version: 66.04
glider: 166
mission: 2
dive: 385
start: 7 24 109 23 0 57
data:
$ID,166
$MISSION,2
$DIVE,385
$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,-13047.254
$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,75
$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
$GPS1,224530,2355.960,12434.900,37,1.8,37,-3.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.8
$GPS2,230036,2355.855,12435.098,14,1.0,30,-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,302.0,37445,-17.1,-11.000
$D_GRID,2541
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.16,-194.7,0.0,0.0,0,78,0.00,0.00,-57.83,0.000,2,0.000,0.000,166,1683,2319
$GC,81,-1.16,-194.7,3.2,-5.6,9,135,8.88,2.22,-39.20,0.000,4,0.222,0.054,2381,258,3740
$GC,198,-1.16,-194.7,24.7,-21.7,28,205,0.00,2.08,0.00,0.000,6,0.000,0.029,2377,1658,3740
$GC,544,-1.16,-194.7,92.8,-17.8,89,550,0.00,2.10,0.00,0.000,4,0.000,0.039,2365,3085,3740
$GC,698,-1.16,-194.7,120.1,-17.8,116,706,0.00,2.08,0.00,0.000,6,0.000,0.031,2364,1671,3740
$GC,1046,-1.16,-194.7,180.7,-15.8,177,1052,0.00,2.08,0.00,0.000,4,0.000,0.039,2349,3075,3740
$GC,1111,-1.16,-194.7,191.0,-16.3,188,1118,0.15,2.03,0.00,0.000,6,0.164,0.031,2386,1667,3740
$GC,1457,-1.16,-194.7,240.3,-14.5,249,1463,0.00,2.10,0.00,0.000,4,0.000,0.041,2395,3079,3741
$GC,1548,-1.16,-194.7,252.9,-13.8,265,1554,0.00,2.03,0.00,0.000,6,0.000,0.031,2387,1678,3741
$GC,1892,-1.16,-194.7,297.1,-13.1,326,1899,0.00,2.08,0.00,0.000,4,0.000,0.041,2386,3072,3741
$GC,1943,-1.16,-194.7,304.0,-13.1,332,1950,0.00,2.03,0.00,0.000,6,0.000,0.031,2389,1670,3740
$GC,2273,-1.16,-194.7,346.5,-12.5,363,2276,0.00,2.10,0.00,0.000,4,0.000,0.041,2380,3076,3741
$GC,2300,-1.16,-194.7,350.8,-12.7,365,2306,0.00,2.05,0.00,0.000,6,0.000,0.031,2380,1663,3741
$GC,2628,-1.16,-194.7,390.4,-12.6,396,2631,0.00,2.12,0.00,0.000,4,0.000,0.042,2379,3082,3740
$GC,2719,-1.16,-194.7,402.3,-13.0,404,2723,0.00,2.05,0.00,0.000,6,0.000,0.032,2379,1675,3740
$GC,3050,-1.16,-194.7,445.4,-12.3,435,3053,0.00,2.10,0.00,0.000,4,0.000,0.043,2378,3075,3738
$GC,3108,-1.16,-194.7,452.5,-12.2,440,3111,0.00,2.05,0.00,0.000,6,0.000,0.032,2379,1668,3738
$GC,3440,-1.16,-194.7,491.8,-11.3,471,3444,0.00,2.12,0.00,0.000,4,0.000,0.044,2380,3081,3736
$GC,3510,-1.16,-194.7,500.3,-12.7,477,3514,0.00,2.08,0.00,0.000,6,0.000,0.032,2386,1661,3736
$GC,3843,-1.16,-194.7,539.3,-11.6,493,3847,0.00,2.15,0.00,0.000,4,0.000,0.044,2388,3078,3734
$GC,3935,-1.16,-194.7,550.4,-11.9,497,3938,0.00,2.08,0.00,0.000,6,0.000,0.032,2393,1662,3733
$GC,4269,-1.16,-194.7,587.1,-10.7,513,4272,0.00,2.15,0.00,0.000,4,0.000,0.047,2398,3069,3730
$GC,4364,-1.16,-194.7,597.8,-11.3,517,4367,0.00,2.08,0.00,0.000,6,0.000,0.035,2398,1668,3729
$GC,4692,-1.16,-194.7,634.4,-10.8,533,4696,0.00,2.15,0.00,0.000,4,0.000,0.046,2395,3079,3727
$GC,4738,-1.16,-194.7,639.5,-10.7,535,4742,0.00,2.08,0.00,0.000,6,0.000,0.035,2395,1674,3727
$GC,5072,-1.16,-194.7,675.7,-10.7,551,5076,0.00,2.12,0.00,0.000,4,0.000,0.048,2391,3066,3724
