version: 66.04
glider: 166
mission: 2
dive: 383
start: 7 24 109 13 14 5
data:
$ID,166
$MISSION,2
$DIVE,383
$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,-12981.426
$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,39
$R_STBD_OVSHOOT,66
$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
$GPS1,130436,2355.614,12432.816,38,1.2,38,-3.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-65.4
$GPS2,131343,2355.532,12432.966,15,1.3,15,-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,312.0,35929,-17.1,-11.000
$D_GRID,2527
$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,16,-1.16,-194.7,0.0,0.0,0,74,0.00,0.00,-55.83,0.000,2,0.000,0.000,165,1673,2273
$GC,78,-1.16,-194.7,3.1,-6.8,9,131,9.02,2.22,-39.25,0.000,4,0.227,0.054,2384,252,3741
$GC,189,-1.16,-194.7,24.3,-20.9,27,196,0.00,2.05,0.00,0.000,6,0.000,0.028,2371,1674,3741
$GC,535,-1.16,-194.7,90.7,-17.8,88,541,0.00,2.05,0.00,0.000,4,0.000,0.039,2367,3070,3741
$GC,655,-1.16,-194.7,111.4,-18.7,109,662,0.00,2.05,0.00,0.000,6,0.000,0.029,2371,1650,3741
$GC,1001,-1.16,-194.7,168.6,-16.0,170,1009,0.00,2.12,0.00,0.000,4,0.000,0.038,2356,3079,3743
$GC,1043,-1.16,-194.7,175.5,-15.9,177,1050,0.00,2.03,0.00,0.000,6,0.000,0.028,2364,1669,3742
$GC,1388,-1.16,-194.7,227.9,-14.3,238,1395,0.00,2.08,0.00,0.000,4,0.000,0.038,2353,3066,3743
$GC,1437,-1.16,-194.7,234.8,-13.6,246,1445,0.12,2.03,0.00,0.000,6,0.170,0.029,2388,1656,3743
$GC,1785,-1.16,-194.7,281.3,-12.5,307,1791,0.00,2.10,0.00,0.000,4,0.000,0.040,2378,3064,3743
$GC,1887,-1.16,-194.7,295.5,-13.9,325,1893,0.00,2.00,0.00,0.000,6,0.000,0.030,2380,1680,3743
$GC,2222,-1.16,-194.7,337.3,-12.7,359,2225,0.00,2.08,0.00,0.000,4,0.000,0.041,2374,3066,3743
$GC,2278,-1.16,-194.7,345.3,-13.4,364,2282,0.00,2.03,0.00,0.000,6,0.000,0.031,2376,1668,3743
$GC,2610,-1.16,-194.7,391.6,-13.6,395,2613,0.00,2.10,0.00,0.000,4,0.000,0.043,2374,3071,3743
$GC,2666,-1.16,-194.7,399.1,-13.1,400,2670,0.00,2.03,0.00,0.000,6,0.000,0.031,2376,1676,3743
$GC,2998,-1.16,-194.7,441.4,-12.4,431,3002,0.00,2.10,0.00,0.000,4,0.000,0.044,2376,3071,3742
$GC,3021,-1.16,-194.7,444.5,-12.9,433,3025,0.00,2.05,0.00,0.000,6,0.000,0.032,2379,1664,3742
$GC,3352,-1.16,-194.7,485.5,-11.6,464,3355,0.00,2.10,0.00,0.000,4,0.000,0.044,2380,3062,3741
$GC,3388,-1.16,-194.7,489.6,-12.4,467,3391,0.00,2.03,0.00,0.000,6,0.000,0.032,2380,1674,3741
$GC,3712,-1.16,-194.7,527.9,-12.0,487,3716,0.00,2.10,0.00,0.000,4,0.000,0.045,2387,3063,3739
$GC,3773,-1.16,-194.7,535.4,-12.1,489,3779,0.00,2.05,0.00,0.000,6,0.000,0.033,2386,1665,3738
$GC,4092,-1.16,-194.7,571.9,-12.0,505,4095,0.00,2.12,0.00,0.000,4,0.000,0.047,2390,3060,3736
$GC,4160,-1.16,-194.7,580.5,-12.1,508,4163,0.00,2.05,0.00,0.000,6,0.000,0.035,2391,1667,3736
$GC,4492,-1.16,-194.7,618.6,-10.7,524,4496,0.00,2.12,0.00,0.000,4,0.000,0.048,2391,3056,3733
$GC,4562,-1.16,-194.7,625.9,-11.3,527,4566,0.00,2.05,0.00,0.000,6,0.000,0.035,2391,1669,3732
$GC,4895,-1.16,-194.7,662.7,-11.4,543,4899,0.00,2.12,0.00,0.000,4,0.000,0.049,2392,3055,3729
$GC,4968,-1.16,-194.7,671.1,-11.2,546,4971,0.00,2.05,0.00,0.000,6,0.000,0.036,2391,1672,3728
