version: 66.04
glider: 166
mission: 2
dive: 387
start: 7 25 109 8 45 15
data:
$ID,166
$MISSION,2
$DIVE,387
$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,-13095.629
$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,45
$R_STBD_OVSHOOT,72
$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
$GPS1,083400,2356.281,12437.276,38,1.3,38,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.8
$GPS2,084451,2356.185,12437.477,10,2.1,29,-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,295.3,39510,-17.1,-11.000
$D_GRID,2700
$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,-194.7,0.0,0.0,0,86,0.00,0.00,-68.50,0.000,2,0.000,0.000,164,1683,2439
$GC,89,-1.16,-194.7,3.1,-5.2,10,141,8.80,2.20,-35.12,0.000,4,0.219,0.053,2384,264,3741
$GC,195,-1.16,-194.7,22.4,-20.6,27,201,0.00,2.03,0.00,0.000,6,0.000,0.028,2375,1666,3741
$GC,539,-1.16,-194.7,92.5,-18.7,88,547,0.00,2.10,0.00,0.000,4,0.000,0.038,2365,3070,3741
$GC,684,-1.16,-194.7,120.7,-18.2,113,691,0.00,2.03,0.00,0.000,6,0.000,0.029,2369,1662,3741
$GC,1030,-1.16,-194.7,180.3,-17.9,174,1037,0.00,2.08,0.00,0.000,4,0.000,0.038,2356,3067,3742
$GC,1077,-1.16,-194.7,188.9,-17.7,182,1084,0.15,2.03,0.00,0.000,6,0.164,0.028,2388,1650,3742
$GC,1423,-1.16,-194.7,242.1,-14.1,243,1429,0.00,2.12,0.00,0.000,4,0.000,0.038,2382,3078,3742
$GC,1487,-1.16,-194.7,251.6,-14.8,254,1493,0.00,2.03,0.00,0.000,6,0.000,0.028,2384,1665,3742
$GC,1831,-1.16,-194.7,299.4,-14.4,315,1838,0.00,2.10,0.00,0.000,4,0.000,0.039,2384,3073,3742
$GC,1878,-1.16,-194.7,305.9,-14.5,320,1882,0.00,2.03,0.00,0.000,6,0.000,0.029,2386,1667,3742
$GC,2210,-1.16,-194.7,349.0,-11.8,351,2214,0.00,2.10,0.00,0.000,4,0.000,0.041,2379,3076,3742
$GC,2316,-1.16,-194.7,362.1,-12.1,360,2323,0.00,2.05,0.00,0.000,6,0.000,0.031,2381,1681,3742
$GC,2642,-1.16,-194.7,400.5,-12.2,391,2645,0.00,2.08,0.00,0.000,4,0.000,0.042,2378,3067,3741
$GC,2680,-1.16,-194.7,405.6,-12.8,394,2686,0.00,2.05,0.00,0.000,6,0.000,0.031,2380,1676,3742
$GC,3007,-1.16,-194.7,445.6,-12.7,425,3011,0.00,2.10,0.00,0.000,4,0.000,0.043,2378,3076,3741
$GC,3091,-1.16,-194.7,456.8,-12.8,432,3099,0.00,2.08,0.00,0.000,6,0.000,0.032,2379,1673,3740
$GC,3419,-1.16,-194.7,494.3,-10.6,463,3423,0.00,2.12,0.00,0.000,4,0.000,0.047,2380,266,3739
$GC,3443,-1.16,-194.7,497.2,-11.1,465,3447,0.00,2.05,0.00,0.000,6,0.000,0.030,2380,1677,3738
$GC,3765,-1.16,-194.7,534.5,-12.6,482,3768,0.00,2.15,0.00,0.000,4,0.000,0.047,2384,264,3736
$GC,3889,-1.16,-194.7,552.0,-13.9,487,3892,0.00,2.08,0.00,0.000,6,0.000,0.031,2384,1682,3735
$GC,4210,-1.16,-194.7,589.7,-11.0,503,4214,0.00,2.10,0.00,0.000,4,0.000,0.047,2394,3079,3732
$GC,4311,-1.16,-194.7,601.2,-11.6,507,4315,0.00,2.08,0.00,0.000,6,0.000,0.034,2394,1668,3732
$GC,4634,-1.16,-194.7,635.7,-10.0,523,4638,0.00,2.15,0.00,0.000,4,0.000,0.047,2392,3080,3729
$GC,4711,-1.16,-194.7,644.5,-11.0,526,4715,0.00,2.08,0.00,0.000,6,0.000,0.035,2391,1677,3728
$GC,5033,-1.16,-194.7,680.0,-11.8,542,5037,0.00,2.15,0.00,0.000,4,0.000,0.049,2391,3080,3725
