version: 66.04
glider: 166
mission: 2
dive: 358
start: 7 18 109 16 44 2
data:
$ID,166
$MISSION,2
$DIVE,358
$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,-12472.545
$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,47
$R_STBD_OVSHOOT,81
$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
$GPS1,163407,2409.842,12421.415,34,1.1,34,-3.5
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-62.1
$GPS2,164338,2409.885,12421.515,13,1.3,13,-3.5
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2352.500,12344.300
$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,242.0,70772,-13.7,-7.990
$D_GRID,1143
$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,-170.3,0.0,0.0,0,73,0.00,0.00,-55.62,0.000,2,0.000,0.000,168,1708,2408
$GC,76,-1.01,-170.3,3.0,-3.7,8,124,9.65,2.25,-33.17,0.000,4,0.242,0.053,2444,268,3641
$GC,165,-1.01,-170.3,18.3,-18.2,22,173,0.00,2.03,0.00,0.000,6,0.000,0.028,2443,1673,3641
$GC,512,-1.01,-170.3,74.0,-14.1,83,519,0.00,2.05,0.00,0.000,4,0.000,0.038,2442,3071,3641
$GC,560,-1.01,-170.3,80.6,-13.6,91,566,0.00,2.03,0.00,0.000,6,0.000,0.030,2444,1666,3641
$GC,905,-1.01,-170.3,133.8,-15.7,152,911,0.00,2.10,0.00,0.000,4,0.000,0.044,2431,280,3642
$GC,929,-1.01,-170.3,137.7,-15.4,156,936,0.00,2.03,0.00,0.000,6,0.000,0.028,2432,1694,3642
$GC,1274,-1.01,-170.3,185.5,-14.3,217,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,1695,3642
$GC,1617,-1.01,-170.3,231.2,-12.8,278,1624,0.00,2.15,0.00,0.000,4,0.000,0.044,2428,264,3642
$GC,1676,-1.01,-170.3,239.0,-13.3,288,1682,0.00,2.05,0.00,0.000,6,0.000,0.028,2428,1674,3642
$GC,2020,-1.01,-170.3,281.6,-12.5,349,2026,0.00,2.08,0.00,0.000,4,0.000,0.040,2428,3081,3642
$GC,2072,-1.01,-170.3,287.9,-11.8,358,2079,0.00,2.03,0.00,0.000,6,0.000,0.031,2425,1676,3642
$GC,2405,-1.01,-170.3,326.2,-12.2,398,2409,0.00,2.12,0.00,0.000,4,0.000,0.046,2425,264,3642
$GC,2455,-1.01,-170.3,332.8,-12.9,402,2463,0.08,2.05,0.00,0.000,6,0.155,0.027,2442,1676,3642
$GC,2780,-1.01,-170.3,365.4,-9.6,433,2783,0.00,2.08,0.00,0.000,4,0.000,0.041,2441,3078,3642
$GC,2814,-1.01,-170.3,368.6,-9.7,436,2817,0.00,2.05,0.00,0.000,6,0.000,0.031,2442,1666,3642
$GC,3147,-1.01,-170.3,399.9,-9.4,467,3151,0.00,2.10,0.00,0.000,4,0.000,0.047,2445,272,3641
$GC,3186,-1.01,-170.3,404.4,-11.0,470,3193,0.00,2.03,0.00,0.000,6,0.000,0.028,2443,1682,3640
$GC,3514,-1.01,-170.3,437.5,-10.1,501,3518,0.00,2.08,0.00,0.000,4,0.000,0.043,2446,3077,3639
$GC,3553,-1.01,-170.3,441.8,-9.9,504,3559,0.00,2.08,0.00,0.000,6,0.000,0.033,2443,1679,3638
$GC,3881,-1.01,-170.3,470.3,-8.8,535,3885,0.00,2.12,0.00,0.000,4,0.000,0.048,2444,270,3637
$GC,3908,-1.01,-170.3,473.3,-10.0,537,3914,0.00,2.05,0.00,0.000,6,0.000,0.029,2452,1686,3637
