version: 66.04
glider: 166
mission: 2
dive: 441
start: 8 5 109 0 21 35
data:
$ID,166
$MISSION,2
$DIVE,441
$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,250
$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,-14380.736
$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,37
$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
$GPS1,001254,2423.115,12535.207,35,1.4,35,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.7
$GPS2,002116,2423.135,12535.304,14,99.0,33,-3.7
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,RET_1
$TGT_LATLONG,2400.000,12522.000
$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,238.5,48398,-16.4,-12.000
$D_GRID,1304
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.16,-243.4,0.0,0.0,0,89,0.00,0.00,-70.68,0.000,2,0.000,0.000,161,1987,2315
$GC,92,-1.16,-243.4,3.2,-5.4,11,151,9.00,2.05,-42.67,0.000,4,0.222,0.053,2386,3329,3939
$GC,270,-1.16,-243.4,35.8,-18.9,41,278,0.00,2.03,0.00,0.000,6,0.000,0.026,2377,1913,3940
$GC,618,-1.16,-243.4,95.4,-16.1,102,624,0.00,2.15,0.00,0.000,4,0.000,0.041,2375,3325,3940
$GC,727,-1.16,-243.4,112.6,-14.8,121,734,0.00,1.92,0.00,0.000,6,0.000,0.025,2368,1994,3940
$GC,1075,-1.16,-243.4,160.7,-13.4,182,1081,0.00,2.03,0.00,0.000,4,0.000,0.041,2368,3349,3942
$GC,1101,-1.16,-243.4,164.4,-13.5,186,1108,0.00,1.90,0.00,0.000,6,0.000,0.025,2367,2018,3942
$GC,1448,-1.16,-243.4,210.9,-13.4,247,1454,0.00,1.98,0.00,0.000,4,0.000,0.041,2367,3333,3943
$GC,1534,-1.16,-243.4,222.9,-13.8,262,1541,0.00,1.83,0.00,0.000,6,0.000,0.025,2366,2057,3943
$GC,1881,-1.16,-243.4,264.3,-11.3,323,1887,0.00,2.20,0.00,0.000,4,0.000,0.036,2366,560,3942
$GC,1894,-1.16,-243.4,265.9,-11.2,325,1901,0.00,2.17,0.00,0.000,6,0.000,0.029,2368,2060,3942
$GC,2242,-1.16,-243.4,307.8,-11.8,381,2246,0.00,1.90,0.00,0.000,4,0.000,0.044,2367,3336,3942
$GC,2334,-1.16,-243.4,318.8,-12.0,389,2337,0.00,1.73,0.00,0.000,6,0.000,0.025,2366,2103,3941
$GC,2665,-1.16,-243.4,354.8,-11.3,420,2668,0.00,1.85,0.00,0.000,4,0.000,0.045,2365,3329,3940
$GC,2745,-1.16,-243.4,364.3,-12.3,427,2748,0.00,1.67,0.00,0.000,6,0.000,0.027,2366,2139,3940
$GC,3076,-1.16,-243.4,403.9,-12.3,458,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2139,3938
$GC,3396,-1.16,-243.4,441.8,-10.8,488,3400,0.00,1.83,0.00,0.000,4,0.000,0.048,2365,3336,3936
$GC,3432,-1.16,-243.4,445.9,-11.6,491,3436,0.00,1.70,0.00,0.000,6,0.000,0.027,2366,2159,3935
$GC,3764,-1.16,-243.4,485.1,-12.0,522,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2159,3934
$GC,4078,-1.16,-243.4,521.5,-11.4,543,4081,0.00,1.80,0.00,0.000,4,0.000,0.050,2367,3330,3931
$GC,4147,-1.16,-243.4,529.9,-11.8,546,4150,0.00,1.65,0.00,0.000,6,0.000,0.028,2368,2175,3930
$GC,4480,-1.16,-243.4,565.5,-10.1,562,4484,0.00,1.77,0.00,0.000,4,0.000,0.051,2369,3330,3927
$GC,4507,-1.16,-243.4,568.0,-10.3,563,4511,0.00,1.65,0.00,0.000,6,0.000,0.029,2371,2183,3927
$GC,4842,-1.16,-243.4,602.8,-10.8,579,4846,0.00,2.42,0.00,0.000,4,0.000,0.042,2371,571,3925
$GC,4865,-1.16,-243.4,605.8,-12.0,580,4869,0.12,2.38,0.00,0.000,6,0.150,0.038,2394,2156,3925
$GC,5187,-1.16,-243.4,640.4,-11.1,596,5190,0.00,1.77,0.00,0.000,4,0.000,0.054,2386,3319,3921
$GC,5272,-1.16,-243.4,650.2,-11.2,599,5278,0.00,1.60,0.00,0.000,6,0.000,0.031,2388,2208,3920
