version: 66.04
glider: 166
mission: 2
dive: 351
start: 7 17 109 3 33 39
data:
$ID,166
$MISSION,2
$DIVE,351
$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,413
$T_MISSION,495
$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,-12309.106
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3938
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,17
$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,51
$R_STBD_OVSHOOT,88
$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
$GPS1,032606,2415.346,12430.085,35,0.8,38,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-67.1
$GPS2,033314,2415.359,12430.038,14,0.9,14,-3.6
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,OFF_5
$TGT_LATLONG,2413.900,12429.800
$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,221.9,2733,-27.6,-7.990
$D_GRID,812
$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,-1.68,-45.1,0.0,0.0,0,75,0.00,0.00,-57.90,0.000,2,0.000,0.000,168,1697,2456
$GC,78,-1.71,-69.6,3.4,-5.1,9,112,8.18,2.20,-20.80,0.000,4,0.227,0.052,2223,268,3230
$GC,277,-1.71,-69.6,51.8,-23.5,43,283,0.00,2.00,0.00,0.000,6,0.000,0.027,2216,1648,3231
$GC,622,-1.71,-69.6,120.3,-19.9,104,629,0.00,2.08,0.00,0.000,4,0.000,0.036,2206,3072,3232
$GC,702,-1.71,-69.6,136.8,-19.0,118,710,0.00,2.03,0.00,0.000,6,0.000,0.030,2206,1660,3232
$GC,1048,-1.71,-69.6,203.8,-16.9,179,1054,0.00,2.05,0.00,0.000,4,0.000,0.041,2204,269,3233
$GC,1162,-1.71,-69.6,224.2,-17.8,199,1170,0.15,2.00,0.00,0.000,6,0.219,0.025,2225,1687,3233
$GC,1509,-1.71,-69.6,278.6,-14.0,260,1515,0.00,2.10,0.00,0.000,4,0.000,0.041,2224,269,3233
$GC,1767,-1.71,-69.6,321.2,-17.2,296,1771,0.00,2.00,0.00,0.000,6,0.000,0.026,2214,1681,3233
$GC,2098,-1.71,-69.6,369.5,-11.9,327,2102,0.00,2.10,0.00,0.000,4,0.000,0.042,2206,273,3233
$GC,2359,-1.71,-69.6,408.5,-16.0,350,2364,0.15,2.00,0.00,0.000,6,0.214,0.027,2227,1680,3233
$GC,2689,-1.71,-69.6,454.1,-15.2,381,2693,0.00,2.03,0.00,0.000,4,0.000,0.038,2212,3063,3232
$GC,2762,-1.71,-69.6,465.0,-14.3,387,2768,0.00,2.03,0.00,0.000,6,0.000,0.032,2212,1672,3231
$GC,3088,-1.71,-69.6,508.3,-11.9,415,3092,0.00,2.10,0.00,0.000,4,0.000,0.044,2212,267,3229
$GC,3136,-1.71,-69.6,514.5,-12.6,417,3141,0.12,2.03,0.00,0.000,6,0.216,0.028,2226,1682,3229
$GC,3469,-1.71,-69.6,554.5,-11.8,433,3473,0.00,2.05,0.00,0.000,4,0.000,0.041,2218,3065,3227
$GC,3646,-1.71,-69.6,575.2,-11.1,440,3654,0.00,2.08,0.00,0.000,6,0.000,0.035,2219,1672,3225
$GC,3962,-1.71,-69.6,614.3,-12.9,456,3966,0.00,2.10,0.00,0.000,4,0.000,0.043,2211,3070,3223
$GC,4079,-1.71,-69.6,631.1,-14.6,461,4083,0.00,2.08,0.00,0.000,6,0.000,0.036,2212,1668,3222
$GC,4407,-1.71,-69.6,677.6,-14.2,477,4411,0.00,2.12,0.00,0.000,4,0.000,0.051,2212,271,3219
