version: 66.04
glider: 166
mission: 2
dive: 9
start: 5 23 109 6 58 57
data:
$ID,166
$MISSION,2
$DIVE,9
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,425
$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,-5477.9341
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1503
$C_ROLL_CLIMB,1790
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,45
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,455
$VBD_MAX,3960
$C_VBD,2863
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,0
$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
$GPS1,064155,2512.894,12240.308,40,1.3,40,-3.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.0
$GPS2,065837,2513.103,12240.711,10,1.1,15,-3.6
$SPEED_LIMITS,0.173,0.279
$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,287.6,34295,-16.8,-10.000
$D_GRID,1029
$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,14,-0.86,-170.3,0.0,0.0,0,69,0.00,0.00,-53.00,0.000,2,0.000,0.000,166,1510,2322
$GC,71,-0.86,-170.3,3.0,-4.7,8,124,9.32,2.05,-37.55,0.000,4,0.249,0.060,2430,203,3559
$GC,197,-0.05,-170.3,34.5,-34.8,29,205,0.88,1.95,0.00,0.000,6,0.178,0.031,2690,1509,3560
$GC,544,-0.55,-170.3,64.2,-5.7,90,552,0.40,2.05,0.00,0.000,4,0.051,0.036,2523,2912,3562
$GC,598,-0.42,-170.3,70.5,-13.2,99,605,0.20,2.08,0.00,0.000,6,0.149,0.034,2579,1492,3561
$GC,943,-0.42,-170.3,111.5,-11.7,160,949,0.00,2.10,0.00,0.000,4,0.000,0.041,2579,2915,3563
$GC,977,-0.56,-170.3,115.3,-10.6,166,985,0.15,2.05,0.00,0.000,6,0.060,0.034,2507,1501,3563
$GC,1324,-0.41,-170.3,163.7,-15.3,227,1331,0.22,1.92,0.00,0.000,4,0.151,0.047,2576,200,3563
$GC,1474,-0.49,-170.3,183.3,-12.5,253,1480,0.00,1.90,0.00,0.000,6,0.000,0.030,2576,1515,3563
$GC,1818,-0.69,-170.3,212.1,-7.6,314,1826,0.20,1.95,0.00,0.000,4,0.057,0.046,2480,203,3563
$GC,1911,-0.44,-170.3,225.4,-16.1,330,1919,0.22,1.88,0.00,0.000,6,0.145,0.030,2567,1500,3563
$GC,2256,-0.62,-170.3,254.3,-8.6,391,2261,0.15,0.00,0.00,0.000,6,0.066,0.000,2499,1502,3562
$GC,2597,-0.54,-170.3,299.2,-13.8,452,2604,0.15,1.92,0.00,0.000,4,0.152,0.048,2539,207,3561
$GC,2698,-0.54,-170.3,310.8,-10.4,462,2702,0.00,1.88,0.00,0.000,6,0.000,0.031,2540,1499,3560
$GC,3029,-0.65,-170.3,342.1,-9.7,493,3033,0.12,1.95,0.00,0.000,4,0.074,0.048,2483,199,3559
$GC,3099,-0.49,-170.3,353.1,-15.4,499,3107,0.20,1.90,0.00,0.000,6,0.145,0.031,2547,1500,3558
$GC,3425,-0.65,-170.3,387.0,-8.9,530,3429,0.12,2.05,0.00,0.000,4,0.073,0.044,2489,2893,3557
$GC,3458,-0.65,-170.3,390.4,-11.0,533,3461,0.00,2.05,0.00,0.000,6,0.000,0.043,2490,1494,3556
