version: 66.04
glider: 166
mission: 2
dive: 416
start: 7 30 109 23 29 54
data:
$ID,166
$MISSION,2
$DIVE,416
$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,475
$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,-13692.719
$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,19
$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,34
$R_STBD_OVSHOOT,63
$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
$GPS1,232207,2412.151,12509.251,36,1.4,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-68.6
$GPS2,232931,2412.132,12509.350,11,1.8,16,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2425.000,12506.700
$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,312.7,24246,-17.3,-12.000
$D_GRID,1832
$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,-1.18,-219.0,0.0,0.0,0,75,0.00,0.00,-58.25,0.000,2,0.000,0.000,168,1645,2282
$GC,80,-1.18,-219.0,3.2,-5.8,9,138,9.07,2.20,-40.88,0.000,4,0.229,0.051,2368,3071,3839
$GC,279,-1.18,-219.0,42.6,-20.5,43,287,0.00,2.08,0.00,0.000,6,0.000,0.029,2367,1643,3842
$GC,627,-1.18,-219.0,107.7,-16.3,104,633,0.00,2.05,0.00,0.000,4,0.000,0.039,2349,259,3842
$GC,718,-1.18,-219.0,122.8,-16.3,120,725,0.12,2.12,0.00,0.000,6,0.154,0.028,2380,1709,3843
$GC,1064,-1.18,-219.0,173.4,-15.4,181,1070,0.00,2.12,0.00,0.000,4,0.000,0.038,2379,273,3844
$GC,1158,-1.18,-219.0,187.7,-15.6,197,1165,0.00,2.12,0.00,0.000,6,0.000,0.028,2379,1754,3844
$GC,1505,-1.18,-219.0,234.3,-13.3,258,1512,0.00,2.20,0.00,0.000,4,0.000,0.038,2378,272,3845
$GC,1609,-1.18,-219.0,249.6,-14.9,276,1616,0.00,2.20,0.00,0.000,6,0.000,0.028,2369,1798,3845
$GC,1957,-1.18,-219.0,298.3,-13.1,337,1963,0.00,2.30,0.00,0.000,4,0.000,0.038,2369,260,3844
$GC,2063,-1.18,-219.0,313.6,-14.2,347,2070,0.00,2.25,0.00,0.000,6,0.000,0.028,2366,1810,3844
$GC,2388,-1.18,-219.0,351.8,-10.8,378,2392,0.00,2.30,0.00,0.000,4,0.000,0.039,2365,276,3843
$GC,2484,-1.18,-219.0,364.0,-12.7,386,2488,0.00,2.28,0.00,0.000,6,0.000,0.028,2357,1843,3843
$GC,2810,-1.18,-219.0,403.6,-12.3,416,2813,0.00,1.80,0.00,0.000,4,0.000,0.041,2350,3068,3842
$GC,2923,-1.18,-219.0,418.5,-13.3,426,2927,0.12,1.73,0.00,0.000,6,0.157,0.028,2381,1856,3841
$GC,3254,-1.18,-219.0,458.1,-12.0,457,3257,0.00,1.83,0.00,0.000,4,0.000,0.043,2381,3070,3840
$GC,3337,-1.18,-219.0,468.6,-12.8,464,3343,0.00,1.70,0.00,0.000,6,0.000,0.028,2381,1902,3839
$GC,3665,-1.18,-219.0,502.8,-10.1,494,3669,0.00,1.75,0.00,0.000,4,0.000,0.045,2385,3063,3837
$GC,3749,-1.18,-219.0,512.2,-10.6,497,3755,0.00,1.62,0.00,0.000,6,0.000,0.030,2386,1929,3836
$GC,4067,-1.18,-219.0,542.7,-9.4,513,4071,0.00,1.75,0.00,0.000,4,0.000,0.045,2390,3066,3835
$GC,4136,-1.18,-219.0,549.7,-10.1,516,4140,0.00,1.60,0.00,0.000,6,0.000,0.031,2388,1981,3834
$GC,4468,-1.18,-219.0,586.3,-11.6,532,4473,0.00,2.60,0.00,0.000,4,0.000,0.045,2387,270,3832
$GC,4509,-1.18,-219.0,591.5,-13.4,534,4514,0.00,2.55,0.00,0.000,6,0.000,0.035,2388,1975,3831
$GC,4836,-1.18,-219.0,627.5,-10.4,550,4840,0.00,1.65,0.00,0.000,4,0.000,0.051,2391,3066,3828
$GC,4883,-1.18,-219.0,632.3,-10.7,552,4886,0.00,1.60,0.00,0.000,6,0.000,0.034,2389,1991,3828
