version: 66.04
glider: 166
mission: 2
dive: 488
start: 8 15 109 2 43 35
data:
$ID,166
$MISSION,2
$DIVE,488
$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,-15721.037
$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,36
$R_STBD_OVSHOOT,65
$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
$GPS1,022654,2349.639,12548.856,38,1.0,38,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.4
$GPS2,024314,2349.583,12548.968,15,1.6,15,-3.5
$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,295.2,6766,-13.9,-10.000
$D_GRID,2015
$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,16,-1.11,-243.4,0.0,0.0,0,102,0.00,0.00,-83.40,0.000,2,0.000,0.000,156,2096,2351
$GC,106,-1.11,-243.4,3.1,-5.5,13,165,8.95,2.28,-44.53,0.000,4,0.220,0.049,2377,631,3939
$GC,223,-1.11,-243.4,21.6,-17.8,32,231,0.00,2.08,0.00,0.000,6,0.000,0.030,2372,2053,3940
$GC,573,-1.11,-243.4,82.4,-16.8,93,580,0.00,2.10,0.00,0.000,4,0.000,0.041,2364,3466,3940
$GC,677,-1.11,-243.4,100.7,-17.3,111,683,0.00,2.05,0.00,0.000,6,0.000,0.027,2373,2030,3940
$GC,1025,-1.11,-243.4,150.5,-13.2,172,1032,0.00,2.03,0.00,0.000,4,0.000,0.035,2373,644,3940
$GC,1050,-1.11,-243.4,154.7,-14.7,176,1059,0.00,2.12,0.00,0.000,6,0.000,0.029,2367,2085,3940
$GC,1399,-1.11,-243.4,202.3,-12.8,237,1407,0.12,2.05,0.00,0.000,4,0.157,0.040,2391,3460,3940
$GC,1461,-1.11,-243.4,210.0,-12.7,247,1467,0.00,1.98,0.00,0.000,6,0.000,0.025,2395,2061,3940
$GC,1807,-1.11,-243.4,252.3,-11.7,308,1815,0.00,2.05,0.00,0.000,4,0.000,0.035,2390,682,3939
$GC,1840,-1.11,-243.4,256.3,-13.2,313,1846,0.00,2.05,0.00,0.000,6,0.000,0.029,2376,2095,3939
$GC,2186,-1.11,-243.4,297.1,-10.8,374,2192,0.00,2.03,0.00,0.000,4,0.000,0.043,2366,3456,3937
$GC,2223,-1.11,-243.4,301.2,-11.7,380,2227,0.00,1.98,0.00,0.000,6,0.000,0.027,2369,2070,3938
$GC,2556,-1.11,-243.4,337.8,-11.5,411,2559,0.00,2.10,0.00,0.000,4,0.000,0.044,2364,3457,3935
$GC,2584,-1.11,-243.4,341.4,-12.4,413,2590,0.00,1.95,0.00,0.000,6,0.000,0.027,2367,2092,3935
$GC,2909,-1.11,-243.4,379.7,-11.6,444,2912,0.00,2.08,0.00,0.000,4,0.000,0.045,2364,3456,3934
$GC,2968,-1.11,-243.4,386.7,-12.2,449,2972,0.00,1.92,0.00,0.000,6,0.000,0.028,2365,2112,3934
$GC,3302,-1.11,-243.4,424.0,-10.6,480,3307,0.00,2.15,0.00,0.000,4,0.000,0.039,2365,663,3932
$GC,3360,-1.11,-243.4,430.9,-11.4,485,3364,0.00,2.15,0.00,0.000,6,0.000,0.035,2365,2109,3931
$GC,3691,-1.11,-243.4,467.3,-11.0,516,3694,0.00,2.05,0.00,0.000,4,0.000,0.048,2365,3461,3929
$GC,3775,-1.11,-243.4,477.0,-11.4,523,3781,0.00,1.90,0.00,0.000,6,0.000,0.029,2365,2142,3928
