version: 66.04
glider: 166
mission: 2
dive: 127
start: 6 12 109 11 5 15
data:
$ID,166
$MISSION,2
$DIVE,127
$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,-7601.2788
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2739
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24.5
$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,1500
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,56
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,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,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
$GPS1,105507,2435.859,12321.312,32,0.9,32,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.2
$GPS2,110455,2435.925,12321.351,11,1.5,16,-3.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,RET_1
$TGT_LATLONG,2407.200,12312.300
$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,200.2,55355,-16.8,-10.000
$D_GRID,1003
$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,15,-0.90,-170.3,0.0,0.0,0,81,0.00,0.00,-63.92,0.000,2,0.000,0.000,172,1508,2340
$GC,83,-0.90,-170.3,3.2,-6.3,10,136,9.07,2.12,-34.40,0.000,4,0.233,0.052,2441,2898,3560
$GC,390,-0.22,-170.3,91.0,-29.0,63,397,0.75,2.08,0.00,0.000,6,0.149,0.031,2665,1476,3561
$GC,734,-0.59,-170.3,120.1,-7.6,124,742,0.28,1.90,0.00,0.000,4,0.043,0.041,2531,216,3562
$GC,756,-0.74,-170.3,122.3,-10.0,127,762,0.00,1.85,0.00,0.000,6,0.000,0.027,2529,1496,3562
$GC,1100,-0.61,-170.3,174.3,-13.3,188,1107,0.00,2.05,0.00,0.000,4,0.000,0.039,2532,2901,3563
$GC,1231,-0.61,-170.3,189.9,-12.3,211,1237,0.00,2.03,0.00,0.000,6,0.000,0.031,2527,1500,3563
$GC,1574,-0.57,-170.3,233.9,-11.2,272,1581,0.00,1.95,0.00,0.000,4,0.000,0.045,2531,203,3563
$GC,1699,-0.50,-170.3,250.7,-13.2,294,1706,0.12,1.88,0.00,0.000,6,0.129,0.028,2586,1503,3563
$GC,2044,-0.77,-170.3,278.8,-6.7,355,2050,0.22,0.00,0.00,0.000,6,0.051,0.000,2468,1505,3563
$GC,2377,-0.58,-170.3,324.9,-14.5,400,2383,0.22,2.05,0.00,0.000,4,0.135,0.042,2548,2891,3563
$GC,2415,-0.75,-170.3,329.1,-9.1,403,2422,0.15,2.05,0.00,0.000,6,0.060,0.034,2466,1490,3563
$GC,2740,-0.57,-170.3,372.8,-14.3,434,2744,0.25,1.92,0.00,0.000,4,0.133,0.048,2550,205,3561
$GC,2819,-0.73,-170.3,380.2,-8.0,441,2823,0.12,1.83,0.00,0.000,6,0.071,0.030,2480,1487,3560
$GC,3149,-0.67,-170.3,418.4,-11.7,472,3153,0.15,2.08,0.00,0.000,4,0.135,0.044,2527,2882,3559
$GC,3216,-0.89,-170.3,424.6,-8.5,478,3221,0.20,2.08,0.00,0.000,6,0.052,0.035,2435,1470,3559
$GC,3547,-0.66,-170.3,471.9,-14.2,509,3551,0.28,1.90,0.00,0.000,4,0.137,0.050,2520,207,3556
$GC,3595,-0.73,-170.3,477.4,-10.1,513,3602,0.00,1.85,0.00,0.000,6,0.000,0.032,2521,1464,3556
$GC,3921,-0.85,-170.3,505.5,-8.9,541,3925,0.15,2.15,0.00,0.000,4,0.063,0.045,2443,2907,3553
$GC,3953,-0.77,-170.3,509.5,-11.7,542,3960,0.12,2.12,0.00,0.000,6,0.127,0.043,2488,1487,3553
$GC,4269,-0.77,-170.3,540.3,-9.6,558,4272,0.00,1.92,0.00,0.000,4,0.000,0.052,2489,207,3551
$GC,4306,-0.77,-170.3,544.4,-10.6,559,4313,0.00,1.88,0.00,0.000,6,0.000,0.034,2484,1474,3550
$GC,4622,-0.77,-170.3,577.5,-10.2,575,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1474,3547
$GC,4932,-0.77,-170.3,608.8,-9.9,590,4936,0.00,2.15,0.00,0.000,4,0.000,0.050,2483,2899,3545
