version: 66.04
glider: 166
mission: 2
dive: 444
start: 8 5 109 15 13 51
data:
$ID,166
$MISSION,2
$DIVE,444
$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,-14462.415
$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,43
$R_STBD_OVSHOOT,53
$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
$GPS1,145824,2421.396,12538.457,69,1.2,69,-3.7
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-55.1
$GPS2,151331,2421.242,12538.524,10,1.8,10,-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,246.9,48263,-16.4,-12.000
$D_GRID,1437
$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,-1.16,-243.4,0.0,0.0,0,99,0.00,0.00,-81.45,0.000,2,0.000,0.000,149,1970,2367
$GC,103,-1.16,-243.4,3.0,-5.2,12,161,9.12,2.10,-41.30,0.000,4,0.225,0.055,2380,3353,3938
$GC,309,-1.16,-243.4,42.0,-18.4,47,316,0.00,2.08,0.00,0.000,6,0.000,0.028,2376,1936,3938
$GC,655,-1.16,-243.4,101.2,-15.0,108,662,0.00,2.12,0.00,0.000,4,0.000,0.044,2384,3346,3938
$GC,737,-1.16,-243.4,113.7,-14.9,122,743,0.00,2.00,0.00,0.000,6,0.000,0.028,2387,1971,3938
$GC,1082,-1.16,-243.4,162.8,-13.7,183,1088,0.00,2.08,0.00,0.000,4,0.000,0.044,2384,3349,3939
$GC,1106,-1.16,-243.4,166.3,-13.1,187,1113,0.00,1.98,0.00,0.000,6,0.000,0.028,2388,1990,3939
$GC,1452,-1.16,-243.4,213.0,-12.5,248,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1990,3939
$GC,1798,-1.16,-243.4,257.1,-12.0,309,1805,0.00,2.05,0.00,0.000,4,0.000,0.044,2369,3345,3938
$GC,1891,-1.16,-243.4,269.3,-13.2,325,1898,0.00,1.95,0.00,0.000,6,0.000,0.027,2376,1979,3938
$GC,2237,-1.16,-243.4,312.6,-12.3,378,2241,0.00,2.08,0.00,0.000,4,0.000,0.044,2368,3349,3937
$GC,2272,-1.16,-243.4,316.9,-12.9,381,2275,0.00,1.92,0.00,0.000,6,0.000,0.028,2369,2008,3937
$GC,2603,-1.16,-243.4,355.3,-10.9,412,2606,0.00,2.05,0.00,0.000,4,0.000,0.047,2367,3355,3935
$GC,2630,-1.16,-243.4,358.5,-10.8,414,2637,0.00,1.92,0.00,0.000,6,0.000,0.028,2366,2035,3935
$GC,2959,-1.16,-243.4,394.1,-10.4,445,2963,0.00,2.20,0.00,0.000,4,0.000,0.042,2366,562,3933
$GC,3011,-1.16,-243.4,400.5,-11.7,449,3018,0.00,2.12,0.00,0.000,6,0.000,0.032,2367,2013,3933
$GC,3338,-1.16,-243.4,436.1,-11.1,480,3342,0.00,2.00,0.00,0.000,4,0.000,0.049,2369,3343,3931
$GC,3423,-1.16,-243.4,446.3,-11.9,487,3429,0.00,1.88,0.00,0.000,6,0.000,0.030,2368,2038,3930
$GC,3749,-1.16,-243.4,483.8,-11.7,518,3753,0.00,2.00,0.00,0.000,4,0.000,0.048,2370,3344,3926
$GC,3774,-1.16,-243.4,486.6,-11.9,520,3777,0.00,1.90,0.00,0.000,6,0.000,0.030,2370,2027,3926
$GC,4099,-1.16,-243.4,524.1,-11.6,541,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2027,3924
$GC,4410,-1.16,-243.4,559.7,-11.7,556,4414,0.00,2.05,0.00,0.000,4,0.000,0.051,2367,3352,3921
$GC,4479,-1.16,-243.4,568.2,-12.5,559,4483,0.00,1.92,0.00,0.000,6,0.000,0.031,2373,2035,3920
$GC,4813,-1.16,-243.4,607.2,-11.3,575,4816,0.00,2.03,0.00,0.000,4,0.000,0.052,2361,3349,3916
$GC,4860,-1.16,-243.4,612.7,-12.2,577,4863,0.00,1.90,0.00,0.000,6,0.000,0.033,2362,2050,3916
$GC,5196,-1.16,-243.4,652.0,-11.7,593,5199,0.00,2.25,0.00,0.000,4,0.000,0.047,2361,565,3913
