version: 66.04
glider: 166
mission: 2
dive: 585
start: 9 1 109 8 51 53
data:
$ID,166
$MISSION,2
$DIVE,585
$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,-18826.135
$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,36
$R_STBD_OVSHOOT,58
$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
$GPS1,084230,2514.726,12324.354,39,0.9,39,-3.7
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.3
$GPS2,085132,2514.889,12324.546,13,1.1,13,-3.7
$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,172.2,285186,-13.9,-10.000
$D_GRID,1809
$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,17,-0.93,-243.4,0.0,0.0,0,99,0.00,0.00,-79.65,0.000,2,0.000,0.000,152,2103,2335
$GC,103,-0.93,-243.4,3.2,-5.3,12,161,9.38,2.28,-38.85,0.000,4,0.219,0.047,2510,638,3940
$GC,300,-0.54,-243.4,56.9,-25.8,45,308,0.45,2.10,0.00,0.000,6,0.127,0.033,2639,2046,3940
$GC,649,-0.54,-243.4,108.4,-11.5,106,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2047,3942
$GC,995,-0.60,-243.4,142.2,-7.5,167,1001,0.00,2.17,0.00,0.000,4,0.000,0.044,2626,3465,3943
$GC,1084,-0.74,-243.4,149.4,-7.5,182,1092,0.10,2.15,0.00,0.000,6,0.041,0.027,2557,2009,3943
$GC,1434,-0.59,-243.4,207.8,-17.1,243,1440,0.17,2.30,0.00,0.000,4,0.131,0.044,2609,3463,3943
$GC,1462,-0.55,-243.4,212.2,-15.6,247,1468,0.00,2.10,0.00,0.000,6,0.000,0.027,2611,2023,3943
$GC,1809,-0.66,-243.4,241.9,-6.6,308,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2023,3943
$GC,2156,-0.77,-243.4,267.2,-8.3,369,2162,0.12,2.28,0.00,0.000,4,0.060,0.044,2531,3465,3941
$GC,2291,-0.72,-243.4,284.2,-12.9,392,2298,0.20,2.08,0.00,0.000,6,0.115,0.028,2592,2050,3940
$GC,2627,-0.82,-243.4,314.3,-8.0,437,2631,0.00,2.10,0.00,0.000,4,0.000,0.040,2592,664,3939
$GC,2657,-0.90,-243.4,316.8,-8.3,439,2663,0.17,2.10,0.00,0.000,6,0.051,0.034,2503,2057,3939
$GC,2983,-0.73,-243.4,368.2,-15.7,470,2987,0.25,2.25,0.00,0.000,4,0.129,0.049,2581,3465,3936
$GC,3029,-0.82,-243.4,373.6,-8.9,473,3036,0.00,2.08,0.00,0.000,6,0.000,0.029,2581,2064,3936
$GC,3359,-0.90,-243.4,399.1,-7.4,504,3363,0.15,2.22,0.00,0.000,4,0.054,0.048,2490,3462,3934
$GC,3406,-0.78,-243.4,404.7,-13.3,507,3413,0.25,2.08,0.00,0.000,6,0.119,0.030,2566,2060,3934
$GC,3733,-0.84,-243.4,434.8,-9.2,538,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2060,3932
$GC,4057,-0.91,-243.4,461.0,-8.8,568,4061,0.12,2.25,0.00,0.000,4,0.064,0.051,2490,3458,3929
$GC,4113,-0.83,-243.4,468.5,-13.0,572,4122,0.17,2.12,0.00,0.000,6,0.116,0.031,2549,2057,3928
$GC,4453,-0.87,-243.4,502.0,-9.4,603,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2057,3927
$GC,4759,-0.91,-243.4,531.5,-9.2,618,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2057,3924
$GC,5070,-0.97,-243.4,557.7,-8.2,633,5074,0.12,2.28,0.00,0.000,4,0.065,0.054,2473,3457,3921
$GC,5103,-0.87,-243.4,561.7,-12.4,634,5114,0.17,2.12,0.00,0.000,6,0.120,0.034,2533,2068,3921
$GC,5421,-0.87,-243.4,594.4,-10.6,650,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2068,3919
