version: 66.04
glider: 166
mission: 2
dive: 375
start: 7 22 109 21 32 8
data:
$ID,166
$MISSION,2
$DIVE,375
$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,175
$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,-12801.187
$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,46
$R_STBD_OVSHOOT,82
$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
$GPS1,212307,2358.964,12423.195,37,1.0,37,-3.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.2
$GPS2,213144,2358.855,12423.376,16,1.2,16,-3.5
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,RET_1
$TGT_LATLONG,2352.500,12344.300
$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,284.1,67216,-16.8,-10.000
$D_GRID,2187
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.12,-170.3,0.0,0.0,0,82,0.00,0.00,-63.90,0.000,2,0.000,0.000,168,1698,2333
$GC,85,-1.12,-170.3,3.1,-5.7,10,138,9.30,2.17,-37.10,0.000,4,0.238,0.053,2394,258,3639
$GC,212,-1.12,-170.3,26.9,-22.3,31,219,0.00,2.03,0.00,0.000,6,0.000,0.028,2390,1665,3639
$GC,559,-1.12,-170.3,92.3,-18.8,92,566,0.00,2.08,0.00,0.000,4,0.000,0.038,2389,3074,3639
$GC,686,-1.12,-170.3,114.8,-17.1,114,694,0.00,2.05,0.00,0.000,6,0.000,0.028,2383,1668,3639
$GC,1032,-1.12,-170.3,170.0,-14.8,175,1038,0.00,2.08,0.00,0.000,4,0.000,0.035,2370,3083,3640
$GC,1069,-1.12,-170.3,175.5,-14.8,181,1076,0.10,2.05,0.00,0.000,6,0.162,0.029,2398,1671,3641
$GC,1414,-1.12,-170.3,221.9,-13.6,242,1420,0.00,2.08,0.00,0.000,4,0.000,0.038,2393,3080,3641
$GC,1439,-1.12,-170.3,225.3,-13.9,246,1446,0.00,2.05,0.00,0.000,6,0.000,0.028,2392,1674,3641
$GC,1786,-1.12,-170.3,272.0,-13.8,307,1791,0.00,2.08,0.00,0.000,4,0.000,0.038,2389,3076,3641
$GC,1803,-1.12,-170.3,274.6,-13.8,310,1811,0.00,2.03,0.00,0.000,6,0.000,0.029,2393,1665,3641
$GC,2145,-1.12,-170.3,322.1,-13.8,357,2149,0.00,2.08,0.00,0.000,4,0.000,0.042,2390,269,3641
$GC,2180,-1.12,-170.3,327.0,-14.1,360,2183,0.00,2.03,0.00,0.000,6,0.000,0.028,2387,1684,3641
$GC,2514,-1.12,-170.3,371.8,-13.6,391,2518,0.00,2.05,0.00,0.000,4,0.000,0.041,2387,3070,3641
$GC,2575,-1.12,-170.3,379.7,-11.5,396,2582,0.00,2.05,0.00,0.000,6,0.000,0.031,2387,1679,3640
$GC,2901,-1.12,-170.3,417.4,-12.0,427,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1679,3640
$GC,3222,-1.12,-170.3,453.9,-10.9,457,3225,0.00,2.08,0.00,0.000,4,0.000,0.042,2389,3061,3638
$GC,3293,-1.12,-170.3,462.4,-11.1,463,3300,0.00,2.03,0.00,0.000,6,0.000,0.032,2386,1675,3639
$GC,3618,-1.12,-170.3,497.7,-11.0,494,3622,0.00,2.12,0.00,0.000,4,0.000,0.047,2387,265,3636
