version: 66.04
glider: 166
mission: 2
dive: 382
start: 7 24 109 8 26 34
data:
$ID,166
$MISSION,2
$DIVE,382
$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,300
$T_MISSION,360
$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,200
$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,-12965.669
$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,41
$R_STBD_OVSHOOT,72
$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
$GPS1,081736,2355.713,12432.153,39,1.0,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.9
$GPS2,082613,2355.554,12432.357,17,1.2,34,-3.5
$SPEED_LIMITS,0.191,0.306
$TGT_NAME,OFF_5
$TGT_LATLONG,2412.100,12421.900
$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,304.0,35371,-17.1,-11.000
$D_GRID,2527
$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,-1.16,-194.7,0.0,0.0,0,77,0.00,0.00,-58.62,0.000,2,0.000,0.000,167,1688,2280
$GC,80,-1.16,-194.7,3.0,-5.9,9,139,9.00,2.20,-40.38,0.000,4,0.228,0.053,2380,264,3740
$GC,202,-1.16,-194.7,25.5,-21.3,29,208,0.00,2.05,0.00,0.000,6,0.000,0.028,2375,1658,3741
$GC,547,-1.16,-194.7,94.6,-17.5,90,553,0.00,2.08,0.00,0.000,4,0.000,0.039,2366,3067,3741
$GC,679,-1.16,-194.7,118.9,-18.2,113,686,0.10,2.03,0.00,0.000,6,0.174,0.028,2384,1651,3741
$GC,1025,-1.16,-194.7,175.4,-17.2,174,1031,0.00,2.10,0.00,0.000,4,0.000,0.038,2384,3072,3742
$GC,1175,-1.16,-194.7,199.6,-15.7,200,1183,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,1653,3742
$GC,1523,-1.16,-194.7,251.1,-14.7,261,1528,0.00,2.10,0.00,0.000,4,0.000,0.036,2376,3072,3742
$GC,1603,-1.16,-194.7,262.5,-14.0,275,1610,0.00,2.03,0.00,0.000,6,0.000,0.028,2378,1665,3742
$GC,1949,-1.16,-194.7,310.0,-13.1,330,1953,0.00,2.10,0.00,0.000,4,0.000,0.038,2369,3076,3742
$GC,2029,-1.16,-194.7,320.3,-13.0,337,2033,0.00,2.03,0.00,0.000,6,0.000,0.028,2370,1670,3742
$GC,2359,-1.16,-194.7,361.6,-12.4,368,2363,0.00,2.10,0.00,0.000,4,0.000,0.039,2366,3079,3742
$GC,2427,-1.16,-194.7,370.8,-13.1,374,2431,0.00,2.03,0.00,0.000,6,0.000,0.029,2367,1674,3742
$GC,2759,-1.16,-194.7,413.9,-11.8,405,2763,0.00,2.08,0.00,0.000,4,0.000,0.041,2366,3064,3742
$GC,2798,-1.16,-194.7,418.8,-12.0,408,2804,0.00,2.05,0.00,0.000,6,0.000,0.030,2366,1674,3742
$GC,3123,-1.16,-194.7,455.5,-11.4,439,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1674,3741
$GC,3442,-1.16,-194.7,493.6,-11.3,469,3446,0.00,2.10,0.00,0.000,4,0.000,0.044,2374,3065,3739
$GC,3481,-1.16,-194.7,498.2,-11.2,472,3487,0.00,2.03,0.00,0.000,6,0.000,0.033,2377,1683,3739
$GC,3798,-1.16,-194.7,536.4,-12.4,489,3802,0.00,2.08,0.00,0.000,4,0.000,0.044,2387,3063,3737
$GC,3831,-1.16,-194.7,541.0,-12.9,490,3835,0.00,2.08,0.00,0.000,6,0.000,0.034,2386,1675,3737
$GC,4153,-1.16,-194.7,578.2,-10.4,506,4156,0.00,2.15,0.00,0.000,4,0.000,0.049,2387,261,3735
$GC,4177,-1.16,-194.7,580.7,-10.7,507,4181,0.00,2.08,0.00,0.000,6,0.000,0.032,2390,1676,3734
$GC,4512,-1.16,-194.7,614.5,-11.1,523,4515,0.00,2.10,0.00,0.000,4,0.000,0.047,2391,3070,3732
$GC,4528,-1.16,-194.7,616.6,-10.9,523,4535,0.00,2.08,0.00,0.000,6,0.000,0.035,2392,1662,3731
$GC,4847,-1.16,-194.7,649.7,-10.3,539,4851,0.00,2.15,0.00,0.000,4,0.000,0.052,2391,261,3728
