version: 66.04
glider: 166
mission: 2
dive: 378
start: 7 23 109 12 50 16
data:
$ID,166
$MISSION,2
$DIVE,378
$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,330
$T_MISSION,396
$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,-12850.524
$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,43
$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
$GPS1,124207,2357.226,12427.143,42,1.2,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.8
$GPS2,124955,2357.102,12427.393,13,1.2,18,-3.5
$SPEED_LIMITS,0.173,0.279
$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,291.9,73475,-16.8,-10.000
$D_GRID,2502
$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,-1.12,-170.3,0.0,0.0,0,76,0.00,0.00,-56.17,0.000,2,0.000,0.000,169,1690,2404
$GC,79,-1.12,-170.3,3.3,-5.6,9,132,9.07,2.22,-33.30,0.000,4,0.228,0.053,2395,257,3641
$GC,172,-1.12,-170.3,20.0,-20.6,24,179,0.00,2.05,0.00,0.000,6,0.000,0.028,2392,1676,3641
$GC,519,-1.12,-170.3,82.4,-17.5,85,525,0.00,2.05,0.00,0.000,4,0.000,0.039,2391,3070,3642
$GC,584,-1.12,-170.3,93.1,-16.9,96,590,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,1661,3642
$GC,929,-1.12,-170.3,146.8,-14.2,157,935,0.00,2.12,0.00,0.000,4,0.000,0.039,2386,3069,3642
$GC,1044,-1.12,-170.3,162.8,-14.8,177,1051,0.00,2.03,0.00,0.000,6,0.000,0.028,2378,1680,3643
$GC,1389,-1.12,-170.3,212.8,-14.7,238,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,1679,3644
$GC,1735,-1.12,-170.3,264.4,-16.0,299,1741,0.12,0.00,0.00,0.000,6,0.163,0.000,2405,1679,3644
$GC,2074,-1.12,-170.3,311.5,-12.9,352,2078,0.00,2.08,0.00,0.000,4,0.000,0.038,2403,3076,3643
$GC,2146,-1.12,-170.3,321.2,-12.9,358,2154,0.00,2.05,0.00,0.000,6,0.000,0.029,2400,1676,3644
$GC,2472,-1.12,-170.3,360.0,-11.7,389,2475,0.00,2.08,0.00,0.000,4,0.000,0.038,2396,3076,3644
$GC,2495,-1.12,-170.3,362.7,-11.3,391,2499,0.00,2.03,0.00,0.000,6,0.000,0.029,2394,1672,3643
$GC,2825,-1.12,-170.3,403.3,-12.3,422,2829,0.00,2.08,0.00,0.000,4,0.000,0.039,2395,3069,3643
$GC,2848,-1.12,-170.3,406.1,-12.5,424,2852,0.00,2.03,0.00,0.000,6,0.000,0.030,2391,1666,3643
$GC,3184,-1.12,-170.3,444.8,-11.2,455,3187,0.00,2.10,0.00,0.000,4,0.000,0.041,2403,3072,3642
$GC,3262,-1.12,-170.3,454.2,-10.8,462,3266,0.00,2.05,0.00,0.000,6,0.000,0.032,2398,1668,3642
$GC,3592,-1.12,-170.3,491.7,-11.2,493,3596,0.00,2.10,0.00,0.000,4,0.000,0.046,2397,274,3640
$GC,3643,-1.12,-170.3,497.9,-12.3,497,3649,0.00,2.05,0.00,0.000,6,0.000,0.031,2400,1684,3639