$GC,4244,-1.01,-170.3,509.6,-11.1,565,4248,0.00,2.15,0.00,0.000,4,0.000,0.048,2448,273,3635
$GC,4322,-1.01,-170.3,518.6,-10.7,568,4326,0.00,2.05,0.00,0.000,6,0.000,0.030,2451,1684,3633
$GC,4645,-1.01,-170.3,548.1,-9.0,584,4648,0.00,2.08,0.00,0.000,4,0.000,0.045,2453,3070,3631
$GC,4684,-1.01,-170.3,552.2,-9.4,585,4690,0.00,2.05,0.00,0.000,6,0.000,0.034,2449,1671,3631
$GC,5000,-1.01,-170.3,585.5,-10.5,601,5004,0.00,2.12,0.00,0.000,4,0.000,0.049,2448,269,3629
$GC,5072,-1.01,-170.3,593.3,-10.0,604,5076,0.00,2.08,0.00,0.000,6,0.000,0.031,2453,1689,3628
$GC,5400,-1.01,-170.3,619.4,-8.0,620,5404,0.00,2.08,0.00,0.000,4,0.000,0.047,2448,3069,3626
$GC,5433,-1.01,-170.3,622.3,-8.6,621,5437,0.00,2.05,0.00,0.000,6,0.000,0.035,2453,1675,3625
$GC,5755,-1.01,-170.3,652.8,-10.0,637,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1676,3623
$GC,6063,-1.01,-170.3,681.9,-9.1,652,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1675,3621
$GC,6374,-1.01,-170.3,706.9,-7.7,667,6378,0.00,2.15,0.00,0.000,4,0.000,0.050,2440,3076,3618
$GC,6442,-1.01,-170.3,712.5,-8.5,670,6446,0.00,2.10,0.00,0.000,6,0.000,0.043,2444,1678,3618
$GC,6775,-1.01,-170.3,741.6,-8.7,686,6779,0.00,2.15,0.00,0.000,4,0.000,0.051,2440,3075,3615
$GC,6802,-1.01,-170.3,744.1,-8.7,687,6806,0.00,2.12,0.00,0.000,6,0.000,0.041,2440,1671,3615
$GC,7131,-1.01,-170.3,771.6,-8.6,703,7135,0.00,2.17,0.00,0.000,4,0.000,0.055,2439,3069,3612
$GC,7172,-1.01,-170.3,775.3,-8.9,704,7178,0.00,2.10,0.00,0.000,6,0.000,0.040,2440,1666,3612
$GC,7487,-1.01,-170.3,804.0,-9.2,720,7491,0.00,2.17,0.00,0.000,4,0.000,0.052,2428,3072,3609
$GC,7594,-1.01,-170.3,814.4,-10.6,724,7600,0.00,2.10,0.00,0.000,6,0.000,0.040,2430,1669,3608
$GC,7909,-1.01,-170.3,843.0,-9.1,740,7913,0.00,2.20,0.00,0.000,4,0.000,0.058,2429,263,3607
$GC,7992,-1.01,-170.3,851.4,-10.7,743,7998,0.00,2.15,0.00,0.000,6,0.000,0.043,2427,1677,3606
$GC,8309,-1.01,-170.3,882.0,-10.2,759,8313,0.00,2.20,0.00,0.000,4,0.000,0.056,2426,3082,3604
$GC,8348,-1.01,-170.3,886.2,-10.1,760,8355,0.00,2.15,0.00,0.000,6,0.000,0.041,2426,1679,3604
$GC,8663,-1.01,-170.3,919.4,-11.0,776,8667,0.00,2.25,0.00,0.000,4,0.000,0.061,2427,263,3602
$GC,8731,-1.01,-170.3,927.3,-12.5,779,8735,0.00,2.15,0.00,0.000,6,0.000,0.040,2425,1686,3601
$GC,9059,-1.01,-170.3,962.2,-10.3,795,9062,0.00,2.25,0.00,0.000,4,0.000,0.058,2425,263,3600
$GC,9097,-1.01,-170.3,966.7,-11.2,796,9103,0.00,2.20,0.00,0.000,6,0.000,0.048,2425,1676,3599
$STATE,9349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9349,begin apogee
$GC,9356,-0.29,0.0,991.6,9.8,809,9504,0.80,0.00,144.38,1.476,6,0.111,0.000,2687,1341,2945
$STATE,9505,end apogee,CONTROL_FINISHED_OK
$STATE,9505,begin climb
