version: 66.04
glider: 166
mission: 2
dive: 533
start: 8 23 109 17 20 23
data:
$ID,166
$MISSION,2
$DIVE,533
$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,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17899.008
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2820
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$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,28
$R_STBD_OVSHOOT,49
$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,2
$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
$GPS1,171206,2502.855,12228.750,30,1.3,30,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-71.7
$GPS2,172002,2503.029,12228.957,14,1.1,14,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,328.2,41226,-13.9,-10.000
$D_GRID,1159
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.93,-243.4,0.0,0.0,0,95,0.00,0.00,-72.65,0.000,2,0.000,0.000,154,2081,2125
$GC,99,-0.93,-243.4,3.3,-5.8,11,163,9.73,2.12,-46.40,0.000,4,0.228,0.056,2501,3463,3939
$GC,263,-0.57,-243.4,43.7,-25.0,38,271,0.43,2.15,0.00,0.000,6,0.147,0.030,2631,2020,3940
$GC,611,-0.57,-243.4,84.8,-9.6,99,618,0.00,2.03,0.00,0.000,4,0.000,0.040,2630,662,3942
$GC,814,-0.65,-243.4,107.9,-9.3,134,822,0.00,2.05,0.00,0.000,6,0.000,0.031,2630,2057,3943
$GC,1165,-0.76,-243.4,145.4,-9.5,195,1171,0.15,2.12,0.00,0.000,4,0.058,0.044,2546,3456,3942
$GC,1214,-0.68,-243.4,151.4,-12.1,203,1221,0.17,2.03,0.00,0.000,6,0.125,0.028,2597,2044,3942
$GC,1564,-0.75,-243.4,174.8,-9.3,264,1570,0.00,2.20,0.00,0.000,4,0.000,0.044,2596,3464,3942
$GC,1675,-0.91,-243.4,186.6,-11.3,283,1681,0.20,2.03,0.00,0.000,6,0.047,0.029,2500,2059,3942
$GC,2022,-0.70,-243.4,246.1,-16.2,344,2029,0.28,2.08,0.00,0.000,4,0.132,0.038,2588,679,3941
$GC,2164,-0.79,-243.4,259.2,-8.7,368,2171,0.00,2.08,0.00,0.000,6,0.000,0.033,2586,2081,3941
$GC,2511,-0.87,-243.4,293.3,-10.8,429,2517,0.15,2.12,0.00,0.000,4,0.059,0.045,2504,3462,3938
$GC,2592,-0.77,-243.4,305.6,-15.4,440,2597,0.22,2.03,0.00,0.000,6,0.123,0.030,2571,2075,3938
$GC,2918,-0.83,-243.4,334.5,-7.5,470,2922,0.00,2.12,0.00,0.000,4,0.000,0.040,2571,673,3936
$GC,3001,-0.89,-243.4,341.1,-8.2,477,3005,0.10,2.10,0.00,0.000,6,0.071,0.035,2513,2066,3936
$GC,3331,-0.78,-243.4,386.1,-13.9,508,3336,0.17,2.15,0.00,0.000,4,0.130,0.039,2569,675,3934
$GC,3411,-0.84,-243.4,394.9,-10.0,514,3419,0.00,2.08,0.00,0.000,6,0.000,0.036,2567,2059,3933
$GC,3737,-0.91,-243.4,424.1,-8.0,545,3742,0.12,2.12,0.00,0.000,4,0.064,0.041,2498,676,3931
$GC,3806,-0.81,-243.4,432.4,-12.6,550,3814,0.17,2.10,0.00,0.000,6,0.120,0.038,2551,2038,3931
$GC,4132,-0.81,-243.4,462.1,-8.3,581,4136,0.00,2.10,0.00,0.000,4,0.000,0.044,2551,667,3928
$GC,4180,-0.85,-243.4,463.6,-4.3,585,4184,0.00,2.10,0.00,0.000,6,0.000,0.038,2548,2048,3927
$GC,4511,-0.85,-243.4,485.8,-6.7,616,4515,0.00,2.12,0.00,0.000,4,0.000,0.044,2548,667,3926
$GC,4580,-0.85,-243.4,492.6,-11.8,622,4585,0.00,2.10,0.00,0.000,6,0.000,0.039,2547,2043,3926
$GC,4915,-0.85,-243.4,530.4,-15.0,642,4918,0.00,2.12,0.00,0.000,4,0.000,0.044,2547,664,3923
$GC,4949,-0.90,-243.4,535.6,-14.7,643,4952,0.00,2.10,0.00,0.000,6,0.000,0.040,2545,2035,3923
$GC,5275,-0.93,-243.4,575.8,-11.8,659,5279,0.00,2.10,0.00,0.000,4,0.000,0.047,2545,680,3921