$GC,5295,-1.16,-194.7,708.4,-11.5,562,5299,0.00,2.12,0.00,0.000,4,0.000,0.051,2391,3055,3726
$GC,5334,-1.16,-194.7,713.1,-11.5,563,5340,0.00,2.08,0.00,0.000,6,0.000,0.038,2391,1666,3725
$GC,5651,-1.16,-194.7,749.0,-11.1,579,5655,0.00,2.17,0.00,0.000,4,0.000,0.058,2390,3055,3722
$GC,5718,-1.16,-194.7,757.3,-11.4,582,5722,0.00,2.08,0.00,0.000,6,0.000,0.039,2390,1670,3721
$GC,6050,-1.16,-194.7,796.3,-11.7,598,6054,0.00,2.17,0.00,0.000,4,0.000,0.059,2386,3058,3719
$GC,6120,-1.16,-194.7,804.3,-11.6,601,6123,0.00,2.10,0.00,0.000,6,0.000,0.041,2387,1672,3718
$GC,6454,-1.16,-194.7,845.0,-12.2,617,6457,0.00,2.20,0.00,0.000,4,0.000,0.062,2387,272,3716
$GC,6481,-1.16,-194.7,848.9,-13.4,618,6485,0.00,2.10,0.00,0.000,6,0.000,0.041,2381,1657,3715
$GC,6809,-1.16,-194.7,890.3,-12.8,634,6812,0.00,2.22,0.00,0.000,4,0.000,0.061,2378,3078,3713
$GC,6892,-1.16,-194.7,901.7,-13.2,637,6898,0.00,2.15,0.00,0.000,6,0.000,0.043,2379,1667,3712
$GC,7210,-1.16,-194.7,944.9,-14.0,653,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,1667,3709
$GC,7518,-1.16,-194.7,986.3,-13.1,668,7522,0.00,2.20,0.00,0.000,4,0.000,0.058,2369,3072,3706
$STATE,7543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7543,begin apogee
$GC,7552,-0.27,0.0,990.2,13.1,669,7723,0.95,0.00,167.25,1.464,6,0.132,0.000,2667,1352,2945
$STATE,7724,end apogee,CONTROL_FINISHED_OK
$STATE,7724,begin climb
$GC,7726,1.16,194.7,1001.1,0.0,677,7907,1.33,2.35,173.23,1.421,4,0.061,0.058,3128,2747,2151
$GC,7927,1.16,194.7,990.7,12.3,687,7931,0.00,2.25,0.00,0.000,6,0.000,0.047,3137,1345,2147
$GC,8248,1.16,194.7,946.8,13.5,703,8252,0.00,2.22,0.00,0.000,4,0.000,0.054,3137,2761,2144
$GC,8295,1.16,194.7,940.5,13.3,705,8299,0.00,2.20,0.00,0.000,6,0.000,0.048,3146,1346,2143
$GC,8622,1.16,194.7,896.8,13.2,721,8626,0.00,2.20,0.00,0.000,4,0.000,0.054,3146,2753,2142
$GC,8694,1.16,194.7,886.7,13.5,724,8698,0.00,2.17,0.00,0.000,6,0.000,0.047,3156,1343,2141
$GC,9022,1.16,194.7,841.8,13.6,740,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,1343,2140
$GC,9331,1.16,194.7,800.8,13.1,755,9335,0.00,1.83,0.00,0.000,4,0.000,0.061,3164,199,2138
$GC,9354,1.16,194.7,797.5,13.7,756,9358,0.00,1.75,0.00,0.000,6,0.000,0.044,3164,1361,2138
$GC,9689,1.16,194.7,753.6,13.1,772,9692,0.00,1.83,0.00,0.000,4,0.000,0.060,3172,205,2137
$GC,9721,1.16,194.7,748.9,13.3,773,9726,0.15,1.77,0.00,0.000,6,0.204,0.051,3138,1371,2137
$GC,10043,1.16,194.7,708.5,13.1,789,10047,0.00,2.15,0.00,0.000,4,0.000,0.052,3136,2755,2136
$GC,10089,1.16,194.7,702.4,12.7,791,10093,0.00,2.17,0.00,0.000,6,0.000,0.047,3144,1343,2136
$GC,10424,1.16,194.7,660.5,11.8,807,10427,0.00,1.80,0.00,0.000,4,0.000,0.059,3154,193,2135
$GC,10451,1.16,194.7,656.7,12.3,808,10455,0.00,1.77,0.00,0.000,6,0.000,0.044,3154,1350,2136
$GC,10778,1.16,194.7,619.0,11.2,824,10781,0.00,2.20,0.00,0.000,4,0.000,0.056,3148,2758,2135
$GC,10840,1.17,199.9,612.2,10.8,826,10848,0.00,2.20,0.00,0.000,6,0.000,0.047,3156,1351,2134
$GC,11157,1.17,202.9,577.6,10.9,842,11168,0.00,2.20,6.10,1.004,4,0.000,0.051,3156,2752,2116
$GC,11179,1.17,202.9,574.9,11.5,843,11183,0.00,2.20,0.00,0.000,6,0.000,0.048,3166,1337,2115
