version: 66.04
glider: 166
mission: 2
dive: 256
start: 6 26 109 4 10 6
data:
$ID,166
$MISSION,2
$DIVE,256
$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,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,450
$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,-10477.88
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.034000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1650
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,59
$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,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
$GPS1,035907,2441.037,12308.162,27,1.2,27,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-63.7
$GPS2,040944,2441.359,12308.225,14,1.2,14,-3.5
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,OFF_1
$TGT_LATLONG,2437.600,12250.900
$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,245.0,29985,-13.9,-10.000
$D_GRID,1308
$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,16,-1.07,-243.4,0.0,0.0,0,98,0.00,0.00,-79.75,0.000,2,0.000,0.000,169,1671,2390
$GC,101,-1.07,-243.4,3.3,-6.2,12,159,9.32,2.22,-39.03,0.000,4,0.236,0.054,2431,236,3940
$GC,196,-0.52,-243.4,24.2,-27.5,27,203,0.62,2.05,0.00,0.000,6,0.146,0.029,2607,1648,3941
$GC,541,-0.52,-243.4,68.7,-10.8,88,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,1649,3942
$GC,883,-0.67,-243.4,101.0,-9.4,149,890,0.12,2.12,0.00,0.000,4,0.061,0.041,2534,230,3943
$GC,959,-0.46,-243.4,111.4,-14.1,162,968,0.28,2.08,0.00,0.000,6,0.123,0.028,2634,1658,3943
$GC,1305,-1.01,-243.4,150.6,-11.2,223,1313,0.47,2.03,0.00,0.000,4,0.065,0.036,2454,3047,3944
$GC,1371,-0.81,-243.4,159.0,-13.7,234,1378,0.22,2.17,0.00,0.000,6,0.129,0.029,2521,1538,3943
$GC,1717,-0.73,-243.4,198.5,-11.2,295,1724,0.00,2.22,0.00,0.000,4,0.000,0.040,2520,3034,3944
$GC,1799,-0.73,-243.4,206.0,-8.6,309,1806,0.00,2.12,0.00,0.000,6,0.000,0.028,2521,1565,3944
$GC,2143,-0.73,-243.4,235.3,-9.4,370,2149,0.00,2.22,0.00,0.000,4,0.000,0.040,2521,3037,3944
$GC,2218,-0.73,-243.4,242.8,-9.5,383,2224,0.00,2.10,0.00,0.000,6,0.000,0.029,2521,1584,3943
$GC,2561,-0.73,-243.4,276.1,-9.6,444,2568,0.00,2.20,0.00,0.000,4,0.000,0.041,2521,3039,3943
$GC,2586,-0.77,-243.4,278.3,-9.0,448,2592,0.00,2.08,0.00,0.000,6,0.000,0.030,2521,1600,3943
$GC,2925,-0.88,-243.4,310.4,-9.0,499,2929,0.00,2.00,0.00,0.000,4,0.000,0.045,2521,252,3941
$GC,2963,-0.88,-243.4,314.6,-9.7,502,2970,0.00,2.10,0.00,0.000,6,0.000,0.029,2521,1709,3940
$GC,3292,-1.01,-243.4,344.3,-8.5,533,3297,0.20,2.22,0.00,0.000,4,0.052,0.044,2419,241,3939
$GC,3365,-0.72,-243.4,354.0,-14.4,539,3371,0.43,2.25,0.00,0.000,6,0.134,0.031,2549,1776,3938
