version: 66.04
glider: 166
mission: 2
dive: 386
start: 7 25 109 3 50 13
data:
$ID,166
$MISSION,2
$DIVE,386
$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,-13065.049
$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,44
$R_STBD_OVSHOOT,74
$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
$GPS1,033854,2356.145,12435.841,25,1.1,42,-3.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-65.3
$GPS2,034950,2356.165,12436.103,14,1.6,14,-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,299.8,38033,-17.1,-11.000
$D_GRID,2626
$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,-1.16,-194.7,0.0,0.0,0,75,0.00,0.00,-57.40,0.000,2,0.000,0.000,168,1683,2305
$GC,78,-1.16,-194.7,3.3,-6.5,9,132,8.88,2.22,-38.90,0.000,4,0.222,0.053,2385,260,3741
$GC,189,-1.16,-194.7,24.1,-21.9,27,196,0.00,2.03,0.00,0.000,6,0.000,0.028,2382,1664,3742
$GC,536,-1.16,-194.7,92.4,-17.8,88,542,0.00,2.08,0.00,0.000,4,0.000,0.041,2379,3070,3741
$GC,685,-1.16,-194.7,117.7,-16.3,114,691,0.00,2.03,0.00,0.000,6,0.000,0.028,2379,1658,3742
$GC,1030,-1.16,-194.7,173.5,-15.9,175,1037,0.00,2.12,0.00,0.000,4,0.000,0.039,2377,3061,3742
$GC,1078,-1.16,-194.7,181.4,-15.8,183,1085,0.00,2.03,0.00,0.000,6,0.000,0.028,2377,1679,3742
$GC,1425,-1.16,-194.7,235.8,-15.5,244,1432,0.00,2.08,0.00,0.000,4,0.000,0.039,2372,3073,3743
$GC,1460,-1.16,-194.7,241.5,-15.5,250,1467,0.00,2.03,0.00,0.000,6,0.000,0.030,2372,1665,3742
$GC,1806,-1.16,-194.7,291.3,-14.0,311,1813,0.00,2.10,0.00,0.000,4,0.000,0.041,2363,3067,3743
$GC,1880,-1.16,-194.7,301.6,-13.0,323,1887,0.00,2.03,0.00,0.000,6,0.000,0.031,2364,1671,3743
$GC,2207,-1.16,-194.7,342.7,-13.2,354,2211,0.00,2.10,0.00,0.000,4,0.000,0.041,2363,3072,3742
$GC,2276,-1.16,-194.7,352.3,-13.3,360,2280,0.12,2.03,0.00,0.000,6,0.157,0.031,2394,1668,3743
$GC,2606,-1.16,-194.7,393.6,-11.8,391,2610,0.00,2.10,0.00,0.000,4,0.000,0.042,2391,3070,3742
$GC,2684,-1.16,-194.7,403.2,-12.3,398,2687,0.00,2.03,0.00,0.000,6,0.000,0.031,2390,1675,3742
$GC,3017,-1.16,-194.7,440.8,-11.4,429,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,1675,3741
$GC,3344,-1.16,-194.7,478.5,-11.8,460,3348,0.00,2.12,0.00,0.000,4,0.000,0.048,2389,270,3739
$GC,3372,-1.16,-194.7,482.5,-13.2,462,3378,0.00,2.05,0.00,0.000,6,0.000,0.029,2389,1667,3739
$GC,3703,-1.16,-194.7,522.6,-11.4,485,3707,0.00,2.10,0.00,0.000,4,0.000,0.044,2405,3072,3737
