version: 66.04
glider: 166
mission: 2
dive: 428
start: 8 2 109 8 53 5
data:
$ID,166
$MISSION,2
$DIVE,428
$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,-14032.391
$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,36
$R_STBD_OVSHOOT,42
$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
$GPS1,084455,2418.374,12521.115,38,1.5,38,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-62.8
$GPS2,085243,2418.396,12521.197,14,1.6,30,-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,304.1,22122,-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,15,-1.18,-219.0,0.0,0.0,0,93,0.00,0.00,-76.10,0.000,2,0.000,0.000,155,1811,2382
$GC,97,-1.18,-219.0,3.4,-6.5,12,150,9.25,2.30,-38.22,0.000,4,0.234,0.051,2368,3279,3840
$GC,305,-1.18,-219.0,43.4,-19.1,47,312,0.00,2.08,0.00,0.000,6,0.000,0.026,2362,1834,3841
$GC,652,-1.18,-219.0,106.3,-16.1,108,658,0.00,2.17,0.00,0.000,4,0.000,0.040,2361,3266,3841
$GC,767,-1.18,-219.0,125.6,-17.2,128,774,0.08,1.98,0.00,0.000,6,0.163,0.025,2378,1893,3841
$GC,1113,-1.18,-219.0,176.3,-15.0,189,1119,0.00,2.05,0.00,0.000,4,0.000,0.040,2372,3269,3842
$GC,1306,-1.18,-219.0,206.4,-15.5,223,1312,0.00,1.88,0.00,0.000,6,0.000,0.025,2372,1941,3843
$GC,1653,-1.18,-219.0,251.2,-12.1,284,1659,0.00,2.03,0.00,0.000,4,0.000,0.041,2370,3300,3843
$GC,1733,-1.18,-219.0,261.6,-13.3,298,1740,0.00,1.90,0.00,0.000,6,0.000,0.026,2370,1980,3843
$GC,2083,-1.18,-219.0,307.0,-12.9,355,2087,0.00,2.22,0.00,0.000,4,0.000,0.038,2368,473,3842
$GC,2106,-1.18,-219.0,310.5,-13.3,357,2110,0.00,2.20,0.00,0.000,6,0.000,0.030,2366,1986,3842
$GC,2437,-1.18,-219.0,352.9,-11.6,388,2441,0.00,1.92,0.00,0.000,4,0.000,0.044,2364,3261,3841
$GC,2505,-1.18,-219.0,361.0,-11.8,394,2509,0.00,1.83,0.00,0.000,6,0.000,0.026,2365,1999,3841
$GC,2841,-1.18,-219.0,396.5,-11.4,425,2844,0.00,1.90,0.00,0.000,4,0.000,0.044,2364,3269,3840
$GC,2887,-1.18,-219.0,402.5,-12.2,429,2890,0.00,1.77,0.00,0.000,6,0.000,0.027,2365,2021,3840
$GC,3221,-1.18,-219.0,441.9,-11.6,460,3224,0.00,1.90,0.00,0.000,4,0.000,0.046,2364,3278,3838
$GC,3256,-1.18,-219.0,446.3,-11.9,463,3260,0.00,1.77,0.00,0.000,6,0.000,0.028,2364,2054,3838
$GC,3588,-1.18,-219.0,482.2,-10.6,494,3592,0.00,2.35,0.00,0.000,4,0.000,0.041,2365,479,3836
$GC,3616,-1.18,-219.0,485.7,-12.3,496,3622,0.00,2.33,0.00,0.000,6,0.000,0.035,2364,2054,3835
$GC,3935,-1.18,-219.0,520.4,-11.1,518,3939,0.00,1.83,0.00,0.000,4,0.000,0.049,2364,3264,3833
$GC,3987,-1.18,-219.0,526.1,-11.7,520,3990,0.00,1.75,0.00,0.000,6,0.000,0.029,2365,2044,3832
$GC,4314,-1.18,-219.0,562.5,-11.2,536,4317,0.00,1.88,0.00,0.000,4,0.000,0.051,2365,3268,3830
$GC,4383,-1.18,-219.0,570.4,-12.0,539,4387,0.00,1.73,0.00,0.000,6,0.000,0.031,2365,2075,3829
$GC,4718,-1.18,-219.0,606.0,-10.3,555,4721,0.00,1.83,0.00,0.000,4,0.000,0.051,2365,3261,3827
$GC,4768,-1.18,-219.0,611.8,-10.7,557,4772,0.00,1.67,0.00,0.000,6,0.000,0.031,2365,2104,3825
$GC,5097,-1.18,-219.0,645.2,-10.5,573,5101,0.00,1.80,0.00,0.000,4,0.000,0.052,2359,3273,3822
$GC,5122,-1.18,-219.0,648.0,-11.0,574,5126,0.00,1.70,0.00,0.000,6,0.000,0.033,2358,2108,3822