$GC,3691,-1.05,-243.4,382.0,-9.4,569,3695,0.28,1.88,0.00,0.000,4,0.048,0.043,2417,3040,3936
$GC,3759,-0.91,-243.4,390.4,-13.2,575,3763,0.22,1.77,0.00,0.000,6,0.129,0.031,2487,1807,3935
$GC,4089,-0.87,-243.4,428.3,-12.2,606,4093,0.00,2.38,0.00,0.000,4,0.000,0.048,2485,247,3932
$GC,4197,-0.76,-243.4,442.3,-12.8,615,4202,0.20,2.25,0.00,0.000,6,0.123,0.031,2539,1775,3931
$GC,4522,-1.06,-243.4,473.5,-9.5,645,4526,0.22,1.90,0.00,0.000,4,0.048,0.046,2413,3039,3929
$GC,4635,-0.91,-243.4,487.4,-12.9,655,4640,0.22,1.75,0.00,0.000,6,0.122,0.034,2487,1834,3928
$GC,4973,-1.05,-243.4,520.5,-9.0,677,4977,0.12,1.83,0.00,0.000,4,0.067,0.048,2416,3041,3925
$GC,5096,-0.93,-243.4,533.0,-10.4,682,5100,0.20,1.65,0.00,0.000,6,0.123,0.034,2481,1905,3924
$GC,5417,-1.08,-243.4,560.5,-9.8,698,5422,0.15,1.75,0.00,0.000,4,0.062,0.048,2401,3051,3922
$GC,5473,-0.94,-243.4,567.9,-13.8,700,5477,0.17,1.62,0.00,0.000,6,0.123,0.035,2476,1954,3922
$GC,5794,-1.09,-243.4,609.5,-13.0,716,5799,0.12,1.67,0.00,0.000,4,0.064,0.050,2403,3029,3920
$GC,5895,-0.95,-243.4,622.9,-13.4,720,5899,0.20,1.52,0.00,0.000,6,0.120,0.044,2487,2006,3919
$GC,6217,-1.14,-243.4,647.3,-6.0,736,6221,0.17,1.58,0.00,0.000,4,0.055,0.060,2389,3033,3917
$GC,6278,-1.01,-243.4,651.9,-8.5,738,6285,0.17,1.55,0.00,0.000,6,0.130,0.041,2451,1995,3916
$GC,6595,-1.08,-243.4,669.3,-5.3,754,6599,0.00,2.70,0.00,0.000,4,0.000,0.052,2449,249,3914
$GC,6612,-1.16,-243.4,670.4,-6.2,755,6617,0.12,2.58,0.00,0.000,6,0.074,0.036,2394,1961,3914
$GC,6941,-0.96,-243.4,706.3,-12.0,771,6945,0.22,1.62,0.00,0.000,4,0.139,0.053,2467,3029,3912
$GC,7019,-1.00,-243.4,713.8,-8.5,774,7023,0.00,1.60,0.00,0.000,6,0.000,0.044,2467,1966,3911
$GC,7340,-1.15,-243.4,744.4,-10.0,790,7344,0.17,1.65,0.00,0.000,4,0.054,0.053,2383,3041,3909
$GC,7419,-0.96,-243.4,754.5,-13.5,793,7423,0.22,1.55,0.00,0.000,6,0.121,0.038,2472,2006,3908
$GC,7740,-0.96,-243.4,782.7,-7.7,809,7745,0.00,2.72,0.00,0.000,4,0.000,0.054,2472,249,3907
$GC,7757,-0.96,-243.4,784.0,-7.3,810,7762,0.00,2.58,0.00,0.000,6,0.000,0.044,2470,1934,3907
$GC,8085,-1.11,-243.4,803.5,-5.2,826,8090,0.12,2.62,0.00,0.000,4,0.069,0.052,2404,251,3904
$GC,8202,-0.89,-243.4,815.0,-10.9,831,8208,0.30,2.62,0.00,0.000,6,0.138,0.041,2491,1967,3903
$GC,8519,-1.13,-243.4,835.0,-6.9,846,8523,0.20,1.62,0.00,0.000,4,0.053,0.057,2397,3025,3902
$GC,8558,-1.08,-243.4,838.5,-9.2,847,8564,0.10,1.52,0.00,0.000,6,0.131,0.038,2437,2010,3901
$GC,8876,-1.01,-243.4,866.9,-8.7,863,8881,0.00,2.72,0.00,0.000,4,0.000,0.054,2436,260,3898
$GC,9017,-0.90,-243.4,880.5,-9.6,869,9022,0.17,2.60,0.00,0.000,6,0.137,0.044,2492,1954,3898
$GC,9334,-1.14,-243.4,901.3,-6.8,884,9338,0.20,1.65,0.00,0.000,4,0.054,0.058,2400,3025,3896