$GC,4919,-1.16,-194.7,658.7,-11.8,542,4923,0.00,2.10,0.00,0.000,6,0.000,0.034,2384,1682,3727
$GC,5245,-1.16,-194.7,696.7,-11.7,558,5249,0.00,2.12,0.00,0.000,4,0.000,0.049,2374,3082,3724
$GC,5441,-1.16,-194.7,722.5,-13.3,566,5447,0.00,2.12,0.00,0.000,6,0.000,0.039,2374,1681,3722
$GC,5756,-1.16,-194.7,762.5,-12.4,582,5760,0.00,2.15,0.00,0.000,4,0.000,0.052,2366,3076,3720
$GC,5852,-1.16,-194.7,774.8,-13.0,586,5857,0.00,2.10,0.00,0.000,6,0.000,0.040,2367,1674,3718
$GC,6178,-1.16,-194.7,815.2,-12.3,602,6182,0.00,2.17,0.00,0.000,4,0.000,0.059,2357,3068,3716
$GC,6271,-1.16,-194.7,826.0,-11.6,606,6276,0.12,2.10,0.00,0.000,6,0.168,0.041,2388,1674,3715
$GC,6597,-1.16,-194.7,862.4,-11.1,622,6600,0.00,2.22,0.00,0.000,4,0.000,0.056,2387,258,3712
$GC,6658,-1.16,-194.7,870.3,-13.6,624,6664,0.00,2.15,0.00,0.000,6,0.000,0.047,2382,1673,3712
$GC,6975,-1.16,-194.7,907.4,-11.4,640,6978,0.00,2.20,0.00,0.000,4,0.000,0.062,2379,3075,3709
$GC,7043,-1.16,-194.7,915.6,-11.8,643,7047,0.00,2.15,0.00,0.000,6,0.000,0.044,2379,1665,3708
$GC,7376,-1.16,-194.7,957.8,-12.8,659,7379,0.00,2.20,0.00,0.000,4,0.000,0.056,2369,3073,3706
$GC,7422,-1.16,-194.7,963.6,-12.5,661,7426,0.00,2.15,0.00,0.000,6,0.000,0.044,2370,1669,3706
$STATE,7629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7629,begin apogee
$GC,7635,-0.27,0.0,991.4,13.5,671,7813,1.00,0.00,168.70,1.456,6,0.134,0.000,2677,1342,2945
$STATE,7813,end apogee,CONTROL_FINISHED_OK
$STATE,7814,begin climb
$GC,7817,1.16,194.7,1003.4,0.0,680,8000,1.27,2.38,172.75,1.425,4,0.055,0.056,3126,2750,2150
$GC,8067,1.16,194.7,987.7,11.8,691,8071,0.00,2.20,0.00,0.000,6,0.000,0.048,3136,1351,2146
$GC,8390,1.16,194.7,950.4,11.4,707,8394,0.00,2.22,0.00,0.000,4,0.000,0.058,3135,2765,2143
$GC,8439,1.16,194.7,944.3,11.9,709,8443,0.00,2.20,0.00,0.000,6,0.000,0.048,3145,1343,2143
$GC,8767,1.16,194.7,904.1,13.1,725,8770,0.00,2.20,0.00,0.000,4,0.000,0.053,3144,2756,2142
$GC,8794,1.16,194.7,900.2,13.4,726,8798,0.00,2.17,0.00,0.000,6,0.000,0.048,3155,1347,2140
$GC,9122,1.16,194.7,856.7,13.3,742,9125,0.00,1.80,0.00,0.000,4,0.000,0.061,3163,198,2140
$GC,9228,1.16,194.7,841.3,15.3,746,9234,0.00,1.77,0.00,0.000,6,0.000,0.043,3163,1358,2139
$GC,9544,1.16,194.7,797.4,13.5,762,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,1358,2138
$GC,9853,1.16,194.7,756.0,13.4,777,9857,0.00,2.15,0.00,0.000,4,0.000,0.054,3161,2746,2136
$GC,9914,1.16,194.7,747.5,13.7,779,9921,0.00,2.17,0.00,0.000,6,0.000,0.048,3169,1345,2136
$GC,10232,1.16,194.7,704.5,13.7,795,10236,0.12,2.22,0.00,0.000,4,0.207,0.056,3135,2755,2136
$GC,10303,1.16,194.7,695.0,11.2,798,10307,0.00,2.17,0.00,0.000,6,0.000,0.047,3143,1343,2135
$GC,10632,1.18,210.1,658.3,10.4,814,10657,0.00,1.85,14.38,1.074,4,0.000,0.060,3152,199,2089
$GC,10682,1.18,210.1,652.1,12.2,816,10685,0.00,1.77,0.00,0.000,6,0.000,0.051,3152,1363,2088
$GC,11008,1.18,210.1,613.4,12.4,832,11012,0.00,2.15,0.00,0.000,4,0.000,0.051,3149,2753,2087
$GC,11126,1.18,210.1,598.5,12.0,837,11129,0.00,2.17,0.00,0.000,6,0.000,0.046,3157,1339,2086
$GC,11454,1.18,210.1,560.6,11.9,853,11458,0.00,2.20,0.00,0.000,4,0.000,0.058,3157,2756,2086
