version: 66.04
glider: 166
mission: 2
dive: 489
start: 8 15 109 7 59 53
data:
$ID,166
$MISSION,2
$DIVE,489
$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,-15738.564
$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,72
$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
$GPS1,074801,2349.169,12549.014,39,1.4,39,-3.5
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.2
$GPS2,075931,2349.085,12548.979,11,1.4,16,-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,300.5,6951,-13.9,-10.000
$D_GRID,2267
$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,-243.4,0.0,0.0,0,88,0.00,0.00,-70.45,0.000,2,0.000,0.000,140,2112,2417
$GC,92,-1.11,-243.4,3.4,-5.6,10,150,8.93,2.25,-41.30,0.000,4,0.219,0.048,2384,644,3939
$GC,189,-1.11,-243.4,18.2,-18.6,25,195,0.00,2.05,0.00,0.000,6,0.000,0.031,2375,2043,3940
$GC,534,-1.11,-243.4,77.2,-16.2,86,540,0.00,2.10,0.00,0.000,4,0.000,0.036,2392,646,3940
$GC,649,-1.11,-243.4,97.3,-17.6,106,656,0.00,2.15,0.00,0.000,6,0.000,0.030,2382,2096,3940
$GC,995,-1.11,-243.4,146.6,-13.2,167,1001,0.00,2.03,0.00,0.000,4,0.000,0.042,2373,3463,3941
$GC,1038,-1.11,-243.4,152.3,-13.6,174,1044,0.00,2.00,0.00,0.000,6,0.000,0.026,2373,2072,3941
$GC,1385,-1.11,-243.4,196.3,-12.5,235,1391,0.00,2.10,0.00,0.000,4,0.000,0.042,2364,3461,3941
$GC,1466,-1.11,-243.4,208.0,-14.5,249,1472,0.00,1.88,0.00,0.000,6,0.000,0.026,2366,2135,3941
$GC,1811,-1.11,-243.4,255.1,-12.2,310,1818,0.00,2.03,0.00,0.000,4,0.000,0.044,2342,3471,3941
$GC,1836,-1.11,-243.4,258.2,-12.3,314,1842,0.10,1.90,0.00,0.000,6,0.150,0.026,2388,2150,3940
$GC,2182,-1.11,-243.4,298.6,-12.0,375,2188,0.00,2.00,0.00,0.000,4,0.000,0.044,2359,3463,3940
$GC,2207,-1.11,-243.4,301.7,-11.8,378,2211,0.00,1.83,0.00,0.000,6,0.000,0.027,2369,2181,3940
$GC,2542,-1.11,-243.4,340.7,-11.5,409,2546,0.10,1.95,0.00,0.000,4,0.143,0.044,2377,3463,3938
$GC,2577,-1.11,-243.4,345.2,-11.5,412,2580,0.00,1.80,0.00,0.000,6,0.000,0.027,2379,2203,3938
$GC,2908,-1.11,-243.4,383.0,-11.7,443,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2203,3936
$GC,3227,-1.11,-243.4,418.8,-10.6,473,3230,0.00,1.92,0.00,0.000,4,0.000,0.048,2377,3458,3935
$GC,3289,-1.11,-243.4,426.1,-11.8,478,3296,0.00,1.80,0.00,0.000,6,0.000,0.029,2378,2222,3934
$GC,3618,-1.11,-243.4,461.4,-10.8,509,3622,0.00,2.30,0.00,0.000,4,0.000,0.040,2378,682,3932
$GC,3639,-1.11,-243.4,464.4,-11.1,510,3646,0.00,2.30,0.00,0.000,6,0.000,0.036,2377,2226,3932
$GC,3970,-1.11,-243.4,500.1,-11.5,541,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2226,3930