$GC,3673,-1.12,-170.3,504.5,-11.8,497,3677,0.00,2.05,0.00,0.000,6,0.000,0.031,2400,1670,3636
$GC,3996,-1.12,-170.3,538.2,-10.2,513,4000,0.00,2.10,0.00,0.000,4,0.000,0.046,2404,3069,3634
$GC,4097,-1.12,-170.3,549.7,-11.1,517,4102,0.00,2.05,0.00,0.000,6,0.000,0.035,2403,1674,3633
$GC,4418,-1.12,-170.3,583.2,-10.0,533,4422,0.00,2.12,0.00,0.000,4,0.000,0.049,2402,271,3630
$GC,4452,-1.12,-170.3,587.1,-11.2,534,4456,0.00,2.08,0.00,0.000,6,0.000,0.032,2404,1686,3630
$GC,4772,-1.12,-170.3,620.4,-10.7,550,4776,0.00,2.10,0.00,0.000,4,0.000,0.047,2396,3079,3627
$GC,4886,-1.12,-170.3,632.8,-10.9,555,4890,0.00,2.08,0.00,0.000,6,0.000,0.035,2396,1671,3626
$GC,5219,-1.12,-170.3,670.6,-11.9,571,5223,0.00,2.15,0.00,0.000,4,0.000,0.051,2396,270,3623
$GC,5247,-1.12,-170.3,674.4,-13.0,572,5252,0.00,2.10,0.00,0.000,6,0.000,0.035,2391,1685,3623
$GC,5573,-1.12,-170.3,711.8,-10.8,588,5577,0.00,2.12,0.00,0.000,4,0.000,0.053,2381,3073,3620
$GC,5598,-1.12,-170.3,714.3,-10.7,589,5602,0.00,2.08,0.00,0.000,6,0.000,0.038,2382,1676,3620
$GC,5931,-1.12,-170.3,748.6,-10.3,605,5935,0.00,2.17,0.00,0.000,4,0.000,0.052,2375,3084,3618
$GC,5992,-1.12,-170.3,755.4,-10.7,607,5998,0.00,2.12,0.00,0.000,6,0.000,0.039,2376,1663,3617
$GC,6311,-1.12,-170.3,791.8,-12.1,623,6314,0.00,2.20,0.00,0.000,4,0.000,0.058,2375,259,3614
$GC,6338,-1.12,-170.3,795.8,-13.8,624,6343,0.15,2.15,0.00,0.000,6,0.176,0.044,2405,1681,3613
$GC,6665,-1.12,-170.3,829.5,-10.0,640,6668,0.00,2.15,0.00,0.000,4,0.000,0.053,2397,3082,3611
$GC,6771,-1.12,-170.3,840.4,-10.7,644,6779,0.00,2.12,0.00,0.000,6,0.000,0.041,2397,1668,3610
$GC,7087,-1.12,-170.3,874.6,-11.1,660,7095,0.00,2.22,0.00,0.000,4,0.000,0.060,2394,3086,3608
$GC,7124,-1.12,-170.3,878.7,-11.3,661,7128,0.00,2.12,0.00,0.000,6,0.000,0.041,2394,1677,3607
$GC,7447,-1.12,-170.3,911.7,-10.4,677,7450,0.00,2.20,0.00,0.000,4,0.000,0.058,2393,271,3605
$GC,7496,-1.12,-170.3,917.9,-11.7,679,7501,0.00,2.15,0.00,0.000,6,0.000,0.042,2384,1686,3605
$GC,7825,-1.12,-170.3,955.3,-12.2,695,7830,0.12,2.17,0.00,0.000,4,0.173,0.060,2392,3072,3603
$GC,7865,-1.12,-170.3,960.1,-12.3,697,7869,0.00,2.15,0.00,0.000,6,0.000,0.048,2398,1665,3602
$STATE,8132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8132,begin apogee
$GC,8139,-0.27,0.0,990.4,11.0,710,8296,0.90,0.00,146.48,1.457,6,0.130,0.000,2672,1339,2945
$STATE,8296,end apogee,CONTROL_FINISHED_OK
$STATE,8296,begin climb
$GC,8300,1.12,170.3,999.2,0.0,718,8463,1.25,2.38,151.60,1.430,4,0.054,0.058,3126,2749,2249
