version: 66.04
glider: 166
mission: 2
dive: 380
start: 7 23 109 22 57 22
data:
$ID,166
$MISSION,2
$DIVE,380
$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,300
$T_MISSION,360
$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,200
$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,-12916.007
$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
$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,45
$R_STBD_OVSHOOT,82
$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
$GPS1,224907,2356.588,12430.154,34,1.4,34,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-63.5
$GPS2,225701,2356.428,12430.308,14,1.4,31,-3.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,RET_1
$TGT_LATLONG,2355.900,12344.700
$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,288.1,77210,-17.1,-11.000
$D_GRID,2547
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.16,-194.7,0.0,0.0,0,80,0.00,0.00,-59.78,0.000,2,0.000,0.000,168,1685,2497
$GC,83,-1.16,-194.7,3.2,-4.1,9,130,8.95,2.22,-31.75,0.000,4,0.225,0.054,2385,265,3739
$GC,171,-1.16,-194.7,22.0,-21.4,23,178,0.00,2.03,0.00,0.000,6,0.000,0.028,2380,1662,3740
$GC,518,-1.16,-194.7,88.7,-17.7,84,524,0.00,2.08,0.00,0.000,4,0.000,0.040,2375,3069,3740
$GC,617,-1.16,-194.7,107.4,-19.2,101,623,0.00,2.03,0.00,0.000,6,0.000,0.028,2368,1658,3740
$GC,961,-1.16,-194.7,169.3,-16.3,162,969,0.00,2.12,0.00,0.000,4,0.000,0.037,2359,3072,3741
$GC,1026,-1.16,-194.7,179.4,-15.4,173,1033,0.00,2.05,0.00,0.000,6,0.000,0.029,2359,1670,3741
$GC,1371,-1.16,-194.7,233.7,-17.2,234,1379,0.12,2.08,0.00,0.000,4,0.168,0.037,2382,3073,3741
$GC,1437,-1.16,-194.7,242.9,-14.3,245,1443,0.00,2.03,0.00,0.000,6,0.000,0.028,2382,1665,3742
$GC,1782,-1.16,-194.7,286.0,-12.6,306,1789,0.00,2.08,0.00,0.000,4,0.000,0.038,2377,3068,3741
$GC,1818,-1.16,-194.7,291.4,-14.3,312,1825,0.00,2.05,0.00,0.000,6,0.000,0.030,2377,1673,3741
$GC,2148,-1.16,-194.7,338.6,-13.7,348,2151,0.00,2.08,0.00,0.000,4,0.000,0.039,2376,3070,3741
$GC,2193,-1.16,-194.7,344.9,-13.9,352,2197,0.00,2.03,0.00,0.000,6,0.000,0.030,2376,1667,3741
$GC,2524,-1.16,-194.7,389.2,-13.2,383,2528,0.00,2.08,0.00,0.000,4,0.000,0.044,2375,276,3741
$GC,2543,-1.16,-194.7,391.6,-13.2,384,2549,0.00,2.03,0.00,0.000,6,0.000,0.028,2379,1685,3742
$GC,2868,-1.16,-194.7,432.5,-12.8,415,2872,0.00,2.05,0.00,0.000,4,0.000,0.043,2387,3067,3741
$GC,2941,-1.16,-194.7,443.0,-14.9,421,2947,0.00,2.03,0.00,0.000,6,0.000,0.031,2380,1674,3741
$GC,3266,-1.16,-194.7,483.7,-11.0,452,3269,0.00,2.10,0.00,0.000,4,0.000,0.043,2385,3070,3740
$GC,3294,-1.16,-194.7,486.9,-10.7,454,3301,0.00,2.03,0.00,0.000,6,0.000,0.032,2380,1679,3740
$GC,3624,-1.16,-194.7,523.1,-11.3,476,3627,0.00,2.10,0.00,0.000,4,0.000,0.044,2384,3070,3738
$GC,3641,-1.16,-194.7,525.3,-11.4,476,3647,0.00,2.05,0.00,0.000,6,0.000,0.032,2383,1665,3738
$GC,3956,-1.16,-194.7,561.6,-11.5,492,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1665,3736
$GC,4267,-1.16,-194.7,597.0,-11.3,507,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1665,3733
$GC,4575,-1.16,-194.7,633.4,-10.9,522,4579,0.00,2.15,0.00,0.000,4,0.000,0.048,2379,3061,3731
$GC,4665,-1.16,-194.7,643.4,-11.3,526,4669,0.00,2.05,0.00,0.000,6,0.000,0.037,2381,1680,3730
