version: 66.04
glider: 166
mission: 2
dive: 421
start: 7 31 109 23 23 35
data:
$ID,166
$MISSION,2
$DIVE,421
$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,-13822.686
$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,1860
$C_ROLL_CLIMB,1486
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,67
$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
$GPS1,231537,2414.628,12513.849,30,1.4,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-65.7
$GPS2,232313,2414.609,12513.929,17,1.4,34,-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,298.4,22780,-17.3,-12.000
$D_GRID,1717
$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,-219.0,0.0,0.0,0,82,0.00,0.00,-65.32,0.000,2,0.000,0.000,166,1876,2362
$GC,87,-1.18,-219.0,3.1,-5.5,10,145,9.15,2.22,-40.60,0.000,4,0.231,0.051,2375,438,3841
$GC,239,-1.18,-219.0,30.2,-19.9,35,245,0.00,2.05,0.00,0.000,6,0.000,0.029,2361,1856,3842
$GC,586,-1.18,-219.0,94.9,-16.9,96,593,0.00,2.10,0.00,0.000,4,0.000,0.036,2346,430,3842
$GC,650,-1.18,-219.0,106.7,-18.0,107,657,0.17,2.12,0.00,0.000,6,0.166,0.028,2382,1909,3843
$GC,996,-1.18,-219.0,156.8,-15.9,168,1004,0.00,2.20,0.00,0.000,4,0.000,0.036,2383,441,3844
$GC,1072,-1.18,-219.0,168.6,-14.8,181,1079,0.00,2.17,0.00,0.000,6,0.000,0.028,2378,1947,3844
$GC,1419,-1.18,-219.0,214.6,-14.5,242,1425,0.00,1.95,0.00,0.000,4,0.000,0.041,2379,3249,3844
$GC,1528,-1.18,-219.0,230.5,-13.7,261,1534,0.00,1.90,0.00,0.000,6,0.000,0.026,2378,1908,3844
$GC,1873,-1.18,-219.0,274.8,-12.2,322,1883,0.00,2.03,0.00,0.000,4,0.000,0.041,2378,3268,3844
$GC,1919,-1.18,-219.0,280.4,-12.5,329,1925,0.00,1.85,0.00,0.000,6,0.000,0.027,2378,1965,3844
$GC,2259,-1.18,-219.0,320.9,-12.7,375,2263,0.00,1.92,0.00,0.000,4,0.000,0.042,2378,3252,3843
$GC,2309,-1.18,-219.0,327.8,-13.0,379,2315,0.00,1.83,0.00,0.000,6,0.000,0.027,2378,1967,3843
$GC,2637,-1.18,-219.0,368.5,-12.1,410,2641,0.00,1.92,0.00,0.000,4,0.000,0.044,2377,3252,3842
$GC,2705,-1.18,-219.0,377.1,-12.0,416,2709,0.00,1.77,0.00,0.000,6,0.000,0.028,2378,2000,3842
$GC,3039,-1.18,-219.0,414.3,-10.6,447,3043,0.00,2.28,0.00,0.000,4,0.000,0.040,2377,474,3840
$GC,3057,-1.18,-219.0,416.6,-11.2,448,3061,0.00,2.25,0.00,0.000,6,0.000,0.031,2377,2015,3840
$GC,3385,-1.18,-219.0,451.2,-10.7,478,3389,0.00,1.85,0.00,0.000,4,0.000,0.046,2380,3254,3838
$GC,3500,-1.18,-219.0,463.8,-10.7,488,3503,0.00,1.73,0.00,0.000,6,0.000,0.029,2380,2055,3838
$GC,3833,-1.18,-219.0,498.4,-11.2,519,3837,0.00,1.83,0.00,0.000,4,0.000,0.047,2379,3258,3836
$GC,3867,-1.18,-219.0,502.7,-11.8,521,3871,0.00,1.70,0.00,0.000,6,0.000,0.031,2378,2076,3835
$GC,4190,-1.18,-219.0,541.4,-11.5,537,4194,0.00,2.42,0.00,0.000,4,0.000,0.044,2380,468,3833
$GC,4230,-1.18,-219.0,546.3,-11.4,539,4234,0.00,2.38,0.00,0.000,6,0.000,0.035,2380,2063,3833
$GC,4559,-1.18,-219.0,579.1,-9.8,555,4563,0.00,1.80,0.00,0.000,4,0.000,0.051,2389,3249,3830
$GC,4583,-1.18,-219.0,581.6,-9.9,556,4586,0.00,1.67,0.00,0.000,6,0.000,0.033,2387,2097,3830
$GC,4915,-1.18,-219.0,615.7,-10.4,572,4920,0.00,2.47,0.00,0.000,4,0.000,0.047,2387,469,3828
$GC,4944,-1.18,-219.0,619.0,-11.9,573,4948,0.00,2.40,0.00,0.000,6,0.000,0.037,2379,2075,3827
