version: 66.04
glider: 166
mission: 2
dive: 446
start: 8 6 109 1 5 13
data:
$ID,166
$MISSION,2
$DIVE,446
$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,-14510.02
$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,35
$R_STBD_OVSHOOT,63
$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
$GPS1,005400,2419.806,12538.791,43,1.6,48,-3.7
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-51.5
$GPS2,010452,2419.747,12538.699,13,99.0,32,-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,236.9,46213,-16.4,-12.000
$D_GRID,1585
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.16,-243.4,0.0,0.0,0,121,0.00,0.00,-102.35,0.000,2,0.000,0.000,153,1991,2758
$GC,125,-1.16,-243.4,3.0,-2.3,16,172,9.43,2.25,-28.33,0.000,4,0.235,0.050,2382,525,3939
$GC,263,-1.16,-243.4,32.2,-20.0,39,270,0.00,2.08,0.00,0.000,6,0.000,0.031,2378,1943,3940
$GC,609,-1.16,-243.4,93.7,-17.2,100,617,0.00,2.10,0.00,0.000,4,0.000,0.038,2384,527,3941
$GC,652,-1.16,-243.4,100.3,-15.9,107,658,0.00,2.15,0.00,0.000,6,0.000,0.031,2379,1999,3941
$GC,996,-1.16,-243.4,150.1,-14.4,168,1003,0.00,2.03,0.00,0.000,4,0.000,0.046,2373,3360,3942
$GC,1067,-1.16,-243.4,160.4,-14.2,180,1075,0.00,2.03,0.00,0.000,6,0.000,0.028,2384,1968,3942
$GC,1417,-1.16,-243.4,208.1,-13.6,241,1423,0.00,2.10,0.00,0.000,4,0.000,0.045,2369,3362,3942
$GC,1474,-1.16,-243.4,216.4,-14.5,251,1480,0.00,1.90,0.00,0.000,6,0.000,0.027,2381,2025,3942
$GC,1820,-1.16,-243.4,264.5,-14.3,312,1828,0.00,2.17,0.00,0.000,4,0.000,0.041,2378,555,3941
$GC,1840,-1.16,-243.4,267.6,-13.9,315,1846,0.00,2.20,0.00,0.000,6,0.000,0.033,2368,2052,3941
$GC,2180,-1.16,-243.4,310.6,-11.6,368,2184,0.00,1.95,0.00,0.000,4,0.000,0.047,2368,3359,3940
$GC,2241,-1.16,-243.4,318.5,-12.7,373,2247,0.00,1.88,0.00,0.000,6,0.000,0.028,2366,2045,3940
$GC,2567,-1.16,-243.4,357.5,-11.3,404,2571,0.00,2.20,0.00,0.000,4,0.000,0.042,2368,554,3939
$GC,2602,-1.16,-243.4,361.7,-12.6,407,2606,0.12,2.20,0.00,0.000,6,0.156,0.033,2390,2050,3938
$GC,2929,-1.16,-243.4,396.1,-10.4,437,2933,0.00,1.95,0.00,0.000,4,0.000,0.048,2383,3348,3936
$GC,3024,-1.16,-243.4,406.8,-11.3,445,3032,0.00,1.85,0.00,0.000,6,0.000,0.029,2385,2062,3936
$GC,3353,-1.16,-243.4,443.6,-11.5,476,3356,0.00,2.28,0.00,0.000,4,0.000,0.043,2384,551,3935
$GC,3376,-1.16,-243.4,446.8,-11.8,478,3380,0.00,2.25,0.00,0.000,6,0.000,0.035,2379,2061,3935
$GC,3702,-1.16,-243.4,480.5,-9.4,508,3706,0.00,2.28,0.00,0.000,4,0.000,0.043,2381,554,3932
$GC,3754,-1.16,-243.4,485.7,-9.9,512,3758,0.00,2.22,0.00,0.000,6,0.000,0.036,2381,2047,3932
$GC,4094,-1.16,-243.4,519.1,-10.5,535,4098,0.00,2.00,0.00,0.000,4,0.000,0.052,2390,3361,3929
$GC,4180,-1.16,-243.4,529.6,-11.8,538,4189,0.00,1.90,0.00,0.000,6,0.000,0.031,2392,2075,3927
$GC,4496,-1.16,-243.4,566.8,-12.1,554,4499,0.00,1.98,0.00,0.000,4,0.000,0.052,2391,3346,3926
$GC,4529,-1.16,-243.4,570.9,-12.4,555,4533,0.00,1.85,0.00,0.000,6,0.000,0.032,2393,2100,3925
$GC,4852,-1.16,-243.4,606.9,-10.6,571,4856,0.00,2.35,0.00,0.000,4,0.000,0.046,2391,556,3922
$GC,4879,-1.16,-243.4,610.2,-10.9,572,4883,0.00,2.33,0.00,0.000,6,0.000,0.038,2383,2103,3922