$GC,5456,-1.18,-219.0,685.5,-11.5,590,5461,0.00,2.47,0.00,0.000,4,0.000,0.047,2359,481,3819
$GC,5490,-1.18,-219.0,690.1,-13.1,591,5496,0.12,2.45,0.00,0.000,6,0.161,0.040,2386,2100,3818
$GC,5808,-1.18,-219.0,724.7,-10.9,607,5815,0.00,1.80,0.00,0.000,4,0.000,0.054,2380,3273,3815
$GC,5894,-1.18,-219.0,734.7,-11.4,610,5902,0.00,1.67,0.00,0.000,6,0.000,0.035,2379,2150,3814
$GC,6211,-1.18,-219.0,768.4,-10.8,626,6216,0.00,2.55,0.00,0.000,4,0.000,0.048,2379,487,3812
$GC,6278,-1.18,-219.0,776.6,-12.1,629,6282,0.00,2.45,0.00,0.000,6,0.000,0.041,2370,2098,3811
$GC,6600,-1.18,-219.0,811.8,-10.8,645,6604,0.00,1.83,0.00,0.000,4,0.000,0.064,2364,3265,3809
$GC,6663,-1.18,-219.0,819.0,-11.7,647,6668,0.00,1.65,0.00,0.000,6,0.000,0.035,2364,2141,3808
$GC,6980,-1.18,-219.0,853.6,-11.1,663,6983,0.00,1.77,0.00,0.000,4,0.000,0.065,2359,3261,3805
$GC,7003,-1.18,-219.0,856.4,-11.3,664,7007,0.00,1.62,0.00,0.000,6,0.000,0.036,2357,2162,3805
$GC,7339,-1.18,-219.0,894.8,-11.4,680,7343,0.00,2.60,0.00,0.000,4,0.000,0.050,2358,477,3803
$GC,7404,-1.18,-219.0,903.6,-13.3,683,7409,0.12,2.55,0.00,0.000,6,0.165,0.044,2383,2136,3803
$GC,7728,-1.18,-219.0,939.3,-11.0,699,7732,0.00,2.58,0.00,0.000,4,0.000,0.051,2381,493,3800
$GC,7751,-1.18,-219.0,942.1,-11.2,700,7755,0.00,2.50,0.00,0.000,6,0.000,0.044,2380,2115,3800
$GC,8077,-1.18,-219.0,977.7,-11.1,716,8081,0.00,1.80,0.00,0.000,4,0.000,0.060,2373,3266,3798
$GC,8129,-1.18,-219.0,983.7,-11.8,718,8132,0.00,1.65,0.00,0.000,6,0.000,0.038,2373,2151,3798
$STATE,8185,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8185,begin apogee
$GC,8193,-0.26,0.0,990.5,11.5,721,8392,0.98,0.00,190.15,1.453,6,0.125,0.000,2678,1512,2945
$STATE,8393,end apogee,CONTROL_FINISHED_OK
$STATE,8393,begin climb
$GC,8396,1.18,219.0,1004.0,0.0,731,8603,1.27,2.22,195.68,1.419,4,0.048,0.058,3167,199,2050
$GC,8630,1.18,219.0,988.3,15.2,742,8634,0.00,2.03,0.00,0.000,6,0.000,0.042,3167,1492,2048
$GC,8962,1.18,219.0,941.3,13.8,758,8966,0.00,2.20,0.00,0.000,4,0.000,0.054,3167,2898,2043
$GC,9086,1.18,219.0,923.8,13.8,763,9091,0.12,2.12,0.00,0.000,6,0.203,0.044,3149,1507,2042
$GC,9402,1.18,219.0,883.5,12.7,778,9406,0.00,2.05,0.00,0.000,4,0.000,0.056,3154,193,2041
$GC,9476,1.18,219.0,873.5,13.6,781,9479,0.00,2.00,0.00,0.000,6,0.000,0.044,3153,1496,2041
$GC,9803,1.18,219.0,830.9,13.3,797,9806,0.00,2.17,0.00,0.000,4,0.000,0.055,3152,2893,2039
$GC,9843,1.18,219.0,825.2,14.0,798,9852,0.00,2.15,0.00,0.000,6,0.000,0.043,3160,1476,2038
$GC,10160,1.18,219.0,784.1,12.8,814,10163,0.00,2.22,0.00,0.000,4,0.000,0.055,3155,2894,2038
$GC,10243,1.18,219.0,772.7,12.9,817,10249,0.00,2.12,0.00,0.000,6,0.000,0.043,3163,1500,2037
$GC,10559,1.18,219.0,733.1,12.2,833,10563,0.00,2.20,0.00,0.000,4,0.000,0.058,3163,2894,2037
$GC,10667,1.18,219.0,719.4,13.1,837,10673,0.00,2.10,0.00,0.000,6,0.000,0.043,3172,1515,2036
$GC,10983,1.18,219.0,679.3,12.5,853,10986,0.00,2.17,0.00,0.000,4,0.000,0.060,3169,2890,2035
$GC,11061,1.18,219.0,668.7,13.1,856,11065,0.12,2.05,0.00,0.000,6,0.201,0.041,3149,1537,2035
$GC,11383,1.22,249.1,632.3,10.9,872,11413,0.00,2.15,25.33,1.236,4,0.000,0.056,3149,2887,1929
