version: 66.04
glider: 166
mission: 2
dive: 586
start: 9 1 109 14 18 17
data:
$ID,166
$MISSION,2
$DIVE,586
$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,-18838.656
$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,37
$R_STBD_OVSHOOT,60
$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
$GPS1,140431,2514.281,12328.683,39,1.2,39,-3.7
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,2
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.3
$GPS2,141756,2514.544,12328.803,11,2.0,11,-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,172.9,278838,-13.9,-10.000
$D_GRID,1865
$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,-243.4,0.0,0.0,0,93,0.00,0.00,-73.97,0.000,2,0.000,0.000,152,2106,2216
$GC,98,-0.93,-243.4,3.0,-5.9,11,156,9.43,2.30,-43.88,0.000,4,0.222,0.045,2508,635,3940
$GC,380,-0.53,-243.4,79.6,-26.4,59,387,0.45,2.10,0.00,0.000,6,0.126,0.032,2648,2047,3941
$GC,728,-0.53,-243.4,120.0,-9.8,120,734,0.00,2.17,0.00,0.000,4,0.000,0.043,2630,3471,3943
$GC,770,-0.59,-243.4,124.5,-10.8,127,776,0.00,2.10,0.00,0.000,6,0.000,0.026,2645,2022,3943
$GC,1118,-0.64,-243.4,159.7,-10.1,188,1125,0.00,2.25,0.00,0.000,4,0.000,0.043,2628,3468,3943
$GC,1150,-0.73,-243.4,162.9,-9.6,193,1158,0.17,2.05,0.00,0.000,6,0.048,0.026,2555,2051,3943
$GC,1500,-0.55,-243.4,223.3,-16.6,254,1507,0.25,2.08,0.00,0.000,4,0.127,0.035,2632,680,3942
$GC,1527,-0.48,-243.4,227.1,-14.5,258,1534,0.12,2.10,0.00,0.000,6,0.096,0.033,2665,2066,3942
$GC,1876,-0.99,-243.4,257.5,-9.9,319,1881,0.43,0.00,0.00,0.000,6,0.061,0.000,2494,2066,3940
$GC,2219,-0.76,-243.4,313.6,-17.2,373,2224,0.22,2.17,0.00,0.000,4,0.130,0.045,2558,3461,3938
$GC,2377,-0.76,-243.4,330.7,-9.6,386,2385,0.00,2.05,0.00,0.000,6,0.000,0.028,2559,2064,3938
$GC,2706,-0.76,-243.4,365.6,-10.0,417,2710,0.00,2.12,0.00,0.000,4,0.000,0.041,2559,670,3936
$GC,2744,-0.76,-243.4,369.6,-10.7,420,2748,0.00,2.10,0.00,0.000,6,0.000,0.035,2558,2054,3936
$GC,3076,-0.76,-243.4,404.9,-11.6,451,3080,0.00,2.20,0.00,0.000,4,0.000,0.049,2549,3462,3933
$GC,3158,-0.81,-243.4,414.0,-10.2,458,3162,0.00,2.08,0.00,0.000,6,0.000,0.030,2550,2066,3932
$GC,3492,-0.81,-243.4,445.5,-9.0,489,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2066,3930
$GC,3817,-0.81,-243.4,477.8,-10.4,520,3821,0.00,2.25,0.00,0.000,4,0.000,0.051,2545,3460,3927
$GC,3857,-0.86,-243.4,481.8,-9.8,523,3863,0.00,2.10,0.00,0.000,6,0.000,0.031,2546,2062,3927
$GC,4193,-0.86,-243.4,513.5,-9.2,548,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2062,3924
$GC,4502,-0.90,-243.4,540.5,-8.1,563,4506,0.00,2.25,0.00,0.000,4,0.000,0.054,2542,3461,3921
$GC,4552,-0.97,-243.4,544.6,-8.3,565,4556,0.00,2.10,0.00,0.000,6,0.000,0.033,2543,2065,3921
$GC,4893,-1.01,-243.4,575.8,-9.6,581,4895,0.15,0.00,0.00,0.000,6,0.058,0.000,2463,2065,3918
$GC,5196,-0.85,-243.4,623.4,-15.7,596,5201,0.25,2.20,0.00,0.000,4,0.126,0.045,2543,664,3915
$GC,5236,-0.88,-243.4,628.5,-11.1,598,5239,0.00,2.20,0.00,0.000,6,0.000,0.042,2542,2078,3915
