version: 66.04
glider: 166
mission: 2
dive: 430
start: 8 2 109 18 36 48
data:
$ID,166
$MISSION,2
$DIVE,430
$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,-14095.428
$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,50
$R_STBD_OVSHOOT,44
$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
$GPS1,182337,2418.708,12522.551,32,1.2,32,-3.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-66.6
$GPS2,183625,2418.796,12522.704,11,1.3,16,-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,310.3,22686,-17.3,-12.000
$D_GRID,1715
$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,-219.0,0.0,0.0,0,91,0.00,0.00,-69.78,0.000,2,0.000,0.000,142,1828,2451
$GC,94,-1.18,-219.0,3.4,-6.4,11,146,9.18,2.20,-35.42,0.000,4,0.231,0.056,2381,3261,3840
$GC,277,-1.18,-219.0,38.9,-18.7,42,284,0.00,2.08,0.00,0.000,6,0.000,0.028,2378,1853,3840
$GC,624,-1.18,-219.0,96.5,-15.7,103,630,0.00,2.12,0.00,0.000,4,0.000,0.042,2383,3266,3841
$GC,706,-1.18,-219.0,110.0,-16.9,117,713,0.00,2.03,0.00,0.000,6,0.000,0.029,2373,1858,3841
$GC,1052,-1.18,-219.0,165.1,-14.9,178,1058,0.00,2.08,0.00,0.000,4,0.000,0.041,2372,454,3843
$GC,1133,-1.18,-219.0,177.4,-14.2,192,1140,0.00,2.15,0.00,0.000,6,0.000,0.031,2373,1936,3842
$GC,1479,-1.18,-219.0,224.4,-13.3,253,1488,0.00,1.98,0.00,0.000,4,0.000,0.044,2374,3269,3842
$GC,1596,-1.18,-219.0,240.6,-14.3,273,1603,0.00,1.88,0.00,0.000,6,0.000,0.028,2370,1956,3842
$GC,1943,-1.18,-219.0,286.6,-12.4,334,1949,0.00,2.22,0.00,0.000,4,0.000,0.041,2370,451,3841
$GC,1996,-1.18,-219.0,293.7,-13.2,343,2002,0.00,2.22,0.00,0.000,6,0.000,0.031,2374,1975,3841
$GC,2325,-1.18,-219.0,336.0,-12.9,378,2328,0.00,1.92,0.00,0.000,4,0.000,0.044,2365,3272,3840
$GC,2397,-1.18,-219.0,345.9,-13.3,384,2404,0.00,1.90,0.00,0.000,6,0.000,0.028,2368,1971,3840
$GC,2723,-1.18,-219.0,385.9,-11.2,415,2727,0.00,2.25,0.00,0.000,4,0.000,0.041,2367,462,3839
$GC,2780,-1.18,-219.0,392.5,-11.5,420,2784,0.00,2.20,0.00,0.000,6,0.000,0.031,2356,1965,3839
$GC,3111,-1.18,-219.0,428.4,-10.9,451,3116,0.10,1.95,0.00,0.000,4,0.152,0.045,2377,3273,3837
$GC,3169,-1.18,-219.0,435.0,-11.8,456,3172,0.00,1.90,0.00,0.000,6,0.000,0.029,2377,1952,3836
$GC,3503,-1.18,-219.0,472.1,-11.1,487,3507,0.00,2.25,0.00,0.000,4,0.000,0.044,2376,457,3835
$GC,3538,-1.18,-219.0,476.5,-12.1,490,3542,0.00,2.20,0.00,0.000,6,0.000,0.032,2376,1961,3835
$GC,3868,-1.18,-219.0,511.6,-10.1,516,3872,0.00,1.95,0.00,0.000,4,0.000,0.048,2377,3263,3832
