version: 66.04
glider: 166
mission: 2
dive: 425
start: 8 1 109 18 37 18
data:
$ID,166
$MISSION,2
$DIVE,425
$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,225
$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,-13955.64
$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,1860
$C_ROLL_CLIMB,1486
$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
$GPS1,182900,2416.419,12517.710,39,1.4,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.7
$GPS2,183655,2416.412,12517.754,11,1.4,16,-3.6
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2429.200,12515.600
$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,334.9,23960,-17.3,-12.000
$D_GRID,1613
$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,-1.18,-219.0,0.0,0.0,0,97,0.00,0.00,-76.78,0.000,2,0.000,0.000,148,1826,2490
$GC,101,-1.18,-219.0,3.3,-4.5,12,153,9.05,2.17,-35.30,0.000,4,0.227,0.052,2373,3271,3839
$GC,272,-1.18,-219.0,36.1,-19.3,41,279,0.00,2.08,0.00,0.000,6,0.000,0.027,2367,1827,3839
$GC,618,-1.18,-219.0,99.0,-16.7,102,626,0.00,2.17,0.00,0.000,4,0.000,0.038,2364,3265,3840
$GC,742,-1.18,-219.0,119.5,-16.8,123,748,0.05,1.98,0.00,0.000,6,0.140,0.026,2384,1890,3840
$GC,1086,-1.18,-219.0,169.3,-14.8,184,1092,0.00,2.08,0.00,0.000,4,0.000,0.039,2382,3269,3841
$GC,1162,-1.18,-219.0,181.0,-15.3,197,1168,0.00,1.88,0.00,0.000,6,0.000,0.025,2381,1961,3841
$GC,1510,-1.18,-219.0,229.7,-12.7,258,1517,0.00,2.17,0.00,0.000,4,0.000,0.037,2378,474,3842
$GC,1535,-1.18,-219.0,233.7,-14.5,262,1543,0.00,2.17,0.00,0.000,6,0.000,0.028,2377,1980,3842
$GC,1882,-1.18,-219.0,280.1,-15.2,323,1887,0.00,1.90,0.00,0.000,4,0.000,0.042,2371,3266,3842
$GC,1951,-1.18,-219.0,290.7,-15.1,335,1957,0.00,1.83,0.00,0.000,6,0.000,0.026,2369,1976,3842
$GC,2285,-1.18,-219.0,334.6,-11.3,372,2288,0.00,2.20,0.00,0.000,4,0.000,0.038,2368,482,3841
$GC,2325,-1.18,-219.0,339.7,-12.6,375,2331,0.00,2.20,0.00,0.000,6,0.000,0.031,2368,1988,3841
$GC,2651,-1.18,-219.0,378.0,-12.0,406,2655,0.00,1.90,0.00,0.000,4,0.000,0.044,2369,3268,3840
$GC,2690,-1.18,-219.0,383.0,-13.2,409,2696,0.00,1.83,0.00,0.000,6,0.000,0.027,2368,1981,3839
$GC,3017,-1.18,-219.0,422.8,-11.7,440,3021,0.00,1.92,0.00,0.000,4,0.000,0.044,2368,3267,3839
$GC,3046,-1.18,-219.0,426.7,-12.5,442,3053,0.00,1.83,0.00,0.000,6,0.000,0.028,2367,2004,3839
$GC,3375,-1.18,-219.0,463.0,-10.8,473,3379,0.00,2.28,0.00,0.000,4,0.000,0.041,2367,479,3836
$GC,3393,-1.18,-219.0,465.5,-10.8,474,3397,0.00,2.28,0.00,0.000,6,0.000,0.033,2369,2023,3836
$GC,3722,-1.18,-219.0,500.2,-10.2,504,3726,0.00,2.33,0.00,0.000,4,0.000,0.041,2370,478,3834
$GC,3750,-1.18,-219.0,503.8,-11.3,505,3754,0.00,2.25,0.00,0.000,6,0.000,0.033,2370,2002,3834
$GC,4067,-1.18,-219.0,539.4,-11.2,520,4071,0.00,1.90,0.00,0.000,4,0.000,0.048,2373,3264,3832
$GC,4146,-1.18,-219.0,548.4,-10.8,523,4149,0.00,1.77,0.00,0.000,6,0.000,0.030,2374,2031,3831
$GC,4470,-1.18,-219.0,578.8,-9.6,539,4473,0.00,1.90,0.00,0.000,4,0.000,0.050,2382,3275,3828
$GC,4509,-1.18,-219.0,583.3,-10.2,540,4515,0.00,1.80,0.00,0.000,6,0.000,0.031,2380,2050,3828
$GC,4825,-1.18,-219.0,618.8,-11.6,556,4829,0.00,2.38,0.00,0.000,4,0.000,0.044,2380,478,3825
