version: 66.04
glider: 166
mission: 2
dive: 432
start: 8 3 109 4 24 24
data:
$ID,166
$MISSION,2
$DIVE,432
$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,-14144.233
$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,60
$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
$GPS1,041225,2420.423,12525.367,40,1.1,40,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-67.8
$GPS2,042402,2420.466,12525.535,13,1.5,13,-3.7
$SPEED_LIMITS,0.208,0.332
$TGT_NAME,OFF_5
$TGT_LATLONG,2429.500,12525.200
$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,316.8,16740,-17.3,-12.000
$D_GRID,1618
$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,14,begin dive
$GC,18,-1.18,-219.0,0.0,0.0,0,98,0.00,0.00,-78.32,0.000,2,0.000,0.000,163,1991,2434
$GC,102,-1.18,-219.0,3.3,-5.2,12,155,9.07,2.08,-37.30,0.000,4,0.231,0.057,2378,3344,3838
$GC,163,-1.18,-219.0,12.8,-17.3,21,169,0.00,2.05,0.00,0.000,6,0.000,0.029,2380,1933,3839
$GC,508,-1.18,-219.0,77.8,-19.3,82,515,0.00,2.05,0.00,0.000,4,0.000,0.041,2389,554,3839
$GC,591,-1.18,-219.0,92.9,-17.8,96,597,0.00,2.05,0.00,0.000,6,0.000,0.034,2390,1953,3840
$GC,937,-1.18,-219.0,145.2,-14.2,157,943,0.00,2.10,0.00,0.000,4,0.000,0.041,2379,549,3841
$GC,1006,-1.18,-219.0,155.9,-14.7,169,1013,0.00,2.15,0.00,0.000,6,0.000,0.031,2382,2027,3841
$GC,1352,-1.18,-219.0,206.4,-13.7,230,1359,0.00,2.00,0.00,0.000,4,0.000,0.044,2385,3351,3841
$GC,1496,-1.18,-219.0,227.4,-14.6,255,1502,0.00,1.88,0.00,0.000,6,0.000,0.028,2379,2039,3841
$GC,1842,-1.18,-219.0,276.6,-15.1,316,1848,0.00,2.20,0.00,0.000,4,0.000,0.041,2373,556,3841
$GC,1912,-1.18,-219.0,287.2,-15.3,328,1918,0.00,2.17,0.00,0.000,6,0.000,0.032,2370,2046,3840
$GC,2244,-1.18,-219.0,331.5,-12.8,367,2248,0.00,1.95,0.00,0.000,4,0.000,0.045,2375,3358,3839
$GC,2268,-1.18,-219.0,334.9,-12.6,369,2271,0.00,1.98,0.00,0.000,6,0.000,0.028,2376,1987,3839
$GC,2602,-1.18,-219.0,374.7,-11.5,400,2609,0.00,2.15,0.00,0.000,4,0.000,0.043,2375,544,3839
$GC,2632,-1.18,-219.0,379.2,-13.4,402,2639,0.00,2.17,0.00,0.000,6,0.000,0.033,2368,2031,3838
$GC,2962,-1.18,-219.0,417.0,-11.6,433,2966,0.00,2.00,0.00,0.000,4,0.000,0.047,2364,3363,3836
$GC,3046,-1.18,-219.0,428.2,-12.4,440,3052,0.00,1.92,0.00,0.000,6,0.000,0.029,2365,2048,3835
$GC,3375,-1.18,-219.0,463.9,-10.8,471,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2048,3834
$GC,3703,-1.18,-219.0,500.9,-11.1,502,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2047,3832
$GC,4011,-1.18,-219.0,534.4,-10.6,517,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2047,3830
