version: 66.04
glider: 166
mission: 2
dive: 381
start: 7 24 109 3 41 0
data:
$ID,166
$MISSION,2
$DIVE,381
$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,-12930.186
$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,43
$R_STBD_OVSHOOT,71
$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
$GPS1,033307,2356.370,12431.037,34,0.9,34,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.3
$GPS2,034038,2356.297,12431.282,13,1.0,13,-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,283.5,78857,-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,-194.7,0.0,0.0,0,82,0.00,0.00,-62.15,0.000,2,0.000,0.000,158,1688,2251
$GC,86,-1.16,-194.7,3.0,-5.8,9,144,9.00,2.17,-41.85,0.000,4,0.226,0.055,2377,253,3739
$GC,174,-1.16,-194.7,17.9,-22.0,23,181,0.00,2.08,0.00,0.000,6,0.000,0.028,2376,1666,3740
$GC,520,-1.16,-194.7,85.2,-17.5,84,526,0.00,2.08,0.00,0.000,4,0.000,0.040,2375,3074,3739
$GC,656,-1.16,-194.7,108.0,-16.3,108,663,0.00,2.08,0.00,0.000,6,0.000,0.028,2385,1656,3739
$GC,1001,-1.16,-194.7,165.8,-16.3,169,1008,0.00,2.08,0.00,0.000,4,0.000,0.037,2363,3066,3740
$GC,1066,-1.16,-194.7,176.0,-16.0,180,1073,0.10,2.03,0.00,0.000,6,0.173,0.029,2385,1655,3741
$GC,1412,-1.16,-194.7,226.3,-14.4,241,1418,0.00,2.10,0.00,0.000,4,0.000,0.038,2383,3066,3741
$GC,1493,-1.16,-194.7,238.0,-14.6,255,1499,0.00,2.00,0.00,0.000,6,0.000,0.029,2381,1675,3741
$GC,1838,-1.16,-194.7,289.5,-13.1,316,1845,0.00,2.10,0.00,0.000,4,0.000,0.038,2370,3072,3741
$GC,1930,-1.16,-194.7,302.3,-13.2,331,1934,0.00,2.03,0.00,0.000,6,0.000,0.030,2371,1668,3741
$GC,2260,-1.16,-194.7,342.3,-11.7,362,2264,0.00,2.10,0.00,0.000,4,0.000,0.040,2367,3073,3741
$GC,2340,-1.16,-194.7,352.0,-12.5,369,2344,0.00,2.03,0.00,0.000,6,0.000,0.031,2366,1677,3741
$GC,2670,-1.16,-194.7,397.7,-13.2,400,2674,0.00,2.08,0.00,0.000,4,0.000,0.041,2367,3064,3741
$GC,2731,-1.16,-194.7,405.7,-12.2,405,2737,0.00,2.03,0.00,0.000,6,0.000,0.031,2367,1675,3741
$GC,3058,-1.16,-194.7,443.8,-12.0,436,3061,0.00,2.08,0.00,0.000,4,0.000,0.042,2368,3060,3740
$GC,3148,-1.16,-194.7,455.4,-12.8,444,3152,0.00,2.03,0.00,0.000,6,0.000,0.033,2369,1674,3740
$GC,3480,-1.16,-194.7,496.3,-12.5,475,3483,0.00,2.10,0.00,0.000,4,0.000,0.043,2378,3068,3738
$GC,3535,-1.16,-194.7,503.4,-12.9,479,3539,0.00,2.05,0.00,0.000,6,0.000,0.034,2382,1672,3737
$GC,3858,-1.16,-194.7,540.1,-10.6,495,3862,0.00,2.10,0.00,0.000,4,0.000,0.045,2384,3063,3736
$GC,3908,-1.16,-194.7,545.3,-10.5,497,3912,0.00,2.05,0.00,0.000,6,0.000,0.035,2386,1671,3735
$GC,4238,-1.16,-194.7,581.0,-12.0,513,4241,0.00,2.10,0.00,0.000,4,0.000,0.046,2390,3056,3732
$GC,4315,-1.16,-194.7,590.8,-11.8,516,4319,0.00,2.05,0.00,0.000,6,0.000,0.035,2390,1666,3732
$GC,4637,-1.16,-194.7,629.3,-12.1,532,4641,0.00,2.12,0.00,0.000,4,0.000,0.048,2391,3056,3729
$GC,4699,-1.16,-194.7,636.7,-11.7,534,4706,0.00,2.08,0.00,0.000,6,0.000,0.037,2391,1678,3728
$GC,5014,-1.16,-194.7,672.3,-11.7,550,5018,0.00,2.12,0.00,0.000,4,0.000,0.049,2391,3063,3726
$GC,5070,-1.16,-194.7,679.1,-11.9,552,5074,0.00,2.08,0.00,0.000,6,0.000,0.038,2392,1671,3725