$GC,5001,-1.16,-194.7,678.5,-10.4,542,5004,0.00,2.12,0.00,0.000,4,0.000,0.049,2386,3061,3727
$GC,5062,-1.16,-194.7,685.8,-11.0,544,5068,0.00,2.10,0.00,0.000,6,0.000,0.038,2388,1676,3726
$GC,5378,-1.16,-194.7,721.5,-11.2,560,5382,0.00,2.15,0.00,0.000,4,0.000,0.051,2384,3070,3724
$GC,5450,-1.16,-194.7,729.8,-11.3,563,5454,0.00,2.10,0.00,0.000,6,0.000,0.038,2384,1663,3723
$GC,5779,-1.16,-194.7,765.9,-10.7,579,5783,0.00,2.17,0.00,0.000,4,0.000,0.051,2376,3067,3720
$GC,5807,-1.16,-194.7,769.0,-10.5,580,5811,0.00,2.10,0.00,0.000,6,0.000,0.039,2376,1669,3720
$GC,6134,-1.16,-194.7,805.4,-11.2,596,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1669,3718
$GC,6444,-1.16,-194.7,839.6,-11.0,611,6448,0.00,2.20,0.00,0.000,4,0.000,0.055,2377,3066,3715
$GC,6506,-1.16,-194.7,846.7,-11.6,613,6512,0.00,2.12,0.00,0.000,6,0.000,0.044,2378,1674,3714
$GC,6822,-1.16,-194.7,881.9,-11.0,629,6826,0.00,2.17,0.00,0.000,4,0.000,0.061,2375,3061,3711
$GC,6889,-1.16,-194.7,889.3,-10.4,632,6893,0.00,2.10,0.00,0.000,6,0.000,0.043,2375,1676,3711
$GC,7223,-1.16,-194.7,927.0,-11.3,648,7227,0.00,2.20,0.00,0.000,4,0.000,0.058,2375,270,3709
$GC,7293,-1.16,-194.7,935.7,-12.8,651,7296,0.00,2.10,0.00,0.000,6,0.000,0.040,2367,1663,3708
$GC,7629,-1.16,-194.7,977.0,-12.4,667,7633,0.00,2.20,0.00,0.000,4,0.000,0.057,2366,3072,3705
$GC,7697,-1.16,-194.7,985.5,-11.7,670,7700,0.00,2.12,0.00,0.000,6,0.000,0.043,2366,1672,3705
$STATE,7738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7738,begin apogee
$GC,7744,-0.27,0.0,990.8,11.9,672,7915,1.02,0.00,167.32,1.469,6,0.139,0.000,2678,1345,2945
$STATE,7916,end apogee,CONTROL_FINISHED_OK
$STATE,7916,begin climb
$GC,7919,1.16,194.7,999.6,0.0,680,8103,1.30,2.35,173.05,1.424,4,0.057,0.057,3129,2756,2150
$GC,8198,1.16,194.7,975.2,15.2,692,8204,0.00,2.20,0.00,0.000,6,0.000,0.048,3139,1352,2146
$GC,8514,1.16,194.7,928.6,15.1,708,8518,0.00,2.20,0.00,0.000,4,0.000,0.059,3139,2755,2144
$GC,8609,1.16,194.7,913.8,16.5,712,8612,0.00,2.20,0.00,0.000,6,0.000,0.048,3147,1338,2142
$GC,8937,1.16,194.7,867.3,13.9,728,8940,0.00,2.22,0.00,0.000,4,0.000,0.057,3147,2754,2141
$GC,8961,1.16,194.7,863.8,14.1,729,8965,0.00,2.17,0.00,0.000,6,0.000,0.051,3157,1350,2141
$GC,9294,1.16,194.7,816.5,14.4,745,9297,0.00,2.20,0.00,0.000,4,0.000,0.054,3157,2761,2140
$GC,9355,1.16,194.7,807.4,14.8,747,9361,0.00,2.20,0.00,0.000,6,0.000,0.051,3167,1347,2139
$GC,9672,1.16,194.7,762.4,14.0,763,9676,0.00,2.22,0.00,0.000,4,0.000,0.059,3166,2761,2139
$GC,9750,1.16,194.7,751.2,14.8,766,9755,0.15,2.20,0.00,0.000,6,0.209,0.050,3142,1351,2138
$GC,10071,1.16,194.7,711.6,11.9,782,10074,0.00,2.20,0.00,0.000,4,0.000,0.059,3138,2752,2137
$GC,10133,1.16,194.7,704.3,12.5,784,10140,0.00,2.20,0.00,0.000,6,0.000,0.048,3145,1347,2137
$GC,10450,1.17,200.5,670.7,10.8,800,10459,0.00,2.25,4.18,0.864,4,0.000,0.053,3143,2773,2127
$GC,10577,1.17,200.5,655.0,11.8,805,10583,0.00,2.22,0.00,0.000,6,0.000,0.053,3152,1341,2126
$GC,10894,1.17,200.5,616.9,12.5,821,10898,0.00,2.22,0.00,0.000,4,0.000,0.055,3151,2762,2126
$GC,10962,1.17,200.5,608.3,11.9,824,10966,0.00,2.17,0.00,0.000,6,0.000,0.047,3160,1351,2125