$GC,3787,-0.58,-170.3,423.7,-9.5,564,3791,0.12,1.92,0.00,0.000,4,0.155,0.050,2523,201,3554
$GC,3825,-0.58,-170.3,427.0,-8.7,567,3832,0.00,1.90,0.00,0.000,6,0.000,0.033,2519,1500,3554
$GC,4151,-0.67,-170.3,453.1,-9.5,598,4154,0.00,2.08,0.00,0.000,4,0.000,0.048,2512,2898,3551
$GC,4209,-0.85,-170.3,458.5,-9.6,603,4214,0.20,2.05,0.00,0.000,6,0.057,0.044,2423,1493,3551
$GC,4542,-0.62,-170.3,507.0,-13.9,632,4544,0.30,0.00,0.00,0.000,6,0.156,0.000,2511,1494,3549
$GC,4853,-0.71,-170.3,534.7,-8.4,647,4857,0.00,1.95,0.00,0.000,4,0.000,0.054,2509,188,3547
$GC,4930,-0.77,-170.3,541.5,-8.8,650,4934,0.00,1.92,0.00,0.000,6,0.000,0.036,2500,1494,3546
$GC,5251,-0.87,-170.3,568.4,-9.7,666,5255,0.17,1.95,0.00,0.000,4,0.066,0.053,2423,204,3544
$GC,5305,-0.62,-170.3,576.2,-15.4,668,5310,0.28,1.92,0.00,0.000,6,0.152,0.038,2507,1498,3543
$GC,5626,-0.77,-170.3,606.2,-8.4,684,5630,0.12,1.95,0.00,0.000,4,0.074,0.054,2449,212,3541
$GC,5680,-0.65,-170.3,613.1,-13.5,686,5685,0.17,1.92,0.00,0.000,6,0.150,0.038,2501,1508,3541
$GC,6002,-0.77,-170.3,639.4,-7.3,702,6004,0.12,0.00,0.00,0.000,6,0.077,0.000,2445,1509,3538
$GC,6311,-0.71,-170.3,667.1,-8.6,717,6312,0.15,0.00,0.00,0.000,6,0.157,0.000,2486,1509,3536
$GC,6619,-0.80,-170.3,692.0,-8.7,732,6623,0.00,2.10,0.00,0.000,4,0.000,0.054,2486,2907,3534
$GC,6674,-0.96,-170.3,696.9,-8.9,734,6679,0.17,2.10,0.00,0.000,6,0.052,0.042,2397,1511,3534
$GC,6995,-0.74,-170.3,741.6,-13.5,750,6999,0.22,2.00,0.00,0.000,4,0.163,0.057,2468,194,3533
$GC,7055,-0.74,-170.3,748.5,-11.5,753,7059,0.00,1.95,0.00,0.000,6,0.000,0.040,2469,1531,3532
$GC,7387,-0.79,-170.3,776.8,-7.6,769,7391,0.00,2.03,0.00,0.000,4,0.000,0.058,2469,203,3531
$GC,7454,-0.79,-170.3,781.8,-7.8,772,7458,0.00,1.92,0.00,0.000,6,0.000,0.041,2472,1516,3530
$GC,7785,-0.79,-170.3,803.5,-6.7,788,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1517,3528
$GC,8096,-0.79,-170.3,824.3,-6.7,803,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1517,3527
$GC,8404,-0.79,-170.3,847.4,-8.2,818,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1518,3526
$GC,8714,-0.85,-170.3,874.4,-9.2,833,8718,0.00,2.10,0.00,0.000,4,0.000,0.058,2471,2905,3525
$GC,8769,-0.97,-170.3,879.3,-8.0,835,8774,0.15,2.12,0.00,0.000,6,0.054,0.045,2383,1504,3524
$GC,9091,-0.73,-170.3,920.5,-12.2,851,9093,0.32,0.00,0.00,0.000,6,0.166,0.000,2479,1504,3523
$GC,9401,-0.80,-170.3,951.7,-8.5,866,9404,0.00,2.12,0.00,0.000,4,0.000,0.058,2471,2895,3522