$GC,3970,-1.18,-219.0,522.5,-10.3,520,3973,0.00,1.85,0.00,0.000,6,0.000,0.031,2377,1985,3831
$GC,4291,-1.18,-219.0,554.9,-10.2,536,4295,0.00,1.95,0.00,0.000,4,0.000,0.050,2377,3268,3828
$GC,4330,-1.18,-219.0,559.1,-10.2,537,4338,0.00,1.85,0.00,0.000,6,0.000,0.032,2377,1994,3828
$GC,4648,-1.18,-219.0,591.3,-10.1,553,4652,0.00,1.98,0.00,0.000,4,0.000,0.051,2371,3273,3825
$GC,4676,-1.18,-219.0,594.4,-10.2,554,4680,0.00,1.83,0.00,0.000,6,0.000,0.032,2370,2021,3824
$GC,5005,-1.18,-219.0,628.3,-10.7,570,5009,0.00,1.90,0.00,0.000,4,0.000,0.052,2367,3261,3821
$GC,5051,-1.18,-219.0,633.6,-11.0,572,5054,0.00,1.80,0.00,0.000,6,0.000,0.033,2367,2034,3821
$GC,5384,-1.18,-219.0,670.2,-10.8,588,5388,0.00,2.40,0.00,0.000,4,0.000,0.049,2367,463,3818
$GC,5434,-1.18,-219.0,676.1,-12.3,590,5438,0.00,2.35,0.00,0.000,6,0.000,0.038,2358,2028,3817
$GC,5751,-1.18,-219.0,710.0,-10.2,605,5754,0.00,1.90,0.00,0.000,4,0.000,0.054,2352,3264,3814
$GC,5779,-1.18,-219.0,713.2,-11.3,606,5783,0.12,1.80,0.00,0.000,6,0.152,0.035,2385,2038,3814
$GC,6107,-1.18,-219.0,743.5,-8.9,622,6111,0.00,1.92,0.00,0.000,4,0.000,0.054,2377,3258,3812
$GC,6124,-1.18,-219.0,745.2,-8.9,622,6130,0.00,1.80,0.00,0.000,6,0.000,0.036,2379,2062,3811
$GC,6440,-1.18,-219.0,772.5,-8.4,638,6444,0.00,1.88,0.00,0.000,4,0.000,0.056,2370,3267,3809
$GC,6470,-1.18,-219.0,775.2,-9.1,639,6474,0.00,1.77,0.00,0.000,6,0.000,0.037,2370,2068,3808
$GC,6798,-1.18,-219.0,804.5,-9.2,655,6802,0.00,2.47,0.00,0.000,4,0.000,0.051,2370,461,3806
$GC,6838,-1.18,-219.0,808.6,-11.2,657,6842,0.00,2.42,0.00,0.000,6,0.000,0.041,2359,2055,3805
$GC,7166,-1.18,-219.0,841.9,-10.6,673,7170,0.00,1.90,0.00,0.000,4,0.000,0.060,2350,3267,3803
$GC,7228,-1.18,-219.0,849.4,-12.0,675,7234,0.12,1.75,0.00,0.000,6,0.152,0.038,2382,2085,3803
$GC,7545,-1.18,-219.0,882.1,-10.4,691,7549,0.00,1.85,0.00,0.000,4,0.000,0.059,2377,3261,3801
$GC,7592,-1.18,-219.0,887.1,-11.0,693,7595,0.00,1.73,0.00,0.000,6,0.000,0.039,2378,2108,3800
$GC,7927,-1.18,-219.0,919.4,-9.3,709,7931,0.00,2.58,0.00,0.000,4,0.000,0.058,2382,466,3798
$GC,7984,-1.18,-219.0,925.2,-10.8,711,7990,0.00,2.53,0.00,0.000,6,0.000,0.045,2372,2106,3797
$GC,8300,-1.18,-219.0,957.7,-10.0,727,8304,0.00,1.83,0.00,0.000,4,0.000,0.062,2360,3245,3796
$GC,8340,-1.18,-219.0,962.1,-10.5,728,8346,0.00,1.70,0.00,0.000,6,0.000,0.040,2365,2127,3796