$GC,11297,1.17,200.5,568.8,12.7,840,11300,0.00,1.80,0.00,0.000,4,0.000,0.058,3169,196,2125
$GC,11369,1.17,200.5,559.3,11.7,843,11373,0.00,1.75,0.00,0.000,6,0.000,0.044,3169,1359,2124
$GC,11697,1.21,233.6,524.2,9.7,859,11733,0.00,2.20,30.92,1.175,4,0.000,0.050,3169,2753,1991
$GC,11824,1.21,233.6,509.7,11.8,864,11828,0.00,2.20,0.00,0.000,6,0.000,0.045,3180,1348,1987
$GC,12158,1.23,249.9,472.8,10.4,891,12181,0.00,2.25,14.88,1.085,4,0.000,0.051,3181,2754,1925
$GC,12232,1.23,249.9,463.6,12.9,897,12238,0.00,2.20,0.00,0.000,6,0.000,0.044,3190,1333,1922
$GC,12559,1.26,275.6,427.8,10.0,928,12595,0.00,0.00,25.75,1.008,6,0.000,0.000,3191,1333,1820
$GC,12914,1.26,275.6,385.8,11.9,962,12918,0.00,2.20,0.00,0.000,4,0.000,0.047,3192,2756,1817
$GC,12941,1.26,275.6,382.3,11.9,964,12948,0.00,2.17,0.00,0.000,6,0.000,0.043,3198,1337,1816
$GC,13270,1.26,275.6,341.1,12.1,995,13273,0.00,2.17,0.00,0.000,4,0.000,0.046,3200,2755,1816
$GC,13319,1.26,275.6,334.7,11.7,999,13326,0.15,2.15,0.00,0.000,6,0.189,0.041,3173,1341,1816
$GC,13645,1.26,275.6,296.6,13.1,1032,13651,0.00,1.77,0.00,0.000,4,0.000,0.054,3182,205,1815
$GC,13688,1.26,275.6,291.5,12.7,1039,13694,0.00,1.70,0.00,0.000,6,0.000,0.037,3183,1367,1815
$GC,14033,1.27,279.8,251.2,10.8,1100,14045,0.00,2.12,4.85,0.672,4,0.000,0.043,3185,2746,1804
$GC,14159,1.27,279.8,237.6,11.3,1122,14166,0.00,2.10,0.00,0.000,6,0.000,0.039,3193,1346,1804
$GC,14507,1.29,303.1,201.7,10.1,1183,14537,0.00,2.17,22.20,0.847,4,0.000,0.041,3192,2746,1708
$GC,14619,1.35,344.7,190.4,9.4,1202,14664,0.00,2.15,36.75,0.839,6,0.000,0.038,3200,1344,1539
$GC,15004,1.37,368.5,150.0,10.1,1269,15031,0.00,2.20,21.88,0.782,4,0.000,0.038,3200,2750,1442
$GC,15061,1.38,369.7,143.7,11.0,1278,15069,0.00,2.15,0.00,0.000,6,0.000,0.036,3209,1352,1441
$GC,15408,1.41,393.2,108.1,10.1,1339,15435,0.00,2.17,22.33,0.741,4,0.000,0.037,3209,2753,1342
$GC,15527,1.41,393.2,94.2,11.6,1359,15534,0.00,2.12,0.00,0.000,6,0.000,0.035,3219,1333,1341
$GC,15874,1.50,470.6,59.9,8.1,1420,15945,0.00,2.22,66.60,0.713,4,0.000,0.035,3219,2755,1026
$GC,16049,1.55,512.8,44.4,9.4,1449,16095,0.10,2.10,36.78,0.681,6,0.079,0.035,3273,1351,853
$STATE,16374,end climb,SURFACE_DEPTH_REACHED
$STATE,16374,begin surface coast
$FINISH,0.8,1.021395
$STATE,16395,end surface coast,CONTROL_FINISHED_OK
$STATE,16395,begin surface
$SM_CCo,16474,0.00,0.000,0,0,849,514.15
$SM_GC,1.55,8.23,0.00,0.00,0.038,0.000,0.000,154,1687,849,-8.11,0.34,514.15
$IRIDIUM_FIX,2347.41,12429.78,171098,171719
$TT8_MAMPS,0.026845
$HUMID,1560
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.80
$XPDR_PINGS,131
$24V_AH,23.2,81.597
$10V_AH,10.6,54.548
$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,20.025,157.975,627.475,0.000,0.000,22.731,30.621,241.011,40.750,0.000,0.000,31.446,2623.860,9766.168,718.126,3106.201,716.129,0.000,2137.480,0.000,3059.928,0.000,54.430,0.000
$DEVICE_MAMPS,224.731,61.360,1468.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.823,1040.587,1745.575,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88473,1509
$CAP_FILE_SIZE,158297,0
$CFSIZE,260165632,204406784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.250,102.3,1
$GPS,240709,033307,2356.370,12431.037,34,0.9,34,-3.5