version: 66.04
glider: 166
mission: 2
dive: 464
start: 8 9 109 21 17 44
data:
$ID,166
$MISSION,2
$DIVE,464
$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,250
$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,475
$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,-14990.08
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2749
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17.200001
$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,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,58
$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
$GPS1,210437,2413.848,12545.958,38,1.2,38,-3.6
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-64.8
$GPS2,211722,2413.679,12546.071,15,99.0,34,-3.6
$SPEED_LIMITS,0.173,0.326
$TGT_NAME,RET_1
$TGT_LATLONG,2350.000,12545.000
$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,218.3,43892,-13.9,-10.000
$D_GRID,1371
$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,-1.11,-243.4,0.0,0.0,0,83,0.00,0.00,-65.28,0.000,2,0.000,0.000,114,2096,2407
$GC,87,-1.11,-243.4,3.0,-4.8,10,146,9.32,2.20,-43.10,0.000,4,0.229,0.052,2386,638,3938
$GC,170,-1.11,-243.4,15.4,-19.1,23,177,0.00,2.08,0.00,0.000,6,0.000,0.032,2381,2051,3939
$GC,517,-1.11,-243.4,74.5,-16.8,84,524,0.00,2.12,0.00,0.000,4,0.000,0.044,2383,3472,3939
$GC,649,-1.11,-243.4,97.2,-17.2,107,656,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,2051,3939
$GC,995,-1.11,-243.4,143.6,-11.7,168,1002,0.00,2.17,0.00,0.000,4,0.000,0.045,2381,3463,3940
$GC,1054,-1.11,-243.4,151.2,-13.2,178,1062,0.00,1.98,0.00,0.000,6,0.000,0.028,2389,2098,3940
$GC,1400,-1.11,-243.4,196.6,-14.4,239,1408,0.00,2.08,0.00,0.000,4,0.000,0.044,2369,3468,3940
$GC,1431,-1.11,-243.4,201.2,-14.8,244,1438,0.00,1.95,0.00,0.000,6,0.000,0.028,2378,2126,3940
$GC,1780,-1.11,-243.4,245.3,-11.3,305,1786,0.00,2.15,0.00,0.000,4,0.000,0.039,2374,673,3940
$GC,1851,-1.11,-243.4,254.0,-12.9,317,1856,0.00,2.08,0.00,0.000,6,0.000,0.031,2368,2094,3940
$GC,2196,-1.11,-243.4,298.6,-12.5,378,2203,0.00,2.05,0.00,0.000,4,0.000,0.047,2364,3458,3939
$GC,2237,-1.11,-243.4,303.8,-13.6,382,2243,0.00,1.98,0.00,0.000,6,0.000,0.028,2368,2101,3939
$GC,2564,-1.11,-243.4,339.8,-10.2,413,2568,0.00,2.12,0.00,0.000,4,0.000,0.041,2367,663,3938
$GC,2616,-1.11,-243.4,345.7,-11.2,417,2622,0.00,2.12,0.00,0.000,6,0.000,0.034,2364,2108,3938
$GC,2941,-1.11,-243.4,384.6,-13.4,448,2944,0.00,2.05,0.00,0.000,4,0.000,0.048,2364,3462,3937
$GC,2968,-1.11,-243.4,388.5,-14.2,450,2976,0.00,2.03,0.00,0.000,6,0.000,0.029,2364,2076,3936
$GC,3295,-1.11,-243.4,426.8,-9.7,481,3298,0.00,2.10,0.00,0.000,4,0.000,0.048,2364,3458,3935
