version: 66.04
glider: 166
mission: 2
dive: 422
start: 8 1 109 4 8 53
data:
$ID,166
$MISSION,2
$DIVE,422
$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,-13841.812
$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,42
$R_STBD_OVSHOOT,70
$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
$GPS1,040107,2414.846,12515.276,36,1.2,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-66.5
$GPS2,040831,2414.881,12515.376,13,1.9,18,-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,289.1,23775,-17.3,-12.000
$D_GRID,1715
$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,-64.38,0.000,2,0.000,0.000,166,1904,2405
$GC,87,-1.18,-219.0,3.3,-5.7,10,140,9.10,2.10,-38.58,0.000,4,0.229,0.054,2370,3243,3840
$GC,277,-1.18,-219.0,39.8,-20.9,42,284,0.00,2.03,0.00,0.000,6,0.000,0.028,2362,1834,3841
$GC,623,-1.18,-219.0,106.5,-18.7,103,629,0.00,2.15,0.00,0.000,4,0.000,0.042,2360,3241,3842
$GC,754,-1.18,-219.0,131.3,-18.4,126,761,0.10,1.98,0.00,0.000,6,0.156,0.027,2381,1872,3842
$GC,1100,-1.18,-219.0,180.7,-14.2,187,1106,0.00,2.05,0.00,0.000,4,0.000,0.041,2383,3249,3843
$GC,1182,-1.18,-219.0,193.5,-16.8,201,1188,0.00,1.90,0.00,0.000,6,0.000,0.026,2369,1929,3843
$GC,1532,-1.18,-219.0,244.1,-12.7,262,1538,0.00,1.98,0.00,0.000,4,0.000,0.041,2366,3236,3844
$GC,1585,-1.18,-219.0,251.9,-15.1,271,1590,0.00,1.83,0.00,0.000,6,0.000,0.027,2366,1946,3844
$GC,1929,-1.18,-219.0,301.6,-13.3,331,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,1946,3844
$GC,2246,-1.18,-219.0,340.8,-12.9,361,2250,0.00,1.95,0.00,0.000,4,0.000,0.042,2365,3242,3843
$GC,2308,-1.18,-219.0,349.3,-13.4,366,2315,0.00,1.88,0.00,0.000,6,0.000,0.028,2365,1951,3843
$GC,2634,-1.18,-219.0,391.4,-12.6,397,2638,0.00,1.92,0.00,0.000,4,0.000,0.043,2365,3243,3842
$GC,2673,-1.18,-219.0,396.6,-13.2,400,2681,0.00,1.85,0.00,0.000,6,0.000,0.028,2365,1969,3842
$GC,2999,-1.18,-219.0,435.4,-11.8,431,3002,0.00,1.90,0.00,0.000,4,0.000,0.045,2365,3240,3841
$GC,3046,-1.18,-219.0,441.1,-13.0,435,3050,0.00,1.80,0.00,0.000,6,0.000,0.028,2365,1984,3841
$GC,3377,-1.18,-219.0,479.3,-10.5,466,3381,0.00,2.25,0.00,0.000,4,0.000,0.042,2365,481,3840
$GC,3390,-1.18,-219.0,480.6,-10.5,467,3394,0.00,2.22,0.00,0.000,6,0.000,0.033,2366,1990,3840
$GC,3720,-1.18,-219.0,517.8,-11.5,491,3723,0.00,1.88,0.00,0.000,4,0.000,0.048,2372,3237,3837
$GC,3811,-1.18,-219.0,528.8,-11.9,495,3815,0.00,1.75,0.00,0.000,6,0.000,0.031,2373,2030,3836
$GC,4144,-1.18,-219.0,566.7,-12.0,511,4148,0.00,1.85,0.00,0.000,4,0.000,0.051,2378,3240,3834
$GC,4192,-1.18,-219.0,572.2,-11.7,513,4196,0.00,1.70,0.00,0.000,6,0.000,0.031,2378,2068,3833
$GC,4526,-1.18,-219.0,608.1,-9.9,529,4530,0.00,2.40,0.00,0.000,4,0.000,0.046,2379,484,3831
$GC,4582,-1.18,-219.0,614.2,-11.3,531,4588,0.00,2.28,0.00,0.000,6,0.000,0.035,2374,2010,3830
$GC,4900,-1.18,-219.0,647.0,-10.7,547,4904,0.00,1.88,0.00,0.000,4,0.000,0.053,2382,3237,3828
$GC,4969,-1.18,-219.0,654.9,-11.7,550,4972,0.00,1.75,0.00,0.000,6,0.000,0.034,2382,2063,3826
$GC,5302,-1.18,-219.0,692.9,-11.6,566,5307,0.00,2.42,0.00,0.000,4,0.000,0.048,2382,476,3824
