version: 66.04
glider: 166
mission: 2
dive: 450
start: 8 6 109 20 23 54
data:
$ID,166
$MISSION,2
$DIVE,450
$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,-14663.821
$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,18
$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,2061
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,38
$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
$GPS1,201236,2417.943,12538.188,25,1.1,25,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-56.3
$GPS2,202335,2418.446,12538.410,17,3.6,36,-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,227.8,44022,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.21,-243.4,0.0,0.0,0,90,0.00,0.00,-72.90,0.000,2,0.000,0.000,166,1968,2368
$GC,94,-1.21,-243.4,3.1,-5.0,11,152,9.45,2.05,-39.62,0.000,4,0.241,0.051,2370,638,3941
$GC,216,-1.21,-243.4,28.8,-20.2,31,222,0.00,2.15,0.00,0.000,6,0.000,0.035,2358,2060,3942
$GC,560,-1.21,-243.4,93.1,-17.6,92,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2062,3943
$GC,906,-1.21,-243.4,149.3,-15.4,153,913,0.00,2.10,0.00,0.000,4,0.000,0.038,2348,644,3944
$GC,943,-1.21,-243.4,155.7,-17.2,159,950,0.12,2.10,0.00,0.000,6,0.173,0.033,2375,2081,3944
$GC,1288,-1.21,-243.4,202.6,-12.7,220,1294,0.00,2.08,0.00,0.000,4,0.000,0.046,2374,3463,3945
$GC,1348,-1.21,-243.4,210.4,-13.9,230,1355,0.00,2.03,0.00,0.000,6,0.000,0.027,2371,2042,3945
$GC,1693,-1.21,-243.4,254.1,-12.4,291,1699,0.00,2.17,0.00,0.000,4,0.000,0.045,2369,3471,3945
$GC,1756,-1.21,-243.4,262.4,-12.7,302,1762,0.00,1.95,0.00,0.000,6,0.000,0.028,2366,2124,3945
$GC,2106,-1.21,-243.4,304.2,-11.9,361,2110,0.00,2.03,0.00,0.000,4,0.000,0.048,2367,3457,3945
$GC,2129,-1.21,-243.4,307.3,-12.7,363,2133,0.00,1.88,0.00,0.000,6,0.000,0.028,2366,2141,3945
$GC,2464,-1.21,-243.4,346.4,-11.1,394,2468,0.00,2.17,0.00,0.000,4,0.000,0.041,2367,676,3943
$GC,2493,-1.21,-243.4,350.3,-11.9,396,2500,0.00,2.20,0.00,0.000,6,0.000,0.035,2370,2145,3943
$GC,2821,-1.21,-243.4,387.6,-12.7,427,2825,0.00,2.00,0.00,0.000,4,0.000,0.050,2369,3464,3942
$GC,2861,-1.21,-243.4,393.4,-13.5,430,2867,0.00,1.92,0.00,0.000,6,0.000,0.028,2371,2143,3942
$GC,3187,-1.21,-243.4,434.0,-11.6,461,3190,0.00,2.20,0.00,0.000,4,0.000,0.041,2371,664,3941
$GC,3221,-1.21,-243.4,438.2,-12.3,464,3225,0.00,2.20,0.00,0.000,6,0.000,0.035,2368,2147,3940
$GC,3557,-1.21,-243.4,472.3,-9.8,495,3561,0.00,2.20,0.00,0.000,4,0.000,0.041,2368,678,3938
$GC,3597,-1.21,-243.4,477.1,-10.7,498,3603,0.00,2.12,0.00,0.000,6,0.000,0.036,2371,2113,3938
$GC,3932,-1.21,-243.4,514.9,-11.9,524,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2113,3936
$GC,4239,-1.21,-243.4,548.7,-10.6,539,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2113,3934
$GC,4549,-1.21,-243.4,582.0,-11.1,554,4553,0.00,2.08,0.00,0.000,4,0.000,0.053,2385,3463,3930
$GC,4611,-1.21,-243.4,589.4,-11.9,556,4617,0.00,2.00,0.00,0.000,6,0.000,0.032,2386,2111,3930
$GC,4927,-1.21,-243.4,621.6,-9.7,572,4930,0.00,2.17,0.00,0.000,4,0.000,0.044,2386,668,3927
$GC,4944,-1.21,-243.4,623.5,-10.0,572,4951,0.00,2.15,0.00,0.000,6,0.000,0.039,2380,2101,3927
