version: 66.04
glider: 166
mission: 2
dive: 328
start: 7 14 109 4 42 19
data:
$ID,166
$MISSION,2
$DIVE,328
$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,-11788.912
$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,44
$R_STBD_OVSHOOT,83
$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
$GPS1,043407,2451.775,12417.322,34,1.0,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.8
$GPS2,044156,2451.708,12417.489,13,1.3,13,-3.7
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2444.800,12423.900
$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,166.8,16732,-13.7,-7.990
$D_GRID,1763
$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,-1.01,-170.3,0.0,0.0,0,74,0.00,0.00,-56.65,0.000,2,0.000,0.000,169,1713,2447
$GC,77,-1.01,-170.3,3.4,-4.2,9,124,9.20,0.00,-31.52,0.000,6,0.227,0.000,2445,1713,3641
$GC,464,-1.01,-170.3,78.1,-18.6,76,470,0.00,2.15,0.00,0.000,4,0.000,0.041,2445,267,3641
$GC,546,-1.01,-170.3,93.8,-19.4,90,552,0.00,2.03,0.00,0.000,6,0.000,0.027,2445,1681,3642
$GC,890,-1.01,-170.3,144.5,-12.8,151,897,0.00,2.08,0.00,0.000,4,0.000,0.038,2445,3073,3643
$GC,1005,-1.01,-170.3,159.3,-12.8,171,1013,0.00,2.05,0.00,0.000,6,0.000,0.029,2445,1669,3643
$GC,1352,-1.01,-170.3,203.8,-12.7,232,1358,0.00,2.08,0.00,0.000,4,0.000,0.042,2445,270,3644
$GC,1405,-1.01,-170.3,211.2,-14.4,241,1411,0.00,2.03,0.00,0.000,6,0.000,0.026,2445,1689,3644
$GC,1749,-1.01,-170.3,255.1,-12.6,302,1755,0.00,2.12,0.00,0.000,4,0.000,0.042,2445,266,3644
$GC,1791,-1.01,-170.3,260.4,-13.5,309,1797,0.00,2.03,0.00,0.000,6,0.000,0.028,2445,1677,3644
$GC,2137,-1.01,-170.3,300.2,-10.6,370,2141,0.00,2.05,0.00,0.000,4,0.000,0.041,2445,3067,3644
$GC,2216,-1.01,-170.3,308.9,-10.7,377,2220,0.00,2.03,0.00,0.000,6,0.000,0.031,2445,1667,3644
$GC,2547,-1.01,-170.3,342.1,-10.2,408,2551,0.00,2.10,0.00,0.000,4,0.000,0.046,2445,264,3643
$GC,2609,-1.01,-170.3,349.5,-12.0,413,2619,0.00,2.05,0.00,0.000,6,0.000,0.028,2436,1688,3642
$GC,2933,-1.01,-170.3,385.4,-10.8,444,2937,0.00,2.15,0.00,0.000,4,0.000,0.045,2433,266,3641
$GC,2961,-1.01,-170.3,388.6,-11.2,446,2969,0.00,2.08,0.00,0.000,6,0.000,0.028,2426,1680,3640
$GC,3286,-1.01,-170.3,420.4,-9.3,477,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1680,3639
$GC,3607,-1.01,-170.3,451.1,-9.8,507,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1680,3637
$GC,3932,-1.01,-170.3,481.6,-9.4,538,3935,0.00,2.15,0.00,0.000,4,0.000,0.048,2425,273,3635
$GC,4011,-1.01,-170.3,490.3,-11.9,545,4015,0.00,2.05,0.00,0.000,6,0.000,0.031,2430,1679,3634