$GC,4275,-1.11,-243.4,534.9,-10.6,556,4279,0.00,1.88,0.00,0.000,4,0.000,0.051,2376,3458,3927
$GC,4332,-1.11,-243.4,541.1,-11.1,558,4336,0.00,1.80,0.00,0.000,6,0.000,0.031,2377,2216,3926
$GC,4654,-1.11,-243.4,573.1,-10.2,574,4657,0.00,1.92,0.00,0.000,4,0.000,0.050,2376,3460,3925
$GC,4701,-1.11,-243.4,578.0,-10.6,576,4705,0.00,1.80,0.00,0.000,6,0.000,0.031,2378,2222,3925
$GC,5035,-1.11,-243.4,614.2,-10.9,592,5039,0.00,2.33,0.00,0.000,4,0.000,0.044,2378,688,3922
$GC,5053,-1.11,-243.4,616.2,-11.1,593,5057,0.00,2.33,0.00,0.000,6,0.000,0.038,2370,2225,3922
$GC,5382,-1.11,-243.4,651.3,-10.4,609,5385,0.00,1.90,0.00,0.000,4,0.000,0.053,2362,3464,3919
$GC,5489,-1.11,-243.4,663.5,-11.1,613,5495,0.00,1.75,0.00,0.000,6,0.000,0.033,2364,2263,3918
$GC,5806,-1.11,-243.4,697.9,-11.3,629,5810,0.00,2.40,0.00,0.000,4,0.000,0.046,2364,684,3915
$GC,5852,-1.11,-243.4,703.5,-12.5,631,5857,0.12,2.40,0.00,0.000,6,0.141,0.041,2395,2253,3915
$GC,6182,-1.11,-243.4,738.5,-10.4,647,6185,0.00,1.88,0.00,0.000,4,0.000,0.056,2390,3463,3912
$GC,6205,-1.11,-243.4,741.2,-10.4,648,6208,0.00,1.75,0.00,0.000,6,0.000,0.035,2389,2272,3911
$GC,6539,-1.11,-243.4,774.7,-10.0,664,6544,0.00,1.88,0.00,0.000,4,0.000,0.058,2393,3465,3909
$GC,6578,-1.11,-243.4,778.9,-10.7,665,6583,0.00,1.73,0.00,0.000,6,0.000,0.035,2391,2290,3909
$GC,6894,-1.11,-243.4,812.6,-11.1,681,6898,0.00,1.85,0.00,0.000,4,0.000,0.058,2389,3448,3906
$GC,6933,-1.11,-243.4,817.3,-11.3,682,6940,0.00,1.67,0.00,0.000,6,0.000,0.036,2385,2330,3905
$GC,7250,-1.11,-243.4,853.2,-11.1,698,7255,0.00,2.55,0.00,0.000,4,0.000,0.048,2388,681,3904
$GC,7340,-1.11,-243.4,864.0,-12.5,702,7344,0.00,2.47,0.00,0.000,6,0.000,0.043,2380,2289,3902
$GC,7662,-1.11,-243.4,898.8,-10.5,718,7666,0.00,1.83,0.00,0.000,4,0.000,0.061,2376,3454,3900
$GC,7718,-1.11,-243.4,905.4,-11.4,720,7721,0.00,1.65,0.00,0.000,6,0.000,0.038,2374,2337,3900
$GC,8039,-1.11,-243.4,939.0,-10.4,736,8044,0.00,2.58,0.00,0.000,4,0.000,0.050,2375,681,3898
$GC,8130,-1.11,-243.4,949.5,-12.6,740,8135,0.00,2.53,0.00,0.000,6,0.000,0.046,2366,2301,3897
$GC,8457,-1.11,-243.4,987.6,-12.0,756,8461,0.00,2.53,0.00,0.000,4,0.000,0.051,2366,690,3895
$STATE,8475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8476,begin apogee
$GC,8486,-0.29,0.0,990.4,12.1,757,8702,0.93,0.00,207.88,1.471,6,0.130,0.000,2648,1697,2944
$STATE,8703,end apogee,CONTROL_FINISHED_OK
$STATE,8703,begin climb
$GC,8706,1.11,243.4,1005.8,0.0,768,8934,1.27,2.35,217.32,1.427,4,0.062,0.061,3103,3113,1951