$GC,5391,-1.16,-194.7,716.8,-11.9,568,5395,0.00,2.15,0.00,0.000,4,0.000,0.050,2382,3067,3722
$GC,5491,-1.16,-194.7,729.8,-12.4,572,5495,0.00,2.10,0.00,0.000,6,0.000,0.039,2382,1669,3721
$GC,5813,-1.16,-194.7,770.0,-12.7,588,5817,0.00,2.15,0.00,0.000,4,0.000,0.050,2373,3064,3718
$GC,5896,-1.16,-194.7,780.9,-12.6,591,5903,0.00,2.12,0.00,0.000,6,0.000,0.041,2373,1665,3718
$GC,6213,-1.16,-194.7,821.1,-12.8,607,6217,0.00,2.17,0.00,0.000,4,0.000,0.059,2366,3056,3715
$GC,6305,-1.16,-194.7,832.9,-13.3,611,6309,0.00,2.12,0.00,0.000,6,0.000,0.048,2366,1662,3714
$GC,6641,-1.16,-194.7,876.7,-13.1,627,6644,0.00,2.17,0.00,0.000,4,0.000,0.054,2356,3060,3711
$GC,6703,-1.16,-194.7,884.7,-12.1,629,6709,0.12,2.12,0.00,0.000,6,0.166,0.048,2386,1671,3711
$GC,7019,-1.16,-194.7,921.3,-12.0,645,7022,0.00,2.20,0.00,0.000,4,0.000,0.058,2386,268,3708
$GC,7079,-1.16,-194.7,929.0,-12.7,647,7085,0.00,2.10,0.00,0.000,6,0.000,0.039,2382,1663,3708
$GC,7397,-1.16,-194.7,966.8,-11.4,663,7401,0.00,2.22,0.00,0.000,4,0.000,0.062,2379,3081,3705
$GC,7488,-1.16,-194.7,977.4,-11.6,667,7492,0.00,2.15,0.00,0.000,6,0.000,0.043,2379,1664,3704
$STATE,7612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7613,begin apogee
$GC,7619,-0.27,0.0,992.0,11.3,673,7797,0.98,0.00,168.80,1.453,6,0.137,0.000,2677,1352,2945
$STATE,7798,end apogee,CONTROL_FINISHED_OK
$STATE,7798,begin climb
$GC,7801,1.16,194.7,1001.3,0.0,682,7984,1.27,2.33,172.80,1.421,4,0.054,0.052,3128,2755,2150
$GC,8069,1.16,194.7,977.5,15.8,694,8073,0.00,2.20,0.00,0.000,6,0.000,0.047,3137,1352,2146
$GC,8389,1.16,194.7,931.0,14.1,710,8393,0.00,2.20,0.00,0.000,4,0.000,0.054,3136,2755,2143
$GC,8457,1.16,194.7,920.8,14.4,713,8461,0.00,2.20,0.00,0.000,6,0.000,0.048,3146,1336,2142
$GC,8785,1.16,194.7,872.7,14.5,729,8789,0.00,1.77,0.00,0.000,4,0.000,0.061,3154,202,2141
$GC,8880,1.16,194.7,858.4,15.2,733,8884,0.00,1.77,0.00,0.000,6,0.000,0.046,3154,1355,2140
$GC,9207,1.16,194.7,811.4,14.1,749,9211,0.00,2.17,0.00,0.000,4,0.000,0.059,3153,2753,2139
$GC,9269,1.16,194.7,802.5,14.0,751,9275,0.00,2.17,0.00,0.000,6,0.000,0.049,3163,1350,2138
$GC,9586,1.16,194.7,759.2,13.5,767,9589,0.00,2.17,0.00,0.000,4,0.000,0.053,3163,2747,2137
$GC,9725,1.16,194.7,740.0,13.7,773,9730,0.15,2.17,0.00,0.000,6,0.203,0.047,3138,1337,2137
$GC,10048,1.16,194.7,701.9,11.1,789,10052,0.00,1.83,0.00,0.000,4,0.000,0.061,3144,199,2136
$GC,10070,1.16,194.7,699.1,11.6,790,10074,0.00,1.75,0.00,0.000,6,0.000,0.043,3144,1365,2136
$GC,10404,1.16,194.7,660.1,12.2,806,10408,0.00,2.15,0.00,0.000,4,0.000,0.052,3138,2755,2135
$GC,10460,1.16,194.7,652.7,12.7,808,10464,0.00,2.17,0.00,0.000,6,0.000,0.046,3146,1340,2134
$GC,10781,1.16,194.7,613.3,12.2,824,10785,0.00,2.20,0.00,0.000,4,0.000,0.052,3145,2749,2134
$GC,10850,1.16,194.7,605.1,11.8,827,10854,0.00,2.15,0.00,0.000,6,0.000,0.046,3153,1349,2134
$GC,11184,1.16,194.7,566.8,11.4,843,11188,0.00,2.20,0.00,0.000,4,0.000,0.055,3152,2755,2134
$GC,11424,1.20,225.9,540.9,9.8,853,11456,0.00,2.17,26.08,1.185,6,0.000,0.046,3160,1340,2023
