version: 66.04
glider: 166
mission: 2
dive: 384
start: 7 24 109 18 2 25
data:
$ID,166
$MISSION,2
$DIVE,384
$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,-13015.976
$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,73
$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
$GPS1,175056,2356.090,12433.347,34,2.3,53,-3.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-61.9
$GPS2,180204,2356.002,12433.579,13,2.5,32,-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,311.4,35750,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-194.7,0.0,0.0,0,80,0.00,0.00,-61.50,0.000,2,0.000,0.000,168,1711,2403
$GC,84,-1.16,-194.7,3.2,-6.0,10,136,9.07,2.17,-36.78,0.000,4,0.229,0.052,2386,269,3739
$GC,200,-1.16,-194.7,25.0,-23.3,29,207,0.00,2.05,0.00,0.000,6,0.000,0.028,2380,1658,3739
$GC,545,-1.16,-194.7,92.3,-18.0,90,551,0.00,2.10,0.00,0.000,4,0.000,0.040,2377,3082,3739
$GC,655,-1.16,-194.7,112.2,-18.0,109,662,0.00,2.05,0.00,0.000,6,0.000,0.030,2374,1664,3739
$GC,1000,-1.16,-194.7,172.6,-16.7,170,1006,0.00,2.10,0.00,0.000,4,0.000,0.039,2367,3075,3740
$GC,1030,-1.16,-194.7,177.7,-16.7,175,1037,0.00,2.05,0.00,0.000,6,0.000,0.030,2364,1677,3740
$GC,1377,-1.16,-194.7,231.1,-15.2,236,1383,0.00,2.10,0.00,0.000,4,0.000,0.041,2367,3081,3740
$GC,1434,-1.16,-194.7,239.8,-15.2,246,1440,0.00,2.03,0.00,0.000,6,0.000,0.030,2366,1676,3740
$GC,1780,-1.16,-194.7,290.4,-14.4,307,1787,0.00,2.10,0.00,0.000,4,0.000,0.041,2361,3078,3740
$GC,1828,-1.16,-194.7,297.3,-14.3,315,1835,0.00,2.05,0.00,0.000,6,0.000,0.031,2366,1665,3741
$GC,2155,-1.16,-194.7,343.9,-14.5,347,2159,0.00,2.12,0.00,0.000,4,0.000,0.041,2358,3078,3740
$GC,2217,-1.16,-194.7,353.1,-14.6,352,2224,0.12,2.08,0.00,0.000,6,0.156,0.031,2393,1672,3740
$GC,2542,-1.16,-194.7,396.1,-12.4,383,2546,0.00,2.10,0.00,0.000,4,0.000,0.042,2390,3072,3740
$GC,2565,-1.16,-194.7,399.1,-13.3,385,2569,0.00,2.05,0.00,0.000,6,0.000,0.031,2391,1664,3740
$GC,2895,-1.16,-194.7,438.7,-11.4,416,2899,0.00,2.12,0.00,0.000,4,0.000,0.042,2388,3070,3740
$GC,2964,-1.16,-194.7,446.3,-11.0,422,2967,0.00,2.05,0.00,0.000,6,0.000,0.032,2389,1665,3739
$GC,3296,-1.16,-194.7,481.8,-11.0,453,3299,0.00,2.12,0.00,0.000,4,0.000,0.044,2389,3072,3738
$GC,3357,-1.16,-194.7,489.1,-11.7,458,3363,0.00,2.08,0.00,0.000,6,0.000,0.032,2393,1673,3737
$GC,3686,-1.16,-194.7,524.6,-10.6,479,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,1673,3736
$GC,3996,-1.16,-194.7,556.2,-10.6,494,4000,0.00,2.12,0.00,0.000,4,0.000,0.044,2400,3075,3733
$GC,4086,-1.16,-194.7,566.9,-11.6,498,4090,0.00,2.08,0.00,0.000,6,0.000,0.034,2400,1667,3732
$GC,4419,-1.16,-194.7,604.5,-10.5,514,4423,0.00,2.12,0.00,0.000,4,0.000,0.046,2403,3063,3730
$GC,4470,-1.16,-194.7,610.0,-10.6,516,4474,0.00,2.05,0.00,0.000,6,0.000,0.035,2403,1671,3729
$GC,4797,-1.16,-194.7,641.7,-9.5,532,4801,0.00,2.12,0.00,0.000,4,0.000,0.047,2404,3066,3727
$GC,4843,-1.16,-194.7,646.1,-10.0,534,4847,0.00,2.05,0.00,0.000,6,0.000,0.036,2404,1676,3726
$GC,5177,-1.16,-194.7,676.6,-9.2,550,5181,0.00,2.12,0.00,0.000,4,0.000,0.049,2404,3063,3724
$GC,5246,-1.16,-194.7,683.3,-10.0,553,5249,0.00,2.08,0.00,0.000,6,0.000,0.037,2404,1666,3723
