version: 66.04
glider: 166
mission: 2
dive: 417
start: 7 31 109 4 16 37
data:
$ID,166
$MISSION,2
$DIVE,417
$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,-13707.897
$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,32
$R_STBD_OVSHOOT,68
$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
$GPS1,040837,2412.550,12510.464,30,1.7,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-69.8
$GPS2,041614,2412.569,12510.577,14,1.7,14,-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,309.3,23932,-17.3,-12.000
$D_GRID,1805
$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,-219.0,0.0,0.0,0,76,0.00,0.00,-58.47,0.000,2,0.000,0.000,168,1693,2235
$GC,79,-1.18,-219.0,3.0,-5.1,9,144,9.15,2.12,-45.33,0.000,4,0.232,0.051,2362,3059,3840
$GC,151,-1.18,-219.0,13.0,-19.1,20,158,0.00,2.05,0.00,0.000,6,0.000,0.029,2360,1649,3841
$GC,497,-1.18,-219.0,82.0,-17.7,81,504,0.12,2.05,0.00,0.000,4,0.168,0.038,2379,267,3841
$GC,528,-1.18,-219.0,87.4,-17.5,86,534,0.00,2.08,0.00,0.000,6,0.000,0.028,2379,1704,3841
$GC,873,-1.18,-219.0,144.7,-16.8,147,881,0.00,2.15,0.00,0.000,4,0.000,0.038,2371,285,3843
$GC,933,-1.18,-219.0,154.9,-17.8,157,939,0.00,2.15,0.00,0.000,6,0.000,0.028,2370,1774,3843
$GC,1279,-1.18,-219.0,207.7,-13.0,218,1285,0.00,2.22,0.00,0.000,4,0.000,0.038,2369,270,3844
$GC,1365,-1.18,-219.0,220.0,-14.1,233,1372,0.00,2.22,0.00,0.000,6,0.000,0.028,2366,1807,3844
$GC,1711,-1.18,-219.0,265.4,-12.3,294,1717,0.00,2.28,0.00,0.000,4,0.000,0.038,2366,272,3844
$GC,1788,-1.18,-219.0,275.5,-13.6,307,1795,0.00,2.28,0.00,0.000,6,0.000,0.028,2366,1840,3844
$GC,2131,-1.18,-219.0,318.3,-12.3,355,2135,0.00,2.35,0.00,0.000,4,0.000,0.039,2366,270,3843
$GC,2216,-1.18,-219.0,330.0,-14.5,362,2220,0.00,2.33,0.00,0.000,6,0.000,0.028,2366,1876,3843
$GC,2545,-1.18,-219.0,374.2,-13.9,392,2550,0.00,1.75,0.00,0.000,4,0.000,0.041,2368,3069,3842
$GC,2652,-1.18,-219.0,388.8,-12.8,401,2658,0.00,1.67,0.00,0.000,6,0.000,0.028,2368,1890,3842
$GC,2977,-1.18,-219.0,426.2,-11.3,432,2981,0.00,1.77,0.00,0.000,4,0.000,0.043,2368,3076,3840
$GC,3081,-1.18,-219.0,438.7,-12.6,441,3084,0.00,1.62,0.00,0.000,6,0.000,0.029,2368,1934,3840
$GC,3412,-1.18,-219.0,476.9,-11.0,472,3415,0.00,1.73,0.00,0.000,4,0.000,0.045,2370,3077,3839
$GC,3448,-1.18,-219.0,480.7,-10.8,475,3451,0.00,1.60,0.00,0.000,6,0.000,0.030,2370,1956,3839
$GC,3788,-1.18,-219.0,516.0,-10.5,500,3791,0.00,1.67,0.00,0.000,4,0.000,0.048,2378,3064,3836
$GC,3838,-1.18,-219.0,521.9,-11.5,502,3842,0.00,1.60,0.00,0.000,6,0.000,0.031,2377,1951,3835
$GC,4166,-1.18,-219.0,558.4,-12.1,518,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,1950,3834
$GC,4475,-1.18,-219.0,596.0,-11.7,533,4478,0.00,1.70,0.00,0.000,4,0.000,0.050,2385,3066,3832
$GC,4567,-1.18,-219.0,606.6,-11.8,537,4571,0.00,1.62,0.00,0.000,6,0.000,0.034,2385,1950,3831
$GC,4900,-1.18,-219.0,642.9,-11.0,553,4904,0.00,1.70,0.00,0.000,4,0.000,0.051,2390,3075,3828
$GC,4951,-1.18,-219.0,648.9,-11.3,555,4954,0.00,1.60,0.00,0.000,6,0.000,0.035,2389,1978,3827
