version: 66.04
glider: 166
mission: 2
dive: 449
start: 8 6 109 15 31 58
data:
$ID,166
$MISSION,2
$DIVE,449
$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,-14626.175
$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,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
$GPS1,152330,2418.050,12538.430,72,1.1,72,-3.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-57.4
$GPS2,153138,2418.313,12538.263,11,1.7,11,-3.6
$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,223.7,43673,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.16,-243.4,0.0,0.0,0,110,0.00,0.00,-89.12,0.000,2,0.000,0.000,149,1957,2818
$GC,114,-1.16,-243.4,3.2,-3.4,13,160,9.45,2.12,-28.50,0.000,4,0.236,0.050,2381,534,3938
$GC,213,-1.16,-243.4,22.0,-12.9,29,220,0.00,2.10,0.00,0.000,6,0.000,0.033,2379,1959,3939
$GC,558,-1.16,-243.4,80.0,-12.5,90,564,0.00,2.15,0.00,0.000,4,0.000,0.038,2371,540,3940
$GC,582,-1.16,-243.4,84.2,-17.1,94,589,0.00,2.03,0.00,0.000,6,0.000,0.031,2376,1930,3940
$GC,928,-1.16,-243.4,138.0,-13.3,155,935,0.00,2.12,0.00,0.000,4,0.000,0.043,2377,3360,3941
$GC,1054,-1.16,-243.4,155.8,-15.1,177,1060,0.00,2.08,0.00,0.000,6,0.000,0.028,2371,1909,3941
$GC,1400,-1.16,-243.4,200.4,-12.0,238,1406,0.00,2.03,0.00,0.000,4,0.000,0.040,2372,559,3943
$GC,1484,-1.16,-243.4,211.5,-15.0,252,1490,0.00,2.10,0.00,0.000,6,0.000,0.030,2367,2005,3942
$GC,1830,-1.16,-243.4,259.2,-13.6,313,1836,0.00,2.03,0.00,0.000,4,0.000,0.044,2367,3365,3943
$GC,1910,-1.16,-243.4,270.6,-14.0,327,1917,0.00,1.92,0.00,0.000,6,0.000,0.027,2367,2014,3942
$GC,2252,-1.16,-243.4,311.4,-11.4,379,2255,0.00,2.03,0.00,0.000,4,0.000,0.045,2366,3351,3943
$GC,2279,-1.16,-243.4,314.9,-12.7,381,2285,0.00,1.90,0.00,0.000,6,0.000,0.028,2365,2024,3942
$GC,2605,-1.16,-243.4,351.9,-11.0,412,2608,0.00,2.03,0.00,0.000,4,0.000,0.045,2369,3356,3942
$GC,2673,-1.16,-243.4,360.0,-11.8,418,2677,0.00,1.88,0.00,0.000,6,0.000,0.028,2366,2049,3941
$GC,3009,-1.16,-243.4,397.8,-11.1,449,3013,0.00,2.00,0.00,0.000,4,0.000,0.048,2369,3357,3940
$GC,3055,-1.16,-243.4,403.7,-11.7,453,3059,0.00,1.85,0.00,0.000,6,0.000,0.029,2369,2070,3940
$GC,3389,-1.16,-243.4,441.0,-10.6,484,3393,0.00,2.28,0.00,0.000,4,0.000,0.042,2370,553,3938
$GC,3409,-1.16,-243.4,443.3,-10.8,485,3414,0.00,2.28,0.00,0.000,6,0.000,0.035,2366,2084,3937
$GC,3736,-1.16,-243.4,477.4,-10.1,515,3739,0.00,1.92,0.00,0.000,4,0.000,0.050,2371,3355,3935
$GC,3821,-1.16,-243.4,486.2,-10.1,522,3827,0.00,1.85,0.00,0.000,6,0.000,0.031,2372,2096,3934
$GC,4152,-1.16,-243.4,521.8,-11.6,545,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2095,3933
$GC,4462,-1.16,-243.4,559.7,-12.3,560,4465,0.00,1.95,0.00,0.000,4,0.000,0.051,2368,3356,3930
$GC,4518,-1.16,-243.4,566.7,-12.2,562,4521,0.00,1.83,0.00,0.000,6,0.000,0.031,2370,2099,3929
$GC,4840,-1.16,-243.4,603.0,-11.1,578,4844,0.00,1.95,0.00,0.000,4,0.000,0.052,2364,3342,3927
$GC,4865,-1.16,-243.4,605.7,-11.2,579,4868,0.00,1.80,0.00,0.000,6,0.000,0.033,2363,2111,3926
$GC,5198,-1.16,-243.4,642.5,-10.9,595,5202,0.00,2.35,0.00,0.000,4,0.000,0.046,2362,565,3924
$GC,5238,-1.16,-243.4,647.2,-12.3,597,5243,0.15,2.33,0.00,0.000,6,0.158,0.038,2393,2115,3923