$GC,5590,-1.16,-243.4,684.2,-10.4,615,5594,0.00,2.50,0.00,0.000,4,0.000,0.044,2388,559,3918
$GC,5617,-1.16,-243.4,687.5,-11.2,616,5622,0.00,2.47,0.00,0.000,6,0.000,0.041,2381,2191,3917
$GC,5939,-1.16,-243.4,721.6,-10.6,632,5943,0.00,2.47,0.00,0.000,4,0.000,0.044,2381,570,3914
$GC,5962,-1.16,-243.4,724.1,-11.4,633,5967,0.00,2.47,0.00,0.000,6,0.000,0.041,2381,2196,3914
$GC,6284,-1.16,-243.4,758.3,-10.6,649,6288,0.00,1.75,0.00,0.000,4,0.000,0.058,2380,3312,3912
$GC,6354,-1.16,-243.4,765.9,-11.2,652,6358,0.00,1.58,0.00,0.000,6,0.000,0.034,2379,2252,3911
$GC,6688,-1.16,-243.4,803.7,-11.4,668,6692,0.00,2.58,0.00,0.000,4,0.000,0.047,2381,570,3909
$GC,6751,-1.16,-243.4,811.7,-13.2,671,6755,0.00,2.53,0.00,0.000,6,0.000,0.042,2377,2218,3908
$GC,7079,-1.16,-243.4,849.0,-10.9,687,7083,0.00,2.55,0.00,0.000,4,0.000,0.047,2376,565,3906
$GC,7145,-1.16,-243.4,857.3,-12.4,690,7150,0.00,2.53,0.00,0.000,6,0.000,0.044,2376,2208,3905
$GC,7469,-1.16,-243.4,893.1,-10.8,706,7473,0.00,2.55,0.00,0.000,4,0.000,0.048,2375,565,3903
$GC,7515,-1.16,-243.4,898.7,-12.1,708,7519,0.00,2.53,0.00,0.000,6,0.000,0.042,2366,2211,3902
$GC,7836,-1.16,-243.4,933.3,-10.6,724,7840,0.00,2.55,0.00,0.000,4,0.000,0.048,2367,565,3900
$GC,7930,-1.16,-243.4,945.2,-12.5,728,7935,0.12,2.45,0.00,0.000,6,0.156,0.042,2388,2163,3900
$GC,8249,-1.16,-243.4,978.8,-10.4,743,8253,0.00,1.83,0.00,0.000,4,0.000,0.061,2394,3328,3898
$GC,8345,-1.16,-243.4,989.7,-11.0,747,8348,0.00,1.60,0.00,0.000,6,0.000,0.037,2394,2239,3897
$STATE,8353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8353,begin apogee
$GC,8362,-0.26,0.0,990.9,10.8,747,8575,0.85,0.00,209.85,1.461,6,0.113,0.000,2674,1608,2945
$STATE,8576,end apogee,CONTROL_FINISHED_OK
$STATE,8576,begin climb
$GC,8579,1.16,243.4,1005.8,0.0,758,8809,1.27,2.28,217.05,1.415,4,0.053,0.056,3136,2951,1950
$GC,8826,1.16,243.4,988.9,14.0,769,8830,0.00,2.15,0.00,0.000,6,0.000,0.041,3145,1584,1948
$GC,9148,1.16,243.4,944.2,13.7,785,9151,0.00,2.15,0.00,0.000,4,0.000,0.055,3143,2962,1943
$GC,9175,1.16,243.4,940.1,14.2,786,9179,0.00,2.12,0.00,0.000,6,0.000,0.041,3153,1569,1942
$GC,9504,1.16,243.4,895.2,14.1,802,9508,0.00,2.15,0.00,0.000,4,0.000,0.054,3160,195,1941
$GC,9549,1.16,243.4,888.5,13.9,804,9553,0.00,2.08,0.00,0.000,6,0.000,0.043,3159,1555,1941
$GC,9883,1.16,243.4,842.4,13.7,820,9887,0.00,2.25,0.00,0.000,4,0.000,0.054,3156,2998,1939
$GC,10013,1.16,243.4,824.6,13.2,825,10019,0.00,2.12,0.00,0.000,6,0.000,0.041,3165,1593,1937
$GC,10329,1.16,243.4,783.4,13.0,841,10333,0.00,2.20,0.00,0.000,4,0.000,0.055,3165,2995,1937
$GC,10420,1.16,243.4,770.8,14.0,845,10425,0.15,2.08,0.00,0.000,6,0.193,0.041,3140,1629,1936
$GC,10753,1.16,243.4,728.7,12.9,861,10757,0.00,2.22,0.00,0.000,4,0.000,0.054,3148,202,1936
$GC,10814,1.16,243.4,720.6,13.3,863,10820,0.00,2.17,0.00,0.000,6,0.000,0.042,3148,1627,1936
$GC,11132,1.16,243.4,679.6,13.1,879,11136,0.00,2.12,0.00,0.000,4,0.000,0.061,3148,2996,1936
$GC,11226,1.16,243.4,666.8,13.3,883,11230,0.00,2.10,0.00,0.000,6,0.000,0.041,3158,1608,1934
$GC,11554,1.16,243.4,625.1,13.0,899,11558,0.00,2.15,0.00,0.000,4,0.000,0.054,3158,2984,1934
$GC,11702,1.16,243.4,605.2,13.7,905,11706,0.00,2.03,0.00,0.000,6,0.000,0.041,3168,1645,1934