$GC,5279,-1.18,-219.0,684.5,-10.4,571,5283,0.00,1.67,0.00,0.000,4,0.000,0.052,2391,3064,3825
$GC,5335,-1.18,-219.0,690.8,-11.2,573,5339,0.00,1.55,0.00,0.000,6,0.000,0.035,2391,2027,3824
$GC,5659,-1.18,-219.0,723.2,-10.0,589,5662,0.00,1.60,0.00,0.000,4,0.000,0.054,2392,3064,3821
$GC,5720,-1.18,-219.0,729.9,-11.1,591,5728,0.00,1.55,0.00,0.000,6,0.000,0.037,2392,2030,3821
$GC,6037,-1.18,-219.0,764.1,-11.0,607,6040,0.00,1.62,0.00,0.000,4,0.000,0.064,2391,3066,3818
$GC,6064,-1.18,-219.0,767.6,-12.1,608,6068,0.00,1.55,0.00,0.000,6,0.000,0.037,2392,2038,3817
$GC,6393,-1.18,-219.0,804.4,-11.2,624,6397,0.00,1.60,0.00,0.000,4,0.000,0.056,2392,3067,3814
$GC,6427,-1.18,-219.0,808.4,-11.4,625,6430,0.00,1.55,0.00,0.000,6,0.000,0.038,2392,2042,3814
$GC,6750,-1.18,-219.0,839.9,-8.8,641,6754,0.00,1.60,0.00,0.000,4,0.000,0.056,2384,3053,3811
$GC,6822,-1.18,-219.0,846.8,-9.7,644,6826,0.00,1.55,0.00,0.000,6,0.000,0.048,2384,2044,3811
$GC,7151,-1.18,-219.0,876.1,-9.3,660,7155,0.00,1.60,0.00,0.000,4,0.000,0.058,2380,3069,3809
$GC,7186,-1.18,-219.0,879.6,-9.8,661,7189,0.00,1.55,0.00,0.000,6,0.000,0.039,2380,2044,3809
$GC,7508,-1.18,-219.0,912.7,-10.3,677,7512,0.00,1.62,0.00,0.000,4,0.000,0.065,2373,3062,3806
$GC,7531,-1.18,-219.0,915.4,-10.9,678,7535,0.00,1.55,0.00,0.000,6,0.000,0.040,2373,2044,3806
$GC,7865,-1.18,-219.0,955.5,-12.5,694,7869,0.00,2.75,0.00,0.000,4,0.000,0.055,2373,289,3804
$GC,7908,-1.18,-219.0,961.7,-13.7,696,7913,0.00,2.67,0.00,0.000,6,0.000,0.048,2363,2008,3803
$STATE,8145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8145,begin apogee
$GC,8154,-0.26,0.0,992.5,12.7,708,8353,1.02,0.00,190.73,1.456,6,0.131,0.000,2674,1370,2945
$STATE,8354,end apogee,CONTROL_FINISHED_OK
$STATE,8354,begin climb
$GC,8357,1.18,219.0,1006.4,0.0,718,8562,1.30,1.92,195.10,1.420,4,0.052,0.060,3157,206,2052
$GC,8579,1.18,219.0,992.8,13.7,728,8583,0.00,1.77,0.00,0.000,6,0.000,0.041,3157,1344,2048
$GC,8906,1.18,219.0,945.0,14.3,744,8910,0.00,2.20,0.00,0.000,4,0.000,0.054,3154,2758,2043
$GC,9052,1.18,219.0,923.5,13.9,750,9056,0.00,2.12,0.00,0.000,6,0.000,0.046,3161,1369,2042
$GC,9374,1.18,219.0,881.3,12.8,766,9377,0.00,2.17,0.00,0.000,4,0.000,0.055,3161,2755,2041
$GC,9519,1.18,219.0,862.1,12.6,772,9523,0.00,2.10,0.00,0.000,6,0.000,0.046,3169,1386,2039
$GC,9841,1.18,219.0,819.7,13.4,788,9845,0.00,1.85,0.00,0.000,4,0.000,0.058,3178,201,2039
$GC,9864,1.18,219.0,816.4,15.1,789,9868,0.12,1.85,0.00,0.000,6,0.197,0.051,3150,1417,2038
$GC,10198,1.18,219.0,771.8,13.3,805,10201,0.00,2.10,0.00,0.000,4,0.000,0.057,3143,2758,2037
$GC,10350,1.18,219.0,750.5,13.6,811,10356,0.00,2.05,0.00,0.000,6,0.000,0.052,3150,1432,2037
$GC,10666,1.18,219.0,708.2,13.2,827,10670,0.00,2.08,0.00,0.000,4,0.000,0.056,3150,2756,2037
$GC,10780,1.18,219.0,692.7,14.1,832,10784,0.00,2.00,0.00,0.000,6,0.000,0.045,3159,1453,2036
$GC,11116,1.18,221.1,650.6,11.9,848,11119,0.00,2.03,0.00,0.000,4,0.000,0.054,3159,2750,2036
$GC,11166,1.18,221.1,643.8,12.4,850,11169,0.00,1.98,0.00,0.000,6,0.000,0.044,3168,1457,2035
