version: 66.04
glider: 166
mission: 2
dive: 301
start: 7 7 109 19 32 6
data:
$ID,166
$MISSION,2
$DIVE,301
$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,413
$T_MISSION,495
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-5
$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,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,-11290.776
$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,17
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,197
$ROLL_MAX,3786
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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
$GPS1,192407,2505.596,12404.992,34,0.9,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-72.3
$GPS2,193144,2505.729,12405.040,11,1.7,11,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2425.600,12317.300
$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,230.5,109561,-13.7,-7.990
$D_GRID,1926
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.01,-170.3,0.0,0.0,0,69,0.00,0.00,-49.90,0.000,2,0.000,0.000,167,1795,2254
$GC,72,-1.01,-170.3,3.1,-4.2,8,125,9.18,2.20,-37.90,0.000,4,0.227,0.055,2447,389,3642
$GC,230,-1.01,-170.3,31.6,-20.1,34,238,0.00,2.08,0.00,0.000,6,0.000,0.028,2446,1820,3642
$GC,576,-1.01,-170.3,92.6,-17.6,95,582,0.00,2.17,0.00,0.000,4,0.000,0.041,2437,388,3643
$GC,718,-1.01,-170.3,117.5,-17.2,120,724,0.00,2.05,0.00,0.000,6,0.000,0.027,2433,1819,3643
$GC,1063,-1.01,-170.3,168.5,-14.4,181,1069,0.00,2.03,0.00,0.000,4,0.000,0.038,2433,3204,3644
$GC,1078,-1.01,-170.3,170.4,-13.9,183,1085,0.00,2.05,0.00,0.000,6,0.000,0.028,2428,1771,3643
$GC,1424,-1.01,-170.3,212.3,-11.5,244,1430,0.00,2.03,0.00,0.000,4,0.000,0.040,2428,392,3644
$GC,1494,-1.01,-170.3,220.6,-12.0,256,1500,0.00,2.03,0.00,0.000,6,0.000,0.027,2430,1817,3644
$GC,1840,-1.01,-170.3,260.9,-11.7,317,1846,0.00,2.10,0.00,0.000,4,0.000,0.041,2429,404,3644
$GC,1931,-1.01,-170.3,272.5,-12.6,333,1937,0.00,2.00,0.00,0.000,6,0.000,0.027,2428,1805,3644
$GC,2274,-1.01,-170.3,312.0,-11.1,385,2278,0.00,2.10,0.00,0.000,4,0.000,0.041,2428,395,3644
$GC,2364,-1.01,-170.3,322.1,-12.0,393,2367,0.00,2.03,0.00,0.000,6,0.000,0.028,2426,1805,3644
$GC,2694,-1.01,-170.3,355.3,-10.3,424,2697,0.00,2.10,0.00,0.000,4,0.000,0.041,2426,399,3642
$GC,2777,-1.01,-170.3,364.7,-11.2,431,2783,0.00,2.03,0.00,0.000,6,0.000,0.029,2429,1798,3642
$GC,3102,-1.01,-170.3,401.0,-11.2,462,3106,0.00,2.08,0.00,0.000,4,0.000,0.043,2427,410,3640
$GC,3185,-1.01,-170.3,411.0,-11.7,469,3191,0.00,2.03,0.00,0.000,6,0.000,0.030,2437,1807,3640
$GC,3512,-1.01,-170.3,444.6,-9.6,500,3516,0.00,2.10,0.00,0.000,4,0.000,0.044,2440,410,3638
$GC,3593,-1.01,-170.3,453.2,-11.5,507,3597,0.00,2.03,0.00,0.000,6,0.000,0.031,2427,1802,3638