$GC,11499,1.18,210.1,555.3,11.6,855,11503,0.00,2.20,0.00,0.000,6,0.000,0.048,3166,1342,2085
$GC,11832,1.20,224.1,519.9,10.5,871,11854,0.00,2.25,13.70,1.133,4,0.000,0.051,3166,2750,2030
$GC,12022,1.20,224.1,497.4,11.9,880,12026,0.00,2.17,0.00,0.000,6,0.000,0.044,3174,1340,2028
$GC,12356,1.21,238.3,459.5,10.5,911,12379,0.00,2.25,14.18,1.078,4,0.000,0.050,3176,2752,1972
$GC,12530,1.21,238.3,439.3,11.6,926,12537,0.00,2.17,0.00,0.000,6,0.000,0.043,3185,1337,1970
$GC,12861,1.23,250.9,402.5,10.5,957,12877,0.00,2.25,11.77,1.005,4,0.000,0.048,3189,2748,1922
$GC,12958,1.23,250.9,390.5,11.3,965,12963,0.15,2.15,0.00,0.000,6,0.190,0.042,3166,1345,1919
$GC,13283,1.27,281.2,356.4,9.9,995,13327,0.00,2.28,29.55,0.959,4,0.000,0.046,3168,2760,1796
$GC,13389,1.29,299.8,345.6,10.3,1004,13411,0.00,2.17,17.77,0.963,6,0.000,0.042,3172,1351,1722
$GC,13732,1.29,301.6,307.1,10.9,1036,13735,0.00,2.15,0.00,0.000,4,0.000,0.044,3173,2755,1719
$GC,13789,1.29,303.0,300.9,10.9,1041,13801,0.00,2.15,4.10,0.627,6,0.000,0.040,3181,1342,1708
$GC,14138,1.33,330.7,263.9,10.0,1102,14169,0.00,2.17,25.70,0.906,4,0.000,0.041,3183,2755,1596
$GC,14228,1.33,330.7,253.8,11.6,1117,14235,0.00,2.15,0.00,0.000,6,0.000,0.038,3193,1341,1594
$GC,14573,1.33,330.7,213.0,12.1,1178,14579,0.00,1.77,0.00,0.000,4,0.000,0.051,3202,200,1594
$GC,14630,1.33,330.7,205.7,12.4,1188,14638,0.00,1.73,0.00,0.000,6,0.000,0.035,3202,1366,1594
$GC,14976,1.34,339.9,166.1,10.6,1249,14990,0.00,2.05,9.55,0.739,4,0.000,0.040,3202,2743,1558
$GC,15134,1.39,378.6,149.5,9.5,1276,15174,0.00,2.10,34.47,0.800,6,0.000,0.038,3210,1338,1400
$GC,15516,1.42,405.4,112.5,10.0,1342,15548,0.00,2.17,24.33,0.749,4,0.000,0.042,3210,2740,1291
$GC,15589,1.42,405.4,104.3,11.3,1354,15596,0.00,2.10,0.00,0.000,6,0.000,0.036,3220,1343,1291
$GC,15935,1.44,420.9,64.5,10.4,1415,15955,0.00,2.10,14.88,0.678,4,0.000,0.034,3220,2750,1229
$GC,15979,1.49,460.7,60.0,9.5,1422,16024,0.00,2.10,35.40,0.703,6,0.000,0.035,3229,1340,1065
$GC,16365,1.50,473.8,18.9,10.5,1489,16384,0.00,2.10,12.48,0.618,4,0.000,0.033,3229,2751,1012
$STATE,16509,end climb,SURFACE_DEPTH_REACHED
$STATE,16509,begin surface coast
$FINISH,0.9,1.021371
$STATE,16526,end surface coast,CONTROL_FINISHED_OK
$STATE,16526,begin surface
$SM_CCo,16607,0.00,0.000,0,0,1012,474.16
$SM_GC,1.74,8.12,0.00,0.00,0.038,0.000,0.000,167,1673,1012,-8.11,-0.06,474.16
$IRIDIUM_FIX,2347.41,12431.12,181098,030326
$TT8_MAMPS,0.026845
$HUMID,1570
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.60
$XPDR_PINGS,148
$24V_AH,23.2,82.048
$10V_AH,10.6,54.854
$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,19.900,160.475,603.700,0.000,0.000,25.051,33.528,272.212,45.000,0.000,0.000,34.857,2665.188,9781.935,700.214,3209.288,750.575,0.000,2157.811,0.000,3145.243,0.000,54.452,0.000
$DEVICE_MAMPS,227.799,62.127,1455.766,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.648,1043.005,1752.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88380,1517
$CAP_FILE_SIZE,161424,0
$CFSIZE,260165632,204230656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.186,114.2,1
$GPS,240709,130436,2355.614,12432.816,38,1.2,38,-3.5