$GC,9429,-0.98,-243.4,911.0,-11.2,888,9434,0.20,1.52,0.00,0.000,6,0.132,0.041,2456,2015,3896
$GC,9756,-0.98,-243.4,940.8,-9.8,904,9761,0.00,2.75,0.00,0.000,4,0.000,0.057,2458,260,3895
$GC,9873,-0.92,-243.4,954.3,-11.6,909,9878,0.00,2.60,0.00,0.000,6,0.000,0.044,2460,1946,3894
$GC,10189,-0.92,-243.4,986.4,-9.8,924,10194,0.00,2.65,0.00,0.000,4,0.000,0.056,2463,261,3893
$STATE,10219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10219,begin apogee
$GC,10226,-0.28,0.0,990.1,11.9,925,10436,0.65,0.00,206.62,1.490,6,0.117,0.000,2682,1394,2945
$STATE,10437,end apogee,CONTROL_FINISHED_OK
$STATE,10437,begin climb
$GC,10439,1.07,243.4,1004.3,0.0,936,10671,1.25,2.42,221.52,1.439,4,0.048,0.054,3125,2803,1950
$GC,10840,0.52,243.4,951.7,19.7,954,10845,0.65,2.20,0.00,0.000,6,0.176,0.053,2952,1411,1943
$GC,11161,0.38,243.4,916.4,10.3,970,11163,0.17,0.00,0.00,0.000,6,0.141,0.000,2901,1411,1942
$GC,11470,0.49,329.4,892.2,7.6,985,11557,0.12,2.33,76.88,1.406,4,0.072,0.054,2956,2799,1601
$GC,11582,0.42,346.0,881.3,9.5,990,11612,0.20,2.22,18.38,1.171,6,0.148,0.045,2915,1405,1533
$GC,11937,0.57,416.2,854.0,8.1,1007,12031,0.15,2.35,71.00,1.289,4,0.062,0.053,2984,2806,1248
$GC,12049,0.51,416.2,840.0,11.9,1012,12053,0.17,2.22,0.00,0.000,6,0.143,0.046,2948,1409,1246
$GC,12365,0.55,416.2,804.5,11.2,1027,12368,0.00,1.90,0.00,0.000,4,0.000,0.061,2953,202,1242
$GC,12397,0.55,416.2,800.5,11.6,1028,12401,0.00,1.88,0.00,0.000,6,0.000,0.043,2953,1416,1241
$GC,12718,0.63,482.0,769.5,8.2,1044,12792,0.00,2.25,62.95,1.308,4,0.000,0.053,2952,2796,980
$GC,12815,0.79,549.9,761.5,8.1,1048,12886,0.20,2.20,64.72,1.313,6,0.051,0.045,3056,1409,702
$GC,13195,0.65,549.9,707.9,14.6,1066,13199,0.20,1.92,0.00,0.000,4,0.140,0.061,2999,193,700
$GC,13219,0.59,549.9,704.5,14.8,1067,13222,0.00,1.88,0.00,0.000,6,0.000,0.044,2999,1418,699
$GC,13553,0.59,549.9,662.6,13.7,1083,13556,0.00,1.92,0.00,0.000,4,0.000,0.061,3010,196,697
$GC,13579,0.59,549.9,658.1,16.4,1084,13584,0.10,1.88,0.00,0.000,6,0.128,0.043,2975,1411,698
$GC,13906,0.71,549.9,619.5,11.5,1100,13910,0.10,2.12,0.00,0.000,4,0.074,0.051,3035,2802,696
$GC,13930,0.75,549.9,616.3,13.4,1101,13934,0.00,2.15,0.00,0.000,6,0.000,0.046,3048,1405,696
$GC,14262,0.69,549.9,567.4,13.3,1117,14266,0.15,1.88,0.00,0.000,4,0.143,0.058,3014,200,696
$GC,14308,0.69,549.9,561.3,12.0,1119,14312,0.00,1.80,0.00,0.000,6,0.000,0.043,3014,1395,695
$GC,14641,0.73,549.9,523.6,10.8,1135,14645,0.00,1.88,0.00,0.000,4,0.000,0.059,3029,195,695
$GC,14663,0.73,549.9,520.7,12.1,1136,14667,0.00,1.80,0.00,0.000,6,0.000,0.043,3028,1394,695
$GC,14990,0.73,549.9,484.0,10.7,1158,14993,0.00,1.88,0.00,0.000,4,0.000,0.058,3037,196,695
