version: 66.04
glider: 166
mission: 2
dive: 389
start: 7 25 109 18 12 36
data:
$ID,166
$MISSION,2
$DIVE,389
$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,225
$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,-13150.601
$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,44
$R_STBD_OVSHOOT,74
$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
$GPS1,180455,2356.419,12438.445,38,1.4,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.4
$GPS2,181214,2356.374,12438.552,16,1.4,16,-3.5
$SPEED_LIMITS,0.191,0.322
$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,301.0,40491,-16.0,-11.000
$D_GRID,2660
$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,-1.14,-219.0,0.0,0.0,0,81,0.00,0.00,-63.60,0.000,2,0.000,0.000,167,1683,2277
$GC,85,-1.14,-219.0,3.0,-5.1,10,144,9.02,2.15,-42.08,0.000,4,0.226,0.053,2388,261,3838
$GC,207,-1.14,-219.0,27.1,-22.9,30,213,0.00,2.08,0.00,0.000,6,0.000,0.029,2381,1665,3839
$GC,552,-1.14,-219.0,92.5,-16.1,91,558,0.00,2.08,0.00,0.000,4,0.000,0.038,2381,3076,3839
$GC,700,-1.14,-219.0,117.8,-16.8,117,706,0.00,2.03,0.00,0.000,6,0.000,0.028,2388,1661,3839
$GC,1046,-1.14,-219.0,173.9,-16.0,178,1052,0.00,2.10,0.00,0.000,4,0.000,0.038,2386,3081,3841
$GC,1065,-1.14,-219.0,177.3,-15.9,181,1071,0.00,2.03,0.00,0.000,6,0.000,0.028,2389,1665,3841
$GC,1411,-1.14,-219.0,231.0,-15.1,242,1417,0.00,2.08,0.00,0.000,4,0.000,0.039,2385,3069,3841
$GC,1446,-1.14,-219.0,236.1,-14.9,248,1454,0.00,2.03,0.00,0.000,6,0.000,0.028,2385,1679,3841
$GC,1790,-1.14,-219.0,288.3,-14.3,309,1796,0.00,2.08,0.00,0.000,4,0.000,0.038,2378,3070,3841
$GC,1840,-1.14,-219.0,295.1,-13.7,317,1846,0.00,2.03,0.00,0.000,6,0.000,0.028,2386,1667,3841
$GC,2172,-1.14,-219.0,342.5,-13.8,351,2176,0.00,2.10,0.00,0.000,4,0.000,0.040,2372,3076,3841
$GC,2235,-1.14,-219.0,350.7,-12.6,356,2243,0.00,2.03,0.00,0.000,6,0.000,0.029,2380,1665,3841
$GC,2562,-1.14,-219.0,391.8,-12.1,387,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,1665,3841
$GC,2882,-1.14,-219.0,432.8,-13.4,417,2886,0.00,2.12,0.00,0.000,4,0.000,0.042,2371,3070,3839
$GC,2954,-1.14,-219.0,443.0,-12.7,423,2961,0.00,2.03,0.00,0.000,6,0.000,0.031,2371,1681,3839
$GC,3279,-1.14,-219.0,482.1,-11.9,454,3283,0.00,2.10,0.00,0.000,4,0.000,0.043,2374,3068,3837
$GC,3329,-1.14,-219.0,488.1,-11.9,458,3335,0.00,2.08,0.00,0.000,6,0.000,0.031,2373,1668,3837
$GC,3650,-1.14,-219.0,524.0,-11.5,479,3653,0.00,2.10,0.00,0.000,4,0.000,0.046,2373,277,3835
$GC,3697,-1.14,-219.0,530.0,-12.9,481,3701,0.00,2.03,0.00,0.000,6,0.000,0.030,2378,1673,3835
$GC,4030,-1.14,-219.0,570.8,-12.4,497,4034,0.00,2.10,0.00,0.000,4,0.000,0.045,2390,3072,3832
$GC,4103,-1.14,-219.0,580.3,-12.8,500,4107,0.00,2.05,0.00,0.000,6,0.000,0.032,2388,1668,3832
$GC,4431,-1.14,-219.0,617.2,-10.6,516,4434,0.00,2.12,0.00,0.000,4,0.000,0.047,2391,3066,3830
$GC,4464,-1.14,-219.0,621.0,-10.7,517,4468,0.00,2.05,0.00,0.000,6,0.000,0.034,2389,1672,3830
$GC,4786,-1.14,-219.0,655.8,-11.1,533,4790,0.00,2.12,0.00,0.000,4,0.000,0.048,2391,3067,3826
$GC,4866,-1.14,-219.0,664.6,-10.8,536,4870,0.00,2.08,0.00,0.000,6,0.000,0.035,2391,1665,3826