$GC,5201,-1.16,-243.4,642.0,-9.8,588,5205,0.00,1.92,0.00,0.000,4,0.000,0.054,2385,3358,3918
$GC,5253,-1.16,-243.4,647.5,-10.5,590,5257,0.00,1.83,0.00,0.000,6,0.000,0.034,2383,2111,3918
$GC,5580,-1.16,-243.4,682.0,-10.8,606,5585,0.00,2.38,0.00,0.000,4,0.000,0.048,2383,555,3915
$GC,5625,-1.16,-243.4,687.4,-12.1,608,5629,0.00,2.38,0.00,0.000,6,0.000,0.044,2380,2114,3914
$GC,5954,-1.16,-243.4,725.0,-11.9,624,5958,0.00,2.40,0.00,0.000,4,0.000,0.048,2379,554,3912
$GC,5976,-1.16,-243.4,728.2,-12.8,625,5980,0.00,2.35,0.00,0.000,6,0.000,0.042,2378,2097,3912
$GC,6299,-1.16,-243.4,766.8,-11.9,641,6303,0.00,1.95,0.00,0.000,4,0.000,0.058,2366,3338,3909
$GC,6322,-1.16,-243.4,769.9,-12.2,642,6326,0.00,1.83,0.00,0.000,6,0.000,0.036,2369,2104,3909
$GC,6655,-1.16,-243.4,807.2,-10.9,658,6659,0.00,2.38,0.00,0.000,4,0.000,0.051,2369,564,3906
$GC,6712,-1.16,-243.4,814.2,-12.6,660,6720,0.00,2.35,0.00,0.000,6,0.000,0.043,2362,2083,3905
$GC,7029,-1.16,-243.4,850.6,-11.6,676,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2083,3903
$GC,7337,-1.16,-243.4,888.8,-12.6,691,7342,0.00,2.38,0.00,0.000,4,0.000,0.051,2363,558,3901
$GC,7389,-1.16,-243.4,895.8,-13.9,693,7393,0.12,2.35,0.00,0.000,6,0.160,0.044,2386,2086,3900
$GC,7711,-1.16,-243.4,933.2,-11.7,709,7714,0.00,1.98,0.00,0.000,4,0.000,0.061,2373,3343,3899
$GC,7817,-1.16,-243.4,946.3,-12.4,713,7823,0.00,1.80,0.00,0.000,6,0.000,0.038,2374,2134,3898
$GC,8135,-1.16,-243.4,980.5,-10.3,729,8140,0.00,2.45,0.00,0.000,4,0.000,0.054,2372,561,3896
$GC,8193,-1.16,-243.4,987.5,-12.2,731,8199,0.12,2.40,0.00,0.000,6,0.157,0.047,2392,2103,3895
$STATE,8220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8220,begin apogee
$GC,8229,-0.26,0.0,990.7,11.6,733,8441,0.88,0.00,208.45,1.453,6,0.112,0.000,2674,1598,2945
$STATE,8442,end apogee,CONTROL_FINISHED_OK
$STATE,8442,begin climb
$GC,8445,1.16,243.4,1005.5,0.0,744,8672,1.25,2.33,216.32,1.408,4,0.048,0.058,3148,2976,1951
$GC,8702,1.16,243.4,986.6,16.2,756,8706,0.00,2.20,0.00,0.000,6,0.000,0.044,3157,1577,1947
$GC,9034,1.16,243.4,935.4,15.5,772,9038,0.00,2.17,0.00,0.000,4,0.000,0.059,3165,202,1942
$GC,9084,1.16,243.4,927.1,15.4,774,9088,0.00,2.10,0.00,0.000,6,0.000,0.044,3163,1571,1942
$GC,9414,1.16,243.4,878.4,14.8,790,9418,0.00,2.22,0.00,0.000,4,0.000,0.057,3160,2996,1940
$GC,9520,1.16,243.4,862.1,14.7,794,9526,0.00,2.17,0.00,0.000,6,0.000,0.044,3168,1570,1939
$GC,9835,1.16,243.4,818.4,13.5,810,9839,0.00,2.22,0.00,0.000,4,0.000,0.057,3168,2986,1938
$GC,9950,1.16,243.4,802.7,14.2,815,9955,0.15,2.15,0.00,0.000,6,0.194,0.048,3141,1593,1937
$GC,10278,1.16,243.4,761.3,13.0,831,10282,0.00,2.20,0.00,0.000,4,0.000,0.056,3137,2994,1937
$GC,10329,1.16,243.4,754.2,13.1,833,10332,0.00,2.12,0.00,0.000,6,0.000,0.051,3145,1614,1936
$GC,10658,1.16,243.4,712.1,12.7,849,10662,0.00,2.17,0.00,0.000,4,0.000,0.057,3145,2995,1936
$GC,10681,1.16,243.4,708.8,12.8,850,10685,0.00,2.10,0.00,0.000,6,0.000,0.044,3154,1622,1935
$GC,11015,1.16,243.4,667.6,12.5,866,11018,0.00,2.15,0.00,0.000,4,0.000,0.057,3153,2990,1935