$GC,3959,-1.12,-170.3,533.7,-11.6,514,3963,0.00,2.08,0.00,0.000,4,0.000,0.044,2401,3069,3637
$GC,4015,-1.12,-170.3,540.5,-12.8,516,4019,0.00,2.05,0.00,0.000,6,0.000,0.035,2397,1674,3637
$GC,4337,-1.12,-170.3,577.6,-11.4,532,4340,0.00,2.12,0.00,0.000,4,0.000,0.047,2398,3073,3635
$GC,4370,-1.12,-170.3,581.4,-11.1,533,4373,0.00,2.08,0.00,0.000,6,0.000,0.035,2395,1668,3634
$GC,4692,-1.12,-170.3,614.9,-10.6,549,4695,0.00,2.15,0.00,0.000,4,0.000,0.047,2388,3078,3631
$GC,4726,-1.12,-170.3,618.3,-9.9,550,4730,0.00,2.08,0.00,0.000,6,0.000,0.036,2387,1678,3631
$GC,5047,-1.12,-170.3,654.5,-12.1,566,5050,0.00,2.12,0.00,0.000,4,0.000,0.048,2391,3066,3628
$GC,5080,-1.12,-170.3,658.5,-11.7,567,5083,0.00,2.08,0.00,0.000,6,0.000,0.037,2390,1671,3628
$GC,5403,-1.12,-170.3,693.5,-10.5,583,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1671,3625
$GC,5712,-1.12,-170.3,722.1,-9.4,598,5715,0.00,2.15,0.00,0.000,4,0.000,0.049,2385,3070,3622
$GC,5780,-1.12,-170.3,728.5,-8.9,601,5784,0.00,2.10,0.00,0.000,6,0.000,0.039,2384,1668,3622
$GC,6114,-1.12,-170.3,761.9,-10.6,617,6118,0.00,2.17,0.00,0.000,4,0.000,0.054,2389,3073,3620
$GC,6136,-1.12,-170.3,764.3,-10.3,618,6140,0.00,2.12,0.00,0.000,6,0.000,0.042,2386,1675,3619
$GC,6470,-1.12,-170.3,801.5,-11.0,634,6474,0.00,2.20,0.00,0.000,4,0.000,0.055,2390,260,3617
$GC,6494,-1.12,-170.3,804.4,-11.9,635,6498,0.00,2.15,0.00,0.000,6,0.000,0.040,2380,1676,3616
$GC,6828,-1.12,-170.3,838.6,-9.8,651,6832,0.00,2.17,0.00,0.000,4,0.000,0.055,2372,3074,3614
$GC,6889,-1.12,-170.3,844.7,-9.6,653,6896,0.12,2.12,0.00,0.000,6,0.168,0.041,2402,1666,3613
$GC,7206,-1.12,-170.3,873.6,-9.8,669,7210,0.00,2.20,0.00,0.000,4,0.000,0.061,2395,3076,3611
$GC,7329,-1.12,-170.3,886.4,-11.1,674,7333,0.00,2.15,0.00,0.000,6,0.000,0.049,2395,1667,3610
$GC,7651,-1.12,-170.3,921.8,-11.6,690,7655,0.00,2.20,0.00,0.000,4,0.000,0.056,2392,3071,3608
$GC,7690,-1.12,-170.3,926.7,-12.4,691,7696,0.00,2.15,0.00,0.000,6,0.000,0.048,2392,1671,3608
$GC,8006,-1.12,-170.3,964.3,-11.9,707,8010,0.00,2.22,0.00,0.000,4,0.000,0.060,2391,258,3606
$GC,8062,-1.12,-170.3,971.7,-13.1,709,8067,0.00,2.17,0.00,0.000,6,0.000,0.042,2382,1680,3605
$STATE,8216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8216,begin apogee
$GC,8223,-0.27,0.0,991.0,12.2,717,8373,0.98,0.00,146.00,1.475,6,0.140,0.000,2677,1347,2945
$STATE,8373,end apogee,CONTROL_FINISHED_OK
$STATE,8373,begin climb
$GC,8376,1.12,170.3,1000.1,0.0,724,8536,1.27,1.92,153.07,1.433,4,0.064,0.069,3123,199,2249
