version: 66.04
glider: 166
mission: 2
dive: 403
start: 7 28 109 9 55 58
data:
$ID,166
$MISSION,2
$DIVE,403
$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,275
$T_MISSION,330
$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,-13424.847
$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,46
$R_STBD_OVSHOOT,77
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,094737,2403.063,12456.087,41,1.2,41,-3.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-73.0
$GPS2,095537,2403.079,12456.345,15,1.3,32,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2416.600,12444.000
$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,286.2,32579,-17.3,-12.000
$D_GRID,2170
$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,13,begin dive
$GC,16,-1.20,-219.0,0.0,0.0,0,76,0.00,0.00,-57.80,0.000,2,0.000,0.000,161,1697,2282
$GC,80,-1.20,-219.0,3.3,-5.8,8,138,8.73,2.17,-41.80,0.000,4,0.218,0.051,2364,255,3838
$GC,158,-1.20,-219.0,16.1,-22.1,20,164,0.00,2.03,0.00,0.000,6,0.000,0.028,2356,1661,3839
$GC,503,-1.20,-219.0,85.2,-16.8,81,509,0.00,2.10,0.00,0.000,4,0.000,0.039,2358,270,3840
$GC,584,-1.20,-219.0,99.4,-17.6,95,591,0.00,2.12,0.00,0.000,6,0.000,0.028,2351,1719,3840
$GC,930,-1.20,-219.0,159.6,-17.4,156,936,0.12,2.00,0.00,0.000,4,0.173,0.037,2375,3084,3841
$GC,1097,-1.20,-219.0,187.5,-16.9,185,1104,0.00,1.95,0.00,0.000,6,0.000,0.028,2375,1738,3841
$GC,1444,-1.20,-219.0,239.2,-13.8,246,1451,0.00,2.00,0.00,0.000,4,0.000,0.038,2370,3070,3842
$GC,1514,-1.20,-219.0,249.0,-13.9,258,1521,0.00,1.90,0.00,0.000,6,0.000,0.028,2371,1761,3841
$GC,1860,-1.20,-219.0,296.8,-12.6,319,1866,0.00,1.95,0.00,0.000,4,0.000,0.038,2368,3082,3841
$GC,1922,-1.20,-219.0,305.4,-13.3,326,1929,0.00,1.90,0.00,0.000,6,0.000,0.027,2369,1771,3841
$GC,2252,-1.20,-219.0,346.5,-13.2,357,2255,0.00,1.92,0.00,0.000,4,0.000,0.039,2368,3069,3841
$GC,2315,-1.20,-219.0,355.4,-13.1,362,2322,0.00,1.83,0.00,0.000,6,0.000,0.028,2368,1809,3840
$GC,2644,-1.20,-219.0,398.4,-13.2,393,2647,0.00,1.90,0.00,0.000,4,0.000,0.041,2368,3081,3840
$GC,2717,-1.20,-219.0,409.1,-13.5,399,2723,0.00,1.80,0.00,0.000,6,0.000,0.028,2367,1821,3840
$GC,3044,-1.20,-219.0,446.8,-11.2,430,3048,0.00,2.33,0.00,0.000,4,0.000,0.042,2368,269,3838
$GC,3068,-1.20,-219.0,449.8,-11.6,431,3075,0.00,2.28,0.00,0.000,6,0.000,0.028,2371,1835,3838
$GC,3393,-1.20,-219.0,490.7,-11.8,462,3396,0.00,1.83,0.00,0.000,4,0.000,0.043,2372,3070,3837
$GC,3475,-1.20,-219.0,500.4,-11.5,469,3478,0.00,1.77,0.00,0.000,6,0.000,0.029,2371,1831,3836
$GC,3797,-1.20,-219.0,535.4,-10.7,485,3801,0.00,1.88,0.00,0.000,4,0.000,0.044,2373,3078,3834
$GC,3847,-1.20,-219.0,541.1,-11.2,487,3851,0.00,1.77,0.00,0.000,6,0.000,0.031,2373,1850,3833
$GC,4177,-1.20,-219.0,577.4,-10.8,503,4180,0.00,1.85,0.00,0.000,4,0.000,0.046,2384,3066,3831
$GC,4223,-1.20,-219.0,582.7,-11.6,505,4227,0.00,1.75,0.00,0.000,6,0.000,0.031,2379,1863,3831
$GC,4558,-1.20,-219.0,618.1,-10.4,521,4561,0.00,1.83,0.00,0.000,4,0.000,0.048,2390,3063,3829
$GC,4636,-1.20,-219.0,626.6,-10.4,524,4639,0.00,1.70,0.00,0.000,6,0.000,0.033,2388,1893,3828
