version: 66.04
glider: 166
mission: 2
dive: 418
start: 7 31 109 9 6 55
data:
$ID,166
$MISSION,2
$DIVE,418
$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,-13743.665
$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,33
$R_STBD_OVSHOOT,62
$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
$GPS1,085537,2413.200,12511.604,36,1.3,36,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-64.5
$GPS2,090631,2413.106,12511.738,17,1.6,35,-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,306.3,23609,-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,-219.0,0.0,0.0,0,87,0.00,0.00,-69.57,0.000,2,0.000,0.000,167,1711,2402
$GC,91,-1.18,-219.0,3.1,-4.4,11,144,9.10,2.12,-38.45,0.000,4,0.230,0.053,2369,3070,3839
$GC,308,-1.18,-219.0,44.4,-19.9,48,315,0.00,2.10,0.00,0.000,6,0.000,0.029,2368,1646,3840
$GC,653,-1.18,-219.0,106.0,-15.6,109,661,0.00,2.12,0.00,0.000,4,0.000,0.037,2353,3078,3840
$GC,769,-1.18,-219.0,124.8,-15.4,129,777,0.15,2.00,0.00,0.000,6,0.166,0.027,2380,1701,3841
$GC,1118,-1.18,-219.0,174.9,-13.7,190,1124,0.00,2.03,0.00,0.000,4,0.000,0.036,2377,3076,3842
$GC,1249,-1.18,-219.0,194.6,-14.6,213,1256,0.00,1.92,0.00,0.000,6,0.000,0.026,2372,1742,3842
$GC,1597,-1.18,-219.0,243.6,-13.8,274,1603,0.00,2.00,0.00,0.000,4,0.000,0.038,2368,3071,3842
$GC,1684,-1.18,-219.0,256.1,-14.5,289,1691,0.00,1.80,0.00,0.000,6,0.000,0.027,2369,1797,3842
$GC,2032,-1.18,-219.0,300.2,-11.4,350,2036,0.00,1.90,0.00,0.000,4,0.000,0.040,2368,3077,3842
$GC,2106,-1.18,-219.0,309.8,-12.8,356,2112,0.00,1.83,0.00,0.000,6,0.000,0.028,2370,1814,3841
$GC,2433,-1.18,-219.0,349.8,-11.9,387,2441,0.00,1.88,0.00,0.000,4,0.000,0.041,2370,3076,3840
$GC,2507,-1.18,-219.0,358.8,-12.6,393,2510,0.00,1.75,0.00,0.000,6,0.000,0.028,2369,1848,3840
$GC,2839,-1.18,-219.0,399.2,-12.4,424,2844,0.00,1.83,0.00,0.000,4,0.000,0.041,2370,3070,3839
$GC,2936,-1.18,-219.0,411.9,-13.0,432,2943,0.00,1.73,0.00,0.000,6,0.000,0.029,2368,1883,3838
$GC,3262,-1.18,-219.0,451.7,-11.4,463,3265,0.00,1.77,0.00,0.000,4,0.000,0.043,2371,3063,3836
$GC,3301,-1.18,-219.0,456.4,-12.0,466,3307,0.00,1.73,0.00,0.000,6,0.000,0.030,2372,1887,3836
$GC,3629,-1.18,-219.0,492.7,-10.9,497,3633,0.00,1.77,0.00,0.000,4,0.000,0.044,2374,3069,3834
$GC,3730,-1.18,-219.0,504.4,-11.5,504,3734,0.00,1.65,0.00,0.000,6,0.000,0.031,2377,1921,3832
$GC,4054,-1.18,-219.0,539.1,-11.0,520,4058,0.00,1.73,0.00,0.000,4,0.000,0.047,2379,3063,3831
$GC,4161,-1.18,-219.0,551.8,-11.5,524,4168,0.00,1.60,0.00,0.000,6,0.000,0.032,2379,1974,3830
$GC,4478,-1.18,-219.0,586.3,-10.8,540,4482,0.00,1.65,0.00,0.000,4,0.000,0.048,2387,3060,3828
$GC,4547,-1.18,-219.0,593.7,-10.4,543,4551,0.00,1.58,0.00,0.000,6,0.000,0.034,2385,2000,3827
$GC,4882,-1.18,-219.0,628.4,-10.1,559,4886,0.00,1.62,0.00,0.000,4,0.000,0.051,2391,3065,3823
$GC,4945,-1.18,-219.0,635.2,-10.5,561,4952,0.00,1.55,0.00,0.000,6,0.000,0.035,2387,2020,3823
$GC,5262,-1.18,-219.0,669.9,-11.3,577,5265,0.00,1.60,0.00,0.000,4,0.000,0.052,2391,3063,3820
$GC,5302,-1.18,-219.0,674.8,-11.9,578,5310,0.00,1.52,0.00,0.000,6,0.000,0.035,2390,2038,3819
