version: 66.04
glider: 166
mission: 2
dive: 429
start: 8 2 109 13 43 54
data:
$ID,166
$MISSION,2
$DIVE,429
$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,-14078.48
$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,71
$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
$GPS1,133231,2418.603,12521.739,43,1.6,43,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.5
$GPS2,134330,2418.586,12521.869,37,1.8,45,-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,308.6,22318,-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,13,begin dive
$GC,16,-1.18,-219.0,0.0,0.0,0,94,0.00,0.00,-75.82,0.000,2,0.000,0.000,148,1895,2418
$GC,97,-1.18,-219.0,3.3,-5.6,11,151,9.35,2.25,-38.10,0.000,4,0.238,0.051,2383,442,3840
$GC,243,-1.18,-219.0,29.7,-19.8,35,249,0.00,2.05,0.00,0.000,6,0.000,0.031,2378,1846,3841
$GC,588,-1.18,-219.0,92.9,-17.3,96,595,0.00,2.10,0.00,0.000,4,0.000,0.040,2378,442,3841
$GC,665,-1.18,-219.0,105.8,-17.7,109,672,0.00,2.15,0.00,0.000,6,0.000,0.031,2371,1920,3841
$GC,1010,-1.18,-219.0,159.1,-15.1,170,1016,0.00,2.20,0.00,0.000,4,0.000,0.041,2381,445,3842
$GC,1114,-1.18,-219.0,174.8,-15.4,188,1121,0.00,2.22,0.00,0.000,6,0.000,0.031,2369,1950,3842
$GC,1463,-1.18,-219.0,222.7,-13.2,249,1469,0.00,1.95,0.00,0.000,4,0.000,0.044,2370,3267,3842
$GC,1578,-1.18,-219.0,239.8,-14.5,269,1583,0.00,1.85,0.00,0.000,6,0.000,0.028,2367,1972,3842
$GC,1924,-1.18,-219.0,287.5,-12.0,330,1931,0.00,2.28,0.00,0.000,4,0.000,0.041,2366,438,3842
$GC,1960,-1.18,-219.0,292.4,-13.6,336,1968,0.00,2.28,0.00,0.000,6,0.000,0.030,2361,1986,3842
$GC,2290,-1.18,-219.0,333.3,-12.3,372,2293,0.00,1.90,0.00,0.000,4,0.000,0.044,2358,3264,3841
$GC,2380,-1.18,-219.0,345.4,-13.5,380,2384,0.00,1.85,0.00,0.000,6,0.000,0.028,2356,1972,3841
$GC,2711,-1.18,-219.0,387.0,-12.6,411,2715,0.10,1.95,0.00,0.000,4,0.152,0.044,2378,3265,3840
$GC,2780,-1.18,-219.0,395.6,-12.5,417,2783,0.00,1.80,0.00,0.000,6,0.000,0.029,2379,2005,3839
$GC,3110,-1.18,-219.0,434.9,-11.8,448,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2005,3838
$GC,3431,-1.18,-219.0,470.3,-10.9,478,3435,0.00,1.92,0.00,0.000,4,0.000,0.048,2376,3273,3835
$GC,3534,-1.18,-219.0,482.2,-11.0,487,3538,0.00,1.83,0.00,0.000,6,0.000,0.031,2377,2011,3834
$GC,3860,-1.18,-219.0,518.6,-11.3,510,3864,0.00,1.92,0.00,0.000,4,0.000,0.048,2377,3264,3832
$GC,3885,-1.18,-219.0,521.3,-11.3,511,3889,0.00,1.80,0.00,0.000,6,0.000,0.031,2377,2027,3832
$GC,4219,-1.18,-219.0,561.1,-11.7,527,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2027,3829
$GC,4527,-1.18,-219.0,594.7,-10.4,542,4531,0.00,1.90,0.00,0.000,4,0.000,0.051,2376,3261,3826
$GC,4574,-1.18,-219.0,599.4,-10.6,544,4579,0.00,1.80,0.00,0.000,6,0.000,0.033,2378,2035,3826
$GC,4907,-1.18,-219.0,631.5,-9.6,560,4911,0.00,1.90,0.00,0.000,4,0.000,0.051,2369,3270,3823
$GC,4941,-1.18,-219.0,635.0,-10.5,561,4944,0.00,1.77,0.00,0.000,6,0.000,0.035,2369,2060,3822
$GC,5265,-1.18,-219.0,667.7,-10.4,577,5269,0.00,2.47,0.00,0.000,4,0.000,0.048,2370,440,3820
$GC,5288,-1.18,-219.0,670.5,-11.0,578,5292,0.00,2.45,0.00,0.000,6,0.000,0.037,2359,2076,3818