$GC,3804,-1.16,-194.7,533.8,-10.3,489,3808,0.00,2.05,0.00,0.000,6,0.000,0.032,2402,1671,3736
$GC,4126,-1.16,-194.7,563.5,-8.7,505,4130,0.00,2.12,0.00,0.000,4,0.000,0.048,2403,272,3734
$GC,4205,-1.16,-194.7,571.8,-10.8,508,4208,0.00,2.05,0.00,0.000,6,0.000,0.032,2404,1673,3733
$GC,4526,-1.16,-194.7,607.1,-11.2,524,4530,0.00,2.10,0.00,0.000,4,0.000,0.048,2404,3069,3731
$GC,4599,-1.16,-194.7,615.4,-11.5,527,4602,0.00,2.05,0.00,0.000,6,0.000,0.034,2404,1675,3730
$GC,4926,-1.16,-194.7,649.4,-10.4,543,4930,0.00,2.12,0.00,0.000,4,0.000,0.048,2404,3069,3728
$GC,5028,-1.16,-194.7,659.9,-10.6,547,5032,0.00,2.08,0.00,0.000,6,0.000,0.036,2404,1667,3727
$GC,5349,-1.16,-194.7,689.1,-8.7,563,5353,0.00,2.15,0.00,0.000,4,0.000,0.050,2404,3069,3724
$GC,5428,-1.16,-194.7,696.1,-9.0,566,5432,0.00,2.08,0.00,0.000,6,0.000,0.037,2404,1671,3722
$GC,5751,-1.16,-194.7,727.2,-10.2,582,5755,0.00,2.15,0.00,0.000,4,0.000,0.051,2404,3066,3719
$GC,5834,-1.16,-194.7,736.6,-11.3,585,5840,0.00,2.08,0.00,0.000,6,0.000,0.038,2404,1676,3719
$GC,6150,-1.16,-194.7,772.0,-11.1,601,6153,0.00,2.17,0.00,0.000,4,0.000,0.058,2403,3067,3716
$GC,6174,-1.16,-194.7,774.5,-11.2,602,6179,0.00,2.10,0.00,0.000,6,0.000,0.038,2404,1665,3716
$GC,6506,-1.16,-194.7,810.9,-10.7,618,6510,0.00,2.17,0.00,0.000,4,0.000,0.054,2395,3064,3713
$GC,6539,-1.16,-194.7,814.4,-10.0,619,6543,0.00,2.10,0.00,0.000,6,0.000,0.041,2395,1670,3713
$GC,6863,-1.16,-194.7,850.2,-11.6,635,6866,0.00,2.17,0.00,0.000,4,0.000,0.054,2391,3067,3710
$GC,6918,-1.16,-194.7,857.0,-11.4,637,6922,0.00,2.12,0.00,0.000,6,0.000,0.041,2391,1663,3710
$GC,7240,-1.16,-194.7,895.3,-12.0,653,7244,0.00,2.22,0.00,0.000,4,0.000,0.063,2391,3070,3707
$GC,7325,-1.16,-194.7,905.2,-11.7,656,7331,0.00,2.12,0.00,0.000,6,0.000,0.041,2391,1663,3707
$GC,7641,-1.16,-194.7,939.9,-10.6,672,7645,0.00,2.22,0.00,0.000,4,0.000,0.059,2391,259,3704
$GC,7680,-1.16,-194.7,944.6,-11.7,673,7686,0.00,2.15,0.00,0.000,6,0.000,0.041,2382,1679,3704
$GC,7996,-1.16,-194.7,980.1,-12.0,689,8000,0.00,2.20,0.00,0.000,4,0.000,0.058,2372,3079,3702
$GC,8046,-1.16,-194.7,986.3,-12.3,691,8050,0.00,2.17,0.00,0.000,6,0.000,0.046,2372,1663,3702
$STATE,8082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8082,begin apogee
$GC,8089,-0.27,0.0,990.9,12.5,693,8259,0.98,0.00,166.52,1.470,6,0.132,0.000,2669,1336,2945
$STATE,8260,end apogee,CONTROL_FINISHED_OK
$STATE,8260,begin climb
$GC,8263,1.16,194.7,1001.2,0.0,701,8446,1.30,2.38,172.68,1.429,4,0.060,0.053,3125,2747,2150