$GC,5620,-1.18,-219.0,712.4,-11.9,594,5623,0.00,1.60,0.00,0.000,4,0.000,0.052,2385,3079,3817
$GC,5681,-1.18,-219.0,720.5,-13.2,596,5687,0.00,1.58,0.00,0.000,6,0.000,0.044,2385,2043,3816
$GC,5998,-1.18,-219.0,759.4,-12.4,612,6001,0.00,1.60,0.00,0.000,4,0.000,0.054,2378,3081,3814
$GC,6044,-1.18,-219.0,765.4,-13.5,614,6048,0.00,1.58,0.00,0.000,6,0.000,0.037,2378,2038,3812
$GC,6377,-1.18,-219.0,806.7,-12.4,630,6380,0.00,1.60,0.00,0.000,4,0.000,0.055,2371,3072,3810
$GC,6404,-1.18,-219.0,810.5,-13.2,631,6408,0.00,1.55,0.00,0.000,6,0.000,0.038,2370,2046,3810
$GC,6734,-1.18,-219.0,852.4,-12.4,647,6739,0.00,2.72,0.00,0.000,4,0.000,0.052,2371,293,3807
$GC,6762,-1.18,-219.0,856.7,-14.1,648,6766,0.00,2.60,0.00,0.000,6,0.000,0.040,2358,2003,3806
$GC,7079,-1.18,-219.0,895.9,-12.3,663,7082,0.00,1.65,0.00,0.000,4,0.000,0.065,2350,3060,3805
$GC,7106,-1.18,-219.0,899.7,-12.9,664,7112,0.08,1.58,0.00,0.000,6,0.156,0.047,2386,2035,3804
$GC,7433,-1.18,-219.0,933.2,-10.2,680,7438,0.00,2.72,0.00,0.000,4,0.000,0.058,2384,298,3802
$GC,7452,-1.18,-219.0,935.1,-10.1,681,7456,0.00,2.62,0.00,0.000,6,0.000,0.045,2375,1992,3802
$GC,7779,-1.18,-219.0,972.9,-12.2,697,7783,0.00,1.65,0.00,0.000,4,0.000,0.058,2367,3059,3800
$GC,7870,-1.18,-219.0,984.6,-12.6,701,7873,0.00,1.55,0.00,0.000,6,0.000,0.041,2369,2044,3800
$STATE,7911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7911,begin apogee
$GC,7920,-0.26,0.0,990.5,13.7,703,8118,1.00,0.00,189.30,1.446,6,0.130,0.000,2673,1378,2945
$STATE,8119,end apogee,CONTROL_FINISHED_OK
$STATE,8119,begin climb
$GC,8121,1.18,219.0,1005.7,0.0,713,8326,1.30,2.30,194.48,1.416,4,0.052,0.054,3150,2740,2051
$GC,8356,1.18,219.0,991.8,14.4,724,8360,0.00,2.22,0.00,0.000,6,0.000,0.046,3160,1338,2047
$GC,8683,1.18,219.0,948.5,12.9,740,8686,0.00,2.20,0.00,0.000,4,0.000,0.054,3160,2739,2043
$GC,8766,1.18,219.0,936.7,13.8,743,8772,0.00,2.12,0.00,0.000,6,0.000,0.047,3168,1363,2042
$GC,9083,1.18,219.0,891.7,14.3,759,9087,0.00,2.15,0.00,0.000,4,0.000,0.054,3167,2736,2041
$GC,9178,1.18,219.0,876.6,15.7,763,9183,0.12,2.08,0.00,0.000,6,0.206,0.044,3149,1387,2039
$GC,9502,1.18,219.0,829.7,14.3,779,9506,0.00,2.10,0.00,0.000,4,0.000,0.054,3141,2732,2039
$GC,9642,1.18,219.0,809.6,14.4,785,9646,0.00,2.00,0.00,0.000,6,0.000,0.045,3147,1427,2038
$GC,9969,1.18,219.0,766.3,12.9,801,9973,0.00,2.05,0.00,0.000,4,0.000,0.056,3146,2733,2037
$GC,10065,1.18,219.0,753.4,13.2,805,10068,0.00,1.95,0.00,0.000,6,0.000,0.045,3155,1457,2036
$GC,10392,1.18,219.0,713.1,12.6,821,10396,0.00,2.03,0.00,0.000,4,0.000,0.062,3154,2742,2035
$GC,10470,1.18,219.0,702.7,13.8,824,10474,0.00,1.95,0.00,0.000,6,0.000,0.045,3164,1467,2035
$GC,10792,1.18,219.0,663.0,12.5,840,10796,0.00,2.00,0.00,0.000,4,0.000,0.054,3163,2747,2035
$GC,10887,1.18,219.0,650.9,13.3,844,10891,0.00,1.92,0.00,0.000,6,0.000,0.045,3171,1485,2035
$GC,11215,1.18,219.0,611.5,12.4,860,11219,0.00,1.95,0.00,0.000,4,0.000,0.054,3171,2734,2034
$GC,11305,1.18,219.0,600.0,12.6,864,11310,0.15,1.90,0.00,0.000,6,0.196,0.045,3145,1496,2033
$GC,11639,1.18,219.0,559.0,12.3,880,11643,0.00,1.92,0.00,0.000,4,0.000,0.053,3139,2734,2033
