version: 66.04
glider: 166
mission: 2
dive: 442
start: 8 5 109 5 12 1
data:
$ID,166
$MISSION,2
$DIVE,442
$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,-14413.809
$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,50
$R_STBD_OVSHOOT,43
$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
$GPS1,050337,2422.467,12536.778,26,0.9,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.0
$GPS2,051143,2422.463,12536.889,15,1.3,32,-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,251.5,48634,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.16,-243.4,0.0,0.0,0,90,0.00,0.00,-71.85,0.000,2,0.000,0.000,133,1925,2260
$GC,93,-1.16,-243.4,3.1,-5.3,11,158,9.18,2.25,-45.97,0.000,4,0.228,0.056,2381,3358,3940
$GC,279,-1.16,-243.4,36.0,-19.1,42,285,0.00,2.05,0.00,0.000,6,0.000,0.028,2371,1936,3941
$GC,624,-1.16,-243.4,96.5,-16.2,103,631,0.00,2.17,0.00,0.000,4,0.000,0.045,2371,3352,3942
$GC,679,-1.16,-243.4,105.3,-16.8,112,686,0.00,2.00,0.00,0.000,6,0.000,0.028,2378,1981,3942
$GC,1025,-1.16,-243.4,155.6,-12.7,173,1032,0.00,2.15,0.00,0.000,4,0.000,0.041,2388,555,3943
$GC,1047,-1.16,-243.4,158.2,-13.2,176,1055,0.00,2.10,0.00,0.000,6,0.000,0.031,2386,1996,3943
$GC,1397,-1.16,-243.4,205.5,-12.4,237,1403,0.00,2.03,0.00,0.000,4,0.000,0.044,2377,3357,3944
$GC,1506,-1.16,-243.4,220.9,-14.7,256,1513,0.00,1.95,0.00,0.000,6,0.000,0.027,2384,2016,3944
$GC,1852,-1.16,-243.4,267.8,-13.1,317,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2016,3944
$GC,2196,-1.16,-243.4,310.5,-12.4,371,2200,0.00,2.03,0.00,0.000,4,0.000,0.045,2365,3355,3943
$GC,2281,-1.16,-243.4,321.3,-12.7,378,2287,0.00,1.92,0.00,0.000,6,0.000,0.028,2366,2030,3943
$GC,2607,-1.16,-243.4,360.4,-11.9,409,2611,0.00,2.00,0.00,0.000,4,0.000,0.045,2364,3349,3942
$GC,2636,-1.16,-243.4,364.1,-12.4,411,2642,0.00,1.88,0.00,0.000,6,0.000,0.027,2366,2035,3942
$GC,2961,-1.16,-243.4,402.4,-12.0,442,2965,0.00,2.00,0.00,0.000,4,0.000,0.046,2365,3351,3941
$GC,2984,-1.16,-243.4,405.3,-12.8,444,2988,0.00,1.88,0.00,0.000,6,0.000,0.028,2365,2045,3940
$GC,3320,-1.16,-243.4,446.9,-12.1,475,3324,0.00,2.22,0.00,0.000,4,0.000,0.041,2365,552,3939
$GC,3347,-1.16,-243.4,450.5,-12.8,477,3351,0.00,2.25,0.00,0.000,6,0.000,0.034,2365,2071,3939
$GC,3674,-1.16,-243.4,486.6,-10.1,507,3678,0.00,1.92,0.00,0.000,4,0.000,0.048,2366,3348,3937
$GC,3720,-1.16,-243.4,491.7,-10.6,511,3724,0.00,1.85,0.00,0.000,6,0.000,0.029,2367,2062,3936
$GC,4059,-1.16,-243.4,525.6,-10.5,531,4063,0.00,2.28,0.00,0.000,4,0.000,0.042,2369,546,3934
$GC,4109,-1.16,-243.4,532.0,-12.0,533,4113,0.00,2.25,0.00,0.000,6,0.000,0.035,2367,2056,3933
$GC,4425,-1.16,-243.4,567.4,-11.4,548,4429,0.00,1.98,0.00,0.000,4,0.000,0.051,2368,3355,3930
$GC,4505,-1.16,-243.4,576.9,-11.9,551,4508,0.00,1.88,0.00,0.000,6,0.000,0.030,2369,2061,3930
$GC,4827,-1.16,-243.4,613.0,-10.9,567,4831,0.00,2.00,0.00,0.000,4,0.000,0.050,2359,3354,3927
$GC,4855,-1.16,-243.4,616.2,-11.2,568,4858,0.00,1.85,0.00,0.000,6,0.000,0.031,2362,2080,3926
$GC,5184,-1.16,-243.4,650.6,-10.2,584,5188,0.00,2.30,0.00,0.000,4,0.000,0.045,2363,561,3925
$GC,5224,-1.16,-243.4,655.1,-11.2,586,5228,0.15,2.25,0.00,0.000,6,0.143,0.037,2392,2065,3924
