version: 66.04
glider: 166
mission: 2
dive: 424
start: 8 1 109 13 42 18
data:
$ID,166
$MISSION,2
$DIVE,424
$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,-13938.304
$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,38
$R_STBD_OVSHOOT,68
$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
$GPS1,132925,2416.024,12516.854,42,1.8,42,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-67.6
$GPS2,134157,2415.976,12516.983,40,2.3,59,-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,329.0,24602,-17.3,-12.000
$D_GRID,1626
$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,-219.0,0.0,0.0,0,77,0.00,0.00,-58.95,0.000,2,0.000,0.000,162,1900,2302
$GC,80,-1.18,-219.0,3.1,-6.0,9,138,8.98,2.03,-41.42,0.000,4,0.225,0.055,2371,3245,3838
$GC,249,-1.18,-219.0,33.2,-19.8,37,256,0.00,2.03,0.00,0.000,6,0.000,0.028,2360,1839,3839
$GC,595,-1.18,-219.0,95.9,-16.7,98,602,0.00,2.10,0.00,0.000,4,0.000,0.041,2362,3242,3839
$GC,677,-1.18,-219.0,109.9,-17.1,112,683,0.00,1.98,0.00,0.000,6,0.000,0.026,2356,1889,3840
$GC,1022,-1.18,-219.0,163.7,-15.0,173,1028,0.00,2.03,0.00,0.000,4,0.000,0.042,2361,3242,3841
$GC,1091,-1.18,-219.0,174.6,-15.3,185,1098,0.00,1.88,0.00,0.000,6,0.000,0.027,2355,1947,3841
$GC,1435,-1.18,-219.0,227.8,-15.5,246,1443,0.00,1.98,0.00,0.000,4,0.000,0.043,2355,3242,3841
$GC,1494,-1.18,-219.0,236.8,-15.2,256,1500,0.00,1.88,0.00,0.000,6,0.000,0.027,2356,1950,3841
$GC,1839,-1.18,-219.0,284.6,-13.6,317,1846,0.12,2.20,0.00,0.000,4,0.154,0.038,2389,469,3841
$GC,1880,-1.18,-219.0,290.2,-13.8,324,1886,0.00,2.10,0.00,0.000,6,0.000,0.031,2385,1917,3841
$GC,2216,-1.18,-219.0,330.7,-11.6,362,2219,0.00,1.98,0.00,0.000,4,0.000,0.044,2383,3245,3840
$GC,2295,-1.18,-219.0,340.4,-12.7,369,2299,0.00,1.88,0.00,0.000,6,0.000,0.027,2383,1929,3840
$GC,2626,-1.18,-219.0,379.7,-11.5,400,2630,0.00,1.98,0.00,0.000,4,0.000,0.045,2382,3243,3839
$GC,2684,-1.18,-219.0,386.4,-11.6,405,2687,0.00,1.83,0.00,0.000,6,0.000,0.028,2382,1968,3838
$GC,3018,-1.18,-219.0,422.9,-10.9,436,3022,0.00,2.25,0.00,0.000,4,0.000,0.041,2381,456,3837
$GC,3061,-1.18,-219.0,428.3,-11.3,439,3067,0.00,2.17,0.00,0.000,6,0.000,0.031,2382,1943,3836
$GC,3390,-1.18,-219.0,463.5,-11.0,470,3393,0.00,1.95,0.00,0.000,4,0.000,0.047,2395,3242,3834
$GC,3451,-1.18,-219.0,470.8,-10.9,475,3457,0.00,1.85,0.00,0.000,6,0.000,0.028,2396,1953,3834
$GC,3790,-1.18,-219.0,504.7,-10.4,505,3794,0.00,1.95,0.00,0.000,4,0.000,0.048,2394,3236,3832
$GC,3852,-1.18,-219.0,512.1,-11.6,507,3857,0.00,1.80,0.00,0.000,6,0.000,0.029,2393,1983,3831
$GC,4169,-1.18,-219.0,548.6,-11.6,523,4172,0.00,1.95,0.00,0.000,4,0.000,0.049,2395,3240,3829
$GC,4248,-1.18,-219.0,558.0,-12.0,526,4252,0.00,1.77,0.00,0.000,6,0.000,0.030,2393,2030,3828
$GC,4569,-1.18,-219.0,593.2,-10.9,542,4573,0.00,1.85,0.00,0.000,4,0.000,0.051,2397,3239,3826
$GC,4620,-1.18,-219.0,598.8,-11.6,544,4623,0.00,1.73,0.00,0.000,6,0.000,0.031,2395,2050,3825
$GC,4947,-1.18,-219.0,631.5,-9.3,560,4951,0.00,1.83,0.00,0.000,4,0.000,0.051,2401,3236,3822
$GC,5017,-1.18,-219.0,637.8,-9.3,563,5020,0.00,1.70,0.00,0.000,6,0.000,0.032,2399,2069,3821