$GC,8497,1.16,194.7,988.4,13.2,711,8503,0.00,2.20,0.00,0.000,6,0.000,0.048,3134,1356,2146
$GC,8813,1.16,194.7,949.4,12.1,727,8817,0.00,2.20,0.00,0.000,4,0.000,0.053,3134,2759,2144
$GC,8841,1.16,194.7,945.7,12.4,728,8845,0.00,2.20,0.00,0.000,6,0.000,0.047,3144,1337,2143
$GC,9162,1.16,194.7,907.9,12.1,744,9165,0.00,2.22,0.00,0.000,4,0.000,0.053,3143,2759,2142
$GC,9201,1.16,194.7,903.0,12.8,745,9208,0.00,2.17,0.00,0.000,6,0.000,0.048,3151,1350,2141
$GC,9517,1.16,194.7,862.0,13.1,761,9520,0.00,2.20,0.00,0.000,4,0.000,0.054,3151,2758,2140
$GC,9679,1.16,194.7,838.7,15.1,768,9683,0.00,2.17,0.00,0.000,6,0.000,0.048,3159,1346,2139
$GC,10000,1.16,194.7,791.2,14.4,784,10004,0.00,1.80,0.00,0.000,4,0.000,0.061,3168,207,2139
$GC,10028,1.16,194.7,786.9,15.5,785,10031,0.00,1.75,0.00,0.000,6,0.000,0.048,3168,1361,2138
$GC,10357,1.16,194.7,740.2,13.4,801,10361,0.00,2.15,0.00,0.000,4,0.000,0.053,3164,2755,2137
$GC,10381,1.16,194.7,736.7,13.9,802,10385,0.15,2.17,0.00,0.000,6,0.202,0.047,3138,1350,2137
$GC,10707,1.16,194.7,696.9,12.4,818,10711,0.00,2.17,0.00,0.000,4,0.000,0.053,3136,2749,2137
$GC,10786,1.16,194.7,686.4,13.4,821,10790,0.00,2.15,0.00,0.000,6,0.000,0.046,3144,1350,2136
$GC,11108,1.16,194.7,644.4,12.8,837,11111,0.00,2.17,0.00,0.000,4,0.000,0.053,3141,2749,2136
$GC,11169,1.16,194.7,636.3,13.3,839,11175,0.00,2.17,0.00,0.000,6,0.000,0.047,3149,1348,2135
$GC,11486,1.17,201.4,600.2,10.7,855,11496,0.00,2.22,4.80,0.916,4,0.000,0.053,3149,2756,2123
$GC,11581,1.17,201.4,589.1,11.7,859,11584,0.00,2.17,0.00,0.000,6,0.000,0.047,3158,1348,2122
$GC,11908,1.23,247.4,554.5,9.3,875,11955,0.00,2.28,41.83,1.203,4,0.000,0.051,3159,2758,1935
$GC,12152,1.23,253.2,525.8,10.8,886,12163,0.00,2.20,6.03,0.937,6,0.000,0.046,3168,1342,1912
$GC,12477,1.23,253.2,487.9,11.1,906,12481,0.00,1.83,0.00,0.000,4,0.000,0.059,3178,201,1911
$GC,12516,1.23,253.2,483.1,12.6,909,12523,0.00,1.75,0.00,0.000,6,0.000,0.049,3178,1355,1910
$GC,12843,1.25,265.1,447.9,10.5,940,12860,0.00,2.22,12.23,1.040,4,0.000,0.049,3180,2755,1863
$GC,12956,1.25,265.1,434.4,11.9,949,12963,0.00,2.17,0.00,0.000,6,0.000,0.043,3190,1337,1861
$GC,13282,1.25,265.1,393.8,11.9,980,13286,0.00,2.17,0.00,0.000,4,0.000,0.048,3191,2752,1860
$GC,13378,1.25,265.1,382.0,11.2,988,13385,0.12,2.15,0.00,0.000,6,0.192,0.041,3172,1336,1860
$GC,13703,1.27,286.3,347.3,10.2,1019,13729,0.00,2.22,19.80,0.985,4,0.000,0.046,3171,2749,1776
