version: 66.04
glider: 166
mission: 2
dive: 443
start: 8 5 109 10 15 17
data:
$ID,166
$MISSION,2
$DIVE,443
$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,-14451.636
$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,57
$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
$GPS1,095554,2421.983,12537.862,41,2.0,41,-3.7
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-61.8
$GPS2,101458,2421.921,12538.011,17,4.6,36,-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,252.2,48806,-16.4,-12.000
$D_GRID,1335
$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,-243.4,0.0,0.0,0,102,0.00,0.00,-83.70,0.000,2,0.000,0.000,141,1985,2548
$GC,105,-1.16,-243.4,3.5,-6.0,13,158,9.15,2.10,-34.42,0.000,4,0.225,0.055,2381,3336,3939
$GC,284,-1.16,-243.4,38.4,-19.7,43,290,0.00,2.03,0.00,0.000,6,0.000,0.028,2375,1927,3939
$GC,630,-1.16,-243.4,98.0,-15.5,104,637,0.00,2.12,0.00,0.000,4,0.000,0.044,2375,3343,3940
$GC,696,-1.16,-243.4,108.4,-15.6,115,703,0.00,2.00,0.00,0.000,6,0.000,0.027,2389,1964,3940
$GC,1040,-1.16,-243.4,162.9,-15.8,176,1046,0.00,2.08,0.00,0.000,4,0.000,0.044,2384,3345,3940
$GC,1082,-1.16,-243.4,169.3,-15.4,183,1088,0.00,1.98,0.00,0.000,6,0.000,0.027,2387,1984,3941
$GC,1428,-1.16,-243.4,216.7,-12.4,244,1435,0.00,2.05,0.00,0.000,4,0.000,0.045,2379,3345,3940
$GC,1452,-1.16,-243.4,220.0,-13.0,248,1459,0.00,1.98,0.00,0.000,6,0.000,0.028,2382,1991,3940
$GC,1796,-1.16,-243.4,263.2,-12.3,309,1802,0.00,2.05,0.00,0.000,4,0.000,0.045,2369,3345,3940
$GC,1848,-1.16,-243.4,270.1,-13.7,318,1856,0.00,1.92,0.00,0.000,6,0.000,0.027,2378,2015,3940
$GC,2188,-1.16,-243.4,311.5,-11.8,370,2192,0.00,2.00,0.00,0.000,4,0.000,0.045,2365,3343,3939
$GC,2279,-1.16,-243.4,322.8,-12.9,378,2283,0.00,1.83,0.00,0.000,6,0.000,0.028,2367,2059,3938
$GC,2612,-1.16,-243.4,361.2,-11.0,409,2616,0.00,1.95,0.00,0.000,4,0.000,0.046,2365,3342,3936
$GC,2669,-1.16,-243.4,368.1,-11.8,414,2673,0.00,1.80,0.00,0.000,6,0.000,0.028,2365,2083,3936
$GC,3002,-1.16,-243.4,404.3,-10.8,445,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2083,3934
$GC,3321,-1.16,-243.4,441.7,-12.0,475,3325,0.00,2.30,0.00,0.000,4,0.000,0.042,2365,552,3932
$GC,3354,-1.16,-243.4,446.3,-12.1,477,3360,0.00,2.28,0.00,0.000,6,0.000,0.035,2365,2091,3932
$GC,3680,-1.16,-243.4,482.1,-9.9,508,3683,0.00,1.90,0.00,0.000,4,0.000,0.049,2366,3349,3929
$GC,3731,-1.16,-243.4,487.2,-10.3,512,3737,0.00,1.83,0.00,0.000,6,0.000,0.030,2367,2100,3929