$GC,5188,-1.14,-219.0,700.4,-11.3,552,5191,0.00,2.15,0.00,0.000,4,0.000,0.049,2383,3066,3823
$GC,5257,-1.14,-219.0,708.6,-12.1,555,5261,0.00,2.08,0.00,0.000,6,0.000,0.037,2383,1669,3823
$GC,5591,-1.14,-219.0,747.8,-11.7,571,5595,0.00,2.15,0.00,0.000,4,0.000,0.050,2375,3070,3820
$GC,5618,-1.14,-219.0,751.5,-12.6,572,5622,0.00,2.10,0.00,0.000,6,0.000,0.038,2375,1666,3819
$GC,5946,-1.14,-219.0,793.2,-12.8,588,5950,0.00,2.17,0.00,0.000,4,0.000,0.051,2367,3075,3816
$GC,6069,-1.14,-219.0,809.2,-13.7,593,6073,0.12,2.10,0.00,0.000,6,0.154,0.040,2398,1676,3815
$GC,6391,-1.14,-219.0,848.0,-12.5,609,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1676,3812
$GC,6700,-1.14,-219.0,889.8,-13.9,624,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1676,3809
$GC,7009,-1.14,-219.0,929.7,-12.4,639,7012,0.00,2.22,0.00,0.000,4,0.000,0.064,2398,272,3807
$GC,7031,-1.14,-219.0,932.7,-12.6,640,7035,0.00,2.12,0.00,0.000,6,0.000,0.046,2391,1663,3807
$GC,7366,-1.14,-219.0,971.2,-11.4,656,7370,0.00,2.20,0.00,0.000,4,0.000,0.054,2381,3081,3804
$GC,7438,-1.14,-219.0,980.4,-12.1,659,7442,0.00,2.12,0.00,0.000,6,0.000,0.042,2382,1679,3803
$STATE,7515,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7516,begin apogee
$GC,7522,-0.27,0.0,990.1,12.4,663,7718,0.93,0.00,187.62,1.461,6,0.123,0.000,2672,1335,2945
$STATE,7719,end apogee,CONTROL_FINISHED_OK
$STATE,7719,begin climb
$GC,7723,1.14,219.0,1003.5,0.0,673,7928,1.27,2.38,193.48,1.420,4,0.054,0.054,3123,2749,2051
$GC,7981,1.14,219.0,988.3,11.8,684,7988,0.00,2.20,0.00,0.000,6,0.000,0.047,3132,1351,2047
$GC,8297,1.14,219.0,952.5,11.2,700,8300,0.00,2.20,0.00,0.000,4,0.000,0.053,3131,2755,2043
$GC,8448,1.14,219.0,933.8,13.7,706,8454,0.00,2.17,0.00,0.000,6,0.000,0.048,3141,1345,2042
$GC,8765,1.14,219.0,894.2,12.4,722,8768,0.00,1.83,0.00,0.000,4,0.000,0.068,3150,190,2041
$GC,8843,1.14,219.0,883.3,13.4,725,8847,0.00,1.77,0.00,0.000,6,0.000,0.051,3149,1362,2040
$GC,9164,1.14,219.0,841.3,13.4,741,9168,0.00,2.12,0.00,0.000,4,0.000,0.052,3149,2747,2038
$GC,9204,1.14,219.0,835.7,14.8,742,9210,0.00,2.15,0.00,0.000,6,0.000,0.047,3159,1343,2037
$GC,9520,1.14,219.0,790.9,14.5,758,9523,0.00,2.20,0.00,0.000,4,0.000,0.053,3159,2758,2037
$GC,9637,1.14,219.0,773.0,15.3,763,9641,0.15,2.17,0.00,0.000,6,0.199,0.048,3133,1350,2036
$GC,9959,1.14,219.0,727.9,14.2,779,9963,0.00,1.83,0.00,0.000,4,0.000,0.061,3140,209,2036
$GC,9991,1.14,219.0,722.8,14.5,780,9995,0.00,1.73,0.00,0.000,6,0.000,0.042,3140,1359,2035
$GC,10315,1.14,219.0,680.5,12.4,796,10319,0.00,2.15,0.00,0.000,4,0.000,0.052,3137,2750,2035
$GC,10445,1.14,219.0,664.4,11.8,801,10452,0.00,2.17,0.00,0.000,6,0.000,0.049,3146,1346,2034
$GC,10761,1.14,219.0,627.0,12.0,817,10764,0.00,1.80,0.00,0.000,4,0.000,0.060,3155,193,2034
$GC,10800,1.14,219.0,622.4,11.5,818,10806,0.00,1.77,0.00,0.000,6,0.000,0.044,3155,1353,2034
$GC,11116,1.14,219.0,583.3,13.0,834,11120,0.00,2.17,0.00,0.000,4,0.000,0.055,3155,2746,2033
$GC,11132,1.14,219.0,580.9,13.4,834,11139,0.12,2.15,0.00,0.000,6,0.195,0.046,3136,1346,2033
$GC,11448,1.14,219.0,544.5,11.5,850,11452,0.00,1.80,0.00,0.000,4,0.000,0.058,3143,195,2032