$GC,3365,-1.11,-243.4,433.6,-9.2,487,3369,0.00,1.95,0.00,0.000,6,0.000,0.030,2364,2104,3935
$GC,3696,-1.11,-243.4,467.6,-10.9,518,3699,0.00,2.15,0.00,0.000,4,0.000,0.043,2364,664,3934
$GC,3791,-1.11,-243.4,479.1,-11.7,526,3798,0.12,2.12,0.00,0.000,6,0.142,0.035,2390,2101,3933
$GC,4116,-1.11,-243.4,513.4,-10.1,551,4120,0.00,2.17,0.00,0.000,4,0.000,0.042,2392,657,3931
$GC,4167,-1.11,-243.4,518.9,-10.0,553,4171,0.00,2.10,0.00,0.000,6,0.000,0.035,2384,2073,3930
$GC,4496,-1.11,-243.4,550.2,-10.0,569,4500,0.00,2.12,0.00,0.000,4,0.000,0.051,2384,3463,3928
$GC,4559,-1.11,-243.4,556.8,-10.2,571,4565,0.00,2.03,0.00,0.000,6,0.000,0.031,2387,2072,3927
$GC,4875,-1.11,-243.4,588.8,-10.5,587,4879,0.00,2.12,0.00,0.000,4,0.000,0.045,2388,660,3925
$GC,4903,-1.11,-243.4,592.2,-11.9,588,4907,0.00,2.12,0.00,0.000,6,0.000,0.039,2387,2077,3925
$GC,5235,-1.11,-243.4,626.3,-10.4,604,5238,0.00,2.15,0.00,0.000,4,0.000,0.054,2386,3469,3922
$GC,5325,-1.11,-243.4,636.7,-11.0,608,5329,0.00,2.03,0.00,0.000,6,0.000,0.033,2388,2090,3920
$GC,5660,-1.11,-243.4,672.3,-10.7,624,5664,0.00,2.15,0.00,0.000,4,0.000,0.055,2386,3470,3918
$GC,5689,-1.11,-243.4,675.8,-11.0,625,5693,0.00,2.03,0.00,0.000,6,0.000,0.034,2386,2093,3918
$GC,6017,-1.11,-243.4,709.0,-9.7,641,6021,0.00,2.15,0.00,0.000,4,0.000,0.055,2376,3472,3915
$GC,6042,-1.11,-243.4,711.4,-9.6,642,6045,0.00,2.03,0.00,0.000,6,0.000,0.035,2377,2103,3915
$GC,6375,-1.11,-243.4,743.3,-9.5,658,6379,0.00,2.12,0.00,0.000,4,0.000,0.056,2368,3462,3912
$GC,6408,-1.11,-243.4,746.8,-10.0,659,6412,0.00,1.98,0.00,0.000,6,0.000,0.035,2368,2126,3911
$GC,6733,-1.11,-243.4,779.5,-10.3,675,6736,0.00,2.25,0.00,0.000,4,0.000,0.049,2367,657,3909
$GC,6760,-1.11,-243.4,782.9,-11.5,676,6765,0.12,2.28,0.00,0.000,6,0.152,0.043,2391,2154,3909
$GC,7087,-1.11,-243.4,813.7,-9.2,692,7091,0.00,2.08,0.00,0.000,4,0.000,0.061,2382,3466,3907
$GC,7179,-1.11,-243.4,822.2,-9.5,696,7183,0.00,1.92,0.00,0.000,6,0.000,0.036,2384,2170,3906
$GC,7512,-1.11,-243.4,855.5,-10.6,712,7516,0.00,2.33,0.00,0.000,4,0.000,0.051,2386,660,3904
$GC,7579,-1.11,-243.4,863.5,-11.9,715,7583,0.00,2.33,0.00,0.000,6,0.000,0.044,2370,2173,3903
$GC,7904,-1.11,-243.4,900.1,-11.4,731,7907,0.00,2.03,0.00,0.000,4,0.000,0.061,2360,3462,3901
$GC,7932,-1.11,-243.4,904.0,-12.3,732,7935,0.00,1.95,0.00,0.000,6,0.000,0.044,2363,2166,3902
$GC,8260,-1.11,-243.4,940.5,-10.8,748,8263,0.00,2.05,0.00,0.000,4,0.000,0.061,2350,3459,3900
$GC,8284,-1.11,-243.4,943.2,-10.7,749,8288,0.15,1.95,0.00,0.000,6,0.147,0.040,2391,2169,3899
$GC,8618,-1.11,-243.4,974.0,-8.9,765,8621,0.00,2.08,0.00,0.000,4,0.000,0.064,2386,3468,3898