$GC,5260,-1.18,-219.0,655.6,-11.6,588,5264,0.00,1.80,0.00,0.000,4,0.000,0.054,2372,3252,3825
$GC,5293,-1.18,-219.0,660.0,-12.8,589,5297,0.00,1.70,0.00,0.000,6,0.000,0.039,2371,2104,3824
$GC,5617,-1.18,-219.0,697.9,-11.6,605,5621,0.00,2.50,0.00,0.000,4,0.000,0.050,2371,472,3822
$GC,5691,-1.18,-219.0,707.4,-12.8,608,5695,0.00,2.38,0.00,0.000,6,0.000,0.039,2366,2043,3821
$GC,6008,-1.18,-219.0,742.7,-10.9,623,6012,0.00,2.40,0.00,0.000,4,0.000,0.049,2366,487,3818
$GC,6025,-1.18,-219.0,744.8,-11.2,624,6029,0.00,2.38,0.00,0.000,6,0.000,0.047,2356,2036,3817
$GC,6351,-1.18,-219.0,784.5,-12.3,640,6356,0.12,1.88,0.00,0.000,4,0.164,0.054,2379,3244,3815
$GC,6408,-1.18,-219.0,791.2,-11.4,642,6412,0.00,1.73,0.00,0.000,6,0.000,0.038,2381,2079,3815
$GC,6730,-1.18,-219.0,827.7,-11.3,658,6734,0.00,2.47,0.00,0.000,4,0.000,0.055,2381,481,3812
$GC,6798,-1.18,-219.0,836.1,-12.7,661,6803,0.00,2.38,0.00,0.000,6,0.000,0.043,2368,2023,3812
$GC,7128,-1.18,-219.0,876.3,-12.2,677,7132,0.00,1.90,0.00,0.000,4,0.000,0.058,2359,3243,3810
$GC,7234,-1.18,-219.0,890.6,-12.6,681,7240,0.00,1.75,0.00,0.000,6,0.000,0.039,2360,2069,3809
$GC,7552,-1.18,-219.0,929.7,-12.5,697,7556,0.00,2.47,0.00,0.000,4,0.000,0.059,2360,490,3806
$GC,7615,-1.18,-219.0,938.5,-13.6,700,7619,0.15,2.38,0.00,0.000,6,0.160,0.044,2386,2031,3806
$GC,7941,-1.18,-219.0,973.6,-10.3,716,7945,0.00,1.90,0.00,0.000,4,0.000,0.060,2383,3246,3805
$GC,8011,-1.18,-219.0,981.1,-10.6,719,8015,0.00,1.75,0.00,0.000,6,0.000,0.040,2382,2079,3804
$STATE,8094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8094,begin apogee
$GC,8102,-0.26,0.0,990.7,11.1,723,8301,0.93,0.00,190.95,1.449,6,0.124,0.000,2672,1512,2945
$STATE,8302,end apogee,CONTROL_FINISHED_OK
$STATE,8302,begin climb
$GC,8305,1.18,219.0,1004.0,0.0,733,8511,1.30,2.28,195.12,1.418,4,0.054,0.056,3139,2876,2051
$GC,8556,1.18,219.0,989.8,13.4,744,8560,0.00,2.17,0.00,0.000,6,0.000,0.046,3148,1485,2047
$GC,8878,1.18,219.0,947.8,13.3,760,8882,0.00,2.20,0.00,0.000,4,0.000,0.057,3147,2878,2043
$GC,9001,1.18,219.0,930.5,13.8,765,9005,0.00,2.12,0.00,0.000,6,0.000,0.046,3158,1497,2042
$GC,9323,1.18,219.0,886.7,13.8,781,9327,0.00,2.05,0.00,0.000,4,0.000,0.059,3167,193,2041
$GC,9363,1.18,219.0,881.1,15.1,782,9369,0.00,2.00,0.00,0.000,6,0.000,0.044,3166,1484,2040
$GC,9679,1.18,219.0,836.8,14.5,798,9682,0.00,2.20,0.00,0.000,4,0.000,0.057,3166,2897,2039
$GC,9724,1.18,219.0,829.9,15.2,800,9728,0.00,2.15,0.00,0.000,6,0.000,0.048,3174,1500,2039
$GC,10057,1.18,219.0,781.2,14.6,816,10061,0.00,2.20,0.00,0.000,4,0.000,0.057,3174,2900,2038
$GC,10103,1.18,219.0,774.1,15.8,818,10108,0.15,2.15,0.00,0.000,6,0.200,0.045,3150,1500,2037
$GC,10430,1.18,219.0,728.5,13.1,834,10434,0.00,2.17,0.00,0.000,4,0.000,0.055,3141,2888,2037
$GC,10499,1.18,219.0,719.5,12.9,837,10503,0.00,2.10,0.00,0.000,6,0.000,0.051,3149,1520,2036
$GC,10832,1.21,246.0,681.6,11.0,853,10868,0.00,2.22,24.67,1.182,4,0.000,0.055,3149,2891,1941
$GC,10995,1.21,246.0,660.4,12.9,860,10999,0.00,2.05,0.00,0.000,6,0.000,0.044,3157,1558,1938
$GC,11322,1.21,246.0,617.8,12.5,876,11323,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,1558,1937