$GC,4051,-1.16,-243.4,519.7,-10.7,534,4055,0.00,2.33,0.00,0.000,4,0.000,0.044,2368,552,3926
$GC,4090,-1.16,-243.4,524.3,-12.5,536,4095,0.12,2.28,0.00,0.000,6,0.153,0.035,2393,2086,3926
$GC,4420,-1.16,-243.4,559.4,-10.7,552,4424,0.00,1.92,0.00,0.000,4,0.000,0.054,2389,3342,3923
$GC,4499,-1.16,-243.4,568.4,-11.2,555,4503,0.00,1.77,0.00,0.000,6,0.000,0.031,2391,2114,3922
$GC,4824,-1.16,-243.4,601.4,-10.3,571,4828,0.00,1.90,0.00,0.000,4,0.000,0.052,2394,3348,3919
$GC,4897,-1.16,-243.4,609.6,-10.5,574,4900,0.00,1.75,0.00,0.000,6,0.000,0.032,2393,2142,3918
$GC,5225,-1.16,-243.4,642.6,-10.0,590,5229,0.00,2.40,0.00,0.000,4,0.000,0.046,2392,561,3915
$GC,5243,-1.16,-243.4,644.5,-10.4,591,5247,0.00,2.38,0.00,0.000,6,0.000,0.038,2386,2139,3914
$GC,5572,-1.16,-243.4,680.4,-11.4,607,5575,0.00,1.85,0.00,0.000,4,0.000,0.054,2386,3345,3912
$GC,5646,-1.16,-243.4,689.4,-11.9,610,5649,0.00,1.70,0.00,0.000,6,0.000,0.035,2384,2178,3910
$GC,5973,-1.16,-243.4,729.2,-12.0,626,5977,0.00,2.47,0.00,0.000,4,0.000,0.048,2385,562,3908
$GC,6016,-1.16,-243.4,734.8,-12.5,628,6021,0.00,2.40,0.00,0.000,6,0.000,0.040,2374,2147,3907
$GC,6339,-1.16,-243.4,770.2,-10.6,644,6343,0.00,2.45,0.00,0.000,4,0.000,0.048,2378,555,3904
$GC,6372,-1.16,-243.4,774.1,-12.1,645,6378,0.00,2.42,0.00,0.000,6,0.000,0.041,2364,2150,3904
$GC,6689,-1.16,-243.4,809.4,-11.5,661,6693,0.00,2.45,0.00,0.000,4,0.000,0.049,2364,567,3902
$GC,6752,-1.16,-243.4,817.1,-12.1,664,6756,0.12,2.38,0.00,0.000,6,0.160,0.042,2389,2119,3901
$GC,7080,-1.16,-243.4,852.4,-11.0,680,7084,0.00,1.90,0.00,0.000,4,0.000,0.059,2382,3339,3898
$GC,7104,-1.16,-243.4,855.3,-11.2,681,7108,0.00,1.77,0.00,0.000,6,0.000,0.038,2381,2144,3898
$GC,7439,-1.16,-243.4,895.6,-12.3,697,7443,0.00,2.45,0.00,0.000,4,0.000,0.051,2381,558,3895
$GC,7488,-1.16,-243.4,902.7,-14.8,699,7492,0.00,2.40,0.00,0.000,6,0.000,0.044,2371,2127,3895
$GC,7805,-1.16,-243.4,942.3,-12.2,714,7808,0.00,1.90,0.00,0.000,4,0.000,0.061,2356,3342,3892
$GC,7822,-1.16,-243.4,944.5,-11.8,714,7830,0.08,1.83,0.00,0.000,6,0.152,0.038,2385,2135,3893
$GC,8138,-1.16,-243.4,980.3,-10.9,730,8142,0.00,2.45,0.00,0.000,4,0.000,0.053,2387,558,3890
$GC,8172,-1.16,-243.4,984.1,-11.8,731,8178,0.00,2.42,0.00,0.000,6,0.000,0.045,2373,2134,3890
$STATE,8238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8238,begin apogee
$GC,8246,-0.26,0.0,992.4,12.2,735,8461,0.93,0.00,207.45,1.459,6,0.114,0.000,2667,1594,2944