$GC,4866,-1.18,-219.0,623.8,-12.7,558,4870,0.00,2.35,0.00,0.000,6,0.000,0.035,2377,2048,3825
$GC,5193,-1.18,-219.0,659.9,-10.3,574,5196,0.00,1.85,0.00,0.000,4,0.000,0.052,2378,3261,3822
$GC,5243,-1.18,-219.0,665.3,-10.4,576,5247,0.00,1.70,0.00,0.000,6,0.000,0.032,2378,2087,3821
$GC,5572,-1.18,-219.0,697.8,-10.1,592,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2087,3818
$GC,5881,-1.18,-219.0,729.2,-10.3,607,5884,0.00,1.83,0.00,0.000,4,0.000,0.054,2371,3265,3814
$GC,5908,-1.18,-219.0,732.6,-11.9,608,5912,0.00,1.70,0.00,0.000,6,0.000,0.035,2371,2105,3814
$GC,6238,-1.18,-219.0,768.4,-10.8,624,6243,0.00,2.47,0.00,0.000,4,0.000,0.048,2371,490,3812
$GC,6316,-1.18,-219.0,778.4,-12.4,627,6323,0.00,2.42,0.00,0.000,6,0.000,0.048,2366,2070,3810
$GC,6634,-1.18,-219.0,814.2,-11.2,643,6638,0.00,1.88,0.00,0.000,4,0.000,0.061,2367,3264,3808
$GC,6727,-1.18,-219.0,825.2,-12.1,647,6731,0.00,1.73,0.00,0.000,6,0.000,0.036,2366,2117,3807
$GC,7060,-1.18,-219.0,866.5,-12.7,663,7064,0.00,2.50,0.00,0.000,4,0.000,0.049,2367,492,3805
$GC,7088,-1.18,-219.0,870.5,-14.3,664,7093,0.12,2.45,0.00,0.000,6,0.166,0.046,2386,2084,3804
$GC,7405,-1.18,-219.0,908.7,-12.1,679,7408,0.00,1.88,0.00,0.000,4,0.000,0.061,2380,3254,3803
$GC,7460,-1.18,-219.0,916.0,-13.1,681,7464,0.00,1.67,0.00,0.000,6,0.000,0.037,2380,2120,3802
$GC,7785,-1.18,-219.0,954.7,-11.7,697,7789,0.00,2.53,0.00,0.000,4,0.000,0.052,2379,491,3801
$GC,7834,-1.18,-219.0,961.3,-12.3,699,7838,0.00,2.45,0.00,0.000,6,0.000,0.044,2368,2088,3800
$STATE,8086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8086,begin apogee
$GC,8095,-0.26,0.0,991.5,12.0,711,8294,1.00,0.00,190.02,1.450,6,0.127,0.000,2681,1522,2945
$STATE,8295,end apogee,CONTROL_FINISHED_OK
$STATE,8295,begin climb
$GC,8297,1.18,219.0,1004.7,0.0,721,8498,1.33,0.00,195.88,1.416,6,0.053,0.000,3146,1521,2052
$GC,8800,1.18,219.0,950.7,14.4,746,8803,0.00,2.15,0.00,0.000,4,0.000,0.057,3142,2890,2044
$GC,8839,1.18,219.0,944.7,14.8,747,8845,0.00,2.15,0.00,0.000,6,0.000,0.042,3152,1484,2043
$GC,9155,1.18,219.0,899.6,14.2,763,9159,0.00,2.22,0.00,0.000,4,0.000,0.057,3151,2896,2042
$GC,9256,1.18,219.0,884.6,15.2,767,9260,0.00,2.12,0.00,0.000,6,0.000,0.043,3160,1502,2041
$GC,9579,1.18,219.0,838.8,14.1,783,9582,0.00,2.20,0.00,0.000,4,0.000,0.058,3160,2896,2040
$GC,9640,1.18,219.0,829.7,13.9,785,9647,0.00,2.08,0.00,0.000,6,0.000,0.043,3169,1532,2039
$GC,9956,1.18,219.0,786.6,13.2,801,9960,0.00,2.12,0.00,0.000,4,0.000,0.055,3169,2892,2038
$GC,10030,1.18,219.0,776.2,14.4,804,10034,0.15,2.08,0.00,0.000,6,0.200,0.042,3144,1536,2037
$GC,10350,1.18,219.0,735.3,12.4,820,10354,0.00,2.12,0.00,0.000,4,0.000,0.054,3143,2895,2037
$GC,10396,1.18,219.0,729.3,12.8,822,10400,0.00,2.03,0.00,0.000,6,0.000,0.043,3150,1561,2036
$GC,10730,1.18,219.0,685.8,12.9,838,10734,0.00,2.08,0.00,0.000,4,0.000,0.054,3150,2889,2036
$GC,10845,1.18,219.0,670.4,13.7,843,10849,0.00,1.98,0.00,0.000,6,0.000,0.042,3158,1587,2035
$GC,11179,1.18,219.0,629.1,12.1,859,11183,0.00,2.17,0.00,0.000,4,0.000,0.053,3169,193,2035
$GC,11241,1.19,224.2,621.3,11.8,861,11248,0.00,2.17,0.00,0.000,6,0.000,0.049,3168,1604,2035