$GC,4965,-0.87,-170.3,611.9,-9.1,591,4969,0.00,2.10,0.00,0.000,6,0.000,0.038,2483,1484,3545
$GC,5286,-0.87,-170.3,641.7,-8.6,607,5289,0.00,1.95,0.00,0.000,4,0.000,0.054,2484,201,3543
$GC,5312,-0.87,-170.3,644.1,-9.4,608,5317,0.00,1.90,0.00,0.000,6,0.000,0.035,2482,1477,3542
$GC,5641,-0.87,-170.3,672.4,-9.0,624,5645,0.00,2.15,0.00,0.000,4,0.000,0.051,2481,2900,3540
$GC,5674,-0.96,-170.3,675.6,-8.8,625,5678,0.15,2.10,0.00,0.000,6,0.062,0.040,2410,1485,3540
$GC,5996,-0.75,-170.3,718.3,-13.7,641,6001,0.25,2.17,0.00,0.000,4,0.142,0.051,2488,2909,3537
$GC,6073,-0.92,-170.3,725.9,-8.4,644,6082,0.10,2.12,0.00,0.000,6,0.052,0.041,2426,1507,3537
$GC,6389,-0.79,-170.3,763.1,-11.9,660,6393,0.17,2.00,0.00,0.000,4,0.142,0.056,2483,200,3535
$GC,6444,-0.79,-170.3,768.9,-10.4,662,6448,0.00,1.95,0.00,0.000,6,0.000,0.038,2481,1496,3534
$GC,6766,-0.88,-170.3,793.9,-7.3,678,6769,0.00,2.00,0.00,0.000,4,0.000,0.057,2482,199,3533
$GC,6821,-0.88,-170.3,798.4,-7.9,680,6825,0.00,1.95,0.00,0.000,6,0.000,0.038,2482,1494,3532
$GC,7142,-0.96,-170.3,823.2,-8.0,696,7144,0.15,0.00,0.00,0.000,6,0.067,0.000,2413,1496,3531
$GC,7452,-0.78,-170.3,859.4,-12.0,711,7454,0.25,0.00,0.00,0.000,6,0.143,0.000,2489,1496,3529
$GC,7761,-0.89,-170.3,884.0,-8.1,726,7762,0.12,0.00,0.00,0.000,6,0.076,0.000,2433,1496,3528
$GC,8071,-0.80,-170.3,919.6,-12.3,741,8072,0.17,0.00,0.00,0.000,6,0.145,0.000,2484,1496,3526
$GC,8380,-0.89,-170.3,949.4,-9.6,756,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1497,3525
$GC,8689,-0.99,-170.3,976.8,-7.6,771,8691,0.20,0.00,0.00,0.000,6,0.063,0.000,2400,1497,3523
$STATE,8811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8811,begin apogee
$GC,8816,-0.20,0.0,991.3,12.5,777,8960,0.88,0.00,141.02,1.486,6,0.140,0.000,2669,1751,2863
$STATE,8961,end apogee,CONTROL_FINISHED_OK
$STATE,8961,begin climb
$GC,8963,0.90,170.3,993.6,0.0,784,9119,0.98,0.00,152.50,1.430,6,0.041,0.000,3044,1752,2167
$GC,9415,0.32,170.3,912.1,21.0,806,9420,0.68,2.22,0.00,0.000,4,0.172,0.056,2850,3155,2161
$GC,9442,0.20,170.3,907.8,13.1,807,9447,0.15,2.20,0.00,0.000,6,0.140,0.044,2811,1757,2160
$GC,9766,0.55,248.0,884.0,6.9,823,9852,0.25,2.40,69.88,1.352,4,0.052,0.059,2940,340,1850
$GC,9958,0.38,248.0,857.1,14.6,831,9965,0.22,2.20,0.00,0.000,6,0.140,0.044,2870,1732,1846
$GC,10274,0.48,248.0,823.7,10.5,847,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1732,1842
$GC,10583,0.58,248.0,788.0,12.1,862,10585,0.17,0.00,0.00,0.000,6,0.058,0.000,2949,1734,1841
$GC,10892,0.39,248.0,741.0,14.4,877,10897,0.25,2.17,0.00,0.000,4,0.147,0.056,2881,339,1839
$GC,10958,0.56,305.9,734.1,7.7,880,11019,0.12,2.12,50.95,1.318,6,0.074,0.044,2940,1739,1614
$GC,11327,0.46,305.9,681.5,16.5,898,11332,0.17,2.22,0.00,0.000,4,0.143,0.056,2886,3157,1607
$GC,11393,0.59,305.9,672.1,13.6,901,11398,0.10,2.20,0.00,0.000,6,0.077,0.043,2944,1721,1606
$GC,11720,0.49,305.9,623.7,14.0,917,11725,0.17,2.15,0.00,0.000,4,0.146,0.054,2898,337,1605
$GC,11781,0.58,305.9,616.3,11.7,920,11785,0.00,2.12,0.00,0.000,6,0.000,0.043,2898,1732,1605
$GC,12113,0.66,305.9,579.3,10.8,936,12118,0.15,2.17,0.00,0.000,4,0.062,0.054,2979,338,1604
$GC,12220,0.45,305.9,561.7,16.8,941,12225,0.32,2.08,0.00,0.000,6,0.145,0.043,2884,1710,1604