$GC,5261,-1.21,-243.4,655.8,-10.5,588,5264,0.00,2.12,0.00,0.000,4,0.000,0.056,2376,3475,3924
$GC,5322,-1.21,-243.4,662.8,-11.1,590,5329,0.00,2.03,0.00,0.000,6,0.000,0.033,2376,2085,3923
$GC,5640,-1.21,-243.4,697.1,-10.8,606,5644,0.00,2.15,0.00,0.000,4,0.000,0.048,2377,664,3921
$GC,5735,-1.21,-243.4,708.4,-11.7,610,5739,0.00,2.17,0.00,0.000,6,0.000,0.040,2367,2105,3920
$GC,6064,-1.21,-243.4,744.4,-11.0,626,6067,0.00,2.20,0.00,0.000,4,0.000,0.048,2366,670,3917
$GC,6120,-1.21,-243.4,751.3,-11.7,628,6124,0.00,2.12,0.00,0.000,6,0.000,0.042,2361,2072,3916
$GC,6442,-1.21,-243.4,786.9,-10.7,644,6445,0.00,2.17,0.00,0.000,4,0.000,0.058,2352,3463,3914
$GC,6504,-1.21,-243.4,794.2,-12.3,646,6511,0.00,2.03,0.00,0.000,6,0.000,0.035,2353,2088,3913
$GC,6821,-1.21,-243.4,830.5,-11.7,662,6825,0.00,2.20,0.00,0.000,4,0.000,0.055,2357,666,3911
$GC,6899,-1.21,-243.4,840.5,-12.7,665,6903,0.00,2.15,0.00,0.000,6,0.000,0.044,2351,2072,3910
$GC,7221,-1.21,-243.4,882.0,-13.4,681,7225,0.00,2.20,0.00,0.000,4,0.000,0.049,2351,659,3908
$GC,7254,-1.21,-243.4,887.2,-14.6,682,7259,0.12,2.15,0.00,0.000,6,0.167,0.044,2372,2067,3908
$GC,7575,-1.21,-243.4,925.7,-11.8,697,7578,0.00,2.20,0.00,0.000,4,0.000,0.060,2364,3464,3906
$GC,7636,-1.21,-243.4,933.9,-12.5,699,7642,0.00,2.08,0.00,0.000,6,0.000,0.038,2365,2073,3905
$GC,7952,-1.21,-243.4,971.9,-12.1,715,7956,0.00,2.17,0.00,0.000,4,0.000,0.052,2365,665,3903
$GC,7998,-1.21,-243.4,977.9,-13.1,717,8002,0.00,2.17,0.00,0.000,6,0.000,0.051,2357,2062,3903
$STATE,8101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8101,begin apogee
$GC,8110,-0.28,0.0,991.4,12.6,722,8325,1.02,0.00,210.35,1.463,6,0.124,0.000,2677,1697,2945
$STATE,8326,end apogee,CONTROL_FINISHED_OK
$STATE,8326,begin climb
$GC,8329,1.21,243.4,1007.6,0.0,733,8554,1.35,2.33,217.45,1.418,4,0.054,0.057,3160,3097,1950
$GC,8592,1.21,243.4,990.8,13.9,746,8596,0.00,2.20,0.00,0.000,6,0.000,0.043,3169,1689,1947
$GC,8919,1.21,243.4,945.9,13.7,762,8922,0.00,2.22,0.00,0.000,4,0.000,0.058,3176,278,1943
$GC,8965,1.21,243.4,939.3,15.1,764,8969,0.00,2.17,0.00,0.000,6,0.000,0.044,3174,1689,1942
$GC,9299,1.21,243.4,891.1,14.5,780,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,1689,1940
$GC,9608,1.21,243.4,846.3,14.0,795,9612,0.00,2.22,0.00,0.000,4,0.000,0.056,3180,278,1938
$GC,9658,1.21,243.4,838.5,15.2,797,9662,0.00,2.15,0.00,0.000,6,0.000,0.045,3180,1680,1938
$GC,9988,1.21,243.4,792.4,14.3,813,9991,0.00,2.22,0.00,0.000,4,0.000,0.057,3180,3106,1937
$GC,10011,1.21,243.4,788.5,14.4,814,10015,0.15,2.20,0.00,0.000,6,0.197,0.043,3154,1665,1937
$GC,10338,1.21,243.4,744.9,12.9,830,10342,0.00,2.17,0.00,0.000,4,0.000,0.058,3162,284,1936
$GC,10429,1.21,243.4,732.7,13.0,834,10432,0.00,2.10,0.00,0.000,6,0.000,0.044,3162,1656,1936
$GC,10761,1.21,243.4,691.4,12.4,850,10765,0.00,2.25,0.00,0.000,4,0.000,0.056,3162,3095,1936
$GC,10817,1.21,243.4,684.0,13.9,852,10822,0.00,2.22,0.00,0.000,6,0.000,0.042,3172,1635,1934
$GC,11134,1.21,243.4,645.1,12.4,867,11138,0.00,2.30,0.00,0.000,4,0.000,0.056,3172,3094,1934
$GC,11220,1.21,243.4,633.3,13.4,871,11224,0.00,2.20,0.00,0.000,6,0.000,0.042,3182,1653,1933