$GC,11631,1.21,246.0,578.9,12.4,891,11635,0.00,2.10,0.00,0.000,4,0.000,0.061,3157,2890,1935
$GC,11738,1.21,246.0,565.3,12.4,895,11744,0.00,2.00,0.00,0.000,6,0.000,0.046,3166,1586,1935
$GC,12055,1.21,246.0,526.0,12.5,911,12056,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1586,1936
$GC,12366,1.21,246.0,486.5,12.3,930,12370,0.00,2.03,0.00,0.000,4,0.000,0.053,3168,2892,1935
$GC,12402,1.21,246.0,482.1,12.2,933,12406,0.00,2.00,0.00,0.000,6,0.000,0.041,3176,1570,1935
$GC,12735,1.23,260.5,443.3,11.5,964,12762,0.00,2.10,15.65,0.949,4,0.000,0.051,3180,2885,1882
$GC,12921,1.31,327.3,422.5,9.5,980,12987,0.00,2.03,60.83,1.075,6,0.000,0.038,3190,1544,1609
$GC,13315,1.32,331.0,376.9,11.9,1017,13319,0.00,2.08,0.00,0.000,4,0.000,0.051,3202,200,1603
$GC,13432,1.32,331.0,361.0,12.8,1027,13438,0.00,2.05,0.00,0.000,6,0.000,0.040,3203,1560,1603
$GC,13761,1.32,331.0,319.6,12.6,1058,13764,0.00,2.05,0.00,0.000,4,0.000,0.047,3204,2907,1603
$GC,13778,1.32,331.0,316.9,12.4,1059,13784,0.00,2.08,0.00,0.000,6,0.000,0.038,3212,1524,1601
$GC,14115,1.32,331.0,274.7,12.3,1107,14121,0.00,2.10,0.00,0.000,4,0.000,0.046,3212,2897,1601
$GC,14139,1.32,331.0,271.4,12.7,1111,14145,0.12,2.05,0.00,0.000,6,0.183,0.036,3193,1526,1601
$GC,14485,1.35,360.6,233.3,10.9,1172,14521,0.00,2.05,29.38,0.887,4,0.000,0.047,3201,203,1474
$GC,14632,1.35,360.6,216.1,12.3,1197,14639,0.00,2.10,0.00,0.000,6,0.000,0.035,3198,1609,1472
$GC,14979,1.40,399.9,177.8,10.6,1258,15022,0.00,2.00,35.38,0.831,4,0.000,0.042,3198,2891,1314
$GC,15081,1.40,399.9,165.8,12.6,1275,15087,0.00,2.00,0.00,0.000,6,0.000,0.035,3206,1574,1313
$GC,15425,1.46,451.0,127.5,10.1,1336,15477,0.00,2.15,45.00,0.778,4,0.000,0.046,3216,197,1105
$GC,15530,1.49,469.1,116.0,11.3,1353,15556,0.00,2.05,17.30,0.725,6,0.000,0.031,3216,1585,1031
$GC,15896,1.51,489.7,74.7,11.2,1417,15922,0.10,2.12,19.38,0.697,4,0.078,0.044,3280,205,947
$GC,15946,1.51,489.7,68.2,12.2,1425,15954,0.00,2.12,0.00,0.000,6,0.000,0.030,3280,1653,947
$GC,16293,1.51,489.7,25.8,12.0,1486,16299,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1655,947
$STATE,16473,end climb,SURFACE_DEPTH_REACHED
$STATE,16474,begin surface coast
$FINISH,0.8,1.021370
$STATE,16499,end surface coast,CONTROL_FINISHED_OK
$STATE,16500,begin surface
$SM_CCo,16579,0.00,0.000,0,0,946,490.35
$SM_GC,1.80,8.27,0.00,0.00,0.042,0.000,0.000,166,1904,946,-8.12,1.24,490.35
$IRIDIUM_FIX,2406.29,12513.85,251098,181832
$TT8_MAMPS,0.026845
$HUMID,1599
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.40
$XPDR_PINGS,153
$24V_AH,23.1,91.544
$10V_AH,10.6,60.712
$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,20.475,159.075,633.650,0.000,0.000,24.146,33.597,210.593,46.250,0.000,0.000,34.349,2665.785,9750.562,737.997,3167.349,697.664,0.000,2173.856,0.000,3103.455,0.000,54.427,0.000
$DEVICE_MAMPS,230.867,60.593,1448.863,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.730,1044.361,1759.247,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88399,1522
$CAP_FILE_SIZE,162395,0
$CFSIZE,260165632,200790016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.267, 94.3,1
$GPS,010809,040107,2414.846,12515.276,36,1.2,36,-3.6