version: 66.04
glider: 166
mission: 2
dive: 596
start: 9 3 109 17 59 17
data:
$ID,166
$MISSION,2
$DIVE,596
$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,-19015.762
$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,35
$R_STBD_OVSHOOT,51
$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
$GPS1,174807,2501.719,12346.932,29,0.9,29,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.0
$GPS2,175856,2501.828,12346.990,11,1.1,11,-3.7
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2341.000,12400.000
$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,207.3,151311,-13.9,-10.000
$D_GRID,1974
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.93,-243.4,0.0,0.0,0,93,0.00,0.00,-73.78,0.000,2,0.000,0.000,167,2095,2306
$GC,97,-0.93,-243.4,3.1,-5.5,11,155,9.25,2.28,-40.33,0.000,4,0.216,0.048,2513,636,3940
$GC,339,-0.49,-243.4,77.9,-30.5,52,347,0.52,2.12,0.00,0.000,6,0.123,0.031,2662,2068,3941
$GC,688,-0.53,-243.4,118.6,-10.2,113,694,0.00,2.12,0.00,0.000,4,0.000,0.043,2661,3462,3943
$GC,732,-0.64,-243.4,122.6,-9.1,120,739,0.15,2.08,0.00,0.000,6,0.053,0.026,2583,2030,3942
$GC,1079,-0.47,-243.4,185.1,-17.4,181,1086,0.25,2.05,0.00,0.000,4,0.121,0.035,2664,675,3943
$GC,1134,-0.59,-243.4,192.1,-9.8,190,1142,0.00,2.08,0.00,0.000,6,0.000,0.030,2662,2075,3943
$GC,1484,-0.72,-243.4,215.8,-6.6,251,1491,0.17,2.15,0.00,0.000,4,0.049,0.043,2549,3469,3943
$GC,1567,-0.56,-243.4,226.3,-15.2,265,1573,0.28,2.05,0.00,0.000,6,0.122,0.027,2636,2062,3942
$GC,1913,-0.64,-243.4,260.3,-11.2,326,1920,0.00,2.20,0.00,0.000,4,0.000,0.046,2614,3463,3941
$GC,1956,-0.78,-243.4,264.8,-10.2,333,1962,0.15,2.05,0.00,0.000,6,0.053,0.028,2543,2062,3941
$GC,2299,-0.62,-243.4,318.8,-16.6,383,2303,0.17,2.12,0.00,0.000,4,0.129,0.038,2609,675,3940
$GC,2355,-0.66,-243.4,326.3,-11.5,388,2359,0.00,2.10,0.00,0.000,6,0.000,0.034,2590,2066,3940
$GC,2688,-0.69,-243.4,356.3,-7.4,419,2692,0.00,2.15,0.00,0.000,4,0.000,0.048,2586,3462,3938
$GC,2724,-0.77,-243.4,359.1,-7.4,422,2728,0.00,2.10,0.00,0.000,6,0.000,0.028,2587,2038,3937
$GC,3057,-0.82,-243.4,385.9,-8.2,453,3060,0.00,2.10,0.00,0.000,4,0.000,0.040,2589,666,3936
$GC,3086,-0.86,-243.4,388.6,-9.2,455,3093,0.12,2.10,0.00,0.000,6,0.063,0.035,2517,2051,3935
$GC,3412,-0.70,-243.4,435.5,-15.4,486,3417,0.22,2.22,0.00,0.000,4,0.125,0.048,2585,3461,3933
$GC,3464,-0.81,-243.4,441.2,-8.7,490,3468,0.00,2.10,0.00,0.000,6,0.000,0.029,2586,2040,3933
$GC,3796,-0.91,-243.4,471.1,-8.7,521,3801,0.17,2.28,0.00,0.000,4,0.051,0.049,2490,3458,3931
$GC,3872,-0.78,-243.4,481.2,-15.4,527,3876,0.25,2.10,0.00,0.000,6,0.120,0.029,2566,2044,3930
$GC,4201,-0.83,-243.4,511.7,-8.7,551,4203,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2044,3928
$GC,4503,-0.89,-243.4,536.9,-7.7,566,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2044,3926
$GC,4817,-0.97,-243.4,563.5,-8.7,581,4821,0.17,2.30,0.00,0.000,4,0.054,0.051,2463,3464,3924
$GC,4851,-0.83,-243.4,568.5,-14.8,582,4861,0.25,2.12,0.00,0.000,6,0.120,0.032,2546,2066,3923