$GC,4319,-1.18,-219.0,566.3,-10.5,532,4323,0.00,2.28,0.00,0.000,4,0.000,0.046,2363,549,3827
$GC,4375,-1.18,-219.0,572.8,-11.1,534,4383,0.00,2.22,0.00,0.000,6,0.000,0.036,2363,2044,3826
$GC,4692,-1.18,-219.0,608.9,-11.7,550,4695,0.00,2.00,0.00,0.000,4,0.000,0.051,2362,3359,3823
$GC,4742,-1.18,-219.0,615.1,-12.1,552,4746,0.00,1.92,0.00,0.000,6,0.000,0.033,2362,2063,3823
$GC,5070,-1.18,-219.0,650.9,-10.4,568,5074,0.00,2.30,0.00,0.000,4,0.000,0.048,2363,548,3820
$GC,5121,-1.18,-219.0,656.5,-10.9,570,5125,0.12,2.25,0.00,0.000,6,0.156,0.036,2386,2055,3819
$GC,5442,-1.18,-219.0,684.7,-8.5,586,5446,0.00,2.00,0.00,0.000,4,0.000,0.053,2384,3361,3816
$GC,5482,-1.18,-219.0,688.4,-9.6,587,5488,0.00,1.92,0.00,0.000,6,0.000,0.035,2383,2051,3815
$GC,5799,-1.18,-219.0,718.7,-10.0,603,5803,0.00,2.28,0.00,0.000,4,0.000,0.049,2383,558,3813
$GC,5832,-1.18,-219.0,722.6,-10.8,604,5836,0.00,2.22,0.00,0.000,6,0.000,0.040,2380,2033,3812
$GC,6150,-1.18,-219.0,757.6,-11.3,619,6154,0.00,2.05,0.00,0.000,4,0.000,0.055,2389,3359,3810
$GC,6229,-1.18,-219.0,767.0,-11.3,622,6233,0.00,1.92,0.00,0.000,6,0.000,0.036,2385,2054,3809
$GC,6551,-1.18,-219.0,802.9,-11.2,638,6554,0.00,2.03,0.00,0.000,4,0.000,0.056,2378,3350,3806
$GC,6585,-1.18,-219.0,806.8,-11.7,639,6589,0.00,1.90,0.00,0.000,6,0.000,0.037,2379,2070,3806
$GC,6908,-1.18,-219.0,840.9,-10.3,655,6912,0.00,2.35,0.00,0.000,4,0.000,0.056,2380,552,3803
$GC,6947,-1.18,-219.0,845.4,-10.9,656,6954,0.00,2.33,0.00,0.000,6,0.000,0.042,2373,2056,3804
$GC,7264,-1.18,-219.0,877.7,-10.2,672,7268,0.00,2.03,0.00,0.000,4,0.000,0.058,2371,3360,3801
$GC,7314,-1.18,-219.0,883.5,-12.1,674,7318,0.00,1.92,0.00,0.000,6,0.000,0.044,2370,2081,3801
$GC,7641,-1.18,-219.0,917.4,-10.0,690,7645,0.00,2.00,0.00,0.000,4,0.000,0.059,2360,3354,3798
$GC,7676,-1.18,-219.0,921.2,-10.6,691,7680,0.00,1.88,0.00,0.000,6,0.000,0.045,2361,2110,3798
$GC,7999,-1.18,-219.0,954.7,-10.2,707,8002,0.00,1.98,0.00,0.000,4,0.000,0.064,2351,3348,3796
$GC,8045,-1.18,-219.0,960.1,-11.5,709,8049,0.08,1.85,0.00,0.000,6,0.150,0.048,2376,2147,3796
$STATE,8334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8334,begin apogee
$GC,8343,-0.26,0.0,991.3,10.4,723,8537,0.90,0.00,187.57,1.467,6,0.109,0.000,2674,1588,2945
$STATE,8537,end apogee,CONTROL_FINISHED_OK
$STATE,8538,begin climb
$GC,8540,1.18,219.0,1005.5,0.0,733,8747,1.27,2.33,195.27,1.425,4,0.050,0.058,3149,2989,2051
$GC,8859,1.18,219.0,980.4,13.2,747,8863,0.00,2.17,0.00,0.000,6,0.000,0.044,3159,1584,2045