$GC,15028,0.73,549.9,479.5,11.4,1161,15036,0.00,1.80,0.00,0.000,6,0.000,0.041,3036,1380,695
$GC,15356,0.73,549.9,440.6,11.9,1192,15360,0.00,1.85,0.00,0.000,4,0.000,0.058,3046,195,695
$GC,15405,0.73,549.9,434.0,12.0,1196,15413,0.08,1.77,0.00,0.000,6,0.136,0.041,3020,1366,695
$GC,15731,0.80,549.9,400.8,10.4,1227,15735,0.00,1.83,0.00,0.000,4,0.000,0.058,3024,196,695
$GC,15777,0.80,549.9,395.3,12.2,1231,15780,0.00,1.73,0.00,0.000,6,0.000,0.041,3023,1340,695
$GC,16109,0.87,549.9,353.8,12.8,1262,16111,0.10,0.00,0.00,0.000,6,0.074,0.000,3083,1341,695
$GC,16427,0.80,549.9,306.9,13.9,1292,16429,0.17,0.00,0.00,0.000,6,0.135,0.000,3031,1341,695
$GC,16758,1.14,635.3,277.7,7.6,1346,16819,0.28,1.83,53.75,0.961,4,0.042,0.054,3178,196,454
$GC,16938,0.90,635.3,243.3,20.8,1377,16946,0.38,1.73,0.00,0.000,6,0.142,0.037,3068,1350,452
$GC,17285,0.99,635.3,191.7,16.1,1438,17292,0.00,2.17,0.00,0.000,4,0.000,0.042,3071,2794,452
$GC,17315,1.06,635.3,187.0,15.0,1443,17322,0.12,2.22,0.00,0.000,6,0.061,0.040,3147,1321,452
$GC,17662,0.99,635.3,130.9,13.1,1504,17669,0.17,1.75,0.00,0.000,4,0.133,0.051,3097,199,452
$GC,17709,1.04,635.3,125.3,11.5,1512,17715,0.00,1.65,0.00,0.000,6,0.000,0.036,3098,1308,452
$GC,18053,1.18,671.0,92.1,9.0,1573,18061,0.17,2.22,0.00,0.000,4,0.051,0.038,3198,2803,452
$GC,18130,1.00,671.0,80.7,15.5,1586,18137,0.38,2.22,0.00,0.000,6,0.138,0.038,3099,1312,452
$GC,18476,1.35,671.0,41.8,11.4,1647,18483,0.28,2.20,0.00,0.000,4,0.047,0.036,3236,2800,452
$GC,18552,1.14,671.0,30.8,15.5,1660,18559,0.28,2.35,0.00,0.000,6,0.127,0.037,3149,1246,452
$STATE,18833,end climb,SURFACE_DEPTH_REACHED
$STATE,18833,begin surface coast
$FINISH,0.8,1.010456
$STATE,18868,end surface coast,CONTROL_FINISHED_OK
$STATE,18868,begin surface
$SM_CCo,18946,0.00,0.000,0,0,452,611.53
$SM_GC,1.55,7.80,0.00,0.00,0.035,0.000,0.000,170,1665,452,-8.14,0.42,611.53
$IRIDIUM_FIX,2432.32,12307.20,190998,222235
$TT8_MAMPS,0.026845
$HUMID,1567
$INTERNAL_PRESSURE,9.88778
$TCM_TEMP,25.00
$XPDR_PINGS,187
$24V_AH,22.8,55.951
$10V_AH,10.7,32.410
$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,30.525,175.925,775.825,0.000,0.000,47.748,88.285,288.817,54.750,0.000,0.000,14.827,3113.929,11189.857,872.874,3603.047,783.479,0.000,2533.133,0.000,3557.600,0.000,54.420,0.000
$DEVICE_MAMPS,236.236,61.360,1490.281,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1166.329,1177.702,1979.980,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100909,1716
$CAP_FILE_SIZE,203512,0
$CFSIZE,260165632,216813568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.179, 44.9,1
$GPS,260609,092707,2441.673,12307.141,40,1.1,40,-3.5