$GC,5173,-0.86,-243.4,602.0,-9.9,598,5177,0.00,2.17,0.00,0.000,4,0.000,0.044,2547,664,3921
$GC,5231,-0.90,-243.4,608.4,-9.8,600,5235,0.00,2.15,0.00,0.000,6,0.000,0.039,2544,2059,3920
$GC,5556,-0.93,-243.4,634.8,-7.6,616,5560,0.00,2.25,0.00,0.000,4,0.000,0.055,2542,3465,3918
$GC,5630,-1.01,-243.4,640.0,-7.5,619,5635,0.15,2.15,0.00,0.000,6,0.054,0.033,2468,2048,3917
$GC,5961,-0.86,-243.4,684.9,-14.3,635,5965,0.22,2.17,0.00,0.000,4,0.127,0.046,2542,659,3915
$GC,6041,-0.90,-243.4,693.7,-9.8,638,6045,0.00,2.17,0.00,0.000,6,0.000,0.041,2541,2059,3914
$GC,6367,-0.95,-243.4,722.3,-8.7,654,6368,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,2059,3912
$GC,6677,-1.01,-243.4,749.3,-8.7,669,6678,0.15,0.00,0.00,0.000,6,0.058,0.000,2465,2058,3910
$GC,6982,-0.88,-243.4,792.8,-14.3,684,6987,0.20,2.25,0.00,0.000,4,0.130,0.048,2531,656,3907
$GC,7056,-0.91,-243.4,801.0,-10.5,687,7060,0.00,2.20,0.00,0.000,6,0.000,0.043,2530,2060,3906
$GC,7385,-0.94,-243.4,830.9,-9.1,703,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2061,3904
$GC,7690,-0.98,-243.4,859.2,-9.1,718,7694,0.00,2.30,0.00,0.000,4,0.000,0.061,2528,3470,3903
$GC,7736,-1.05,-243.4,863.6,-8.7,720,7741,0.12,2.17,0.00,0.000,6,0.061,0.038,2467,2055,3902
$GC,8058,-0.93,-243.4,905.0,-13.1,736,8062,0.17,2.25,0.00,0.000,4,0.131,0.051,2525,651,3901
$GC,8137,-0.93,-243.4,913.3,-9.7,739,8143,0.00,2.22,0.00,0.000,6,0.000,0.044,2518,2060,3900
$GC,8458,-0.93,-243.4,942.2,-9.0,755,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2060,3898
$GC,8763,-0.93,-243.4,969.2,-8.8,770,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,2518,2060,3896
$STATE,9007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9007,begin apogee
$GC,9016,-0.23,0.0,991.3,9.0,782,9234,0.70,0.00,214.27,1.480,6,0.102,0.000,2746,1694,2945
$STATE,9235,end apogee,CONTROL_FINISHED_OK
$STATE,9235,begin climb
$GC,9239,0.93,243.4,1003.7,0.0,793,9675,1.12,2.60,292.85,1.207,4,0.042,0.055,3128,3105,1950
$GC,9930,0.52,243.4,914.3,20.5,824,9938,0.47,2.28,0.00,0.000,6,0.151,0.043,2988,1694,1944
$GC,10250,0.45,243.4,879.1,10.5,840,10254,0.00,2.28,0.00,0.000,4,0.000,0.056,2988,3105,1943
$GC,10458,0.36,243.4,855.6,11.4,849,10462,0.22,2.17,0.00,0.000,6,0.133,0.043,2933,1710,1941
$GC,10791,0.52,323.5,829.3,7.8,865,10884,0.17,2.40,76.10,1.328,4,0.059,0.057,3020,3101,1626
$GC,11093,0.40,323.5,784.9,15.8,878,11098,0.28,2.12,0.00,0.000,6,0.134,0.042,2950,1728,1621
$GC,11417,0.52,352.4,754.2,9.2,893,11465,0.12,2.20,30.45,1.172,4,0.067,0.056,3018,3096,1508
$GC,11625,0.42,352.4,723.9,14.6,902,11630,0.25,2.10,0.00,0.000,6,0.131,0.042,2957,1738,1506
$GC,11956,0.55,388.9,693.0,9.0,918,12000,0.12,2.30,34.10,1.290,4,0.067,0.056,3027,3111,1358
$GC,12186,0.47,388.9,658.3,15.3,928,12191,0.22,2.08,0.00,0.000,6,0.131,0.041,2973,1767,1357
$GC,12514,0.55,388.9,625.7,10.2,944,12517,0.00,2.15,0.00,0.000,4,0.000,0.054,2974,3104,1355
$GC,12633,0.62,393.4,612.2,9.9,949,12643,0.12,2.05,4.80,0.897,6,0.062,0.041,3043,1790,1341