$GC,4959,-1.20,-219.0,659.0,-10.5,540,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1893,3826
$GC,5269,-1.20,-219.0,693.0,-11.4,555,5272,0.00,1.83,0.00,0.000,4,0.000,0.051,2391,3057,3822
$GC,5369,-1.20,-219.0,704.8,-11.6,559,5372,0.00,1.70,0.00,0.000,6,0.000,0.036,2391,1903,3822
$GC,5692,-1.20,-219.0,740.2,-10.7,575,5695,0.00,1.83,0.00,0.000,4,0.000,0.054,2391,3063,3818
$GC,5739,-1.20,-219.0,745.3,-11.3,577,5743,0.00,1.67,0.00,0.000,6,0.000,0.038,2392,1932,3818
$GC,6074,-1.20,-219.0,783.1,-11.3,593,6078,0.00,2.58,0.00,0.000,4,0.000,0.053,2391,279,3815
$GC,6124,-1.20,-219.0,789.8,-12.9,595,6128,0.00,2.47,0.00,0.000,6,0.000,0.039,2382,1915,3814
$GC,6441,-1.20,-219.0,825.7,-11.3,610,6445,0.00,1.77,0.00,0.000,4,0.000,0.054,2356,3057,3811
$GC,6486,-1.20,-219.0,831.2,-12.2,612,6489,0.00,1.70,0.00,0.000,6,0.000,0.039,2359,1917,3811
$GC,6819,-1.20,-219.0,870.8,-12.3,628,6824,0.00,2.55,0.00,0.000,4,0.000,0.054,2361,279,3808
$GC,6870,-1.20,-219.0,877.8,-13.1,630,6874,0.12,2.47,0.00,0.000,6,0.170,0.041,2378,1902,3808
$GC,7186,-1.20,-219.0,913.6,-11.6,645,7190,0.00,1.80,0.00,0.000,4,0.000,0.058,2369,3066,3805
$GC,7237,-1.20,-219.0,920.0,-12.6,647,7240,0.00,1.70,0.00,0.000,6,0.000,0.041,2369,1928,3805
$GC,7565,-1.20,-219.0,959.0,-12.0,663,7569,0.00,2.60,0.00,0.000,4,0.000,0.056,2369,268,3803
$GC,7592,-1.20,-219.0,962.9,-14.0,664,7596,0.00,2.53,0.00,0.000,6,0.000,0.042,2358,1918,3803
$STATE,7823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7823,begin apogee
$GC,7832,-0.27,0.0,991.7,12.3,675,8037,1.00,0.00,192.00,1.441,6,0.125,0.000,2676,1358,2945
$STATE,8038,end apogee,CONTROL_FINISHED_OK
$STATE,8038,begin climb
$GC,8041,1.20,219.0,1007.3,0.0,685,8247,1.30,1.95,194.02,1.420,4,0.049,0.060,3169,205,2051
$GC,8304,1.20,219.0,989.7,15.6,697,8308,0.00,1.75,0.00,0.000,6,0.000,0.042,3168,1344,2047
$GC,8637,1.20,219.0,943.4,13.8,713,8641,0.00,2.17,0.00,0.000,4,0.000,0.059,3167,2752,2044
$GC,8836,1.20,219.0,915.3,14.5,721,8842,0.00,2.12,0.00,0.000,6,0.000,0.046,3177,1367,2041
$GC,9152,1.20,219.0,869.9,14.4,737,9156,0.00,2.17,0.00,0.000,4,0.000,0.054,3176,2759,2040
$GC,9180,1.20,219.0,865.5,14.8,738,9185,0.12,2.12,0.00,0.000,6,0.208,0.047,3158,1375,2040
$GC,9501,1.20,219.0,818.7,15.2,754,9505,0.00,2.15,0.00,0.000,4,0.000,0.054,3152,2753,2039
$GC,9562,1.20,219.0,809.1,16.6,756,9568,0.00,2.12,0.00,0.000,6,0.000,0.045,3159,1367,2039
$GC,9879,1.20,219.0,760.4,15.4,772,9883,0.00,2.17,0.00,0.000,4,0.000,0.054,3159,2761,2038
$GC,9934,1.20,219.0,751.3,15.3,774,9938,0.00,2.10,0.00,0.000,6,0.000,0.046,3167,1390,2037
$GC,10256,1.20,219.0,702.8,15.1,790,10259,0.00,2.12,0.00,0.000,4,0.000,0.054,3165,2750,2037
$GC,10289,1.20,219.0,697.8,14.1,791,10293,0.00,2.10,0.00,0.000,6,0.000,0.044,3172,1379,2037
$GC,10611,1.20,219.0,654.0,13.0,807,10615,0.00,2.15,0.00,0.000,4,0.000,0.053,3171,2756,2036
$GC,10718,1.20,219.0,639.8,13.2,811,10725,0.00,2.10,0.00,0.000,6,0.000,0.045,3179,1386,2035
$GC,11034,1.20,219.0,598.1,13.3,827,11038,0.00,2.15,0.00,0.000,4,0.000,0.052,3179,2755,2035
$GC,11180,1.20,219.0,579.3,13.7,833,11184,0.15,2.05,0.00,0.000,6,0.202,0.044,3153,1414,2035
