version: 66.04
glider: 166
mission: 2
dive: 408
start: 7 29 109 9 9 58
data:
$ID,166
$MISSION,2
$DIVE,408
$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,275
$T_MISSION,330
$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,225
$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,-13533.876
$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,33
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,085837,2407.265,12500.564,31,1.4,31,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.4
$GPS2,090936,2407.318,12500.889,12,1.6,28,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.600,12444.000
$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,264.5,33294,-17.3,-12.000
$D_GRID,2115
$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,-1.20,-219.0,0.0,0.0,0,77,0.00,0.00,-59.70,0.000,2,0.000,0.000,157,1658,2272
$GC,80,-1.20,-219.0,3.2,-6.2,10,139,9.12,2.12,-42.08,0.000,4,0.232,0.052,2370,245,3839
$GC,169,-1.20,-219.0,18.7,-23.1,24,177,0.00,2.12,0.00,0.000,6,0.000,0.028,2353,1688,3841
$GC,516,-1.20,-219.0,88.8,-19.0,85,522,0.00,2.12,0.00,0.000,4,0.000,0.038,2356,249,3840
$GC,593,-1.20,-219.0,102.9,-19.5,98,599,0.00,2.15,0.00,0.000,6,0.000,0.028,2352,1739,3840
$GC,938,-1.20,-219.0,161.0,-16.0,159,944,0.00,2.20,0.00,0.000,4,0.000,0.037,2351,247,3841
$GC,1007,-1.20,-219.0,173.2,-17.7,171,1014,0.15,2.17,0.00,0.000,6,0.172,0.026,2378,1771,3841
$GC,1352,-1.20,-219.0,223.8,-14.6,232,1361,0.00,2.25,0.00,0.000,4,0.000,0.038,2372,249,3842
$GC,1385,-1.20,-219.0,228.9,-16.0,237,1391,0.00,2.30,0.00,0.000,6,0.000,0.026,2369,1848,3842
$GC,1732,-1.20,-219.0,278.2,-13.5,298,1738,0.00,1.80,0.00,0.000,4,0.000,0.039,2367,3061,3842
$GC,1841,-1.20,-219.0,293.5,-13.9,317,1847,0.00,1.75,0.00,0.000,6,0.000,0.026,2367,1820,3841
$GC,2168,-1.20,-219.0,338.0,-13.6,352,2172,0.00,1.85,0.00,0.000,4,0.000,0.040,2366,3074,3841
$GC,2227,-1.20,-219.0,345.7,-13.8,357,2230,0.00,1.75,0.00,0.000,6,0.000,0.028,2366,1841,3841
$GC,2557,-1.20,-219.0,387.6,-12.3,388,2561,0.00,1.83,0.00,0.000,4,0.000,0.040,2366,3075,3839
$GC,2606,-1.20,-219.0,393.9,-12.7,392,2614,0.00,1.75,0.00,0.000,6,0.000,0.028,2366,1866,3839
$GC,2932,-1.20,-219.0,432.5,-12.3,423,2936,0.00,2.40,0.00,0.000,4,0.000,0.041,2366,255,3838
$GC,2965,-1.20,-219.0,436.9,-13.7,425,2971,0.00,2.40,0.00,0.000,6,0.000,0.030,2367,1893,3838
$GC,3291,-1.20,-219.0,477.6,-11.5,456,3295,0.00,1.75,0.00,0.000,4,0.000,0.043,2376,3061,3835
$GC,3348,-1.20,-219.0,484.7,-12.0,461,3352,0.00,1.70,0.00,0.000,6,0.000,0.029,2375,1874,3835
$GC,3674,-1.20,-219.0,522.3,-11.4,483,3677,0.00,1.77,0.00,0.000,4,0.000,0.044,2381,3061,3833
$GC,3698,-1.20,-219.0,524.9,-10.8,484,3703,0.00,1.70,0.00,0.000,6,0.000,0.030,2381,1880,3833
$GC,4030,-1.20,-219.0,563.5,-12.0,500,4034,0.00,1.80,0.00,0.000,4,0.000,0.046,2386,3071,3830
$GC,4055,-1.20,-219.0,566.4,-12.1,501,4058,0.00,1.70,0.00,0.000,6,0.000,0.031,2383,1898,3830
$GC,4391,-1.20,-219.0,603.8,-10.7,517,4395,0.00,2.50,0.00,0.000,4,0.000,0.046,2382,257,3827
