version: 66.04
glider: 166
mission: 2
dive: 431
start: 8 2 109 23 31 37
data:
$ID,166
$MISSION,2
$DIVE,431
$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,-14130.406
$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,1950
$C_ROLL_CLIMB,1585
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,44
$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
$GPS1,232300,2419.608,12523.348,40,1.7,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.9
$GPS2,233116,2419.622,12523.467,14,99.0,33,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2429.500,12525.200
$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,335.1,18526,-17.3,-12.000
$D_GRID,1715
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-219.0,0.0,0.0,0,99,0.00,0.00,-78.60,0.000,2,0.000,0.000,201,1817,2427
$GC,102,-1.18,-219.0,3.3,-5.9,12,155,8.95,2.38,-36.33,0.000,4,0.230,0.055,2360,3361,3838
$GC,275,-1.18,-219.0,38.4,-21.2,41,282,0.00,2.10,0.00,0.000,6,0.000,0.031,2365,1921,3839
$GC,621,-1.18,-219.0,101.8,-16.4,102,628,0.00,2.20,0.00,0.000,4,0.000,0.044,2369,3351,3839
$GC,685,-1.18,-219.0,112.5,-17.5,113,693,0.00,2.00,0.00,0.000,6,0.000,0.029,2370,1987,3840
$GC,1032,-1.18,-219.0,166.3,-14.6,174,1038,0.00,2.08,0.00,0.000,4,0.000,0.044,2365,3363,3841
$GC,1127,-1.18,-219.0,180.3,-14.8,190,1133,0.00,1.95,0.00,0.000,6,0.000,0.028,2365,2027,3841
$GC,1474,-1.18,-219.0,230.4,-13.5,251,1479,0.00,2.00,0.00,0.000,4,0.000,0.044,2361,3352,3841
$GC,1647,-1.18,-219.0,254.2,-13.9,281,1654,0.00,1.88,0.00,0.000,6,0.000,0.028,2357,2044,3841
$GC,1996,-1.18,-219.0,300.8,-14.4,342,2000,0.00,1.98,0.00,0.000,4,0.000,0.045,2356,3351,3841
$GC,2031,-1.18,-219.0,306.4,-14.8,345,2035,0.10,1.83,0.00,0.000,6,0.162,0.029,2381,2075,3841
$GC,2361,-1.18,-219.0,345.0,-10.7,376,2365,0.00,1.95,0.00,0.000,4,0.000,0.046,2377,3365,3840
$GC,2390,-1.18,-219.0,348.2,-11.5,378,2396,0.00,1.83,0.00,0.000,6,0.000,0.029,2377,2112,3840
$GC,2715,-1.18,-219.0,383.0,-10.8,409,2719,0.00,2.33,0.00,0.000,4,0.000,0.041,2379,553,3839
$GC,2738,-1.18,-219.0,385.7,-11.1,410,2744,0.00,2.33,0.00,0.000,6,0.000,0.033,2377,2137,3838
$GC,3066,-1.18,-219.0,422.2,-11.1,441,3070,0.00,1.85,0.00,0.000,4,0.000,0.048,2375,3364,3836
$GC,3139,-1.18,-219.0,431.3,-12.2,447,3145,0.00,1.77,0.00,0.000,6,0.000,0.030,2376,2132,3836
$GC,3467,-1.18,-219.0,466.5,-10.6,478,3471,0.00,2.38,0.00,0.000,4,0.000,0.043,2376,550,3834
$GC,3490,-1.18,-219.0,469.2,-10.6,479,3496,0.00,2.40,0.00,0.000,6,0.000,0.035,2375,2166,3834
$GC,3816,-1.18,-219.0,504.6,-11.1,508,3819,0.00,1.80,0.00,0.000,4,0.000,0.050,2375,3358,3832
$GC,3863,-1.18,-219.0,510.1,-11.2,510,3867,0.00,1.73,0.00,0.000,6,0.000,0.031,2375,2164,3831
$GC,4197,-1.18,-219.0,546.9,-11.3,526,4201,0.00,2.42,0.00,0.000,4,0.000,0.044,2376,561,3828
$GC,4259,-1.18,-219.0,554.5,-12.1,529,4264,0.00,2.42,0.00,0.000,6,0.000,0.037,2375,2178,3828
$GC,4588,-1.18,-219.0,588.8,-10.0,545,4592,0.00,2.47,0.00,0.000,4,0.000,0.045,2376,559,3825
$GC,4611,-1.18,-219.0,591.7,-11.2,546,4615,0.00,2.42,0.00,0.000,6,0.000,0.038,2369,2173,3824
$GC,4933,-1.18,-219.0,624.6,-10.1,562,4940,0.00,1.80,0.00,0.000,4,0.000,0.051,2366,3360,3822
$GC,4992,-1.18,-219.0,631.0,-11.1,564,4996,0.00,1.70,0.00,0.000,6,0.000,0.034,2364,2191,3821