$GC,13817,1.30,311.0,335.6,10.1,1029,13851,0.00,2.15,24.70,0.909,6,0.000,0.041,3180,1341,1677
$GC,14173,1.30,311.0,293.6,11.4,1066,14179,0.00,2.17,0.00,0.000,4,0.000,0.044,3182,2765,1674
$GC,14304,1.30,311.0,277.6,11.2,1089,14311,0.00,2.15,0.00,0.000,6,0.000,0.040,3193,1347,1673
$GC,14649,1.30,311.0,238.1,12.2,1150,14656,0.00,2.15,0.00,0.000,4,0.000,0.042,3192,2761,1673
$GC,14662,1.30,311.0,236.3,13.2,1152,14669,0.00,2.12,0.00,0.000,6,0.000,0.038,3200,1347,1673
$GC,15008,1.34,337.2,199.2,10.0,1213,15041,0.00,2.20,24.23,0.842,4,0.000,0.041,3199,2758,1569
$GC,15088,1.35,344.6,190.6,10.7,1226,15101,0.00,2.17,8.12,0.723,6,0.000,0.038,3205,1341,1540
$GC,15440,1.36,353.8,150.3,10.7,1288,15455,0.00,2.20,9.85,0.723,4,0.000,0.038,3207,2758,1502
$GC,15496,1.36,353.8,144.1,11.3,1297,15504,0.00,2.12,0.00,0.000,6,0.000,0.035,3216,1336,1502
$GC,15844,1.42,402.5,109.0,9.2,1358,15895,0.00,1.75,42.78,0.761,4,0.000,0.047,3225,203,1303
$GC,15965,1.48,453.2,97.5,9.1,1378,16016,0.00,1.73,44.55,0.739,6,0.000,0.031,3225,1370,1097
$GC,16358,1.49,464.3,55.7,10.6,1446,16377,0.00,1.83,10.68,0.634,4,0.000,0.048,3234,209,1052
$GC,16415,1.51,475.1,49.5,10.6,1455,16435,0.00,1.67,10.88,0.628,6,0.000,0.031,3234,1355,1008
$GC,16776,1.54,506.6,11.3,9.8,1518,16808,0.00,1.83,28.33,0.650,4,0.000,0.045,3242,199,878
$STATE,16852,end climb,SURFACE_DEPTH_REACHED
$STATE,16852,begin surface coast
$FINISH,0.8,1.002031
$STATE,16871,end surface coast,CONTROL_FINISHED_OK
$STATE,16871,begin surface
$SM_CCo,16952,0.00,0.000,0,0,876,507.53
$SM_GC,1.66,8.15,0.00,0.00,0.036,0.000,0.000,167,1683,876,-8.11,0.23,507.53
$IRIDIUM_FIX,2347.41,12438.28,191098,030312
$TT8_MAMPS,0.026845
$HUMID,1554
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.80
$XPDR_PINGS,142
$24V_AH,23.2,82.977
$10V_AH,10.6,55.474
$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,19.700,172.875,627.975,0.000,0.000,47.719,76.930,304.326,43.500,0.000,0.000,17.166,2688.924,10100.230,723.016,3219.218,861.958,0.000,2205.694,0.000,3181.466,0.000,54.432,0.000
$DEVICE_MAMPS,221.663,62.894,1470.339,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.317,1053.705,1769.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88614,1534
$CAP_FILE_SIZE,167227,0
$CFSIZE,260165632,203862016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.250,105.2,1
$GPS,250709,083400,2356.281,12437.276,38,1.3,38,-3.5