$GC,5616,-1.18,-219.0,705.6,-10.7,594,5619,0.00,1.83,0.00,0.000,4,0.000,0.054,2354,3266,3816
$GC,5643,-1.18,-219.0,709.0,-12.1,595,5647,0.12,1.80,0.00,0.000,6,0.153,0.035,2386,2043,3816
$GC,5971,-1.18,-219.0,744.1,-11.0,611,5975,0.00,1.90,0.00,0.000,4,0.000,0.054,2379,3266,3812
$GC,6022,-1.18,-219.0,749.9,-11.4,613,6026,0.00,1.75,0.00,0.000,6,0.000,0.036,2380,2078,3812
$GC,6351,-1.18,-219.0,785.3,-10.6,629,6355,0.00,2.53,0.00,0.000,4,0.000,0.051,2380,442,3810
$GC,6429,-1.18,-219.0,794.7,-11.6,632,6436,0.00,2.45,0.00,0.000,6,0.000,0.040,2368,2066,3808
$GC,6746,-1.18,-219.0,827.3,-10.3,648,6750,0.00,2.50,0.00,0.000,4,0.000,0.051,2370,453,3806
$GC,6812,-1.18,-219.0,835.0,-11.3,651,6816,0.00,2.42,0.00,0.000,6,0.000,0.042,2361,2038,3805
$GC,7137,-1.18,-219.0,871.1,-11.5,667,7141,0.00,1.90,0.00,0.000,4,0.000,0.064,2361,3265,3803
$GC,7173,-1.18,-219.0,875.4,-12.3,668,7176,0.00,1.85,0.00,0.000,6,0.000,0.039,2360,2025,3803
$GC,7494,-1.18,-219.0,913.6,-11.6,684,7499,0.00,2.47,0.00,0.000,4,0.000,0.060,2368,446,3802
$GC,7522,-1.18,-219.0,917.1,-13.1,685,7526,0.00,2.45,0.00,0.000,6,0.000,0.048,2361,2033,3802
$GC,7839,-1.18,-219.0,955.7,-11.8,700,7843,0.00,1.92,0.00,0.000,4,0.000,0.064,2358,3246,3799
$GC,7911,-1.18,-219.0,964.9,-12.9,703,7914,0.00,1.80,0.00,0.000,6,0.000,0.041,2356,2044,3799
$STATE,8133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8133,begin apogee
$GC,8142,-0.26,0.0,992.1,12.1,714,8340,1.05,0.00,189.43,1.443,6,0.132,0.000,2681,1473,2945
$STATE,8341,end apogee,CONTROL_FINISHED_OK
$STATE,8341,begin climb
$GC,8344,1.18,219.0,1004.6,0.0,724,8548,1.30,2.38,195.55,1.413,4,0.051,0.055,3142,2880,2051
$GC,8599,1.18,219.0,985.2,14.3,736,8607,0.00,2.20,0.00,0.000,6,0.000,0.045,3152,1475,2047
$GC,8915,1.18,219.0,941.2,13.9,752,8919,0.00,2.22,0.00,0.000,4,0.000,0.054,3151,2889,2043
$GC,9016,1.18,219.0,927.1,13.3,756,9020,0.00,2.12,0.00,0.000,6,0.000,0.044,3160,1502,2042
$GC,9338,1.18,219.0,884.5,12.9,772,9341,0.00,2.03,0.00,0.000,4,0.000,0.058,3169,205,2041
$GC,9393,1.18,219.0,876.9,13.3,774,9397,0.00,1.98,0.00,0.000,6,0.000,0.044,3169,1505,2041
$GC,9715,1.18,219.0,834.6,13.2,790,9718,0.00,2.15,0.00,0.000,4,0.000,0.054,3168,2890,2039
$GC,9761,1.18,219.0,828.2,14.1,792,9766,0.15,2.10,0.00,0.000,6,0.198,0.044,3144,1509,2039
$GC,10094,1.18,219.0,786.1,12.4,808,10097,0.00,2.17,0.00,0.000,4,0.000,0.056,3141,2895,2038
$GC,10178,1.18,219.0,774.9,12.8,811,10183,0.00,2.08,0.00,0.000,6,0.000,0.044,3149,1535,2037
$GC,10495,1.18,219.0,733.9,13.2,827,10499,0.00,2.12,0.00,0.000,4,0.000,0.062,3149,2890,2037
$GC,10595,1.18,219.0,719.9,13.9,831,10598,0.00,2.03,0.00,0.000,6,0.000,0.044,3159,1563,2036
$GC,10917,1.18,219.0,677.7,12.9,847,10921,0.00,2.15,0.00,0.000,4,0.000,0.058,3169,196,2036
$GC,10940,1.18,219.0,674.5,13.4,848,10944,0.00,2.12,0.00,0.000,6,0.000,0.044,3169,1582,2036
$GC,11273,1.18,219.0,630.1,13.4,864,11277,0.00,2.03,0.00,0.000,4,0.000,0.054,3168,2894,2035
$GC,11436,1.18,219.0,608.3,13.4,871,11440,0.12,2.00,0.00,0.000,6,0.200,0.044,3149,1580,2034