$GC,11789,1.23,249.9,504.4,10.1,871,11815,0.00,1.83,21.83,1.134,4,0.000,0.064,3171,196,1925
$GC,11828,1.23,250.1,499.6,11.0,873,11831,0.00,1.77,0.00,0.000,6,0.000,0.046,3170,1353,1923
$GC,12161,1.23,250.1,460.4,11.7,904,12165,0.00,2.15,0.00,0.000,4,0.000,0.048,3171,2752,1921
$GC,12218,1.23,250.1,453.0,12.6,909,12222,0.00,2.17,0.00,0.000,6,0.000,0.050,3182,1343,1920
$GC,12545,1.23,250.1,416.7,11.3,939,12549,0.00,2.17,0.00,0.000,4,0.000,0.048,3183,2751,1920
$GC,12602,1.23,250.1,409.7,11.8,944,12606,0.12,2.15,0.00,0.000,6,0.199,0.043,3165,1340,1919
$GC,12928,1.26,273.8,375.9,10.1,974,12961,0.00,2.20,23.92,0.956,4,0.000,0.046,3169,2753,1827
$GC,12989,1.26,273.8,368.8,11.6,979,12995,0.00,2.17,0.00,0.000,6,0.000,0.041,3173,1338,1825
$GC,13317,1.27,281.5,334.0,10.7,1010,13326,0.00,0.00,7.82,0.862,6,0.000,0.000,3174,1338,1797
$GC,13645,1.27,281.5,298.2,11.0,1042,13653,0.00,2.20,0.00,0.000,4,0.000,0.044,3177,2750,1796
$GC,13715,1.27,281.5,289.8,11.6,1054,13723,0.00,2.12,0.00,0.000,6,0.000,0.039,3186,1349,1796
$GC,14062,1.31,318.4,253.3,9.6,1115,14103,0.00,1.83,33.40,0.908,4,0.000,0.055,3195,205,1645
$GC,14158,1.31,318.4,243.5,11.0,1131,14164,0.00,1.73,0.00,0.000,6,0.000,0.035,3195,1370,1644
$GC,14502,1.36,355.2,204.4,9.6,1192,14540,0.00,2.17,32.42,0.854,4,0.000,0.039,3192,2756,1497
$GC,14705,1.40,392.3,186.0,9.6,1227,14744,0.00,2.15,33.42,0.828,6,0.000,0.038,3200,1334,1345
$GC,15086,1.43,410.8,143.4,10.3,1293,15111,0.00,1.80,17.12,0.759,4,0.000,0.049,3209,202,1269
$GC,15119,1.45,430.0,139.6,10.3,1298,15146,0.00,1.73,17.95,0.744,6,0.000,0.032,3209,1362,1192
$GC,15485,1.45,430.0,99.7,11.2,1362,15492,0.00,1.80,0.00,0.000,4,0.000,0.048,3217,203,1191
$GC,15571,1.45,430.0,89.3,11.3,1377,15578,0.00,1.67,0.00,0.000,6,0.000,0.031,3218,1352,1191
$GC,15918,1.51,474.8,53.0,9.3,1438,15964,0.00,1.85,39.85,0.702,4,0.000,0.048,3226,193,1008
$GC,16055,1.52,487.4,39.2,10.5,1461,16076,0.00,1.70,12.27,0.631,6,0.000,0.030,3226,1356,956
$STATE,16400,end climb,SURFACE_DEPTH_REACHED
$STATE,16400,begin surface coast
$FINISH,0.8,1.021501
$STATE,16441,end surface coast,CONTROL_FINISHED_OK
$STATE,16441,begin surface
$SM_CCo,16520,0.00,0.000,0,0,953,488.39
$SM_GC,1.55,8.12,0.00,0.00,0.041,0.000,0.000,168,1687,953,-8.10,0.34,488.39
$IRIDIUM_FIX,2349.77,12431.12,171098,232322
$TT8_MAMPS,0.026845
$HUMID,1574
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.80
$XPDR_PINGS,125
$24V_AH,23.2,81.822
$10V_AH,10.7,54.701
$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,19.875,157.775,607.700,0.000,0.000,23.581,32.268,230.981,39.250,0.000,0.000,13.549,2677.010,9668.241,696.886,3201.543,712.691,0.000,2155.875,0.000,3169.605,0.000,54.421,0.000
$DEVICE_MAMPS,226.265,63.661,1452.698,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.043,1057.381,1776.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88429,1529
$CAP_FILE_SIZE,160890,0
$CFSIZE,260165632,204320768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.272,116.3,1
$GPS,240709,081736,2355.713,12432.153,39,1.0,39,-3.5