$GC,9472,-0.93,-170.3,957.7,-7.8,869,9477,0.12,2.10,0.00,0.000,6,0.058,0.045,2407,1510,3522
$STATE,9756,end dive,NO_VERTICAL_VELOCITY
$STATE,9756,begin apogee
$GC,9760,-0.19,0.0,967.1,0.0,883,9904,0.70,0.00,140.40,1.453,6,0.087,0.000,2654,1794,2863
$STATE,9904,end apogee,CONTROL_FINISHED_OK
$STATE,9905,begin climb
$GC,9906,0.86,170.3,966.7,0.0,890,10063,0.98,2.38,150.43,1.395,4,0.085,0.058,2993,388,2167
$GC,10119,0.45,170.3,946.5,14.7,900,10125,0.50,2.22,0.00,0.000,6,0.183,0.044,2863,1787,2164
$GC,10445,0.58,197.2,917.3,8.9,916,10479,0.12,0.00,26.55,1.262,6,0.077,0.000,2912,1789,2059
$GC,10773,0.50,197.2,878.1,11.7,932,10775,0.15,0.00,0.00,0.000,6,0.166,0.000,2875,1789,2054
$GC,11084,0.56,197.2,846.8,10.4,947,11087,0.00,2.20,0.00,0.000,4,0.000,0.059,2883,383,2053
$GC,11115,0.56,197.2,842.9,12.0,948,11120,0.00,2.17,0.00,0.000,6,0.000,0.044,2883,1793,2053
$GC,11436,0.56,197.2,806.5,11.1,964,11440,0.00,2.17,0.00,0.000,4,0.000,0.059,2883,3201,2052
$GC,11468,0.56,197.2,802.5,11.9,965,11473,0.00,2.17,0.00,0.000,6,0.000,0.045,2893,1788,2051
$GC,11791,0.56,197.2,765.9,11.6,981,11795,0.00,2.17,0.00,0.000,4,0.000,0.060,2903,377,2051
$GC,11836,0.56,197.2,760.5,12.7,983,11840,0.00,2.12,0.00,0.000,6,0.000,0.044,2903,1791,2051
$GC,12168,0.56,197.2,719.8,11.6,999,12172,0.00,2.17,0.00,0.000,4,0.000,0.058,2914,385,2051
$GC,12280,0.50,197.2,706.5,11.0,1004,12285,0.15,2.12,0.00,0.000,6,0.168,0.044,2876,1800,2050
$GC,12612,0.63,239.5,677.5,8.3,1020,12655,0.12,2.28,35.88,1.279,4,0.076,0.058,2939,386,1885
$GC,12678,0.53,239.5,669.9,11.7,1023,12683,0.20,2.17,0.00,0.000,6,0.163,0.044,2887,1789,1883
$GC,13005,0.62,239.5,638.6,10.1,1039,13009,0.00,2.20,0.00,0.000,4,0.000,0.059,2895,382,1880
$GC,13065,0.70,239.5,631.3,12.1,1041,13072,0.10,2.17,0.00,0.000,6,0.061,0.044,2948,1792,1879
$GC,13381,0.59,239.5,586.9,13.5,1057,13385,0.17,2.20,0.00,0.000,4,0.173,0.056,2906,379,1879
$GC,13406,0.59,239.5,583.5,11.5,1058,13411,0.00,2.17,0.00,0.000,6,0.000,0.044,2906,1795,1879
$GC,13727,0.63,276.1,554.5,8.6,1074,13764,0.00,2.30,31.38,1.189,4,0.000,0.058,2917,391,1737
$GC,13860,0.69,276.1,540.6,11.4,1080,13864,0.00,2.17,0.00,0.000,6,0.000,0.044,2917,1799,1733
$GC,14191,0.69,276.1,501.2,12.4,1096,14195,0.00,2.22,0.00,0.000,4,0.000,0.057,2928,374,1732
$GC,14217,0.69,276.1,497.5,13.8,1097,14225,0.00,2.17,0.00,0.000,6,0.000,0.042,2927,1786,1732
$GC,14543,0.69,276.1,458.1,11.2,1128,14546,0.00,2.17,0.00,0.000,4,0.000,0.057,2938,385,1731
$GC,14602,0.69,276.1,450.7,12.7,1133,14610,0.00,2.15,0.00,0.000,6,0.000,0.044,2938,1786,1730