$GC,5352,-1.18,-219.0,669.1,-9.8,579,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2069,3818
$GC,5660,-1.18,-219.0,699.0,-9.7,594,5664,0.00,1.83,0.00,0.000,4,0.000,0.054,2400,3244,3815
$GC,5684,-1.18,-219.0,701.5,-9.4,595,5688,0.00,1.70,0.00,0.000,6,0.000,0.034,2400,2085,3814
$GC,6019,-1.18,-219.0,734.9,-10.3,611,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2085,3812
$GC,6326,-1.18,-219.0,766.9,-10.2,626,6330,0.00,1.80,0.00,0.000,4,0.000,0.056,2386,3234,3809
$GC,6399,-1.18,-219.0,774.8,-11.0,629,6404,0.00,1.65,0.00,0.000,6,0.000,0.035,2392,2112,3809
$GC,6731,-1.18,-219.0,808.2,-10.1,645,6735,0.00,1.75,0.00,0.000,4,0.000,0.056,2383,3236,3806
$GC,6765,-1.18,-219.0,812.3,-11.0,646,6768,0.00,1.62,0.00,0.000,6,0.000,0.035,2381,2151,3806
$GC,7087,-1.18,-219.0,843.2,-9.7,662,7091,0.00,2.58,0.00,0.000,4,0.000,0.049,2382,478,3803
$GC,7137,-1.18,-219.0,848.7,-10.9,664,7141,0.00,2.50,0.00,0.000,6,0.000,0.043,2370,2106,3802
$GC,7454,-1.18,-219.0,881.9,-10.6,679,7459,0.00,2.53,0.00,0.000,4,0.000,0.050,2369,472,3801
$GC,7478,-1.18,-219.0,884.7,-11.0,680,7482,0.00,2.50,0.00,0.000,6,0.000,0.046,2360,2097,3801
$GC,7805,-1.18,-219.0,922.3,-11.6,696,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2097,3799
$GC,8115,-1.18,-219.0,957.6,-11.6,711,8119,0.00,2.55,0.00,0.000,4,0.000,0.056,2362,469,3797
$GC,8154,-1.18,-219.0,962.7,-12.8,712,8161,0.15,2.47,0.00,0.000,6,0.157,0.044,2386,2088,3797
$STATE,8426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8426,begin apogee
$GC,8433,-0.26,0.0,990.4,10.2,726,8632,0.90,0.00,189.48,1.455,6,0.117,0.000,2673,1507,2944
$STATE,8632,end apogee,CONTROL_FINISHED_OK
$STATE,8632,begin climb
$GC,8636,1.18,219.0,1004.2,0.0,736,8841,1.27,2.12,194.98,1.421,4,0.049,0.057,3153,209,2052
$GC,8875,1.18,219.0,989.1,14.5,747,8879,0.00,1.98,0.00,0.000,6,0.000,0.043,3152,1471,2048
$GC,9204,1.18,219.0,942.9,14.1,763,9208,0.00,2.20,0.00,0.000,4,0.000,0.054,3152,2888,2043
$GC,9402,1.18,219.0,913.6,14.9,771,9408,0.00,2.10,0.00,0.000,6,0.000,0.042,3161,1511,2042
$GC,9720,1.18,219.0,870.7,13.4,787,9724,0.00,2.03,0.00,0.000,4,0.000,0.055,3171,202,2041
$GC,9747,1.18,219.0,866.4,14.3,788,9751,0.00,2.00,0.00,0.000,6,0.000,0.043,3171,1517,2041
$GC,10076,1.18,219.0,822.5,13.1,804,10079,0.00,2.12,0.00,0.000,4,0.000,0.054,3170,2888,2040
$GC,10199,1.18,219.0,805.4,13.9,809,10204,0.15,2.08,0.00,0.000,6,0.199,0.041,3146,1519,2038
$GC,10515,1.18,219.0,765.8,12.4,824,10519,0.00,2.15,0.00,0.000,4,0.000,0.056,3136,2887,2038
$GC,10543,1.18,219.0,762.2,12.6,825,10547,0.00,2.05,0.00,0.000,6,0.000,0.042,3144,1544,2037
$GC,10871,1.18,219.0,721.5,12.3,841,10875,0.00,2.10,0.00,0.000,4,0.000,0.054,3137,2888,2037
$GC,10979,1.18,220.8,707.9,11.9,845,10987,0.00,1.98,0.00,0.000,6,0.000,0.041,3144,1579,2036
$GC,11296,1.18,220.8,669.5,12.1,861,11299,0.00,2.05,0.00,0.000,4,0.000,0.054,3144,2894,2036
$GC,11320,1.18,220.8,666.6,12.2,862,11323,0.00,2.00,0.00,0.000,6,0.000,0.043,3154,1587,2036
$GC,11652,1.19,227.9,627.2,11.7,878,11661,0.00,0.00,6.62,1.045,6,0.000,0.000,3154,1587,2015