$GC,11104,1.16,243.4,655.7,13.6,870,11108,0.00,2.05,0.00,0.000,6,0.000,0.044,3161,1651,1934
$GC,11437,1.16,243.4,611.0,13.8,886,11440,0.00,2.28,0.00,0.000,4,0.000,0.055,3174,202,1934
$GC,11528,1.16,243.4,598.0,14.5,890,11533,0.15,2.22,0.00,0.000,6,0.186,0.044,3141,1656,1934
$GC,11857,1.18,261.4,558.7,11.4,906,11884,0.00,2.15,16.52,1.035,4,0.000,0.058,3139,2987,1879
$GC,12008,1.19,271.0,541.5,11.7,912,12023,0.00,2.03,10.48,1.078,6,0.000,0.043,3149,1660,1840
$GC,12331,1.23,298.5,505.2,11.1,928,12369,0.00,2.15,28.02,1.066,4,0.000,0.054,3152,2984,1728
$GC,12518,1.23,298.5,480.4,13.2,942,12525,0.00,2.00,0.00,0.000,6,0.000,0.042,3160,1701,1723
$GC,12848,1.30,357.6,443.8,10.0,973,12925,0.00,2.15,57.50,1.029,4,0.000,0.053,3164,2997,1487
$GC,12972,1.30,357.6,428.5,13.4,984,12976,0.00,2.03,0.00,0.000,6,0.000,0.041,3172,1689,1484
$GC,13306,1.30,357.6,385.9,12.8,1015,13310,0.00,2.03,0.00,0.000,4,0.000,0.053,3173,2987,1481
$GC,13363,1.30,357.6,377.2,14.6,1020,13367,0.00,1.92,0.00,0.000,6,0.000,0.041,3180,1717,1481
$GC,13695,1.35,394.8,336.9,10.8,1051,13733,0.00,2.05,33.38,0.987,4,0.000,0.052,3180,2987,1334
$GC,13779,1.35,394.8,326.5,13.1,1058,13788,0.00,1.92,0.00,0.000,6,0.000,0.039,3187,1744,1333
$GC,14111,1.35,394.8,285.9,12.7,1099,14117,0.00,2.40,0.00,0.000,4,0.000,0.051,3199,202,1331
$GC,14225,1.35,394.8,269.8,13.9,1119,14231,0.00,2.35,0.00,0.000,6,0.000,0.038,3199,1752,1330
$GC,14571,1.35,394.8,223.5,12.1,1180,14577,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,1753,1331
$GC,14916,1.41,442.5,188.3,10.4,1241,14967,0.00,2.45,42.55,0.848,4,0.000,0.048,3211,202,1140
$GC,15025,1.41,442.5,175.6,12.2,1259,15032,0.00,2.38,0.00,0.000,6,0.000,0.035,3210,1772,1139
$GC,15372,1.50,518.6,133.8,9.5,1320,15445,0.10,1.95,66.60,0.789,4,0.078,0.043,3261,3000,829
$GC,15532,1.50,518.6,112.9,14.6,1346,15538,0.00,1.85,0.00,0.000,6,0.000,0.035,3270,1787,829
$GC,15879,1.50,518.6,62.0,14.6,1407,15886,0.00,2.42,0.00,0.000,4,0.000,0.046,3282,191,829
$GC,16106,1.58,581.8,32.8,9.9,1447,16170,0.00,2.33,54.47,0.691,6,0.000,0.032,3282,1771,572
$STATE,16400,end climb,SURFACE_DEPTH_REACHED
$STATE,16400,begin surface coast
$FINISH,0.5,1.020934
$STATE,16425,end surface coast,CONTROL_FINISHED_OK
$STATE,16425,begin surface
$SM_CCo,16505,0.00,0.000,0,0,569,582.83
$SM_GC,1.30,8.32,0.00,0.00,0.041,0.000,0.000,166,1998,569,-8.11,1.36,582.83
$IRIDIUM_FIX,2408.65,12540.78,311098,010127
$TT8_MAMPS,0.026845
$HUMID,1641
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.10
$XPDR_PINGS,163
$24V_AH,22.7,98.103
$10V_AH,10.6,64.598
$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,20.650,164.025,734.300,0.000,0.000,50.411,116.364,234.627,48.750,0.000,0.000,33.912,2620.690,9574.989,835.784,3240.989,866.155,0.000,2299.926,0.000,3185.724,0.000,54.420,0.000
$DEVICE_MAMPS,234.702,61.360,1453.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.907,1030.278,1840.213,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88449,1502
$CAP_FILE_SIZE,163713,0
$CFSIZE,260165632,198541312
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.219, 85.5,1
$GPS,060809,054136,2419.061,12539.402,40,1.5,40,-3.7