$GC,5314,-1.18,-219.0,665.3,-10.9,580,5318,0.00,2.50,0.00,0.000,4,0.000,0.048,2365,556,3818
$GC,5377,-1.18,-219.0,672.8,-12.3,583,5381,0.00,2.50,0.00,0.000,6,0.000,0.040,2359,2203,3817
$GC,5705,-1.18,-219.0,709.4,-10.9,599,5709,0.00,2.55,0.00,0.000,4,0.000,0.049,2359,552,3814
$GC,5800,-1.18,-219.0,720.8,-11.3,603,5805,0.12,2.45,0.00,0.000,6,0.161,0.041,2388,2163,3813
$GC,6117,-1.18,-219.0,753.5,-10.6,618,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2163,3811
$GC,6426,-1.18,-219.0,785.2,-9.8,633,6429,0.00,1.83,0.00,0.000,4,0.000,0.058,2400,3346,3809
$GC,6455,-1.18,-219.0,788.2,-10.2,634,6458,0.00,1.77,0.00,0.000,6,0.000,0.038,2398,2169,3808
$GC,6782,-1.18,-219.0,820.6,-9.9,650,6787,0.00,2.50,0.00,0.000,4,0.000,0.052,2399,553,3806
$GC,6891,-1.18,-219.0,832.0,-9.9,655,6895,0.00,2.42,0.00,0.000,6,0.000,0.048,2390,2124,3805
$GC,7220,-1.18,-219.0,864.6,-10.1,671,7224,0.00,2.42,0.00,0.000,4,0.000,0.051,2393,565,3803
$GC,7242,-1.18,-219.0,867.3,-10.4,672,7246,0.00,2.38,0.00,0.000,6,0.000,0.044,2383,2108,3803
$GC,7570,-1.18,-219.0,904.1,-11.4,688,7574,0.00,2.40,0.00,0.000,4,0.000,0.052,2383,567,3801
$GC,7610,-1.18,-219.0,909.1,-12.8,690,7614,0.00,2.35,0.00,0.000,6,0.000,0.043,2369,2097,3800
$GC,7937,-1.18,-219.0,948.5,-12.0,706,7941,0.00,2.40,0.00,0.000,4,0.000,0.053,2369,562,3798
$GC,7958,-1.18,-219.0,951.5,-12.8,707,7962,0.00,2.35,0.00,0.000,6,0.000,0.045,2359,2082,3798
$GC,8281,-1.18,-219.0,989.8,-11.9,723,8285,0.00,2.00,0.00,0.000,4,0.000,0.061,2352,3346,3796
$STATE,8289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8289,begin apogee
$GC,8298,-0.26,0.0,991.6,12.0,723,8491,1.02,0.00,187.90,1.462,6,0.135,0.000,2667,1596,2945
$STATE,8492,end apogee,CONTROL_FINISHED_OK
$STATE,8492,begin climb
$GC,8496,1.18,219.0,1004.5,0.0,733,8701,1.30,2.33,195.25,1.419,4,0.054,0.064,3156,205,2051
$GC,8746,1.18,219.0,987.3,14.2,744,8750,0.00,2.15,0.00,0.000,6,0.000,0.041,3154,1590,2047
$GC,9068,1.18,219.0,945.2,13.2,760,9071,0.00,2.20,0.00,0.000,4,0.000,0.055,3150,3001,2043
$GC,9118,1.18,219.0,938.0,13.6,762,9121,0.00,2.17,0.00,0.000,6,0.000,0.044,3160,1579,2042
$GC,9445,1.18,219.0,894.7,13.4,778,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1579,2041
$GC,9755,1.18,219.0,854.6,13.0,793,9759,0.00,2.22,0.00,0.000,4,0.000,0.061,3159,2988,2040
$GC,9871,1.18,219.0,838.6,13.7,798,9875,0.00,2.15,0.00,0.000,6,0.000,0.044,3168,1579,2038
$GC,10199,1.18,219.0,794.1,13.9,814,10202,0.00,2.22,0.00,0.000,4,0.000,0.056,3165,2992,2038
$GC,10268,1.18,219.0,784.0,16.1,817,10272,0.00,2.15,0.00,0.000,6,0.000,0.045,3173,1602,2037
$GC,10601,1.18,219.0,737.6,14.0,833,10605,0.00,2.20,0.00,0.000,4,0.000,0.055,3183,198,2037
$GC,10626,1.18,219.0,734.2,14.1,834,10631,0.15,2.20,0.00,0.000,6,0.195,0.043,3149,1637,2036
$GC,10954,1.20,237.1,695.0,11.3,850,10976,0.00,2.15,15.15,1.245,4,0.000,0.055,3139,3001,1976
$GC,11068,1.20,237.1,680.0,13.4,855,11072,0.00,2.08,0.00,0.000,6,0.000,0.042,3146,1645,1975
$GC,11402,1.20,237.1,639.3,12.3,871,11405,0.00,2.12,0.00,0.000,4,0.000,0.055,3146,3000,1974
$GC,11435,1.20,237.1,634.5,13.5,872,11438,0.00,2.03,0.00,0.000,6,0.000,0.042,3155,1666,1974