$GC,11984,1.19,227.9,586.5,12.2,894,11988,0.00,2.05,0.00,0.000,4,0.000,0.058,3154,2893,2014
$GC,12085,1.19,227.9,573.1,12.9,898,12089,0.00,1.92,0.00,0.000,6,0.000,0.041,3162,1628,2014
$GC,12407,1.19,232.0,533.3,11.8,914,12416,0.00,1.98,5.40,0.921,4,0.000,0.058,3161,2887,1998
$GC,12497,1.20,237.2,522.2,11.8,918,12508,0.00,1.88,6.72,0.984,6,0.000,0.041,3167,1647,1977
$GC,12830,1.21,242.1,482.2,11.8,940,12843,0.00,2.25,6.25,0.941,4,0.000,0.051,3179,205,1956
$GC,12906,1.21,242.1,472.6,12.0,946,12913,0.00,2.20,0.00,0.000,6,0.000,0.041,3179,1654,1955
$GC,13233,1.23,257.3,436.3,11.4,977,13257,0.00,1.95,15.02,1.058,4,0.000,0.052,3177,2885,1894
$GC,13280,1.23,257.3,430.4,12.3,981,13284,0.00,1.92,0.00,0.000,6,0.000,0.040,3184,1618,1893
$GC,13614,1.29,308.9,393.6,10.1,1012,13671,0.00,2.33,46.62,1.052,4,0.000,0.051,3197,199,1684
$GC,13718,1.29,308.9,380.6,14.3,1021,13722,0.00,2.22,0.00,0.000,6,0.000,0.039,3197,1647,1682
$GC,14049,1.30,319.9,341.9,11.6,1051,14061,0.00,0.00,10.77,0.924,6,0.000,0.000,3198,1647,1640
$GC,14378,1.30,319.9,302.0,12.1,1082,14382,0.00,1.90,0.00,0.000,4,0.000,0.047,3196,2898,1638
$GC,14474,1.31,329.0,290.8,11.7,1097,14489,0.00,1.90,9.40,0.861,6,0.000,0.037,3204,1625,1603
$GC,14829,1.32,333.3,250.4,11.8,1159,14842,0.00,1.95,5.70,0.719,4,0.000,0.044,3208,2902,1585
$GC,14866,1.33,343.0,245.7,11.6,1165,14880,0.00,1.85,10.62,0.826,6,0.000,0.035,3217,1654,1545
$GC,15220,1.37,378.5,204.6,10.7,1227,15255,0.00,0.00,31.83,0.857,6,0.000,0.000,3218,1654,1402
$GC,15593,1.40,398.1,161.4,11.3,1293,15619,0.00,1.92,18.83,0.789,4,0.000,0.041,3216,2897,1322
$GC,15731,1.40,399.9,145.5,11.9,1316,15737,0.00,1.83,0.00,0.000,6,0.000,0.033,3223,1682,1321
$GC,16077,1.48,465.1,109.9,9.6,1377,16141,0.00,1.92,58.75,0.760,4,0.000,0.038,3223,2897,1047
$GC,16182,1.48,465.1,97.7,12.3,1394,16189,0.00,1.77,0.00,0.000,6,0.000,0.031,3231,1725,1047
$GC,16529,1.53,506.1,58.9,10.5,1455,16572,0.00,2.38,35.88,0.697,4,0.000,0.043,3242,190,880
$GC,16680,1.57,540.5,42.7,10.7,1480,16717,0.00,2.40,30.42,0.671,6,0.000,0.029,3242,1820,741
$STATE,17019,end climb,SURFACE_DEPTH_REACHED
$STATE,17019,begin surface coast
$FINISH,0.8,1.021068
$STATE,17046,end surface coast,CONTROL_FINISHED_OK
$STATE,17046,begin surface
$SM_CCo,17125,0.00,0.000,0,0,737,541.62
$SM_GC,1.73,8.23,0.00,0.00,0.044,0.000,0.000,168,1826,737,-8.10,-0.96,541.62
$IRIDIUM_FIX,2408.65,12515.78,261098,131352
$TT8_MAMPS,0.026845
$HUMID,1592
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.60
$XPDR_PINGS,150
$24V_AH,23.1,92.296
$10V_AH,10.6,61.170
$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,19.800,146.475,683.300,0.000,0.000,46.794,69.627,345.378,45.500,0.000,0.000,60.716,2689.665,10278.571,739.824,3213.556,938.009,0.000,2193.732,0.000,3143.486,0.000,54.432,0.000
$DEVICE_MAMPS,224.731,58.292,1454.999,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1044.889,1059.408,1779.942,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91511,1544
$CAP_FILE_SIZE,165227,0
$CFSIZE,260165632,200511488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.148,121.6,1
$GPS,010809,182900,2416.419,12517.710,39,1.4,39,-3.6