$GC,5552,-1.16,-243.4,686.2,-9.6,602,5555,0.00,1.98,0.00,0.000,4,0.000,0.054,2386,3350,3921
$GC,5585,-1.16,-243.4,689.8,-9.9,603,5589,0.00,1.88,0.00,0.000,6,0.000,0.032,2387,2066,3920
$GC,5907,-1.16,-243.4,722.3,-10.6,619,5911,0.00,2.00,0.00,0.000,4,0.000,0.054,2380,3354,3917
$GC,5936,-1.16,-243.4,725.5,-11.7,620,5940,0.00,1.85,0.00,0.000,6,0.000,0.034,2381,2092,3917
$GC,6265,-1.16,-243.4,762.3,-11.2,636,6268,0.00,1.95,0.00,0.000,4,0.000,0.054,2374,3345,3914
$GC,6360,-1.16,-243.4,773.6,-11.7,640,6364,0.00,1.92,0.00,0.000,6,0.000,0.035,2374,2044,3913
$GC,6688,-1.16,-243.4,810.3,-11.2,656,6692,0.00,2.03,0.00,0.000,4,0.000,0.057,2369,3351,3911
$GC,6721,-1.16,-243.4,814.3,-11.7,657,6725,0.00,1.90,0.00,0.000,6,0.000,0.035,2369,2066,3911
$GC,7046,-1.16,-243.4,851.7,-11.4,673,7050,0.00,2.33,0.00,0.000,4,0.000,0.049,2369,551,3908
$GC,7081,-1.16,-243.4,856.4,-12.6,674,7088,0.12,2.30,0.00,0.000,6,0.153,0.041,2393,2066,3908
$GC,7397,-1.16,-243.4,889.6,-10.0,690,7400,0.00,2.00,0.00,0.000,4,0.000,0.058,2388,3348,3905
$GC,7453,-1.16,-243.4,895.4,-10.2,692,7457,0.00,1.90,0.00,0.000,6,0.000,0.037,2389,2086,3905
$GC,7776,-1.16,-243.4,927.1,-9.7,708,7780,0.00,2.35,0.00,0.000,4,0.000,0.050,2389,562,3903
$GC,7861,-1.16,-243.4,936.1,-10.1,712,7865,0.00,2.28,0.00,0.000,6,0.000,0.044,2384,2044,3902
$GC,8189,-1.16,-243.4,969.1,-10.0,728,8193,0.00,2.05,0.00,0.000,4,0.000,0.061,2386,3346,3900
$GC,8273,-1.16,-243.4,978.2,-10.9,731,8279,0.00,1.88,0.00,0.000,6,0.000,0.037,2386,2085,3900
$STATE,8400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8400,begin apogee
$GC,8407,-0.26,0.0,991.9,10.5,738,8624,0.88,0.00,210.15,1.459,6,0.103,0.000,2678,1597,2945
$STATE,8625,end apogee,CONTROL_FINISHED_OK
$STATE,8625,begin climb
$GC,8629,1.16,243.4,1008.0,0.0,749,8857,1.25,2.30,217.15,1.417,4,0.048,0.056,3146,2986,1951
$GC,8914,1.16,243.4,985.8,15.2,762,8918,0.00,2.17,0.00,0.000,6,0.000,0.042,3155,1586,1946
$GC,9241,1.16,243.4,938.1,14.7,778,9245,0.00,2.17,0.00,0.000,4,0.000,0.056,3165,202,1942
$GC,9291,1.16,243.4,930.3,15.6,780,9295,0.00,2.10,0.00,0.000,6,0.000,0.043,3164,1581,1941
$GC,9619,1.16,243.4,883.3,14.4,796,9623,0.00,2.20,0.00,0.000,4,0.000,0.056,3164,2991,1940
$GC,9764,1.16,243.4,862.2,14.3,802,9768,0.15,2.12,0.00,0.000,6,0.194,0.043,3138,1593,1939
$GC,10081,1.16,243.4,822.8,12.2,817,10085,0.00,2.17,0.00,0.000,4,0.000,0.057,3137,2989,1938
$GC,10127,1.16,243.4,816.8,12.8,819,10131,0.00,2.08,0.00,0.000,6,0.000,0.041,3144,1625,1937
$GC,10460,1.16,243.4,774.4,12.8,835,10464,0.00,2.15,0.00,0.000,4,0.000,0.055,3143,2998,1937
$GC,10523,1.16,243.4,765.9,12.9,837,10530,0.00,2.08,0.00,0.000,6,0.000,0.042,3154,1631,1936
$GC,10839,1.16,243.4,722.9,13.1,853,10842,0.00,2.22,0.00,0.000,4,0.000,0.054,3163,208,1936
$GC,10885,1.16,243.4,716.6,13.8,855,10889,0.00,2.22,0.00,0.000,6,0.000,0.044,3164,1658,1935
$GC,11213,1.16,243.4,671.6,13.5,871,11217,0.00,2.08,0.00,0.000,4,0.000,0.055,3164,2992,1935
$GC,11241,1.16,243.4,667.3,14.6,872,11245,0.15,2.08,0.00,0.000,6,0.194,0.042,3138,1615,1934
$GC,11567,1.16,243.4,626.5,12.4,888,11571,0.00,2.17,0.00,0.000,4,0.000,0.057,3136,2990,1934
