version: 66.04
glider: 166
mission: 2
dive: 376
start: 7 23 109 2 37 53
data:
$ID,166
$MISSION,2
$DIVE,376
$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,-12818.166
$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,45
$R_STBD_OVSHOOT,67
$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
$GPS1,023007,2358.469,12424.125,41,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.9
$GPS2,023732,2358.425,12424.396,16,1.6,16,-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,285.1,68784,-16.8,-10.000
$D_GRID,2340
$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,-1.12,-170.3,0.0,0.0,0,81,0.00,0.00,-63.47,0.000,2,0.000,0.000,164,1694,2463
$GC,85,-1.12,-170.3,3.5,-6.1,10,132,9.25,2.22,-30.40,0.000,4,0.234,0.054,2394,269,3641
$GC,168,-1.12,-170.3,18.9,-20.5,23,175,0.00,2.03,0.00,0.000,6,0.000,0.028,2388,1674,3641
$GC,513,-1.12,-170.3,87.6,-18.2,84,521,0.00,2.08,0.00,0.000,4,0.000,0.040,2382,3063,3641
$GC,585,-1.12,-170.3,100.7,-18.3,96,593,0.00,2.03,0.00,0.000,6,0.000,0.029,2381,1652,3642
$GC,931,-1.12,-170.3,160.9,-16.9,157,938,0.00,2.08,0.00,0.000,4,0.000,0.041,2382,274,3643
$GC,979,-1.12,-170.3,169.0,-18.0,165,986,0.00,2.05,0.00,0.000,6,0.000,0.027,2377,1683,3643
$GC,1324,-1.12,-170.3,219.5,-15.6,226,1331,0.12,2.08,0.00,0.000,4,0.171,0.037,2399,3072,3643
$GC,1382,-1.12,-170.3,227.9,-13.8,236,1390,0.00,2.03,0.00,0.000,6,0.000,0.029,2403,1661,3644
$GC,1730,-1.12,-170.3,269.3,-10.4,297,1736,0.00,2.10,0.00,0.000,4,0.000,0.038,2386,3075,3644
$GC,1811,-1.12,-170.3,278.5,-11.2,311,1817,0.00,2.03,0.00,0.000,6,0.000,0.030,2387,1672,3644
$GC,2152,-1.12,-170.3,322.5,-14.1,358,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1672,3644
$GC,2471,-1.12,-170.3,363.1,-12.2,388,2475,0.00,2.10,0.00,0.000,4,0.000,0.041,2383,3078,3644
$GC,2538,-1.12,-170.3,372.2,-13.5,394,2542,0.00,2.05,0.00,0.000,6,0.000,0.031,2383,1666,3644
$GC,2870,-1.12,-170.3,413.1,-12.0,425,2873,0.00,2.10,0.00,0.000,4,0.000,0.042,2382,3063,3644
$GC,3045,-1.12,-170.3,435.0,-12.5,440,3054,0.00,2.03,0.00,0.000,6,0.000,0.033,2383,1669,3643
$GC,3370,-1.12,-170.3,470.0,-9.9,471,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,1669,3641
$GC,3690,-1.12,-170.3,502.7,-10.5,500,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,1669,3640
$GC,3999,-1.12,-170.3,536.8,-11.0,515,4002,0.00,2.12,0.00,0.000,4,0.000,0.044,2404,3067,3638
$GC,4021,-1.12,-170.3,539.6,-11.0,516,4025,0.00,2.05,0.00,0.000,6,0.000,0.034,2403,1672,3637
$GC,4354,-1.12,-170.3,574.3,-10.2,532,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,1672,3635
$GC,4663,-1.12,-170.3,605.9,-10.4,547,4667,0.00,2.15,0.00,0.000,4,0.000,0.051,2404,270,3632
$GC,4724,-1.12,-170.3,613.1,-11.1,549,4730,0.00,2.08,0.00,0.000,6,0.000,0.032,2395,1680,3631
$GC,5042,-1.12,-170.3,649.5,-12.3,565,5050,0.00,2.17,0.00,0.000,4,0.000,0.051,2395,268,3629
$GC,5090,-1.12,-170.3,656.2,-13.8,567,5094,0.00,2.10,0.00,0.000,6,0.000,0.035,2392,1681,3628
$GC,5423,-1.12,-170.3,695.5,-10.6,583,5427,0.00,2.12,0.00,0.000,4,0.000,0.050,2391,3075,3626
$GC,5506,-1.12,-170.3,704.4,-10.4,586,5513,0.00,2.08,0.00,0.000,6,0.000,0.038,2392,1678,3624