$STATE,8612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8612,begin apogee
$GC,8621,-0.26,0.0,991.9,11.1,742,8819,1.00,0.00,189.50,1.454,6,0.130,0.000,2673,1494,2945
$STATE,8820,end apogee,CONTROL_FINISHED_OK
$STATE,8820,begin climb
$GC,8823,1.18,219.0,1005.2,0.0,752,9029,1.27,2.30,195.65,1.423,4,0.048,0.055,3147,2882,2051
$GC,9081,1.18,219.0,986.2,15.6,764,9085,0.00,2.20,0.00,0.000,6,0.000,0.045,3157,1479,2046
$GC,9407,1.18,219.0,940.6,13.9,780,9411,0.00,2.22,0.00,0.000,4,0.000,0.055,3156,2896,2042
$GC,9481,1.18,219.0,930.1,14.4,783,9484,0.00,2.15,0.00,0.000,6,0.000,0.046,3166,1498,2042
$GC,9808,1.18,219.0,883.4,14.1,799,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,1498,2041
$GC,10117,1.18,219.0,840.6,13.9,814,10120,0.00,2.20,0.00,0.000,4,0.000,0.056,3166,2896,2040
$GC,10231,1.18,219.0,824.4,14.9,819,10235,0.00,2.12,0.00,0.000,6,0.000,0.046,3173,1515,2038
$GC,10565,1.18,219.0,779.1,13.7,835,10569,0.00,2.17,0.00,0.000,4,0.000,0.062,3174,2886,2038
$GC,10650,1.18,219.0,767.3,13.9,838,10657,0.15,2.08,0.00,0.000,6,0.200,0.045,3149,1526,2037
$GC,10966,1.18,219.0,727.7,12.3,854,10970,0.00,2.15,0.00,0.000,4,0.000,0.056,3147,2894,2037
$GC,10990,1.19,228.7,724.9,11.6,855,11004,0.00,2.10,7.45,1.131,6,0.000,0.044,3155,1524,2012
$GC,11325,1.19,228.7,681.2,12.7,871,11328,0.00,2.15,0.00,0.000,4,0.000,0.055,3154,2896,2011
$GC,11442,1.19,228.7,665.1,13.2,876,11446,0.00,2.05,0.00,0.000,6,0.000,0.048,3161,1555,2010
$GC,11769,1.19,229.5,625.2,12.0,892,11773,0.00,2.10,0.00,0.000,4,0.000,0.055,3161,2896,2010
$GC,11849,1.21,246.0,615.8,11.4,895,11882,0.00,2.03,19.12,1.109,6,0.000,0.044,3169,1568,1939
$GC,12190,1.21,246.0,574.2,12.4,912,12193,0.00,2.08,0.00,0.000,4,0.000,0.055,3168,2894,1936
$GC,12269,1.21,246.0,563.9,13.5,915,12272,0.00,2.00,0.00,0.000,6,0.000,0.043,3176,1580,1935
$GC,12592,1.21,246.0,521.7,12.9,931,12596,0.00,2.15,0.00,0.000,4,0.000,0.054,3187,202,1936
$GC,12615,1.21,246.0,518.6,12.2,932,12619,0.12,2.15,0.00,0.000,6,0.194,0.043,3160,1613,1935
$GC,12941,1.27,290.6,483.1,10.4,955,12996,0.00,2.08,42.42,1.096,4,0.000,0.052,3155,2892,1758
$GC,13089,1.27,290.6,465.5,12.3,968,13093,0.00,1.95,0.00,0.000,6,0.000,0.042,3161,1626,1756
$GC,13424,1.29,310.4,427.2,11.3,999,13457,0.00,2.00,20.70,0.978,4,0.000,0.053,3163,2889,1678
$GC,13486,1.31,322.6,419.1,11.5,1004,13505,0.00,1.95,12.73,0.998,6,0.000,0.041,3170,1637,1628
$GC,13822,1.32,332.8,378.1,11.6,1036,13837,0.00,2.30,10.12,0.951,4,0.000,0.054,3183,202,1588