$GC,5731,-0.87,-243.4,627.3,-10.3,665,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2068,3916
$GC,6040,-0.87,-243.4,654.7,-8.4,680,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2068,3914
$GC,6351,-0.87,-243.4,682.1,-9.0,695,6355,0.00,2.30,0.00,0.000,4,0.000,0.059,2530,3463,3911
$GC,6414,-0.93,-243.4,687.9,-9.0,698,6418,0.00,2.15,0.00,0.000,6,0.000,0.036,2531,2064,3910
$GC,6752,-0.93,-243.4,716.7,-8.1,714,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2064,3910
$GC,7059,-0.93,-243.4,741.4,-8.2,729,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2064,3907
$GC,7367,-0.93,-243.4,767.3,-8.5,744,7371,0.00,2.30,0.00,0.000,4,0.000,0.062,2530,3451,3905
$GC,7408,-0.99,-243.4,770.7,-8.2,745,7414,0.00,2.12,0.00,0.000,6,0.000,0.038,2531,2070,3905
$GC,7728,-0.99,-243.4,798.9,-9.6,761,7729,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2070,3904
$GC,8034,-1.03,-243.4,829.1,-9.9,776,8036,0.12,0.00,0.00,0.000,6,0.063,0.000,2467,2070,3902
$GC,8347,-0.89,-243.4,871.7,-13.7,791,8351,0.20,2.28,0.00,0.000,4,0.131,0.051,2529,659,3900
$GC,8425,-0.89,-243.4,880.4,-9.4,794,8429,0.00,2.22,0.00,0.000,6,0.000,0.048,2530,2062,3899
$GC,8748,-0.92,-243.4,908.4,-8.8,809,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2062,3898
$GC,9051,-0.96,-243.4,933.8,-8.0,824,9056,0.00,2.33,0.00,0.000,4,0.000,0.064,2528,3466,3897
$GC,9086,-1.02,-243.4,936.6,-7.7,825,9092,0.12,2.15,0.00,0.000,6,0.061,0.039,2468,2075,3896
$GC,9409,-0.90,-243.4,973.9,-12.2,841,9417,0.17,2.28,0.00,0.000,4,0.133,0.051,2528,664,3895
$GC,9470,-0.90,-243.4,980.8,-8.8,843,9474,0.00,2.28,0.00,0.000,6,0.000,0.048,2523,2084,3895
$STATE,9576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9576,begin apogee
$GC,9586,-0.23,0.0,990.6,9.1,848,9803,0.70,0.00,211.73,1.486,6,0.104,0.000,2748,1698,2945
$STATE,9804,end apogee,CONTROL_FINISHED_OK
$STATE,9804,begin climb
$GC,9807,0.93,243.4,1003.7,0.0,859,10245,1.08,2.58,293.85,1.216,4,0.038,0.057,3143,3103,1949
$GC,10500,0.52,243.4,914.8,20.4,889,10506,0.57,2.20,0.00,0.000,6,0.156,0.044,2990,1688,1943
$GC,10828,0.47,243.4,878.5,11.0,905,10832,0.00,2.28,0.00,0.000,4,0.000,0.058,2989,3105,1942
$GC,11088,0.40,243.4,845.6,12.2,916,11097,0.15,2.17,0.00,0.000,6,0.127,0.044,2949,1725,1941
$GC,11409,0.55,321.7,818.6,7.8,932,11492,0.15,2.30,72.40,1.353,4,0.061,0.057,3022,3112,1632
$GC,11715,0.45,321.7,779.3,12.3,944,11722,0.20,2.15,0.00,0.000,6,0.127,0.042,2969,1737,1626
$GC,12034,0.53,344.8,748.5,9.4,960,12067,0.00,2.22,23.12,1.208,4,0.000,0.056,2969,3110,1538
$GC,12245,0.59,344.8,727.2,10.2,969,12249,0.10,2.08,0.00,0.000,6,0.072,0.041,3031,1768,1536
$GC,12573,0.50,344.8,684.1,13.3,985,12577,0.17,2.17,0.00,0.000,4,0.136,0.055,2981,3114,1535
$GC,12730,0.51,354.7,667.0,9.7,992,12749,0.00,2.05,10.00,1.173,6,0.000,0.041,2989,1795,1497
$GC,13060,0.51,354.7,634.1,10.8,1008,13064,0.00,2.12,0.00,0.000,4,0.000,0.056,2988,3116,1496
$GC,13236,0.51,354.7,611.3,12.4,1015,13242,0.00,2.03,0.00,0.000,6,0.000,0.041,2997,1813,1496
$GC,13556,0.51,354.7,573.4,11.3,1031,13560,0.00,2.10,0.00,0.000,4,0.000,0.056,2998,3114,1496