$GC,11493,1.18,221.1,602.8,12.6,866,11497,0.00,2.03,0.00,0.000,4,0.000,0.054,3168,2755,2036
$GC,11577,1.18,221.1,591.6,13.1,869,11584,0.15,1.95,0.00,0.000,6,0.197,0.044,3143,1477,2035
$GC,11894,1.23,262.8,556.5,10.5,885,11940,0.00,0.00,39.28,1.147,6,0.000,0.000,3143,1476,1873
$GC,12246,1.27,289.5,517.4,11.0,902,12277,0.00,2.10,24.62,1.134,4,0.000,0.052,3138,2758,1764
$GC,12418,1.28,301.4,496.3,11.6,910,12442,0.00,2.03,14.15,0.931,6,0.000,0.044,3147,1442,1716
$GC,12761,1.28,301.4,451.6,12.3,942,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,1442,1713
$GC,13083,1.32,329.9,415.5,10.9,972,13118,0.10,1.98,26.67,1.055,4,0.079,0.055,3213,196,1598
$GC,13247,1.32,329.9,393.4,15.3,986,13254,0.00,2.05,0.00,0.000,6,0.000,0.041,3213,1516,1594
$GC,13575,1.32,329.9,350.1,13.1,1017,13579,0.00,1.90,0.00,0.000,4,0.000,0.048,3215,2765,1593
$GC,13682,1.32,330.7,335.9,12.0,1026,13689,0.08,1.92,0.00,0.000,6,0.185,0.041,3189,1519,1592
$GC,14007,1.34,351.6,298.7,11.2,1058,14033,0.00,1.98,19.83,0.939,4,0.000,0.046,3186,2761,1510
$GC,14090,1.34,351.6,289.0,12.1,1072,14096,0.00,1.90,0.00,0.000,6,0.000,0.039,3192,1527,1509
$GC,14435,1.37,370.8,248.3,11.3,1133,14460,0.00,0.00,18.40,0.880,6,0.000,0.000,3192,1528,1433
$GC,14799,1.37,370.8,204.7,12.1,1197,14805,0.00,1.88,0.00,0.000,4,0.000,0.042,3189,2761,1431
$GC,14919,1.39,392.1,191.4,11.2,1218,14945,0.00,1.90,20.10,0.828,6,0.000,0.037,3196,1508,1345
$GC,15287,1.42,413.2,149.8,11.2,1282,15313,0.00,1.92,19.70,0.780,4,0.000,0.041,3196,2767,1260
$GC,15429,1.44,432.1,133.3,11.3,1306,15451,0.00,1.85,17.88,0.754,6,0.000,0.035,3204,1546,1183
$GC,15789,1.53,502.8,94.1,9.4,1369,15861,0.15,2.17,61.28,0.742,4,0.064,0.046,3285,191,894
$GC,15942,1.53,502.8,75.9,12.5,1394,15950,0.08,2.17,0.00,0.000,6,0.169,0.031,3261,1641,893
$GC,16290,1.55,522.4,34.4,11.3,1455,16315,0.00,1.67,18.23,0.653,4,0.000,0.036,3259,2775,815
$GC,16328,1.55,522.4,29.3,12.6,1461,16335,0.00,1.77,0.00,0.000,6,0.000,0.032,3265,1591,815
$STATE,16557,end climb,SURFACE_DEPTH_REACHED
$STATE,16557,begin surface coast
$FINISH,0.9,1.009155
$STATE,16587,end surface coast,CONTROL_FINISHED_OK
$STATE,16588,begin surface
$SM_CCo,16668,0.00,0.000,0,0,813,522.98
$SM_GC,1.71,8.23,0.00,0.00,0.041,0.000,0.000,168,1710,813,-8.11,1.02,522.98
$IRIDIUM_FIX,2403.92,12510.56,241098,232327
$TT8_MAMPS,0.025311
$HUMID,1617
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.50
$XPDR_PINGS,144
$24V_AH,23.1,90.560
$10V_AH,10.6,60.102
$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,20.500,138.450,665.950,0.000,0.000,26.005,32.422,232.484,44.000,0.000,0.000,14.550,2641.328,9834.891,738.941,3160.319,735.580,0.000,2192.456,0.000,3126.922,0.000,56.436,0.000
$DEVICE_MAMPS,232.401,65.195,1455.766,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1019.924,1034.396,1737.047,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88462,1507
$CAP_FILE_SIZE,161434,0
$CFSIZE,260165632,201154560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.208, 88.7,1
$GPS,310709,085537,2413.200,12511.604,36,1.3,36,-3.6