version: 66.04
glider: 166
mission: 2
dive: 377
start: 7 23 109 7 46 37
data:
$ID,166
$MISSION,2
$DIVE,377
$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,-12831.414
$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,77
$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
$GPS1,073806,2357.552,12425.784,32,1.2,32,-3.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.0
$GPS2,074614,2357.420,12426.090,12,1.2,12,-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,295.7,71357,-16.8,-10.000
$D_GRID,2458
$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,-170.3,0.0,0.0,0,74,0.00,0.00,-56.85,0.000,2,0.000,0.000,167,1689,2421
$GC,78,-1.12,-170.3,3.5,-7.0,9,125,9.18,2.22,-31.73,0.000,4,0.231,0.052,2388,263,3641
$GC,154,-1.12,-170.3,17.5,-20.7,21,161,0.00,2.05,0.00,0.000,6,0.000,0.028,2382,1653,3641
$GC,499,-1.12,-170.3,83.9,-17.8,82,505,0.00,2.10,0.00,0.000,4,0.000,0.040,2382,3073,3642
$GC,580,-1.12,-170.3,97.5,-17.1,96,586,0.00,2.03,0.00,0.000,6,0.000,0.029,2381,1667,3642
$GC,925,-1.12,-170.3,155.3,-16.9,157,930,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1667,3643
$GC,1268,-1.12,-170.3,208.6,-13.8,218,1274,0.00,2.10,0.00,0.000,4,0.000,0.038,2381,3079,3644
$GC,1321,-1.12,-170.3,216.1,-14.5,227,1329,0.00,2.03,0.00,0.000,6,0.000,0.029,2376,1677,3644
$GC,1667,-1.12,-170.3,263.3,-13.2,288,1673,0.00,2.08,0.00,0.000,4,0.000,0.039,2381,3073,3644
$GC,1748,-1.12,-170.3,274.2,-13.3,302,1756,0.00,2.05,0.00,0.000,6,0.000,0.030,2382,1679,3644
$GC,2090,-1.12,-170.3,321.3,-14.3,350,2094,0.00,2.08,0.00,0.000,4,0.000,0.040,2384,3069,3644
$GC,2130,-1.12,-170.3,327.1,-14.9,353,2136,0.00,2.03,0.00,0.000,6,0.000,0.031,2378,1672,3644
$GC,2455,-1.12,-170.3,370.7,-12.1,384,2458,0.00,2.10,0.00,0.000,4,0.000,0.044,2377,271,3644
$GC,2477,-1.12,-170.3,373.7,-13.4,386,2481,0.00,2.03,0.00,0.000,6,0.000,0.029,2384,1672,3644
$GC,2808,-1.12,-170.3,413.0,-11.6,417,2812,0.00,2.08,0.00,0.000,4,0.000,0.041,2385,3078,3643
$GC,2932,-1.12,-170.3,427.7,-11.4,428,2936,0.00,2.05,0.00,0.000,6,0.000,0.032,2381,1671,3643
$GC,3265,-1.12,-170.3,465.5,-10.7,459,3268,0.00,2.12,0.00,0.000,4,0.000,0.043,2377,3076,3641
$GC,3310,-1.12,-170.3,470.4,-10.7,463,3314,0.00,2.05,0.00,0.000,6,0.000,0.033,2376,1678,3641
$GC,3650,-1.12,-170.3,507.3,-10.7,492,3653,0.00,2.12,0.00,0.000,4,0.000,0.044,2374,3078,3639
$GC,3705,-1.12,-170.3,513.3,-10.6,494,3710,0.12,2.10,0.00,0.000,6,0.160,0.034,2405,1654,3639
$GC,4026,-1.12,-170.3,545.9,-10.5,510,4030,0.00,2.15,0.00,0.000,4,0.000,0.045,2404,3072,3636
$GC,4077,-1.12,-170.3,551.4,-11.3,512,4081,0.00,2.08,0.00,0.000,6,0.000,0.033,2405,1660,3636
$GC,4403,-1.12,-170.3,588.5,-11.2,528,4407,0.00,2.15,0.00,0.000,4,0.000,0.046,2400,3072,3634
$GC,4421,-1.12,-170.3,590.7,-11.9,528,4428,0.00,2.08,0.00,0.000,6,0.000,0.035,2401,1666,3633
$GC,4739,-1.12,-170.3,626.1,-10.7,544,4742,0.00,2.15,0.00,0.000,4,0.000,0.049,2401,3069,3630
$GC,4755,-1.12,-170.3,628.2,-11.0,544,4761,0.00,2.10,0.00,0.000,6,0.000,0.037,2399,1677,3630
$GC,5071,-1.12,-170.3,660.4,-9.8,560,5075,0.00,2.12,0.00,0.000,4,0.000,0.049,2403,3064,3627
$GC,5096,-1.12,-170.3,662.7,-9.9,561,5099,0.00,2.08,0.00,0.000,6,0.000,0.037,2400,1671,3627