$GC,8687,-1.11,-243.4,980.5,-8.6,768,8691,0.00,1.92,0.00,0.000,6,0.000,0.043,2386,2194,3897
$STATE,8791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8791,begin apogee
$GC,8798,-0.29,0.0,990.1,8.8,773,9018,0.80,0.00,211.12,1.456,6,0.104,0.000,2651,1695,2945
$STATE,9019,end apogee,CONTROL_FINISHED_OK
$STATE,9019,begin climb
$GC,9022,1.11,243.4,1003.5,0.0,784,9253,1.25,2.38,217.27,1.421,4,0.054,0.057,3112,3096,1951
$GC,9320,1.11,243.4,978.5,15.1,797,9326,0.00,2.20,0.00,0.000,6,0.000,0.044,3122,1680,1946
$GC,9638,1.11,243.4,934.3,14.0,813,9642,0.00,2.20,0.00,0.000,4,0.000,0.058,3134,280,1943
$GC,9738,1.11,243.4,919.8,14.4,817,9742,0.00,2.15,0.00,0.000,6,0.000,0.044,3134,1682,1942
$GC,10061,1.11,243.4,875.9,13.7,833,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,3134,1683,1940
$GC,10370,1.11,243.4,834.6,13.1,848,10373,0.00,2.22,0.00,0.000,4,0.000,0.056,3135,3108,1939
$GC,10448,1.11,243.4,823.4,13.5,851,10453,0.15,2.17,0.00,0.000,6,0.185,0.044,3109,1680,1938
$GC,10764,1.11,243.4,784.2,12.3,866,10768,0.00,2.20,0.00,0.000,4,0.000,0.056,3117,277,1939
$GC,10789,1.11,243.4,781.2,13.3,867,10792,0.00,2.17,0.00,0.000,6,0.000,0.043,3117,1696,1938
$GC,11122,1.11,243.4,738.9,12.5,883,11126,0.00,2.20,0.00,0.000,4,0.000,0.056,3116,3099,1937
$GC,11206,1.11,243.4,727.7,12.7,886,11212,0.00,2.12,0.00,0.000,6,0.000,0.043,3126,1696,1936
$GC,11523,1.11,243.4,688.1,12.3,902,11527,0.00,2.20,0.00,0.000,4,0.000,0.056,3137,289,1936
$GC,11556,1.11,243.4,683.6,12.4,903,11561,0.12,2.17,0.00,0.000,6,0.184,0.043,3108,1712,1936
$GC,11872,1.11,243.4,647.5,11.4,918,11876,0.00,2.17,0.00,0.000,4,0.000,0.056,3105,3103,1936
$GC,11951,1.11,243.4,637.7,12.4,921,11955,0.00,2.12,0.00,0.000,6,0.000,0.043,3114,1705,1935
$GC,12273,1.11,243.4,600.5,11.3,937,12277,0.00,2.20,0.00,0.000,4,0.000,0.055,3114,3101,1935
$GC,12335,1.11,243.4,593.6,10.9,939,12341,0.00,2.10,0.00,0.000,6,0.000,0.042,3123,1718,1935
$GC,12653,1.11,249.4,562.5,9.8,955,12657,0.00,2.17,0.00,0.000,4,0.000,0.054,3123,3106,1934
$GC,12703,1.11,249.4,556.7,11.1,957,12707,0.00,2.08,0.00,0.000,6,0.000,0.042,3132,1738,1934
$GC,13031,1.11,249.4,521.9,10.3,973,13034,0.00,2.12,0.00,0.000,4,0.000,0.054,3132,3106,1934
$GC,13144,1.13,263.7,510.7,9.6,978,13174,0.00,2.15,18.88,1.039,6,0.000,0.042,3141,1699,1868
$GC,13495,1.13,263.7,475.6,10.7,1005,13498,0.00,2.20,0.00,0.000,4,0.000,0.054,3142,3102,1866
$GC,13625,1.13,263.7,461.0,10.6,1016,13633,0.15,2.10,0.00,0.000,6,0.179,0.041,3115,1715,1865
$GC,13952,1.19,307.6,430.5,8.8,1047,14008,0.00,2.33,42.35,1.048,4,0.000,0.054,3124,289,1689
$GC,14123,1.21,326.9,414.3,9.5,1062,14146,0.00,2.33,18.48,1.024,6,0.000,0.041,3124,1794,1612
