version: 66.04
glider: 166
mission: 2
dive: 434
start: 8 3 109 14 6 6
data:
$ID,166
$MISSION,2
$DIVE,434
$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,-14198.236
$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,39
$R_STBD_OVSHOOT,64
$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
$GPS1,135406,2420.882,12527.671,36,1.0,36,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.5
$GPS2,140543,2420.901,12527.877,15,1.6,15,-3.7
$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,316.1,16552,-17.3,-12.000
$D_GRID,1488
$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,-219.0,0.0,0.0,0,103,0.00,0.00,-85.72,0.000,2,0.000,0.000,114,1990,2475
$GC,107,-1.18,-219.0,3.3,-5.7,13,159,8.93,2.17,-34.78,0.000,4,0.221,0.048,2371,531,3837
$GC,247,-1.18,-219.0,29.9,-20.0,36,254,0.00,2.05,0.00,0.000,6,0.000,0.030,2366,1937,3838
$GC,594,-1.18,-219.0,88.9,-16.0,97,600,0.00,2.10,0.00,0.000,4,0.000,0.043,2367,3355,3839
$GC,652,-1.18,-219.0,98.4,-16.4,107,659,0.00,2.05,0.00,0.000,6,0.000,0.027,2369,1915,3838
$GC,1000,-1.18,-219.0,152.0,-14.8,168,1007,0.00,2.15,0.00,0.000,4,0.000,0.041,2358,3360,3840
$GC,1065,-1.18,-219.0,162.5,-16.0,179,1071,0.00,2.00,0.00,0.000,6,0.000,0.027,2362,1971,3840
$GC,1409,-1.18,-219.0,211.1,-12.4,240,1416,0.00,2.08,0.00,0.000,4,0.000,0.038,2363,550,3839
$GC,1456,-1.18,-219.0,217.8,-14.1,248,1465,0.12,2.05,0.00,0.000,6,0.160,0.029,2388,1970,3839
$GC,1804,-1.18,-219.0,260.2,-13.2,309,1810,0.00,2.10,0.00,0.000,4,0.000,0.038,2387,551,3839
$GC,1885,-1.18,-219.0,271.2,-14.2,323,1891,0.00,2.12,0.00,0.000,6,0.000,0.030,2383,2020,3839
$GC,2223,-1.18,-219.0,312.5,-10.9,374,2227,0.00,1.98,0.00,0.000,4,0.000,0.044,2380,3347,3838
$GC,2274,-1.18,-219.0,318.3,-11.5,378,2280,0.00,1.92,0.00,0.000,6,0.000,0.028,2380,2015,3837
$GC,2600,-1.18,-219.0,354.7,-11.2,409,2604,0.00,2.15,0.00,0.000,4,0.000,0.039,2381,559,3837
$GC,2628,-1.18,-219.0,358.5,-13.0,411,2634,0.00,2.12,0.00,0.000,6,0.000,0.031,2380,2015,3837
$GC,2956,-1.18,-219.0,398.1,-11.7,442,2960,0.00,2.00,0.00,0.000,4,0.000,0.047,2380,3352,3835
$GC,3046,-1.18,-219.0,409.1,-11.1,450,3050,0.00,1.88,0.00,0.000,6,0.000,0.028,2380,2039,3834
$GC,3381,-1.18,-219.0,444.3,-10.6,481,3385,0.00,1.98,0.00,0.000,4,0.000,0.047,2378,3346,3833
$GC,3421,-1.18,-219.0,449.3,-10.8,484,3428,0.00,1.88,0.00,0.000,6,0.000,0.029,2377,2064,3832
$GC,3748,-1.18,-219.0,485.5,-10.3,515,3752,0.00,2.25,0.00,0.000,4,0.000,0.043,2377,562,3830
$GC,3810,-1.18,-219.0,492.5,-11.1,520,3817,0.00,2.17,0.00,0.000,6,0.000,0.035,2376,2033,3830
$GC,4140,-1.18,-219.0,525.2,-10.3,540,4144,0.00,2.00,0.00,0.000,4,0.000,0.051,2378,3354,3827
$GC,4179,-1.18,-219.0,529.8,-11.1,541,4185,0.00,1.92,0.00,0.000,6,0.000,0.031,2378,2024,3826
$GC,4496,-1.18,-219.0,565.0,-11.1,557,4500,0.00,2.03,0.00,0.000,4,0.000,0.056,2379,3343,3824
$GC,4553,-1.18,-219.0,571.7,-11.8,559,4557,0.00,1.88,0.00,0.000,6,0.000,0.031,2379,2052,3823
$GC,4875,-1.18,-219.0,608.1,-11.4,575,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2052,3821
$GC,5184,-1.18,-219.0,642.8,-10.6,590,5188,0.00,2.00,0.00,0.000,4,0.000,0.054,2379,3346,3817
$GC,5219,-1.18,-219.0,646.3,-10.2,591,5222,0.00,1.88,0.00,0.000,6,0.000,0.033,2379,2065,3816