$GC,8988,1.11,243.4,990.2,12.0,781,8991,0.00,2.15,0.00,0.000,6,0.000,0.041,3113,1726,1946
$GC,9321,1.11,243.4,952.8,11.0,797,9325,0.00,2.25,0.00,0.000,4,0.000,0.056,3124,292,1942
$GC,9422,1.11,243.4,941.2,11.1,801,9425,0.00,2.12,0.00,0.000,6,0.000,0.044,3124,1677,1941
$GC,9745,1.11,243.4,904.2,11.7,817,9748,0.00,2.25,0.00,0.000,4,0.000,0.057,3125,3106,1939
$GC,9761,1.11,243.4,901.9,12.2,817,9767,0.00,2.20,0.00,0.000,6,0.000,0.043,3135,1667,1939
$GC,10077,1.11,243.4,861.7,12.5,833,10081,0.00,2.17,0.00,0.000,4,0.000,0.057,3145,286,1938
$GC,10173,1.11,243.4,849.7,12.2,837,10178,0.15,2.10,0.00,0.000,6,0.177,0.044,3108,1661,1938
$GC,10500,1.11,243.4,812.5,11.9,853,10504,0.00,2.25,0.00,0.000,4,0.000,0.056,3107,3091,1937
$GC,10608,1.11,243.4,798.6,12.3,857,10614,0.00,2.17,0.00,0.000,6,0.000,0.043,3116,1664,1936
$GC,10924,1.11,243.4,760.7,11.8,873,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,1664,1936
$GC,11233,1.11,243.4,726.8,10.3,888,11237,0.00,2.17,0.00,0.000,4,0.000,0.057,3127,286,1935
$GC,11273,1.11,243.4,722.5,11.4,889,11280,0.00,2.12,0.00,0.000,6,0.000,0.044,3127,1668,1935
$GC,11590,1.11,243.4,688.5,11.4,905,11593,0.00,2.20,0.00,0.000,4,0.000,0.056,3137,286,1934
$GC,11636,1.11,243.4,682.7,12.5,907,11641,0.12,2.12,0.00,0.000,6,0.179,0.045,3107,1667,1934
$GC,11970,1.11,243.4,644.8,11.0,923,11973,0.00,2.25,0.00,0.000,4,0.000,0.056,3105,3094,1934
$GC,12065,1.11,243.4,634.0,10.8,927,12069,0.00,2.20,0.00,0.000,6,0.000,0.043,3113,1666,1933
$GC,12392,1.11,249.2,599.9,9.8,943,12396,0.00,2.17,0.00,0.000,4,0.000,0.055,3124,284,1933
$GC,12455,1.16,285.3,593.9,9.0,945,12505,0.00,2.15,38.25,1.180,6,0.000,0.044,3124,1682,1781
$GC,12816,1.16,285.3,556.6,10.5,963,12820,0.00,2.22,0.00,0.000,4,0.000,0.055,3124,3098,1777
$GC,12940,1.16,285.3,541.8,11.8,968,12944,0.00,2.12,0.00,0.000,6,0.000,0.042,3133,1709,1775
$GC,13262,1.16,285.3,506.3,11.2,984,13266,0.00,2.22,0.00,0.000,4,0.000,0.054,3144,290,1775
$GC,13279,1.16,285.3,504.3,11.0,984,13285,0.00,2.22,0.00,0.000,6,0.000,0.042,3144,1741,1775
$GC,13609,1.18,303.7,471.7,9.5,1013,13643,0.00,2.20,19.05,1.009,4,0.000,0.054,3144,3097,1706
$GC,13679,1.18,303.7,464.3,10.9,1019,13683,0.00,2.08,0.00,0.000,6,0.000,0.040,3153,1747,1705
$GC,14015,1.18,303.7,428.1,10.7,1050,14021,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,1747,1704
$GC,14341,1.18,303.7,392.2,10.3,1081,14345,0.00,2.12,0.00,0.000,4,0.000,0.052,3154,3105,1704
$GC,14478,1.18,303.7,376.8,11.3,1093,14482,0.15,2.05,0.00,0.000,6,0.167,0.040,3126,1755,1704
