version: 66.04
glider: 166
mission: 2
dive: 438
start: 8 4 109 9 40 52
data:
$ID,166
$MISSION,2
$DIVE,438
$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,-14279.958
$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,67
$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
$GPS1,092454,2422.577,12532.350,28,1.4,45,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.1
$GPS2,094028,2422.579,12532.623,13,3.6,32,-3.7
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2433.100,12532.100
$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,316.1,19505,-17.3,-12.000
$D_GRID,1229
$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,-219.0,0.0,0.0,0,100,0.00,0.00,-82.30,0.000,2,0.000,0.000,135,1989,2454
$GC,104,-1.18,-219.0,3.2,-3.9,13,155,8.85,0.00,-37.62,0.000,6,0.222,0.000,2370,1988,3840
$GC,495,-1.18,-219.0,73.1,-17.3,81,501,0.00,2.03,0.00,0.000,4,0.000,0.043,2376,3346,3840
$GC,547,-1.18,-219.0,82.3,-17.7,90,554,0.00,2.03,0.00,0.000,6,0.000,0.028,2381,1930,3840
$GC,893,-1.18,-219.0,137.6,-17.2,151,900,0.00,2.10,0.00,0.000,4,0.000,0.043,2384,3332,3840
$GC,980,-1.18,-219.0,152.3,-17.0,166,986,0.00,1.98,0.00,0.000,6,0.000,0.028,2381,1972,3840
$GC,1328,-1.18,-219.0,200.4,-13.7,227,1335,0.00,2.05,0.00,0.000,4,0.000,0.042,2384,3338,3840
$GC,1427,-1.18,-219.0,214.9,-14.2,244,1433,0.00,1.95,0.00,0.000,6,0.000,0.028,2380,2002,3840
$GC,1773,-1.18,-219.0,261.0,-13.3,305,1779,0.00,2.15,0.00,0.000,4,0.000,0.041,2381,553,3839
$GC,1832,-1.18,-219.0,268.7,-12.8,315,1840,0.00,2.10,0.00,0.000,6,0.000,0.031,2376,1992,3840
$GC,2178,-1.18,-219.0,314.7,-13.5,367,2182,0.00,2.03,0.00,0.000,4,0.000,0.044,2371,3354,3839
$GC,2251,-1.18,-219.0,325.2,-14.3,373,2257,0.00,1.90,0.00,0.000,6,0.000,0.028,2383,2027,3838
$GC,2579,-1.18,-219.0,364.1,-11.5,404,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2027,3836
$GC,2908,-1.18,-219.0,398.8,-9.9,435,2912,0.00,2.00,0.00,0.000,4,0.000,0.046,2363,3349,3835
$GC,2966,-1.18,-219.0,405.1,-10.6,440,2969,0.00,1.88,0.00,0.000,6,0.000,0.029,2363,2041,3834
$GC,3300,-1.18,-219.0,441.1,-11.8,471,3304,0.00,1.98,0.00,0.000,4,0.000,0.045,2354,3349,3832
$GC,3339,-1.18,-219.0,446.4,-12.6,474,3346,0.08,1.88,0.00,0.000,6,0.143,0.030,2380,2064,3832
$GC,3667,-1.18,-219.0,482.1,-10.6,505,3670,0.00,1.98,0.00,0.000,4,0.000,0.048,2376,3360,3829
$GC,3717,-1.18,-219.0,487.7,-10.5,509,3723,0.00,1.85,0.00,0.000,6,0.000,0.030,2376,2075,3828
$GC,4052,-1.18,-219.0,520.6,-9.7,531,4056,0.00,2.28,0.00,0.000,4,0.000,0.044,2376,562,3826
$GC,4076,-1.18,-219.0,523.5,-9.7,532,4080,0.00,2.28,0.00,0.000,6,0.000,0.035,2369,2091,3826
$GC,4406,-1.18,-219.0,557.6,-10.7,548,4410,0.00,1.92,0.00,0.000,4,0.000,0.049,2361,3345,3822
$GC,4437,-1.18,-219.0,561.2,-11.4,549,4440,0.00,1.85,0.00,0.000,6,0.000,0.038,2362,2084,3822
$GC,4765,-1.18,-219.0,596.6,-10.8,565,4769,0.00,2.30,0.00,0.000,4,0.000,0.046,2363,565,3818
$GC,4809,-1.18,-219.0,601.3,-11.6,567,4813,0.00,2.25,0.00,0.000,6,0.000,0.036,2357,2072,3818
$GC,5137,-1.18,-219.0,637.2,-11.1,583,5141,0.00,1.95,0.00,0.000,4,0.000,0.052,2354,3352,3815
$GC,5165,-1.18,-219.0,640.7,-12.1,584,5169,0.00,1.88,0.00,0.000,6,0.000,0.034,2355,2088,3814