$GC,8550,1.14,185.0,995.4,9.4,733,8570,0.00,1.83,14.55,1.282,6,0.000,0.041,3123,1361,2190
$GC,8898,1.14,185.0,955.2,11.4,750,8901,0.00,1.85,0.00,0.000,4,0.000,0.061,3131,195,2184
$GC,8960,1.14,185.0,947.6,12.2,752,8967,0.00,1.77,0.00,0.000,6,0.000,0.043,3131,1349,2183
$GC,9276,1.14,185.0,909.9,12.1,768,9280,0.00,1.80,0.00,0.000,4,0.000,0.060,3138,205,2181
$GC,9322,1.14,185.0,904.1,12.5,770,9325,0.00,1.73,0.00,0.000,6,0.000,0.043,3138,1355,2181
$GC,9655,1.14,185.0,862.8,13.1,786,9658,0.00,2.15,0.00,0.000,4,0.000,0.052,3138,2747,2180
$GC,9761,1.14,185.0,847.9,14.3,790,9767,0.00,2.17,0.00,0.000,6,0.000,0.053,3147,1340,2179
$GC,10076,1.14,185.0,806.1,12.6,806,10079,0.00,2.22,0.00,0.000,4,0.000,0.058,3147,2755,2178
$GC,10155,1.14,185.0,796.2,12.7,809,10158,0.00,2.17,0.00,0.000,6,0.000,0.047,3156,1344,2178
$GC,10477,1.14,185.0,756.8,12.7,825,10480,0.00,1.80,0.00,0.000,4,0.000,0.061,3165,196,2177
$GC,10560,1.14,185.0,745.6,12.9,828,10568,0.10,1.77,0.00,0.000,6,0.191,0.043,3135,1352,2177
$GC,10877,1.14,185.0,707.2,12.3,844,10880,0.00,1.85,0.00,0.000,4,0.000,0.064,3141,192,2177
$GC,11052,1.14,185.0,684.8,13.1,851,11058,0.00,1.75,0.00,0.000,6,0.000,0.044,3141,1354,2176
$GC,11368,1.14,185.0,647.2,12.0,867,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,1355,2175
$GC,11676,1.14,185.0,612.8,11.1,882,11680,0.00,2.17,0.00,0.000,4,0.000,0.058,3135,2746,2175
$GC,11799,1.14,185.0,599.8,10.3,887,11803,0.00,2.17,0.00,0.000,6,0.000,0.047,3143,1336,2174
$GC,12122,1.14,185.0,566.7,10.7,903,12126,0.00,2.22,0.00,0.000,4,0.000,0.057,3144,2758,2174
$GC,12199,1.14,185.0,558.0,10.8,906,12203,0.00,2.17,0.00,0.000,6,0.000,0.044,3154,1342,2174
$GC,12523,1.19,225.1,528.4,8.4,922,12569,0.00,2.25,36.08,1.132,4,0.000,0.054,3152,2744,2027
$GC,12768,1.22,254.5,505.2,8.8,933,12811,0.00,2.17,28.80,1.075,6,0.000,0.045,3160,1350,1906
$GC,13127,1.22,254.5,463.3,11.9,964,13131,0.00,1.80,0.00,0.000,4,0.000,0.058,3171,199,1902
$GC,13152,1.22,254.5,460.7,11.3,966,13155,0.00,1.73,0.00,0.000,6,0.000,0.040,3172,1353,1902
$GC,13484,1.22,254.5,424.1,10.0,997,13488,0.00,2.12,0.00,0.000,4,0.000,0.046,3170,2747,1901
$GC,13609,1.24,266.9,411.4,9.5,1008,13633,0.00,2.15,13.65,0.876,6,0.000,0.044,3178,1340,1856
$GC,13951,1.24,266.9,374.8,10.7,1040,13954,0.00,1.77,0.00,0.000,4,0.000,0.055,3187,192,1855
$GC,13985,1.24,266.9,371.0,10.8,1043,13989,0.00,1.75,0.00,0.000,6,0.000,0.039,3187,1358,1855
$GC,14319,1.24,270.2,334.9,9.9,1074,14330,0.00,2.15,4.57,0.705,4,0.000,0.045,3188,2745,1843