$GC,5380,-1.18,-219.0,703.2,-13.1,569,5386,0.00,2.33,0.00,0.000,6,0.000,0.039,2379,2020,3823
$GC,5697,-1.18,-219.0,741.4,-11.6,585,5701,0.00,1.90,0.00,0.000,4,0.000,0.054,2371,3234,3820
$GC,5725,-1.18,-219.0,745.0,-12.5,586,5728,0.00,1.73,0.00,0.000,6,0.000,0.035,2371,2063,3820
$GC,6052,-1.18,-219.0,782.4,-11.0,602,6056,0.00,2.42,0.00,0.000,4,0.000,0.050,2371,484,3817
$GC,6126,-1.18,-219.0,791.2,-11.6,605,6130,0.00,2.30,0.00,0.000,6,0.000,0.041,2366,1997,3816
$GC,6443,-1.18,-219.0,826.9,-11.2,620,6447,0.00,1.95,0.00,0.000,4,0.000,0.058,2355,3234,3813
$GC,6484,-1.18,-219.0,831.8,-11.5,621,6489,0.00,1.77,0.00,0.000,6,0.000,0.038,2359,2041,3813
$GC,6801,-1.18,-219.0,870.5,-12.4,637,6805,0.00,2.40,0.00,0.000,4,0.000,0.052,2356,488,3811
$GC,6834,-1.18,-219.0,875.3,-14.2,638,6841,0.17,2.30,0.00,0.000,6,0.155,0.043,2384,1996,3811
$GC,7150,-1.18,-219.0,909.5,-10.4,654,7154,0.00,1.95,0.00,0.000,4,0.000,0.059,2375,3233,3809
$GC,7242,-1.18,-219.0,919.5,-11.8,658,7246,0.00,1.73,0.00,0.000,6,0.000,0.038,2375,2075,3808
$GC,7575,-1.18,-219.0,956.0,-10.8,674,7579,0.00,2.47,0.00,0.000,4,0.000,0.054,2375,486,3806
$GC,7598,-1.18,-219.0,958.8,-11.9,675,7602,0.00,2.38,0.00,0.000,6,0.000,0.045,2372,2028,3805
$STATE,7876,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7876,begin apogee
$GC,7884,-0.26,0.0,990.4,11.2,689,8085,0.95,0.00,191.45,1.453,6,0.120,0.000,2678,1513,2945
$STATE,8085,end apogee,CONTROL_FINISHED_OK
$STATE,8085,begin climb
$GC,8088,1.18,219.0,1004.5,0.0,699,8295,1.27,2.17,195.40,1.422,4,0.048,0.059,3165,205,2050
$GC,8373,1.18,219.0,983.3,13.9,712,8377,0.00,1.95,0.00,0.000,6,0.000,0.043,3163,1462,2045
$GC,8701,1.18,219.0,940.2,13.2,728,8705,0.00,2.22,0.00,0.000,4,0.000,0.055,3162,2888,2042
$GC,8830,1.18,219.0,921.9,13.5,733,8836,0.00,2.12,0.00,0.000,6,0.000,0.044,3171,1502,2041
$GC,9146,1.18,219.0,877.0,14.8,749,9150,0.00,2.17,0.00,0.000,4,0.000,0.056,3170,2888,2040
$GC,9197,1.18,219.0,868.9,16.1,751,9202,0.15,2.08,0.00,0.000,6,0.201,0.050,3145,1526,2039
$GC,9524,1.18,219.0,822.2,14.5,767,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,1525,2038
$GC,9833,1.18,219.0,777.2,14.0,782,9837,0.00,2.15,0.00,0.000,4,0.000,0.056,3139,2892,2037
$GC,9912,1.18,219.0,765.7,15.0,785,9916,0.00,2.05,0.00,0.000,6,0.000,0.042,3146,1541,2036
$GC,10234,1.18,219.0,722.5,13.0,801,10237,0.00,2.12,0.00,0.000,4,0.000,0.054,3146,2895,2036
$GC,10302,1.18,219.0,713.1,13.8,804,10305,0.00,2.03,0.00,0.000,6,0.000,0.042,3154,1562,2035
$GC,10635,1.18,219.0,669.4,13.1,820,10639,0.00,2.10,0.00,0.000,4,0.000,0.054,3155,2903,2035
$GC,10691,1.18,219.0,661.6,13.9,822,10695,0.00,2.00,0.00,0.000,6,0.000,0.042,3162,1582,2035
$GC,11012,1.18,219.0,619.2,13.2,838,11016,0.00,2.15,0.00,0.000,4,0.000,0.053,3173,202,2034
$GC,11082,1.18,219.0,610.1,13.6,841,11086,0.00,2.12,0.00,0.000,6,0.000,0.042,3173,1596,2034
$GC,11416,1.19,226.3,568.1,11.7,857,11425,0.00,2.05,4.53,0.860,4,0.000,0.059,3172,2896,2022
$GC,11493,1.19,231.3,558.5,11.8,860,11507,0.15,2.00,6.50,1.002,6,0.197,0.041,3148,1574,2002