$GC,9508,1.01,170.3,1000.5,0.0,816,9671,1.12,1.95,152.12,1.433,4,0.046,0.063,3121,208,2249
$GC,9756,1.01,170.3,985.4,12.4,827,9760,0.00,1.77,0.00,0.000,6,0.000,0.041,3120,1349,2245
$GC,10084,1.01,170.3,946.5,11.9,843,10088,0.00,2.17,0.00,0.000,4,0.000,0.058,3118,2758,2243
$GC,10162,1.01,170.3,937.1,11.4,846,10166,0.00,2.20,0.00,0.000,6,0.000,0.048,3128,1338,2242
$GC,10478,1.01,170.3,898.3,12.9,861,10482,0.00,2.20,0.00,0.000,4,0.000,0.057,3128,2754,2241
$GC,10527,1.01,170.3,891.6,12.9,863,10532,0.12,2.17,0.00,0.000,6,0.206,0.047,3110,1337,2240
$GC,10856,1.01,170.3,851.3,12.4,879,10860,0.00,2.20,0.00,0.000,4,0.000,0.052,3109,2754,2240
$GC,10889,1.01,170.3,846.7,12.6,880,10893,0.00,2.17,0.00,0.000,6,0.000,0.047,3117,1340,2239
$GC,11210,1.01,170.3,809.8,10.9,896,11213,0.00,1.80,0.00,0.000,4,0.000,0.061,3126,201,2239
$GC,11280,1.01,170.3,801.8,12.4,899,11283,0.00,1.73,0.00,0.000,6,0.000,0.043,3126,1353,2238
$GC,11613,1.01,170.3,762.9,11.7,915,11617,0.00,2.15,0.00,0.000,4,0.000,0.053,3123,2752,2238
$GC,11763,1.01,170.3,743.9,13.6,921,11770,0.00,2.17,0.00,0.000,6,0.000,0.048,3131,1339,2236
$GC,12080,1.01,170.3,707.4,11.0,937,12084,0.00,2.20,0.00,0.000,4,0.000,0.052,3131,2754,2237
$GC,12209,1.01,170.3,693.1,11.7,942,12217,0.15,2.20,0.00,0.000,6,0.196,0.047,3106,1347,2236
$GC,12525,1.01,170.3,663.5,9.2,958,12529,0.00,1.80,0.00,0.000,4,0.000,0.061,3113,201,2236
$GC,12631,1.01,170.3,653.5,8.9,962,12639,0.00,1.75,0.00,0.000,6,0.000,0.043,3109,1349,2235
$GC,12946,1.01,170.3,625.0,9.8,978,12950,0.00,2.17,0.00,0.000,4,0.000,0.051,3108,2758,2235
$GC,13203,1.01,170.3,597.2,11.1,989,13207,0.00,2.20,0.00,0.000,6,0.000,0.053,3117,1343,2235
$GC,13526,1.02,173.9,568.7,7.9,1005,13530,0.00,1.83,0.00,0.000,4,0.000,0.067,3126,205,2235
$GC,13577,1.05,200.3,564.8,7.2,1007,13607,0.00,1.73,24.98,1.199,6,0.000,0.042,3126,1356,2128
$GC,13925,1.05,200.3,530.7,10.4,1024,13929,0.00,2.15,0.00,0.000,4,0.000,0.050,3126,2749,2124
$GC,14065,1.05,200.3,515.5,10.6,1030,14069,0.00,2.17,0.00,0.000,6,0.000,0.045,3136,1338,2123
$GC,14388,1.05,200.6,485.8,8.0,1053,14392,0.00,2.17,0.00,0.000,4,0.000,0.049,3136,2749,2123
$GC,14438,1.05,200.6,481.6,8.4,1057,14444,0.00,2.17,0.00,0.000,6,0.000,0.050,3147,1345,2123
$GC,14767,1.05,200.6,454.3,8.3,1088,14770,0.00,2.17,0.00,0.000,4,0.000,0.048,3148,2758,2123
$GC,14902,1.06,204.9,442.6,7.9,1100,14915,0.15,2.17,5.25,0.851,6,0.190,0.044,3126,1346,2108
$GC,15233,1.06,204.9,413.5,9.0,1131,15236,0.00,1.77,0.00,0.000,4,0.000,0.057,3132,204,2108
$GC,15327,1.06,210.1,404.9,7.8,1139,15338,0.00,1.70,6.45,0.884,6,0.000,0.039,3129,1351,2088
$GC,15658,1.08,222.3,380.9,7.6,1170,15674,0.00,1.80,12.48,0.976,4,0.000,0.054,3137,191,2038
$GC,15838,1.08,222.3,365.3,8.3,1186,15841,0.00,1.73,0.00,0.000,6,0.000,0.039,3137,1354,2036
