version: 66.04
glider: 166
mission: 2
dive: 372
start: 7 22 109 4 2 7
data:
$ID,166
$MISSION,2
$DIVE,372
$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,330
$T_MISSION,396
$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,-12738.482
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2765
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.034000002
$PITCH_ADJ_DBAND,2
$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,45
$R_STBD_OVSHOOT,72
$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
$GPS1,035331,2359.764,12418.975,40,1.0,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.3
$GPS2,040144,2359.765,12419.239,13,1.2,13,-3.5
$SPEED_LIMITS,0.173,0.279
$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,283.1,60682,-16.8,-10.000
$D_GRID,1825
$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,-1.12,-170.3,0.0,0.0,0,95,0.00,0.00,-77.95,0.000,2,0.000,0.000,168,1688,2335
$GC,99,-1.12,-170.3,3.0,-6.1,12,152,9.15,2.22,-36.42,0.000,4,0.231,0.053,2397,263,3641
$GC,205,-0.60,-170.3,21.7,-22.0,29,213,0.60,2.03,0.00,0.000,6,0.146,0.028,2571,1668,3642
$GC,551,-0.60,-170.3,64.1,-11.7,90,558,0.00,2.10,0.00,0.000,4,0.000,0.038,2570,3073,3641
$GC,645,-0.67,-170.3,74.8,-11.6,106,651,0.00,2.03,0.00,0.000,6,0.000,0.028,2565,1661,3641
$GC,989,-0.79,-170.3,109.0,-9.8,167,997,0.15,2.08,0.00,0.000,4,0.057,0.035,2480,3066,3641
$GC,1078,-0.67,-170.3,119.1,-11.6,182,1085,0.20,2.03,0.00,0.000,6,0.132,0.027,2551,1639,3642
$GC,1423,-0.80,-170.3,150.6,-8.7,243,1431,0.12,2.12,0.00,0.000,4,0.066,0.035,2464,3081,3642
$GC,1506,-0.70,-170.3,159.3,-11.0,257,1513,0.20,2.03,0.00,0.000,6,0.130,0.027,2538,1654,3642
$GC,1851,-0.81,-170.3,195.9,-11.4,318,1857,0.00,2.12,0.00,0.000,4,0.000,0.036,2525,3073,3643
$GC,1984,-0.99,-170.3,209.7,-10.1,341,1991,0.22,2.00,0.00,0.000,6,0.046,0.028,2414,1673,3642
$GC,2329,-0.86,-170.3,250.6,-11.5,402,2335,0.20,0.00,0.00,0.000,6,0.131,0.000,2482,1673,3643
$GC,2674,-0.95,-170.3,284.7,-9.3,463,2681,0.00,2.08,0.00,0.000,4,0.000,0.037,2475,3078,3643
$GC,2756,-1.04,-170.3,292.9,-9.9,477,2763,0.12,2.03,0.00,0.000,6,0.064,0.028,2410,1668,3643
$GC,3087,-0.94,-170.3,330.4,-11.2,513,3091,0.17,2.08,0.00,0.000,4,0.135,0.041,2462,282,3643
$GC,3114,-0.87,-170.3,333.7,-10.9,515,3121,0.00,2.00,0.00,0.000,6,0.000,0.026,2456,1686,3642
$GC,3442,-0.87,-170.3,364.7,-9.3,546,3446,0.12,2.03,0.00,0.000,4,0.138,0.038,2492,3061,3641
$GC,3511,-1.02,-170.3,371.1,-8.7,552,3515,0.17,2.00,0.00,0.000,6,0.052,0.030,2407,1676,3641
$GC,3842,-0.93,-170.3,406.7,-10.9,583,3847,0.20,2.10,0.00,0.000,4,0.130,0.043,2473,280,3639
$GC,3908,-0.93,-170.3,413.9,-10.2,588,3915,0.00,2.03,0.00,0.000,6,0.000,0.028,2468,1671,3639
$GC,4235,-0.93,-170.3,446.1,-9.9,619,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1671,3637