$GC,11691,1.16,243.4,611.0,12.3,893,11695,0.00,2.00,0.00,0.000,6,0.000,0.041,3144,1666,1933
$GC,12013,1.19,269.3,574.3,11.1,909,12044,0.00,0.00,23.62,1.110,6,0.000,0.000,3144,1666,1847
$GC,12362,1.22,292.1,535.7,11.2,926,12393,0.00,0.00,23.90,1.075,6,0.000,0.000,3144,1666,1753
$GC,12695,1.23,296.0,496.7,11.9,943,12706,0.00,2.10,4.90,0.840,4,0.000,0.053,3144,2997,1738
$GC,12746,1.23,296.0,490.0,13.2,947,12752,0.00,2.05,0.00,0.000,6,0.000,0.040,3154,1649,1737
$GC,13076,1.25,317.6,452.3,11.3,978,13110,0.00,2.17,23.02,1.007,4,0.000,0.051,3155,2989,1650
$GC,13149,1.26,324.9,443.1,11.8,984,13167,0.00,2.03,8.45,0.949,6,0.000,0.039,3162,1659,1619
$GC,13485,1.26,324.9,403.5,12.0,1016,13489,0.00,2.08,0.00,0.000,4,0.000,0.049,3163,3000,1617
$GC,13531,1.26,324.9,397.8,12.5,1020,13534,0.00,2.00,0.00,0.000,6,0.000,0.038,3174,1666,1617
$GC,13867,1.28,342.1,357.8,11.4,1051,13889,0.00,2.08,16.52,0.985,4,0.000,0.048,3174,3000,1550
$GC,14009,1.28,342.1,339.4,12.5,1063,14015,0.00,1.95,0.00,0.000,6,0.000,0.038,3182,1704,1548
$GC,14340,1.31,364.4,301.3,11.3,1094,14367,0.00,2.03,21.10,0.943,4,0.000,0.046,3187,3003,1459
$GC,14488,1.31,364.4,282.0,13.3,1118,14495,0.00,1.92,0.00,0.000,6,0.000,0.036,3195,1735,1457
$GC,14836,1.41,446.3,241.0,9.3,1179,14915,0.00,2.05,72.88,0.898,4,0.000,0.044,3195,3000,1124
$GC,14950,1.41,446.3,228.3,12.0,1198,14956,0.00,1.88,0.00,0.000,6,0.000,0.034,3204,1787,1123
$GC,15297,1.41,446.3,187.6,12.4,1259,15303,0.00,1.88,0.00,0.000,4,0.000,0.043,3203,3001,1121
$GC,15389,1.41,446.3,175.6,12.6,1275,15396,0.00,1.75,0.00,0.000,6,0.000,0.031,3206,1828,1121
$GC,15736,1.45,476.2,134.3,11.0,1336,15768,0.00,0.00,27.00,0.778,6,0.000,0.000,3206,1828,1003
$GC,16108,1.54,552.8,93.9,9.5,1401,16184,0.15,2.60,66.38,0.741,4,0.061,0.044,3291,197,691
$GC,16225,1.54,552.8,79.5,13.8,1420,16231,0.00,2.58,0.00,0.000,6,0.000,0.031,3290,1906,690
$GC,16571,1.56,565.2,34.9,11.6,1481,16591,0.00,1.67,11.80,0.627,4,0.000,0.040,3292,3004,641
$GC,16646,1.56,565.2,25.4,12.9,1493,16654,0.12,1.77,0.00,0.000,6,0.156,0.030,3267,1807,641
$STATE,16843,end climb,SURFACE_DEPTH_REACHED
$STATE,16844,begin surface coast
$FINISH,0.9,1.012912
$STATE,16873,end surface coast,CONTROL_FINISHED_OK
$STATE,16873,begin surface
$SM_CCo,16954,0.00,0.000,0,0,640,565.66
$SM_GC,1.65,8.27,0.00,0.00,0.043,0.000,0.000,166,1985,640,-8.11,0.99,565.66
$IRIDIUM_FIX,2413.38,12538.86,301098,000030
$TT8_MAMPS,0.026845
$HUMID,1622
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.40
$XPDR_PINGS,161
$24V_AH,23.1,96.969
$10V_AH,10.6,63.956
$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,20.425,157.850,726.875,0.000,0.000,26.128,33.595,236.448,48.250,0.000,0.000,32.443,2685.021,9974.397,809.596,3193.565,757.167,0.000,2281.016,0.000,3138.348,0.000,56.506,0.000
$DEVICE_MAMPS,227.799,61.360,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.099,1052.270,1779.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88495,1533
$CAP_FILE_SIZE,164966,0
$CFSIZE,260165632,198901760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.253, 85.4,1
$GPS,050809,095554,2421.983,12537.862,41,2.0,41,-3.7