$GC,3924,-1.01,-170.3,487.5,-10.5,538,3927,0.00,2.10,0.00,0.000,4,0.000,0.045,2427,413,3634
$GC,3962,-1.01,-170.3,492.1,-11.8,541,3968,0.00,2.05,0.00,0.000,6,0.000,0.032,2427,1816,3634
$GC,4290,-1.01,-170.3,524.0,-8.9,561,4294,0.00,2.15,0.00,0.000,4,0.000,0.048,2427,403,3632
$GC,4323,-1.01,-170.3,527.2,-9.7,562,4327,0.00,2.05,0.00,0.000,6,0.000,0.033,2427,1799,3631
$GC,4645,-1.01,-170.3,556.1,-9.1,578,4648,0.00,2.12,0.00,0.000,4,0.000,0.048,2426,407,3629
$GC,4705,-1.01,-170.3,562.6,-10.6,580,4712,0.00,2.08,0.00,0.000,6,0.000,0.034,2428,1798,3628
$GC,5022,-1.01,-170.3,593.0,-9.4,596,5025,0.00,2.12,0.00,0.000,4,0.000,0.050,2427,411,3626
$GC,5090,-1.01,-170.3,599.8,-10.0,599,5095,0.00,2.08,0.00,0.000,6,0.000,0.041,2429,1803,3625
$GC,5423,-1.01,-170.3,632.6,-10.6,615,5426,0.00,2.15,0.00,0.000,4,0.000,0.055,2428,417,3623
$GC,5478,-1.01,-170.3,639.7,-12.8,617,5482,0.00,2.08,0.00,0.000,6,0.000,0.038,2429,1801,3622
$GC,5801,-1.01,-170.3,675.2,-10.6,633,5804,0.00,2.15,0.00,0.000,4,0.000,0.051,2430,404,3620
$GC,5879,-1.01,-170.3,684.2,-11.1,636,5882,0.00,2.10,0.00,0.000,6,0.000,0.036,2436,1805,3620
$GC,6200,-1.01,-170.3,713.2,-8.4,652,6204,0.00,2.17,0.00,0.000,4,0.000,0.058,2435,410,3618
$GC,6255,-1.01,-170.3,718.8,-9.7,654,6260,0.00,2.12,0.00,0.000,6,0.000,0.043,2447,1796,3617
$GC,6576,-1.01,-170.3,749.2,-9.9,670,6580,0.00,2.15,0.00,0.000,4,0.000,0.054,2447,410,3615
$GC,6632,-1.01,-170.3,755.4,-11.7,672,6636,0.00,2.10,0.00,0.000,6,0.000,0.044,2447,1801,3614
$GC,6953,-1.01,-170.3,788.5,-10.1,688,6957,0.00,2.17,0.00,0.000,4,0.000,0.060,2446,413,3613
$GC,7014,-1.01,-170.3,795.4,-11.9,690,7022,0.00,2.12,0.00,0.000,6,0.000,0.047,2445,1795,3613
$GC,7330,-1.01,-170.3,827.7,-10.2,706,7334,0.00,2.15,0.00,0.000,4,0.000,0.055,2446,417,3610
$GC,7425,-1.01,-170.3,838.4,-11.4,710,7428,0.00,2.10,0.00,0.000,6,0.000,0.040,2438,1809,3610
$GC,7751,-1.01,-170.3,870.3,-9.5,726,7755,0.00,2.17,0.00,0.000,4,0.000,0.055,2441,416,3608
$GC,7896,-1.01,-170.3,885.8,-11.0,732,7901,0.00,2.10,0.00,0.000,6,0.000,0.043,2430,1803,3607
$GC,8217,-1.01,-170.3,917.2,-9.8,748,8221,0.00,2.17,0.00,0.000,4,0.000,0.055,2429,410,3606
$GC,8267,-1.01,-170.3,922.5,-11.4,750,8272,0.10,2.12,0.00,0.000,6,0.168,0.041,2448,1814,3605
$GC,8588,-1.01,-170.3,950.4,-9.0,766,8592,0.00,2.20,0.00,0.000,4,0.000,0.058,2447,416,3604
$GC,8688,-1.01,-170.3,960.6,-10.4,770,8692,0.00,2.10,0.00,0.000,6,0.000,0.041,2439,1805,3603
$STATE,8988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8988,begin apogee
$GC,8995,-0.29,0.0,990.8,10.2,785,9150,0.75,0.00,147.12,1.488,6,0.115,0.000,2683,1362,2945
$STATE,9151,end apogee,CONTROL_FINISHED_OK
$STATE,9151,begin climb