$GC,11815,1.27,289.8,525.2,9.8,876,11881,0.00,2.20,55.62,1.138,4,0.000,0.053,3139,2902,1763
$GC,11937,1.27,289.8,510.6,13.1,881,11941,0.00,2.00,0.00,0.000,6,0.000,0.040,3146,1605,1760
$GC,12269,1.27,293.0,472.6,11.9,908,12272,0.00,2.20,0.00,0.000,4,0.000,0.051,3158,195,1758
$GC,12314,1.27,293.0,465.6,14.9,912,12318,0.00,2.22,0.00,0.000,6,0.000,0.046,3158,1640,1757
$GC,12642,1.27,293.0,420.9,13.0,942,12646,0.00,1.92,0.00,0.000,4,0.000,0.051,3158,2895,1756
$GC,12692,1.27,293.0,414.0,12.9,946,12698,0.00,1.95,0.00,0.000,6,0.000,0.040,3169,1616,1756
$GC,13018,1.34,351.9,378.5,9.8,977,13087,0.00,2.10,57.47,1.009,4,0.000,0.048,3174,2909,1509
$GC,13222,1.34,351.9,353.2,12.4,995,13228,0.00,2.00,0.00,0.000,6,0.000,0.037,3183,1587,1506
$GC,13551,1.35,361.3,312.8,11.7,1026,13566,0.00,2.08,9.20,0.874,4,0.000,0.046,3184,2895,1471
$GC,13618,1.35,361.3,303.9,12.7,1032,13622,0.00,1.98,0.00,0.000,6,0.000,0.037,3192,1582,1471
$GC,13961,1.37,372.3,260.1,11.6,1090,13980,0.00,2.03,11.45,0.861,4,0.000,0.044,3192,2902,1426
$GC,14027,1.37,372.3,251.9,13.4,1101,14033,0.00,1.90,0.00,0.000,6,0.000,0.036,3199,1628,1426
$GC,14372,1.37,372.3,211.6,12.7,1162,14379,0.00,1.95,0.00,0.000,4,0.000,0.042,3199,2898,1425
$GC,14397,1.37,372.3,208.6,12.4,1166,14403,0.00,1.85,0.00,0.000,6,0.000,0.035,3206,1665,1425
$GC,14743,1.40,400.0,168.9,11.0,1227,14775,0.00,1.90,25.92,0.822,4,0.000,0.041,3206,2912,1313
$GC,14799,1.40,400.0,162.0,12.5,1236,14806,0.00,1.85,0.00,0.000,6,0.000,0.033,3214,1686,1313
$GC,15146,1.44,434.4,123.2,10.7,1297,15184,0.00,2.33,30.98,0.777,4,0.000,0.044,3225,186,1173
$GC,15191,1.47,458.2,118.0,11.1,1304,15219,0.00,2.30,22.08,0.741,6,0.000,0.031,3225,1731,1077
$GC,15560,1.54,510.7,76.4,10.1,1368,15612,0.00,2.45,46.08,0.726,4,0.000,0.042,3237,195,862
$GC,15684,1.58,542.3,64.4,10.8,1388,15718,0.10,2.33,28.17,0.694,6,0.079,0.030,3286,1768,733
$GC,16061,1.58,542.3,15.1,12.5,1453,16068,0.00,2.38,0.00,0.000,4,0.000,0.041,3298,196,733
$STATE,16145,end climb,SURFACE_DEPTH_REACHED
$STATE,16145,begin surface coast
$FINISH,0.7,1.000481
$STATE,16169,end surface coast,CONTROL_FINISHED_OK
$STATE,16169,begin surface
$SM_CCo,16251,0.00,0.000,0,0,730,543.34
$SM_GC,1.55,8.27,0.00,0.00,0.038,0.000,0.000,167,1903,730,-8.11,1.22,543.34
$IRIDIUM_FIX,2406.29,12515.78,251098,232357
$TT8_MAMPS,0.027612
$HUMID,1600
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.50
$XPDR_PINGS,152
$24V_AH,23.1,91.795
$10V_AH,10.6,60.860
$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,20.275,158.050,684.850,0.000,0.000,25.618,32.353,216.028,46.000,0.000,0.000,18.498,2585.433,9563.076,752.618,3066.825,711.163,0.000,2174.364,0.000,3028.133,0.000,54.425,0.000
$DEVICE_MAMPS,228.566,59.059,1453.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,995.830,1011.016,1699.217,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85203,1472
$CAP_FILE_SIZE,159298,0
$CFSIZE,260165632,200712192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.220, 94.0,1
$GPS,010809,084101,2415.420,12516.010,40,1.7,40,-3.6