$STATE,8461,end apogee,CONTROL_FINISHED_OK
$STATE,8461,begin climb
$GC,8464,1.16,243.4,1007.6,0.0,746,8691,1.30,2.30,215.43,1.414,4,0.055,0.059,3155,206,1951
$GC,8753,1.16,243.4,983.7,15.3,759,8757,0.00,2.12,0.00,0.000,6,0.000,0.043,3152,1571,1946
$GC,9076,1.16,243.4,935.9,14.8,775,9080,0.00,2.22,0.00,0.000,4,0.000,0.056,3148,2996,1942
$GC,9148,1.16,243.4,924.7,15.1,778,9152,0.00,2.12,0.00,0.000,6,0.000,0.044,3159,1600,1940
$GC,9477,1.16,243.4,879.2,13.5,794,9480,0.00,2.17,0.00,0.000,4,0.000,0.056,3158,2991,1940
$GC,9600,1.16,243.4,861.9,13.3,799,9604,0.00,2.10,0.00,0.000,6,0.000,0.045,3167,1616,1938
$GC,9923,1.16,243.4,819.1,13.8,815,9926,0.00,2.22,0.00,0.000,4,0.000,0.057,3178,198,1938
$GC,9962,1.16,243.4,813.2,14.5,816,9969,0.15,2.17,0.00,0.000,6,0.190,0.044,3143,1625,1937
$GC,10278,1.16,243.4,774.1,12.7,832,10282,0.00,2.12,0.00,0.000,4,0.000,0.056,3136,2989,1937
$GC,10340,1.16,243.4,765.9,12.5,834,10348,0.00,2.10,0.00,0.000,6,0.000,0.044,3144,1606,1936
$GC,10656,1.16,243.4,725.7,12.5,850,10659,0.00,2.17,0.00,0.000,4,0.000,0.056,3143,2990,1935
$GC,10757,1.16,243.4,712.0,14.0,854,10761,0.00,2.08,0.00,0.000,6,0.000,0.044,3152,1625,1935
$GC,11079,1.16,243.4,670.8,12.8,870,11082,0.00,2.22,0.00,0.000,4,0.000,0.057,3162,209,1934
$GC,11140,1.16,243.4,662.8,13.2,872,11146,0.00,2.17,0.00,0.000,6,0.000,0.044,3163,1635,1934
$GC,11457,1.16,243.4,624.0,12.4,888,11460,0.00,2.10,0.00,0.000,4,0.000,0.055,3163,2984,1934
$GC,11490,1.16,243.4,619.5,13.0,889,11494,0.15,2.08,0.00,0.000,6,0.191,0.043,3138,1617,1933
$GC,11806,1.17,249.5,583.3,11.8,904,11810,0.00,2.17,0.00,0.000,4,0.000,0.062,3136,2993,1933
$GC,11922,1.17,249.5,569.6,12.4,909,11926,0.00,2.08,0.00,0.000,6,0.000,0.043,3145,1633,1933
$GC,12257,1.20,274.6,532.7,11.2,925,12300,0.00,2.33,28.17,1.102,4,0.000,0.055,3158,201,1824
$GC,12325,1.20,274.6,524.2,12.2,928,12329,0.00,2.22,0.00,0.000,6,0.000,0.043,3159,1633,1823
$GC,12645,1.20,274.6,485.4,12.3,949,12649,0.00,2.12,0.00,0.000,4,0.000,0.055,3159,2988,1822
$GC,12725,1.20,274.6,475.4,12.3,956,12728,0.00,2.05,0.00,0.000,6,0.000,0.042,3169,1642,1821
$GC,13059,1.20,274.6,434.9,12.1,987,13063,0.00,2.25,0.00,0.000,4,0.000,0.054,3182,204,1821
$GC,13155,1.21,284.1,422.5,11.7,995,13172,0.00,2.17,9.65,0.995,6,0.000,0.041,3182,1635,1786
$GC,13491,1.21,284.1,381.6,12.1,1027,13495,0.00,2.08,0.00,0.000,4,0.000,0.051,3183,2982,1785
$GC,13583,1.21,287.0,370.6,11.9,1035,13595,0.15,2.05,4.12,0.706,6,0.183,0.041,3157,1627,1774
