version: 66.04
glider: 166
mission: 2
dive: 324
start: 7 13 109 5 59 43
data:
$ID,166
$MISSION,2
$DIVE,324
$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,-11733.618
$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,1675
$C_ROLL_CLIMB,1350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,73
$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
$GPS1,054754,2453.258,12413.698,28,1.5,46,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-68.7
$GPS2,055922,2453.318,12414.064,13,99.0,32,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2444.800,12409.700
$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,225.3,17399,-13.7,-7.990
$D_GRID,1913
$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,-170.3,0.0,0.0,0,75,0.00,0.00,-58.22,0.000,2,0.000,0.000,169,1700,2481
$GC,78,-1.01,-170.3,3.2,-4.4,9,124,9.43,2.25,-30.05,0.000,4,0.235,0.053,2442,257,3641
$GC,195,-1.01,-170.3,26.4,-21.6,28,203,0.00,2.03,0.00,0.000,6,0.000,0.028,2432,1660,3642
$GC,539,-1.01,-170.3,91.8,-16.6,89,546,0.00,2.12,0.00,0.000,4,0.000,0.041,2434,3067,3642
$GC,655,-1.01,-170.3,109.6,-14.6,109,662,0.00,2.05,0.00,0.000,6,0.000,0.030,2434,1675,3642
$GC,1000,-1.01,-170.3,157.6,-13.7,170,1006,0.00,2.10,0.00,0.000,4,0.000,0.043,2434,266,3643
$GC,1043,-1.01,-170.3,164.1,-15.8,177,1049,0.00,2.03,0.00,0.000,6,0.000,0.026,2426,1686,3643
$GC,1388,-1.01,-170.3,214.8,-13.9,238,1394,0.00,2.05,0.00,0.000,4,0.000,0.041,2420,3074,3643
$GC,1469,-1.01,-170.3,225.8,-13.7,252,1477,0.12,2.03,0.00,0.000,6,0.150,0.031,2454,1668,3643
$GC,1816,-1.01,-170.3,266.3,-11.1,313,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1668,3643
$GC,2162,-1.01,-170.3,306.8,-11.8,370,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1668,3643
$GC,2481,-1.01,-170.3,341.7,-10.5,400,2484,0.00,2.10,0.00,0.000,4,0.000,0.043,2433,3062,3643
$GC,2516,-1.01,-170.3,345.2,-10.8,403,2520,0.00,2.03,0.00,0.000,6,0.000,0.031,2441,1668,3642
$GC,2846,-1.01,-170.3,381.9,-11.4,434,2850,0.00,2.10,0.00,0.000,4,0.000,0.047,2434,276,3640
$GC,2891,-1.01,-170.3,387.5,-12.3,438,2895,0.00,2.03,0.00,0.000,6,0.000,0.029,2429,1676,3640
$GC,3224,-1.01,-170.3,426.1,-12.0,469,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1676,3638
$GC,3550,-1.01,-170.3,464.3,-11.4,500,3551,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1676,3636
$GC,3867,-1.01,-170.3,497.2,-9.2,530,3871,0.00,2.15,0.00,0.000,4,0.000,0.048,2435,266,3634
$GC,3896,-1.01,-170.3,500.1,-10.3,532,3903,0.00,2.05,0.00,0.000,6,0.000,0.031,2448,1673,3633
$GC,4212,-1.01,-170.3,530.5,-9.8,548,4215,0.00,2.10,0.00,0.000,4,0.000,0.046,2447,3069,3631
$GC,4235,-1.01,-170.3,533.0,-10.3,549,4239,0.00,2.05,0.00,0.000,6,0.000,0.033,2447,1667,3630