$GC,11765,1.21,247.8,570.9,10.9,887,11804,0.00,0.00,26.17,1.120,6,0.000,0.000,3149,1579,1933
$GC,12114,1.22,250.1,529.1,11.9,904,12117,0.00,2.05,0.00,0.000,4,0.000,0.054,3148,2894,1929
$GC,12216,1.23,259.2,516.8,11.7,908,12239,0.00,1.95,13.12,0.934,6,0.000,0.043,3156,1610,1888
$GC,12561,1.27,291.3,477.4,10.8,934,12606,0.00,2.08,31.98,1.061,4,0.000,0.053,3159,2892,1756
$GC,12715,1.28,301.2,460.0,11.6,947,12734,0.00,1.92,10.30,1.001,6,0.000,0.041,3169,1633,1717
$GC,13052,1.29,307.1,421.2,11.8,979,13064,0.00,2.03,6.70,0.898,4,0.000,0.051,3171,2894,1693
$GC,13092,1.29,310.5,416.1,11.9,982,13102,0.00,1.98,4.70,0.760,6,0.000,0.041,3178,1612,1679
$GC,13428,1.31,322.7,375.1,11.6,1014,13450,0.00,2.28,12.93,0.978,4,0.000,0.053,3190,199,1628
$GC,13588,1.31,322.7,355.9,12.6,1028,13592,0.00,2.17,0.00,0.000,6,0.000,0.040,3192,1629,1627
$GC,13922,1.31,322.7,316.1,13.2,1059,13926,0.00,1.95,0.00,0.000,4,0.000,0.048,3193,2912,1626
$GC,14038,1.31,322.7,300.6,12.8,1069,14044,0.00,1.95,0.00,0.000,6,0.000,0.038,3199,1608,1625
$GC,14384,1.36,368.4,262.4,10.3,1130,14433,0.00,2.28,40.75,0.922,4,0.000,0.050,3211,196,1443
$GC,14445,1.38,386.0,255.5,11.3,1140,14470,0.00,2.25,17.10,0.858,6,0.000,0.037,3210,1672,1370
$GC,14809,1.38,386.0,209.1,12.3,1204,14816,0.00,1.88,0.00,0.000,4,0.000,0.044,3210,2896,1367
$GC,14903,1.38,386.0,197.1,13.7,1220,14910,0.00,1.88,0.00,0.000,6,0.000,0.037,3213,1658,1367
$GC,15250,1.40,397.5,155.2,11.6,1281,15268,0.00,2.28,11.50,0.752,4,0.000,0.051,3226,193,1324
$GC,15315,1.40,399.0,146.9,11.9,1292,15323,0.00,2.30,0.00,0.000,6,0.000,0.034,3225,1711,1324
$GC,15662,1.48,460.2,109.1,9.8,1353,15725,0.00,1.85,55.20,0.762,4,0.000,0.044,3229,2895,1068
$GC,15819,1.48,460.2,91.3,12.4,1379,15825,0.00,1.77,0.00,0.000,6,0.000,0.034,3237,1717,1068
$GC,16163,1.50,479.8,53.4,11.3,1440,16189,0.00,2.38,18.23,0.673,4,0.000,0.044,3243,194,988
$GC,16221,1.54,512.0,47.0,10.8,1449,16259,0.00,2.35,28.70,0.677,6,0.000,0.030,3243,1765,857
$GC,16598,1.54,512.0,5.0,12.8,1515,16604,0.00,1.70,0.00,0.000,4,0.000,0.040,3242,2897,857
$STATE,16609,end climb,SURFACE_DEPTH_REACHED
$STATE,16609,begin surface coast
$FINISH,0.8,1.010715
$STATE,16632,end surface coast,CONTROL_FINISHED_OK
$STATE,16632,begin surface
$SM_CCo,16713,0.00,0.000,0,0,855,512.68
$SM_GC,1.55,8.10,0.00,0.00,0.038,0.000,0.000,143,1827,855,-8.11,-0.93,512.68
$IRIDIUM_FIX,2411.01,12520.44,271098,131354
$TT8_MAMPS,0.026845
$HUMID,1602
$INTERNAL_PRESSURE,9.95614
$TCM_TEMP,25.50
$XPDR_PINGS,157
$24V_AH,23.1,93.555
$10V_AH,10.6,61.932
$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,20.300,157.775,662.350,0.000,0.000,49.591,67.501,278.581,47.250,0.000,0.000,45.460,2651.538,9887.549,797.485,3169.257,851.528,0.000,2223.995,0.000,3104.744,0.000,56.482,0.000
$DEVICE_MAMPS,237.770,63.661,1443.494,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.017,1047.021,1761.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88598,1521
$CAP_FILE_SIZE,163492,0
$CFSIZE,260165632,200073216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.187,107.8,1
$GPS,020809,182337,2418.708,12522.551,32,1.2,32,-3.6