$GC,11494,1.14,219.0,538.9,12.4,852,11498,0.00,1.75,0.00,0.000,6,0.000,0.042,3143,1361,2032
$GC,11827,1.20,271.7,506.8,9.2,868,11876,0.00,2.20,44.40,1.155,4,0.000,0.050,3141,2750,1836
$GC,11995,1.20,271.7,488.7,11.1,879,12001,0.00,2.17,0.00,0.000,6,0.000,0.044,3150,1349,1833
$GC,12324,1.22,284.8,454.3,10.6,910,12349,0.00,2.22,14.32,0.910,4,0.000,0.051,3153,2749,1784
$GC,12414,1.24,302.1,444.2,10.4,918,12437,0.00,2.15,17.33,1.044,6,0.000,0.043,3162,1338,1712
$GC,12755,1.24,302.1,404.0,12.1,950,12759,0.00,1.77,0.00,0.000,4,0.000,0.055,3176,193,1710
$GC,12790,1.24,302.1,399.6,13.6,953,12794,0.00,1.75,0.00,0.000,6,0.000,0.039,3178,1367,1710
$GC,13121,1.24,302.1,357.1,13.0,984,13124,0.00,2.10,0.00,0.000,4,0.000,0.044,3179,2753,1709
$GC,13193,1.24,302.1,348.0,12.5,990,13199,0.00,2.12,0.00,0.000,6,0.000,0.040,3187,1345,1709
$GC,13523,1.24,302.1,308.5,11.8,1021,13526,0.00,2.12,0.00,0.000,4,0.000,0.043,3186,2748,1709
$GC,13561,1.24,302.1,302.9,12.3,1024,13568,0.00,2.12,0.00,0.000,6,0.000,0.039,3194,1338,1709
$GC,13905,1.24,302.7,263.2,11.0,1083,13911,0.12,2.15,0.00,0.000,4,0.181,0.041,3157,2756,1709
$GC,13981,1.28,333.1,255.5,10.0,1096,14024,0.00,2.12,30.52,0.852,6,0.000,0.038,3165,1336,1585
$GC,14365,1.36,397.1,219.3,8.8,1163,14427,0.10,1.85,56.05,0.864,4,0.077,0.051,3224,199,1326
$GC,14497,1.36,397.1,204.1,13.0,1185,14505,0.00,1.73,0.00,0.000,6,0.000,0.034,3224,1369,1324
$GC,14843,1.36,397.1,162.3,12.8,1246,14849,0.00,2.05,0.00,0.000,4,0.000,0.039,3224,2745,1323
$GC,14987,1.36,397.1,144.0,12.9,1271,14994,0.12,2.10,0.00,0.000,6,0.172,0.036,3202,1334,1323
$GC,15331,1.37,412.9,103.6,10.5,1332,15352,0.00,1.73,15.20,0.716,4,0.000,0.048,3209,204,1260
$GC,15382,1.37,412.9,98.0,11.8,1340,15389,0.00,1.70,0.00,0.000,6,0.000,0.031,3209,1364,1259
$GC,15728,1.41,444.7,61.3,9.9,1401,15762,0.00,1.85,28.48,0.704,4,0.000,0.048,3217,204,1131
$GC,15834,1.42,451.2,49.6,10.8,1418,15846,0.00,1.67,7.15,0.575,6,0.000,0.029,3217,1349,1105
$GC,16186,1.46,483.6,11.3,9.9,1480,16220,0.00,1.83,28.98,0.653,4,0.000,0.047,3225,198,973
$GC,16250,1.47,491.6,4.1,10.7,1490,16263,0.00,1.67,7.82,0.548,6,0.000,0.029,3225,1349,941
$STATE,16267,end climb,SURFACE_DEPTH_REACHED
$STATE,16267,begin surface coast
$FINISH,0.8,1.021494
$STATE,16298,end surface coast,CONTROL_FINISHED_OK
$STATE,16299,begin surface
$SM_CCo,16378,0.00,0.000,0,0,939,492.07
$SM_GC,1.72,8.07,0.00,0.00,0.033,0.000,0.000,168,1700,939,-8.11,0.71,492.07
$IRIDIUM_FIX,2345.05,12438.28,191098,131305
$TT8_MAMPS,0.026845
$HUMID,1564
$INTERNAL_PRESSURE,9.97567
$TCM_TEMP,25.60
$XPDR_PINGS,141
$24V_AH,23.2,83.670
$10V_AH,10.6,55.929
$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,20.050,155.875,631.350,0.000,0.000,25.985,33.982,211.169,43.250,0.000,0.000,16.500,2620.181,9664.421,729.147,3094.129,694.987,0.000,2154.046,0.000,3059.628,0.000,54.430,0.000
$DEVICE_MAMPS,226.265,68.263,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.621,1029.427,1730.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88480,1498
$CAP_FILE_SIZE,158222,0
$CFSIZE,260165632,203603968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.267,102.6,1
$GPS,250709,224637,2356.540,12439.730,26,1.6,26,-3.5