$GC,5542,-1.18,-219.0,675.7,-8.8,607,5546,0.00,1.98,0.00,0.000,4,0.000,0.054,2375,3343,3813
$GC,5581,-1.18,-219.0,679.6,-9.6,608,5589,0.00,1.88,0.00,0.000,6,0.000,0.036,2374,2095,3813
$GC,5898,-1.18,-219.0,708.6,-9.5,624,5902,0.00,2.33,0.00,0.000,4,0.000,0.048,2376,571,3810
$GC,5971,-1.18,-219.0,716.5,-11.4,627,5975,0.00,2.25,0.00,0.000,6,0.000,0.040,2376,2063,3810
$GC,6289,-1.18,-219.0,750.6,-11.1,642,6293,0.00,1.98,0.00,0.000,4,0.000,0.058,2385,3348,3807
$GC,6334,-1.18,-219.0,756.1,-12.0,644,6338,0.00,1.85,0.00,0.000,6,0.000,0.035,2382,2095,3806
$GC,6667,-1.18,-219.0,794.4,-11.2,660,6671,0.00,2.35,0.00,0.000,4,0.000,0.050,2383,565,3804
$GC,6712,-1.18,-219.0,799.9,-12.6,662,6717,0.00,2.25,0.00,0.000,6,0.000,0.040,2378,2063,3803
$GC,7040,-1.18,-219.0,834.3,-10.5,678,7043,0.00,2.00,0.00,0.000,4,0.000,0.061,2373,3339,3801
$GC,7090,-1.18,-219.0,840.3,-12.4,680,7094,0.00,1.85,0.00,0.000,6,0.000,0.038,2372,2109,3801
$GC,7418,-1.18,-219.0,877.6,-11.4,696,7422,0.00,2.40,0.00,0.000,4,0.000,0.057,2373,566,3799
$GC,7496,-1.18,-219.0,887.6,-12.5,699,7503,0.00,2.30,0.00,0.000,6,0.000,0.050,2366,2057,3798
$GC,7814,-1.18,-219.0,925.9,-12.3,715,7818,0.00,2.00,0.00,0.000,4,0.000,0.059,2358,3340,3796
$GC,7848,-1.18,-219.0,930.7,-13.5,716,7852,0.00,1.90,0.00,0.000,6,0.000,0.038,2357,2091,3796
$GC,8169,-1.18,-219.0,972.8,-12.9,732,8173,0.00,1.98,0.00,0.000,4,0.000,0.060,2353,3345,3794
$GC,8196,-1.18,-219.0,976.7,-13.7,733,8201,0.12,1.85,0.00,0.000,6,0.160,0.039,2384,2103,3794
$STATE,8315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8315,begin apogee
$GC,8323,-0.26,0.0,991.5,12.2,739,8518,0.93,0.00,187.10,1.463,6,0.122,0.000,2678,1603,2944
$STATE,8519,end apogee,CONTROL_FINISHED_OK
$STATE,8519,begin climb
$GC,8522,1.18,219.0,1006.5,0.0,749,8729,1.30,2.30,194.75,1.422,4,0.054,0.056,3150,2973,2050
$GC,8877,1.18,219.0,976.8,13.5,765,8881,0.00,2.15,0.00,0.000,6,0.000,0.044,3159,1577,2044
$GC,9210,1.18,219.0,932.8,13.1,781,9214,0.00,2.20,0.00,0.000,4,0.000,0.062,3158,2979,2042
$GC,9278,1.18,219.0,923.6,14.0,784,9282,0.00,2.12,0.00,0.000,6,0.000,0.044,3168,1587,2041
$GC,9612,1.18,219.0,876.8,14.2,800,9616,0.00,2.17,0.00,0.000,4,0.000,0.057,3178,199,2040
$GC,9695,1.18,219.0,864.2,15.0,803,9702,0.15,2.10,0.00,0.000,6,0.191,0.043,3143,1579,2040
$GC,10012,1.18,219.0,822.2,12.9,819,10016,0.00,2.17,0.00,0.000,4,0.000,0.057,3149,202,2039
$GC,10062,1.18,219.0,815.2,14.0,821,10066,0.00,2.10,0.00,0.000,6,0.000,0.047,3149,1577,2039
$GC,10391,1.18,219.0,774.0,12.6,837,10394,0.00,2.22,0.00,0.000,4,0.000,0.058,3147,2991,2038
$GC,10497,1.18,219.0,760.0,12.7,841,10504,0.00,2.15,0.00,0.000,6,0.000,0.044,3156,1581,2037
$GC,10813,1.19,229.8,722.2,11.6,857,10827,0.00,2.22,8.35,1.159,4,0.000,0.057,3167,202,2008
$GC,10869,1.19,229.8,714.8,13.9,859,10873,0.00,2.10,0.00,0.000,6,0.000,0.043,3166,1569,2007
$GC,11191,1.19,229.8,676.4,12.2,875,11195,0.00,2.15,0.00,0.000,4,0.000,0.054,3177,201,2006
$GC,11354,1.19,229.8,655.7,13.1,882,11358,0.00,2.12,0.00,0.000,6,0.000,0.043,3176,1593,2005
$GC,11682,1.19,229.8,615.3,12.4,898,11685,0.00,2.20,0.00,0.000,4,0.000,0.054,3185,193,2004