$GC,11557,1.19,224.2,584.0,12.2,877,11561,0.00,1.98,0.00,0.000,4,0.000,0.054,3169,2887,2035
$GC,11716,1.19,224.2,563.4,13.2,884,11720,0.12,1.92,0.00,0.000,6,0.200,0.041,3151,1613,2034
$GC,12048,1.21,241.0,524.5,11.4,900,12075,0.00,0.00,20.17,1.059,6,0.000,0.000,3151,1614,1962
$GC,12382,1.25,277.5,488.4,10.7,921,12427,0.00,2.10,35.30,1.082,4,0.000,0.051,3146,2897,1813
$GC,12467,1.27,290.6,478.6,11.5,928,12486,0.00,1.98,13.50,1.045,6,0.000,0.040,3153,1630,1760
$GC,12803,1.27,290.6,438.4,12.3,960,12806,0.00,1.95,0.00,0.000,4,0.000,0.051,3153,2891,1756
$GC,12875,1.27,290.6,429.0,12.6,966,12881,0.00,1.92,0.00,0.000,6,0.000,0.040,3160,1639,1754
$GC,13204,1.32,331.0,391.0,10.5,997,13253,0.00,2.30,38.83,1.006,4,0.000,0.051,3174,195,1594
$GC,13303,1.32,331.0,378.9,12.5,1005,13310,0.00,2.28,0.00,0.000,6,0.000,0.040,3174,1670,1591
$GC,13631,1.32,331.0,338.9,12.6,1036,13635,0.00,1.88,0.00,0.000,4,0.000,0.048,3178,2900,1590
$GC,13670,1.32,331.0,333.2,13.1,1039,13676,0.00,1.88,0.00,0.000,6,0.000,0.038,3186,1649,1589
$GC,13999,1.32,334.3,292.5,11.9,1075,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1649,1589
$GC,14343,1.38,379.7,253.1,10.3,1136,14392,0.00,1.95,42.95,0.914,4,0.000,0.044,3192,2901,1396
$GC,14479,1.38,379.7,238.2,12.1,1159,14485,0.00,1.88,0.00,0.000,6,0.000,0.035,3200,1652,1395
$GC,14823,1.38,379.7,196.9,12.2,1220,14830,0.00,2.22,0.00,0.000,4,0.000,0.045,3211,196,1394
$GC,14910,1.38,379.7,185.4,13.7,1235,14916,0.00,2.17,0.00,0.000,6,0.000,0.035,3211,1643,1393
$GC,15255,1.40,399.6,147.3,11.3,1296,15281,0.00,1.90,19.23,0.782,4,0.000,0.041,3210,2905,1314
$GC,15362,1.40,399.6,134.7,12.3,1314,15369,0.00,1.98,0.00,0.000,6,0.000,0.034,3219,1591,1314
$GC,15708,1.47,458.1,96.7,9.9,1375,15765,0.00,2.08,51.45,0.749,4,0.000,0.038,3219,2906,1076
$GC,15841,1.51,490.1,82.7,10.8,1397,15874,0.00,1.88,28.60,0.712,6,0.000,0.031,3227,1654,946
$GC,16217,1.58,548.1,43.3,9.9,1462,16274,0.12,2.25,50.65,0.683,4,0.067,0.041,3303,199,709
$GC,16304,1.58,548.1,32.2,13.5,1476,16311,0.00,2.35,0.00,0.000,6,0.000,0.029,3303,1786,708
$STATE,16523,end climb,SURFACE_DEPTH_REACHED
$STATE,16523,begin surface coast
$FINISH,0.8,1.019694
$STATE,16547,end surface coast,CONTROL_FINISHED_OK
$STATE,16547,begin surface
$SM_CCo,16626,0.00,0.000,0,0,706,549.23
$SM_GC,1.58,8.30,0.00,0.00,0.038,0.000,0.000,167,1886,706,-8.11,0.74,549.23
$IRIDIUM_FIX,2406.29,12515.78,261098,131347
$TT8_MAMPS,0.026845
$HUMID,1605
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.40
$XPDR_PINGS,143
$24V_AH,23.1,92.546
$10V_AH,10.6,61.322
$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,20.250,154.025,686.575,0.000,0.000,22.363,40.797,238.303,43.750,0.000,0.000,16.707,2628.566,9826.857,816.643,3064.648,749.378,0.000,2210.015,0.000,3031.230,0.000,57.422,0.000
$DEVICE_MAMPS,227.032,78.234,1449.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1026.784,1044.247,1755.779,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88518,1519
$CAP_FILE_SIZE,159421,0
$CFSIZE,260165632,200433664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.149, 96.4,1
$GPS,010809,231537,2417.506,12518.497,36,1.1,36,-3.6