$GC,4337,-1.01,-170.3,523.6,-9.7,565,4341,0.00,2.15,0.00,0.000,4,0.000,0.048,2430,270,3632
$GC,4370,-1.01,-170.3,527.4,-11.5,566,4374,0.00,2.05,0.00,0.000,6,0.000,0.031,2441,1676,3631
$GC,4692,-1.01,-170.3,559.1,-10.3,582,4695,0.00,2.15,0.00,0.000,4,0.000,0.049,2442,268,3629
$GC,4741,-1.01,-170.3,564.9,-11.8,584,4745,0.00,2.08,0.00,0.000,6,0.000,0.031,2437,1683,3628
$GC,5070,-1.01,-170.3,601.2,-10.6,600,5073,0.00,2.15,0.00,0.000,4,0.000,0.049,2437,279,3626
$GC,5119,-1.01,-170.3,606.9,-10.7,602,5123,0.00,2.08,0.00,0.000,6,0.000,0.032,2428,1691,3626
$GC,5446,-1.01,-170.3,636.5,-8.3,618,5450,0.00,2.10,0.00,0.000,4,0.000,0.052,2418,3075,3623
$GC,5524,-1.01,-170.3,643.9,-9.6,621,5528,0.12,2.08,0.00,0.000,6,0.146,0.035,2452,1669,3622
$GC,5845,-1.01,-170.3,671.1,-8.8,637,5849,0.00,2.17,0.00,0.000,4,0.000,0.057,2452,263,3620
$GC,5901,-1.01,-170.3,676.0,-10.0,639,5905,0.00,2.10,0.00,0.000,6,0.000,0.035,2448,1675,3619
$GC,6222,-1.01,-170.3,706.9,-8.6,655,6226,0.00,2.20,0.00,0.000,4,0.000,0.058,2448,264,3618
$GC,6284,-1.01,-170.3,713.3,-10.7,657,6290,0.00,2.10,0.00,0.000,6,0.000,0.035,2448,1679,3618
$GC,6600,-1.01,-170.3,744.4,-9.9,673,6603,0.00,2.12,0.00,0.000,4,0.000,0.051,2447,3072,3616
$GC,6671,-1.01,-170.3,751.9,-10.4,676,6675,0.00,2.10,0.00,0.000,6,0.000,0.040,2447,1678,3615
$GC,6999,-1.01,-170.3,783.9,-9.4,692,7003,0.00,2.20,0.00,0.000,4,0.000,0.056,2447,269,3612
$GC,7071,-1.01,-170.3,791.7,-10.9,695,7075,0.00,2.12,0.00,0.000,6,0.000,0.044,2447,1677,3612
$GC,7399,-1.01,-170.3,821.8,-9.1,711,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1677,3609
$GC,7708,-1.01,-170.3,850.7,-9.7,726,7711,0.00,2.20,0.00,0.000,4,0.000,0.056,2446,273,3608
$GC,7836,-1.01,-170.3,865.1,-11.5,731,7843,0.00,2.12,0.00,0.000,6,0.000,0.044,2447,1673,3606
$GC,8154,-1.01,-170.3,897.3,-10.3,747,8158,0.00,2.20,0.00,0.000,4,0.000,0.056,2446,269,3604
$GC,8214,-1.01,-170.3,904.8,-11.5,749,8221,0.00,2.12,0.00,0.000,6,0.000,0.039,2443,1677,3604
$GC,8532,-1.01,-170.3,936.1,-10.0,765,8536,0.00,2.20,0.00,0.000,4,0.000,0.057,2441,274,3602
$GC,8578,-1.01,-170.3,941.1,-11.0,767,8582,0.00,2.12,0.00,0.000,6,0.000,0.039,2423,1684,3602
$GC,8912,-1.01,-170.3,973.8,-9.3,783,8917,0.12,2.25,0.00,0.000,4,0.157,0.057,2457,262,3600
$GC,8978,-1.01,-170.3,980.2,-9.8,786,8982,0.00,2.17,0.00,0.000,6,0.000,0.041,2445,1671,3600
$STATE,9096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9096,begin apogee
$GC,9103,-0.29,0.0,990.1,8.4,792,9259,0.73,0.00,147.48,1.495,6,0.109,0.000,2685,1350,2945
$STATE,9260,end apogee,CONTROL_FINISHED_OK
$STATE,9260,begin climb