$GC,11707,1.19,229.8,612.3,12.2,899,11711,0.15,2.15,0.00,0.000,6,0.190,0.043,3151,1602,2004
$GC,12035,1.22,255.0,574.7,11.1,915,12070,0.00,2.20,25.88,1.121,4,0.000,0.053,3146,2989,1904
$GC,12217,1.24,266.3,552.0,11.6,922,12233,0.00,2.10,11.48,1.097,6,0.000,0.042,3154,1616,1859
$GC,12558,1.24,268.4,512.1,11.9,939,12562,0.00,2.15,0.00,0.000,4,0.000,0.054,3154,2988,1856
$GC,12672,1.27,293.5,498.8,11.1,944,12709,0.00,2.03,27.38,1.062,6,0.000,0.041,3163,1652,1747
$GC,13037,1.32,334.2,459.8,10.5,978,13086,0.00,2.33,39.40,1.054,4,0.000,0.054,3175,206,1581
$GC,13173,1.32,334.2,443.0,13.0,989,13180,0.00,2.30,0.00,0.000,6,0.000,0.041,3177,1697,1577
$GC,13501,1.33,341.5,402.8,11.7,1020,13513,0.00,2.42,7.00,0.890,4,0.000,0.052,3188,198,1552
$GC,13620,1.33,341.5,388.8,12.4,1030,13626,0.00,2.30,0.00,0.000,6,0.000,0.040,3188,1711,1551
$GC,13949,1.33,341.5,349.3,12.2,1061,13952,0.00,1.95,0.00,0.000,4,0.000,0.050,3189,2989,1551
$GC,13988,1.35,354.7,343.9,11.5,1064,14007,0.00,1.95,13.60,0.953,6,0.000,0.039,3198,1708,1498
$GC,14324,1.35,359.3,302.0,11.8,1096,14336,0.00,2.33,5.28,0.737,4,0.000,0.050,3209,205,1480
$GC,14456,1.36,370.3,286.5,11.6,1117,14475,0.00,2.35,11.82,0.885,6,0.000,0.037,3209,1765,1435
$GC,14816,1.39,393.6,246.7,11.1,1180,14842,0.00,1.92,21.85,0.890,4,0.000,0.046,3210,2986,1340
$GC,14895,1.39,393.6,236.5,13.8,1193,14902,0.00,1.80,0.00,0.000,6,0.000,0.035,3218,1786,1339
$GC,15242,1.41,405.6,194.2,11.6,1254,15261,0.00,2.45,12.23,0.795,4,0.000,0.047,3230,203,1290
$GC,15385,1.43,423.2,177.5,11.4,1278,15410,0.00,2.40,16.88,0.802,6,0.000,0.034,3230,1809,1219
$GC,15752,1.43,423.2,130.7,13.2,1342,15758,0.00,1.77,0.00,0.000,4,0.000,0.042,3230,2982,1218
$GC,15788,1.44,434.5,126.1,11.6,1348,15808,0.00,1.75,11.57,0.726,6,0.000,0.033,3238,1815,1172
$GC,16146,1.46,445.1,80.9,11.6,1411,16166,0.00,2.47,11.15,0.683,4,0.000,0.044,3250,199,1129
$GC,16276,1.49,469.9,65.5,11.1,1433,16309,0.00,2.42,22.52,0.708,6,0.000,0.031,3250,1844,1029
$GC,16651,1.59,550.8,25.7,9.0,1498,16727,0.00,2.65,69.57,0.680,4,0.000,0.042,3258,190,699
$GC,16757,1.62,574.9,14.4,11.1,1515,16784,0.00,2.40,21.88,0.634,6,0.000,0.030,3257,1807,601
$STATE,16856,end climb,SURFACE_DEPTH_REACHED
$STATE,16856,begin surface coast
$FINISH,1.0,0.999712
$STATE,16890,end surface coast,CONTROL_FINISHED_OK
$STATE,16890,begin surface
$SM_CCo,16970,0.00,0.000,0,0,598,575.72
$SM_GC,1.51,8.10,0.00,0.00,0.035,0.000,0.000,141,1997,598,-8.11,1.33,575.72
$IRIDIUM_FIX,2413.38,12527.04,281098,141440
$TT8_MAMPS,0.026845
$HUMID,1596
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.50
$XPDR_PINGS,155
$24V_AH,23.1,94.872
$10V_AH,10.6,62.704
$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,19.800,170.075,719.675,0.000,0.000,48.643,79.926,327.761,46.750,0.000,0.000,15.255,2684.731,9987.405,821.041,3237.110,921.263,0.000,2328.929,0.000,3190.536,0.000,54.437,0.000
$DEVICE_MAMPS,220.896,62.127,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.678,1048.940,1766.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91434,1537
$CAP_FILE_SIZE,170931,0
$CFSIZE,260165632,199610368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.185,112.4,1
$GPS,030809,185007,2420.963,12528.501,33,1.4,33,-3.7