$GC,4568,-1.01,-170.3,565.9,-9.4,565,4572,0.00,2.12,0.00,0.000,4,0.000,0.050,2448,270,3628
$GC,4663,-1.01,-170.3,575.9,-10.1,569,4667,0.00,2.08,0.00,0.000,6,0.000,0.033,2447,1683,3627
$GC,4991,-1.01,-170.3,606.2,-9.9,585,4995,0.00,2.17,0.00,0.000,4,0.000,0.049,2447,265,3625
$GC,5018,-1.01,-170.3,609.6,-11.7,586,5022,0.00,2.08,0.00,0.000,6,0.000,0.033,2447,1675,3624
$GC,5346,-1.01,-170.3,643.5,-10.2,602,5350,0.00,2.15,0.00,0.000,4,0.000,0.051,2447,274,3622
$GC,5401,-1.01,-170.3,649.9,-11.1,604,5409,0.00,2.10,0.00,0.000,6,0.000,0.038,2447,1683,3622
$GC,5725,-1.01,-170.3,683.0,-10.6,620,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1683,3620
$GC,6035,-1.01,-170.3,716.0,-10.1,635,6039,0.00,2.20,0.00,0.000,4,0.000,0.054,2447,271,3617
$GC,6103,-1.01,-170.3,723.3,-10.8,638,6107,0.00,2.10,0.00,0.000,6,0.000,0.037,2447,1676,3617
$GC,6436,-1.01,-170.3,754.9,-9.3,654,6439,0.00,2.15,0.00,0.000,4,0.000,0.053,2446,3068,3615
$GC,6463,-1.01,-170.3,757.6,-9.5,655,6467,0.00,2.10,0.00,0.000,6,0.000,0.044,2447,1671,3615
$GC,6790,-1.01,-170.3,788.8,-9.6,671,6794,0.00,2.17,0.00,0.000,4,0.000,0.054,2447,263,3613
$GC,6851,-1.01,-170.3,795.4,-10.0,673,6857,0.00,2.12,0.00,0.000,6,0.000,0.037,2444,1678,3611
$GC,7169,-1.01,-170.3,826.9,-9.9,689,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1678,3609
$GC,7476,-1.01,-170.3,857.3,-9.8,704,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1678,3607
$GC,7788,-1.01,-170.3,885.8,-9.0,719,7791,0.00,2.20,0.00,0.000,4,0.000,0.056,2434,274,3605
$GC,7859,-1.01,-170.3,893.2,-9.9,722,7863,0.00,2.12,0.00,0.000,6,0.000,0.039,2428,1679,3605
$GC,8186,-1.01,-170.3,921.1,-8.3,738,8190,0.00,2.20,0.00,0.000,4,0.000,0.054,2430,272,3602
$GC,8219,-1.01,-170.3,924.0,-9.6,739,8223,0.12,2.12,0.00,0.000,6,0.158,0.038,2449,1684,3602
$GC,8542,-1.01,-170.3,946.1,-6.7,755,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1684,3601
$GC,8850,-1.01,-170.3,967.8,-7.5,770,8853,0.00,2.22,0.00,0.000,4,0.000,0.057,2447,273,3599
$GC,8900,-1.01,-170.3,972.3,-8.6,772,8904,0.00,2.12,0.00,0.000,6,0.000,0.040,2438,1676,3599
$STATE,9101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9101,begin apogee
$GC,9108,-0.29,0.0,991.4,9.6,782,9263,0.75,0.00,147.15,1.493,6,0.113,0.000,2684,1355,2945
$STATE,9264,end apogee,CONTROL_FINISHED_OK
$STATE,9264,begin climb
$GC,9267,1.01,170.3,1000.2,0.0,790,9434,1.15,2.42,155.32,1.460,4,0.045,0.051,3115,2750,2249
$GC,9467,1.01,170.3,990.1,13.2,799,9471,0.00,2.28,0.00,0.000,6,0.000,0.045,3126,1345,2247
$GC,9795,1.01,170.3,946.9,13.5,815,9798,0.00,2.22,0.00,0.000,4,0.000,0.058,3125,2759,2244
