version: 66.04
glider: 166
mission: 2
dive: 439
start: 8 4 109 14 32 19
data:
$ID,166
$MISSION,2
$DIVE,439
$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,-14312.389
$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,73
$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
$GPS1,142255,2423.100,12533.565,42,1.2,42,-3.7
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-72.6
$GPS2,143155,2423.074,12533.730,14,1.9,31,-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,317.7,18770,-17.3,-12.000
$D_GRID,1218
$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,16,-1.18,-219.0,0.0,0.0,0,73,0.00,0.00,-55.58,0.000,2,0.000,0.000,114,1983,2247
$GC,77,-1.18,-219.0,3.1,-6.0,9,136,8.90,2.12,-43.83,0.000,4,0.219,0.055,2369,3338,3840
$GC,200,-1.18,-219.0,24.0,-19.9,29,206,0.00,2.08,0.00,0.000,6,0.000,0.028,2367,1924,3841
$GC,546,-1.18,-219.0,84.9,-16.1,90,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,1923,3841
$GC,891,-1.18,-219.0,137.1,-16.2,151,897,0.00,2.12,0.00,0.000,4,0.000,0.040,2359,3327,3842
$GC,1000,-1.18,-219.0,153.2,-15.1,170,1006,0.00,2.00,0.00,0.000,6,0.000,0.027,2358,1945,3843
$GC,1344,-1.18,-219.0,205.1,-14.1,231,1350,0.00,2.08,0.00,0.000,4,0.000,0.041,2354,3336,3843
$GC,1495,-1.18,-219.0,225.6,-13.1,257,1501,0.12,1.92,0.00,0.000,6,0.160,0.027,2388,1971,3843
$GC,1839,-1.18,-219.0,264.1,-12.2,318,1846,0.00,2.05,0.00,0.000,4,0.000,0.037,2386,568,3844
$GC,1859,-1.18,-219.0,266.5,-12.1,321,1865,0.00,2.03,0.00,0.000,6,0.000,0.029,2384,1966,3843
$GC,2205,-1.18,-219.0,308.4,-11.2,376,2209,0.00,2.05,0.00,0.000,4,0.000,0.043,2382,3353,3843
$GC,2255,-1.18,-219.0,314.5,-12.2,380,2263,0.00,1.95,0.00,0.000,6,0.000,0.027,2382,2002,3842
$GC,2581,-1.18,-219.0,353.6,-12.1,411,2584,0.00,2.03,0.00,0.000,4,0.000,0.043,2381,3348,3842
$GC,2605,-1.18,-219.0,356.4,-12.2,413,2608,0.00,1.90,0.00,0.000,6,0.000,0.028,2381,2017,3841
$GC,2938,-1.18,-219.0,392.6,-10.2,444,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2017,3839
$GC,3257,-1.18,-219.0,427.1,-11.4,474,3260,0.00,2.03,0.00,0.000,4,0.000,0.046,2380,3346,3838
$GC,3340,-1.18,-219.0,437.9,-12.0,481,3346,0.00,1.90,0.00,0.000,6,0.000,0.028,2381,2026,3838
$GC,3670,-1.18,-219.0,475.2,-11.1,512,3674,0.00,2.03,0.00,0.000,4,0.000,0.048,2378,3357,3836
$GC,3728,-1.18,-219.0,482.1,-10.6,517,3732,0.00,1.88,0.00,0.000,6,0.000,0.030,2378,2056,3835
$GC,4071,-1.18,-219.0,516.6,-10.0,541,4075,0.00,2.22,0.00,0.000,4,0.000,0.044,2378,576,3833
$GC,4088,-1.18,-219.0,519.1,-10.1,541,4094,0.00,2.20,0.00,0.000,6,0.000,0.037,2378,2053,3833
$GC,4405,-1.18,-219.0,552.4,-10.9,557,4409,0.00,1.98,0.00,0.000,4,0.000,0.052,2379,3351,3831
$GC,4501,-1.18,-219.0,563.6,-11.6,561,4505,0.00,1.83,0.00,0.000,6,0.000,0.031,2383,2113,3829
$GC,4829,-1.18,-219.0,599.9,-11.1,577,4834,0.00,2.33,0.00,0.000,4,0.000,0.045,2386,577,3827
$GC,4846,-1.18,-219.0,602.1,-10.8,577,4852,0.00,2.25,0.00,0.000,6,0.000,0.038,2380,2079,3827
$GC,5164,-1.18,-219.0,634.9,-10.3,593,5167,0.00,1.95,0.00,0.000,4,0.000,0.054,2379,3349,3824
$GC,5192,-1.18,-219.0,638.3,-11.4,594,5195,0.00,1.83,0.00,0.000,6,0.000,0.034,2379,2102,3824
$GC,5521,-1.18,-219.0,671.1,-10.1,610,5525,0.00,2.33,0.00,0.000,4,0.000,0.048,2380,577,3821
