version: 66.04
glider: 166
mission: 2
dive: 419
start: 7 31 109 13 54 59
data:
$ID,166
$MISSION,2
$DIVE,419
$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,-13773.79
$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,36
$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
$GPS1,134300,2413.650,12512.666,39,1.4,44,-3.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-69.3
$GPS2,135436,2413.565,12512.650,13,1.5,29,-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,305.6,23435,-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,16,-1.18,-219.0,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,167,1621,2320
$GC,86,-1.18,-219.0,3.1,-5.9,10,144,9.12,2.22,-40.65,0.000,4,0.231,0.052,2366,3065,3840
$GC,315,-1.18,-219.0,47.1,-20.7,49,322,0.12,2.05,0.00,0.000,6,0.170,0.029,2383,1637,3841
$GC,662,-1.18,-219.0,108.0,-16.0,110,669,0.00,2.03,0.00,0.000,4,0.000,0.040,2379,288,3842
$GC,754,-1.18,-219.0,123.6,-16.6,126,761,0.00,2.05,0.00,0.000,6,0.000,0.028,2378,1721,3842
$GC,1099,-1.18,-219.0,175.4,-13.7,187,1105,0.00,2.12,0.00,0.000,4,0.000,0.037,2378,277,3842
$GC,1146,-1.18,-219.0,182.3,-14.8,195,1153,0.00,2.12,0.00,0.000,6,0.000,0.027,2369,1761,3842
$GC,1492,-1.18,-219.0,232.5,-14.8,256,1500,0.00,2.20,0.00,0.000,4,0.000,0.037,2369,279,3843
$GC,1570,-1.18,-219.0,244.3,-15.9,269,1576,0.00,2.20,0.00,0.000,6,0.000,0.028,2365,1803,3843
$GC,1917,-1.18,-219.0,291.5,-12.0,330,1924,0.00,2.28,0.00,0.000,4,0.000,0.038,2365,270,3842
$GC,2014,-1.18,-219.0,304.0,-13.1,344,2022,0.00,2.25,0.00,0.000,6,0.000,0.027,2364,1829,3842
$GC,2343,-1.18,-219.0,344.3,-12.2,375,2347,0.00,2.33,0.00,0.000,4,0.000,0.039,2365,273,3841
$GC,2442,-1.18,-219.0,357.4,-13.1,383,2446,0.00,2.33,0.00,0.000,6,0.000,0.028,2365,1868,3840
$GC,2772,-1.18,-219.0,393.1,-11.3,413,2776,0.00,1.77,0.00,0.000,4,0.000,0.042,2365,3070,3840
$GC,2886,-1.18,-219.0,406.7,-12.1,423,2890,0.00,1.70,0.00,0.000,6,0.000,0.028,2366,1871,3839
$GC,3219,-1.18,-219.0,442.1,-10.2,454,3223,0.00,1.80,0.00,0.000,4,0.000,0.044,2365,3069,3837
$GC,3289,-1.18,-219.0,449.6,-11.2,460,3294,0.00,1.67,0.00,0.000,6,0.000,0.029,2367,1920,3836
$GC,3621,-1.18,-219.0,487.4,-11.9,491,3624,0.00,1.73,0.00,0.000,4,0.000,0.044,2369,3066,3834
$GC,3668,-1.18,-219.0,493.0,-11.8,495,3672,0.00,1.60,0.00,0.000,6,0.000,0.030,2369,1946,3834
$GC,4002,-1.18,-219.0,529.1,-10.0,514,4006,0.00,1.73,0.00,0.000,4,0.000,0.047,2381,3062,3832
$GC,4093,-1.18,-219.0,538.7,-11.0,518,4097,0.00,1.58,0.00,0.000,6,0.000,0.031,2380,1989,3831
$GC,4426,-1.18,-219.0,571.9,-9.8,534,4430,0.00,1.62,0.00,0.000,4,0.000,0.048,2385,3060,3828
$GC,4477,-1.18,-219.0,576.9,-9.6,536,4480,0.00,1.55,0.00,0.000,6,0.000,0.032,2384,2006,3828
$GC,4805,-1.18,-219.0,609.1,-10.2,552,4810,0.00,2.62,0.00,0.000,4,0.000,0.048,2383,288,3825
$GC,4838,-1.18,-219.0,613.2,-12.0,553,4844,0.00,2.53,0.00,0.000,6,0.000,0.035,2379,1973,3825
$GC,5155,-1.18,-219.0,648.7,-11.2,569,5159,0.00,1.67,0.00,0.000,4,0.000,0.051,2375,3060,3821