$GC,9863,1.01,170.3,937.2,14.4,818,9867,0.00,2.20,0.00,0.000,6,0.000,0.052,3133,1342,2243
$GC,10189,1.01,170.3,891.4,13.5,834,10192,0.00,2.20,0.00,0.000,4,0.000,0.052,3132,2755,2242
$GC,10272,1.01,170.3,880.1,13.6,837,10279,0.15,2.17,0.00,0.000,6,0.199,0.046,3107,1338,2241
$GC,10589,1.01,170.3,843.5,11.3,853,10593,0.00,2.20,0.00,0.000,4,0.000,0.051,3105,2753,2241
$GC,10628,1.01,170.3,838.6,11.2,854,10634,0.00,2.17,0.00,0.000,6,0.000,0.045,3114,1352,2240
$GC,10943,1.01,170.3,801.9,11.9,870,10947,0.00,2.17,0.00,0.000,4,0.000,0.051,3114,2756,2240
$GC,10989,1.01,170.3,796.3,13.2,872,10993,0.00,2.17,0.00,0.000,6,0.000,0.045,3124,1337,2239
$GC,11321,1.01,170.3,753.5,13.0,888,11325,0.00,2.20,0.00,0.000,4,0.000,0.051,3124,2756,2239
$GC,11345,1.01,170.3,750.6,13.2,889,11349,0.00,2.15,0.00,0.000,6,0.000,0.045,3132,1350,2238
$GC,11679,1.01,170.3,710.4,11.4,905,11682,0.00,2.20,0.00,0.000,4,0.000,0.051,3131,2765,2238
$GC,11773,1.01,170.3,699.1,11.8,909,11778,0.08,2.20,0.00,0.000,6,0.191,0.046,3109,1355,2237
$GC,12101,1.01,170.3,667.2,9.3,925,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1355,2237
$GC,12410,1.01,170.3,639.7,9.4,940,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1354,2236
$GC,12719,1.01,170.3,611.0,9.5,955,12723,0.00,2.17,0.00,0.000,4,0.000,0.049,3108,2757,2235
$GC,12813,1.01,170.3,601.5,9.1,959,12818,0.00,2.17,0.00,0.000,6,0.000,0.045,3117,1340,2236
$GC,13141,1.01,170.3,569.8,9.4,975,13145,0.00,1.80,0.00,0.000,4,0.000,0.058,3126,207,2236
$GC,13188,1.01,170.3,565.3,10.0,977,13192,0.00,1.73,0.00,0.000,6,0.000,0.042,3126,1359,2236
$GC,13522,1.01,170.3,534.0,9.1,993,13525,0.00,1.83,0.00,0.000,4,0.000,0.057,3133,195,2236
$GC,13554,1.01,170.3,530.7,9.3,994,13558,0.00,1.75,0.00,0.000,6,0.000,0.041,3133,1346,2236
$GC,13876,1.01,170.3,500.4,10.0,1010,13879,0.00,1.80,0.00,0.000,4,0.000,0.056,3142,195,2236
$GC,13914,1.01,170.3,496.2,10.7,1012,13923,0.10,1.75,0.00,0.000,6,0.187,0.041,3113,1347,2236
$GC,14239,1.01,170.3,467.6,8.5,1043,14243,0.00,2.17,0.00,0.000,4,0.000,0.048,3110,2755,2236
$GC,14378,1.01,170.3,455.1,8.0,1055,14386,0.00,2.15,0.00,0.000,6,0.000,0.041,3118,1339,2236
$GC,14705,1.01,170.3,427.1,8.8,1086,14709,0.00,2.20,0.00,0.000,4,0.000,0.052,3119,2753,2236
$GC,14795,1.01,170.3,418.9,8.1,1094,14799,0.00,2.15,0.00,0.000,6,0.000,0.044,3127,1348,2236
$GC,15130,1.01,170.3,389.3,8.8,1125,15134,0.00,1.80,0.00,0.000,4,0.000,0.059,3136,198,2236
$GC,15177,1.01,170.3,384.7,8.6,1129,15180,0.00,1.75,0.00,0.000,6,0.000,0.041,3136,1366,2236
$GC,15507,1.03,184.4,360.5,7.5,1160,15524,0.00,2.15,11.48,0.983,4,0.000,0.044,3136,2744,2193
$GC,15704,1.03,184.4,342.6,9.1,1177,15710,0.15,2.12,0.00,0.000,6,0.185,0.040,3111,1348,2192