$GC,5429,-1.12,-170.3,698.7,-11.2,577,5432,0.00,2.17,0.00,0.000,4,0.000,0.052,2402,260,3624
$GC,5501,-1.12,-170.3,708.2,-12.6,580,5505,0.00,2.10,0.00,0.000,6,0.000,0.035,2395,1674,3623
$GC,5829,-1.12,-170.3,747.5,-12.1,596,5833,0.00,2.15,0.00,0.000,4,0.000,0.057,2391,3068,3620
$GC,5907,-1.12,-170.3,757.2,-11.9,599,5911,0.00,2.12,0.00,0.000,6,0.000,0.046,2391,1665,3619
$GC,6230,-1.12,-170.3,795.1,-11.6,615,6233,0.00,2.20,0.00,0.000,4,0.000,0.058,2382,3076,3617
$GC,6276,-1.12,-170.3,801.0,-12.3,617,6279,0.00,2.12,0.00,0.000,6,0.000,0.044,2382,1674,3616
$GC,6608,-1.12,-170.3,840.5,-11.4,633,6612,0.00,2.22,0.00,0.000,4,0.000,0.062,2381,260,3614
$GC,6669,-1.12,-170.3,848.1,-13.1,635,6677,0.12,2.12,0.00,0.000,6,0.170,0.038,2402,1681,3613
$GC,6987,-1.12,-170.3,878.9,-9.9,651,6991,0.00,2.15,0.00,0.000,4,0.000,0.053,2394,3075,3610
$GC,7033,-1.12,-170.3,883.8,-10.2,653,7036,0.00,2.15,0.00,0.000,6,0.000,0.046,2394,1664,3609
$GC,7367,-1.12,-170.3,918.4,-10.3,669,7370,0.00,2.22,0.00,0.000,4,0.000,0.060,2391,3073,3607
$GC,7428,-1.12,-170.3,925.4,-11.1,671,7436,0.00,2.12,0.00,0.000,6,0.000,0.042,2391,1671,3607
$GC,7745,-1.12,-170.3,961.6,-11.5,687,7748,0.00,2.20,0.00,0.000,4,0.000,0.058,2391,271,3605
$GC,7801,-1.12,-170.3,968.7,-13.2,689,7806,0.12,2.15,0.00,0.000,6,0.175,0.042,2406,1676,3605
$STATE,8011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8011,begin apogee
$GC,8018,-0.27,0.0,991.2,10.3,699,8175,0.85,0.00,147.48,1.464,6,0.124,0.000,2667,1340,2945
$STATE,8175,end apogee,CONTROL_FINISHED_OK
$STATE,8175,begin climb
$GC,8178,1.12,170.3,999.6,0.0,707,8340,1.30,1.90,152.62,1.437,4,0.052,0.061,3144,203,2249
$GC,8387,1.12,170.3,987.2,13.2,717,8390,0.00,1.80,0.00,0.000,6,0.000,0.040,3143,1367,2246
$GC,8719,1.12,170.3,942.6,13.8,733,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,1367,2243
$GC,9030,1.12,170.3,898.9,13.5,748,9033,0.00,2.15,0.00,0.000,4,0.000,0.051,3137,2757,2241
$GC,9120,1.12,170.3,886.2,14.6,752,9124,0.00,2.17,0.00,0.000,6,0.000,0.049,3145,1354,2240
$GC,9447,1.12,170.3,842.7,12.8,768,9451,0.00,1.85,0.00,0.000,4,0.000,0.067,3154,200,2239
$GC,9539,1.12,170.3,829.9,14.3,772,9542,0.00,1.75,0.00,0.000,6,0.000,0.051,3154,1353,2238
$GC,9871,1.12,170.3,787.9,12.2,788,9875,0.00,2.17,0.00,0.000,4,0.000,0.056,3154,2749,2236
$GC,9921,1.12,170.3,781.4,13.1,790,9926,0.15,2.15,0.00,0.000,6,0.202,0.049,3128,1347,2236
$GC,10248,1.12,170.3,746.6,10.6,806,10252,0.00,2.20,0.00,0.000,4,0.000,0.052,3127,2755,2236
$GC,10275,1.12,170.3,743.3,11.3,807,10279,0.00,2.17,0.00,0.000,6,0.000,0.047,3135,1344,2235
$GC,10602,1.12,170.3,707.8,10.7,823,10606,0.00,2.20,0.00,0.000,4,0.000,0.053,3135,2753,2235
$GC,10721,1.12,170.3,694.2,11.5,828,10724,0.00,2.17,0.00,0.000,6,0.000,0.047,3143,1341,2235
$GC,11048,1.12,170.3,656.1,11.8,844,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,1341,2234
$GC,11358,1.12,170.3,619.3,11.7,859,11362,0.00,1.83,0.00,0.000,4,0.000,0.065,3152,208,2234
$GC,11503,1.12,170.3,602.5,10.2,865,11507,0.00,1.73,0.00,0.000,6,0.000,0.043,3152,1354,2233
$GC,11825,1.12,173.7,569.8,9.9,881,11829,0.00,2.17,0.00,0.000,4,0.000,0.051,3150,2758,2234
