version: 66.04
glider: 166
mission: 2
dive: 427
start: 8 2 109 4 8 52
data:
$ID,166
$MISSION,2
$DIVE,427
$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,-14001.631
$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,34
$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
$GPS1,035937,2418.190,12520.188,41,1.2,41,-3.6
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-69.1
$GPS2,040828,2418.252,12520.279,10,99.0,29,-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,299.5,21756,-17.3,-12.000
$D_GRID,1649
$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,-63.95,0.000,2,0.000,0.000,160,1899,2285
$GC,85,-1.18,-219.0,3.1,-5.6,10,144,9.00,2.20,-42.47,0.000,4,0.225,0.049,2376,430,3839
$GC,268,-1.18,-219.0,37.7,-20.1,41,275,0.00,2.05,0.00,0.000,6,0.000,0.029,2365,1848,3840
$GC,613,-1.18,-219.0,100.9,-16.3,102,620,0.00,2.10,0.00,0.000,4,0.000,0.038,2365,436,3840
$GC,696,-1.18,-219.0,114.4,-16.6,116,702,0.00,2.12,0.00,0.000,6,0.000,0.030,2358,1900,3841
$GC,1041,-1.18,-219.0,172.0,-16.9,177,1047,0.00,2.17,0.00,0.000,4,0.000,0.038,2354,433,3842
$GC,1128,-1.18,-219.0,186.3,-17.1,192,1135,0.00,2.22,0.00,0.000,6,0.000,0.031,2359,1963,3842
$GC,1475,-1.18,-219.0,236.9,-14.4,253,1482,0.10,1.92,0.00,0.000,4,0.177,0.041,2373,3261,3843
$GC,1533,-1.18,-219.0,246.0,-15.1,263,1540,0.00,1.85,0.00,0.000,6,0.000,0.027,2367,1963,3843
$GC,1881,-1.18,-219.0,299.7,-14.7,324,1891,0.00,2.00,0.00,0.000,4,0.000,0.044,2360,3261,3843
$GC,1909,-1.18,-219.0,304.0,-15.0,327,1913,0.00,1.85,0.00,0.000,6,0.000,0.028,2360,1994,3843
$GC,2243,-1.18,-219.0,346.6,-12.8,358,2247,0.00,2.33,0.00,0.000,4,0.000,0.041,2359,436,3842
$GC,2283,-1.18,-219.0,352.5,-14.4,361,2288,0.12,2.35,0.00,0.000,6,0.166,0.032,2387,2035,3842
$GC,2612,-1.18,-219.0,392.5,-12.0,391,2615,0.00,1.85,0.00,0.000,4,0.000,0.046,2384,3272,3841
$GC,2646,-1.18,-219.0,397.1,-12.4,394,2649,0.00,1.80,0.00,0.000,6,0.000,0.028,2384,2012,3841
$GC,2978,-1.18,-219.0,435.8,-11.2,425,2982,0.00,2.35,0.00,0.000,4,0.000,0.043,2384,442,3839
$GC,3044,-1.18,-219.0,444.3,-12.2,430,3051,0.00,2.33,0.00,0.000,6,0.000,0.032,2380,2027,3839
$GC,3370,-1.18,-219.0,480.8,-11.1,461,3374,0.00,1.85,0.00,0.000,4,0.000,0.048,2382,3258,3837
$GC,3440,-1.18,-219.0,488.5,-11.3,467,3443,0.00,1.80,0.00,0.000,6,0.000,0.030,2384,2009,3836
$GC,3775,-1.18,-219.0,523.6,-10.3,488,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2009,3835
$GC,4085,-1.18,-219.0,556.4,-10.8,503,4089,0.00,1.92,0.00,0.000,4,0.000,0.050,2394,3263,3832
$GC,4142,-1.18,-219.0,563.0,-11.6,505,4145,0.00,1.80,0.00,0.000,6,0.000,0.031,2395,2021,3831
$GC,4464,-1.18,-219.0,598.2,-10.7,521,4467,0.00,1.90,0.00,0.000,4,0.000,0.051,2393,3257,3828
$GC,4516,-1.18,-219.0,603.9,-11.0,523,4519,0.00,1.75,0.00,0.000,6,0.000,0.032,2390,2052,3828
$GC,4843,-1.18,-219.0,637.8,-9.9,539,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2053,3825
$GC,5152,-1.18,-219.0,667.0,-9.1,554,5155,0.00,1.88,0.00,0.000,4,0.000,0.054,2386,3261,3822