$GC,5129,-1.16,-194.7,682.1,-11.4,553,5132,0.00,2.08,0.00,0.000,6,0.000,0.037,2391,1667,3723
$GC,5450,-1.16,-194.7,716.8,-10.6,569,5454,0.00,2.17,0.00,0.000,4,0.000,0.050,2391,3077,3720
$GC,5506,-1.16,-194.7,723.0,-10.7,571,5510,0.00,2.10,0.00,0.000,6,0.000,0.038,2391,1672,3720
$GC,5829,-1.16,-194.7,757.3,-10.6,587,5833,0.00,2.15,0.00,0.000,4,0.000,0.050,2383,3068,3717
$GC,5942,-1.16,-194.7,770.4,-11.9,592,5946,0.00,2.10,0.00,0.000,6,0.000,0.039,2383,1666,3715
$GC,6276,-1.16,-194.7,811.1,-12.3,608,6279,0.00,2.17,0.00,0.000,4,0.000,0.053,2377,3075,3713
$GC,6348,-1.16,-194.7,820.2,-12.0,611,6352,0.00,2.12,0.00,0.000,6,0.000,0.041,2377,1664,3712
$GC,6676,-1.16,-194.7,859.9,-12.5,627,6679,0.00,2.20,0.00,0.000,4,0.000,0.059,2377,264,3708
$GC,6704,-1.16,-194.7,863.8,-13.7,628,6708,0.00,2.12,0.00,0.000,6,0.000,0.044,2367,1667,3709
$GC,7030,-1.16,-194.7,904.6,-12.7,644,7034,0.00,2.20,0.00,0.000,4,0.000,0.054,2357,3081,3706
$GC,7125,-1.16,-194.7,917.4,-13.1,648,7130,0.12,2.15,0.00,0.000,6,0.161,0.044,2387,1667,3705
$GC,7453,-1.16,-194.7,957.8,-12.4,664,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1667,3703
$STATE,7717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7717,begin apogee
$GC,7724,-0.27,0.0,990.3,11.9,677,7901,0.90,0.00,167.75,1.447,6,0.126,0.000,2672,1340,2945
$STATE,7901,end apogee,CONTROL_FINISHED_OK
$STATE,7902,begin climb
$GC,7905,1.16,194.7,1000.8,0.0,686,8088,1.30,2.40,171.25,1.419,4,0.056,0.053,3126,2758,2150
$GC,8147,1.16,194.7,983.5,14.2,697,8151,0.00,2.22,0.00,0.000,6,0.000,0.048,3136,1347,2146
$GC,8474,1.16,194.7,938.5,13.8,713,8478,0.00,1.83,0.00,0.000,4,0.000,0.061,3144,206,2143
$GC,8513,1.16,194.7,932.6,14.8,714,8520,0.00,1.75,0.00,0.000,6,0.000,0.042,3144,1347,2143
$GC,8830,1.16,194.7,889.7,13.4,730,8833,0.00,2.17,0.00,0.000,4,0.000,0.054,3144,2749,2141
$GC,8954,1.16,194.7,872.1,14.3,735,8958,0.00,2.17,0.00,0.000,6,0.000,0.047,3154,1334,2141
$GC,9269,1.16,194.7,827.5,14.2,750,9273,0.00,2.20,0.00,0.000,4,0.000,0.052,3154,2750,2140
$GC,9292,1.16,194.7,824.3,14.4,751,9296,0.00,2.17,0.00,0.000,6,0.000,0.051,3163,1338,2139
$GC,9626,1.16,194.7,779.4,13.2,767,9630,0.00,2.20,0.00,0.000,4,0.000,0.052,3162,2755,2138
$GC,9700,1.16,194.7,769.5,12.8,770,9704,0.12,2.17,0.00,0.000,6,0.207,0.050,3143,1350,2137
$GC,10020,1.16,194.7,730.4,12.2,786,10024,0.00,2.20,0.00,0.000,4,0.000,0.057,3142,2753,2136
$GC,10093,1.16,194.7,721.4,12.6,789,10097,0.00,2.17,0.00,0.000,6,0.000,0.047,3150,1337,2136
$GC,10421,1.16,194.7,681.6,12.7,805,10425,0.00,2.20,0.00,0.000,4,0.000,0.052,3149,2753,2135
$GC,10550,1.16,194.7,664.4,13.7,810,10556,0.00,2.17,0.00,0.000,6,0.000,0.046,3157,1337,2135
$GC,10866,1.16,194.7,623.2,12.3,826,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1337,2134
$GC,11176,1.16,194.7,585.3,11.1,841,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1337,2134
$GC,11486,1.19,215.0,552.4,10.2,856,11515,0.00,1.85,18.38,1.068,4,0.000,0.058,3166,204,2068