$GC,11777,1.21,240.8,542.4,11.2,886,11807,0.00,1.88,19.70,1.064,6,0.000,0.044,3147,1508,1962
$GC,12133,1.25,276.1,503.4,10.7,903,12171,0.00,2.03,32.50,1.136,4,0.000,0.053,3148,2740,1819
$GC,12196,1.25,278.6,496.0,11.9,907,12200,0.00,1.92,0.00,0.000,6,0.000,0.044,3158,1505,1817
$GC,12529,1.25,278.6,455.6,12.4,938,12533,0.00,2.05,0.00,0.000,4,0.000,0.058,3169,204,1813
$GC,12568,1.25,278.6,450.1,12.3,941,12575,0.00,2.00,0.00,0.000,6,0.000,0.041,3169,1527,1813
$GC,12898,1.32,337.3,413.8,9.8,972,12957,0.00,1.90,54.55,1.064,4,0.000,0.049,3172,2737,1570
$GC,13054,1.33,343.2,395.4,11.8,985,13065,0.00,1.83,6.75,0.854,6,0.000,0.043,3180,1548,1544
$GC,13392,1.33,343.2,352.9,13.0,1017,13395,0.00,1.85,0.00,0.000,4,0.000,0.049,3184,2750,1543
$GC,13442,1.33,343.2,346.2,12.7,1021,13449,0.00,1.83,0.00,0.000,6,0.000,0.040,3190,1542,1542
$GC,13769,1.33,343.2,305.4,12.7,1052,13773,0.00,1.83,0.00,0.000,4,0.000,0.047,3192,2738,1542
$GC,13837,1.33,343.2,296.4,12.8,1060,13844,0.00,1.77,0.00,0.000,6,0.000,0.040,3199,1572,1543
$GC,14182,1.36,363.6,254.3,11.3,1121,14207,0.00,1.80,19.23,0.894,4,0.000,0.044,3199,2750,1462
$GC,14317,1.37,370.9,238.8,11.7,1144,14331,0.00,1.75,7.97,0.776,6,0.000,0.037,3207,1601,1432
$GC,14671,1.37,370.9,198.0,13.0,1206,14677,0.00,2.15,0.00,0.000,4,0.000,0.048,3217,199,1431
$GC,14815,1.37,370.9,178.2,13.6,1231,14821,0.00,2.03,0.00,0.000,6,0.000,0.035,3217,1576,1431
$GC,15161,1.39,391.5,139.2,11.2,1292,15187,0.00,2.15,19.73,0.779,4,0.000,0.047,3228,190,1348
$GC,15268,1.39,391.5,126.5,12.7,1310,15274,0.00,2.10,0.00,0.000,6,0.000,0.033,3227,1590,1346
$GC,15614,1.46,451.7,87.1,9.8,1371,15672,0.00,1.80,52.38,0.745,4,0.000,0.038,3227,2744,1102
$GC,15753,1.48,462.0,72.1,11.6,1394,15771,0.00,1.77,10.65,0.648,6,0.000,0.035,3236,1571,1060
$GC,16111,1.52,494.2,34.7,10.8,1457,16145,0.00,1.83,28.15,0.674,4,0.000,0.037,3236,2750,929
$GC,16262,1.53,508.4,17.5,11.5,1482,16281,0.00,1.67,14.02,0.621,6,0.000,0.032,3243,1621,872
$STATE,16382,end climb,SURFACE_DEPTH_REACHED
$STATE,16383,begin surface coast
$FINISH,0.8,1.001115
$STATE,16405,end surface coast,CONTROL_FINISHED_OK
$STATE,16405,begin surface
$SM_CCo,16484,0.00,0.000,0,0,869,509.24
$SM_GC,1.65,8.15,0.00,0.00,0.038,0.000,0.000,169,1620,869,-8.10,-1.53,509.24
$IRIDIUM_FIX,2406.29,12512.49,251098,090906
$TT8_MAMPS,0.026845
$HUMID,1595
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.60
$XPDR_PINGS,156
$24V_AH,23.2,90.807
$10V_AH,10.6,60.255
$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,20.050,149.175,649.400,0.000,0.000,50.122,64.483,276.745,47.000,0.000,0.000,35.138,2657.257,9685.009,750.372,3181.907,849.954,0.000,2195.134,0.000,3123.015,0.000,56.490,0.000
$DEVICE_MAMPS,230.100,65.195,1445.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1020.157,1038.644,1747.026,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88484,1507
$CAP_FILE_SIZE,163471,0
$CFSIZE,260165632,201056256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.214, 98.0,1
$GPS,310709,134300,2413.650,12512.666,39,1.4,44,-3.6