version: 66.04
glider: 166
mission: 2
dive: 452
start: 8 7 109 5 58 26
data:
$ID,166
$MISSION,2
$DIVE,452
$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,-14715.839
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,054936,2418.130,12540.282,29,1.3,29,-3.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-59.3
$GPS2,055804,2418.210,12540.603,14,99.0,33,-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,248.6,46130,-16.4,-12.000
$D_GRID,1552
$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,-243.4,0.0,0.0,0,83,0.00,0.00,-65.35,0.000,2,0.000,0.000,124,2077,2427
$GC,87,-1.21,-243.4,3.4,-5.6,10,140,8.70,2.22,-38.78,0.000,4,0.210,0.052,2373,654,3939
$GC,181,-1.21,-243.4,22.9,-26.7,25,188,0.00,2.08,0.00,0.000,6,0.000,0.035,2373,2051,3940
$GC,528,-1.21,-243.4,82.6,-15.8,86,534,0.00,2.15,0.00,0.000,4,0.000,0.048,2368,3472,3941
$GC,592,-1.21,-243.4,93.8,-17.3,97,599,0.00,2.05,0.00,0.000,6,0.000,0.028,2356,2050,3942
$GC,938,-1.21,-243.4,148.0,-14.8,158,944,0.00,2.08,0.00,0.000,4,0.000,0.041,2367,670,3943
$GC,986,-1.21,-243.4,155.4,-15.8,166,993,0.00,2.08,0.00,0.000,6,0.000,0.035,2356,2062,3943
$GC,1332,-1.21,-243.4,205.5,-14.1,227,1338,0.00,2.12,0.00,0.000,4,0.000,0.047,2354,3470,3944
$GC,1395,-1.21,-243.4,214.6,-14.0,238,1401,0.00,2.05,0.00,0.000,6,0.000,0.028,2358,2043,3944
$GC,1741,-1.21,-243.4,261.1,-11.4,299,1747,0.00,2.05,0.00,0.000,4,0.000,0.041,2355,663,3945
$GC,1777,-1.21,-243.4,265.9,-12.9,305,1783,0.00,2.05,0.00,0.000,6,0.000,0.033,2353,2061,3945
$GC,2125,-1.21,-243.4,306.4,-11.3,362,2128,0.00,2.12,0.00,0.000,4,0.000,0.048,2354,3465,3945
$GC,2186,-1.21,-243.4,314.0,-12.2,367,2192,0.00,2.03,0.00,0.000,6,0.000,0.028,2353,2054,3944
$GC,2511,-1.21,-243.4,352.2,-12.3,398,2515,0.00,2.08,0.00,0.000,4,0.000,0.041,2353,662,3943
$GC,2547,-1.21,-243.4,356.8,-13.6,401,2551,0.12,2.10,0.00,0.000,6,0.158,0.032,2377,2090,3943
$GC,2878,-1.21,-243.4,394.3,-10.9,432,2882,0.00,2.10,0.00,0.000,4,0.000,0.049,2377,3468,3942
$GC,2936,-1.21,-243.4,400.7,-11.0,437,2940,0.00,2.00,0.00,0.000,6,0.000,0.029,2380,2089,3941
$GC,3268,-1.21,-243.4,437.8,-11.2,468,3272,0.00,2.12,0.00,0.000,4,0.000,0.043,2381,670,3941
$GC,3304,-1.21,-243.4,442.0,-11.8,471,3308,0.00,2.12,0.00,0.000,6,0.000,0.037,2379,2097,3940
$GC,3634,-1.21,-243.4,476.9,-9.9,502,3638,0.00,2.08,0.00,0.000,4,0.000,0.051,2386,3460,3938
$GC,3697,-1.21,-243.4,483.6,-10.7,507,3703,0.00,1.98,0.00,0.000,6,0.000,0.031,2387,2100,3938
$GC,4031,-1.21,-243.4,518.4,-10.9,531,4035,0.00,2.17,0.00,0.000,4,0.000,0.044,2388,656,3935
$GC,4094,-1.21,-243.4,526.1,-11.7,533,4100,0.00,2.12,0.00,0.000,6,0.000,0.036,2382,2083,3934
$GC,4411,-1.21,-243.4,560.6,-10.7,549,4415,0.00,2.12,0.00,0.000,4,0.000,0.054,2386,3463,3932
$GC,4439,-1.21,-243.4,563.9,-11.4,550,4443,0.00,2.03,0.00,0.000,6,0.000,0.032,2385,2076,3931
$GC,4769,-1.21,-243.4,601.1,-11.6,566,4773,0.00,2.15,0.00,0.000,4,0.000,0.054,2381,3460,3928
$GC,4814,-1.21,-243.4,606.7,-12.0,568,4818,0.00,2.00,0.00,0.000,6,0.000,0.033,2383,2101,3928
$GC,5147,-1.21,-243.4,645.8,-11.7,584,5151,0.00,2.20,0.00,0.000,4,0.000,0.048,2382,656,3925