$GC,5562,-1.18,-219.0,675.8,-10.7,612,5566,0.00,2.25,0.00,0.000,6,0.000,0.040,2379,2066,3821
$GC,5891,-1.18,-219.0,709.7,-10.7,628,5894,0.00,1.98,0.00,0.000,4,0.000,0.056,2378,3345,3818
$GC,5953,-1.18,-219.0,717.0,-11.0,630,5960,0.00,1.83,0.00,0.000,6,0.000,0.035,2378,2124,3817
$GC,6269,-1.18,-219.0,752.3,-10.9,646,6273,0.00,2.38,0.00,0.000,4,0.000,0.049,2379,579,3815
$GC,6337,-1.18,-219.0,760.3,-11.6,649,6341,0.00,2.30,0.00,0.000,6,0.000,0.041,2371,2094,3814
$GC,6660,-1.18,-219.0,792.6,-9.6,665,6664,0.00,2.35,0.00,0.000,4,0.000,0.049,2372,570,3812
$GC,6700,-1.18,-219.0,797.1,-10.5,667,6704,0.00,2.30,0.00,0.000,6,0.000,0.041,2369,2079,3812
$GC,7029,-1.18,-219.0,828.4,-9.8,683,7032,0.00,1.98,0.00,0.000,4,0.000,0.059,2370,3351,3809
$GC,7079,-1.18,-219.0,833.8,-10.4,685,7083,0.00,1.85,0.00,0.000,6,0.000,0.038,2371,2101,3809
$GC,7409,-1.18,-219.0,865.9,-9.9,701,7413,0.00,2.38,0.00,0.000,4,0.000,0.052,2374,580,3807
$GC,7432,-1.18,-219.0,868.5,-10.6,702,7436,0.00,2.30,0.00,0.000,6,0.000,0.043,2361,2084,3807
$GC,7753,-1.18,-219.0,904.1,-11.2,718,7757,0.00,1.98,0.00,0.000,4,0.000,0.059,2356,3348,3804
$GC,7786,-1.18,-219.0,908.0,-12.0,719,7790,0.00,1.85,0.00,0.000,6,0.000,0.038,2359,2105,3804
$GC,8110,-1.18,-219.0,943.2,-10.4,735,8113,0.00,1.95,0.00,0.000,4,0.000,0.060,2348,3344,3803
$GC,8145,-1.18,-219.0,947.3,-12.2,736,8149,0.12,1.83,0.00,0.000,6,0.160,0.039,2383,2121,3803
$GC,8466,-1.18,-219.0,977.1,-8.8,752,8470,0.00,2.40,0.00,0.000,4,0.000,0.054,2381,581,3801
$GC,8535,-1.18,-219.0,983.9,-10.3,755,8539,0.00,2.33,0.00,0.000,6,0.000,0.050,2371,2080,3801
$STATE,8606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8606,begin apogee
$GC,8613,-0.26,0.0,990.8,9.6,759,8812,0.95,0.00,190.32,1.452,6,0.122,0.000,2671,1605,2945
$STATE,8813,end apogee,CONTROL_FINISHED_OK
$STATE,8813,begin climb
$GC,8816,1.18,219.0,1001.4,0.0,769,9023,1.30,2.33,195.27,1.417,4,0.051,0.057,3158,201,2050
$GC,9113,1.18,219.0,973.0,15.7,782,9119,0.00,2.12,0.00,0.000,6,0.000,0.042,3158,1576,2045
$GC,9430,1.18,219.0,926.8,14.0,798,9433,0.00,2.22,0.00,0.000,4,0.000,0.055,3158,2999,2043
$GC,9565,1.18,219.0,907.4,14.2,804,9568,0.00,2.12,0.00,0.000,6,0.000,0.043,3167,1607,2040
$GC,9897,1.18,219.0,865.3,12.5,820,9900,0.00,2.17,0.00,0.000,4,0.000,0.055,3164,2994,2040
$GC,9931,1.18,219.0,860.7,13.8,821,9935,0.00,2.10,0.00,0.000,6,0.000,0.044,3172,1613,2039
$GC,10254,1.18,219.0,820.6,12.3,837,10258,0.00,2.20,0.00,0.000,4,0.000,0.057,3182,208,2038
$GC,10281,1.18,219.0,816.7,12.9,838,10286,0.15,2.15,0.00,0.000,6,0.195,0.043,3148,1622,2038
$GC,10605,1.18,219.0,779.2,12.1,854,10609,0.00,2.12,0.00,0.000,4,0.000,0.054,3143,2985,2038
$GC,10651,1.18,219.0,772.9,13.5,856,10654,0.00,2.12,0.00,0.000,6,0.000,0.050,3151,1603,2036
$GC,10983,1.18,219.0,728.8,13.5,872,10987,0.00,2.17,0.00,0.000,4,0.000,0.055,3151,2991,2036
$GC,11079,1.18,219.0,715.6,14.4,876,11083,0.00,2.08,0.00,0.000,6,0.000,0.044,3159,1630,2035
$GC,11406,1.18,219.0,672.4,12.5,892,11410,0.00,2.25,0.00,0.000,4,0.000,0.058,3169,207,2035
$GC,11467,1.18,219.0,664.3,13.1,894,11474,0.00,2.20,0.00,0.000,6,0.000,0.044,3170,1625,2035
$GC,11785,1.22,255.5,628.9,10.7,910,11828,0.00,2.22,32.95,1.185,4,0.000,0.054,3170,2986,1903