$GC,5229,-1.16,-243.4,656.6,-12.8,594,5233,0.12,2.22,0.00,0.000,6,0.155,0.038,2389,2052,3913
$GC,5552,-1.16,-243.4,693.3,-11.4,610,5555,0.00,2.00,0.00,0.000,4,0.000,0.054,2385,3350,3910
$GC,5620,-1.16,-243.4,701.4,-11.6,613,5623,0.00,1.88,0.00,0.000,6,0.000,0.035,2387,2073,3909
$GC,5954,-1.16,-243.4,736.8,-10.1,629,5957,0.00,1.98,0.00,0.000,4,0.000,0.056,2380,3339,3906
$GC,5988,-1.16,-243.4,740.6,-11.4,630,5992,0.00,1.85,0.00,0.000,6,0.000,0.035,2379,2103,3906
$GC,6311,-1.16,-243.4,771.9,-9.5,646,6315,0.00,2.38,0.00,0.000,4,0.000,0.049,2380,555,3903
$GC,6362,-1.16,-243.4,777.3,-10.9,648,6366,0.00,2.33,0.00,0.000,6,0.000,0.041,2373,2087,3903
$GC,6683,-1.16,-243.4,809.7,-10.0,664,6687,0.00,1.95,0.00,0.000,4,0.000,0.058,2358,3345,3900
$GC,6739,-1.16,-243.4,816.0,-11.5,666,6744,0.08,1.83,0.00,0.000,6,0.139,0.037,2386,2128,3900
$GC,7063,-1.16,-243.4,847.9,-10.1,682,7066,0.00,1.90,0.00,0.000,4,0.000,0.059,2387,3337,3898
$GC,7096,-1.16,-243.4,851.7,-11.1,683,7100,0.00,1.77,0.00,0.000,6,0.000,0.038,2383,2140,3898
$GC,7419,-1.16,-243.4,884.3,-10.2,699,7422,0.00,1.88,0.00,0.000,4,0.000,0.058,2376,3337,3895
$GC,7461,-1.16,-243.4,888.7,-10.6,700,7468,0.00,1.75,0.00,0.000,6,0.000,0.038,2380,2175,3895
$GC,7777,-1.16,-243.4,922.6,-10.7,716,7781,0.00,2.50,0.00,0.000,4,0.000,0.051,2378,560,3893
$GC,7804,-1.16,-243.4,925.9,-12.3,717,7808,0.00,2.45,0.00,0.000,6,0.000,0.044,2374,2154,3892
$GC,8121,-1.16,-243.4,960.3,-10.9,732,8122,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2154,3891
$STATE,8406,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8406,begin apogee
$GC,8414,-0.26,0.0,991.2,10.5,746,8629,0.93,0.00,207.02,1.461,6,0.110,0.000,2672,1602,2944
$STATE,8629,end apogee,CONTROL_FINISHED_OK
$STATE,8630,begin climb
$GC,8634,1.16,243.4,1005.9,0.0,757,8860,1.27,2.33,216.02,1.417,4,0.051,0.058,3155,205,1951
$GC,8967,1.16,243.4,975.6,14.8,772,8971,0.00,2.12,0.00,0.000,6,0.000,0.043,3152,1578,1946
$GC,9289,1.16,243.4,930.1,14.1,788,9293,0.00,2.20,0.00,0.000,4,0.000,0.055,3149,2988,1942
$GC,9396,1.16,243.4,913.6,14.4,792,9402,0.00,2.12,0.00,0.000,6,0.000,0.044,3159,1591,1940
$GC,9712,1.16,243.4,867.5,14.8,808,9714,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,1591,1940
$GC,10022,1.16,243.4,823.5,14.1,823,10025,0.00,2.20,0.00,0.000,4,0.000,0.057,3158,2996,1938
$GC,10077,1.16,243.4,815.1,14.2,825,10081,0.00,2.12,0.00,0.000,6,0.000,0.044,3168,1603,1937
$GC,10401,1.16,243.4,768.5,14.8,841,10405,0.00,2.22,0.00,0.000,4,0.000,0.058,3179,195,1937
$GC,10462,1.16,243.4,758.8,15.1,843,10469,0.15,2.15,0.00,0.000,6,0.188,0.044,3144,1604,1936
$GC,10778,1.16,243.4,716.4,13.4,859,10782,0.00,2.15,0.00,0.000,4,0.000,0.061,3134,2980,1936
$GC,10931,1.16,243.4,695.8,12.8,865,10937,0.00,2.05,0.00,0.000,6,0.000,0.044,3141,1633,1935
$GC,11247,1.16,246.7,656.4,11.9,881,11251,0.00,2.12,0.00,0.000,4,0.000,0.055,3138,2992,1935
$GC,11297,1.16,246.7,650.1,12.7,883,11301,0.00,2.08,0.00,0.000,6,0.000,0.043,3146,1634,1934
$GC,11627,1.20,274.3,613.9,11.1,899,11672,0.00,2.22,28.33,1.156,4,0.000,0.055,3146,2988,1825
