version: 66.04
glider: 166
mission: 2
dive: 423
start: 8 1 109 8 49 43
data:
$ID,166
$MISSION,2
$DIVE,423
$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,-13876.958
$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,35
$R_STBD_OVSHOOT,63
$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
$GPS1,084101,2415.420,12516.010,40,1.7,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-66.3
$GPS2,084922,2415.409,12516.067,14,99.0,33,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2429.200,12515.600
$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,320.5,25554,-17.3,-12.000
$D_GRID,1613
$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,-219.0,0.0,0.0,0,89,0.00,0.00,-69.95,0.000,2,0.000,0.000,167,1903,2296
$GC,92,-1.18,-219.0,3.1,-6.2,11,150,8.88,2.08,-41.20,0.000,4,0.220,0.054,2377,3253,3840
$GC,260,-1.18,-219.0,33.8,-21.5,39,267,0.00,2.05,0.00,0.000,6,0.000,0.028,2377,1830,3841
$GC,606,-1.18,-219.0,100.1,-16.8,100,614,0.00,2.12,0.00,0.000,4,0.000,0.039,2364,3261,3841
$GC,671,-1.18,-219.0,111.3,-17.1,111,678,0.15,2.03,0.00,0.000,6,0.160,0.027,2382,1830,3841
$GC,1016,-1.18,-219.0,163.3,-14.2,172,1024,0.00,2.15,0.00,0.000,4,0.000,0.041,2378,3250,3842
$GC,1099,-1.18,-219.0,174.8,-14.6,186,1106,0.00,1.95,0.00,0.000,6,0.000,0.026,2379,1899,3843
$GC,1446,-1.18,-219.0,221.6,-14.1,247,1452,0.00,2.03,0.00,0.000,4,0.000,0.041,2378,3256,3843
$GC,1530,-1.18,-219.0,234.1,-13.8,262,1537,0.00,1.92,0.00,0.000,6,0.000,0.027,2380,1924,3843
$GC,1874,-1.18,-219.0,278.6,-12.1,323,1880,0.00,2.00,0.00,0.000,4,0.000,0.042,2378,3259,3843
$GC,1912,-1.18,-219.0,283.4,-13.7,329,1918,0.00,1.88,0.00,0.000,6,0.000,0.027,2378,1937,3843
$GC,2249,-1.18,-219.0,324.6,-12.1,372,2257,0.00,1.98,0.00,0.000,4,0.000,0.043,2378,3259,3842
$GC,2275,-1.18,-219.0,327.8,-12.2,374,2279,0.00,1.85,0.00,0.000,6,0.000,0.027,2378,1954,3842
$GC,2611,-1.18,-219.0,366.9,-11.1,405,2615,0.00,1.95,0.00,0.000,4,0.000,0.044,2378,3246,3841
$GC,2651,-1.18,-219.0,372.0,-10.7,408,2658,0.00,1.85,0.00,0.000,6,0.000,0.028,2377,1975,3841
$GC,2976,-1.18,-219.0,404.3,-10.5,439,2980,0.00,1.92,0.00,0.000,4,0.000,0.045,2377,3250,3839
$GC,3012,-1.18,-219.0,408.2,-11.0,442,3015,0.00,1.80,0.00,0.000,6,0.000,0.028,2377,1990,3839
$GC,3347,-1.18,-219.0,446.3,-11.6,473,3351,0.00,2.28,0.00,0.000,4,0.000,0.042,2377,466,3838
$GC,3393,-1.18,-219.0,452.2,-11.6,476,3400,0.00,2.20,0.00,0.000,6,0.000,0.033,2378,1966,3838
$GC,3720,-1.18,-219.0,486.3,-10.9,507,3724,0.00,1.92,0.00,0.000,4,0.000,0.048,2388,3249,3835
$GC,3801,-1.18,-219.0,495.2,-11.1,514,3805,0.00,1.83,0.00,0.000,6,0.000,0.031,2392,2009,3835
$GC,4134,-1.18,-219.0,530.0,-10.4,532,4138,0.00,1.90,0.00,0.000,4,0.000,0.049,2392,3236,3832
$GC,4162,-1.18,-219.0,533.0,-10.6,533,4165,0.00,1.77,0.00,0.000,6,0.000,0.031,2391,2012,3832
$GC,4491,-1.18,-219.0,566.2,-10.3,549,4494,0.00,1.90,0.00,0.000,4,0.000,0.051,2392,3254,3829
$GC,4547,-1.18,-219.0,572.4,-10.6,551,4550,0.00,1.77,0.00,0.000,6,0.000,0.033,2393,2036,3829
$GC,4869,-1.18,-219.0,605.8,-10.7,567,4873,0.00,2.38,0.00,0.000,4,0.000,0.047,2394,472,3826
$GC,4887,-1.18,-219.0,607.9,-10.6,568,4891,0.00,2.33,0.00,0.000,6,0.000,0.037,2387,2016,3826