$GC,13718,0.51,354.7,554.4,12.1,1038,13721,0.00,2.00,0.00,0.000,6,0.000,0.040,3006,1828,1495
$GC,14052,0.51,354.7,515.4,11.5,1054,14056,0.00,2.08,0.00,0.000,4,0.000,0.054,3006,3112,1495
$GC,14219,0.51,354.7,496.8,10.3,1062,14229,0.00,1.98,0.00,0.000,6,0.000,0.041,3013,1859,1495
$GC,14547,0.51,354.7,464.7,10.0,1093,14550,0.00,2.03,0.00,0.000,4,0.000,0.054,3012,3116,1495
$GC,14714,0.48,354.7,444.9,12.6,1107,14721,0.15,1.92,0.00,0.000,6,0.133,0.039,2978,1869,1495
$GC,15041,0.63,401.0,415.4,8.7,1138,15089,0.12,2.08,42.35,1.101,4,0.063,0.054,3047,3114,1310
$GC,15268,0.55,401.0,385.0,13.2,1157,15275,0.20,1.88,0.00,0.000,6,0.130,0.038,2996,1887,1307
$GC,15595,0.64,416.5,352.8,9.6,1188,15619,0.00,2.00,14.93,0.995,4,0.000,0.052,2997,3108,1245
$GC,15671,0.75,440.1,344.7,9.3,1194,15705,0.12,1.88,22.58,1.002,6,0.042,0.038,3079,1898,1149
$GC,16027,0.63,440.1,286.4,17.1,1234,16035,0.17,1.92,0.00,0.000,4,0.139,0.048,3024,3111,1148
$GC,16105,0.67,440.1,276.4,11.1,1247,16111,0.00,1.83,0.00,0.000,6,0.000,0.037,3032,1909,1148
$GC,16451,0.67,440.1,240.3,11.8,1308,16458,0.00,1.92,0.00,0.000,4,0.000,0.048,3036,3108,1147
$GC,16621,0.71,440.1,221.3,10.7,1337,16626,0.00,1.77,0.00,0.000,6,0.000,0.036,3040,1935,1147
$GC,16967,0.71,440.1,179.6,11.8,1398,16975,0.00,1.88,0.00,0.000,4,0.000,0.047,3041,3109,1146
$GC,17016,0.75,440.1,173.1,12.9,1406,17023,0.00,1.77,0.00,0.000,6,0.000,0.035,3047,1950,1146
$GC,17365,0.88,489.9,134.2,8.6,1467,17417,0.15,1.85,43.75,0.828,4,0.055,0.045,3131,3123,946
$GC,17455,0.74,489.9,120.0,18.4,1481,17462,0.22,1.80,0.00,0.000,6,0.120,0.033,3058,1944,946
$GC,17805,0.94,514.5,86.1,9.3,1542,17831,0.17,0.00,22.25,0.754,6,0.048,0.000,3161,1943,847
$GC,18171,0.89,514.5,34.5,10.4,1606,18179,0.20,0.00,0.00,0.000,6,0.123,0.000,3094,1942,846
$GC,18521,1.31,656.0,12.8,6.1,1667,18586,0.35,0.00,61.42,0.691,2,0.035,0.000,3267,1942,554
$STATE,18586,end climb,SURFACE_DEPTH_REACHED
$STATE,18587,begin surface coast
$FINISH,0.9,1.021382
$STATE,18598,end surface coast,CONTROL_FINISHED_OK
$STATE,18598,begin surface
$SM_CCo,18681,0.00,0.000,0,0,551,587.25
$SM_GC,1.57,8.38,0.00,0.00,0.039,0.000,0.000,163,2106,551,-8.29,1.27,587.25
$IRIDIUM_FIX,2505.59,12319.60,261198,030324
$TT8_MAMPS,0.026845
$HUMID,1687
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.00
$XPDR_PINGS,182
$24V_AH,20.6,134.768
$10V_AH,10.4,85.753
$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,25.850,123.275,818.375,0.000,0.000,25.771,34.528,289.747,53.500,0.000,0.000,13.767,2930.925,10208.006,936.692,4162.552,962.016,0.000,2638.314,0.000,4131.404,0.000,54.409,0.000
$DEVICE_MAMPS,218.595,64.428,1485.679,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1140.735,1137.972,2492.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94628,1679
$CAP_FILE_SIZE,195108,0
$CFSIZE,260165632,186712064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,28,0
$CURRENT,0.335, 53.0,1
$GPS,010909,140431,2514.281,12328.683,39,1.2,39,-3.7