$GC,5222,-1.18,-219.0,673.7,-10.3,557,5225,0.00,1.75,0.00,0.000,6,0.000,0.034,2387,2069,3821
$GC,5555,-1.18,-219.0,705.1,-9.5,573,5559,0.00,2.47,0.00,0.000,4,0.000,0.048,2385,450,3818
$GC,5596,-1.18,-219.0,709.4,-10.5,575,5600,0.00,2.47,0.00,0.000,6,0.000,0.038,2373,2091,3817
$GC,5924,-1.18,-219.0,744.4,-10.8,591,5928,0.00,1.80,0.00,0.000,4,0.000,0.054,2365,3262,3815
$GC,5952,-1.18,-219.0,748.0,-13.6,592,5956,0.00,1.75,0.00,0.000,6,0.000,0.036,2366,2091,3814
$GC,6281,-1.18,-219.0,784.8,-10.8,608,6285,0.00,2.53,0.00,0.000,4,0.000,0.050,2366,451,3812
$GC,6375,-1.18,-219.0,797.1,-13.2,612,6379,0.00,2.45,0.00,0.000,6,0.000,0.042,2361,2053,3811
$GC,6697,-1.18,-219.0,836.2,-12.0,628,6700,0.00,1.88,0.00,0.000,4,0.000,0.058,2353,3259,3809
$GC,6753,-1.18,-219.0,843.4,-12.7,630,6757,0.00,1.80,0.00,0.000,6,0.000,0.037,2355,2064,3808
$GC,7075,-1.18,-219.0,881.7,-12.1,646,7079,0.00,2.50,0.00,0.000,4,0.000,0.052,2354,453,3806
$GC,7119,-1.18,-219.0,888.0,-14.2,648,7124,0.15,2.50,0.00,0.000,6,0.163,0.049,2383,2067,3805
$GC,7442,-1.18,-219.0,923.8,-11.3,664,7445,0.00,1.85,0.00,0.000,4,0.000,0.058,2364,3252,3804
$GC,7466,-1.18,-219.0,927.0,-12.7,665,7469,0.00,1.80,0.00,0.000,6,0.000,0.039,2366,2053,3803
$GC,7800,-1.18,-219.0,965.5,-10.9,681,7804,0.00,2.53,0.00,0.000,4,0.000,0.060,2365,448,3802
$GC,7846,-1.18,-219.0,971.3,-13.4,683,7851,0.12,2.50,0.00,0.000,6,0.160,0.049,2384,2058,3802
$STATE,8046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8046,begin apogee
$GC,8054,-0.26,0.0,991.6,10.1,693,8253,0.90,0.00,190.93,1.450,6,0.116,0.000,2677,1478,2945
$STATE,8254,end apogee,CONTROL_FINISHED_OK
$STATE,8254,begin climb
$GC,8258,1.18,219.0,1005.1,0.0,703,8464,1.27,2.12,195.55,1.421,4,0.045,0.059,3164,199,2051
$GC,8532,1.18,219.0,983.2,16.5,715,8538,0.00,2.00,0.00,0.000,6,0.000,0.042,3164,1489,2046
$GC,8848,1.18,219.0,933.7,15.8,731,8852,0.00,2.20,0.00,0.000,4,0.000,0.055,3163,2900,2043
$GC,9010,1.18,219.0,907.1,16.7,738,9014,0.00,2.12,0.00,0.000,6,0.000,0.045,3173,1516,2041
$GC,9338,1.18,219.0,856.4,15.3,754,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1515,2040
$GC,9647,1.18,219.0,811.7,14.2,769,9650,0.00,2.15,0.00,0.000,4,0.000,0.056,3173,2892,2039
$GC,9719,1.18,219.0,801.1,14.6,772,9724,0.15,2.10,0.00,0.000,6,0.201,0.044,3147,1517,2038
$GC,10042,1.18,219.0,759.4,13.0,788,10046,0.00,2.15,0.00,0.000,4,0.000,0.054,3140,2888,2038
$GC,10075,1.18,219.0,754.6,12.8,789,10078,0.00,2.08,0.00,0.000,6,0.000,0.044,3148,1531,2037
$GC,10397,1.18,219.0,713.1,13.2,805,10401,0.00,2.15,0.00,0.000,4,0.000,0.056,3148,2899,2037
$GC,10492,1.18,219.0,699.9,13.9,809,10496,0.00,2.08,0.00,0.000,6,0.000,0.045,3156,1542,2036
$GC,10820,1.18,219.0,654.8,14.3,825,10823,0.00,2.12,0.00,0.000,4,0.000,0.056,3157,2894,2035
$GC,10894,1.18,219.0,644.1,14.2,828,10898,0.00,2.05,0.00,0.000,6,0.000,0.047,3165,1564,2035
$GC,11221,1.18,219.0,601.4,12.5,844,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,1564,2035
$GC,11531,1.23,257.5,566.7,10.6,859,11577,0.00,2.15,34.53,1.151,4,0.000,0.054,3164,2882,1894