$GC,14809,1.20,316.3,344.3,9.7,1124,14826,0.00,2.17,12.73,0.959,4,0.000,0.051,3124,3097,1655
$GC,14908,1.20,316.3,334.3,10.8,1132,14912,0.00,1.98,0.00,0.000,6,0.000,0.038,3132,1789,1654
$GC,15243,1.20,316.3,299.5,10.3,1163,15250,0.00,2.05,0.00,0.000,4,0.000,0.049,3132,3108,1654
$GC,15303,1.20,316.3,292.7,10.3,1173,15309,0.00,1.95,0.00,0.000,6,0.000,0.037,3141,1811,1654
$GC,15649,1.23,342.8,260.1,9.3,1234,15680,0.00,2.03,25.15,0.914,4,0.000,0.047,3141,3103,1546
$GC,15743,1.23,342.8,249.9,10.4,1250,15749,0.00,1.90,0.00,0.000,6,0.000,0.036,3150,1860,1544
$GC,16089,1.29,392.9,213.4,8.6,1311,16138,0.00,2.55,44.25,0.877,4,0.000,0.047,3162,282,1343
$GC,16201,1.32,415.2,202.4,9.4,1330,16232,0.00,2.40,21.20,0.833,6,0.000,0.035,3162,1858,1251
$GC,16572,1.32,415.2,164.3,11.1,1395,16580,0.00,1.92,0.00,0.000,4,0.000,0.045,3162,3104,1250
$GC,16632,1.32,415.2,157.6,11.2,1405,16639,0.00,2.03,0.00,0.000,6,0.000,0.035,3171,1773,1248
$GC,16978,1.37,453.3,120.7,8.9,1466,17019,0.00,2.12,33.78,0.780,4,0.000,0.043,3171,3106,1097
$GC,17048,1.40,480.2,113.2,9.3,1477,17080,0.00,2.00,24.88,0.750,6,0.000,0.033,3178,1792,986
$GC,17422,1.41,488.0,77.4,9.8,1542,17436,0.00,2.40,7.78,0.624,4,0.000,0.046,3180,277,955
$GC,17692,1.41,488.0,50.5,11.2,1589,17699,0.00,2.22,0.00,0.000,6,0.000,0.031,3180,1789,955
$GC,18038,1.41,488.0,16.2,10.7,1650,18044,0.00,2.30,0.00,0.000,4,0.000,0.044,3177,280,955
$STATE,18188,end climb,SURFACE_DEPTH_REACHED
$STATE,18188,begin surface coast
$FINISH,1.0,1.008237
$STATE,18224,end surface coast,CONTROL_FINISHED_OK
$STATE,18224,begin surface
$SM_CCo,18307,0.00,0.000,0,0,954,488.39
$SM_GC,1.88,7.93,0.00,0.00,0.036,0.000,0.000,148,2083,954,-8.06,0.62,488.39
$IRIDIUM_FIX,2340.34,12551.43,091198,080844
$TT8_MAMPS,0.026845
$HUMID,1633
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,24.70
$XPDR_PINGS,197
$24V_AH,22.9,109.516
$10V_AH,10.6,71.778
$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,19.800,176.750,652.250,0.000,0.000,48.846,64.335,320.900,57.250,0.000,0.000,16.899,2944.886,10830.778,767.986,3462.392,970.734,0.000,2340.007,0.000,3427.763,0.000,54.447,0.000
$DEVICE_MAMPS,218.595,61.360,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1141.401,1163.497,1955.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97871,1683
$CAP_FILE_SIZE,176243,0
$CFSIZE,260165632,194400256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.134,133.4,1
$GPS,150809,130606,2348.745,12548.716,26,1.2,26,-3.5