1881,1509
$GC,16319,1.24,351.3,227.5,10.2,1319,16325,0.00,1.88,0.00,0.000,4,0.000,0.047,3154,3097,1508
$GC,16390,1.24,351.3,219.9,10.5,1331,16396,0.00,1.90,0.00,0.000,6,0.000,0.035,3163,1831,1509
$GC,16738,1.30,403.6,186.8,8.6,1392,16790,0.00,2.08,46.45,0.857,4,0.000,0.046,3163,3107,1299
$GC,16814,1.37,459.7,180.0,8.4,1404,16873,0.00,2.05,50.85,0.828,6,0.000,0.035,3173,1762,1069
$GC,17216,1.37,459.7,138.1,10.4,1473,17222,0.00,2.28,0.00,0.000,4,0.000,0.046,3184,283,1067
$GC,17332,1.37,459.7,125.5,10.6,1493,17338,0.00,2.17,0.00,0.000,6,0.000,0.033,3184,1751,1066
$GC,17678,1.43,506.0,88.8,8.7,1554,17724,0.00,2.15,39.95,0.745,4,0.000,0.042,3184,3109,882
$GC,17753,1.43,506.0,81.0,11.6,1566,17760,0.00,2.10,0.00,0.000,6,0.000,0.033,3192,1732,882
$GC,18100,1.43,506.0,46.1,10.3,1627,18106,0.00,2.10,0.00,0.000,4,0.000,0.041,3191,3114,882
$GC,18244,1.47,539.2,31.6,9.1,1652,18279,0.00,2.10,29.75,0.673,6,0.000,0.031,3201,1684,746
$STATE,18520,end climb,SURFACE_DEPTH_REACHED
$STATE,18520,begin surface coast
$FINISH,0.9,1.009246
$STATE,18555,end surface coast,CONTROL_FINISHED_OK
$STATE,18555,begin surface
$SM_CCo,18636,0.00,0.000,0,0,745,539.66
$SM_GC,1.74,8.07,0.00,0.00,0.039,0.000,0.000,158,2096,745,-8.06,0.99,539.66
$IRIDIUM_FIX,2340.34,12551.43,091198,080801
$TT8_MAMPS,0.026845
$HUMID,1655
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.80
$XPDR_PINGS,196
$24V_AH,22.9,109.783
$10V_AH,10.5,71.949
$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,19.975,183.350,699.900,0.000,0.000,26.450,39.110,231.596,57.000,0.000,0.000,14.923,2997.074,10909.621,793.858,3549.838,859.742,0.000,2419.667,0.000,3516.306,0.000,54.417,0.000
$DEVICE_MAMPS,227.032,63.661,1468.038,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.532,1173.424,1972.327,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98081,1706
$CAP_FILE_SIZE,180349,0
$CFSIZE,260165632,194297856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.144,133.7,1
$GPS,150809,182636,2348.512,12548.729,38,0.9,38,-3.5