$GC,11756,1.20,237.1,593.0,12.9,888,11760,0.00,2.30,0.00,0.000,4,0.000,0.055,3166,196,1973
$GC,11812,1.20,237.1,585.8,12.6,890,11818,0.00,2.28,0.00,0.000,6,0.000,0.043,3165,1685,1973
$GC,12128,1.25,274.7,550.0,10.6,906,12169,0.00,0.00,34.15,1.183,6,0.000,0.000,3165,1685,1824
$GC,12479,1.27,297.2,509.0,11.2,923,12514,0.00,2.10,23.15,1.049,4,0.000,0.054,3166,2988,1732
$GC,12594,1.27,297.2,494.6,13.0,929,12601,0.00,2.00,0.00,0.000,6,0.000,0.042,3175,1684,1731
$GC,12923,1.27,297.2,451.8,13.7,960,12927,0.00,2.33,0.00,0.000,4,0.000,0.054,3189,199,1729
$GC,12941,1.27,297.2,449.1,13.3,961,12945,0.00,2.28,0.00,0.000,6,0.000,0.041,3189,1694,1729
$GC,13274,1.27,297.2,405.5,12.3,992,13278,0.00,2.35,0.00,0.000,4,0.000,0.053,3203,197,1729
$GC,13397,1.27,297.2,390.2,13.1,1002,13403,0.00,2.20,0.00,0.000,6,0.000,0.041,3200,1647,1728
$GC,13725,1.30,316.7,350.5,11.3,1033,13749,0.00,2.35,18.55,0.997,4,0.000,0.052,3212,198,1652
$GC,13881,1.31,327.1,331.2,11.6,1046,13898,0.00,2.25,10.55,0.919,6,0.000,0.040,3213,1677,1611
$GC,14223,1.31,327.1,289.3,12.1,1085,14230,0.00,2.30,0.00,0.000,4,0.000,0.051,3224,204,1609
$GC,14299,1.31,327.1,279.6,12.5,1098,14306,0.15,2.22,0.00,0.000,6,0.173,0.038,3188,1687,1609
$GC,14648,1.38,386.7,243.9,9.8,1159,14708,0.00,2.38,52.95,0.917,4,0.000,0.048,3197,192,1368
$GC,14807,1.41,404.4,225.9,11.3,1186,14839,0.00,2.30,19.05,0.779,6,0.000,0.036,3197,1688,1295
$GC,15180,1.47,459.2,182.5,10.0,1251,15238,0.12,2.08,48.72,0.843,4,0.073,0.046,3255,2992,1072
$GC,15298,1.47,459.2,167.3,13.7,1270,15304,0.00,1.95,0.00,0.000,6,0.000,0.035,3262,1720,1072
$GC,15644,1.47,459.2,118.8,12.7,1331,15650,0.00,2.33,0.00,0.000,4,0.000,0.046,3274,200,1070
$GC,15686,1.47,459.2,113.2,13.1,1338,15693,0.12,2.35,0.00,0.000,6,0.175,0.033,3242,1789,1069
$GC,16033,1.51,488.9,73.6,10.9,1399,16066,0.00,1.83,26.88,0.729,4,0.000,0.041,3242,3002,950
$GC,16146,1.57,537.2,61.3,10.2,1418,16197,0.00,2.05,42.22,0.714,6,0.000,0.033,3249,1645,754
$GC,16540,1.60,563.3,18.2,11.0,1486,16572,0.00,2.28,23.98,0.652,4,0.000,0.046,3250,199,647
$GC,16643,1.60,563.3,6.1,12.5,1503,16650,0.00,2.28,0.00,0.000,6,0.000,0.029,3249,1752,647
$STATE,16665,end climb,SURFACE_DEPTH_REACHED
$STATE,16665,begin surface coast
$FINISH,0.7,1.007671
$STATE,16689,end surface coast,CONTROL_FINISHED_OK
$STATE,16689,begin surface
$SM_CCo,16769,0.00,0.000,0,0,646,563.94
$SM_GC,1.56,8.15,0.00,0.00,0.040,0.000,0.000,156,1989,646,-8.09,1.13,563.94
$IRIDIUM_FIX,2411.01,12523.74,271098,181854
$TT8_MAMPS,0.026845
$HUMID,1620
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.50
$XPDR_PINGS,144
$24V_AH,22.8,94.081
$10V_AH,10.6,62.241
$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,20.200,170.950,698.500,0.000,0.000,22.999,41.180,241.937,44.000,0.000,0.000,34.350,2635.105,9936.336,790.680,3125.333,760.813,0.000,2239.946,0.000,3066.176,0.000,54.428,0.000
$DEVICE_MAMPS,230.100,64.428,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1022.548,1028.927,1731.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88468,1511
$CAP_FILE_SIZE,163856,0
$CFSIZE,260165632,199888896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.248, 95.6,1
$GPS,030809,041225,2420.423,12525.367,40,1.1,40,-3.7