$GC,5303,-0.93,-243.4,579.5,-11.6,660,5307,0.00,2.08,0.00,0.000,6,0.000,0.041,2545,2042,3921
$GC,5631,-0.96,-243.4,609.8,-8.5,676,5636,0.10,2.28,0.00,0.000,4,0.074,0.057,2489,3466,3919
$GC,5673,-0.90,-243.4,614.3,-11.6,678,5677,0.15,2.15,0.00,0.000,6,0.129,0.035,2532,2037,3919
$GC,6000,-0.90,-243.4,642.8,-8.5,694,6004,0.00,2.30,0.00,0.000,4,0.000,0.058,2533,3459,3917
$GC,6041,-0.96,-243.4,646.1,-8.0,696,6045,0.00,2.15,0.00,0.000,6,0.000,0.035,2532,2035,3916
$GC,6376,-0.96,-243.4,676.6,-9.9,712,6379,0.00,2.12,0.00,0.000,4,0.000,0.048,2533,664,3915
$GC,6460,-0.96,-243.4,685.9,-10.8,715,6466,0.00,2.12,0.00,0.000,6,0.000,0.044,2532,2032,3914
$GC,6779,-0.96,-243.4,715.0,-9.0,731,6782,0.00,2.15,0.00,0.000,4,0.000,0.050,2533,663,3913
$GC,6858,-0.96,-243.4,722.7,-9.8,734,6861,0.00,2.12,0.00,0.000,6,0.000,0.044,2533,2027,3912
$GC,7181,-0.96,-243.4,749.4,-8.2,750,7185,0.00,2.15,0.00,0.000,4,0.000,0.049,2534,660,3909
$GC,7220,-0.96,-243.4,753.2,-9.8,751,7226,0.00,2.15,0.00,0.000,6,0.000,0.044,2534,2039,3910
$GC,7539,-0.96,-243.4,780.2,-9.1,767,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2039,3909
$GC,7846,-0.96,-243.4,811.2,-10.2,782,7850,0.00,2.20,0.00,0.000,4,0.000,0.051,2535,657,3907
$GC,7885,-0.96,-243.4,815.8,-12.0,783,7891,0.00,2.15,0.00,0.000,6,0.000,0.045,2541,2027,3907
$GC,8202,-0.99,-243.4,844.9,-9.3,799,8204,0.12,0.00,0.00,0.000,6,0.067,0.000,2480,2027,3905
$GC,8511,-0.89,-243.4,881.2,-11.0,814,8516,0.15,2.17,0.00,0.000,4,0.138,0.051,2526,666,3904
$GC,8665,-0.85,-243.4,896.7,-10.1,820,8672,0.00,2.12,0.00,0.000,6,0.000,0.048,2527,2024,3903
$GC,8983,-0.85,-243.4,922.9,-6.9,836,8987,0.00,2.17,0.00,0.000,4,0.000,0.053,2527,660,3902
$GC,9034,-0.82,-243.4,928.1,-10.9,838,9038,0.00,2.15,0.00,0.000,6,0.000,0.048,2527,2017,3902
$GC,9361,-0.82,-243.4,958.5,-8.0,854,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2018,3900
$GC,9672,-0.82,-243.4,984.0,-9.0,869,9676,0.00,2.15,0.00,0.000,4,0.000,0.053,2526,666,3900
$GC,9701,-0.79,-243.4,987.5,-12.2,870,9705,0.15,2.15,0.00,0.000,6,0.133,0.049,2569,2019,3900
$STATE,9730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9730,begin apogee
$GC,9738,-0.23,0.0,990.6,9.9,872,9954,0.52,0.00,210.20,1.473,6,0.091,0.000,2746,1687,2945
$STATE,9955,end apogee,CONTROL_FINISHED_OK
$STATE,9955,begin climb
$GC,9959,0.93,243.4,1002.6,0.0,883,10194,1.08,2.50,224.12,1.425,4,0.044,0.060,3137,3099,1951
$GC,10449,0.54,243.4,924.5,22.3,905,10456,0.52,2.17,0.00,0.000,6,0.159,0.044,2998,1700,1944
$GC,10768,0.48,243.4,885.4,11.9,921,10772,0.00,2.25,0.00,0.000,4,0.000,0.058,2998,3105,1942
$GC,10934,0.40,243.4,867.0,12.2,928,10939,0.20,2.17,0.00,0.000,6,0.143,0.044,2952,1689,1941
$GC,11258,0.49,261.7,837.4,9.5,944,11288,0.00,2.33,18.30,1.192,4,0.000,0.058,2952,3103,1877
$GC,11430,0.53,261.7,818.9,10.7,951,11437,0.00,2.15,0.00,0.000,6,0.000,0.043,2959,1717,1875
$GC,11748,0.58,261.7,787.3,10.1,967,11753,0.15,2.22,0.00,0.000,4,0.063,0.056,3037,3105,1875
$GC,11896,0.43,261.7,765.6,15.7,973,11903,0.30,2.12,0.00,0.000,6,0.141,0.042,2963,1732,1873
$GC,12215,0.52,300.2,735.2,8.9,989,12265,0.00,2.30,37.85,1.262,4,0.000,0.058,2962,3103,1720