$GC,4435,-1.20,-219.0,609.4,-12.2,519,4439,0.00,2.45,0.00,0.000,6,0.000,0.035,2384,1896,3827
$GC,4756,-1.20,-219.0,642.4,-10.1,535,4760,0.00,1.77,0.00,0.000,4,0.000,0.050,2391,3051,3825
$GC,4849,-1.20,-219.0,652.5,-12.0,539,4852,0.00,1.65,0.00,0.000,6,0.000,0.033,2390,1922,3823
$GC,5182,-1.20,-219.0,690.3,-11.3,555,5186,0.00,1.77,0.00,0.000,4,0.000,0.051,2391,3055,3820
$GC,5261,-1.20,-219.0,699.6,-10.8,558,5268,0.00,1.62,0.00,0.000,6,0.000,0.035,2391,1946,3819
$GC,5585,-1.20,-219.0,735.3,-10.9,574,5588,0.00,1.73,0.00,0.000,4,0.000,0.051,2380,3069,3816
$GC,5669,-1.20,-219.0,745.2,-11.7,577,5674,0.00,1.60,0.00,0.000,6,0.000,0.037,2384,1980,3815
$GC,5987,-1.20,-219.0,782.8,-11.8,593,5991,0.00,2.67,0.00,0.000,4,0.000,0.052,2384,258,3812
$GC,6008,-1.20,-219.0,785.8,-12.5,594,6012,0.00,2.65,0.00,0.000,6,0.000,0.039,2364,1991,3812
$GC,6330,-1.20,-219.0,825.2,-12.2,610,6333,0.00,1.62,0.00,0.000,4,0.000,0.054,2346,3055,3809
$GC,6376,-1.20,-219.0,830.9,-12.7,612,6380,0.08,1.60,0.00,0.000,6,0.153,0.038,2371,1997,3809
$GC,6708,-1.20,-219.0,868.8,-11.3,628,6713,0.00,2.70,0.00,0.000,4,0.000,0.054,2371,263,3806
$GC,6772,-1.20,-219.0,876.5,-12.3,631,6776,0.00,2.62,0.00,0.000,6,0.000,0.041,2362,1977,3805
$GC,7099,-1.20,-219.0,916.6,-12.2,647,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,1978,3803
$GC,7408,-1.20,-219.0,953.5,-11.9,662,7412,0.00,2.70,0.00,0.000,4,0.000,0.054,2365,259,3801
$GC,7430,-1.20,-219.0,956.4,-12.8,663,7434,0.00,2.65,0.00,0.000,6,0.000,0.044,2350,1969,3801
$STATE,7707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7707,begin apogee
$GC,7715,-0.27,0.0,990.6,12.0,677,7910,1.02,0.00,186.82,1.454,6,0.128,0.000,2672,1348,2944
$STATE,7911,end apogee,CONTROL_FINISHED_OK
$STATE,7911,begin climb
$GC,7914,1.20,219.0,1002.4,0.0,687,8120,1.30,2.33,193.25,1.411,4,0.048,0.054,3156,2732,2051
$GC,8232,1.20,219.0,970.4,15.9,701,8236,0.00,2.15,0.00,0.000,6,0.000,0.046,3165,1350,2045
$GC,8555,1.20,219.0,922.2,14.7,717,8559,0.00,2.17,0.00,0.000,4,0.000,0.061,3165,2738,2042
$GC,8633,1.20,219.0,909.9,15.5,720,8637,0.00,2.12,0.00,0.000,6,0.000,0.053,3172,1370,2041
$GC,8955,1.20,219.0,863.3,14.5,736,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,1370,2041
$GC,9265,1.20,219.0,819.1,14.3,751,9269,0.00,2.15,0.00,0.000,4,0.000,0.060,3172,2734,2039
$GC,9343,1.20,219.0,807.9,14.4,754,9347,0.12,2.10,0.00,0.000,6,0.206,0.046,3155,1368,2039
$GC,9665,1.20,219.0,766.7,12.5,770,9669,0.00,2.15,0.00,0.000,4,0.000,0.054,3151,2741,2038
$GC,9811,1.20,219.0,747.9,12.7,776,9815,0.00,2.08,0.00,0.000,6,0.000,0.046,3158,1390,2037
$GC,10133,1.20,219.0,705.9,13.5,792,10136,0.00,2.10,0.00,0.000,4,0.000,0.054,3158,2734,2036
$GC,10251,1.20,219.0,689.1,14.8,797,10255,0.00,2.05,0.00,0.000,6,0.000,0.045,3166,1398,2036
$GC,10579,1.20,219.0,645.5,13.3,813,10582,0.00,2.10,0.00,0.000,4,0.000,0.053,3166,2746,2035
$GC,10836,1.20,219.0,610.2,12.8,824,10840,0.00,2.03,0.00,0.000,6,0.000,0.045,3174,1446,2035
$GC,11158,1.20,219.0,570.2,12.3,840,11162,0.00,2.03,0.00,0.000,4,0.000,0.052,3174,2749,2034