$GC,16028,1.03,184.4,315.2,8.9,1208,16032,0.00,2.15,0.00,0.000,4,0.000,0.044,3110,2759,2192
$GC,16100,1.03,184.4,308.6,8.7,1214,16107,0.00,2.17,0.00,0.000,6,0.000,0.038,3121,1342,2192
$GC,16439,1.06,211.0,282.7,7.2,1265,16470,0.00,2.17,25.10,0.961,4,0.000,0.040,3122,2758,2083
$GC,16624,1.06,211.0,267.5,8.4,1297,16630,0.00,2.15,0.00,0.000,6,0.000,0.038,3132,1337,2080
$GC,16968,1.06,211.0,240.1,8.1,1358,16974,0.00,2.15,0.00,0.000,4,0.000,0.041,3133,2756,2080
$GC,17036,1.06,211.0,233.6,8.9,1370,17042,0.00,2.12,0.00,0.000,6,0.000,0.037,3142,1338,2079
$GC,17382,1.12,255.0,207.7,6.6,1431,17425,0.00,2.17,37.20,0.897,4,0.000,0.038,3143,2757,1905
$GC,17530,1.12,255.0,195.0,9.7,1456,17538,0.00,2.12,0.00,0.000,6,0.000,0.036,3153,1350,1901
$GC,17877,1.12,255.0,160.8,10.4,1517,17884,0.00,2.12,0.00,0.000,4,0.000,0.038,3153,2746,1901
$GC,17970,1.12,255.0,151.1,10.0,1533,17977,0.00,2.10,0.00,0.000,6,0.000,0.037,3163,1338,1901
$GC,18317,1.12,255.0,119.0,9.2,1594,18323,0.00,2.12,0.00,0.000,4,0.000,0.037,3163,2766,1900
$GC,18374,1.12,255.0,113.1,9.8,1604,18383,0.10,2.15,0.00,0.000,6,0.166,0.035,3144,1345,1900
$GC,18721,1.17,296.8,90.5,6.7,1665,18764,0.00,1.80,35.83,0.783,4,0.000,0.048,3150,203,1733
$GC,18907,1.21,329.4,78.0,7.0,1697,18940,0.00,1.70,27.90,0.753,6,0.000,0.031,3149,1363,1601
$GC,19278,1.24,352.1,54.1,7.3,1762,19304,0.00,1.77,20.30,0.712,4,0.000,0.045,3158,207,1508
$GC,19510,1.27,374.0,39.3,7.3,1802,19535,0.00,1.67,19.40,0.689,6,0.000,0.029,3158,1357,1420
$GC,19875,1.33,425.0,12.7,6.4,1866,19927,0.15,2.10,43.62,0.681,4,0.063,0.034,3230,2733,1212
$STATE,19961,end climb,SURFACE_DEPTH_REACHED
$STATE,19961,begin surface coast
$FINISH,0.8,1.021271
$STATE,19986,end surface coast,CONTROL_FINISHED_OK
$STATE,19986,begin surface
$SM_CCo,20005,20.48,0.643,0,0,1110,450.13
$SM_GC,1.36,0.00,0.00,20.48,0.000,0.000,0.643,168,1659,1110,-8.16,-0.45,450.13
$IRIDIUM_FIX,2444.18,12416.32,071098,060611
$TT8_MAMPS,0.026845
$HUMID,1517
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,25.80
$XPDR_PINGS,166
$24V_AH,22.7,71.201
$10V_AH,10.7,45.549
$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,20.475,171.175,523.300,20.475,0.000,46.054,78.011,313.511,49.500,0.000,0.000,33.610,3279.762,12095.210,663.568,3775.760,881.595,0.000,2319.064,0.000,3723.568,0.000,54.420,0.000
$DEVICE_MAMPS,234.702,59.059,1492.582,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1280.063,1298.808,2183.697,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110543,1884
$CAP_FILE_SIZE,186804,0
$CFSIZE,260165632,209301504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.197, 61.0,1
$GPS,130709,113437,2452.833,12415.050,29,1.0,29,-3.7