$GC,8515,1.12,170.3,986.6,13.3,727,8521,0.00,2.22,0.00,0.000,6,0.000,0.047,3136,1342,2246
$GC,8831,1.12,170.3,948.4,11.3,743,8835,0.00,2.20,0.00,0.000,4,0.000,0.053,3135,2752,2243
$GC,8878,1.12,170.3,942.7,12.5,745,8882,0.00,2.17,0.00,0.000,6,0.000,0.048,3145,1350,2243
$GC,9205,1.12,170.3,903.8,11.6,761,9209,0.00,2.20,0.00,0.000,4,0.000,0.058,3145,2761,2241
$GC,9228,1.12,170.3,901.1,12.2,762,9232,0.00,2.20,0.00,0.000,6,0.000,0.051,3155,1342,2240
$GC,9556,1.12,170.3,859.7,13.5,778,9559,0.00,1.80,0.00,0.000,4,0.000,0.061,3163,195,2239
$GC,9605,1.12,170.3,852.5,14.1,780,9609,0.15,1.77,0.00,0.000,6,0.200,0.050,3128,1367,2238
$GC,9931,1.12,170.3,811.2,13.1,796,9935,0.00,2.12,0.00,0.000,4,0.000,0.052,3125,2744,2237
$GC,10009,1.12,170.3,800.7,13.0,799,10013,0.00,2.15,0.00,0.000,6,0.000,0.048,3133,1347,2237
$GC,10332,1.12,170.3,758.8,12.2,815,10336,0.00,1.80,0.00,0.000,4,0.000,0.061,3142,198,2236
$GC,10360,1.12,170.3,755.0,12.4,816,10364,0.00,1.73,0.00,0.000,6,0.000,0.043,3141,1348,2236
$GC,10687,1.12,170.3,718.1,10.9,832,10690,0.00,2.17,0.00,0.000,4,0.000,0.058,3141,2749,2235
$GC,10945,1.12,170.3,687.8,12.1,843,10949,0.00,2.17,0.00,0.000,6,0.000,0.046,3149,1337,2235
$GC,11262,1.12,170.3,653.7,11.3,858,11266,0.00,2.20,0.00,0.000,4,0.000,0.052,3146,2749,2234
$GC,11301,1.12,170.3,649.0,11.6,859,11307,0.00,2.17,0.00,0.000,6,0.000,0.052,3154,1347,2234
$GC,11617,1.12,170.3,615.8,10.4,875,11621,0.00,1.80,0.00,0.000,4,0.000,0.060,3163,196,2233
$GC,11718,1.13,174.6,604.9,9.8,879,11722,0.10,1.77,0.00,0.000,6,0.191,0.051,3123,1346,2233
$GC,12039,1.13,179.5,574.4,9.8,895,12050,0.00,1.88,6.47,1.018,4,0.000,0.058,3130,199,2212
$GC,12090,1.13,179.5,568.4,11.5,897,12094,0.00,1.77,0.00,0.000,6,0.000,0.050,3129,1348,2212
$GC,12412,1.16,199.6,536.6,9.2,913,12434,0.00,0.00,19.60,1.161,6,0.000,0.000,3129,1348,2131
$GC,12742,1.18,223.2,505.5,9.1,929,12777,0.00,2.25,23.98,1.060,4,0.000,0.049,3127,2752,2035
$GC,12819,1.18,223.2,497.5,10.8,933,12823,0.00,2.20,0.00,0.000,6,0.000,0.051,3136,1347,2032
$GC,13148,1.19,224.2,465.7,10.0,963,13152,0.00,2.20,0.00,0.000,4,0.000,0.049,3136,2760,2031
$GC,13330,1.19,224.2,446.1,10.7,979,13334,0.00,2.20,0.00,0.000,6,0.000,0.051,3148,1339,2030
$GC,13660,1.19,226.4,412.6,9.9,1009,13664,0.00,1.77,0.00,0.000,4,0.000,0.056,3158,195,2030
$GC,13672,1.21,240.1,411.0,9.5,1010,13695,0.00,1.75,15.95,1.032,6,0.000,0.040,3157,1370,1965
$GC,14014,1.21,240.1,375.3,12.1,1042,14017,0.00,2.10,0.00,0.000,4,0.000,0.046,3159,2746,1962