$GC,5572,-0.93,-243.4,659.5,-9.3,614,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2078,3912
$GC,5882,-0.98,-243.4,688.9,-9.6,629,5884,0.12,0.00,0.00,0.000,6,0.064,0.000,2476,2078,3910
$GC,6188,-0.87,-243.4,731.0,-13.4,644,6192,0.17,2.28,0.00,0.000,4,0.129,0.048,2534,661,3907
$GC,6239,-0.90,-243.4,736.5,-9.7,646,6243,0.00,2.22,0.00,0.000,6,0.000,0.044,2530,2080,3907
$GC,6562,-0.90,-243.4,765.5,-8.7,662,6565,0.00,2.25,0.00,0.000,4,0.000,0.061,2530,3463,3905
$GC,6604,-0.97,-243.4,769.1,-8.7,663,6610,0.00,2.12,0.00,0.000,6,0.000,0.037,2531,2068,3905
$GC,6927,-1.00,-243.4,795.9,-8.6,679,6931,0.00,2.22,0.00,0.000,4,0.000,0.049,2531,654,3902
$GC,6983,-1.00,-243.4,801.7,-9.3,681,6987,0.00,2.22,0.00,0.000,6,0.000,0.045,2531,2067,3902
$GC,7304,-1.03,-243.4,827.5,-8.0,696,7309,0.12,2.25,0.00,0.000,4,0.064,0.049,2467,659,3900
$GC,7345,-0.91,-243.4,832.3,-11.8,698,7349,0.25,2.22,0.00,0.000,6,0.121,0.045,2531,2066,3899
$GC,7682,-0.95,-243.4,859.9,-8.2,714,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2066,3898
$GC,7990,-0.99,-243.4,885.5,-8.4,729,7994,0.00,2.30,0.00,0.000,4,0.000,0.062,2531,3467,3895
$GC,8018,-1.06,-243.4,888.4,-9.1,730,8023,0.15,2.17,0.00,0.000,6,0.057,0.038,2464,2052,3895
$GC,8338,-0.94,-243.4,928.3,-12.7,745,8343,0.17,2.22,0.00,0.000,4,0.131,0.051,2522,663,3893
$GC,8403,-0.94,-243.4,935.4,-9.3,748,8406,0.00,2.22,0.00,0.000,6,0.000,0.047,2518,2059,3893
$GC,8736,-0.94,-243.4,966.4,-9.5,764,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2520,2060,3892
$STATE,8979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8980,begin apogee
$GC,8989,-0.23,0.0,990.1,9.9,776,9204,0.70,0.00,209.70,1.484,6,0.104,0.000,2747,1696,2945
$STATE,9205,end apogee,CONTROL_FINISHED_OK
$STATE,9205,begin climb
$GC,9209,0.93,243.4,1005.0,0.0,787,9508,1.08,2.67,254.23,1.366,4,0.037,0.057,3140,3097,1949
$GC,9636,0.48,243.4,965.0,20.3,806,9642,0.65,2.30,0.00,0.000,6,0.159,0.043,2979,1693,1943
$GC,9964,0.50,283.9,933.7,8.9,822,10014,0.00,2.35,38.50,1.334,4,0.000,0.058,2979,3097,1786
$GC,10245,0.46,283.9,904.2,10.4,834,10248,0.00,2.15,0.00,0.000,6,0.000,0.044,2988,1706,1782
$GC,10568,0.43,283.9,869.9,10.7,850,10572,0.00,2.25,0.00,0.000,4,0.000,0.058,2987,3112,1780
$GC,10750,0.36,283.9,848.2,11.9,858,10755,0.22,2.12,0.00,0.000,6,0.131,0.041,2935,1743,1779
$GC,11082,0.57,369.8,822.1,7.6,874,11166,0.17,2.28,78.45,1.384,4,0.055,0.057,3030,3108,1436
$GC,11342,0.46,369.8,783.8,15.7,884,11351,0.20,2.12,0.00,0.000,6,0.126,0.043,2974,1753,1432
$GC,11663,0.54,391.5,753.3,9.4,900,11688,0.00,2.25,20.00,1.288,4,0.000,0.058,2974,3114,1349
$GC,11805,0.59,391.5,738.0,11.0,906,11809,0.00,2.08,0.00,0.000,6,0.000,0.042,2982,1775,1346
$GC,12143,0.63,391.5,700.5,10.8,922,12147,0.12,2.15,0.00,0.000,4,0.064,0.055,3051,3107,1345
$GC,12298,0.48,391.5,674.1,17.2,929,12303,0.30,2.03,0.00,0.000,6,0.134,0.042,2974,1805,1345
$GC,12632,0.56,391.5,639.3,10.0,945,12636,0.00,2.10,0.00,0.000,4,0.000,0.056,2974,3108,1344