$GC,9262,1.01,170.3,997.1,0.0,800,9427,1.15,2.38,154.73,1.462,4,0.049,0.051,3105,2754,2249
$GC,9511,1.01,170.3,978.7,13.2,811,9515,0.00,2.25,0.00,0.000,6,0.000,0.048,3115,1330,2246
$GC,9833,1.01,170.3,936.9,13.2,827,9837,0.00,2.22,0.00,0.000,4,0.000,0.051,3115,2758,2243
$GC,9911,1.01,170.3,926.1,13.8,830,9916,0.00,2.20,0.00,0.000,6,0.000,0.048,3126,1338,2242
$GC,10232,1.01,170.3,882.7,12.9,846,10235,0.00,2.22,0.00,0.000,4,0.000,0.053,3126,2766,2241
$GC,10309,1.01,170.3,872.5,13.1,849,10313,0.00,2.17,0.00,0.000,6,0.000,0.045,3134,1350,2240
$GC,10632,1.01,170.3,831.1,13.6,865,10634,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1351,2240
$GC,10940,1.01,170.3,788.4,13.9,880,10943,0.00,2.17,0.00,0.000,4,0.000,0.051,3134,2757,2238
$GC,11008,1.01,170.3,778.9,13.9,883,11012,0.15,2.17,0.00,0.000,6,0.197,0.045,3109,1337,2238
$GC,11335,1.01,170.3,737.4,12.7,899,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,1337,2237
$GC,11643,1.01,170.3,702.5,10.4,914,11646,0.00,2.22,0.00,0.000,4,0.000,0.051,3106,2770,2237
$GC,11778,1.01,170.3,688.9,10.3,920,11782,0.00,2.17,0.00,0.000,6,0.000,0.044,3115,1349,2236
$GC,12111,1.01,170.3,656.6,10.0,936,12114,0.00,1.80,0.00,0.000,4,0.000,0.059,3124,195,2236
$GC,12369,1.01,170.3,629.4,10.1,947,12373,0.00,1.80,0.00,0.000,6,0.000,0.043,3124,1365,2235
$GC,12690,1.01,170.3,596.2,11.0,963,12694,0.00,2.15,0.00,0.000,4,0.000,0.051,3124,2765,2235
$GC,12841,1.01,170.3,579.4,10.7,969,12847,0.00,2.17,0.00,0.000,6,0.000,0.044,3132,1344,2235
$GC,13158,1.01,170.3,546.2,10.8,985,13162,0.00,1.80,0.00,0.000,4,0.000,0.057,3141,204,2235
$GC,13371,1.01,170.3,522.8,9.9,994,13375,0.10,1.75,0.00,0.000,6,0.187,0.041,3113,1355,2234
$GC,13696,1.01,170.3,494.4,8.7,1013,13699,0.00,2.15,0.00,0.000,4,0.000,0.048,3111,2754,2235
$GC,13751,1.01,170.3,489.4,9.0,1018,13755,0.00,2.15,0.00,0.000,6,0.000,0.043,3119,1342,2234
$GC,14082,1.01,170.3,461.3,8.8,1049,14086,0.00,2.17,0.00,0.000,4,0.000,0.048,3119,2757,2234
$GC,14295,1.01,170.3,441.8,9.4,1068,14299,0.00,2.15,0.00,0.000,6,0.000,0.043,3130,1345,2234
$GC,14628,1.01,170.3,413.6,8.1,1099,14632,0.00,2.20,0.00,0.000,4,0.000,0.049,3131,2757,2235
$GC,14655,1.01,170.3,410.9,8.6,1101,14662,0.15,2.15,0.00,0.000,6,0.188,0.041,3105,1343,2235
$GC,14980,1.04,191.1,384.8,7.3,1132,15004,0.00,2.20,16.95,1.048,4,0.000,0.045,3097,2759,2165
$GC,15141,1.04,191.1,371.3,8.4,1146,15145,0.00,2.17,0.00,0.000,6,0.000,0.042,3107,1346,2164
$GC,15475,1.04,191.1,342.4,8.5,1177,15479,0.00,2.15,0.00,0.000,4,0.000,0.044,3105,2753,2164
$GC,15576,1.04,191.1,333.5,8.8,1186,15579,0.00,2.12,0.00,0.000,6,0.000,0.039,3115,1349,2164