$GC,12024,1.17,251.2,565.0,11.7,921,12034,0.00,2.12,5.18,0.919,4,0.000,0.051,3167,2992,1921
$GC,12080,1.19,268.2,557.9,11.4,923,12111,0.00,2.03,19.55,1.068,6,0.000,0.041,3175,1657,1850
$GC,12442,1.19,268.2,514.0,12.5,941,12445,0.00,2.08,0.00,0.000,4,0.000,0.052,3176,2985,1848
$GC,12493,1.19,268.2,506.9,13.7,943,12497,0.15,2.00,0.00,0.000,6,0.189,0.040,3154,1665,1847
$GC,12818,1.19,268.2,466.2,12.1,971,12821,0.00,2.05,0.00,0.000,4,0.000,0.052,3149,2986,1847
$GC,12865,1.19,268.2,460.5,12.4,975,12868,0.00,1.98,0.00,0.000,6,0.000,0.039,3158,1673,1846
$GC,13200,1.29,350.4,424.5,9.3,1006,13289,0.00,2.12,76.20,1.060,4,0.000,0.050,3160,2984,1515
$GC,13349,1.29,350.4,407.9,12.3,1019,13353,0.00,1.98,0.00,0.000,6,0.000,0.038,3168,1692,1513
$GC,13682,1.29,350.4,366.8,12.9,1050,13686,0.00,2.33,0.00,0.000,4,0.000,0.050,3181,196,1510
$GC,13715,1.29,350.4,361.8,13.2,1052,13721,0.00,2.35,0.00,0.000,6,0.000,0.039,3182,1744,1509
$GC,14044,1.29,350.4,320.9,12.1,1083,14048,0.00,2.40,0.00,0.000,4,0.000,0.049,3194,203,1509
$GC,14156,1.32,370.9,306.8,11.3,1092,14185,0.00,2.40,18.70,0.946,6,0.000,0.038,3193,1786,1432
$GC,14519,1.32,370.9,265.7,12.4,1151,14525,0.00,1.83,0.00,0.000,4,0.000,0.046,3190,2990,1429
$GC,14537,1.32,370.9,263.4,12.1,1154,14544,0.00,1.80,0.00,0.000,6,0.000,0.035,3196,1802,1429
$GC,14884,1.41,449.8,224.8,9.4,1215,14962,0.00,1.90,70.05,0.890,4,0.000,0.044,3196,2985,1110
$GC,15017,1.44,467.3,211.1,11.4,1237,15042,0.00,1.73,16.92,0.819,6,0.000,0.033,3205,1833,1040
$GC,15382,1.46,485.2,169.5,11.4,1301,15409,0.00,2.58,17.08,0.788,4,0.000,0.049,3216,205,967
$GC,15501,1.46,485.2,154.5,12.8,1321,15507,0.00,2.60,0.00,0.000,6,0.000,0.034,3216,1933,966
$GC,15846,1.47,491.8,113.8,11.8,1382,15861,0.00,1.62,7.18,0.647,4,0.000,0.044,3217,2989,939
$GC,15892,1.49,509.3,108.4,11.4,1389,15913,0.00,1.75,17.10,0.727,6,0.000,0.031,3223,1814,868
$GC,16254,1.55,560.5,67.8,10.3,1452,16306,0.12,1.80,45.28,0.715,4,0.066,0.038,3291,2994,658
$GC,16383,1.55,560.5,51.1,14.1,1473,16389,0.00,1.70,0.00,0.000,6,0.000,0.030,3293,1854,658
$GC,16728,1.55,560.5,6.1,14.5,1534,16737,0.00,1.73,0.00,0.000,4,0.000,0.039,3295,2992,658
$STATE,16752,end climb,SURFACE_DEPTH_REACHED
$STATE,16753,begin surface coast
$FINISH,0.9,1.008545
$STATE,16776,end surface coast,CONTROL_FINISHED_OK
$STATE,16776,begin surface
$SM_CCo,16857,0.00,0.000,0,0,657,561.25
$SM_GC,1.49,8.30,0.00,0.00,0.044,0.000,0.000,142,1924,657,-8.10,-0.74,561.25
$IRIDIUM_FIX,2413.38,12533.64,291098,191955
$TT8_MAMPS,0.026845
$HUMID,1638
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.20
$XPDR_PINGS,170
$24V_AH,23.0,96.699
$10V_AH,10.6,63.801
$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,20.100,166.675,720.125,0.000,0.000,24.982,37.468,243.692,50.500,0.000,0.000,34.529,2707.757,9799.615,803.919,3250.114,777.732,0.000,2291.839,0.000,3193.566,0.000,54.425,0.000
$DEVICE_MAMPS,221.663,60.593,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.935,1055.989,1787.085,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91618,1542
$CAP_FILE_SIZE,168291,0
$CFSIZE,260165632,198979584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.250, 87.2,1
$GPS,050809,050337,2422.467,12536.778,26,0.9,26,-3.7