version: 66.04
glider: 166
mission: 2
dive: 304
start: 7 8 109 12 26 20
data:
$ID,166
$MISSION,2
$DIVE,304
$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,-11337.584
$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,44
$R_STBD_OVSHOOT,64
$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
$GPS1,121436,2503.676,12405.670,35,0.9,41,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.5
$GPS2,122556,2503.694,12405.726,14,0.9,14,-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,230.5,107913,-13.7,-7.990
$D_GRID,1914
$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,15,-1.01,-170.3,0.0,0.0,0,67,0.00,0.00,-49.78,0.000,2,0.000,0.000,168,1807,2253
$GC,70,-1.01,-170.3,3.0,-3.8,8,128,9.23,2.20,-39.42,0.000,4,0.227,0.054,2444,396,3641
$GC,265,-1.01,-170.3,40.9,-20.5,41,272,0.00,2.03,0.00,0.000,6,0.000,0.028,2444,1798,3642
$GC,611,-1.01,-170.3,95.1,-13.1,102,618,0.00,2.12,0.00,0.000,4,0.000,0.041,2442,394,3643
$GC,719,-1.01,-170.3,111.2,-15.3,121,726,0.00,2.03,0.00,0.000,6,0.000,0.028,2437,1808,3643
$GC,1066,-1.01,-170.3,162.5,-14.7,182,1072,0.00,2.10,0.00,0.000,4,0.000,0.039,2436,391,3643
$GC,1152,-1.01,-170.3,176.3,-15.4,197,1159,0.00,2.03,0.00,0.000,6,0.000,0.027,2429,1810,3643
$GC,1498,-1.01,-170.3,220.8,-12.0,258,1504,0.00,2.05,0.00,0.000,4,0.000,0.040,2429,3201,3643
$GC,1516,-1.01,-170.3,223.0,-11.4,261,1524,0.12,2.05,0.00,0.000,6,0.143,0.028,2455,1771,3643
$GC,1862,-1.01,-170.3,260.0,-10.6,322,1869,0.00,2.15,0.00,0.000,4,0.000,0.040,2452,3192,3643
$GC,1977,-1.01,-170.3,271.9,-10.2,342,1983,0.00,2.03,0.00,0.000,6,0.000,0.028,2452,1779,3643
$GC,2325,-1.01,-170.3,303.4,-9.7,401,2329,0.00,2.05,0.00,0.000,4,0.000,0.042,2453,397,3643
$GC,2438,-1.01,-170.3,316.3,-12.5,411,2442,0.00,2.03,0.00,0.000,6,0.000,0.029,2458,1803,3643
$GC,2768,-1.01,-170.3,356.6,-11.9,442,2772,0.00,2.10,0.00,0.000,4,0.000,0.043,2462,400,3640
$GC,2870,-1.01,-170.3,369.2,-11.7,451,2874,0.00,2.03,0.00,0.000,6,0.000,0.031,2463,1801,3640
$GC,3204,-1.01,-170.3,401.0,-9.0,482,3207,0.00,2.10,0.00,0.000,4,0.000,0.044,2463,403,3638
$GC,3283,-1.01,-170.3,409.0,-10.8,489,3287,0.00,2.03,0.00,0.000,6,0.000,0.031,2461,1799,3638
$GC,3613,-1.01,-170.3,442.9,-11.2,520,3616,0.00,2.10,0.00,0.000,4,0.000,0.045,2461,404,3634
$GC,3629,-1.01,-170.3,444.8,-11.8,521,3637,0.00,2.05,0.00,0.000,6,0.000,0.031,2460,1811,3634
$GC,3953,-1.01,-170.3,479.4,-9.9,552,3957,0.00,2.12,0.00,0.000,4,0.000,0.047,2460,411,3632
$GC,4050,-1.01,-170.3,489.5,-10.7,560,4057,0.00,2.03,0.00,0.000,6,0.000,0.033,2457,1800,3631
$GC,4369,-1.01,-170.3,518.0,-8.7,581,4373,0.00,2.12,0.00,0.000,4,0.000,0.048,2460,406,3630