$GC,4098,-1.11,-243.4,512.9,-11.4,549,4101,0.00,2.05,0.00,0.000,4,0.000,0.051,2364,3471,3926
$GC,4138,-1.11,-243.4,517.7,-11.9,550,4146,0.00,1.92,0.00,0.000,6,0.000,0.031,2365,2164,3925
$GC,4454,-1.11,-243.4,554.8,-11.8,566,4455,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2165,3923
$GC,4764,-1.11,-243.4,587.2,-10.1,581,4768,0.00,2.25,0.00,0.000,4,0.000,0.044,2365,673,3920
$GC,4788,-1.11,-243.4,589.6,-10.3,582,4792,0.00,2.25,0.00,0.000,6,0.000,0.038,2364,2163,3920
$GC,5115,-1.11,-243.4,622.3,-10.3,598,5118,0.00,2.00,0.00,0.000,4,0.000,0.054,2366,3460,3917
$GC,5176,-1.11,-243.4,629.4,-11.2,600,5184,0.00,1.88,0.00,0.000,6,0.000,0.032,2370,2196,3917
$GC,5493,-1.11,-243.4,665.1,-11.3,616,5497,0.00,2.33,0.00,0.000,4,0.000,0.045,2371,668,3914
$GC,5572,-1.11,-243.4,674.9,-12.4,619,5579,0.00,2.30,0.00,0.000,6,0.000,0.041,2373,2170,3913
$GC,5889,-1.11,-243.4,709.0,-10.5,635,5893,0.00,2.00,0.00,0.000,4,0.000,0.056,2379,3459,3910
$GC,5912,-1.11,-243.4,711.7,-10.8,636,5916,0.00,1.88,0.00,0.000,6,0.000,0.034,2376,2185,3910
$GC,6245,-1.11,-243.4,746.3,-10.3,652,6249,0.00,2.30,0.00,0.000,4,0.000,0.047,2377,681,3907
$GC,6296,-1.11,-243.4,752.1,-11.6,654,6300,0.00,2.25,0.00,0.000,6,0.000,0.041,2372,2159,3907
$GC,6613,-1.11,-243.4,785.6,-10.7,669,6617,0.00,2.03,0.00,0.000,4,0.000,0.057,2364,3459,3904
$GC,6705,-1.11,-243.4,796.6,-13.1,673,6710,0.12,1.85,0.00,0.000,6,0.151,0.035,2393,2207,3903
$GC,7040,-1.11,-243.4,833.1,-10.9,689,7045,0.00,2.35,0.00,0.000,4,0.000,0.049,2394,681,3901
$GC,7058,-1.11,-243.4,835.3,-11.1,690,7062,0.00,2.35,0.00,0.000,6,0.000,0.043,2391,2206,3901
$GC,7385,-1.11,-243.4,870.3,-10.6,706,7388,0.00,1.98,0.00,0.000,4,0.000,0.059,2387,3465,3898
$GC,7458,-1.11,-243.4,878.7,-12.0,709,7462,0.00,1.80,0.00,0.000,6,0.000,0.038,2387,2255,3897
$GC,7787,-1.11,-243.4,914.0,-11.0,725,7788,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2255,3895
$GC,8095,-1.11,-243.4,947.9,-11.1,740,8098,0.00,1.92,0.00,0.000,4,0.000,0.062,2380,3460,3893
$GC,8179,-1.11,-243.4,958.0,-12.2,743,8185,0.00,1.77,0.00,0.000,6,0.000,0.039,2380,2272,3893
$STATE,8473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8473,begin apogee
$GC,8481,-0.29,0.0,991.4,11.1,758,8696,0.85,0.00,207.98,1.472,6,0.110,0.000,2652,1713,2945
$STATE,8696,end apogee,CONTROL_FINISHED_OK
$STATE,8696,begin climb
$GC,8701,1.11,243.4,1007.4,0.0,769,8931,1.27,2.35,217.62,1.427,4,0.061,0.057,3106,3091,1951
$GC,8987,1.11,243.4,987.3,13.1,782,8991,0.00,2.17,0.00,0.000,6,0.000,0.043,3116,1694,1946