$GC,11555,1.21,243.4,590.4,12.7,887,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,1653,1933
$GC,11862,1.21,243.4,549.3,12.7,902,11866,0.00,2.28,0.00,0.000,4,0.000,0.055,3181,3100,1933
$GC,11964,1.21,243.4,536.3,12.7,906,11972,0.15,2.17,0.00,0.000,6,0.196,0.042,3158,1667,1933
$GC,12281,1.27,291.6,501.4,10.4,922,12336,0.00,2.33,43.45,1.113,4,0.000,0.054,3160,3103,1755
$GC,12359,1.27,291.6,492.1,12.8,928,12363,0.00,2.20,0.00,0.000,6,0.000,0.041,3171,1691,1752
$GC,12691,1.28,297.6,452.2,11.8,959,12703,0.00,2.28,6.47,0.918,4,0.000,0.054,3172,3094,1730
$GC,12772,1.28,297.6,441.9,12.2,966,12776,0.00,2.10,0.00,0.000,6,0.000,0.040,3181,1714,1729
$GC,13106,1.29,310.2,402.5,11.6,997,13121,0.00,0.00,12.65,1.009,6,0.000,0.000,3181,1714,1680
$GC,13436,1.35,358.5,364.3,10.4,1028,13485,0.00,2.22,44.12,1.024,4,0.000,0.050,3178,3101,1483
$GC,13572,1.35,358.5,348.7,12.2,1039,13578,0.00,2.10,0.00,0.000,6,0.000,0.039,3186,1731,1481
$GC,13900,1.35,358.5,309.7,12.5,1070,13904,0.00,2.25,0.00,0.000,4,0.000,0.051,3197,284,1479
$GC,13920,1.35,358.5,307.1,12.2,1071,13924,0.00,2.28,0.00,0.000,6,0.000,0.039,3197,1779,1477
$GC,14260,1.35,358.5,262.3,12.9,1126,14268,0.00,2.33,0.00,0.000,4,0.000,0.049,3208,279,1478
$GC,14303,1.35,358.5,256.9,12.2,1133,14309,0.00,2.25,0.00,0.000,6,0.000,0.038,3208,1766,1478
$GC,14650,1.36,364.3,214.1,11.8,1194,14663,0.00,2.08,6.03,0.717,4,0.000,0.047,3208,3097,1459
$GC,14808,1.37,375.3,196.5,11.6,1221,14828,0.00,2.00,11.88,0.810,6,0.000,0.036,3217,1784,1413
$GC,15168,1.43,419.7,149.9,10.5,1284,15213,0.00,2.12,39.78,0.817,4,0.000,0.044,3217,3109,1233
$GC,15227,1.47,455.5,143.4,10.8,1293,15267,0.00,1.98,32.67,0.785,6,0.000,0.035,3226,1821,1087
$GC,15608,1.47,455.5,95.1,13.1,1359,15615,0.00,2.35,0.00,0.000,4,0.000,0.046,3238,285,1085
$GC,15633,1.47,455.5,91.1,14.5,1363,15640,0.00,2.33,0.00,0.000,6,0.000,0.033,3238,1849,1085
$GC,15979,1.56,527.5,55.2,9.6,1424,16049,0.00,1.92,61.95,0.718,4,0.000,0.041,3237,3106,793
$GC,16124,1.56,527.5,36.9,13.8,1448,16130,0.00,1.88,0.00,0.000,6,0.000,0.033,3246,1876,793
$STATE,16392,end climb,SURFACE_DEPTH_REACHED
$STATE,16393,begin surface coast
$FINISH,0.8,1.000383
$STATE,16461,end surface coast,CONTROL_FINISHED_OK
$STATE,16461,begin surface
$SM_CCo,16541,0.00,0.000,0,0,790,528.62
$SM_GC,1.41,8.18,0.00,0.00,0.039,0.000,0.000,166,2075,790,-8.11,0.37,528.62
$IRIDIUM_FIX,2408.65,12539.40,311098,202004
$TT8_MAMPS,0.026845
$HUMID,1637
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,24.80
$XPDR_PINGS,163
$24V_AH,23.0,99.188
$10V_AH,10.6,65.222
$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,20.550,155.500,686.800,0.000,0.000,48.910,72.104,276.181,48.750,0.000,0.000,37.018,2629.075,9829.222,787.957,3067.882,866.314,0.000,2180.115,0.000,3010.586,0.000,54.418,0.000
$DEVICE_MAMPS,240.838,59.826,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.207,1031.577,1735.356,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88426,1508
$CAP_FILE_SIZE,160123,0
$CFSIZE,260165632,198180864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.189, 58.5,1
$GPS,070809,010054,2418.203,12538.593,40,1.7,40,-3.6