$GC,5579,-1.16,-194.7,720.0,-11.9,569,5583,0.00,2.15,0.00,0.000,4,0.000,0.050,2404,3065,3720
$GC,5651,-1.16,-194.7,729.1,-12.5,572,5655,0.00,2.08,0.00,0.000,6,0.000,0.038,2404,1675,3719
$GC,5979,-1.16,-194.7,767.9,-11.5,588,5982,0.00,2.15,0.00,0.000,4,0.000,0.052,2404,3063,3717
$GC,6058,-1.16,-194.7,777.2,-11.9,591,6061,0.00,2.10,0.00,0.000,6,0.000,0.039,2404,1663,3716
$GC,6379,-1.16,-194.7,814.0,-11.2,607,6383,0.00,2.17,0.00,0.000,4,0.000,0.052,2395,3067,3713
$GC,6425,-1.16,-194.7,819.2,-11.4,609,6429,0.00,2.12,0.00,0.000,6,0.000,0.043,2395,1668,3712
$GC,6759,-1.16,-194.7,859.5,-12.5,625,6763,0.00,2.17,0.00,0.000,4,0.000,0.054,2391,3066,3709
$GC,6837,-1.16,-194.7,869.4,-12.3,628,6841,0.00,2.12,0.00,0.000,6,0.000,0.044,2391,1666,3708
$GC,7160,-1.16,-194.7,906.3,-10.9,644,7163,0.00,2.20,0.00,0.000,4,0.000,0.058,2390,259,3706
$GC,7193,-1.16,-194.7,910.6,-12.8,645,7196,0.00,2.12,0.00,0.000,6,0.000,0.039,2382,1668,3705
$GC,7516,-1.16,-194.7,946.8,-11.7,661,7519,0.00,2.20,0.00,0.000,4,0.000,0.054,2372,3078,3704
$GC,7607,-1.16,-194.7,957.9,-11.6,665,7610,0.00,2.15,0.00,0.000,6,0.000,0.044,2373,1672,3703
$STATE,7874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7875,begin apogee
$GC,7881,-0.27,0.0,992.0,12.8,678,8059,0.98,0.00,167.98,1.450,6,0.130,0.000,2675,1344,2945
$STATE,8059,end apogee,CONTROL_FINISHED_OK
$STATE,8059,begin climb
$GC,8062,1.16,194.7,1002.9,0.0,687,8246,1.30,2.38,171.98,1.420,4,0.056,0.053,3130,2755,2150
$GC,8258,1.16,194.7,992.2,13.4,696,8263,0.00,2.25,0.00,0.000,6,0.000,0.047,3140,1356,2148
$GC,8585,1.16,194.7,946.7,14.1,712,8589,0.00,2.20,0.00,0.000,4,0.000,0.053,3139,2761,2144
$GC,8677,1.16,194.7,933.6,14.5,716,8681,0.00,2.20,0.00,0.000,6,0.000,0.048,3148,1344,2143
$GC,9004,1.16,194.7,887.6,14.0,732,9007,0.00,1.80,0.00,0.000,4,0.000,0.061,3157,196,2142
$GC,9037,1.16,194.7,882.8,14.1,733,9040,0.00,1.75,0.00,0.000,6,0.000,0.042,3156,1363,2142
$GC,9359,1.16,194.7,840.6,12.9,749,9363,0.00,1.85,0.00,0.000,4,0.000,0.067,3165,197,2140
$GC,9398,1.16,194.7,834.8,15.0,750,9404,0.00,1.75,0.00,0.000,6,0.000,0.042,3164,1345,2140
$GC,9713,1.16,194.7,794.2,12.7,766,9717,0.00,2.20,0.00,0.000,4,0.000,0.058,3164,2759,2139
$GC,9853,1.16,194.7,776.8,12.5,772,9858,0.15,2.17,0.00,0.000,6,0.203,0.051,3137,1349,2138
$GC,10180,1.16,194.7,737.8,11.7,788,10183,0.00,1.83,0.00,0.000,4,0.000,0.065,3144,196,2137
$GC,10264,1.16,194.7,727.1,12.8,791,10271,0.00,1.75,0.00,0.000,6,0.000,0.044,3144,1357,2137
$GC,10580,1.16,194.7,690.1,12.0,807,10584,0.00,2.15,0.00,0.000,4,0.000,0.052,3136,2752,2136
$GC,10658,1.16,194.7,680.6,12.4,810,10662,0.00,2.17,0.00,0.000,6,0.000,0.049,3144,1345,2136
$GC,10980,1.16,194.7,640.7,11.9,826,10983,0.00,1.80,0.00,0.000,4,0.000,0.058,3154,196,2136
$GC,11036,1.16,196.3,634.0,10.9,828,11040,0.00,1.75,0.00,0.000,6,0.000,0.041,3154,1364,2136
$GC,11358,1.18,210.7,599.0,10.5,844,11383,0.00,2.20,14.80,1.039,4,0.000,0.051,3154,2750,2086
$GC,11418,1.20,222.6,592.2,10.5,846,11436,0.00,2.17,12.48,1.142,6,0.000,0.045,3163,1338,2037
$GC,11753,1.20,222.6,555.2,11.6,863,11757,0.00,2.20,0.00,0.000,4,0.000,0.057,3163,2743,2034
$GC,11849,1.20,222.6,543.2,11.0,867,11853,0.00,2.15,0.00,0.000,6,0.000,0.044,3171,1349,2033