$GC,12547,0.61,311.9,527.7,9.8,957,12557,0.15,2.12,4.80,0.871,4,0.063,0.054,2965,339,1591
$GC,12579,0.50,311.9,523.1,14.7,958,12586,0.17,2.08,0.00,0.000,6,0.140,0.041,2907,1696,1591
$GC,12898,0.56,311.9,485.4,12.0,979,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1696,1591
$GC,13217,0.64,311.9,448.1,11.0,1009,13222,0.12,2.10,0.00,0.000,4,0.069,0.054,2977,339,1591
$GC,13279,0.45,311.9,438.4,17.2,1014,13284,0.32,2.03,0.00,0.000,6,0.142,0.041,2881,1690,1591
$GC,13604,0.68,332.7,406.0,9.2,1044,13629,0.17,2.33,19.92,1.062,4,0.058,0.051,2968,3154,1505
$GC,13656,0.56,332.7,398.5,16.1,1048,13664,0.17,2.28,0.00,0.000,6,0.140,0.041,2924,1686,1503
$GC,13982,0.64,332.7,358.6,11.8,1079,13986,0.00,2.08,0.00,0.000,4,0.000,0.054,2933,341,1502
$GC,14083,0.72,332.7,346.4,12.0,1088,14087,0.10,2.00,0.00,0.000,6,0.083,0.038,2980,1680,1501
$GC,14409,0.60,332.7,295.9,13.9,1121,14416,0.17,2.08,0.00,0.000,4,0.143,0.050,2934,330,1501
$GC,14445,0.65,332.7,291.3,11.9,1127,14451,0.00,2.00,0.00,0.000,6,0.000,0.038,2934,1681,1501
$GC,14788,0.74,332.7,257.6,10.3,1188,14795,0.12,2.22,0.00,0.000,4,0.068,0.047,3004,3151,1501
$GC,14818,0.64,332.7,253.5,15.1,1193,14826,0.25,2.25,0.00,0.000,6,0.142,0.042,2942,1645,1501
$GC,15165,0.75,332.7,213.8,11.2,1254,15172,0.12,1.98,0.00,0.000,4,0.067,0.049,3020,337,1501
$GC,15269,0.58,332.7,197.2,16.0,1272,15276,0.28,1.92,0.00,0.000,6,0.129,0.035,2930,1638,1501
$GC,15614,0.87,371.7,169.2,8.5,1333,15654,0.22,2.33,33.45,0.848,4,0.048,0.044,3048,3155,1347
$GC,15700,0.70,371.7,155.6,16.3,1347,15707,0.32,2.33,0.00,0.000,6,0.135,0.035,2963,1631,1345
$GC,16045,1.02,434.2,128.8,7.5,1408,16110,0.25,2.45,53.83,0.798,4,0.044,0.042,3090,3167,1092
$GC,16157,0.81,434.2,108.8,19.6,1426,16165,0.35,2.35,0.00,0.000,6,0.136,0.034,2997,1607,1090
$GC,16502,1.05,448.1,70.2,9.5,1487,16523,0.20,1.92,12.90,0.690,4,0.048,0.044,3113,336,1036
$GC,16542,0.89,448.1,64.7,15.1,1493,16550,0.22,1.98,0.00,0.000,6,0.126,0.031,3028,1667,1035
$GC,16888,1.15,480.3,26.4,8.7,1554,16922,0.20,2.05,28.27,0.685,4,0.049,0.043,3154,327,903
$GC,17010,0.94,480.3,4.5,18.7,1574,17017,0.32,1.98,0.00,0.000,6,0.127,0.029,3035,1662,901
$STATE,17021,end climb,SURFACE_DEPTH_REACHED
$STATE,17022,begin surface coast
$FINISH,0.8,1.010909
$STATE,17035,end surface coast,CONTROL_FINISHED_OK
$STATE,17035,begin surface
$SM_CCo,17110,0.00,0.000,0,0,899,481.77
$SM_GC,1.67,7.62,0.00,0.00,0.041,0.000,0.000,150,1495,899,-8.01,-0.14,481.77
$IRIDIUM_FIX,2427.58,12323.00,060998,111107
$TT8_MAMPS,0.026845
$HUMID,1463
$INTERNAL_PRESSURE,9.90731
$TCM_TEMP,25.10
$XPDR_PINGS,111
$24V_AH,23.4,30.048
$10V_AH,10.7,18.735
$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,30.200,137.950,567.525,0.000,0.000,58.488,80.966,261.838,35.750,0.000,0.000,17.557,2796.013,10450.390,712.363,3085.135,639.344,0.000,2093.418,0.000,3054.338,0.000,54.424,0.000
$DEVICE_MAMPS,233.168,59.059,1485.679,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1072.823,1080.618,1815.489,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91685,1578
$CAP_FILE_SIZE,179203,0
$CFSIZE,260165632,224571392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.103, 27.9,1
$GPS,120609,155137,2434.317,12320.771,39,1.1,39,-3.5