$GC,5219,-1.18,-219.0,644.2,-10.9,584,5223,0.00,1.88,0.00,0.000,4,0.000,0.052,2391,3244,3823
$GC,5327,-1.18,-219.0,656.3,-11.0,588,5335,0.00,1.75,0.00,0.000,6,0.000,0.035,2390,2068,3822
$GC,5643,-1.18,-219.0,690.2,-10.6,604,5648,0.00,2.42,0.00,0.000,4,0.000,0.048,2390,481,3819
$GC,5693,-1.18,-219.0,696.2,-12.1,606,5697,0.00,2.33,0.00,0.000,6,0.000,0.044,2381,2015,3818
$GC,6016,-1.18,-219.0,731.1,-10.8,622,6020,0.00,1.90,0.00,0.000,4,0.000,0.054,2372,3246,3815
$GC,6085,-1.18,-219.0,739.2,-12.3,625,6089,0.00,1.75,0.00,0.000,6,0.000,0.035,2372,2061,3815
$GC,6421,-1.18,-219.0,776.9,-11.0,641,6425,0.00,2.42,0.00,0.000,4,0.000,0.051,2372,482,3813
$GC,6445,-1.18,-219.0,780.1,-11.9,642,6449,0.00,2.38,0.00,0.000,6,0.000,0.041,2366,2044,3812
$GC,6771,-1.18,-219.0,819.9,-12.6,658,6775,0.00,1.85,0.00,0.000,4,0.000,0.055,2358,3245,3809
$GC,6817,-1.18,-219.0,825.8,-13.3,660,6821,0.00,1.77,0.00,0.000,6,0.000,0.039,2358,2079,3809
$GC,7150,-1.18,-219.0,868.4,-12.6,676,7155,0.00,2.47,0.00,0.000,4,0.000,0.054,2358,483,3807
$GC,7223,-1.18,-219.0,878.4,-13.4,679,7228,0.12,2.33,0.00,0.000,6,0.166,0.044,2384,2003,3806
$GC,7540,-1.18,-219.0,912.2,-11.4,694,7543,0.00,1.92,0.00,0.000,4,0.000,0.058,2372,3239,3804
$GC,7654,-1.18,-219.0,925.5,-11.6,699,7658,0.00,1.75,0.00,0.000,6,0.000,0.039,2371,2070,3803
$GC,7987,-1.18,-219.0,966.7,-12.6,715,7992,0.00,2.47,0.00,0.000,4,0.000,0.054,2372,480,3802
$GC,8012,-1.18,-219.0,969.7,-13.0,716,8016,0.00,2.40,0.00,0.000,6,0.000,0.044,2359,2039,3801
$STATE,8186,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8186,begin apogee
$GC,8194,-0.26,0.0,992.3,12.4,725,8389,1.00,0.00,188.73,1.467,6,0.127,0.000,2668,1509,2944
$STATE,8390,end apogee,CONTROL_FINISHED_OK
$STATE,8390,begin climb
$GC,8393,1.18,219.0,1006.8,0.0,735,8599,1.30,2.17,195.10,1.425,4,0.053,0.063,3151,206,2051
$GC,8651,1.18,219.0,989.6,14.7,746,8658,0.00,2.00,0.00,0.000,6,0.000,0.043,3149,1471,2048
$GC,8968,1.18,219.0,947.7,13.2,762,8971,0.00,2.22,0.00,0.000,4,0.000,0.055,3148,2895,2043
$GC,9091,1.18,219.0,930.5,14.4,767,9095,0.00,2.15,0.00,0.000,6,0.000,0.045,3158,1491,2042
$GC,9413,1.18,219.0,887.3,14.0,783,9416,0.00,2.03,0.00,0.000,4,0.000,0.058,3167,198,2041
$GC,9441,1.18,219.0,883.2,14.9,784,9445,0.00,2.00,0.00,0.000,6,0.000,0.044,3167,1509,2041
$GC,9768,1.18,219.0,838.8,13.6,800,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1509,2040
$GC,10077,1.18,219.0,796.9,13.6,815,10081,0.00,2.17,0.00,0.000,4,0.000,0.058,3164,2894,2038
$GC,10100,1.18,219.0,793.7,14.1,816,10104,0.00,2.15,0.00,0.000,6,0.000,0.044,3172,1491,2037
$GC,10434,1.18,219.0,749.4,13.2,832,10438,0.00,2.20,0.00,0.000,4,0.000,0.055,3172,2892,2037
$GC,10512,1.18,219.0,738.3,13.7,835,10517,0.15,2.10,0.00,0.000,6,0.199,0.042,3147,1512,2036
$GC,10829,1.20,233.8,700.0,11.5,850,10855,0.00,2.20,13.77,1.068,4,0.000,0.053,3137,2884,1992
$GC,10896,1.20,233.8,691.0,13.6,853,10900,0.00,2.05,0.00,0.000,6,0.000,0.044,3145,1542,1991
$GC,11229,1.20,233.8,650.0,12.9,869,11233,0.00,2.10,0.00,0.000,4,0.000,0.054,3142,2889,1990
$GC,11269,1.20,233.8,644.7,13.5,870,11275,0.00,2.05,0.00,0.000,6,0.000,0.041,3150,1532,1990
$GC,11585,1.20,233.8,603.5,12.5,886,11588,0.00,2.12,0.00,0.000,4,0.000,0.053,3150,2897,1990