$GC,11713,1.19,215.0,525.8,11.5,866,11717,0.00,1.75,0.00,0.000,6,0.000,0.042,3164,1358,2066
$GC,12033,1.19,215.0,490.2,11.5,885,12036,0.00,2.17,0.00,0.000,4,0.000,0.052,3160,2758,2065
$GC,12049,1.19,215.0,487.9,12.0,886,12056,0.00,2.17,0.00,0.000,6,0.000,0.044,3168,1337,2065
$GC,12378,1.26,272.1,456.0,8.8,917,12435,0.00,2.25,50.58,1.108,4,0.000,0.048,3166,2748,1834
$GC,12516,1.26,272.1,441.7,12.0,929,12520,0.00,2.17,0.00,0.000,6,0.000,0.043,3174,1349,1830
$GC,12847,1.26,272.1,404.0,11.6,960,12850,0.00,2.17,0.00,0.000,4,0.000,0.048,3176,2756,1828
$GC,12893,1.26,272.1,398.6,11.8,964,12897,0.00,2.15,0.00,0.000,6,0.000,0.041,3184,1348,1827
$GC,13224,1.28,293.0,361.2,10.2,995,13249,0.00,2.25,18.77,0.987,4,0.000,0.046,3184,2759,1749
$GC,13289,1.28,293.0,353.8,11.6,1000,13295,0.00,2.17,0.00,0.000,6,0.000,0.041,3191,1340,1747
$GC,13617,1.28,293.0,314.2,11.9,1031,13621,0.00,1.75,0.00,0.000,4,0.000,0.054,3203,204,1747
$GC,13764,1.28,293.0,296.0,12.5,1046,13770,0.00,1.73,0.00,0.000,6,0.000,0.037,3205,1357,1747
$GC,14109,1.28,293.0,254.6,11.6,1107,14116,0.00,2.10,0.00,0.000,4,0.000,0.041,3204,2753,1746
$GC,14241,1.29,299.6,239.7,10.7,1130,14255,0.12,2.12,7.32,0.762,6,0.180,0.038,3182,1334,1722
$GC,14598,1.32,325.5,205.4,10.0,1192,14631,0.00,2.20,24.17,0.844,4,0.000,0.042,3177,2746,1616
$GC,14747,1.32,325.5,188.9,12.0,1217,14754,0.00,2.10,0.00,0.000,6,0.000,0.036,3184,1347,1615
$GC,15092,1.37,362.0,153.3,9.6,1278,15131,0.00,2.15,32.03,0.795,4,0.000,0.037,3184,2753,1470
$GC,15186,1.41,400.8,144.5,9.5,1293,15231,0.00,2.12,35.05,0.779,6,0.000,0.035,3194,1341,1309
$GC,15573,1.43,417.3,105.4,10.4,1360,15592,0.00,2.20,15.20,0.707,4,0.000,0.036,3194,2762,1243
$GC,15741,1.50,472.1,88.7,8.9,1389,15798,0.08,2.15,47.83,0.728,6,0.061,0.035,3252,1343,1019
$GC,16136,1.51,477.9,46.4,10.8,1458,16150,0.00,1.73,6.57,0.554,4,0.000,0.045,3261,202,995
$GC,16241,1.51,477.9,34.0,11.5,1476,16248,0.00,1.67,0.00,0.000,6,0.000,0.029,3260,1365,996
$STATE,16494,end climb,SURFACE_DEPTH_REACHED
$STATE,16494,begin surface coast
$FINISH,0.9,1.021325
$STATE,16519,end surface coast,CONTROL_FINISHED_OK
$STATE,16519,begin surface
$SM_CCo,16599,0.00,0.000,0,0,993,478.83
$SM_GC,1.68,8.23,0.00,0.00,0.042,0.000,0.000,168,1683,993,-8.10,0.23,478.83
$IRIDIUM_FIX,2345.05,12433.06,181098,232334
$TT8_MAMPS,0.026845
$HUMID,1567
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.80
$XPDR_PINGS,147
$24V_AH,23.3,82.741
$10V_AH,10.7,55.319
$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,19.900,151.950,594.900,0.000,0.000,85.516,167.828,346.931,44.750,0.000,0.000,30.649,2666.274,9924.156,671.810,3201.404,1024.167,0.000,2116.651,0.000,3146.565,0.000,54.429,0.000
$DEVICE_MAMPS,222.430,61.360,1447.329,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.587,1047.568,1763.109,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88471,1525
$CAP_FILE_SIZE,162526,0
$CFSIZE,260165632,203960320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.219,105.3,1
$GPS,250709,033854,2356.145,12435.841,25,1.1,42,-3.5