$GC,5090,-1.16,-194.7,686.9,-11.8,544,5094,0.00,2.10,0.00,0.000,6,0.000,0.037,2391,1670,3725
$GC,5412,-1.16,-194.7,725.4,-12.3,560,5416,0.00,2.15,0.00,0.000,4,0.000,0.051,2391,3067,3722
$GC,5459,-1.16,-194.7,731.1,-12.7,562,5463,0.00,2.08,0.00,0.000,6,0.000,0.038,2391,1676,3721
$GC,5791,-1.16,-194.7,767.9,-10.6,578,5795,0.00,2.17,0.00,0.000,4,0.000,0.054,2382,3072,3718
$GC,5863,-1.16,-194.7,775.9,-10.6,581,5867,0.00,2.10,0.00,0.000,6,0.000,0.039,2382,1673,3718
$GC,6192,-1.16,-194.7,811.7,-10.8,597,6196,0.00,2.17,0.00,0.000,4,0.000,0.059,2377,3067,3714
$GC,6242,-1.16,-194.7,817.7,-11.3,599,6246,0.00,2.12,0.00,0.000,6,0.000,0.045,2378,1668,3714
$GC,6570,-1.16,-194.7,855.6,-12.3,615,6573,0.00,2.17,0.00,0.000,4,0.000,0.054,2370,3065,3711
$GC,6638,-1.16,-194.7,864.4,-12.9,618,6642,0.00,2.12,0.00,0.000,6,0.000,0.047,2370,1666,3711
$GC,6971,-1.16,-194.7,907.5,-13.7,634,6974,0.00,2.20,0.00,0.000,4,0.000,0.056,2365,3073,3707
$GC,7016,-1.16,-194.7,914.0,-15.3,636,7020,0.00,2.15,0.00,0.000,6,0.000,0.044,2365,1667,3707
$GC,7349,-1.16,-194.7,957.9,-13.2,652,7353,0.00,2.20,0.00,0.000,4,0.000,0.059,2365,266,3705
$GC,7410,-1.16,-194.7,966.9,-15.2,654,7417,0.12,2.12,0.00,0.000,6,0.174,0.041,2385,1673,3704
$STATE,7599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7599,begin apogee
$GC,7607,-0.27,0.0,990.4,12.3,664,7784,0.93,0.00,168.27,1.452,6,0.127,0.000,2677,1336,2945
$STATE,7785,end apogee,CONTROL_FINISHED_OK
$STATE,7785,begin climb
$GC,7788,1.16,194.7,1001.8,0.0,673,7969,1.27,1.90,172.15,1.421,4,0.054,0.063,3134,200,2151
$GC,7998,1.16,194.7,989.6,14.5,682,8004,0.00,1.83,0.00,0.000,6,0.000,0.042,3134,1352,2148
$GC,8314,1.16,194.7,946.4,14.1,698,8317,0.00,2.17,0.00,0.000,4,0.000,0.056,3133,2752,2143
$GC,8487,1.16,194.7,921.0,13.4,705,8495,0.00,2.17,0.00,0.000,6,0.000,0.047,3143,1340,2142
$GC,8804,1.16,194.7,878.2,13.3,721,8808,0.00,2.20,0.00,0.000,4,0.000,0.055,3143,2755,2141
$GC,8842,1.16,194.7,872.8,14.3,722,8849,0.00,2.20,0.00,0.000,6,0.000,0.047,3154,1343,2141
$GC,9158,1.16,194.7,832.0,12.9,738,9162,0.00,2.20,0.00,0.000,4,0.000,0.058,3153,2753,2140
$GC,9309,1.16,194.7,812.5,12.4,744,9316,0.00,2.17,0.00,0.000,6,0.000,0.047,3163,1340,2138
$GC,9625,1.16,194.7,770.3,13.4,760,9628,0.00,2.22,0.00,0.000,4,0.000,0.055,3161,2758,2138
$GC,9761,1.16,194.7,751.6,14.1,766,9766,0.12,2.17,0.00,0.000,6,0.206,0.047,3142,1345,2137
$GC,10089,1.16,194.7,709.1,12.5,782,10092,0.00,2.20,0.00,0.000,4,0.000,0.053,3137,2754,2136
$GC,10157,1.16,194.7,700.2,13.0,785,10161,0.00,2.17,0.00,0.000,6,0.000,0.052,3145,1350,2136
$GC,10490,1.16,194.7,659.9,11.5,801,10494,0.00,1.80,0.00,0.000,4,0.000,0.060,3154,196,2135
$GC,10507,1.16,194.7,657.7,11.5,801,10514,0.00,1.77,0.00,0.000,6,0.000,0.048,3154,1365,2135
$GC,10823,1.17,202.7,622.9,10.7,817,10833,0.00,2.15,5.53,0.992,4,0.000,0.051,3148,2755,2119
$GC,10856,1.17,202.7,618.8,12.2,818,10863,0.00,2.17,0.00,0.000,6,0.000,0.045,3156,1339,2119
$GC,11172,1.17,202.7,580.3,12.4,834,11176,0.00,2.20,0.00,0.000,4,0.000,0.051,3156,2749,2118