$GC,12741,0.61,391.5,626.4,11.0,949,12748,0.12,2.00,0.00,0.000,6,0.061,0.041,3042,1820,1344
$GC,13064,0.51,391.5,579.8,14.2,965,13069,0.20,2.08,0.00,0.000,4,0.133,0.054,2980,3103,1344
$GC,13227,0.59,414.7,561.5,9.4,972,13265,0.00,1.95,24.27,1.112,6,0.000,0.041,2986,1850,1253
$GC,13582,0.65,414.7,524.3,11.0,989,13586,0.12,2.03,0.00,0.000,4,0.062,0.053,3056,3111,1252
$GC,13776,0.54,414.7,490.9,17.1,999,13780,0.25,1.92,0.00,0.000,6,0.134,0.040,2995,1868,1252
$GC,14107,0.60,414.7,451.8,11.1,1030,14111,0.00,2.00,0.00,0.000,4,0.000,0.054,2998,3111,1252
$GC,14223,0.65,414.7,438.8,11.8,1040,14226,0.00,1.90,0.00,0.000,6,0.000,0.038,3004,1864,1250
$GC,14555,0.71,414.7,400.9,11.3,1071,14559,0.12,2.00,0.00,0.000,4,0.061,0.051,3074,3108,1250
$GC,14635,0.58,414.7,388.4,16.8,1078,14640,0.25,1.88,0.00,0.000,6,0.134,0.038,3008,1892,1250
$GC,14968,0.63,414.7,352.3,10.0,1109,14972,0.00,1.95,0.00,0.000,4,0.000,0.051,3009,3110,1250
$GC,15131,0.68,414.7,335.1,11.4,1123,15135,0.00,1.85,0.00,0.000,6,0.000,0.037,3014,1924,1250
$GC,15458,0.75,432.1,298.9,9.5,1154,15481,0.12,1.88,17.00,0.950,4,0.063,0.049,3084,3115,1183
$GC,15570,0.63,432.1,282.5,15.9,1172,15577,0.17,1.83,0.00,0.000,6,0.127,0.037,3021,1927,1182
$GC,15919,0.69,432.1,244.0,10.1,1233,15924,0.00,1.88,0.00,0.000,4,0.000,0.048,3024,3117,1182
$GC,16024,0.75,432.1,232.3,11.5,1251,16031,0.10,1.77,0.00,0.000,6,0.067,0.035,3088,1935,1182
$GC,16372,0.66,432.1,176.3,14.5,1312,16379,0.17,0.00,0.00,0.000,6,0.136,0.000,3033,1935,1182
$GC,16721,0.76,448.0,140.3,9.6,1373,16743,0.00,1.90,15.93,0.798,4,0.000,0.045,3033,3111,1117
$GC,16824,0.93,492.8,129.6,8.8,1390,16870,0.17,1.77,38.55,0.807,6,0.035,0.034,3140,1943,937
$GC,17214,0.85,492.8,66.6,16.4,1457,17221,0.17,1.83,0.00,0.000,4,0.131,0.042,3081,3117,936
$GC,17247,0.89,492.8,62.1,11.6,1462,17253,0.00,1.75,0.00,0.000,6,0.000,0.031,3089,1958,935
$GC,17593,1.26,640.5,38.3,5.9,1523,17703,0.32,1.83,100.45,0.711,4,0.038,0.041,3246,3124,454
$STATE,17776,end climb,SURFACE_DEPTH_REACHED
$STATE,17776,begin surface coast
$FINISH,1.1,1.020467
$STATE,17789,end surface coast,CONTROL_FINISHED_OK
$STATE,17789,begin surface
$SM_CCo,17873,0.00,0.000,0,0,450,612.02
$SM_GC,1.51,8.35,0.00,0.00,0.042,0.000,0.000,163,2033,450,-8.29,-0.79,612.02
$IRIDIUM_FIX,2505.59,12329.51,261198,141421
$TT8_MAMPS,0.026845
$HUMID,1714
$INTERNAL_PRESSURE,9.89754
$TCM_TEMP,24.50
$XPDR_PINGS,172
$24V_AH,21.2,135.086
$10V_AH,10.5,85.941
$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,26.600,138.775,797.075,0.000,0.000,47.115,68.296,428.791,51.000,0.000,0.000,11.893,2766.366,9948.732,845.693,3921.956,1172.396,0.000,2418.253,0.000,3893.145,0.000,54.407,0.000
$DEVICE_MAMPS,221.663,62.127,1484.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1057.221,1048.934,2332.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88650,1555
$CAP_FILE_SIZE,193061,0
$CFSIZE,260165632,186621952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,9,0
$CURRENT,0.336, 51.2,1
$GPS,010909,191731,2513.671,12332.848,43,1.0,43,-3.7