$GC,11508,1.21,231.5,540.3,9.9,859,11539,0.00,2.30,26.70,1.178,4,0.000,0.051,3163,2749,2001
$GC,11629,1.23,252.5,526.7,10.2,864,11661,0.00,2.17,21.60,1.053,6,0.000,0.044,3172,1347,1915
$GC,11977,1.23,252.5,487.7,11.5,886,11981,0.00,2.20,0.00,0.000,4,0.000,0.050,3173,2758,1911
$GC,12128,1.23,252.5,468.6,12.3,899,12134,0.00,2.20,0.00,0.000,6,0.000,0.051,3182,1343,1909
$GC,12456,1.23,252.5,429.5,11.9,930,12459,0.00,2.17,0.00,0.000,4,0.000,0.048,3182,2751,1909
$GC,12524,1.24,261.9,421.7,10.6,936,12539,0.00,2.15,9.18,0.975,6,0.000,0.043,3191,1342,1877
$GC,12865,1.24,261.9,383.4,11.5,968,12868,0.00,1.77,0.00,0.000,4,0.000,0.055,3205,195,1875
$GC,12945,1.24,261.9,374.1,11.7,975,12949,0.15,1.75,0.00,0.000,6,0.191,0.038,3170,1370,1875
$GC,13275,1.24,261.9,336.8,11.1,1006,13278,0.00,2.10,0.00,0.000,4,0.000,0.044,3171,2756,1876
$GC,13470,1.26,276.8,315.6,10.4,1023,13491,0.00,2.15,14.98,0.930,6,0.000,0.041,3177,1334,1815
$GC,13824,1.28,287.4,278.4,10.6,1073,13843,0.00,2.20,10.57,0.854,4,0.000,0.042,3178,2749,1773
$GC,13913,1.28,287.4,267.6,12.7,1088,13919,0.00,2.12,0.00,0.000,6,0.000,0.038,3185,1337,1772
$GC,14259,1.34,342.8,229.6,8.9,1149,14313,0.00,2.25,48.72,0.880,4,0.000,0.041,3185,2749,1546
$GC,14426,1.37,364.8,212.3,10.2,1178,14452,0.00,2.12,20.50,0.830,6,0.000,0.038,3193,1348,1457
$GC,14790,1.37,365.1,173.0,11.0,1242,14798,0.00,2.12,0.00,0.000,4,0.000,0.039,3191,2759,1453
$GC,14883,1.37,365.1,162.5,11.5,1258,14891,0.00,2.15,0.00,0.000,6,0.000,0.037,3199,1346,1453
$GC,15228,1.40,389.9,126.4,10.1,1319,15255,0.00,2.20,22.62,0.758,4,0.000,0.038,3199,2758,1355
$GC,15281,1.42,403.9,121.2,10.5,1327,15300,0.00,2.12,13.73,0.712,6,0.000,0.035,3209,1341,1297
$GC,15638,1.47,442.9,82.9,9.5,1390,15689,0.00,2.20,36.53,0.693,4,0.000,0.036,3209,2749,1138
$GC,15788,1.47,443.9,67.1,11.0,1415,15795,0.00,2.12,0.00,0.000,6,0.000,0.035,3218,1355,1138
$GC,16132,1.47,443.9,28.9,11.2,1476,16139,0.00,2.10,0.00,0.000,4,0.000,0.035,3218,2765,1138
$GC,16265,1.51,476.6,16.0,9.8,1499,16303,0.00,2.10,30.00,0.657,6,0.000,0.034,3228,1338,1001
$STATE,16405,end climb,SURFACE_DEPTH_REACHED
$STATE,16407,begin surface coast
$FINISH,0.8,1.017256
$STATE,16440,end surface coast,CONTROL_FINISHED_OK
$STATE,16440,begin surface
$SM_CCo,16519,0.00,0.000,0,0,997,477.84
$SM_GC,1.60,8.18,0.00,0.00,0.041,0.000,0.000,166,1711,997,-8.11,1.02,477.84
$IRIDIUM_FIX,2347.41,12431.12,181098,080858
$TT8_MAMPS,0.026845
$HUMID,1566
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,26.00
$XPDR_PINGS,155
$24V_AH,22.9,82.276
$10V_AH,10.6,55.007
$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,19.900,164.775,601.700,0.000,0.000,26.321,47.816,298.281,46.750,0.000,0.000,15.127,2671.620,9747.906,701.431,3115.022,815.404,0.000,2111.512,0.000,3093.826,0.000,54.428,0.000
$DEVICE_MAMPS,227.032,62.127,1464.203,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1034.362,1058.496,1776.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88417,1529
$CAP_FILE_SIZE,160080,0
$CFSIZE,260165632,204136448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.171,111.6,1
$GPS,240709,175056,2356.090,12433.347,34,2.3,53,-3.5