$GC,13940,1.32,332.8,363.5,12.4,1046,13946,0.00,2.22,0.00,0.000,6,0.000,0.040,3185,1643,1587
$GC,14268,1.32,332.8,323.3,13.2,1077,14272,0.00,1.90,0.00,0.000,4,0.000,0.049,3189,2891,1587
$GC,14314,1.32,332.8,316.6,13.2,1081,14318,0.00,1.88,0.00,0.000,6,0.000,0.038,3198,1640,1586
$GC,14652,1.36,369.3,273.3,10.7,1130,14694,0.00,2.00,33.35,0.939,4,0.000,0.047,3199,2891,1439
$GC,14849,1.36,369.3,248.2,12.8,1164,14855,0.00,1.85,0.00,0.000,6,0.000,0.038,3206,1682,1437
$GC,15194,1.39,389.9,206.3,11.2,1225,15219,0.00,1.85,19.58,0.848,4,0.000,0.043,3206,2899,1354
$GC,15284,1.39,389.9,195.2,13.2,1240,15290,0.00,1.77,0.00,0.000,6,0.000,0.037,3210,1728,1354
$GC,15630,1.41,403.9,152.9,11.5,1301,15651,0.00,2.38,13.82,0.770,4,0.000,0.047,3224,193,1298
$GC,15721,1.41,408.6,142.1,11.8,1316,15735,0.00,2.42,5.80,0.624,6,0.000,0.035,3225,1814,1279
$GC,16075,1.47,454.7,102.6,10.3,1378,16125,0.00,1.67,41.20,0.759,4,0.000,0.041,3226,2893,1090
$GC,16146,1.47,454.7,94.6,12.1,1389,16154,0.00,1.65,0.00,0.000,6,0.000,0.032,3234,1801,1090
$GC,16492,1.49,468.4,57.8,11.5,1450,16511,0.00,1.65,13.23,0.663,4,0.000,0.040,3234,2907,1034
$GC,16542,1.54,515.9,52.4,10.3,1458,16593,0.00,1.62,41.72,0.696,6,0.000,0.032,3231,1818,841
$GC,16935,1.60,564.7,8.2,10.2,1526,16980,0.15,0.00,42.38,0.648,6,0.061,0.000,3306,1818,642
$STATE,16985,end climb,SURFACE_DEPTH_REACHED
$STATE,16985,begin surface coast
$FINISH,0.7,1.007811
$STATE,17014,end surface coast,CONTROL_FINISHED_OK
$STATE,17014,begin surface
$SM_CCo,17093,0.00,0.000,0,0,638,565.66
$SM_GC,1.59,8.38,0.00,0.00,0.044,0.000,0.000,157,1816,638,-8.10,-1.24,565.66
$IRIDIUM_FIX,2411.01,12520.44,271098,181810
$TT8_MAMPS,0.026845
$HUMID,1605
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.70
$XPDR_PINGS,150
$24V_AH,23.1,93.824
$10V_AH,10.6,62.089
$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,20.600,163.725,708.775,0.000,0.000,51.305,79.274,398.078,45.500,0.000,0.000,16.317,2687.977,10182.178,791.806,3186.620,998.001,0.000,2274.491,0.000,3144.690,0.000,56.515,0.000
$DEVICE_MAMPS,230.867,62.127,1454.232,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.966,1055.433,1775.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91462,1539
$CAP_FILE_SIZE,172410,0
$CFSIZE,260165632,199966720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.208, 86.4,1
$GPS,020809,232300,2419.608,12523.348,40,1.7,40,-3.6