version: 66.04
glider: 166
mission: 2
dive: 352
start: 7 17 109 8 10 0
data:
$ID,166
$MISSION,2
$DIVE,352
$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,-12324.408
$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,46
$R_STBD_OVSHOOT,78
$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
$GPS1,075906,2414.223,12429.823,26,1.2,26,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-64.5
$GPS2,080938,2414.281,12429.800,14,1.6,14,-3.6
$SPEED_LIMITS,0.138,0.258
$TGT_NAME,RET_1
$TGT_LATLONG,2352.500,12344.300
$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,264.4,86976,-13.7,-7.990
$D_GRID,647
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.01,-170.3,0.0,0.0,0,78,0.00,0.00,-58.33,0.000,2,0.000,0.000,171,1680,2458
$GC,81,-1.01,-170.3,3.1,-4.2,9,128,9.02,2.15,-31.20,0.000,4,0.221,0.055,2445,261,3640
$GC,292,-1.01,-170.3,45.6,-19.6,45,299,0.00,2.03,0.00,0.000,6,0.000,0.026,2443,1657,3640
$GC,637,-1.01,-170.3,102.7,-12.9,106,645,0.00,2.08,0.00,0.000,4,0.000,0.042,2431,270,3640
$GC,669,-1.01,-170.3,107.0,-13.8,111,675,0.00,2.03,0.00,0.000,6,0.000,0.027,2426,1689,3640
$GC,1015,-1.01,-170.3,155.7,-15.6,172,1022,0.00,2.03,0.00,0.000,4,0.000,0.038,2426,3078,3641
$GC,1045,-1.01,-170.3,160.4,-15.0,177,1052,0.00,2.03,0.00,0.000,6,0.000,0.030,2428,1671,3641
$GC,1389,-1.01,-170.3,206.1,-13.0,238,1397,0.00,2.08,0.00,0.000,4,0.000,0.044,2428,274,3641
$GC,1476,-1.01,-170.3,217.7,-13.1,253,1482,0.00,2.00,0.00,0.000,6,0.000,0.027,2424,1676,3641
$GC,1819,-1.01,-170.3,261.2,-10.9,314,1826,0.00,2.05,0.00,0.000,4,0.000,0.041,2423,3070,3640
$GC,1888,-1.01,-170.3,268.7,-10.8,326,1897,0.10,2.03,0.00,0.000,6,0.159,0.030,2450,1665,3641
$GC,2233,-1.01,-170.3,307.8,-11.3,381,2236,0.00,2.10,0.00,0.000,4,0.000,0.047,2451,266,3641
$GC,2290,-1.01,-170.3,315.1,-12.4,386,2294,0.00,2.03,0.00,0.000,6,0.000,0.027,2449,1678,3640
$GC,2622,-1.01,-170.3,346.2,-9.5,417,2626,0.00,2.05,0.00,0.000,4,0.000,0.040,2448,3070,3639
$GC,2673,-1.01,-170.3,351.2,-9.9,421,2678,0.00,2.03,0.00,0.000,6,0.000,0.031,2450,1675,3639
$GC,2999,-1.01,-170.3,386.9,-10.7,452,3002,0.00,2.08,0.00,0.000,4,0.000,0.041,2449,3064,3637
$GC,3044,-1.01,-170.3,391.7,-10.3,456,3048,0.00,2.03,0.00,0.000,6,0.000,0.032,2450,1673,3637
$GC,3375,-1.01,-170.3,422.1,-9.5,487,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1672,3636
$GC,3696,-1.01,-170.3,454.7,-10.8,517,3700,0.00,2.10,0.00,0.000,4,0.000,0.042,2448,3072,3634
$GC,3735,-1.01,-170.3,459.5,-11.5,520,3741,0.00,2.05,0.00,0.000,6,0.000,0.034,2448,1669,3633