$GC,5493,-1.18,-219.0,679.4,-12.0,600,5497,0.12,2.33,0.00,0.000,4,0.146,0.048,2391,564,3811
$GC,5525,-1.18,-219.0,683.7,-12.7,601,5529,0.00,2.28,0.00,0.000,6,0.000,0.038,2383,2079,3810
$GC,5847,-1.18,-219.0,719.0,-10.5,617,5850,0.00,1.95,0.00,0.000,4,0.000,0.054,2376,3349,3807
$GC,5921,-1.18,-219.0,726.9,-10.6,620,5924,0.00,1.83,0.00,0.000,6,0.000,0.035,2376,2108,3807
$GC,6248,-1.18,-219.0,758.4,-9.6,636,6252,0.00,2.38,0.00,0.000,4,0.000,0.050,2376,561,3804
$GC,6334,-1.18,-219.0,767.2,-10.6,640,6338,0.00,2.33,0.00,0.000,6,0.000,0.041,2368,2093,3803
$GC,6663,-1.18,-219.0,799.0,-10.0,656,6667,0.00,2.38,0.00,0.000,4,0.000,0.050,2369,557,3801
$GC,6681,-1.18,-219.0,800.9,-10.1,657,6685,0.00,2.35,0.00,0.000,6,0.000,0.044,2357,2085,3800
$GC,7010,-1.18,-219.0,837.1,-10.9,673,7014,0.00,2.35,0.00,0.000,4,0.000,0.051,2358,567,3798
$GC,7038,-1.18,-219.0,840.8,-12.8,674,7043,0.12,2.28,0.00,0.000,6,0.160,0.041,2380,2065,3797
$GC,7359,-1.18,-219.0,874.7,-10.6,690,7364,0.00,2.00,0.00,0.000,4,0.000,0.058,2376,3351,3795
$GC,7444,-1.18,-219.0,884.4,-11.5,693,7450,0.00,1.85,0.00,0.000,6,0.000,0.038,2374,2108,3795
$GC,7761,-1.18,-219.0,918.8,-10.7,709,7765,0.00,2.40,0.00,0.000,4,0.000,0.053,2375,562,3792
$GC,7827,-1.18,-219.0,926.9,-12.4,712,7831,0.00,2.33,0.00,0.000,6,0.000,0.051,2372,2066,3792
$GC,8156,-1.18,-219.0,964.7,-11.8,728,8160,0.00,2.00,0.00,0.000,4,0.000,0.061,2368,3341,3790
$GC,8202,-1.18,-219.0,970.4,-11.9,730,8205,0.00,1.90,0.00,0.000,6,0.000,0.041,2366,2088,3790
$STATE,8366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8367,begin apogee
$GC,8374,-0.26,0.0,990.3,11.6,738,8563,0.98,0.00,185.55,1.459,6,0.123,0.000,2676,1591,2945
$STATE,8564,end apogee,CONTROL_FINISHED_OK
$STATE,8564,begin climb
$GC,8568,1.18,219.0,1003.2,0.0,747,8774,1.27,2.35,194.20,1.416,4,0.049,0.056,3150,2982,2051
$GC,8871,1.18,219.0,979.0,14.7,760,8877,0.00,2.15,0.00,0.000,6,0.000,0.044,3160,1585,2046
$GC,9187,1.18,219.0,934.1,14.3,776,9190,0.00,2.17,0.00,0.000,4,0.000,0.058,3170,204,2043
$GC,9261,1.18,219.0,922.9,15.5,779,9265,0.00,2.10,0.00,0.000,6,0.000,0.043,3169,1576,2043
$GC,9589,1.18,219.0,876.1,13.6,795,9593,0.00,2.20,0.00,0.000,4,0.000,0.057,3168,2986,2041
$GC,9696,1.18,219.0,860.9,14.0,799,9704,0.12,2.15,0.00,0.000,6,0.206,0.044,3148,1574,2040
$GC,10014,1.19,225.6,821.9,11.8,815,10024,0.00,2.25,5.30,1.021,4,0.000,0.057,3148,2996,2025
$GC,10053,1.19,225.6,816.9,12.8,817,10057,0.00,2.17,0.00,0.000,6,0.000,0.044,3156,1576,2024
$GC,10387,1.19,225.6,774.8,12.7,833,10390,0.00,2.22,0.00,0.000,4,0.000,0.057,3156,2994,2023
$GC,10426,1.19,225.6,769.2,13.8,834,10432,0.00,2.15,0.00,0.000,6,0.000,0.044,3164,1582,2023
$GC,10742,1.19,225.6,725.5,14.2,850,10746,0.00,2.20,0.00,0.000,4,0.000,0.055,3164,2989,2022
$GC,10844,1.19,225.6,710.3,15.2,854,10848,0.00,2.10,0.00,0.000,6,0.000,0.044,3172,1610,2021
$GC,11166,1.19,225.6,665.8,13.8,870,11169,0.00,2.20,0.00,0.000,4,0.000,0.056,3183,203,2021
$GC,11199,1.19,225.6,660.8,14.1,871,11204,0.15,2.15,0.00,0.000,6,0.195,0.043,3149,1617,2021
$GC,11515,1.19,225.6,621.0,12.7,886,11519,0.00,2.12,0.00,0.000,4,0.000,0.054,3138,2989,2020