$GC,9310,1.11,243.4,945.7,12.7,798,9313,0.00,2.22,0.00,0.000,4,0.000,0.057,3127,284,1943
$GC,9349,1.11,243.4,940.2,13.0,799,9355,0.00,2.15,0.00,0.000,6,0.000,0.044,3127,1682,1942
$GC,9666,1.11,243.4,901.1,11.9,815,9670,0.00,2.22,0.00,0.000,4,0.000,0.057,3126,3100,1940
$GC,9714,1.11,243.4,895.2,12.7,817,9717,0.00,2.17,0.00,0.000,6,0.000,0.042,3135,1677,1940
$GC,10048,1.11,243.4,853.0,13.2,833,10052,0.00,2.20,0.00,0.000,4,0.000,0.056,3145,280,1939
$GC,10116,1.11,243.4,843.2,14.4,836,10121,0.15,2.15,0.00,0.000,6,0.178,0.044,3108,1677,1938
$GC,10444,1.11,243.4,802.8,12.2,852,10447,0.00,2.22,0.00,0.000,4,0.000,0.057,3105,3094,1937
$GC,10550,1.11,243.4,789.4,12.1,856,10556,0.00,2.17,0.00,0.000,6,0.000,0.043,3113,1692,1937
$GC,10868,1.11,243.4,753.2,11.3,872,10872,0.00,2.22,0.00,0.000,4,0.000,0.056,3124,278,1936
$GC,10937,1.11,243.4,745.2,11.5,875,10941,0.00,2.17,0.00,0.000,6,0.000,0.044,3124,1694,1936
$GC,11270,1.11,243.4,709.2,11.2,891,11273,0.00,2.22,0.00,0.000,4,0.000,0.058,3124,3106,1935
$GC,11317,1.11,243.4,703.6,12.8,893,11321,0.00,2.20,0.00,0.000,6,0.000,0.043,3134,1672,1934
$GC,11650,1.11,243.4,663.8,11.8,909,11654,0.00,2.17,0.00,0.000,4,0.000,0.055,3144,288,1934
$GC,11742,1.11,243.4,653.1,11.7,913,11746,0.15,2.12,0.00,0.000,6,0.176,0.044,3108,1668,1934
$GC,12070,1.16,289.6,622.9,8.7,929,12122,0.00,2.25,42.20,1.208,4,0.000,0.054,3116,287,1763
$GC,12246,1.20,317.4,605.8,9.2,937,12285,0.00,2.17,28.60,1.140,6,0.000,0.050,3116,1689,1650
$GC,12595,1.20,317.4,567.8,11.4,954,12598,0.00,2.22,0.00,0.000,4,0.000,0.055,3116,3102,1646
$GC,12668,1.20,317.4,558.6,12.6,957,12671,0.00,2.17,0.00,0.000,6,0.000,0.042,3127,1680,1645
$GC,12996,1.20,317.4,520.6,11.4,973,13000,0.00,2.22,0.00,0.000,4,0.000,0.055,3126,3093,1644
$GC,13114,1.20,317.4,506.5,11.9,978,13118,0.00,2.08,0.00,0.000,6,0.000,0.041,3135,1733,1644
$GC,13444,1.20,317.4,472.1,10.0,1006,13448,0.00,2.15,0.00,0.000,4,0.000,0.054,3135,3105,1644
$GC,13551,1.20,317.4,460.0,11.1,1015,13556,0.00,2.03,0.00,0.000,6,0.000,0.040,3145,1775,1643
$GC,13880,1.21,326.7,427.0,9.7,1046,13895,0.00,2.15,8.65,0.983,4,0.000,0.054,3144,3094,1613
$GC,13963,1.21,326.7,417.4,11.0,1053,13970,0.00,1.95,0.00,0.000,6,0.000,0.039,3153,1808,1613
$GC,14292,1.21,326.7,379.7,11.2,1084,14295,0.00,2.03,0.00,0.000,4,0.000,0.051,3154,3102,1613
$GC,14316,1.21,326.7,376.6,11.7,1086,14319,0.00,1.95,0.00,0.000,6,0.000,0.038,3163,1811,1612
$GC,14650,1.22,336.9,343.5,9.7,1117,14666,0.00,2.05,10.98,0.945,4,0.000,0.051,3162,3093,1571