$GC,4414,-1.01,-170.3,522.3,-9.5,583,4418,0.00,2.05,0.00,0.000,6,0.000,0.034,2457,1800,3628
$GC,4748,-1.01,-170.3,552.0,-9.5,599,4751,0.00,2.12,0.00,0.000,4,0.000,0.049,2458,410,3626
$GC,4770,-1.01,-170.3,554.4,-10.4,600,4774,0.00,2.05,0.00,0.000,6,0.000,0.035,2452,1806,3626
$GC,5103,-1.01,-170.3,587.9,-9.8,616,5107,0.00,2.15,0.00,0.000,4,0.000,0.053,2455,416,3623
$GC,5194,-1.01,-170.3,597.6,-11.1,620,5198,0.00,2.08,0.00,0.000,6,0.000,0.035,2449,1810,3623
$GC,5526,-1.01,-170.3,628.5,-9.1,636,5530,0.00,2.17,0.00,0.000,4,0.000,0.056,2451,409,3621
$GC,5587,-1.01,-170.3,634.5,-9.8,638,5594,0.00,2.10,0.00,0.000,6,0.000,0.036,2450,1803,3621
$GC,5904,-1.01,-170.3,663.2,-9.2,654,5907,0.00,2.15,0.00,0.000,4,0.000,0.052,2452,409,3619
$GC,5972,-1.01,-170.3,670.2,-9.9,657,5976,0.00,2.10,0.00,0.000,6,0.000,0.039,2454,1807,3618
$GC,6305,-1.01,-170.3,699.4,-8.4,673,6308,0.00,2.17,0.00,0.000,4,0.000,0.059,2454,414,3615
$GC,6332,-1.01,-170.3,702.0,-9.4,674,6336,0.00,2.10,0.00,0.000,6,0.000,0.040,2454,1809,3615
$GC,6659,-1.01,-170.3,727.4,-7.8,690,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1810,3613
$GC,6971,-1.01,-170.3,754.9,-9.6,705,6974,0.00,2.15,0.00,0.000,4,0.000,0.054,2440,3208,3611
$GC,7010,-1.01,-170.3,758.9,-9.4,706,7017,0.00,2.10,0.00,0.000,6,0.000,0.046,2446,1811,3612
$GC,7326,-1.01,-170.3,789.4,-9.3,722,7329,0.00,2.22,0.00,0.000,4,0.000,0.061,2447,391,3610
$GC,7371,-1.01,-170.3,793.7,-9.5,724,7375,0.00,2.12,0.00,0.000,6,0.000,0.039,2439,1808,3609
$GC,7704,-1.01,-170.3,819.6,-7.1,740,7707,0.00,2.22,0.00,0.000,4,0.000,0.056,2440,399,3607
$GC,7772,-1.01,-170.3,824.8,-8.1,743,7777,0.00,2.12,0.00,0.000,6,0.000,0.041,2437,1810,3606
$GC,8108,-1.01,-170.3,850.2,-7.8,759,8111,0.00,2.22,0.00,0.000,4,0.000,0.057,2437,391,3605
$GC,8253,-1.01,-170.3,862.9,-8.0,765,8257,0.00,2.15,0.00,0.000,6,0.000,0.042,2435,1807,3604
$GC,8575,-1.01,-170.3,887.4,-7.7,781,8578,0.00,2.22,0.00,0.000,4,0.000,0.058,2435,393,3603
$GC,8661,-1.01,-170.3,894.9,-9.0,784,8667,0.00,2.15,0.00,0.000,6,0.000,0.043,2434,1809,3602
$GC,8976,-1.01,-170.3,921.7,-8.5,800,8979,0.00,2.22,0.00,0.000,4,0.000,0.058,2434,397,3600
$GC,9065,-1.01,-170.3,930.8,-10.5,804,9070,0.00,2.15,0.00,0.000,6,0.000,0.049,2434,1798,3600
$GC,9398,-1.01,-170.3,963.4,-10.0,820,9402,0.00,2.20,0.00,0.000,4,0.000,0.058,2434,401,3599
$GC,9500,-1.01,-170.3,974.5,-10.8,824,9505,0.00,2.15,0.00,0.000,6,0.000,0.044,2434,1806,3598
$STATE,9675,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9675,begin apogee
$GC,9682,-0.29,0.0,991.7,9.6,833,9838,0.77,0.00,147.23,1.496,6,0.114,0.000,2686,1348,2945