$GC,11371,1.20,219.0,542.4,12.4,849,11375,0.12,1.98,0.00,0.000,6,0.200,0.044,3157,1456,2034
$GC,11693,1.23,240.9,506.1,11.2,865,11715,0.00,2.03,17.95,1.124,4,0.000,0.052,3151,2741,1962
$GC,11769,1.23,243.6,497.3,11.9,869,11772,0.00,1.95,0.00,0.000,6,0.000,0.044,3158,1474,1960
$GC,12102,1.26,267.2,460.2,11.1,900,12135,0.00,2.03,24.25,1.091,4,0.000,0.051,3159,2733,1854
$GC,12328,1.30,299.2,434.5,10.8,920,12362,0.00,1.90,29.27,1.064,6,0.000,0.042,3168,1497,1725
$GC,12679,1.30,299.2,393.5,12.5,953,12683,0.00,1.92,0.00,0.000,4,0.000,0.048,3170,2740,1722
$GC,12749,1.33,322.4,385.7,11.1,959,12776,0.00,1.88,21.98,1.009,6,0.000,0.041,3176,1511,1629
$GC,13103,1.34,333.9,343.6,11.6,992,13119,0.00,1.90,11.45,0.923,4,0.000,0.046,3179,2740,1582
$GC,13200,1.34,333.9,331.2,12.9,1000,13203,0.00,1.83,0.00,0.000,6,0.000,0.041,3186,1560,1581
$GC,13530,1.34,333.9,289.8,12.4,1037,13536,0.00,2.10,0.00,0.000,4,0.000,0.051,3197,195,1582
$GC,13565,1.34,333.9,284.9,13.6,1043,13573,0.00,2.08,0.00,0.000,6,0.000,0.037,3197,1581,1581
$GC,13912,1.36,346.2,241.6,11.5,1104,13931,0.00,1.75,12.55,0.844,4,0.000,0.042,3198,2745,1532
$GC,13971,1.36,346.2,233.9,13.0,1114,13977,0.00,1.75,0.00,0.000,6,0.000,0.038,3203,1590,1532
$GC,14317,1.38,363.0,192.5,11.4,1175,14338,0.00,2.20,16.33,0.818,4,0.000,0.048,3218,200,1465
$GC,14496,1.38,363.0,169.4,12.2,1206,14503,0.00,2.05,0.00,0.000,6,0.000,0.034,3219,1593,1464
$GC,14841,1.45,416.1,130.5,10.0,1267,14893,0.00,2.25,46.75,0.788,4,0.000,0.046,3230,196,1248
$GC,14934,1.45,416.1,119.3,14.0,1282,14940,0.00,2.05,0.00,0.000,6,0.000,0.032,3230,1578,1246
$GC,15281,1.47,438.1,79.0,11.2,1343,15308,0.00,1.75,20.38,0.711,4,0.000,0.038,3230,2759,1158
$GC,15328,1.51,464.4,73.7,11.0,1350,15359,0.00,1.85,24.08,0.701,6,0.000,0.035,3238,1538,1050
$GC,15700,1.57,519.5,35.2,10.0,1415,15752,0.00,1.90,47.28,0.681,4,0.000,0.036,3239,2750,827
$GC,15852,1.59,530.6,18.2,11.6,1440,15871,0.00,1.73,11.50,0.601,6,0.000,0.031,3247,1594,779
$STATE,15989,end climb,SURFACE_DEPTH_REACHED
$STATE,15989,begin surface coast
$FINISH,0.8,0.998721
$STATE,16019,end surface coast,CONTROL_FINISHED_OK
$STATE,16019,begin surface
$SM_CCo,16098,0.00,0.000,0,0,778,531.81
$SM_GC,1.69,8.20,0.00,0.00,0.039,0.000,0.000,167,1683,778,-8.11,0.23,531.81
$IRIDIUM_FIX,2359.20,12502.62,231098,090958
$TT8_MAMPS,0.026845
$HUMID,1601
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.70
$XPDR_PINGS,151
$24V_AH,23.2,88.228
$10V_AH,10.6,58.719
$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,20.125,147.175,663.825,0.000,0.000,49.831,70.029,285.303,45.750,0.000,0.000,28.830,2577.971,9467.282,725.084,3122.828,850.487,0.000,2153.635,0.000,3074.740,0.000,54.444,0.000
$DEVICE_MAMPS,232.401,74.399,1454.232,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,993.500,1012.036,1700.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85368,1469
$CAP_FILE_SIZE,160047,0
$CFSIZE,260165632,201957376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.229, 79.8,1
$GPS,290709,133936,2407.392,12501.703,38,1.2,43,-3.6