$GC,13913,1.27,335.8,335.7,10.4,1066,13968,0.00,2.20,44.53,1.003,4,0.000,0.049,3157,2985,1576
$GC,14008,1.28,343.1,325.0,11.8,1074,14021,0.00,2.10,8.07,0.846,6,0.000,0.040,3165,1609,1546
$GC,14348,1.31,364.8,284.8,11.3,1117,14374,0.00,2.22,20.58,0.925,4,0.000,0.048,3165,2992,1457
$GC,14496,1.31,364.8,267.6,12.2,1142,14503,0.00,2.03,0.00,0.000,6,0.000,0.039,3173,1651,1455
$GC,14845,1.35,399.9,225.1,10.8,1203,14881,0.00,2.15,31.83,0.883,4,0.000,0.046,3173,2992,1313
$GC,14906,1.37,415.0,217.6,11.5,1213,14925,0.00,2.00,14.88,0.822,6,0.000,0.036,3181,1670,1253
$GC,15265,1.39,427.6,175.3,11.6,1276,15285,0.00,2.03,12.68,0.782,4,0.000,0.044,3181,2987,1200
$GC,15292,1.39,427.6,171.9,12.4,1280,15298,0.00,1.90,0.00,0.000,6,0.000,0.035,3190,1736,1200
$GC,15637,1.45,479.9,132.7,10.3,1341,15689,0.12,2.00,46.25,0.791,4,0.068,0.042,3253,2987,988
$GC,15710,1.45,479.9,123.8,13.3,1352,15717,0.08,1.83,0.00,0.000,6,0.166,0.034,3238,1798,987
$GC,16055,1.49,510.1,84.6,11.0,1413,16088,0.00,1.90,27.08,0.729,4,0.000,0.041,3238,2999,865
$GC,16168,1.50,518.9,72.1,11.7,1432,16181,0.00,1.77,9.35,0.637,6,0.000,0.032,3244,1819,828
$GC,16520,1.55,563.9,33.4,10.5,1494,16565,0.00,1.80,39.40,0.681,4,0.000,0.038,3244,2995,646
$GC,16620,1.59,589.1,22.7,11.2,1510,16653,0.00,1.73,23.27,0.648,6,0.000,0.031,3252,1845,542
$STATE,16777,end climb,SURFACE_DEPTH_REACHED
$STATE,16777,begin surface coast
$FINISH,0.7,1.021312
$STATE,16799,end surface coast,CONTROL_FINISHED_OK
$STATE,16799,begin surface
$SM_CCo,16879,0.00,0.000,0,0,540,589.95
$SM_GC,1.52,8.07,0.00,0.00,0.029,0.000,0.000,166,1970,540,-8.09,0.57,589.95
$IRIDIUM_FIX,2411.01,12535.56,301098,101022
$TT8_MAMPS,0.026845
$HUMID,1646
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.20
$XPDR_PINGS,155
$24V_AH,23.1,97.260
$10V_AH,10.6,64.119
$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,20.425,172.800,742.725,0.000,0.000,101.185,135.538,503.951,46.750,0.000,0.000,37.200,2688.141,9997.483,826.803,3238.861,1252.693,0.000,2318.366,0.000,3188.275,0.000,54.424,0.000
$DEVICE_MAMPS,225.498,62.127,1458.834,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1041.913,1058.012,1805.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91733,1541
$CAP_FILE_SIZE,176280,0
$CFSIZE,260165632,198791168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.207, 86.7,1
$GPS,050809,145824,2421.396,12538.457,69,1.2,69,-3.7