$GC,4514,-1.71,-69.6,693.6,-14.9,481,4521,0.12,2.05,0.00,0.000,6,0.216,0.033,2229,1675,3218
$GC,4830,-1.71,-69.6,735.3,-14.2,497,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,1674,3215
$GC,5139,-1.71,-69.6,779.4,-14.3,512,5143,0.00,2.17,0.00,0.000,4,0.000,0.055,2226,275,3212
$GC,5172,-1.71,-69.6,784.3,-14.4,513,5176,0.00,2.10,0.00,0.000,6,0.000,0.041,2217,1683,3211
$STATE,5388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5388,begin apogee
$GC,5394,-0.29,0.0,813.2,13.1,524,5455,1.62,0.00,56.50,1.302,6,0.176,0.000,2681,1354,2945
$STATE,5455,end apogee,CONTROL_FINISHED_OK
$STATE,5455,begin climb
$GC,5459,1.71,69.6,814.9,0.0,527,5526,1.75,2.22,59.70,1.265,4,0.061,0.046,3332,2761,2660
$GC,5560,1.71,69.6,810.4,8.1,532,5564,0.00,2.17,0.00,0.000,6,0.000,0.042,3340,1349,2659
$GC,5887,1.71,69.6,780.4,8.0,548,5891,0.00,1.77,0.00,0.000,4,0.000,0.058,3348,198,2656
$GC,6145,1.72,83.1,764.2,6.4,559,6161,0.00,1.70,11.52,1.171,6,0.000,0.039,3341,1351,2606
$GC,6482,1.72,83.1,733.0,10.9,576,6486,0.00,2.12,0.00,0.000,4,0.000,0.050,3333,2752,2602
$GC,6521,1.72,83.1,728.6,11.6,577,6527,0.00,2.15,0.00,0.000,6,0.000,0.049,3341,1339,2602
$GC,6837,1.72,83.1,698.5,8.2,593,6840,0.00,1.75,0.00,0.000,4,0.000,0.055,3350,192,2600
$GC,7095,1.74,91.5,677.1,7.0,604,7107,0.00,1.73,7.65,1.085,6,0.000,0.040,3345,1362,2571
$GC,7415,1.74,91.5,647.3,9.4,620,7419,0.00,1.80,0.00,0.000,4,0.000,0.054,3352,194,2569
$GC,7673,1.74,91.5,628.2,9.5,631,7677,0.00,1.75,0.00,0.000,6,0.000,0.041,3345,1351,2568
$GC,7996,1.75,105.6,600.9,6.3,647,8017,0.00,1.85,12.88,1.154,4,0.000,0.055,3352,199,2513
$GC,8234,1.75,105.6,579.6,8.6,657,8240,0.00,1.75,0.00,0.000,6,0.000,0.044,3346,1346,2512
$GC,8550,1.75,105.6,553.1,8.1,673,8554,0.00,2.12,0.00,0.000,4,0.000,0.047,3336,2753,2511
$GC,8607,1.76,110.5,549.0,7.4,675,8619,0.00,2.15,5.50,0.927,6,0.000,0.050,3345,1346,2494
$GC,8929,1.76,111.0,525.6,7.9,691,8932,0.00,2.15,0.00,0.000,4,0.000,0.049,3345,2756,2493
$GC,8961,1.76,111.0,522.5,8.2,692,8965,0.00,2.12,0.00,0.000,6,0.000,0.042,3354,1351,2492
$GC,9287,1.76,113.5,493.9,7.7,711,9298,0.00,1.80,4.00,0.755,4,0.000,0.055,3362,205,2482
$GC,9550,1.79,136.4,475.8,5.3,734,9579,0.00,1.73,20.42,1.104,6,0.000,0.039,3356,1351,2388
$GC,9898,1.79,136.4,446.9,8.8,767,9901,0.00,2.15,0.00,0.000,4,0.000,0.050,3347,2761,2387
$GC,10155,1.79,138.8,426.7,7.7,790,10159,0.00,2.15,0.00,0.000,6,0.000,0.043,3353,1342,2386
$GC,10488,1.80,142.0,401.9,7.6,821,10500,0.00,2.15,6.28,0.868,4,0.000,0.044,3346,2753,2365
$GC,10729,1.80,144.2,381.9,7.7,842,10737,0.00,2.12,0.00,0.000,6,0.000,0.041,3353,1342,2365
$GC,11057,1.82,162.8,362.0,5.8,873,11081,0.00,2.22,18.73,0.985,4,0.000,0.044,3347,2759,2280