$GC,11733,1.20,274.3,599.8,12.6,903,11739,0.00,2.05,0.00,0.000,6,0.000,0.043,3156,1657,1823
$GC,12051,1.22,289.8,562.4,11.5,919,12080,0.00,2.15,17.08,1.034,4,0.000,0.054,3157,2981,1763
$GC,12161,1.25,313.5,549.3,11.2,924,12196,0.00,1.98,24.65,1.075,6,0.000,0.042,3167,1692,1668
$GC,12519,1.25,313.5,506.5,12.6,941,12522,0.00,2.03,0.00,0.000,4,0.000,0.054,3169,2984,1664
$GC,12552,1.25,313.5,500.9,13.2,942,12556,0.00,1.98,0.00,0.000,6,0.000,0.042,3180,1688,1663
$GC,12886,1.25,313.5,460.4,12.1,973,12890,0.00,2.03,0.00,0.000,4,0.000,0.054,3182,2989,1663
$GC,13000,1.25,313.5,445.0,13.8,983,13004,0.00,1.98,0.00,0.000,6,0.000,0.041,3191,1686,1663
$GC,13334,1.25,313.5,402.1,12.0,1014,13338,0.00,2.03,0.00,0.000,4,0.000,0.051,3191,2992,1662
$GC,13407,1.25,313.5,392.1,12.8,1020,13413,0.08,1.95,0.00,0.000,6,0.178,0.041,3164,1722,1663
$GC,13735,1.29,352.4,354.7,10.7,1051,13780,0.00,2.45,35.55,1.012,4,0.000,0.052,3174,208,1507
$GC,13793,1.34,387.8,348.3,10.8,1056,13841,0.00,2.35,34.92,0.938,6,0.000,0.039,3173,1727,1363
$GC,14161,1.35,395.1,306.5,11.8,1090,14176,0.00,2.40,7.72,0.828,4,0.000,0.050,3184,197,1333
$GC,14210,1.35,395.1,300.3,13.0,1094,14214,0.00,2.42,0.00,0.000,6,0.000,0.038,3185,1786,1333
$GC,14555,1.37,417.5,260.6,11.3,1154,14588,0.00,2.58,21.52,0.897,4,0.000,0.049,3198,189,1241
$GC,14680,1.38,422.7,245.4,11.8,1175,14693,0.00,2.53,6.05,0.714,6,0.000,0.037,3198,1847,1221
$GC,15033,1.39,432.7,201.0,11.7,1237,15047,0.00,0.00,10.80,0.790,6,0.000,0.000,3198,1847,1180
$GC,15388,1.47,491.9,162.6,10.0,1299,15446,0.12,1.83,52.38,0.818,4,0.067,0.044,3258,2995,939
$GC,15561,1.47,491.9,138.6,14.6,1328,15568,0.00,1.77,0.00,0.000,6,0.000,0.035,3264,1829,939
$GC,15907,1.47,491.9,89.8,12.5,1389,15913,0.00,2.50,0.00,0.000,4,0.000,0.044,3277,190,938
$GC,15993,1.47,491.9,78.3,12.7,1404,16001,0.15,2.40,0.00,0.000,6,0.158,0.032,3237,1822,937
$GC,16340,1.55,560.7,39.6,9.7,1465,16405,0.00,2.60,59.25,0.696,4,0.000,0.043,3245,197,660
$GC,16544,1.55,560.7,15.2,13.3,1499,16551,0.00,2.35,0.00,0.000,6,0.000,0.030,3244,1791,658
$STATE,16640,end climb,SURFACE_DEPTH_REACHED
$STATE,16641,begin surface coast
$FINISH,1.1,1.021350
$STATE,16676,end surface coast,CONTROL_FINISHED_OK
$STATE,16676,begin surface
$SM_CCo,16756,0.00,0.000,0,0,655,561.25
$SM_GC,1.27,8.30,0.00,0.00,0.047,0.000,0.000,159,1992,655,-8.09,1.19,561.25
$IRIDIUM_FIX,2413.38,12540.78,301098,151510
$TT8_MAMPS,0.026845
$HUMID,1630
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.20
$XPDR_PINGS,169
$24V_AH,23.1,97.545
$10V_AH,10.6,64.278
$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,20.325,152.725,721.300,0.000,0.000,72.848,100.029,423.143,50.250,0.000,0.000,10.150,2655.262,9942.982,805.288,3163.943,1076.147,0.000,2270.736,0.000,3131.660,0.000,54.423,0.000
$DEVICE_MAMPS,225.498,61.360,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1030.377,1041.362,1787.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88561,1522
$CAP_FILE_SIZE,167802,0
$CFSIZE,260165632,198725632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.137,102.5,1
$GPS,050809,195424,2420.431,12538.561,39,1.3,39,-3.7