$GC,5217,-1.18,-219.0,666.9,-10.8,568,5222,0.00,2.62,0.00,0.000,4,0.000,0.048,2388,279,3825
$GC,5257,-1.18,-219.0,671.9,-12.5,570,5262,0.00,2.55,0.00,0.000,6,0.000,0.038,2391,1963,3825
$GC,5584,-1.18,-219.0,708.3,-10.8,586,5588,0.00,1.67,0.00,0.000,4,0.000,0.054,2392,3059,3822
$GC,5664,-1.18,-219.0,716.9,-10.7,589,5667,0.00,1.58,0.00,0.000,6,0.000,0.036,2392,2005,3821
$GC,5986,-1.18,-219.0,749.6,-10.0,605,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2005,3818
$GC,6296,-1.18,-219.0,779.9,-10.0,620,6300,0.00,1.67,0.00,0.000,4,0.000,0.057,2391,3062,3816
$GC,6320,-1.18,-219.0,782.6,-11.0,621,6324,0.00,1.58,0.00,0.000,6,0.000,0.038,2392,2022,3815
$GC,6653,-1.18,-219.0,817.2,-10.5,637,6657,0.00,1.62,0.00,0.000,4,0.000,0.058,2391,3065,3813
$GC,6693,-1.18,-219.0,821.6,-11.6,638,6700,0.00,1.55,0.00,0.000,6,0.000,0.038,2391,2038,3813
$GC,7009,-1.18,-219.0,855.7,-10.9,654,7013,0.00,1.60,0.00,0.000,4,0.000,0.058,2391,3063,3810
$GC,7043,-1.18,-219.0,859.6,-10.8,655,7046,0.00,1.55,0.00,0.000,6,0.000,0.039,2391,2039,3810
$GC,7366,-1.18,-219.0,897.4,-11.6,671,7371,0.00,2.75,0.00,0.000,4,0.000,0.054,2391,282,3808
$GC,7406,-1.18,-219.0,902.8,-13.4,673,7411,0.00,2.67,0.00,0.000,6,0.000,0.043,2382,2002,3807
$GC,7733,-1.18,-219.0,942.6,-12.2,689,7736,0.00,1.65,0.00,0.000,4,0.000,0.058,2374,3067,3805
$GC,7802,-1.18,-219.0,951.0,-12.7,692,7805,0.00,1.60,0.00,0.000,6,0.000,0.048,2374,2032,3805
$STATE,8132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8132,begin apogee
$GC,8140,-0.26,0.0,990.9,11.5,708,8339,0.98,0.00,190.85,1.450,6,0.131,0.000,2668,1357,2945
$STATE,8340,end apogee,CONTROL_FINISHED_OK
$STATE,8340,begin climb
$GC,8344,1.18,219.0,1003.3,0.0,718,8549,1.30,2.28,194.95,1.417,4,0.053,0.054,3142,2733,2051
$GC,8624,1.18,219.0,979.1,15.1,731,8627,0.00,2.17,0.00,0.000,6,0.000,0.047,3154,1349,2046
$GC,8958,1.18,219.0,930.8,14.1,747,8961,0.00,2.20,0.00,0.000,4,0.000,0.055,3154,2746,2042
$GC,9131,1.18,219.0,905.0,14.9,754,9138,0.00,2.12,0.00,0.000,6,0.000,0.048,3164,1367,2041
$GC,9448,1.18,219.0,861.3,13.7,770,9452,0.00,2.15,0.00,0.000,4,0.000,0.054,3162,2740,2040
$GC,9521,1.18,219.0,850.7,13.8,773,9524,0.00,2.10,0.00,0.000,6,0.000,0.047,3168,1379,2039
$GC,9849,1.18,219.0,805.7,13.5,789,9852,0.00,2.15,0.00,0.000,4,0.000,0.055,3167,2749,2039
$GC,9917,1.18,219.0,795.9,13.9,792,9921,0.00,2.08,0.00,0.000,6,0.000,0.046,3175,1403,2038
$GC,10250,1.18,219.0,750.9,13.3,808,10254,0.12,2.10,0.00,0.000,4,0.206,0.053,3137,2745,2037
$GC,10294,1.18,219.0,745.0,12.4,810,10298,0.00,2.08,0.00,0.000,6,0.000,0.048,3145,1406,2036
$GC,10622,1.18,219.0,705.3,12.1,826,10626,0.00,2.10,0.00,0.000,4,0.000,0.054,3144,2746,2036
$GC,10750,1.18,219.0,688.9,12.8,831,10756,0.00,2.00,0.00,0.000,6,0.000,0.045,3152,1443,2036
$GC,11068,1.18,219.0,649.1,12.3,847,11071,0.00,2.03,0.00,0.000,4,0.000,0.054,3152,2735,2035
$GC,11129,1.18,219.0,641.0,12.4,849,11135,0.00,1.95,0.00,0.000,6,0.000,0.046,3160,1463,2035
$GC,11446,1.18,222.8,602.9,11.9,865,11450,0.00,2.00,0.00,0.000,4,0.000,0.054,3160,2747,2035