$GC,4555,-0.93,-170.3,477.2,-9.8,649,4558,0.00,2.10,0.00,0.000,4,0.000,0.045,2480,285,3635
$GC,4680,-0.93,-170.3,490.3,-10.2,660,4684,0.00,2.00,0.00,0.000,6,0.000,0.031,2490,1669,3634
$GC,5017,-1.03,-170.3,520.7,-8.7,681,5021,0.17,2.10,0.00,0.000,4,0.060,0.043,2396,3070,3632
$GC,5079,-0.82,-170.3,527.3,-10.4,684,5084,0.35,2.03,0.00,0.000,6,0.137,0.032,2501,1681,3632
$GC,5409,-0.93,-170.3,555.0,-8.4,700,5411,0.12,0.00,0.00,0.000,6,0.069,0.000,2437,1681,3629
$GC,5717,-0.93,-170.3,586.2,-10.5,715,5720,0.00,2.10,0.00,0.000,4,0.000,0.047,2434,3064,3627
$GC,5773,-0.85,-170.3,592.4,-10.4,717,5778,0.20,2.05,0.00,0.000,6,0.132,0.035,2494,1670,3627
$GC,6090,-0.96,-170.3,621.4,-8.8,732,6094,0.12,2.10,0.00,0.000,4,0.069,0.046,2430,3061,3624
$GC,6202,-0.96,-170.3,632.7,-10.6,737,6206,0.00,2.05,0.00,0.000,6,0.000,0.037,2430,1679,3623
$GC,6529,-0.96,-170.3,665.5,-10.2,753,6533,0.00,2.17,0.00,0.000,4,0.000,0.052,2428,266,3621
$GC,6570,-0.78,-170.3,670.0,-11.4,754,6577,0.32,2.08,0.00,0.000,6,0.133,0.034,2517,1679,3620
$GC,6887,-0.99,-170.3,695.1,-7.6,770,6892,0.17,2.12,0.00,0.000,4,0.056,0.048,2428,3073,3617
$GC,6920,-0.99,-170.3,698.1,-8.9,771,6927,0.00,2.10,0.00,0.000,6,0.000,0.038,2426,1666,3617
$GC,7238,-0.99,-170.3,724.4,-8.1,787,7243,0.00,2.17,0.00,0.000,4,0.000,0.055,2430,3066,3615
$GC,7288,-0.89,-170.3,729.0,-9.6,789,7293,0.17,2.08,0.00,0.000,6,0.136,0.039,2475,1676,3614
$GC,7612,-1.01,-170.3,753.2,-8.1,805,7617,0.12,2.17,0.00,0.000,4,0.070,0.051,2421,3068,3612
$GC,7654,-0.94,-170.3,757.1,-9.5,807,7658,0.15,2.12,0.00,0.000,6,0.140,0.041,2463,1663,3611
$GC,7984,-1.01,-170.3,784.3,-8.4,823,7988,0.00,2.17,0.00,0.000,4,0.000,0.054,2461,3063,3609
$GC,8047,-1.01,-170.3,790.3,-8.9,825,8053,0.00,2.10,0.00,0.000,6,0.000,0.041,2461,1668,3608
$GC,8365,-1.09,-170.3,816.7,-8.2,841,8369,0.12,2.17,0.00,0.000,4,0.071,0.052,2395,3065,3606
$GC,8405,-0.93,-170.3,820.6,-10.1,843,8409,0.25,2.12,0.00,0.000,6,0.145,0.044,2466,1673,3606
$GC,8734,-0.93,-170.3,847.3,-8.2,859,8738,0.00,2.17,0.00,0.000,4,0.000,0.054,2464,3069,3604
$GC,8758,-0.93,-170.3,849.3,-8.2,860,8761,0.00,2.12,0.00,0.000,6,0.000,0.041,2464,1666,3604
$GC,9092,-0.93,-170.3,877.9,-8.7,876,9095,0.00,2.20,0.00,0.000,4,0.000,0.056,2460,3070,3602
$GC,9131,-0.93,-170.3,881.6,-8.9,877,9137,0.00,2.15,0.00,0.000,6,0.000,0.048,2459,1668,3601
$GC,9447,-0.93,-170.3,908.5,-8.3,893,9451,0.00,2.22,0.00,0.000,4,0.000,0.062,2451,3072,3600
$GC,9520,-0.93,-170.3,914.8,-8.9,896,9524,0.00,2.15,0.00,0.000,6,0.000,0.047,2454,1672,3599
$GC,9842,-1.01,-170.3,941.6,-8.3,912,9846,0.00,2.25,0.00,0.000,4,0.000,0.066,2450,263,3598
$GC,9860,-1.01,-170.3,943.0,-8.5,913,9863,0.00,2.15,0.00,0.000,6,0.000,0.044,2444,1670,3596