$GC,4062,-1.01,-170.3,494.4,-10.3,551,4066,0.00,2.10,0.00,0.000,4,0.000,0.043,2448,3070,3631
$GC,4089,-1.01,-170.3,497.8,-11.4,553,4096,0.00,2.05,0.00,0.000,6,0.000,0.035,2449,1675,3631
$GC,4409,-1.01,-170.3,525.3,-9.1,570,4413,0.00,2.10,0.00,0.000,4,0.000,0.044,2449,3072,3628
$GC,4447,-1.01,-170.3,529.7,-11.1,571,4453,0.00,2.08,0.00,0.000,6,0.000,0.035,2451,1662,3628
$GC,4764,-1.01,-170.3,563.4,-10.2,587,4768,0.00,2.12,0.00,0.000,4,0.000,0.045,2449,3067,3626
$GC,4871,-1.01,-170.3,574.1,-10.3,591,4877,0.00,2.05,0.00,0.000,6,0.000,0.036,2450,1677,3625
$GC,5187,-1.01,-170.3,604.0,-10.2,607,5191,0.00,2.10,0.00,0.000,4,0.000,0.046,2451,3064,3622
$GC,5244,-1.01,-170.3,610.1,-10.9,609,5248,0.00,2.08,0.00,0.000,6,0.000,0.037,2452,1663,3621
$GC,5565,-1.01,-170.3,643.7,-10.1,625,5569,0.00,2.12,0.00,0.000,4,0.000,0.047,2451,3061,3619
$STATE,5596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5596,begin apogee
$GC,5605,-0.29,0.0,647.1,9.8,626,5745,0.65,0.00,137.18,1.167,6,0.104,0.000,2677,1354,2945
$STATE,5746,end apogee,CONTROL_FINISHED_OK
$STATE,5746,begin climb
$GC,5749,1.01,170.3,656.4,0.0,633,5896,1.15,2.25,139.30,1.139,4,0.051,0.044,3124,2741,2249
$GC,5966,1.01,170.3,647.6,10.3,642,5970,0.00,2.15,0.00,0.000,6,0.000,0.043,3135,1342,2246
$GC,6299,1.01,170.3,614.0,10.3,658,6303,0.00,2.12,0.00,0.000,4,0.000,0.045,3135,2744,2243
$GC,6389,1.01,170.3,604.8,10.2,662,6393,0.15,2.10,0.00,0.000,6,0.190,0.043,3109,1349,2242
$GC,6720,1.01,170.3,576.2,8.5,678,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,1349,2241
$GC,7031,1.01,170.3,551.0,8.5,693,7035,0.00,2.12,0.00,0.000,4,0.000,0.046,3109,2744,2239
$GC,7213,1.01,170.3,534.3,9.8,701,7217,0.00,2.12,0.00,0.000,6,0.000,0.043,3117,1337,2237
$GC,7547,1.01,170.3,504.1,8.5,717,7550,0.00,1.77,0.00,0.000,4,0.000,0.058,3126,195,2236
$GC,7642,1.01,170.3,495.8,8.4,722,7650,0.00,1.73,0.00,0.000,6,0.000,0.037,3126,1351,2236
$GC,7970,1.09,234.8,475.0,6.0,753,8029,0.00,2.20,52.50,1.085,4,0.000,0.044,3126,2741,1986
$GC,8148,1.09,234.8,458.0,11.2,769,8152,0.00,2.15,0.00,0.000,6,0.000,0.044,3135,1342,1982
$GC,8481,1.09,234.8,420.7,10.2,800,8484,0.00,1.75,0.00,0.000,4,0.000,0.055,3144,205,1979
$GC,8526,1.09,234.8,415.9,10.2,804,8529,0.00,1.70,0.00,0.000,6,0.000,0.038,3144,1362,1979
$GC,8859,1.09,234.8,384.2,10.7,835,8863,0.00,2.08,0.00,0.000,4,0.000,0.043,3144,2756,1978
$GC,9011,1.09,234.8,366.8,11.5,848,9017,0.00,2.12,0.00,0.000,6,0.000,0.041,3154,1340,1977
$GC,9340,1.11,249.0,338.6,7.5,879,9356,0.00,2.20,11.70,0.912,4,0.000,0.042,3154,2755,1929
$GC,9380,1.12,253.5,335.2,7.8,882,9393,0.00,2.12,5.55,0.742,6,0.000,0.040,3163,1346,1911