$GC,5189,-1.18,-219.0,652.9,-12.2,570,5193,0.00,1.58,0.00,0.000,6,0.000,0.035,2375,2000,3821
$GC,5511,-1.18,-219.0,687.5,-10.0,586,5515,0.00,2.62,0.00,0.000,4,0.000,0.049,2375,292,3818
$GC,5583,-1.18,-219.0,695.9,-12.1,589,5587,0.00,2.53,0.00,0.000,6,0.000,0.038,2368,1962,3817
$GC,5900,-1.18,-219.0,730.2,-11.1,604,5903,0.00,1.67,0.00,0.000,4,0.000,0.054,2367,3054,3814
$GC,5991,-1.18,-219.0,741.1,-11.8,608,5995,0.00,1.55,0.00,0.000,6,0.000,0.037,2367,2019,3814
$GC,6324,-1.18,-219.0,781.4,-12.2,624,6328,0.00,2.67,0.00,0.000,4,0.000,0.051,2366,294,3811
$GC,6368,-1.18,-219.0,787.5,-14.1,626,6373,0.12,2.58,0.00,0.000,6,0.168,0.040,2385,1991,3811
$GC,6690,-1.18,-219.0,825.1,-11.5,642,6694,0.00,1.65,0.00,0.000,4,0.000,0.056,2378,3066,3808
$GC,6805,-1.18,-219.0,838.4,-11.5,647,6808,0.00,1.55,0.00,0.000,6,0.000,0.039,2379,2045,3807
$GC,7138,-1.18,-219.0,874.9,-10.5,663,7143,0.00,2.72,0.00,0.000,4,0.000,0.053,2379,296,3805
$GC,7201,-1.18,-219.0,882.3,-11.9,665,7207,0.00,2.62,0.00,0.000,6,0.000,0.043,2366,1996,3804
$GC,7518,-1.18,-219.0,919.4,-11.5,681,7521,0.00,1.67,0.00,0.000,4,0.000,0.067,2364,3062,3802
$GC,7634,-1.18,-219.0,933.9,-12.7,686,7638,0.00,1.55,0.00,0.000,6,0.000,0.041,2364,2042,3801
$GC,7962,-1.18,-219.0,973.8,-12.0,702,7967,0.00,2.75,0.00,0.000,4,0.000,0.055,2364,290,3800
$GC,7990,-1.18,-219.0,977.6,-13.8,703,7995,0.12,2.65,0.00,0.000,6,0.171,0.044,2383,2006,3800
$STATE,8096,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8096,begin apogee
$GC,8105,-0.26,0.0,990.7,12.1,708,8300,0.93,0.00,187.77,1.460,6,0.122,0.000,2676,1365,2944
$STATE,8301,end apogee,CONTROL_FINISHED_OK
$STATE,8301,begin climb
$GC,8304,1.18,219.0,1005.2,0.0,718,8508,1.30,1.92,194.85,1.421,4,0.054,0.059,3151,199,2051
$GC,8520,1.18,219.0,995.5,12.5,728,8524,0.00,1.77,0.00,0.000,6,0.000,0.041,3150,1332,2048
$GC,8847,1.18,219.0,954.2,12.4,744,8850,0.00,2.22,0.00,0.000,4,0.000,0.054,3149,2761,2043
$GC,8970,1.18,219.0,937.9,13.4,749,8974,0.00,2.15,0.00,0.000,6,0.000,0.046,3160,1367,2042
$GC,9293,1.18,219.0,893.5,14.3,765,9296,0.00,2.17,0.00,0.000,4,0.000,0.061,3159,2757,2041
$GC,9371,1.18,219.0,881.5,14.9,768,9374,0.00,2.12,0.00,0.000,6,0.000,0.046,3167,1373,2040
$GC,9693,1.18,219.0,830.7,15.8,784,9697,0.00,2.17,0.00,0.000,4,0.000,0.058,3166,2754,2039
$GC,9857,1.18,219.0,804.9,15.0,791,9860,0.00,2.05,0.00,0.000,6,0.000,0.045,3174,1405,2037
$GC,10184,1.18,219.0,759.6,13.1,807,10187,0.00,2.12,0.00,0.000,4,0.000,0.061,3173,2754,2037
$GC,10280,1.18,219.0,747.2,13.0,811,10284,0.15,2.00,0.00,0.000,6,0.199,0.045,3147,1445,2036
$GC,10607,1.20,237.8,710.6,11.3,827,10636,0.00,2.12,17.60,1.141,4,0.000,0.053,3138,2755,1975
$GC,10745,1.20,237.8,692.2,13.8,833,10749,0.00,2.00,0.00,0.000,6,0.000,0.045,3145,1457,1973
$GC,11073,1.20,237.8,646.3,14.5,849,11076,0.00,2.03,0.00,0.000,4,0.000,0.058,3145,2750,1972
$GC,11111,1.20,237.8,640.3,14.6,850,11119,0.00,1.95,0.00,0.000,6,0.000,0.044,3153,1496,1972
$GC,11429,1.20,237.8,598.2,12.6,866,11433,0.00,1.95,0.00,0.000,4,0.000,0.054,3153,2752,1972