$GC,16168,1.08,222.3,335.8,9.3,1217,16172,0.00,2.12,0.00,0.000,4,0.000,0.044,3139,2759,2036
$GC,16252,1.08,222.3,327.5,10.2,1224,16259,0.00,2.15,0.00,0.000,6,0.000,0.041,3145,1337,2036
$GC,16578,1.08,222.3,297.9,8.7,1257,16584,0.00,2.15,0.00,0.000,4,0.000,0.042,3147,2756,2036
$GC,16648,1.08,222.3,292.3,8.1,1269,16654,0.00,2.12,0.00,0.000,6,0.000,0.040,3155,1346,2036
$GC,16992,1.12,252.7,266.9,7.0,1330,17024,0.00,2.22,27.10,0.904,4,0.000,0.041,3157,2759,1913
$GC,17189,1.12,252.7,250.0,8.9,1364,17196,0.00,2.15,0.00,0.000,6,0.000,0.038,3162,1334,1911
$GC,17537,1.13,263.7,220.4,7.6,1425,17556,0.00,2.17,10.75,0.790,4,0.000,0.045,3163,2747,1870
$GC,17647,1.13,263.7,211.3,8.8,1444,17653,0.00,2.10,0.00,0.000,6,0.000,0.037,3172,1346,1869
$GC,17991,1.13,263.7,180.4,8.3,1505,17997,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1346,1869
$GC,18336,1.15,279.4,150.9,7.5,1566,18356,0.00,2.17,15.35,0.759,4,0.000,0.038,3173,2755,1805
$GC,18461,1.15,279.4,140.5,8.7,1587,18468,0.15,2.10,0.00,0.000,6,0.170,0.035,3148,1345,1803
$GC,18806,1.18,306.9,114.8,7.1,1648,18838,0.00,2.15,24.58,0.744,4,0.000,0.043,3146,2765,1693
$GC,18867,1.21,326.4,110.1,7.4,1658,18893,0.00,2.15,17.88,0.715,6,0.000,0.035,3156,1352,1613
$GC,19231,1.21,326.4,79.0,8.7,1722,19238,0.00,1.77,0.00,0.000,4,0.000,0.048,3165,199,1612
$GC,19444,1.21,326.4,59.4,8.8,1759,19450,0.00,1.70,0.00,0.000,6,0.000,0.030,3165,1373,1611
$GC,19788,1.28,387.7,33.8,6.1,1820,19845,0.00,1.88,51.55,0.681,4,0.000,0.047,3169,197,1363
$GC,19999,1.33,425.6,17.7,6.8,1856,20038,0.08,1.67,33.05,0.651,6,0.059,0.028,3221,1351,1208
$STATE,20155,end climb,SURFACE_DEPTH_REACHED
$STATE,20155,begin surface coast
$FINISH,0.8,1.009037
$STATE,20183,end surface coast,CONTROL_FINISHED_OK
$STATE,20183,begin surface
$SM_CCo,20202,20.02,0.618,0,0,1109,450.13
$SM_GC,1.37,0.00,0.00,20.02,0.000,0.000,0.618,167,1687,1109,-8.16,0.34,450.13
$IRIDIUM_FIX,2401.56,12421.38,121098,101038
$TT8_MAMPS,0.026845
$HUMID,1540
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,25.70
$XPDR_PINGS,156
$24V_AH,23.1,76.799
$10V_AH,10.7,50.568
$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,20.375,187.150,525.900,20.025,0.000,26.554,32.331,336.029,47.000,0.000,0.000,13.727,3323.935,11963.642,683.911,3927.497,876.169,0.000,2415.484,0.000,3885.319,0.000,54.431,0.000
$DEVICE_MAMPS,241.605,66.729,1476.475,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1279.374,1300.392,2187.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110352,1888
$CAP_FILE_SIZE,195746,0
$CFSIZE,260165632,206618624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,326.6,1
$GPS,180709,222225,2409.386,12419.787,42,1.0,42,-3.5