$GC,5245,-1.21,-243.4,657.8,-12.8,588,5249,0.00,2.17,0.00,0.000,6,0.000,0.041,2372,2094,3924
$GC,5572,-1.21,-243.4,694.8,-10.5,604,5576,0.00,2.20,0.00,0.000,4,0.000,0.048,2371,661,3922
$GC,5605,-1.21,-243.4,698.7,-11.8,605,5609,0.00,2.15,0.00,0.000,6,0.000,0.041,2367,2078,3922
$GC,5929,-1.21,-243.4,731.3,-9.9,621,5933,0.00,2.17,0.00,0.000,4,0.000,0.058,2365,3474,3919
$GC,5985,-1.21,-243.4,737.5,-10.7,623,5989,0.00,2.05,0.00,0.000,6,0.000,0.035,2370,2086,3918
$GC,6308,-1.21,-243.4,768.5,-9.8,639,6312,0.00,2.17,0.00,0.000,4,0.000,0.050,2370,669,3916
$GC,6348,-1.21,-243.4,773.0,-11.2,640,6355,0.00,2.17,0.00,0.000,6,0.000,0.043,2357,2097,3915
$GC,6664,-1.21,-243.4,807.6,-11.2,656,6668,0.00,2.22,0.00,0.000,4,0.000,0.050,2356,660,3913
$GC,6743,-1.21,-243.4,817.6,-12.6,659,6747,0.00,2.15,0.00,0.000,6,0.000,0.045,2355,2063,3913
$GC,7064,-1.21,-243.4,856.7,-12.3,675,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2063,3910
$GC,7373,-1.21,-243.4,895.8,-13.0,690,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2063,3909
$GC,7685,-1.21,-243.4,934.9,-12.5,705,7688,0.00,2.22,0.00,0.000,4,0.000,0.062,2351,3466,3906
$GC,7757,-1.21,-243.4,945.1,-12.9,708,7761,0.00,2.17,0.00,0.000,6,0.000,0.045,2352,2038,3906
$GC,8085,-1.21,-243.4,986.1,-12.6,724,8089,0.00,2.15,0.00,0.000,4,0.000,0.054,2354,654,3905
$STATE,8110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8110,begin apogee
$GC,8119,-0.28,0.0,990.1,14.2,725,8336,1.02,0.00,210.82,1.460,6,0.133,0.000,2673,1707,2945
$STATE,8337,end apogee,CONTROL_FINISHED_OK
$STATE,8337,begin climb
$GC,8340,1.21,243.4,1006.2,0.0,736,8570,1.33,2.42,218.20,1.417,4,0.054,0.057,3166,290,1950
$GC,8585,1.21,243.4,990.0,13.8,747,8589,0.00,2.22,0.00,0.000,6,0.000,0.042,3166,1694,1949
$GC,8900,1.21,243.4,943.9,14.6,762,8904,0.00,2.20,0.00,0.000,4,0.000,0.056,3167,3100,1944
$GC,8924,1.21,243.4,940.3,15.6,763,8928,0.00,2.15,0.00,0.000,6,0.000,0.044,3176,1699,1942
$GC,9258,1.21,243.4,891.6,14.7,779,9261,0.00,2.22,0.00,0.000,4,0.000,0.057,3173,3109,1941
$GC,9336,1.21,243.4,879.6,14.2,782,9340,0.00,2.15,0.00,0.000,6,0.000,0.044,3180,1703,1940
$GC,9657,1.21,243.4,833.6,14.6,798,9661,0.00,2.22,0.00,0.000,4,0.000,0.056,3189,283,1939
$GC,9686,1.21,243.4,829.3,15.6,799,9691,0.12,2.20,0.00,0.000,6,0.192,0.044,3159,1722,1939
$GC,10007,1.21,243.4,785.0,13.5,815,10011,0.00,2.15,0.00,0.000,4,0.000,0.057,3148,3096,1939
$GC,10099,1.21,243.4,772.0,14.3,819,10102,0.00,2.10,0.00,0.000,6,0.000,0.043,3157,1718,1938
$GC,10433,1.21,243.4,728.6,13.0,835,10436,0.00,2.25,0.00,0.000,4,0.000,0.055,3167,281,1937
$GC,10483,1.21,243.4,721.4,14.4,837,10487,0.00,2.20,0.00,0.000,6,0.000,0.046,3166,1710,1937
$GC,10811,1.21,243.4,680.4,12.5,853,10815,0.00,2.17,0.00,0.000,4,0.000,0.056,3165,3101,1936
$GC,10850,1.21,243.4,674.7,13.7,854,10856,0.00,2.12,0.00,0.000,6,0.000,0.042,3176,1699,1936
$GC,11166,1.21,243.4,631.2,14.1,870,11169,0.00,2.22,0.00,0.000,4,0.000,0.055,3188,278,1936
$GC,11273,1.21,243.4,615.7,14.5,874,11280,0.15,2.15,0.00,0.000,6,0.186,0.044,3152,1691,1935