$GC,9154,1.01,170.3,1001.7,0.0,793,9321,1.15,2.45,155.38,1.457,4,0.046,0.053,3111,2757,2249
$GC,9507,1.01,170.3,972.9,12.5,809,9511,0.00,2.20,0.00,0.000,6,0.000,0.048,3122,1351,2244
$GC,9834,1.01,170.3,930.8,12.8,825,9837,0.00,2.20,0.00,0.000,4,0.000,0.053,3122,2757,2242
$GC,9856,1.01,170.3,927.5,13.9,826,9860,0.00,2.17,0.00,0.000,6,0.000,0.047,3132,1349,2242
$GC,10182,1.01,170.3,884.9,13.0,842,10186,0.00,2.20,0.00,0.000,4,0.000,0.053,3131,2759,2241
$GC,10272,1.01,170.3,872.5,13.9,846,10277,0.15,2.17,0.00,0.000,6,0.206,0.047,3107,1345,2240
$GC,10598,1.01,170.3,832.6,12.3,862,10602,0.00,1.80,0.00,0.000,4,0.000,0.061,3115,195,2239
$GC,10626,1.01,170.3,829.0,12.5,863,10629,0.00,1.75,0.00,0.000,6,0.000,0.041,3114,1362,2239
$GC,10954,1.01,170.3,788.7,12.1,879,10958,0.00,2.12,0.00,0.000,4,0.000,0.052,3111,2747,2238
$GC,11037,1.01,170.3,778.2,11.7,882,11045,0.00,2.17,0.00,0.000,6,0.000,0.046,3120,1350,2237
$GC,11353,1.01,170.3,741.9,11.4,898,11356,0.00,2.17,0.00,0.000,4,0.000,0.052,3120,2753,2237
$GC,11455,1.01,170.3,730.2,12.1,902,11459,0.00,2.17,0.00,0.000,6,0.000,0.046,3128,1336,2237
$GC,11776,1.01,170.3,691.3,12.5,918,11779,0.00,2.20,0.00,0.000,4,0.000,0.051,3125,2753,2236
$GC,11870,1.01,170.3,679.5,11.9,922,11874,0.00,2.17,0.00,0.000,6,0.000,0.046,3132,1338,2236
$GC,12198,1.01,170.3,642.3,10.6,938,12201,0.00,2.17,0.00,0.000,4,0.000,0.051,3131,2748,2236
$GC,12320,1.01,170.3,629.4,9.4,943,12325,0.15,2.15,0.00,0.000,6,0.200,0.047,3104,1350,2236
$GC,12636,1.01,170.3,597.4,9.5,958,12640,0.00,2.17,0.00,0.000,4,0.000,0.051,3094,2752,2235
$GC,12798,1.01,170.3,581.2,10.4,965,12803,0.00,2.20,0.00,0.000,6,0.000,0.047,3103,1344,2236
$GC,13125,1.01,170.3,549.1,9.7,981,13129,0.00,1.80,0.00,0.000,4,0.000,0.059,3112,192,2235
$GC,13154,1.01,170.3,546.4,10.0,982,13157,0.00,1.75,0.00,0.000,6,0.000,0.043,3111,1361,2235
$GC,13481,1.01,170.3,515.7,9.9,998,13485,0.00,2.15,0.00,0.000,4,0.000,0.051,3111,2760,2235
$GC,13710,1.01,170.3,491.6,10.8,1011,13716,0.00,2.17,0.00,0.000,6,0.000,0.045,3120,1342,2235
$GC,14036,1.01,170.3,457.1,9.8,1042,14040,0.00,2.20,0.00,0.000,4,0.000,0.056,3117,2753,2235
$GC,14149,1.01,170.3,445.7,9.6,1052,14153,0.00,2.15,0.00,0.000,6,0.000,0.045,3125,1348,2235
$GC,14481,1.01,170.3,413.7,9.2,1083,14485,0.00,1.83,0.00,0.000,4,0.000,0.059,3134,205,2235
$GC,14599,1.01,170.3,401.9,10.1,1093,14605,0.00,1.73,0.00,0.000,6,0.000,0.044,3134,1352,2235
$GC,14925,1.01,170.3,372.2,8.7,1124,14928,0.00,1.80,0.00,0.000,4,0.000,0.056,3143,196,2236
$GC,14952,1.01,170.3,369.5,8.4,1126,14960,0.10,1.77,0.00,0.000,6,0.196,0.042,3115,1354,2236
$GC,15277,1.02,174.1,342.4,7.9,1157,15281,0.00,1.83,0.00,0.000,4,0.000,0.059,3122,207,2237
$GC,15412,1.02,174.1,330.9,8.3,1169,15416,0.00,1.70,0.00,0.000,6,0.000,0.039,3122,1356,2236