$GC,5822,-1.12,-170.3,736.8,-10.9,602,5825,0.00,2.15,0.00,0.000,4,0.000,0.051,2382,3073,3622
$GC,5867,-1.12,-170.3,742.1,-12.2,604,5871,0.00,2.12,0.00,0.000,6,0.000,0.041,2382,1665,3621
$GC,6200,-1.12,-170.3,783.2,-12.3,620,6204,0.00,2.17,0.00,0.000,4,0.000,0.056,2382,265,3619
$GC,6233,-1.12,-170.3,787.8,-14.3,621,6237,0.12,2.12,0.00,0.000,6,0.174,0.040,2402,1674,3619
$GC,6555,-1.12,-170.3,823.7,-11.2,637,6559,0.00,2.17,0.00,0.000,4,0.000,0.055,2394,3073,3616
$GC,6636,-1.12,-170.3,832.9,-11.4,640,6640,0.00,2.12,0.00,0.000,6,0.000,0.043,2394,1676,3615
$GC,6957,-1.12,-170.3,868.9,-10.9,656,6960,0.00,2.22,0.00,0.000,4,0.000,0.064,2393,267,3612
$GC,7047,-1.12,-170.3,879.8,-12.9,660,7051,0.00,2.15,0.00,0.000,6,0.000,0.044,2387,1682,3612
$GC,7380,-1.12,-170.3,916.5,-10.9,676,7383,0.00,2.17,0.00,0.000,4,0.000,0.054,2368,3087,3609
$GC,7407,-1.12,-170.3,919.6,-11.3,677,7411,0.00,2.15,0.00,0.000,6,0.000,0.041,2375,1665,3608
$GC,7735,-1.12,-170.3,956.5,-11.6,693,7737,0.12,0.00,0.00,0.000,6,0.169,0.000,2405,1664,3607
$GC,8044,-1.12,-170.3,988.0,-9.8,708,8048,0.00,2.22,0.00,0.000,4,0.000,0.058,2383,3079,3605
$STATE,8066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8066,begin apogee
$GC,8075,-0.27,0.0,990.4,9.9,709,8229,0.93,0.00,146.07,1.471,6,0.130,0.000,2673,1349,2944
$STATE,8230,end apogee,CONTROL_FINISHED_OK
$STATE,8230,begin climb
$GC,8233,1.12,170.3,998.1,0.0,717,8396,1.23,2.40,151.65,1.430,4,0.052,0.053,3124,2758,2248
$GC,8452,1.12,170.3,981.9,14.2,727,8456,0.00,2.25,0.00,0.000,6,0.000,0.048,3134,1339,2246
$GC,8780,1.12,170.3,936.9,13.5,743,8782,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,1339,2243
$GC,9088,1.12,170.3,896.8,12.7,758,9092,0.00,2.22,0.00,0.000,4,0.000,0.054,3133,2758,2241
$GC,9228,1.12,170.3,878.0,14.6,764,9232,0.00,2.20,0.00,0.000,6,0.000,0.054,3142,1340,2240
$GC,9556,1.12,170.3,839.0,11.3,780,9559,0.00,1.80,0.00,0.000,4,0.000,0.066,3151,204,2239
$GC,9617,1.12,170.3,831.8,12.1,782,9623,0.00,1.77,0.00,0.000,6,0.000,0.044,3151,1358,2238
$GC,9935,1.12,170.3,799.2,10.3,798,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,1359,2237
$GC,10244,1.12,170.3,764.1,12.1,813,10247,0.00,2.17,0.00,0.000,4,0.000,0.054,3149,2760,2236
$GC,10379,1.12,170.3,747.2,12.2,819,10384,0.12,2.17,0.00,0.000,6,0.206,0.048,3130,1350,2236
$GC,10707,1.12,170.3,711.5,10.7,835,10711,0.00,2.20,0.00,0.000,4,0.000,0.054,3128,2753,2235
$GC,10825,1.12,170.3,698.7,11.8,840,10828,0.00,2.17,0.00,0.000,6,0.000,0.047,3136,1340,2235
$GC,11153,1.12,170.3,661.8,11.6,856,11156,0.00,2.20,0.00,0.000,4,0.000,0.053,3134,2750,2235
$GC,11342,1.12,170.3,640.6,10.2,864,11346,0.00,2.17,0.00,0.000,6,0.000,0.047,3142,1340,2234
$GC,11664,1.12,170.3,609.2,10.1,880,11667,0.00,2.20,0.00,0.000,4,0.000,0.051,3138,2756,2234
$GC,11823,1.13,177.4,592.2,9.7,887,11832,0.00,2.17,4.78,0.904,6,0.000,0.047,3146,1350,2221
$GC,12155,1.13,177.4,558.3,10.2,903,12158,0.00,1.83,0.00,0.000,4,0.000,0.065,3156,197,2220
$GC,12320,1.19,224.3,543.3,8.2,910,12369,0.00,1.77,42.95,1.195,6,0.000,0.047,3156,1347,2029
$GC,12689,1.19,224.3,506.4,11.4,928,12692,0.00,2.17,0.00,0.000,4,0.000,0.050,3156,2750,2023