$GC,11589,1.24,271.3,577.6,11.1,890,11631,0.00,0.00,27.90,1.066,6,0.000,0.000,3151,1691,1838
$GC,11942,1.30,317.5,538.9,10.5,907,11999,0.00,2.33,44.85,1.130,4,0.000,0.054,3150,3095,1650
$GC,12056,1.30,317.5,525.2,12.7,912,12060,0.00,2.22,0.00,0.000,6,0.000,0.041,3161,1662,1648
$GC,12382,1.30,317.5,484.9,12.4,933,12386,0.00,2.25,0.00,0.000,4,0.000,0.054,3161,3097,1646
$GC,12417,1.30,317.5,480.4,12.2,936,12421,0.00,2.15,0.00,0.000,6,0.000,0.041,3171,1688,1645
$GC,12749,1.30,317.5,438.2,12.3,967,12753,0.00,2.20,0.00,0.000,4,0.000,0.053,3172,3098,1644
$GC,12829,1.30,317.5,428.1,12.5,974,12833,0.00,2.08,0.00,0.000,6,0.000,0.041,3181,1726,1645
$GC,13161,1.34,347.7,389.4,11.0,1005,13194,0.00,2.33,27.45,1.042,4,0.000,0.053,3192,295,1526
$GC,13253,1.34,352.0,379.3,11.9,1013,13265,0.00,2.22,5.40,0.791,6,0.000,0.041,3191,1740,1509
$GC,13583,1.34,352.0,338.8,12.6,1044,13587,0.00,2.10,0.00,0.000,4,0.000,0.051,3192,3099,1506
$GC,13702,1.34,352.0,322.4,14.0,1054,13708,0.00,2.03,0.00,0.000,6,0.000,0.039,3200,1751,1506
$GC,14035,1.34,352.0,278.9,12.8,1099,14041,0.00,2.25,0.00,0.000,4,0.000,0.050,3211,295,1506
$GC,14184,1.34,352.0,259.3,12.3,1125,14190,0.00,2.20,0.00,0.000,6,0.000,0.037,3211,1760,1507
$GC,14530,1.38,383.1,218.6,11.0,1186,14566,0.00,2.10,28.45,0.884,4,0.000,0.046,3210,3097,1382
$GC,14629,1.38,383.1,205.7,14.4,1203,14635,0.00,2.03,0.00,0.000,6,0.000,0.035,3220,1753,1382
$GC,14974,1.39,391.1,163.3,11.7,1264,14988,0.00,2.08,8.32,0.736,4,0.000,0.044,3220,3103,1351
$GC,15018,1.39,393.4,157.8,11.9,1271,15026,0.00,1.98,3.92,0.523,6,0.000,0.035,3227,1804,1341
$GC,15367,1.48,463.6,117.0,9.7,1332,15438,0.00,2.42,62.03,0.788,4,0.000,0.046,3238,294,1054
$GC,15497,1.51,486.2,103.1,11.3,1353,15524,0.00,2.30,21.02,0.734,6,0.000,0.032,3239,1824,962
$GC,15866,1.53,505.6,57.9,11.4,1417,15892,0.00,2.38,18.02,0.691,4,0.000,0.043,3250,290,882
$GC,15939,1.53,505.6,49.0,12.6,1429,15946,0.00,2.25,0.00,0.000,6,0.000,0.031,3250,1791,882
$GC,16285,1.53,505.6,7.8,18.3,1490,16291,0.00,2.28,0.00,0.000,4,0.000,0.042,3258,284,882
$STATE,16318,end climb,SURFACE_DEPTH_REACHED
$STATE,16318,begin surface coast
$FINISH,0.9,1.022072
$STATE,16343,end surface coast,CONTROL_FINISHED_OK
$STATE,16343,begin surface
$SM_CCo,16426,0.00,0.000,0,0,878,507.04
$SM_GC,1.59,8.25,0.00,0.00,0.041,0.000,0.000,166,2073,878,-8.11,0.34,507.04
$IRIDIUM_FIX,2408.65,12537.48,011198,010115
$TT8_MAMPS,0.026845
$HUMID,1624
$INTERNAL_PRESSURE,9.92684
$TCM_TEMP,25.00
$XPDR_PINGS,178
$24V_AH,22.8,99.715
$10V_AH,10.6,65.526
$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,19.700,168.175,676.400,0.000,0.000,25.032,30.822,262.651,52.500,0.000,0.000,34.247,2630.408,9653.951,782.194,3072.288,779.579,0.000,2183.319,0.000,3018.045,0.000,54.413,0.000
$DEVICE_MAMPS,210.158,62.127,1459.601,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.027,1029.150,1730.044,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88550,1500
$CAP_FILE_SIZE,160731,0
$CFSIZE,260165632,198004736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.216, 96.3,1
$GPS,070809,103336,2417.298,12541.040,40,1.2,46,-3.6