$STATE,9839,end apogee,CONTROL_FINISHED_OK
$STATE,9839,begin climb
$GC,9841,1.01,170.3,1001.1,0.0,841,10008,1.15,2.45,156.40,1.465,4,0.048,0.058,3110,2749,2249
$GC,10132,1.01,170.3,977.3,13.8,854,10136,0.00,2.22,0.00,0.000,6,0.000,0.049,3120,1347,2245
$GC,10459,1.01,170.3,930.9,14.5,870,10463,0.00,2.22,0.00,0.000,4,0.000,0.061,3120,2762,2242
$GC,10543,1.01,170.3,918.6,14.3,873,10551,0.00,2.22,0.00,0.000,6,0.000,0.056,3130,1336,2242
$GC,10859,1.01,170.3,873.0,14.6,889,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,1336,2241
$GC,11168,1.01,170.3,831.9,12.7,904,11171,0.00,2.22,0.00,0.000,4,0.000,0.054,3130,2764,2240
$GC,11218,1.01,170.3,825.4,12.5,906,11222,0.15,2.20,0.00,0.000,6,0.206,0.054,3106,1348,2239
$GC,11538,1.01,170.3,786.4,12.1,922,11542,0.00,1.83,0.00,0.000,4,0.000,0.062,3113,204,2239
$GC,11666,1.01,170.3,770.7,11.1,927,11673,0.00,1.77,0.00,0.000,6,0.000,0.044,3112,1360,2239
$GC,11983,1.01,170.3,735.0,11.5,943,11987,0.00,2.15,0.00,0.000,4,0.000,0.053,3110,2750,2238
$GC,12106,1.01,170.3,719.7,12.8,948,12110,0.00,2.20,0.00,0.000,6,0.000,0.048,3119,1343,2237
$GC,12428,1.01,170.3,679.1,12.5,964,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,1343,2238
$GC,12737,1.01,170.3,642.7,11.8,979,12740,0.00,2.20,0.00,0.000,4,0.000,0.052,3119,2759,2237
$GC,12809,1.01,170.3,634.6,10.9,982,12813,0.00,2.17,0.00,0.000,6,0.000,0.048,3127,1349,2237
$GC,13137,1.01,170.3,600.7,10.2,998,13140,0.00,2.20,0.00,0.000,4,0.000,0.053,3124,2759,2236
$GC,13384,1.01,170.3,576.0,9.6,1009,13388,0.00,2.17,0.00,0.000,6,0.000,0.048,3132,1346,2236
$GC,13717,1.01,170.3,541.9,10.7,1025,13721,0.00,2.17,0.00,0.000,4,0.000,0.051,3129,2756,2236
$GC,13957,1.01,170.3,517.0,9.8,1035,13964,0.12,2.17,0.00,0.000,6,0.204,0.046,3110,1340,2236
$GC,14277,1.01,170.3,486.8,9.6,1057,14281,0.00,2.17,0.00,0.000,4,0.000,0.051,3110,2753,2236
$GC,14382,1.01,170.3,475.9,10.8,1066,14389,0.00,2.17,0.00,0.000,6,0.000,0.045,3118,1355,2236
$GC,14711,1.01,170.3,441.5,10.3,1097,14715,0.00,1.80,0.00,0.000,4,0.000,0.058,3127,198,2236
$GC,14828,1.01,170.3,429.3,10.1,1107,14834,0.00,1.75,0.00,0.000,6,0.000,0.041,3127,1350,2236
$GC,15155,1.01,170.3,399.4,8.8,1138,15159,0.00,2.15,0.00,0.000,4,0.000,0.048,3124,2754,2236
$GC,15272,1.01,170.3,387.8,8.9,1148,15279,0.00,2.17,0.00,0.000,6,0.000,0.044,3132,1349,2237
$GC,15600,1.01,170.3,352.8,10.5,1179,15603,0.00,2.20,0.00,0.000,4,0.000,0.049,3132,2760,2237
$GC,15616,1.01,170.3,350.6,10.6,1180,15623,0.15,2.20,0.00,0.000,6,0.193,0.049,3106,1331,2237
$GC,15942,1.02,173.7,321.2,7.9,1211,15945,0.00,1.77,0.00,0.000,4,0.000,0.058,3113,210,2238