$GC,11335,1.17,202.7,560.7,11.0,841,11339,0.00,2.15,0.00,0.000,6,0.000,0.045,3166,1349,2117
$GC,11663,1.19,219.0,527.1,10.4,857,11693,0.00,2.28,18.40,1.055,4,0.000,0.051,3163,2756,2052
$GC,11869,1.20,223.6,504.6,10.8,866,11879,0.00,2.20,5.45,0.907,6,0.000,0.046,3172,1345,2032
$GC,12198,1.20,224.7,469.7,11.0,894,12202,0.00,1.77,0.00,0.000,4,0.000,0.057,3181,202,2031
$GC,12335,1.24,262.7,454.9,9.6,906,12380,0.00,1.75,35.40,1.103,6,0.000,0.044,3180,1349,1872
$GC,12697,1.24,262.7,410.7,12.6,940,12701,0.00,2.15,0.00,0.000,4,0.000,0.047,3182,2752,1868
$GC,12873,1.24,262.7,389.1,13.5,955,12880,0.00,2.15,0.00,0.000,6,0.000,0.042,3191,1344,1866
$GC,13200,1.24,262.7,349.9,11.3,986,13204,0.00,1.77,0.00,0.000,4,0.000,0.054,3205,192,1866
$GC,13247,1.25,269.1,344.7,10.8,990,13259,0.12,1.75,5.85,0.804,6,0.179,0.039,3170,1351,1848
$GC,13577,1.27,285.7,312.7,10.4,1021,13601,0.00,2.15,16.55,0.934,4,0.000,0.044,3170,2752,1780
$GC,13704,1.27,285.7,297.9,12.4,1033,13711,0.00,2.15,0.00,0.000,6,0.000,0.039,3175,1335,1778
$GC,14049,1.30,307.9,258.3,10.2,1094,14075,0.00,2.22,20.80,0.893,4,0.000,0.041,3177,2752,1689
$GC,14167,1.30,311.5,245.8,10.9,1114,14179,0.00,2.12,4.65,0.630,6,0.000,0.038,3185,1347,1674
$GC,14519,1.30,311.5,202.0,14.5,1176,14525,0.00,1.77,0.00,0.000,4,0.000,0.051,3197,205,1672
$GC,14752,1.30,311.5,171.9,12.8,1217,14759,0.00,1.70,0.00,0.000,6,0.000,0.034,3197,1360,1672
$GC,15098,1.31,311.9,132.8,11.0,1278,15104,0.00,2.05,0.00,0.000,4,0.000,0.038,3197,2746,1672
$GC,15278,1.31,319.7,113.9,10.7,1309,15293,0.00,2.08,9.32,0.691,6,0.000,0.036,3206,1344,1641
$GC,15631,1.34,339.6,77.1,10.2,1371,15658,0.00,1.77,18.60,0.713,4,0.000,0.048,3215,205,1559
$GC,15701,1.36,353.2,70.0,10.5,1382,15720,0.00,1.67,12.93,0.674,6,0.000,0.031,3215,1355,1504
$GC,16059,1.47,447.1,37.2,7.4,1445,16148,0.00,2.15,79.95,0.692,4,0.000,0.035,3215,2732,1121
$GC,16234,1.48,450.3,19.2,10.9,1474,16247,0.00,2.08,4.43,0.446,6,0.000,0.034,3224,1348,1108
$STATE,16384,end climb,SURFACE_DEPTH_REACHED
$STATE,16384,begin surface coast
$FINISH,0.8,1.009712
$STATE,16412,end surface coast,CONTROL_FINISHED_OK
$STATE,16412,begin surface
$SM_CCo,16491,0.00,0.000,0,0,1104,451.60
$SM_GC,1.56,8.20,0.00,0.00,0.044,0.000,0.000,168,1684,1104,-8.11,0.25,451.60
$IRIDIUM_FIX,2347.41,12435.00,191098,080836
$TT8_MAMPS,0.026845
$HUMID,1579
$INTERNAL_PRESSURE,9.98544
$TCM_TEMP,25.40
$XPDR_PINGS,141
$24V_AH,23.3,83.197
$10V_AH,10.6,55.628
$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,19.725,158.600,578.275,0.000,0.000,49.730,75.302,277.100,43.250,0.000,0.000,29.950,2653.438,9717.117,687.642,3236.559,832.534,0.000,2157.696,0.000,3181.790,0.000,54.435,0.000
$DEVICE_MAMPS,218.595,62.894,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.312,1036.602,1744.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88461,1505
$CAP_FILE_SIZE,162659,0
$CFSIZE,260165632,203780096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.201,118.0,1
$GPS,250709,132127,2355.871,12438.021,25,4.2,44,-3.5