$GC,11652,1.23,257.5,551.5,12.5,864,11656,0.00,2.00,0.00,0.000,6,0.000,0.044,3171,1588,1891
$GC,11974,1.23,257.5,510.6,12.4,880,11977,0.00,2.05,0.00,0.000,4,0.000,0.054,3171,2899,1890
$GC,12047,1.23,260.7,501.8,11.9,883,12051,0.00,1.98,0.00,0.000,6,0.000,0.043,3180,1603,1888
$GC,12376,1.25,278.9,464.0,11.3,913,12410,0.00,2.05,22.10,1.023,4,0.000,0.054,3180,2898,1806
$GC,12580,1.25,278.9,437.4,12.6,931,12584,0.00,1.95,0.00,0.000,6,0.000,0.042,3187,1620,1804
$GC,12913,1.25,278.9,397.1,12.0,962,12917,0.00,1.98,0.00,0.000,4,0.000,0.052,3188,2892,1803
$GC,13039,1.25,278.9,381.7,12.5,973,13043,0.00,1.85,0.00,0.000,6,0.000,0.038,3197,1660,1801
$GC,13372,1.28,297.7,342.9,11.3,1004,13396,0.00,2.35,17.50,0.986,4,0.000,0.050,3209,193,1731
$GC,13524,1.28,300.2,324.8,11.9,1017,13529,0.12,2.25,0.00,0.000,6,0.180,0.040,3181,1673,1729
$GC,13857,1.35,358.7,289.2,9.8,1056,13919,0.00,1.98,54.83,0.949,4,0.000,0.046,3182,2899,1481
$GC,13949,1.36,368.0,279.5,11.7,1071,13968,0.00,1.88,9.80,0.823,6,0.000,0.036,3187,1659,1444
$GC,14307,1.39,391.4,238.0,11.1,1134,14333,0.00,1.98,21.58,0.867,4,0.000,0.043,3191,2906,1348
$GC,14461,1.42,411.5,219.9,11.3,1160,14486,0.00,1.83,19.30,0.839,6,0.000,0.035,3198,1697,1267
$GC,14827,1.43,422.4,177.9,11.6,1224,14842,0.00,1.90,10.85,0.756,4,0.000,0.041,3199,2909,1223
$GC,14882,1.43,422.4,170.7,12.9,1233,14890,0.00,1.77,0.00,0.000,6,0.000,0.031,3208,1726,1223
$GC,15230,1.44,430.1,129.0,11.7,1294,15243,0.00,1.85,8.82,0.687,4,0.000,0.041,3208,2911,1191
$GC,15383,1.44,432.1,111.9,11.9,1320,15390,0.00,1.67,3.58,0.443,6,0.000,0.030,3215,1781,1183
$GC,15730,1.48,467.9,75.1,10.7,1381,15769,0.00,1.70,32.47,0.717,4,0.000,0.038,3215,2905,1035
$GC,15861,1.52,497.5,60.8,10.9,1403,15893,0.00,1.65,26.52,0.688,6,0.000,0.030,3223,1797,916
$GC,16236,1.60,560.8,22.6,9.7,1468,16301,0.15,1.73,54.90,0.662,4,0.060,0.037,3298,2907,657
$GC,16373,1.60,560.8,4.1,13.5,1490,16379,0.00,1.62,0.00,0.000,6,0.000,0.030,3304,1812,658
$STATE,16384,end climb,SURFACE_DEPTH_REACHED
$STATE,16384,begin surface coast
$FINISH,0.8,1.021118
$STATE,16407,end surface coast,CONTROL_FINISHED_OK
$STATE,16408,begin surface
$SM_CCo,16488,0.00,0.000,0,0,655,561.74
$SM_GC,1.48,8.40,0.00,0.00,0.041,0.000,0.000,165,1810,655,-8.12,-1.41,561.74
$IRIDIUM_FIX,2408.65,12520.44,261098,232349
$TT8_MAMPS,0.026845
$HUMID,1590
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.70
$XPDR_PINGS,152
$24V_AH,23.1,93.053
$10V_AH,10.6,61.624
$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,20.500,147.350,703.250,0.000,0.000,33.033,48.392,268.756,46.000,0.000,0.000,30.722,2613.284,9705.343,759.550,3130.184,798.122,0.000,2187.639,0.000,3077.213,0.000,54.428,0.000
$DEVICE_MAMPS,224.731,59.826,1450.397,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.843,1029.550,1731.540,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88519,1496
$CAP_FILE_SIZE,161496,0
$CFSIZE,260165632,200257536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.227, 99.5,1
$GPS,020809,084455,2418.374,12521.115,38,1.5,38,-3.6