$GC,14464,1.21,326.9,381.0,10.3,1094,14465,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,1793,1608
$GC,14785,1.21,330.7,348.4,9.9,1124,14798,0.00,2.35,4.82,0.731,4,0.000,0.050,3135,290,1596
$GC,14891,1.24,351.7,337.6,9.4,1133,14916,0.00,2.25,20.05,0.961,6,0.000,0.038,3135,1771,1513
$GC,15242,1.24,353.3,303.9,10.0,1166,15246,0.00,2.05,0.00,0.000,4,0.000,0.048,3137,3110,1509
$GC,15345,1.24,353.3,292.9,11.4,1180,15353,0.00,2.03,0.00,0.000,6,0.000,0.037,3144,1758,1509
$GC,15693,1.24,353.3,254.2,10.3,1241,15699,0.00,2.28,0.00,0.000,4,0.000,0.048,3155,278,1509
$GC,15823,1.24,353.3,240.0,10.8,1264,15831,0.00,2.38,0.00,0.000,6,0.000,0.036,3156,1860,1509
$GC,16170,1.24,353.3,203.3,10.7,1325,16176,0.00,2.42,0.00,0.000,4,0.000,0.045,3169,282,1509
$GC,16257,1.24,353.3,193.9,11.4,1340,16264,0.00,2.33,0.00,0.000,6,0.000,0.035,3169,1815,1509
$GC,16604,1.26,369.6,160.2,9.6,1401,16635,0.00,2.38,19.67,0.728,4,0.000,0.044,3184,280,1438
$GC,16768,1.26,369.6,142.3,11.1,1429,16774,0.00,2.22,0.00,0.000,6,0.000,0.033,3185,1773,1437
$GC,17113,1.31,411.7,105.1,8.8,1490,17158,0.00,2.33,37.50,0.759,4,0.000,0.043,3196,278,1266
$GC,17188,1.31,411.7,97.4,11.4,1502,17195,0.00,2.20,0.00,0.000,6,0.000,0.031,3195,1731,1266
$GC,17535,1.31,411.7,61.5,10.1,1563,17541,0.00,2.03,0.00,0.000,4,0.000,0.041,3195,3088,1264
$GC,17612,1.36,449.9,54.6,8.9,1576,17652,0.00,2.03,33.80,0.704,6,0.000,0.032,3199,1709,1109
$GC,17995,1.36,449.9,18.4,10.5,1642,18001,0.00,2.15,0.00,0.000,4,0.000,0.043,3212,281,1109
$GC,18138,1.36,449.9,3.7,10.3,1667,18144,0.00,2.20,0.00,0.000,6,0.000,0.031,3210,1782,1109
$STATE,18149,end climb,SURFACE_DEPTH_REACHED
$STATE,18149,begin surface coast
$FINISH,0.8,1.022038
$STATE,18183,end surface coast,CONTROL_FINISHED_OK
$STATE,18183,begin surface
$SM_CCo,18203,21.95,0.636,0,0,1008,475.15
$SM_GC,1.61,0.00,0.00,21.95,0.000,0.000,0.636,132,2092,1008,-8.07,0.88,475.15
$IRIDIUM_FIX,2403.92,12544.62,031198,212119
$TT8_MAMPS,0.027612
$HUMID,1619
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.90
$XPDR_PINGS,202
$24V_AH,23.0,102.929
$10V_AH,10.6,67.564
$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,20.275,185.150,623.950,21.950,0.000,48.910,72.595,370.610,58.500,0.000,0.000,35.294,2962.948,10720.103,774.523,3510.756,1004.257,0.000,2360.632,0.000,3437.772,0.000,60.800,0.000
$DEVICE_MAMPS,229.333,63.661,1455.766,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1135.951,1155.931,1946.469,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97865,1675
$CAP_FILE_SIZE,181057,0
$CFSIZE,260165632,196820992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.150, 71.9,1
$GPS,100809,022255,2412.769,12546.753,43,1.1,43,-3.6