$GC,11504,1.24,250.4,544.0,10.8,849,11535,0.00,2.12,26.10,1.180,4,0.000,0.051,3152,2753,1923
$GC,11636,1.24,250.4,527.6,12.2,855,11639,0.00,2.03,0.00,0.000,6,0.000,0.044,3159,1443,1919
$GC,11955,1.25,255.0,489.8,11.8,874,11968,0.00,2.08,5.03,0.863,4,0.000,0.051,3160,2752,1904
$GC,12142,1.31,302.1,468.5,10.3,890,12192,0.00,1.95,43.45,1.115,6,0.000,0.044,3169,1494,1713
$GC,12511,1.32,317.2,427.4,11.4,925,12537,0.00,1.98,16.52,0.924,4,0.000,0.049,3173,2753,1651
$GC,12640,1.32,317.2,410.6,12.8,936,12644,0.00,1.90,0.00,0.000,6,0.000,0.041,3182,1510,1650
$GC,12974,1.32,317.2,369.7,12.1,967,12977,0.00,2.03,0.00,0.000,4,0.000,0.054,3190,202,1648
$GC,13035,1.35,339.2,361.9,11.2,972,13063,0.00,2.03,20.88,0.992,6,0.000,0.038,3190,1557,1561
$GC,13382,1.35,339.2,320.8,13.1,1005,13385,0.00,1.83,0.00,0.000,4,0.000,0.045,3193,2768,1559
$GC,13405,1.35,339.2,317.5,14.0,1007,13409,0.00,1.85,0.00,0.000,6,0.000,0.041,3197,1545,1558
$GC,13743,1.35,339.2,271.5,13.2,1056,13749,0.00,1.88,0.00,0.000,4,0.000,0.044,3199,2761,1558
$GC,13780,1.35,339.2,266.9,13.2,1062,13786,0.00,1.80,0.00,0.000,6,0.000,0.038,3208,1576,1558
$GC,14125,1.37,354.5,225.1,11.4,1123,14145,0.00,2.20,14.90,0.845,4,0.000,0.050,3219,190,1499
$GC,14247,1.37,354.5,210.3,12.3,1144,14254,0.00,2.08,0.00,0.000,6,0.000,0.035,3217,1593,1499
$GC,14593,1.37,354.5,168.6,12.5,1205,14599,0.00,2.17,0.00,0.000,4,0.000,0.048,3228,199,1499
$GC,14648,1.37,354.5,161.6,13.4,1214,14654,0.00,2.03,0.00,0.000,6,0.000,0.033,3228,1587,1499
$GC,14994,1.41,390.2,123.2,10.7,1275,15033,0.00,0.00,32.22,0.778,6,0.000,0.000,3226,1589,1353
$GC,15371,1.47,436.8,78.7,10.3,1341,15416,0.00,1.83,41.12,0.731,4,0.000,0.038,3228,2762,1163
$GC,15474,1.54,491.6,68.1,10.0,1358,15531,0.00,1.85,47.80,0.712,6,0.000,0.034,3239,1548,940
$GC,15872,1.61,547.5,25.6,9.9,1427,15931,0.12,1.92,48.00,0.670,4,0.067,0.036,3303,2775,712
$GC,15968,1.61,547.5,13.3,13.6,1442,15975,0.08,1.85,0.00,0.000,6,0.174,0.032,3289,1555,712
$STATE,16041,end climb,SURFACE_DEPTH_REACHED
$STATE,16041,begin surface coast
$FINISH,0.9,1.020309
$STATE,16065,end surface coast,CONTROL_FINISHED_OK
$STATE,16067,begin surface
$SM_CCo,16147,0.00,0.000,0,0,709,548.25
$SM_GC,1.62,8.35,0.00,0.00,0.041,0.000,0.000,167,1707,709,-8.11,0.90,548.25
$IRIDIUM_FIX,2354.48,12454.69,221098,050524
$TT8_MAMPS,0.026845
$HUMID,1572
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.50
$XPDR_PINGS,146
$24V_AH,23.2,87.025
$10V_AH,10.6,57.974
$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,20.100,149.700,682.050,0.000,0.000,23.617,36.388,237.701,44.500,0.000,0.000,33.061,2565.337,9471.701,758.245,3096.023,720.394,0.000,2181.167,0.000,3037.933,0.000,54.441,0.000
$DEVICE_MAMPS,217.828,59.826,1441.193,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,985.944,1001.041,1682.244,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85316,1459
$CAP_FILE_SIZE,158925,0
$CFSIZE,260165632,202399744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.178, 89.8,1
$GPS,280709,142607,2403.801,12456.741,26,1.8,26,-3.6