$GC,15909,1.08,227.0,306.1,6.9,1217,15955,0.00,1.85,34.15,0.953,4,0.000,0.052,3125,204,2018
$GC,16067,1.08,227.0,291.3,10.4,1238,16073,0.00,1.75,0.00,0.000,6,0.000,0.035,3127,1358,2016
$GC,16413,1.08,227.0,257.6,9.0,1299,16418,0.00,2.10,0.00,0.000,4,0.000,0.042,3124,2748,2015
$GC,16585,1.08,227.0,243.6,8.0,1329,16591,0.00,2.12,0.00,0.000,6,0.000,0.038,3133,1341,2015
$GC,16929,1.09,228.5,216.3,7.9,1390,16935,0.00,2.12,0.00,0.000,4,0.000,0.040,3133,2756,2015
$GC,17065,1.10,236.8,204.8,7.7,1414,17084,0.00,2.10,9.70,0.816,6,0.000,0.038,3142,1348,1979
$GC,17422,1.10,236.8,174.8,9.0,1477,17428,0.00,1.77,0.00,0.000,4,0.000,0.050,3151,201,1979
$GC,17542,1.10,236.8,163.8,8.3,1498,17548,0.00,1.70,0.00,0.000,6,0.000,0.033,3151,1359,1979
$GC,17890,1.17,298.9,137.0,6.0,1559,17947,0.00,2.17,52.67,0.837,4,0.000,0.037,3151,2749,1726
$GC,18002,1.17,298.9,128.2,8.9,1577,18008,0.00,2.12,0.00,0.000,6,0.000,0.035,3160,1343,1723
$GC,18347,1.23,342.1,99.6,6.6,1638,18392,0.00,2.17,36.65,0.783,4,0.000,0.037,3160,2740,1550
$GC,18463,1.30,403.3,92.2,6.1,1657,18521,0.00,2.10,52.80,0.772,6,0.000,0.035,3170,1340,1299
$GC,18862,1.30,403.3,58.0,9.5,1726,18868,0.00,2.08,0.00,0.000,4,0.000,0.035,3170,2749,1296
$GC,18928,1.30,403.3,51.5,9.5,1737,18935,0.00,2.08,0.00,0.000,6,0.000,0.034,3179,1344,1296
$GC,19271,1.30,403.3,21.1,8.4,1798,19278,0.00,2.10,0.00,0.000,4,0.000,0.033,3179,2750,1296
$GC,19403,1.30,403.3,10.3,8.5,1821,19410,0.00,2.10,0.00,0.000,6,0.000,0.032,3189,1342,1296
$STATE,19493,end climb,SURFACE_DEPTH_REACHED
$STATE,19493,begin surface coast
$FINISH,0.9,1.021195
$STATE,19535,end surface coast,CONTROL_FINISHED_OK
$STATE,19535,begin surface
$SM_CCo,19554,38.75,0.672,0,0,1110,450.13
$SM_GC,1.62,0.00,0.00,38.75,0.000,0.000,0.672,170,1710,1110,-8.16,0.99,450.13
$IRIDIUM_FIX,2441.81,12414.98,071098,232332
$TT8_MAMPS,0.027612
$HUMID,1528
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,26.00
$XPDR_PINGS,154
$24V_AH,22.8,72.056
$10V_AH,10.7,46.278
$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,19.600,173.275,505.125,38.750,0.000,24.231,32.540,246.291,46.500,0.000,0.000,13.558,3246.000,11546.345,669.048,3838.139,745.947,0.000,2362.758,0.000,3800.393,0.000,54.426,0.000
$DEVICE_MAMPS,227.032,59.059,1494.883,671.892,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1252.727,1274.379,2141.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107271,1844
$CAP_FILE_SIZE,185831,0
$CFSIZE,260165632,208896000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.110, 80.4,1
$GPS,140709,101007,2450.328,12419.455,36,1.2,36,-3.7