$GC,12176,1.20,222.6,505.6,11.1,883,12180,0.00,2.17,0.00,0.000,4,0.000,0.050,3172,2754,2033
$GC,12222,1.20,222.6,500.2,11.6,885,12226,0.15,2.15,0.00,0.000,6,0.193,0.044,3148,1348,2033
$GC,12553,1.24,257.7,467.7,9.7,915,12590,0.00,1.88,31.38,1.103,4,0.000,0.061,3156,199,1893
$GC,12725,1.27,281.6,448.9,10.1,930,12756,0.00,1.77,22.08,1.057,6,0.000,0.040,3157,1357,1796
$GC,13074,1.28,292.1,414.5,10.6,963,13090,0.00,2.17,10.43,0.957,4,0.000,0.046,3158,2743,1754
$GC,13205,1.28,292.1,398.9,11.6,974,13211,0.00,2.15,0.00,0.000,6,0.000,0.043,3165,1337,1753
$GC,13533,1.28,292.1,359.5,11.6,1005,13537,0.00,2.17,0.00,0.000,4,0.000,0.045,3169,2757,1753
$GC,13681,1.28,292.1,342.3,12.0,1018,13684,0.00,2.15,0.00,0.000,6,0.000,0.041,3179,1340,1752
$GC,14012,1.30,309.0,305.4,10.4,1049,14045,0.00,1.83,18.58,0.834,4,0.000,0.052,3189,199,1684
$GC,14085,1.30,309.0,296.8,11.6,1058,14091,0.00,1.75,0.00,0.000,6,0.000,0.036,3189,1362,1683
$GC,14431,1.30,309.0,258.6,12.0,1119,14438,0.00,2.08,0.00,0.000,4,0.000,0.041,3189,2744,1683
$GC,14496,1.30,309.0,250.8,11.8,1130,14502,0.00,2.12,0.00,0.000,6,0.000,0.038,3199,1353,1683
$GC,14841,1.30,311.0,210.1,10.9,1191,14848,0.00,2.10,0.00,0.000,4,0.000,0.040,3199,2749,1683
$GC,14951,1.30,311.0,198.2,11.1,1210,14957,0.00,2.10,0.00,0.000,6,0.000,0.037,3207,1343,1683
$GC,15295,1.35,344.5,162.0,9.7,1271,15334,0.00,2.15,31.90,0.802,4,0.000,0.042,3207,2749,1539
$GC,15440,1.36,360.0,147.3,10.4,1295,15461,0.00,2.10,14.95,0.745,6,0.000,0.035,3216,1345,1476
$GC,15801,1.40,388.7,109.3,9.9,1358,15833,0.00,2.15,25.60,0.739,4,0.000,0.036,3216,2760,1359
$GC,15870,1.44,420.1,102.9,9.8,1369,15907,0.00,2.12,28.65,0.727,6,0.000,0.035,3225,1344,1230
$GC,16246,1.45,429.9,63.1,10.6,1435,16261,0.00,2.17,9.55,0.623,4,0.000,0.035,3225,2756,1192
$GC,16307,1.45,429.9,56.3,11.3,1445,16314,0.00,2.12,0.00,0.000,6,0.000,0.034,3235,1348,1192
$GC,16652,1.51,478.7,21.9,9.2,1506,16703,0.00,1.80,42.72,0.664,4,0.000,0.048,3244,202,993
$GC,16791,1.51,478.7,5.8,15.5,1529,16797,0.00,1.70,0.00,0.000,6,0.000,0.029,3244,1371,991
$STATE,16808,end climb,SURFACE_DEPTH_REACHED
$STATE,16808,begin surface coast
$FINISH,0.8,1.009431
$STATE,16832,end surface coast,CONTROL_FINISHED_OK
$STATE,16832,begin surface
$SM_CCo,16911,0.00,0.000,0,0,989,479.81
$SM_GC,1.70,8.27,0.00,0.00,0.044,0.000,0.000,168,1683,989,-8.11,0.23,479.81
$IRIDIUM_FIX,2347.41,12435.00,181098,181815
$TT8_MAMPS,0.026845
$HUMID,1553
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.90
$XPDR_PINGS,156
$24V_AH,23.2,82.505
$10V_AH,10.7,55.163
$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,20.050,166.575,603.050,0.000,0.000,49.135,72.074,295.622,47.000,0.000,0.000,33.921,2703.779,10078.487,699.034,3244.806,836.274,0.000,2176.564,0.000,3177.818,0.000,54.433,0.000
$DEVICE_MAMPS,229.333,66.729,1449.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.691,1054.072,1774.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88442,1536
$CAP_FILE_SIZE,166737,0
$CFSIZE,260165632,204042240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.276,115.6,1
$GPS,240709,224530,2355.960,12434.900,37,1.8,37,-3.5