$GC,9710,1.12,253.5,301.8,11.1,913,9714,0.00,2.12,0.00,0.000,4,0.000,0.041,3163,2759,1909
$GC,9790,1.12,253.5,293.4,10.4,925,9797,0.12,2.12,0.00,0.000,6,0.185,0.039,3144,1344,1908
$GC,10137,1.17,294.8,266.9,6.7,986,10181,0.00,2.17,35.72,0.904,4,0.000,0.040,3143,2742,1742
$GC,10255,1.17,294.8,255.9,10.2,1006,10262,0.00,2.15,0.00,0.000,6,0.000,0.039,3151,1346,1740
$GC,10601,1.17,294.8,220.9,10.2,1067,10607,0.00,2.10,0.00,0.000,4,0.000,0.039,3151,2751,1740
$GC,10737,1.17,294.8,208.1,8.8,1091,10744,0.00,2.10,0.00,0.000,6,0.000,0.038,3160,1345,1740
$GC,11081,1.17,294.8,178.7,8.4,1152,11088,0.00,2.12,0.00,0.000,4,0.000,0.038,3160,2754,1740
$GC,11112,1.17,294.8,175.8,9.4,1157,11118,0.00,2.12,0.00,0.000,6,0.000,0.037,3170,1347,1740
$GC,11456,1.17,294.8,140.7,9.7,1218,11464,0.00,1.75,0.00,0.000,4,0.000,0.050,3177,205,1740
$GC,11552,1.18,306.4,132.6,7.6,1234,11572,0.00,1.67,11.70,0.721,6,0.000,0.031,3178,1367,1694
$GC,11912,1.18,306.4,105.0,8.8,1297,11918,0.00,2.03,0.00,0.000,4,0.000,0.035,3178,2755,1694
$GC,12038,1.18,306.4,93.7,9.2,1319,12044,0.00,2.10,0.00,0.000,6,0.000,0.035,3184,1350,1694
$GC,12383,1.31,408.6,68.4,4.8,1380,12480,0.00,1.80,85.53,0.713,4,0.000,0.048,3191,212,1278
$GC,12583,1.31,408.6,51.2,10.0,1413,12589,0.00,1.65,0.00,0.000,6,0.000,0.030,3189,1347,1277
$GC,12928,1.31,408.6,23.9,9.5,1474,12936,0.00,1.75,0.00,0.000,4,0.000,0.046,3197,202,1276
$GC,12992,1.31,408.6,17.8,9.3,1485,12999,0.00,1.65,0.00,0.000,6,0.000,0.029,3198,1352,1275
$STATE,13154,end climb,SURFACE_DEPTH_REACHED
$STATE,13157,begin surface coast
$FINISH,0.7,1.021475
$STATE,13196,end surface coast,CONTROL_FINISHED_OK
$STATE,13197,begin surface
$SM_CCo,13215,34.55,0.637,0,0,1109,450.13
$SM_GC,1.61,0.00,0.00,34.55,0.000,0.000,0.637,164,1685,1109,-8.16,0.28,450.13
$IRIDIUM_FIX,2406.29,12429.90,111098,080818
$TT8_MAMPS,0.026845
$HUMID,1575
$INTERNAL_PRESSURE,10.0343
$TCM_TEMP,26.10
$XPDR_PINGS,153
$24V_AH,23.5,75.583
$10V_AH,10.8,49.457
$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,19.150,122.900,479.175,34.550,0.000,47.999,69.377,287.461,42.750,0.000,0.000,14.672,2599.983,6857.978,617.246,3007.739,786.500,0.000,1934.281,0.000,2991.421,0.000,31.071,0.000
$DEVICE_MAMPS,220.896,57.525,1167.374,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.810,1108.365,1867.049,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88376,1521
$CAP_FILE_SIZE,141697,0
$CFSIZE,260165632,207290368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,157.4,1
$GPS,170709,115237,2412.941,12429.201,68,0.8,68,-3.6