$GC,16043,1.02,173.7,312.3,9.4,1220,16046,0.00,1.70,0.00,0.000,6,0.000,0.040,3110,1358,2238
$GC,16378,1.02,173.7,282.8,8.4,1268,16385,0.00,1.85,0.00,0.000,4,0.000,0.062,3117,204,2238
$GC,16442,1.02,173.7,277.7,8.6,1279,16448,0.00,1.73,0.00,0.000,6,0.000,0.038,3118,1359,2238
$GC,16785,1.07,217.1,252.2,6.6,1340,16829,0.00,2.22,39.12,0.966,4,0.000,0.045,3110,2758,2059
$GC,16926,1.07,217.1,239.8,9.1,1364,16933,0.00,2.17,0.00,0.000,6,0.000,0.041,3119,1346,2057
$GC,17272,1.15,280.7,209.6,6.0,1425,17334,0.00,2.25,53.45,0.920,4,0.000,0.044,3121,2750,1799
$GC,17370,1.15,280.7,202.2,8.7,1441,17377,0.00,2.17,0.00,0.000,6,0.000,0.040,3131,1346,1797
$GC,17715,1.15,280.7,167.2,10.9,1502,17721,0.00,2.15,0.00,0.000,4,0.000,0.042,3136,2759,1795
$GC,17825,1.15,280.7,155.0,10.8,1521,17833,0.00,2.15,0.00,0.000,6,0.000,0.040,3148,1334,1794
$GC,18170,1.18,303.5,123.0,7.3,1582,18197,0.00,1.80,20.23,0.810,4,0.000,0.051,3158,203,1707
$GC,18394,1.18,303.5,105.6,8.6,1621,18402,0.00,1.73,0.00,0.000,6,0.000,0.034,3160,1366,1705
$GC,18741,1.21,327.7,78.1,7.2,1682,18768,0.00,2.15,21.62,0.754,4,0.000,0.038,3159,2751,1609
$GC,18860,1.24,351.2,69.0,7.2,1702,18886,0.00,2.12,20.95,0.734,6,0.000,0.036,3171,1336,1513
$GC,19225,1.28,387.0,41.6,6.9,1766,19263,0.00,2.15,31.05,0.716,4,0.000,0.035,3171,2751,1368
$GC,19316,1.32,416.2,35.5,7.1,1781,19350,0.00,2.10,26.42,0.695,6,0.000,0.035,3180,1348,1247
$GC,19688,1.32,416.2,3.9,9.2,1846,19694,0.00,1.75,0.00,0.000,4,0.000,0.047,3189,208,1245
$STATE,19699,end climb,SURFACE_DEPTH_REACHED
$STATE,19699,begin surface coast
$FINISH,0.7,0.998779
$STATE,19734,end surface coast,CONTROL_FINISHED_OK
$STATE,19734,begin surface
$SM_CCo,19754,28.42,0.663,0,0,1110,450.13
$SM_GC,1.77,0.00,0.00,28.42,0.000,0.000,0.663,168,1822,1110,-8.16,0.59,450.13
$IRIDIUM_FIX,2456.07,12405.15,021098,121208
$TT8_MAMPS,0.026845
$HUMID,1508
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,26.20
$XPDR_PINGS,162
$24V_AH,22.6,66.967
$10V_AH,10.7,41.896
$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,19.725,185.525,516.475,28.425,0.000,58.308,98.227,295.816,48.500,0.000,0.000,14.950,3279.845,11706.523,679.505,3901.233,881.226,0.000,2398.330,0.000,3858.989,0.000,54.443,0.000
$DEVICE_MAMPS,227.032,62.127,1495.650,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1259.695,1275.001,2143.157,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107213,1854
$CAP_FILE_SIZE,191236,0
$CFSIZE,260165632,211308544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094, 40.2,1
$GPS,080709,175707,2502.923,12405.653,26,1.6,26,-3.7