$GC,14928,0.69,276.1,406.7,13.9,1164,14931,0.00,2.15,0.00,0.000,4,0.000,0.057,2939,3190,1730
$GC,15044,0.69,276.1,390.1,13.5,1174,15052,0.00,2.15,0.00,0.000,6,0.000,0.044,2949,1786,1728
$GC,15369,0.63,276.1,349.2,11.5,1205,15373,0.00,2.15,0.00,0.000,4,0.000,0.058,2960,383,1729
$GC,15460,0.56,276.1,338.0,12.7,1213,15465,0.22,2.12,0.00,0.000,6,0.163,0.043,2898,1808,1729
$GC,15785,0.74,283.3,307.6,9.7,1243,15797,0.17,2.28,6.72,0.865,4,0.066,0.056,2991,376,1707
$GC,15865,0.60,283.3,295.5,15.4,1252,15872,0.28,2.12,0.00,0.000,6,0.163,0.042,2914,1805,1706
$GC,16208,0.75,283.3,258.0,10.2,1313,16214,0.12,0.00,0.00,0.000,6,0.076,0.000,2970,1807,1706
$GC,16551,0.70,283.3,211.0,13.5,1374,16559,0.12,2.17,0.00,0.000,4,0.171,0.053,2948,377,1706
$GC,16655,0.81,306.6,199.6,9.1,1392,16681,0.00,2.10,20.85,0.887,6,0.000,0.043,2948,1800,1613
$GC,17020,0.92,318.0,165.7,9.6,1456,17041,0.17,2.22,10.82,0.805,4,0.061,0.053,3043,388,1564
$GC,17093,0.73,318.0,155.5,15.6,1468,17100,0.32,2.10,0.00,0.000,6,0.157,0.039,2951,1800,1563
$GC,17436,0.99,373.1,123.6,7.8,1529,17489,0.20,2.25,46.22,0.805,4,0.057,0.049,3054,374,1339
$GC,17547,0.87,373.1,106.8,15.3,1547,17554,0.20,2.15,0.00,0.000,6,0.156,0.036,2999,1800,1335
$GC,17892,1.08,403.1,67.8,8.8,1608,17925,0.17,2.20,25.45,0.728,4,0.060,0.048,3096,381,1217
$GC,18082,0.94,403.1,34.6,17.3,1641,18089,0.28,2.10,0.00,0.000,6,0.151,0.034,3017,1800,1215
$STATE,18418,end climb,SURFACE_DEPTH_REACHED
$STATE,18418,begin surface coast
$FINISH,1.0,1.009284
$STATE,18454,end surface coast,CONTROL_FINISHED_OK
$STATE,18454,begin surface
$SM_CCo,18468,19.48,0.536,2,0,1131,425.10
$SM_GC,2.12,0.00,0.00,19.48,0.000,0.000,0.536,166,1500,1131,-7.97,-0.08,425.10
$IRIDIUM_FIX,2505.59,12249.84,170898,060639
$TT8_MAMPS,0.027612
$HUMID,1452
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,24.70
$XPDR_PINGS,116
$ALTIM_BOTTOM_PING,925.3,45.5
$24V_AH,23.6,5.475
$10V_AH,10.7,2.516
$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,28.300,151.275,494.700,19.475,0.000,99.045,151.560,427.548,36.750,0.000,0.000,15.597,3052.630,11486.279,666.840,3386.955,894.187,0.000,2164.671,0.000,3366.180,0.000,53.935,0.000
$DEVICE_MAMPS,248.508,59.826,1452.698,536.133,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.333,1181.255,1985.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97811,1707
$CAP_FILE_SIZE,192704,0
$CFSIZE,260165632,234389504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.223,359.1,1
$GPS,230509,120831,2516.101,12237.784,42,1.2,42,-3.6