$GC,11680,1.22,256.3,592.1,11.2,890,11706,0.00,2.05,21.70,1.204,6,0.000,0.041,3158,1545,1899
$GC,12025,1.22,256.3,550.0,12.5,907,12028,0.00,2.10,0.00,0.000,4,0.000,0.053,3159,2891,1895
$GC,12120,1.22,256.3,536.7,13.1,911,12123,0.00,2.03,0.00,0.000,6,0.000,0.041,3168,1554,1894
$GC,12439,1.22,256.3,495.1,12.8,928,12442,0.00,2.08,0.00,0.000,4,0.000,0.052,3165,2891,1893
$GC,12599,1.25,274.6,475.5,11.3,942,12632,0.00,1.98,18.95,1.012,6,0.000,0.040,3172,1581,1825
$GC,12951,1.26,284.7,435.8,11.6,975,12967,0.00,2.08,10.43,1.013,4,0.000,0.051,3173,2888,1784
$GC,13024,1.26,284.7,425.9,12.0,981,13030,0.00,1.95,0.00,0.000,6,0.000,0.039,3183,1599,1782
$GC,13352,1.26,288.1,386.1,11.9,1012,13364,0.00,2.05,4.55,0.756,4,0.000,0.051,3183,2898,1770
$GC,13450,1.31,326.8,374.9,10.6,1020,13491,0.00,2.05,36.15,1.037,6,0.000,0.040,3194,1538,1612
$GC,13808,1.35,357.3,334.8,10.9,1054,13843,0.00,2.15,27.98,0.987,4,0.000,0.048,3198,2904,1487
$GC,13900,1.35,357.3,323.8,12.0,1062,13903,0.00,2.03,0.00,0.000,6,0.000,0.038,3206,1578,1485
$GC,14235,1.35,357.3,281.0,13.0,1105,14241,0.00,2.03,0.00,0.000,4,0.000,0.046,3206,2901,1484
$GC,14378,1.36,370.0,262.5,11.5,1130,14397,0.00,1.90,12.12,0.872,6,0.000,0.037,3213,1644,1436
$GC,14737,1.36,370.0,218.1,12.6,1193,14743,0.00,2.22,0.00,0.000,4,0.000,0.047,3224,194,1436
$GC,14789,1.36,370.0,211.2,13.1,1202,14796,0.00,2.15,0.00,0.000,6,0.000,0.036,3224,1643,1435
$GC,15135,1.41,408.9,173.3,10.6,1263,15175,0.00,1.98,35.17,0.838,4,0.000,0.041,3224,2904,1278
$GC,15262,1.41,408.9,158.4,12.2,1284,15269,0.00,1.92,0.00,0.000,6,0.000,0.034,3233,1633,1276
$GC,15608,1.42,411.3,114.2,11.9,1345,15615,0.00,2.20,0.00,0.000,4,0.000,0.044,3244,202,1276
$GC,15633,1.43,423.0,111.2,11.6,1349,15654,0.00,2.15,14.02,0.734,6,0.000,0.031,3244,1674,1219
$GC,15993,1.44,429.2,71.2,11.8,1412,16006,0.00,2.25,7.12,0.613,4,0.000,0.042,3255,199,1195
$GC,16115,1.47,455.6,56.4,11.0,1433,16147,0.00,2.22,24.25,0.703,6,0.000,0.030,3255,1726,1087
$GC,16486,1.50,483.4,17.0,11.0,1498,16518,0.00,2.33,25.12,0.660,4,0.000,0.041,3265,198,974
$GC,16565,1.50,483.4,7.5,13.3,1511,16572,0.00,2.20,0.00,0.000,6,0.000,0.028,3265,1684,973
$STATE,16600,end climb,SURFACE_DEPTH_REACHED
$STATE,16601,begin surface coast
$FINISH,0.9,1.013923
$STATE,16623,end surface coast,CONTROL_FINISHED_OK
$STATE,16623,begin surface
$SM_CCo,16703,0.00,0.000,0,0,972,483.98
$SM_GC,1.60,8.25,0.00,0.00,0.039,0.000,0.000,166,1900,972,-8.10,1.13,483.98
$IRIDIUM_FIX,2408.65,12517.15,261098,040430
$TT8_MAMPS,0.026845
$HUMID,1586
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.60
$XPDR_PINGS,149
$24V_AH,23.1,92.038
$10V_AH,10.6,61.013
$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,19.850,166.500,635.175,0.000,0.000,23.230,39.993,243.769,45.250,0.000,0.000,34.517,2674.500,9836.788,736.487,3180.104,759.309,0.000,2194.534,0.000,3119.114,0.000,54.433,0.000
$DEVICE_MAMPS,220.129,62.894,1467.271,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.670,1046.394,1759.393,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88467,1521
$CAP_FILE_SIZE,165236,0
$CFSIZE,260165632,200605696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.177,108.4,1
$GPS,010809,132925,2416.024,12516.854,42,1.8,42,-3.6