$GC,11611,1.20,233.3,609.3,11.7,890,11630,0.00,2.08,8.00,1.093,6,0.000,0.042,3145,1623,1994
$GC,11937,1.20,239.4,570.0,11.8,906,11951,0.00,2.20,7.28,1.037,4,0.000,0.054,3139,2985,1968
$GC,11986,1.20,239.4,564.0,12.1,908,11990,0.00,2.10,0.00,0.000,6,0.000,0.041,3147,1605,1967
$GC,12314,1.26,285.9,528.5,10.3,924,12361,0.00,2.28,42.58,1.166,4,0.000,0.055,3159,202,1779
$GC,12381,1.26,285.9,520.5,12.3,927,12385,0.00,2.20,0.00,0.000,6,0.000,0.041,3158,1614,1777
$GC,12711,1.26,285.9,479.6,12.1,950,12715,0.00,2.12,0.00,0.000,4,0.000,0.052,3159,2982,1773
$GC,12862,1.26,285.9,458.8,13.2,963,12869,0.00,2.05,0.00,0.000,6,0.000,0.041,3167,1629,1771
$GC,13190,1.28,298.2,419.3,11.5,994,13207,0.00,2.15,11.68,1.012,4,0.000,0.051,3168,2997,1729
$GC,13377,1.29,312.3,396.6,11.5,1010,13400,0.00,2.00,14.15,1.006,6,0.000,0.040,3175,1675,1670
$GC,13718,1.31,329.7,355.9,11.4,1042,13742,0.00,2.33,17.08,0.987,4,0.000,0.052,3188,199,1598
$GC,13780,1.31,329.7,348.2,13.2,1047,13784,0.00,2.25,0.00,0.000,6,0.000,0.040,3187,1672,1597
$GC,14107,1.34,346.7,309.0,11.4,1077,14130,0.00,2.30,16.20,0.940,4,0.000,0.051,3200,205,1530
$GC,14230,1.37,376.7,294.9,10.9,1091,14262,0.00,2.30,27.50,0.943,6,0.000,0.038,3204,1718,1409
$GC,14601,1.37,376.7,249.7,12.4,1156,14608,0.00,1.98,0.00,0.000,4,0.000,0.048,3208,2993,1405
$GC,14745,1.37,376.7,230.4,14.2,1181,14751,0.00,1.88,0.00,0.000,6,0.000,0.037,3218,1729,1405
$GC,15091,1.41,403.7,188.4,11.0,1242,15123,0.00,2.40,24.77,0.842,4,0.000,0.049,3229,197,1299
$GC,15136,1.41,403.7,183.1,12.2,1249,15142,0.00,2.40,0.00,0.000,6,0.000,0.035,3229,1784,1298
$GC,15482,1.42,412.5,142.1,11.7,1310,15496,0.00,1.88,9.07,0.718,4,0.000,0.043,3229,2990,1263
$GC,15618,1.42,412.5,125.7,12.2,1333,15624,0.00,1.83,0.00,0.000,6,0.000,0.042,3238,1790,1263
$GC,15962,1.42,412.5,85.2,12.2,1394,15968,0.00,1.83,0.00,0.000,4,0.000,0.041,3238,2986,1263
$GC,15992,1.42,412.5,81.5,12.1,1399,16000,0.00,1.77,0.00,0.000,6,0.000,0.033,3246,1798,1263
$GC,16341,1.47,457.9,46.3,10.3,1460,16391,0.00,2.50,40.45,0.704,4,0.000,0.044,3254,205,1078
$GC,16498,1.50,479.5,29.0,11.2,1486,16525,0.00,2.38,19.77,0.657,6,0.000,0.030,3256,1814,989
$STATE,16732,end climb,SURFACE_DEPTH_REACHED
$STATE,16732,begin surface coast
$FINISH,0.8,1.008272
$STATE,16763,end surface coast,CONTROL_FINISHED_OK
$STATE,16764,begin surface
$SM_CCo,16843,0.00,0.000,0,0,986,480.54
$SM_GC,1.76,8.23,0.00,0.00,0.040,0.000,0.000,162,1982,986,-8.10,0.90,480.54
$IRIDIUM_FIX,2413.38,12530.34,291098,090907
$TT8_MAMPS,0.027612
$HUMID,1619
$INTERNAL_PRESSURE,9.9659
$TCM_TEMP,25.40
$XPDR_PINGS,158
$24V_AH,23.1,95.899
$10V_AH,10.6,63.331
$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,19.925,166.250,623.575,0.000,0.000,70.872,113.627,428.231,47.500,0.000,0.000,33.046,2696.767,9968.536,728.516,3281.898,1086.170,0.000,2196.297,0.000,3224.058,0.000,54.434,0.000
$DEVICE_MAMPS,222.430,60.593,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.779,1057.054,1849.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88453,1532
$CAP_FILE_SIZE,171843,0
$CFSIZE,260165632,199258112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.215,101.1,1
$GPS,040809,142255,2423.100,12533.565,42,1.2,42,-3.7