$GC,12463,0.57,300.2,709.8,10.1,1000,12467,0.00,2.10,0.00,0.000,6,0.000,0.042,2970,1747,1717
$GC,12793,0.75,403.6,683.5,7.1,1016,12900,0.22,2.33,95.45,1.281,4,0.051,0.058,3079,3105,1299
$GC,13109,0.58,403.6,632.2,17.9,1030,13114,0.28,2.05,0.00,0.000,6,0.145,0.042,3011,1779,1295
$GC,13430,0.58,403.6,595.2,11.4,1046,13434,0.00,2.12,0.00,0.000,4,0.000,0.058,3011,3107,1292
$GC,13590,0.58,403.6,574.9,13.9,1053,13594,0.00,2.03,0.00,0.000,6,0.000,0.042,3018,1796,1292
$GC,13925,0.58,403.6,528.1,13.4,1069,13929,0.00,2.10,0.00,0.000,4,0.000,0.057,3018,3104,1291
$GC,14110,0.58,403.6,503.9,12.3,1077,14114,0.00,1.98,0.00,0.000,6,0.000,0.041,3027,1823,1291
$GC,14444,0.58,403.6,458.4,14.1,1106,14447,0.00,2.05,0.00,0.000,4,0.000,0.056,3027,3106,1290
$GC,14630,0.55,403.6,430.8,14.6,1122,14637,0.08,1.98,0.00,0.000,6,0.109,0.041,2997,1842,1290
$GC,14957,0.66,426.0,399.0,9.4,1153,14982,0.10,2.08,20.02,1.058,4,0.074,0.055,3054,3109,1208
$GC,15104,0.57,426.0,377.5,16.2,1166,15108,0.20,1.92,0.00,0.000,6,0.132,0.040,3006,1852,1208
$GC,15435,0.65,426.0,340.6,10.2,1197,15439,0.00,2.00,0.00,0.000,4,0.000,0.052,3006,3117,1206
$GC,15496,0.73,426.0,333.9,10.1,1202,15503,0.08,1.92,0.00,0.000,6,0.052,0.038,3087,1869,1206
$GC,15830,0.62,426.0,280.5,16.6,1243,15837,0.20,1.98,0.00,0.000,4,0.141,0.051,3023,3111,1206
$GC,15967,0.66,426.0,263.7,12.0,1266,15973,0.00,1.88,0.00,0.000,6,0.000,0.038,3031,1895,1206
$GC,16312,0.66,426.0,219.2,13.9,1327,16320,0.00,1.92,0.00,0.000,4,0.000,0.051,3030,3114,1206
$GC,16483,0.66,426.0,195.6,12.5,1356,16489,0.00,1.85,0.00,0.000,6,0.000,0.037,3039,1916,1206
$GC,16829,0.66,426.0,149.5,12.2,1417,16835,0.00,1.90,0.00,0.000,4,0.000,0.050,3039,3107,1206
$GC,16909,0.66,426.0,138.7,10.9,1431,16917,0.00,1.80,0.00,0.000,6,0.000,0.037,3047,1931,1206
$GC,17257,0.70,426.0,102.7,21.1,1492,17264,0.00,1.88,0.00,0.000,4,0.000,0.048,3047,3112,1206
$GC,17352,0.74,426.0,85.9,12.5,1508,17358,0.00,1.77,0.00,0.000,6,0.000,0.035,3054,1947,1206
$GC,17700,1.18,684.9,56.3,2.8,1569,17866,0.35,2.72,158.60,0.765,4,0.039,0.047,3226,281,455
$GC,17933,1.18,684.9,16.5,12.0,1606,17940,0.00,2.62,0.00,0.000,6,0.000,0.035,3225,1998,452
$STATE,18022,end climb,SURFACE_DEPTH_REACHED
$STATE,18022,begin surface coast
$FINISH,1.2,1.020130
$STATE,18040,end surface coast,CONTROL_FINISHED_OK
$STATE,18041,begin surface
$SM_CCo,18123,0.00,0.000,0,0,449,612.02
$SM_GC,1.84,8.23,0.00,0.00,0.039,0.000,0.000,154,2089,449,-8.29,0.79,612.02
$IRIDIUM_FIX,2451.31,12232.83,171198,121234
$TT8_MAMPS,0.026845
$HUMID,1757
$INTERNAL_PRESSURE,9.77058
$TCM_TEMP,22.30
$XPDR_PINGS,194
$24V_AH,22.4,121.077
$10V_AH,10.5,77.950
$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,25.075,161.325,764.550,0.000,0.000,24.072,30.802,235.412,56.500,0.000,0.000,15.003,2904.502,10422.646,848.676,3547.923,854.742,0.000,2470.197,0.000,3507.146,0.000,54.395,0.000
$DEVICE_MAMPS,227.799,78.234,1472.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1109.098,1124.364,1895.373,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94758,1625
$CAP_FILE_SIZE,185223,0
$CFSIZE,260165632,190947328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.134,109.7,1
$GPS,230809,222337,2504.290,12227.641,32,0.9,32,-3.6