$GC,11520,1.21,245.9,586.6,11.7,870,11534,0.00,1.90,8.45,1.091,6,0.000,0.044,3161,1509,1941
$GC,11853,1.21,245.9,546.0,12.4,886,11857,0.00,2.05,0.00,0.000,4,0.000,0.057,3173,195,1939
$GC,11887,1.21,245.9,541.3,13.7,887,11891,0.00,2.03,0.00,0.000,6,0.000,0.044,3172,1524,1938
$GC,12209,1.21,245.9,500.7,12.8,903,12213,0.00,1.90,0.00,0.000,4,0.000,0.052,3173,2761,1938
$GC,12350,1.21,245.9,481.5,13.2,914,12357,0.00,1.92,0.00,0.000,6,0.000,0.044,3183,1514,1938
$GC,12678,1.25,279.0,443.4,10.8,945,12723,0.00,2.12,32.12,1.048,4,0.000,0.055,3196,202,1807
$GC,12832,1.25,280.8,424.8,11.9,958,12840,0.00,1.98,0.00,0.000,6,0.000,0.041,3198,1476,1804
$GC,13160,1.29,309.0,386.9,11.0,989,13199,0.00,2.00,29.20,0.985,4,0.000,0.050,3200,2758,1686
$GC,13273,1.31,323.1,372.9,11.5,998,13302,0.00,2.03,16.48,0.881,6,0.000,0.042,3208,1439,1628
$GC,13621,1.31,323.1,328.9,13.6,1031,13625,0.00,2.03,0.00,0.000,4,0.000,0.047,3210,2755,1624
$GC,13706,1.31,323.1,317.0,14.5,1038,13714,0.08,1.92,0.00,0.000,6,0.182,0.040,3184,1499,1623
$GC,14043,1.39,387.7,278.2,9.6,1086,14107,0.00,2.00,57.28,0.941,4,0.000,0.044,3185,2765,1363
$GC,14206,1.39,387.7,259.6,12.5,1113,14212,0.00,1.90,0.00,0.000,6,0.000,0.039,3191,1518,1361
$GC,14551,1.39,387.7,216.4,13.2,1174,14559,0.00,1.92,0.00,0.000,4,0.000,0.043,3191,2764,1360
$GC,14583,1.39,387.7,212.4,12.4,1179,14589,0.00,1.83,0.00,0.000,6,0.000,0.037,3198,1540,1360
$GC,14928,1.42,416.3,170.6,10.9,1240,14961,0.00,1.88,26.23,0.819,4,0.000,0.041,3198,2767,1247
$GC,15048,1.42,416.3,156.8,12.4,1260,15055,0.00,1.83,0.00,0.000,6,0.000,0.035,3205,1568,1245
$GC,15393,1.46,449.8,117.1,10.8,1321,15432,0.00,1.85,29.85,0.767,4,0.000,0.044,3205,2758,1111
$GC,15540,1.55,517.8,103.2,9.5,1345,15605,0.10,1.73,59.42,0.752,6,0.055,0.034,3267,1610,834
$GC,15945,1.55,517.8,52.2,12.8,1415,15951,0.00,1.75,0.00,0.000,4,0.000,0.038,3267,2770,833
$GC,15998,1.55,517.8,45.1,13.7,1424,16004,0.00,1.70,0.00,0.000,6,0.000,0.033,3274,1621,833
$STATE,16339,end climb,SURFACE_DEPTH_REACHED
$STATE,16339,begin surface coast
$FINISH,0.8,1.008300
$STATE,16364,end surface coast,CONTROL_FINISHED_OK
$STATE,16364,begin surface
$SM_CCo,16444,0.00,0.000,0,0,829,519.05
$SM_GC,1.72,8.27,0.00,0.00,0.043,0.000,0.000,168,1696,829,-8.10,0.59,519.05
$IRIDIUM_FIX,2406.29,12510.56,251098,131327
$TT8_MAMPS,0.026845
$HUMID,1594
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,155
$24V_AH,23.1,91.062
$10V_AH,10.6,60.409
$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,20.325,154.200,659.250,0.000,0.000,47.418,72.711,324.770,46.750,0.000,0.000,29.496,2623.781,9664.808,754.070,3190.635,891.516,0.000,2212.506,0.000,3129.619,0.000,54.444,0.000
$DEVICE_MAMPS,230.867,98.176,1459.601,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.459,1021.211,1719.768,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88407,1489
$CAP_FILE_SIZE,164748,0
$CFSIZE,260165632,200966144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.157,100.6,1
$GPS,310709,183007,2413.847,12513.107,27,1.4,27,-3.6