$GC,15742,1.02,174.1,302.5,8.7,1200,15745,0.00,1.80,0.00,0.000,4,0.000,0.055,3129,197,2237
$GC,15815,1.02,174.1,295.7,9.0,1210,15822,0.00,1.75,0.00,0.000,6,0.000,0.039,3124,1358,2237
$GC,16161,1.02,174.1,268.3,8.2,1271,16167,0.00,1.80,0.00,0.000,4,0.000,0.054,3130,200,2238
$GC,16253,1.02,174.1,259.7,9.3,1287,16259,0.00,1.70,0.00,0.000,6,0.000,0.038,3130,1352,2238
$GC,16597,1.10,240.3,233.2,5.9,1348,16665,0.00,2.20,57.72,0.936,4,0.000,0.050,3126,2737,1963
$GC,16779,1.10,240.3,218.5,8.6,1379,16785,0.00,2.15,0.00,0.000,6,0.000,0.041,3133,1339,1958
$GC,17122,1.10,240.3,183.6,9.7,1440,17128,0.00,2.15,0.00,0.000,4,0.000,0.042,3135,2756,1957
$GC,17220,1.10,241.9,175.2,7.9,1457,17226,0.00,2.12,0.00,0.000,6,0.000,0.040,3149,1346,1956
$GC,17564,1.14,270.6,145.8,7.1,1518,17598,0.00,1.80,25.52,0.834,4,0.000,0.052,3160,209,1840
$GC,17628,1.14,270.6,140.6,8.5,1528,17635,0.00,1.73,0.00,0.000,6,0.000,0.035,3160,1360,1839
$GC,17973,1.14,270.6,111.0,8.2,1589,17979,0.00,2.08,0.00,0.000,4,0.000,0.040,3161,2751,1838
$GC,18066,1.14,270.6,102.9,8.8,1605,18072,0.00,2.10,0.00,0.000,6,0.000,0.038,3171,1348,1837
$GC,18411,1.17,293.7,79.4,7.3,1666,18437,0.00,2.12,20.58,0.750,4,0.000,0.038,3171,2757,1746
$GC,18495,1.17,293.7,71.5,9.8,1680,18501,0.00,2.12,0.00,0.000,6,0.000,0.037,3181,1339,1745
$GC,18841,1.19,310.8,46.3,7.4,1741,18862,0.00,1.80,15.95,0.695,4,0.000,0.048,3190,192,1677
$GC,18932,1.19,310.8,38.3,9.1,1756,18939,0.00,1.70,0.00,0.000,6,0.000,0.031,3190,1355,1676
$GC,19277,1.24,350.0,15.8,6.8,1817,19317,0.00,2.15,33.25,0.686,4,0.000,0.035,3190,2754,1518
$STATE,19431,end climb,SURFACE_DEPTH_REACHED
$STATE,19431,begin surface coast
$FINISH,2.4,1.021176
$STATE,19436,end surface coast,CONTROL_FINISHED_OK
$STATE,19436,begin surface
$SM_CCo,19456,81.18,0.676,0,0,1110,450.13
$SM_GC,1.65,0.00,0.00,81.18,0.000,0.000,0.676,166,1783,1110,-8.17,-0.48,450.13
$IRIDIUM_FIX,2456.07,12403.18,011098,131350
$TT8_MAMPS,0.026845
$HUMID,1486
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.90
$XPDR_PINGS,152
$24V_AH,22.7,66.335
$10V_AH,10.7,41.350
$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,20.250,189.400,455.525,81.175,0.000,25.759,33.685,240.345,46.000,0.000,0.000,11.671,3268.400,11427.297,684.997,3876.049,721.603,0.000,2387.875,0.000,3838.071,0.000,54.425,0.000
$DEVICE_MAMPS,227.032,60.593,1487.980,675.727,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1253.709,1279.404,2151.343,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107251,1844
$CAP_FILE_SIZE,188871,0
$CFSIZE,260165632,211607552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096, 55.8,1
$GPS,080709,005901,2504.689,12405.101,38,1.2,38,-3.7