$GC,14410,1.24,270.2,325.0,11.0,1082,14414,0.12,2.12,0.00,0.000,6,0.190,0.041,3168,1342,1842
$GC,14736,1.32,330.6,297.3,7.6,1115,14798,0.00,2.20,53.78,0.950,4,0.000,0.041,3163,2748,1596
$GC,14845,1.33,339.6,287.1,9.6,1133,14862,0.00,2.15,9.40,0.819,6,0.000,0.038,3170,1348,1559
$GC,15201,1.33,339.6,247.9,11.1,1196,15210,0.00,2.12,0.00,0.000,4,0.000,0.041,3171,2750,1556
$GC,15261,1.33,339.6,240.5,12.3,1206,15268,0.00,2.15,0.00,0.000,6,0.000,0.038,3180,1349,1555
$GC,15606,1.33,339.6,200.8,11.4,1267,15612,0.00,2.12,0.00,0.000,4,0.000,0.041,3176,2753,1555
$GC,15692,1.33,339.6,190.9,11.4,1282,15698,0.00,2.12,0.00,0.000,6,0.000,0.037,3182,1337,1556
$GC,16037,1.36,361.6,157.6,9.1,1343,16063,0.00,2.15,20.52,0.791,4,0.000,0.037,3183,2755,1470
$GC,16093,1.36,361.6,151.8,10.1,1352,16101,0.00,2.15,0.00,0.000,6,0.000,0.036,3192,1348,1469
$GC,16439,1.38,378.5,117.7,9.3,1413,16464,0.00,1.80,16.17,0.735,4,0.000,0.054,3198,203,1399
$GC,16501,1.38,378.5,111.5,10.5,1423,16507,0.00,1.70,0.00,0.000,6,0.000,0.031,3200,1358,1399
$GC,16846,1.38,378.5,72.3,12.8,1484,16853,0.00,2.08,0.00,0.000,4,0.000,0.036,3202,2743,1398
$GC,16974,1.42,416.4,59.7,8.5,1506,17012,0.00,2.08,33.38,0.707,6,0.000,0.035,3212,1340,1247
$GC,17356,1.45,437.3,23.8,9.2,1572,17382,0.00,1.73,19.40,0.650,4,0.000,0.047,3220,206,1162
$GC,17505,1.47,455.1,8.5,9.3,1597,17531,0.00,1.67,16.92,0.624,6,0.000,0.028,3221,1368,1088
$STATE,17552,end climb,SURFACE_DEPTH_REACHED
$STATE,17552,begin surface coast
$FINISH,0.7,1.008310
$STATE,17586,end surface coast,CONTROL_FINISHED_OK
$STATE,17586,begin surface
$SM_CCo,17666,0.00,0.000,0,0,1084,456.50
$SM_GC,1.56,8.20,0.00,0.00,0.043,0.000,0.000,169,1675,1084,-8.10,0.00,456.50
$IRIDIUM_FIX,2347.41,12427.84,171098,070727
$TT8_MAMPS,0.026845
$HUMID,1557
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.80
$XPDR_PINGS,152
$24V_AH,23.2,81.165
$10V_AH,10.6,54.236
$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,20.000,164.900,566.300,0.000,0.000,24.567,34.493,232.356,46.000,0.000,0.000,18.481,2827.914,10521.429,685.682,3331.114,750.133,0.000,2197.309,0.000,3296.632,0.000,57.144,0.000
$DEVICE_MAMPS,227.799,69.030,1474.941,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1091.183,1115.430,1871.193,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94688,1611
$CAP_FILE_SIZE,169491,0
$CFSIZE,260165632,204566528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.250,105.2,1
$GPS,230709,174601,2357.013,12428.354,42,2.0,42,-3.5