$GC,14086,1.21,240.1,366.7,11.4,1048,14094,0.00,2.15,0.00,0.000,6,0.000,0.042,3167,1334,1962
$GC,14413,1.27,288.5,334.2,8.1,1079,14461,0.00,1.83,42.30,0.993,4,0.000,0.054,3176,208,1766
$GC,14542,1.27,288.5,322.1,10.3,1090,14548,0.00,1.75,0.00,0.000,6,0.000,0.037,3176,1357,1764
$GC,14876,1.27,288.5,283.4,12.4,1132,14883,0.00,2.10,0.00,0.000,4,0.000,0.043,3179,2748,1762
$GC,14975,1.27,288.5,270.7,12.4,1149,14981,0.00,2.12,0.00,0.000,6,0.000,0.040,3188,1343,1761
$GC,15318,1.27,288.5,235.5,10.2,1210,15324,0.00,2.12,0.00,0.000,4,0.000,0.041,3192,2750,1761
$GC,15535,1.27,288.5,213.0,10.5,1248,15543,0.12,2.10,0.00,0.000,6,0.183,0.038,3173,1345,1761
$GC,15881,1.30,320.7,181.6,8.7,1309,15924,0.00,1.80,30.33,0.785,4,0.000,0.051,3181,208,1637
$GC,16094,1.30,320.7,159.5,10.1,1346,16100,0.00,1.70,0.00,0.000,6,0.000,0.033,3181,1355,1635
$GC,16438,1.34,347.8,128.8,8.9,1407,16470,0.00,2.12,24.40,0.765,4,0.000,0.041,3181,2738,1525
$GC,16478,1.36,365.1,125.0,9.3,1413,16504,0.00,2.10,15.85,0.722,6,0.000,0.036,3189,1341,1456
$GC,16846,1.39,387.6,92.4,9.1,1477,16872,0.00,2.20,20.73,0.716,4,0.000,0.036,3189,2758,1364
$GC,16902,1.44,432.0,87.2,8.3,1486,16948,0.00,2.15,39.03,0.722,6,0.000,0.035,3199,1348,1183
$GC,17291,1.50,477.2,52.1,8.2,1553,17336,0.12,2.17,39.35,0.689,4,0.067,0.035,3261,2749,998
$GC,17450,1.50,477.2,33.5,14.1,1580,17457,0.00,2.12,0.00,0.000,6,0.000,0.035,3271,1347,998
$STATE,17692,end climb,SURFACE_DEPTH_REACHED
$STATE,17692,begin surface coast
$FINISH,0.9,1.010049
$STATE,17722,end surface coast,CONTROL_FINISHED_OK
$STATE,17722,begin surface
$SM_CCo,17801,0.00,0.000,0,0,996,478.09
$SM_GC,1.66,8.18,0.00,0.00,0.036,0.000,0.000,168,1694,996,-8.11,0.54,478.09
$IRIDIUM_FIX,2349.77,12419.34,161098,151522
$TT8_MAMPS,0.026845
$HUMID,1552
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.90
$XPDR_PINGS,155
$24V_AH,23.3,80.542
$10V_AH,10.7,53.749
$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,20.500,170.775,576.050,0.000,0.000,23.300,38.452,278.353,46.750,0.000,0.000,16.615,2855.956,10603.322,692.467,3360.856,782.097,0.000,2224.296,0.000,3318.760,0.000,54.461,0.000
$DEVICE_MAMPS,237.770,61.360,1456.533,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.514,1123.986,1889.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94593,1628
$CAP_FILE_SIZE,171887,0
$CFSIZE,260165632,204845056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.219,107.6,1
$GPS,230709,023007,2358.469,12424.125,41,1.1,41,-3.5