$GC,11904,1.13,177.8,562.0,9.8,884,11916,0.00,2.17,4.85,0.909,6,0.000,0.046,3158,1348,2220
$GC,12225,1.15,193.2,530.6,9.4,900,12254,0.00,2.28,17.25,1.055,4,0.000,0.051,3158,2758,2156
$GC,12387,1.15,194.8,513.7,9.9,907,12391,0.15,2.20,0.00,0.000,6,0.196,0.051,3134,1345,2155
$GC,12709,1.20,237.0,483.9,8.3,930,12765,0.00,1.88,42.20,1.108,4,0.000,0.059,3141,207,1976
$GC,12823,1.20,237.0,472.8,10.2,940,12826,0.00,1.77,0.00,0.000,6,0.000,0.041,3141,1364,1974
$GC,13155,1.20,237.0,438.7,11.1,971,13159,0.00,2.15,0.00,0.000,4,0.000,0.053,3142,2754,1972
$GC,13286,1.20,237.0,423.9,12.0,982,13293,0.00,2.17,0.00,0.000,6,0.000,0.044,3152,1334,1970
$GC,13615,1.21,246.5,389.1,9.6,1013,13626,0.00,0.00,8.32,0.940,6,0.000,0.000,3152,1334,1940
$GC,13947,1.21,246.5,355.5,10.2,1044,13951,0.00,2.17,0.00,0.000,4,0.000,0.045,3158,2752,1939
$GC,14015,1.23,258.6,348.7,9.5,1050,14037,0.00,2.15,12.52,0.958,6,0.000,0.041,3162,1346,1890
$GC,14355,1.24,266.6,315.4,9.7,1082,14368,0.00,2.22,8.38,0.864,4,0.000,0.043,3165,2758,1858
$GC,14396,1.24,266.6,310.9,10.9,1085,14402,0.00,2.15,0.00,0.000,6,0.000,0.041,3171,1348,1857
$GC,14734,1.24,269.5,275.9,9.9,1136,14747,0.00,1.80,4.30,0.640,4,0.000,0.053,3181,206,1846
$GC,14884,1.24,269.5,260.5,10.8,1162,14890,0.00,1.73,0.00,0.000,6,0.000,0.035,3184,1363,1846
$GC,15229,1.24,269.5,225.9,10.7,1223,15236,0.00,2.08,0.00,0.000,4,0.000,0.040,3185,2750,1846
$GC,15445,1.24,269.5,203.3,10.4,1261,15451,0.00,2.10,0.00,0.000,6,0.000,0.037,3194,1345,1846
$GC,15788,1.28,298.6,172.7,8.9,1322,15820,0.00,0.00,27.00,0.821,6,0.000,0.000,3194,1345,1727
$GC,16159,1.32,333.2,136.8,8.6,1387,16198,0.00,2.20,30.42,0.784,4,0.000,0.038,3194,2752,1585
$GC,16358,1.32,333.2,118.1,10.5,1421,16364,0.00,2.12,0.00,0.000,6,0.000,0.035,3203,1337,1583
$GC,16702,1.38,380.2,84.8,8.1,1482,16747,0.00,1.80,40.42,0.735,4,0.000,0.048,3212,205,1394
$GC,16812,1.40,401.5,74.4,9.2,1500,16838,0.00,1.70,19.35,0.695,6,0.000,0.030,3212,1361,1308
$GC,17178,1.46,444.9,40.3,8.3,1564,17222,0.00,1.80,38.10,0.686,4,0.000,0.046,3220,196,1130
$GC,17269,1.46,444.9,31.8,10.0,1579,17276,0.00,1.70,0.00,0.000,6,0.000,0.030,3220,1358,1130
$STATE,17576,end climb,SURFACE_DEPTH_REACHED
$STATE,17577,begin surface coast
$FINISH,0.8,1.021353
$STATE,17623,end surface coast,CONTROL_FINISHED_OK
$STATE,17623,begin surface
$SM_CCo,17642,4.93,0.463,0,0,1109,450.13
$SM_GC,2.76,0.00,0.00,4.93,0.000,0.000,0.463,169,1690,1109,-8.11,0.42,450.13
$IRIDIUM_FIX,2349.77,12422.62,171098,020225
$TT8_MAMPS,0.026845
$HUMID,1561
$INTERNAL_PRESSURE,9.9952
$TCM_TEMP,26.10
$XPDR_PINGS,145
$24V_AH,23.1,80.953
$10V_AH,10.6,54.076
$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,20.125,158.250,553.225,4.925,0.000,23.137,36.050,262.246,44.250,0.000,0.000,12.620,2858.519,10461.604,672.230,3365.976,763.667,0.000,2177.880,0.000,3337.278,0.000,54.435,0.000
$DEVICE_MAMPS,230.867,67.496,1464.203,462.501,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.499,1139.487,1914.105,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94793,1642
$CAP_FILE_SIZE,168416,0
$CFSIZE,260165632,204664832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.249,111.7,1
$GPS,230709,124207,2357.226,12427.143,42,1.2,42,-3.5