$GC,5568,-1.16,-243.4,683.0,-11.2,613,5572,0.00,1.90,0.00,0.000,4,0.000,0.054,2386,3352,3921
$GC,5630,-1.16,-243.4,690.8,-11.7,615,5637,0.00,1.77,0.00,0.000,6,0.000,0.035,2389,2141,3920
$GC,5947,-1.16,-243.4,726.5,-11.3,631,5951,0.00,1.88,0.00,0.000,4,0.000,0.055,2385,3347,3917
$GC,5977,-1.16,-243.4,730.1,-12.0,632,5980,0.00,1.75,0.00,0.000,6,0.000,0.036,2383,2157,3917
$GC,6304,-1.16,-243.4,765.2,-10.1,648,6308,0.00,2.45,0.00,0.000,4,0.000,0.049,2384,562,3915
$GC,6328,-1.16,-243.4,767.8,-10.7,649,6333,0.00,2.45,0.00,0.000,6,0.000,0.042,2375,2157,3914
$GC,6658,-1.16,-243.4,801.5,-10.3,665,6662,0.00,1.85,0.00,0.000,4,0.000,0.058,2364,3354,3911
$GC,6709,-1.16,-243.4,807.4,-11.4,667,6712,0.00,1.77,0.00,0.000,6,0.000,0.037,2367,2176,3911
$GC,7038,-1.16,-243.4,842.3,-10.9,683,7042,0.00,2.50,0.00,0.000,4,0.000,0.054,2366,568,3909
$GC,7104,-1.16,-243.4,851.0,-12.9,686,7109,0.15,2.42,0.00,0.000,6,0.154,0.042,2392,2156,3908
$GC,7427,-1.16,-243.4,885.6,-10.6,702,7431,0.00,1.85,0.00,0.000,4,0.000,0.060,2386,3345,3906
$GC,7501,-1.16,-243.4,894.1,-11.3,705,7505,0.00,1.70,0.00,0.000,6,0.000,0.039,2386,2199,3906
$GC,7829,-1.16,-243.4,929.7,-10.8,721,7833,0.00,2.55,0.00,0.000,4,0.000,0.052,2386,556,3904
$GC,7862,-1.16,-243.4,933.7,-12.0,722,7868,0.00,2.53,0.00,0.000,6,0.000,0.044,2377,2199,3903
$GC,8179,-1.16,-243.4,969.3,-11.3,738,8183,0.00,2.55,0.00,0.000,4,0.000,0.053,2377,567,3901
$GC,8268,-1.16,-243.4,980.6,-13.1,742,8272,0.00,2.47,0.00,0.000,6,0.000,0.048,2367,2156,3901
$STATE,8344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8344,begin apogee
$GC,8353,-0.26,0.0,990.1,12.2,746,8569,0.98,0.00,210.18,1.465,6,0.122,0.000,2673,1604,2945
$STATE,8570,end apogee,CONTROL_FINISHED_OK
$STATE,8570,begin climb
$GC,8573,1.16,243.4,1006.0,0.0,757,8800,1.33,2.38,217.15,1.420,4,0.055,0.058,3157,206,1952
$GC,8818,1.16,243.4,991.1,13.6,768,8825,0.00,2.17,0.00,0.000,6,0.000,0.042,3157,1589,1949
$GC,9134,1.16,243.4,948.2,13.7,784,9138,0.00,2.20,0.00,0.000,4,0.000,0.056,3157,2998,1944
$GC,9263,1.16,243.4,929.0,14.1,789,9270,0.00,2.15,0.00,0.000,6,0.000,0.044,3168,1590,1942
$GC,9580,1.16,243.4,883.6,14.6,805,9584,0.00,2.20,0.00,0.000,4,0.000,0.056,3166,2994,1941
$GC,9603,1.16,243.4,879.9,14.6,806,9608,0.15,2.12,0.00,0.000,6,0.193,0.043,3141,1599,1940
$GC,9930,1.16,243.4,835.0,13.3,822,9934,0.00,2.17,0.00,0.000,4,0.000,0.056,3135,2990,1940
$GC,10000,1.16,243.4,825.6,13.2,825,10004,0.00,2.12,0.00,0.000,6,0.000,0.047,3142,1606,1939
$GC,10333,1.16,243.4,782.9,12.6,841,10336,0.00,2.17,0.00,0.000,4,0.000,0.055,3139,2992,1938
$GC,10394,1.16,243.4,774.3,14.0,843,10400,0.00,2.08,0.00,0.000,6,0.000,0.044,3147,1631,1937
$GC,10712,1.17,247.5,735.5,11.9,859,10715,0.00,2.22,0.00,0.000,4,0.000,0.056,3157,205,1937
$GC,10739,1.17,247.5,731.6,12.0,860,10743,0.00,2.22,0.00,0.000,6,0.000,0.045,3157,1653,1937
$GC,11066,1.17,247.5,691.8,12.2,876,11070,0.00,2.08,0.00,0.000,4,0.000,0.056,3156,2986,1937
$GC,11256,1.17,247.5,667.3,13.1,884,11260,0.00,1.98,0.00,0.000,6,0.000,0.043,3164,1684,1936
$GC,11579,1.17,247.5,625.9,12.9,900,11583,0.00,2.33,0.00,0.000,4,0.000,0.055,3177,198,1936