$GC,14709,1.24,347.6,337.7,9.7,1122,14724,0.00,1.90,11.38,0.928,6,0.000,0.037,3172,1831,1527
$GC,15045,1.24,347.6,302.9,11.2,1153,15049,0.00,1.98,0.00,0.000,4,0.000,0.049,3171,3105,1525
$GC,15103,1.24,347.6,296.3,12.1,1160,15110,0.10,1.90,0.00,0.000,6,0.156,0.037,3138,1860,1525
$GC,15450,1.25,363.4,260.9,9.6,1221,15470,0.00,2.00,15.52,0.892,4,0.000,0.048,3138,3108,1463
$GC,15494,1.26,364.0,256.3,10.0,1228,15500,0.00,2.00,0.00,0.000,6,0.000,0.036,3145,1801,1462
$GC,15839,1.29,389.1,223.4,9.3,1289,15871,0.00,2.05,23.77,0.873,4,0.000,0.047,3145,3103,1358
$GC,15962,1.33,426.9,211.1,9.0,1310,16004,0.00,1.92,34.78,0.861,6,0.000,0.035,3154,1841,1203
$GC,16346,1.35,441.7,171.9,9.6,1377,16367,0.00,1.95,14.30,0.784,4,0.000,0.044,3154,3099,1143
$GC,16381,1.35,441.7,168.2,10.6,1382,16388,0.00,1.90,0.00,0.000,6,0.000,0.034,3163,1851,1143
$GC,16727,1.35,441.7,132.1,10.2,1443,16733,0.00,1.92,0.00,0.000,4,0.000,0.042,3163,3097,1143
$GC,16753,1.35,441.7,129.1,11.1,1447,16760,0.00,1.98,0.00,0.000,6,0.000,0.033,3172,1790,1142
$GC,17099,1.35,441.7,95.3,10.8,1508,17106,0.00,2.33,0.00,0.000,4,0.000,0.045,3182,288,1141
$GC,17298,1.44,513.7,78.2,8.0,1543,17369,0.00,2.20,62.50,0.733,6,0.000,0.031,3182,1764,849
$GC,17712,1.45,519.6,39.9,9.8,1614,17725,0.00,2.30,6.57,0.551,4,0.000,0.044,3179,274,825
$GC,17982,1.45,524.0,12.3,9.9,1661,17997,0.10,2.15,5.55,0.497,6,0.068,0.029,3256,1757,808
$STATE,18068,end climb,SURFACE_DEPTH_REACHED
$STATE,18068,begin surface coast
$FINISH,1.0,1.021479
$STATE,18107,end surface coast,CONTROL_FINISHED_OK
$STATE,18107,begin surface
$SM_CCo,18188,0.00,0.000,0,0,807,524.45
$SM_GC,1.73,8.18,0.00,0.00,0.040,0.000,0.000,140,2112,807,-8.05,1.41,524.45
$IRIDIUM_FIX,2340.34,12551.43,091198,020205
$TT8_MAMPS,0.026845
$HUMID,1638
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.00
$XPDR_PINGS,187
$24V_AH,23.0,109.254
$10V_AH,10.5,71.609
$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,20.000,176.900,690.400,0.000,0.000,75.369,150.510,442.391,54.750,0.000,0.000,15.958,2932.281,10738.648,803.087,3457.714,1214.253,0.000,2398.394,0.000,3426.202,0.000,57.832,0.000
$DEVICE_MAMPS,220.129,62.127,1471.873,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1139.858,1163.350,1953.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97747,1682
$CAP_FILE_SIZE,182325,0
$CFSIZE,260165632,194494464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.167,130.1,1
$GPS,150809,074801,2349.169,12549.014,39,1.4,39,-3.5