$GC,12968,0.53,393.4,563.3,15.0,965,12972,0.17,2.12,0.00,0.000,4,0.134,0.053,2987,3105,1340
$GC,13120,0.57,393.4,544.4,11.1,972,13124,0.00,2.03,0.00,0.000,6,0.000,0.041,2993,1810,1340
$GC,13457,0.61,393.4,507.4,10.8,988,13461,0.00,2.08,0.00,0.000,4,0.000,0.052,2994,3104,1340
$GC,13623,0.65,393.4,488.7,11.1,999,13629,0.00,1.98,0.00,0.000,6,0.000,0.039,3000,1834,1340
$GC,13949,0.65,393.4,454.5,10.2,1030,13953,0.00,2.03,0.00,0.000,4,0.000,0.051,3001,3103,1340
$GC,14055,0.68,393.4,443.0,10.6,1039,14059,0.00,1.92,0.00,0.000,6,0.000,0.038,3009,1848,1340
$GC,14387,0.71,393.4,407.0,10.8,1070,14391,0.10,2.00,0.00,0.000,4,0.071,0.051,3064,3103,1341
$GC,14468,0.59,393.4,395.3,15.4,1077,14472,0.22,1.92,0.00,0.000,6,0.133,0.038,3009,1861,1340
$GC,14799,0.63,393.4,357.3,11.3,1108,14803,0.00,1.98,0.00,0.000,4,0.000,0.048,3010,3104,1340
$GC,14915,0.67,393.4,344.2,11.4,1118,14918,0.00,1.92,0.00,0.000,6,0.000,0.037,3015,1857,1340
$GC,15248,0.70,393.4,306.7,10.9,1149,15252,0.00,2.50,0.00,0.000,4,0.000,0.048,3027,283,1340
$GC,15280,0.75,393.4,303.3,10.8,1151,15285,0.10,2.47,0.00,0.000,6,0.072,0.037,3088,1878,1340
$GC,15625,0.61,393.4,249.1,16.2,1209,15632,0.20,1.95,0.00,0.000,4,0.132,0.046,3020,3112,1339
$GC,15831,0.65,393.4,225.6,11.6,1245,15839,0.00,1.88,0.00,0.000,6,0.000,0.035,3028,1879,1340
$GC,16179,0.70,393.4,189.0,10.3,1306,16186,0.00,1.95,0.00,0.000,4,0.000,0.044,3028,3100,1340
$GC,16322,0.76,397.4,174.3,9.9,1330,16335,0.00,1.88,5.57,0.659,6,0.000,0.034,3036,1889,1325
$GC,16679,0.83,406.3,142.2,9.8,1392,16694,0.15,0.00,10.20,0.748,6,0.056,0.000,3132,1890,1287
$GC,17035,0.75,406.3,89.3,16.6,1454,17042,0.20,1.92,0.00,0.000,4,0.122,0.041,3065,3118,1287
$GC,17261,1.02,526.6,70.4,6.7,1493,17370,0.12,1.88,102.18,0.749,6,0.038,0.031,3173,1884,797
$GC,17712,0.99,526.6,13.5,13.6,1570,17719,0.15,1.90,0.00,0.000,4,0.124,0.040,3134,3114,796
$GC,17808,1.18,594.4,4.4,8.1,1586,17828,0.12,1.85,15.15,0.640,2,0.040,0.030,3235,1888,730
$STATE,17829,end climb,SURFACE_DEPTH_REACHED
$STATE,17829,begin surface coast
$FINISH,0.8,1.021305
$STATE,17868,end surface coast,CONTROL_FINISHED_OK
$STATE,17868,begin surface
$SM_CCo,17951,0.00,0.000,0,0,729,543.58
$SM_GC,1.68,8.25,0.00,0.00,0.038,0.000,0.000,166,2109,729,-8.27,1.36,543.58
$IRIDIUM_FIX,2453.69,12346.02,281198,181855
$TT8_MAMPS,0.027612
$HUMID,1687
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.40
$XPDR_PINGS,193
$24V_AH,21.1,138.117
$10V_AH,10.5,87.823
$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,26.800,141.175,785.675,0.000,0.000,49.481,68.769,272.452,56.250,0.000,0.000,14.040,2839.376,9832.845,893.979,3995.345,1017.758,0.000,2529.029,0.000,3956.452,0.000,58.361,0.000
$DEVICE_MAMPS,215.527,61.360,1479.543,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1083.513,1079.232,2356.944,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88498,1596
$CAP_FILE_SIZE,194912,0
$CFSIZE,260165632,185663488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,30,0
$CURRENT,0.116, 76.2,1
$GPS,030909,225936,2459.344,12347.861,29,1.4,29,-3.7