$GC,12781,1.19,224.3,495.1,12.6,933,12785,0.00,2.17,0.00,0.000,6,0.000,0.044,3165,1340,2022
$GC,13111,1.19,230.6,461.0,9.7,964,13125,0.00,2.20,6.15,0.917,4,0.000,0.048,3168,2755,2003
$GC,13310,1.19,230.6,440.4,11.1,981,13317,0.12,2.17,0.00,0.000,6,0.200,0.044,3152,1340,2002
$GC,13636,1.19,230.6,407.8,10.0,1012,13640,0.00,1.77,0.00,0.000,4,0.000,0.056,3159,198,2002
$GC,13660,1.20,236.2,405.3,9.8,1014,13672,0.00,1.75,6.65,0.900,6,0.000,0.040,3154,1355,1981
$GC,13991,1.26,280.5,374.5,8.3,1045,14036,0.00,2.25,39.30,1.030,4,0.000,0.047,3158,2751,1800
$GC,14065,1.26,281.8,367.3,9.9,1051,14071,0.00,2.17,0.00,0.000,6,0.000,0.041,3163,1349,1798
$GC,14392,1.26,281.8,332.2,10.6,1082,14395,0.00,1.77,0.00,0.000,4,0.000,0.054,3171,203,1796
$GC,14557,1.26,284.6,314.6,9.9,1096,14566,0.00,1.73,4.55,0.682,6,0.000,0.036,3173,1355,1784
$GC,14891,1.26,284.6,279.8,10.7,1144,14899,0.00,2.10,0.00,0.000,4,0.000,0.041,3176,2753,1784
$GC,14990,1.26,284.6,269.4,10.2,1161,14996,0.00,2.12,0.00,0.000,6,0.000,0.039,3183,1343,1783
$GC,15333,1.26,284.6,233.5,10.2,1222,15340,0.00,2.12,0.00,0.000,4,0.000,0.041,3186,2755,1784
$GC,15594,1.27,295.4,206.7,9.6,1268,15619,0.00,2.10,13.50,0.700,6,0.000,0.037,3196,1348,1740
$GC,15960,1.30,320.7,173.1,9.0,1332,15993,0.00,2.17,23.25,0.812,4,0.000,0.041,3196,2750,1636
$GC,16040,1.30,320.7,164.9,10.0,1345,16046,0.00,2.15,0.00,0.000,6,0.000,0.036,3206,1347,1635
$GC,16385,1.30,320.7,131.4,10.4,1406,16391,0.00,1.77,0.00,0.000,4,0.000,0.048,3214,198,1635
$GC,16478,1.31,326.1,122.0,9.8,1422,16491,0.00,1.70,6.22,0.617,6,0.000,0.031,3214,1365,1614
$GC,16830,1.32,330.8,93.3,9.8,1484,16844,0.00,2.08,5.97,0.587,4,0.000,0.041,3214,2731,1595
$GC,16936,1.34,345.6,82.8,9.4,1502,16957,0.00,2.05,14.40,0.694,6,0.000,0.035,3223,1343,1536
$GC,17298,1.41,407.9,54.8,7.5,1565,17356,0.00,1.83,53.17,0.706,4,0.000,0.048,3231,199,1282
$GC,17420,1.42,413.7,43.7,9.8,1585,17432,0.00,1.67,6.57,0.548,6,0.000,0.029,3231,1344,1258
$GC,17771,1.46,449.9,8.9,8.6,1647,17810,0.00,1.75,31.85,0.649,4,0.000,0.044,3240,199,1110
$STATE,17832,end climb,SURFACE_DEPTH_REACHED
$STATE,17832,begin surface coast
$FINISH,0.9,1.011450
$STATE,17862,end surface coast,CONTROL_FINISHED_OK
$STATE,17862,begin surface
$SM_CCo,17944,0.00,0.000,0,0,1105,451.11
$SM_GC,1.58,8.30,0.00,0.00,0.045,0.000,0.000,168,1689,1105,-8.11,0.40,451.11
$IRIDIUM_FIX,2349.77,12424.56,161098,212138
$TT8_MAMPS,0.026845
$HUMID,1539
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,25.90
$XPDR_PINGS,139
$24V_AH,23.1,80.746
$10V_AH,10.6,53.914
$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,20.325,154.100,557.050,0.000,0.000,25.205,35.217,218.598,42.750,0.000,0.000,16.350,2916.710,10600.018,658.900,3472.149,722.172,0.000,2206.826,0.000,3438.706,0.000,54.435,0.000
$DEVICE_MAMPS,233.935,65.962,1471.106,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.989,1149.698,1931.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97856,1662
$CAP_FILE_SIZE,169334,0
$CFSIZE,260165632,204754944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.294,110.5,1
$GPS,230709,073806,2357.552,12425.784,32,1.2,32,-3.5