$GC,11508,1.18,222.8,595.0,12.7,867,11514,0.00,1.95,0.00,0.000,6,0.000,0.047,3168,1487,2034
$GC,11825,1.19,227.4,557.7,11.8,883,11835,0.00,1.98,5.78,0.963,4,0.000,0.052,3166,2750,2017
$GC,11874,1.19,227.4,551.3,12.7,885,11878,0.00,1.92,0.00,0.000,6,0.000,0.046,3173,1500,2017
$GC,12198,1.19,227.4,512.0,12.2,901,12201,0.00,1.92,0.00,0.000,4,0.000,0.053,3174,2737,2016
$GC,12266,1.19,227.7,503.4,12.0,904,12270,0.15,1.88,0.00,0.000,6,0.195,0.044,3149,1513,2016
$GC,12597,1.26,282.3,470.5,10.0,933,12663,0.00,2.15,51.97,1.094,4,0.000,0.055,3161,203,1794
$GC,12765,1.26,282.3,450.0,13.8,948,12769,0.00,2.00,0.00,0.000,6,0.000,0.041,3162,1507,1790
$GC,13099,1.30,316.1,412.1,10.8,979,13149,0.00,1.95,34.67,0.966,4,0.000,0.051,3165,2750,1655
$GC,13307,1.30,316.1,389.0,12.1,997,13311,0.00,1.90,0.00,0.000,6,0.000,0.042,3171,1510,1652
$GC,13641,1.32,331.2,352.1,11.4,1028,13658,0.00,0.00,14.77,0.965,6,0.000,0.000,3172,1510,1594
$GC,13979,1.35,359.9,313.0,10.9,1060,14015,0.00,1.98,26.30,0.957,4,0.000,0.047,3172,2744,1477
$GC,14106,1.38,381.6,297.9,11.2,1072,14131,0.00,1.88,20.42,0.922,6,0.000,0.040,3180,1536,1389
$GC,14474,1.39,387.9,254.2,11.8,1136,14488,0.00,2.10,6.80,0.755,4,0.000,0.051,3190,189,1363
$GC,14569,1.41,404.0,242.8,11.4,1152,14600,0.00,2.10,18.38,0.785,6,0.000,0.036,3190,1596,1297
$GC,14942,1.44,429.7,199.0,11.1,1217,14975,0.10,1.80,23.83,0.838,4,0.079,0.049,3237,2752,1192
$GC,15063,1.44,429.7,182.7,13.8,1237,15069,0.00,1.80,0.00,0.000,6,0.000,0.037,3244,1572,1192
$GC,15409,1.44,429.7,138.5,12.8,1298,15415,0.00,2.12,0.00,0.000,4,0.000,0.047,3254,201,1192
$GC,15434,1.44,429.7,135.3,13.2,1302,15440,0.00,2.08,0.00,0.000,6,0.000,0.033,3254,1611,1190
$GC,15780,1.45,436.6,90.6,11.7,1363,15794,0.00,1.70,7.55,0.647,4,0.000,0.039,3251,2757,1164
$GC,15824,1.46,447.2,85.0,11.6,1370,15844,0.00,1.77,11.30,0.683,6,0.000,0.035,3257,1570,1120
$GC,16184,1.50,480.3,45.7,10.8,1433,16222,0.00,2.15,29.55,0.698,4,0.000,0.045,3268,199,986
$GC,16237,1.52,493.8,39.8,11.5,1441,16256,0.00,2.08,13.12,0.640,6,0.000,0.031,3268,1594,931
$STATE,16546,end climb,SURFACE_DEPTH_REACHED
$STATE,16546,begin surface coast
$FINISH,0.8,1.018128
$STATE,16576,end surface coast,CONTROL_FINISHED_OK
$STATE,16576,begin surface
$SM_CCo,16657,0.00,0.000,0,0,927,495.26
$SM_GC,1.74,8.30,0.00,0.00,0.044,0.000,0.000,169,1693,927,-8.10,0.51,495.26
$IRIDIUM_FIX,2403.92,12507.26,241098,181837
$TT8_MAMPS,0.026845
$HUMID,1594
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,157
$24V_AH,23.1,90.312
$10V_AH,10.6,59.950
$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,20.275,148.900,650.250,0.000,0.000,23.007,33.349,220.225,47.250,0.000,0.000,16.292,2634.115,9824.684,739.421,3171.148,716.890,0.000,2192.896,0.000,3132.422,0.000,63.398,0.000
$DEVICE_MAMPS,228.566,75.933,1450.397,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.159,1022.801,1719.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88367,1501
$CAP_FILE_SIZE,162164,0
$CFSIZE,260165632,201240576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.223, 96.0,1
$GPS,310709,040837,2412.550,12510.464,30,1.7,30,-3.6