$GC,11322,1.82,162.8,337.9,9.8,896,11329,0.00,2.17,0.00,0.000,6,0.000,0.041,3356,1348,2279
$GC,11651,1.83,165.8,309.8,7.6,927,11662,0.00,2.17,4.25,0.641,4,0.000,0.043,3352,2759,2268
$GC,11752,1.83,165.8,301.4,8.1,936,11756,0.00,2.12,0.00,0.000,6,0.000,0.040,3361,1344,2268
$GC,12095,1.83,165.8,273.4,8.4,995,12101,0.00,1.73,0.00,0.000,4,0.000,0.050,3370,204,2269
$GC,12287,1.87,197.6,260.2,4.2,1029,12326,0.00,1.67,27.67,0.894,6,0.000,0.035,3367,1363,2138
$GC,12667,1.87,199.5,235.4,7.8,1095,12673,0.00,2.08,0.00,0.000,4,0.000,0.040,3358,2757,2136
$GC,12927,1.87,199.5,211.6,8.5,1141,12933,0.00,2.10,0.00,0.000,6,0.000,0.037,3366,1347,2136
$GC,13270,1.87,199.5,177.5,11.6,1202,13278,0.00,2.08,0.00,0.000,4,0.000,0.038,3358,2751,2137
$GC,13318,1.87,199.5,172.1,10.2,1210,13326,0.00,2.08,0.00,0.000,6,0.000,0.035,3366,1342,2137
$GC,13666,1.87,199.5,150.2,8.1,1271,13673,0.00,1.73,0.00,0.000,4,0.000,0.047,3375,209,2139
$GC,13925,1.87,202.8,125.5,7.6,1317,13939,0.00,1.67,6.53,0.619,6,0.000,0.031,3374,1364,2118
$GC,14278,1.90,226.2,104.8,5.2,1379,14305,0.00,1.83,20.60,0.723,4,0.000,0.045,3379,198,2021
$GC,14409,1.90,226.2,94.5,8.2,1401,14416,0.00,1.67,0.00,0.000,6,0.000,0.031,3378,1350,2020
$GC,14755,1.92,241.9,74.1,6.1,1462,14775,0.00,1.73,14.12,0.669,4,0.000,0.044,3383,202,1958
$GC,14915,1.94,258.8,63.8,6.0,1489,14936,0.00,1.65,14.77,0.657,6,0.000,0.030,3384,1346,1890
$GC,15277,2.00,305.9,43.2,2.4,1552,15323,0.10,1.80,39.05,0.672,4,0.093,0.043,3429,200,1697
$GC,15577,2.00,305.9,14.9,13.6,1604,15583,0.00,1.67,0.00,0.000,6,0.000,0.028,3422,1360,1693
$STATE,15689,end climb,SURFACE_DEPTH_REACHED
$STATE,15689,begin surface coast
$FINISH,0.8,1.021336
$STATE,15726,end surface coast,CONTROL_FINISHED_OK
$STATE,15726,begin surface
$SM_CCo,15745,116.95,0.638,0,0,1109,450.13
$SM_GC,1.51,0.00,0.00,116.95,0.000,0.000,0.638,170,1679,1109,-8.17,0.08,450.13
$IRIDIUM_FIX,2406.29,12429.90,111098,000050
$TT8_MAMPS,0.027612
$HUMID,1538
$INTERNAL_PRESSURE,10.044
$TCM_TEMP,26.00
$XPDR_PINGS,156
$24V_AH,23.7,75.411
$10V_AH,10.7,49.306
$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,21.025,123.975,330.175,116.950,0.000,26.407,43.499,215.434,45.250,0.000,0.000,15.081,2893.936,8638.094,575.288,3505.491,673.877,0.000,2062.298,0.000,3468.627,0.000,42.762,0.000
$DEVICE_MAMPS,227.032,58.292,1302.366,638.144,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.036,1160.469,1964.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94578,1630
$CAP_FILE_SIZE,159004,0
$CFSIZE,260165632,207355904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,173.3,1
$GPS,170709,075906,2414.223,12429.823,26,1.2,26,-3.6