$GC,10194,-1.09,-170.3,970.3,-8.1,929,10198,0.00,2.22,0.00,0.000,4,0.000,0.062,2440,3081,3596
$GC,10295,-1.16,-170.3,978.6,-8.1,933,10299,0.15,2.15,0.00,0.000,6,0.066,0.044,2376,1669,3595
$STATE,10422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10423,begin apogee
$GC,10430,-0.27,0.0,991.1,9.9,939,10578,0.95,0.00,144.45,1.483,6,0.129,0.000,2675,1347,2945
$STATE,10579,end apogee,CONTROL_FINISHED_OK
$STATE,10579,begin climb
$GC,10582,1.12,170.3,999.4,0.0,946,10745,1.25,2.38,153.45,1.438,4,0.052,0.057,3132,2758,2249
$GC,10813,0.63,170.3,984.4,14.4,956,10819,0.62,2.25,0.00,0.000,6,0.175,0.049,2969,1341,2245
$GC,11130,0.57,191.4,955.1,9.2,971,11153,0.00,1.90,19.35,1.359,4,0.000,0.065,2976,201,2163
$GC,11183,0.47,191.6,950.0,10.0,973,11187,0.20,1.80,0.00,0.000,6,0.146,0.051,2920,1370,2161
$GC,11510,0.68,245.0,922.9,7.9,989,11575,0.17,1.95,50.58,1.368,4,0.061,0.063,3015,199,1945
$GC,11647,0.55,245.0,908.1,11.3,995,11651,0.25,1.77,0.00,0.000,6,0.150,0.043,2945,1358,1941
$GC,11980,0.73,280.0,877.8,8.6,1011,12025,0.15,2.28,34.30,1.318,4,0.062,0.054,3019,2747,1802
$GC,12049,0.60,280.0,870.0,11.5,1014,12054,0.25,2.22,0.00,0.000,6,0.151,0.049,2961,1343,1799
$GC,12370,0.79,320.2,841.4,8.4,1030,12422,0.17,1.92,39.45,1.318,4,0.058,0.063,3055,199,1638
$GC,12477,0.63,320.2,828.9,12.8,1034,12484,0.22,1.80,0.00,0.000,6,0.147,0.044,2972,1346,1635
$GC,12793,0.85,349.0,799.4,8.9,1050,12837,0.17,1.90,29.30,1.269,4,0.056,0.064,3072,208,1521
$GC,12854,0.66,349.0,791.9,12.9,1052,12861,0.28,1.80,0.00,0.000,6,0.147,0.043,2978,1352,1520
$GC,13172,0.91,366.1,761.5,9.3,1068,13202,0.20,1.90,19.12,1.179,4,0.052,0.061,3086,197,1451
$GC,13327,0.71,366.1,739.4,14.8,1075,13331,0.25,1.80,0.00,0.000,6,0.149,0.051,2994,1349,1448
$GC,13661,0.96,394.6,708.8,8.9,1091,13708,0.20,2.28,31.40,1.167,4,0.052,0.052,3094,2753,1336
$GC,13820,0.78,394.6,685.5,15.7,1098,13825,0.30,2.20,0.00,0.000,6,0.155,0.048,3020,1347,1334
$GC,14141,0.94,394.6,649.5,10.9,1114,14145,0.15,1.83,0.00,0.000,4,0.061,0.062,3101,193,1332
$GC,14220,0.76,394.6,637.9,15.0,1117,14225,0.30,1.77,0.00,0.000,6,0.151,0.045,3014,1365,1331
$GC,14544,0.99,394.6,602.1,10.3,1133,14548,0.17,1.85,0.00,0.000,4,0.057,0.061,3115,199,1330
$GC,14599,0.74,394.6,593.9,16.5,1135,14603,0.38,1.75,0.00,0.000,6,0.151,0.044,3004,1363,1329
$GC,14921,0.97,399.8,561.3,9.8,1151,14930,0.20,0.00,5.80,0.976,6,0.054,0.000,3099,1362,1313
$GC,15229,0.83,399.8,520.5,13.8,1166,15234,0.20,2.15,0.00,0.000,4,0.189,0.049,3039,2749,1313
$GC,15285,0.83,399.8,513.9,11.9,1168,15292,0.00,2.15,0.00,0.000,6,0.000,0.046,3047,1346,1313
$GC,15606,0.99,399.8,480.2,10.1,1192,15611,0.10,1.80,0.00,0.000,4,0.074,0.060,3117,198,1313
$GC,15703,0.81,399.8,467.9,12.2,1200,15709,0.25,1.77,0.00,0.000,6,0.148,0.044,3024,1348,1313