$GC,11889,1.22,255.5,616.0,12.2,914,11896,0.00,2.10,0.00,0.000,6,0.000,0.043,3180,1620,1900
$GC,12207,1.22,255.5,577.9,12.2,930,12210,0.00,2.15,0.00,0.000,4,0.000,0.055,3179,2990,1898
$GC,12298,1.22,255.5,565.8,12.7,934,12301,0.00,2.08,0.00,0.000,6,0.000,0.042,3188,1634,1897
$GC,12632,1.22,255.5,523.1,12.3,950,12635,0.00,2.12,0.00,0.000,4,0.000,0.054,3188,2993,1897
$GC,12677,1.22,255.5,516.9,13.1,952,12681,0.15,2.05,0.00,0.000,6,0.195,0.042,3164,1646,1897
$GC,13009,1.25,280.8,479.5,11.1,975,13044,0.00,2.17,25.15,1.047,4,0.000,0.054,3164,2984,1799
$GC,13113,1.25,280.8,466.8,13.0,984,13117,0.00,2.03,0.00,0.000,6,0.000,0.041,3173,1658,1797
$GC,13448,1.30,318.4,430.6,10.6,1015,13493,0.00,2.17,34.90,1.075,4,0.000,0.051,3172,2986,1645
$GC,13588,1.32,331.1,414.0,11.5,1027,13609,0.00,1.98,12.73,0.987,6,0.000,0.040,3177,1700,1595
$GC,13929,1.32,331.1,371.1,12.9,1059,13933,0.00,2.35,0.00,0.000,4,0.000,0.051,3190,196,1591
$GC,13995,1.32,331.1,362.0,13.3,1064,14002,0.00,2.30,0.00,0.000,6,0.000,0.041,3189,1707,1590
$GC,14323,1.34,352.1,323.0,11.2,1095,14349,0.00,2.03,19.60,0.964,4,0.000,0.050,3191,2984,1508
$GC,14424,1.34,352.1,310.6,12.1,1104,14428,0.00,1.90,0.00,0.000,6,0.000,0.035,3200,1738,1507
$GC,14764,1.36,370.1,271.3,11.3,1156,14789,0.00,1.98,17.15,0.905,4,0.000,0.045,3202,2984,1435
$GC,14875,1.38,382.1,258.1,11.6,1175,14894,0.00,1.80,12.12,0.854,6,0.000,0.035,3209,1779,1387
$GC,15236,1.43,423.6,215.6,10.5,1238,15279,0.00,2.55,37.70,0.873,4,0.000,0.046,3221,192,1217
$GC,15337,1.43,423.6,203.6,12.5,1255,15343,0.00,2.42,0.00,0.000,6,0.000,0.035,3220,1786,1216
$GC,15682,1.48,462.3,166.8,10.6,1316,15722,0.00,1.90,34.67,0.815,4,0.000,0.043,3217,2992,1060
$GC,15803,1.48,462.3,151.4,13.1,1336,15809,0.00,1.77,0.00,0.000,6,0.000,0.032,3218,1820,1059
$GC,16149,1.50,478.2,110.4,11.4,1397,16170,0.00,1.85,15.43,0.726,4,0.000,0.041,3220,3002,995
$GC,16245,1.51,486.7,99.1,11.7,1413,16259,0.00,1.85,8.95,0.659,6,0.000,0.032,3228,1772,960
$GC,16601,1.62,581.2,62.3,8.5,1475,16691,0.15,1.92,81.35,0.711,4,0.061,0.038,3305,2990,574
$GC,16755,1.62,581.2,43.3,14.4,1500,16762,0.00,1.77,0.00,0.000,6,0.000,0.031,3307,1816,574
$STATE,17046,end climb,SURFACE_DEPTH_REACHED
$STATE,17046,begin surface coast
$FINISH,0.8,1.021600
$STATE,17065,end surface coast,CONTROL_FINISHED_OK
$STATE,17065,begin surface
$SM_CCo,17146,0.00,0.000,0,0,573,581.85
$SM_GC,1.60,8.35,0.00,0.00,0.039,0.000,0.000,167,1989,573,-8.10,1.10,581.85
$IRIDIUM_FIX,2413.38,12535.56,291098,090912
$TT8_MAMPS,0.026845
$HUMID,1619
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.40
$XPDR_PINGS,161
$24V_AH,23.1,96.163
$10V_AH,10.6,63.489
$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,20.200,168.025,718.300,0.000,0.000,33.104,45.055,268.691,48.250,0.000,0.000,31.802,2724.636,10074.282,781.306,3254.538,835.797,0.000,2275.945,0.000,3208.443,0.000,57.299,0.000
$DEVICE_MAMPS,218.595,59.826,1451.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.296,1063.258,1809.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91740,1555
$CAP_FILE_SIZE,170110,0
$CFSIZE,260165632,199159808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.163,112.5,1
$GPS,040809,191924,2423.517,12534.289,23,1.5,41,-3.7