$GC,11511,1.22,251.6,616.4,11.9,877,11517,0.00,2.03,0.00,0.000,6,0.000,0.042,3156,1566,1925
$GC,11828,1.25,278.8,581.2,11.0,893,11872,0.00,2.15,29.38,1.127,4,0.000,0.053,3157,2888,1807
$GC,11922,1.25,278.8,568.4,13.0,897,11926,0.00,2.03,0.00,0.000,6,0.000,0.045,3166,1575,1806
$GC,12249,1.25,278.8,526.4,13.0,913,12253,0.00,2.05,0.00,0.000,4,0.000,0.053,3167,2891,1804
$GC,12306,1.25,278.8,518.5,13.4,915,12310,0.00,1.95,0.00,0.000,6,0.000,0.040,3176,1588,1803
$GC,12633,1.27,291.9,476.8,11.5,939,12659,0.00,2.08,14.60,0.943,4,0.000,0.052,3177,2888,1755
$GC,12751,1.28,304.2,462.5,11.5,949,12779,0.00,1.95,14.80,0.927,6,0.000,0.039,3185,1598,1704
$GC,13098,1.28,304.2,420.6,12.3,982,13101,0.00,2.00,0.00,0.000,4,0.000,0.051,3186,2891,1701
$GC,13234,1.28,304.2,403.6,12.5,994,13238,0.00,1.88,0.00,0.000,6,0.000,0.040,3194,1651,1701
$GC,13567,1.29,312.6,363.2,11.7,1025,13582,0.00,2.30,8.77,0.922,4,0.000,0.049,3206,197,1670
$GC,13739,1.29,312.6,340.6,13.6,1040,13746,0.00,2.20,0.00,0.000,6,0.000,0.039,3206,1653,1670
$GC,14069,1.31,327.2,301.9,11.5,1071,14091,0.00,1.95,14.70,0.930,4,0.000,0.048,3207,2896,1610
$GC,14131,1.31,327.2,293.6,12.1,1081,14137,0.00,1.92,0.00,0.000,6,0.000,0.037,3215,1615,1609
$GC,14476,1.39,389.9,253.5,9.7,1142,14539,0.00,2.03,55.80,0.918,4,0.000,0.044,3215,2895,1354
$GC,14569,1.39,389.9,242.8,12.2,1157,14575,0.00,1.88,0.00,0.000,6,0.000,0.035,3223,1654,1353
$GC,14914,1.39,389.9,199.7,13.1,1218,14921,0.00,1.90,0.00,0.000,4,0.000,0.043,3224,2891,1351
$GC,15038,1.39,389.9,182.1,15.1,1239,15045,0.00,1.85,0.00,0.000,6,0.000,0.035,3231,1666,1351
$GC,15383,1.43,420.1,137.3,10.9,1300,15415,0.00,0.00,27.17,0.790,6,0.000,0.000,3232,1666,1231
$GC,15754,1.47,452.7,94.4,10.8,1365,15788,0.00,1.95,29.33,0.744,4,0.000,0.039,3232,2908,1098
$GC,15859,1.47,452.7,81.7,12.8,1382,15866,0.00,1.88,0.00,0.000,6,0.000,0.032,3240,1659,1099
$GC,16206,1.55,520.5,44.3,9.5,1443,16269,0.00,2.33,58.30,0.696,4,0.000,0.043,3251,200,823
$GC,16377,1.58,549.2,26.6,10.9,1471,16409,0.00,2.30,25.95,0.654,6,0.000,0.029,3251,1766,705
$STATE,16582,end climb,SURFACE_DEPTH_REACHED
$STATE,16582,begin surface coast
$FINISH,0.7,1.003308
$STATE,16606,end surface coast,CONTROL_FINISHED_OK
$STATE,16606,begin surface
$SM_CCo,16686,0.00,0.000,0,0,702,550.21
$SM_GC,1.54,8.05,0.00,0.00,0.034,0.000,0.000,139,1895,702,-8.10,0.99,550.21
$IRIDIUM_FIX,2408.65,12519.07,271098,040424
$TT8_MAMPS,0.026845
$HUMID,1610
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,166
$24V_AH,23.1,93.305
$10V_AH,10.6,61.777
$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,20.125,160.350,689.950,0.000,0.000,26.199,31.733,223.618,49.500,0.000,0.000,30.132,2649.839,9780.015,794.592,3172.567,741.761,0.000,2252.199,0.000,3123.600,0.000,57.493,0.000
$DEVICE_MAMPS,233.935,65.195,1452.698,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.907,1034.279,1738.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88568,1511
$CAP_FILE_SIZE,163475,0
$CFSIZE,260165632,200163328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.205,105.2,1
$GPS,020809,133231,2418.603,12521.739,43,1.6,43,-3.6