$GC,16028,1.08,410.0,435.8,9.6,1231,16053,0.20,1.85,11.02,1.025,4,0.054,0.060,3140,199,1272
$GC,16123,0.86,410.0,423.5,13.2,1239,16127,0.35,1.75,0.00,0.000,6,0.147,0.041,3039,1364,1272
$GC,16453,1.08,410.0,389.5,10.1,1270,16457,0.17,1.83,0.00,0.000,4,0.054,0.058,3146,202,1271
$GC,16526,0.87,410.0,380.2,13.4,1276,16533,0.28,1.75,0.00,0.000,6,0.142,0.041,3048,1356,1271
$GC,16851,1.10,430.4,349.4,9.2,1307,16891,0.17,1.88,24.23,0.849,4,0.055,0.056,3158,200,1190
$GC,16994,0.91,430.4,332.0,13.6,1319,16998,0.35,1.73,0.00,0.000,6,0.140,0.039,3057,1358,1189
$GC,17325,1.22,478.7,301.8,8.1,1350,17379,0.22,1.90,44.62,0.945,4,0.047,0.054,3182,203,993
$GC,17444,1.05,478.7,286.4,14.3,1368,17451,0.22,1.75,0.00,0.000,6,0.137,0.038,3099,1347,992
$GC,17791,1.28,478.7,250.8,10.2,1429,17798,0.17,1.80,0.00,0.000,4,0.051,0.052,3202,191,992
$GC,17901,1.07,478.7,235.6,14.7,1448,17908,0.25,1.75,0.00,0.000,6,0.142,0.036,3113,1361,992
$GC,18248,1.27,478.7,196.2,11.4,1509,18254,0.17,1.83,0.00,0.000,4,0.052,0.051,3218,181,991
$GC,18351,1.05,478.7,181.1,16.3,1527,18359,0.32,1.73,0.00,0.000,6,0.141,0.034,3104,1347,991
$GC,18697,1.43,496.9,148.4,9.3,1588,18724,0.30,1.77,17.70,0.764,4,0.038,0.050,3266,197,918
$GC,18799,1.16,496.9,133.7,15.0,1605,18806,0.38,1.73,0.00,0.000,6,0.141,0.033,3138,1360,918
$GC,19145,1.41,510.1,99.7,9.5,1666,19166,0.20,1.80,13.20,0.700,4,0.049,0.048,3256,187,864
$GC,19291,1.20,510.1,80.9,12.8,1691,19299,0.28,1.70,0.00,0.000,6,0.139,0.032,3155,1345,864
$GC,19639,1.56,512.8,46.3,9.9,1752,19653,0.28,1.80,4.00,0.439,4,0.040,0.048,3301,193,854
$GC,19683,1.30,512.8,40.3,13.7,1759,19692,0.35,1.70,0.00,0.000,6,0.146,0.030,3190,1360,853
$STATE,20023,end climb,SURFACE_DEPTH_REACHED
$STATE,20023,begin surface coast
$FINISH,0.8,1.021378
$STATE,20059,end surface coast,CONTROL_FINISHED_OK
$STATE,20059,begin surface
$SM_CCo,20138,0.00,0.000,0,0,853,513.17
$SM_GC,1.69,7.93,0.00,0.00,0.036,0.000,0.000,169,1692,853,-8.10,0.51,513.17
$IRIDIUM_FIX,2349.77,12417.39,151098,222227
$TT8_MAMPS,0.026845
$HUMID,1578
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.40
$XPDR_PINGS,178
$24V_AH,23.1,79.812
$10V_AH,10.6,53.214
$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,34.100,181.175,641.975,0.000,0.000,26.269,31.991,259.186,52.500,0.000,0.000,14.072,3309.460,11865.723,817.514,3798.890,816.238,0.000,2536.207,0.000,3755.534,0.000,54.428,0.000
$DEVICE_MAMPS,230.867,65.962,1482.611,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1237.617,1264.804,2125.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107232,1825
$CAP_FILE_SIZE,214695,0
$CFSIZE,260165632,205119488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$CURRENT,0.239,100.8,1
$GPS,220709,093901,2359.783,12420.481,40,1.6,40,-3.5