$GC,11604,1.17,247.5,622.7,13.0,901,11609,0.15,2.28,0.00,0.000,6,0.189,0.042,3145,1689,1935
$GC,11926,1.18,259.8,583.8,11.6,917,11952,0.00,2.08,15.35,1.043,4,0.000,0.054,3141,2984,1885
$GC,12081,1.18,259.8,565.2,12.2,923,12087,0.00,1.98,0.00,0.000,6,0.000,0.041,3149,1684,1883
$GC,12397,1.21,283.3,527.9,11.2,939,12427,0.00,2.12,22.67,1.154,4,0.000,0.054,3151,2985,1789
$GC,12473,1.25,312.6,519.0,11.0,942,12515,0.00,1.98,30.12,1.078,6,0.000,0.041,3159,1697,1670
$GC,12834,1.25,312.6,474.6,12.1,969,12838,0.00,2.35,0.00,0.000,4,0.000,0.054,3172,199,1666
$GC,12964,1.25,312.6,458.1,12.9,980,12969,0.00,2.45,0.00,0.000,6,0.000,0.041,3173,1788,1664
$GC,13292,1.28,341.8,418.6,11.0,1010,13336,0.00,1.95,28.85,1.010,4,0.000,0.052,3173,2994,1550
$GC,13377,1.29,348.9,408.3,11.8,1017,13390,0.00,1.92,8.05,0.918,6,0.000,0.040,3182,1735,1522
$GC,13709,1.29,348.9,368.6,12.2,1048,13713,0.00,1.95,0.00,0.000,4,0.000,0.051,3182,2995,1519
$GC,13793,1.29,348.9,358.0,12.4,1055,13799,0.00,1.85,0.00,0.000,6,0.000,0.040,3191,1770,1519
$GC,14123,1.29,350.4,318.2,11.9,1086,14128,0.00,2.45,0.00,0.000,4,0.000,0.051,3203,193,1518
$GC,14190,1.29,350.4,308.4,12.9,1091,14197,0.00,2.42,0.00,0.000,6,0.000,0.038,3203,1792,1517
$GC,14532,1.32,370.7,267.2,11.3,1146,14564,0.00,1.90,22.48,0.858,4,0.000,0.048,3202,2993,1433
$GC,14623,1.32,370.7,256.1,13.6,1161,14630,0.00,1.85,0.00,0.000,6,0.000,0.038,3211,1761,1432
$GC,14970,1.34,393.4,211.8,11.2,1222,14996,0.00,2.50,21.08,0.863,4,0.000,0.048,3223,194,1341
$GC,15088,1.34,393.4,197.4,12.0,1242,15095,0.00,2.40,0.00,0.000,6,0.000,0.035,3223,1780,1339
$GC,15434,1.40,441.3,157.9,10.4,1303,15484,0.00,1.90,42.80,0.822,4,0.000,0.047,3223,2985,1146
$GC,15591,1.40,441.3,139.3,13.5,1329,15599,0.00,1.83,0.00,0.000,6,0.000,0.034,3231,1783,1145
$GC,15938,1.40,441.3,90.5,12.3,1390,15944,0.00,2.42,0.00,0.000,4,0.000,0.046,3244,198,1144
$GC,16149,1.50,520.8,68.1,9.4,1427,16225,0.00,2.38,68.50,0.732,6,0.000,0.032,3243,1803,823
$GC,16567,1.52,535.6,13.5,11.5,1499,16588,0.00,2.55,14.07,0.630,4,0.000,0.044,3254,193,760
$STATE,16656,end climb,SURFACE_DEPTH_REACHED
$STATE,16656,begin surface coast
$FINISH,0.6,1.021934
$STATE,16693,end surface coast,CONTROL_FINISHED_OK
$STATE,16693,begin surface
$SM_CCo,16775,0.00,0.000,0,0,758,536.47
$SM_GC,1.58,8.32,0.00,0.00,0.045,0.000,0.000,167,1968,758,-8.10,0.51,536.47
$IRIDIUM_FIX,2408.65,12539.40,311098,101030
$TT8_MAMPS,0.026845
$HUMID,1622
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.20
$XPDR_PINGS,169
$24V_AH,23.0,98.923
$10V_AH,10.6,65.070
$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,20.675,170.950,701.300,0.000,0.000,24.168,38.837,258.733,50.250,0.000,0.000,11.908,2665.306,9781.423,816.563,3172.813,810.130,0.000,2272.946,0.000,3147.680,0.000,57.615,0.000
$DEVICE_MAMPS,236.236,59.826,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.213,1045.525,1770.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88616,1520
$CAP_FILE_SIZE,165700,0
$CFSIZE,260165632,198266880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.122, 53.7,1
$GPS,060809,201236,2417.943,12538.188,25,1.1,25,-3.6