$GC,9177,1.18,219.0,938.1,13.4,762,9180,0.00,2.17,0.00,0.000,4,0.000,0.058,3167,204,2043
$GC,9267,1.18,219.0,924.4,15.5,766,9271,0.00,2.10,0.00,0.000,6,0.000,0.044,3166,1573,2043
$GC,9601,1.18,219.0,874.7,14.8,782,9604,0.00,2.22,0.00,0.000,4,0.000,0.062,3166,2990,2040
$GC,9702,1.18,219.0,858.9,15.8,786,9706,0.00,2.17,0.00,0.000,6,0.000,0.044,3173,1567,2040
$GC,10019,1.18,219.0,812.5,14.2,801,10023,0.00,2.25,0.00,0.000,4,0.000,0.056,3173,2998,2039
$GC,10075,1.18,219.0,804.0,14.6,803,10080,0.15,2.12,0.00,0.000,6,0.200,0.044,3149,1600,2038
$GC,10392,1.18,219.0,762.9,12.5,818,10393,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1600,2038
$GC,10700,1.18,219.0,724.7,12.3,833,10702,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,1600,2037
$GC,11011,1.18,219.0,686.9,12.9,848,11015,0.00,2.17,0.00,0.000,4,0.000,0.055,3146,2985,2036
$GC,11036,1.18,219.0,683.5,13.6,849,11040,0.00,2.12,0.00,0.000,6,0.000,0.044,3154,1602,2035
$GC,11369,1.18,219.0,639.7,13.4,865,11373,0.00,2.17,0.00,0.000,4,0.000,0.054,3152,2989,2035
$GC,11484,1.18,219.0,624.3,13.7,870,11488,0.00,2.08,0.00,0.000,6,0.000,0.044,3159,1630,2034
$GC,11817,1.18,224.2,583.1,11.8,886,11821,0.00,2.12,0.00,0.000,4,0.000,0.055,3159,2988,2034
$GC,11953,1.24,267.6,567.2,10.4,892,12006,0.00,2.03,43.35,1.163,6,0.000,0.042,3167,1656,1854
$GC,12328,1.24,270.1,523.3,11.9,910,12331,0.00,2.10,0.00,0.000,4,0.000,0.054,3165,2998,1848
$GC,12402,1.24,270.1,513.6,12.5,913,12405,0.00,2.00,0.00,0.000,6,0.000,0.041,3173,1683,1847
$GC,12726,1.24,270.1,472.7,13.0,938,12730,0.00,2.33,0.00,0.000,4,0.000,0.054,3187,195,1847
$GC,12844,1.24,270.1,456.9,14.1,948,12848,0.00,2.30,0.00,0.000,6,0.000,0.042,3188,1701,1846
$GC,13180,1.26,286.0,416.9,11.4,979,13214,0.00,2.42,18.90,0.962,4,0.000,0.052,3201,198,1779
$GC,13261,1.27,292.8,406.6,11.7,986,13273,0.00,2.30,7.70,0.917,6,0.000,0.041,3200,1695,1751
$GC,13592,1.28,303.0,366.5,11.6,1017,13608,0.00,2.05,10.90,0.956,4,0.000,0.058,3200,2988,1709
$GC,13642,1.28,303.0,360.1,12.5,1021,13650,0.12,2.05,0.00,0.000,6,0.186,0.040,3181,1637,1707
$GC,13967,1.34,346.3,325.3,10.4,1052,14013,0.00,2.30,39.17,0.986,4,0.000,0.051,3190,193,1532
$GC,14037,1.35,358.5,317.2,11.6,1058,14058,0.00,2.28,12.62,0.897,6,0.000,0.038,3190,1670,1482
$GC,14390,1.39,393.1,276.4,10.7,1108,14428,0.00,2.12,31.33,0.923,4,0.000,0.047,3192,3000,1342
$GC,14559,1.39,393.1,256.4,12.1,1137,14566,0.00,2.05,0.00,0.000,6,0.000,0.038,3202,1642,1340
$GC,14905,1.39,393.1,217.6,13.4,1198,14911,0.00,2.25,0.00,0.000,4,0.000,0.052,3217,205,1338
$GC,14960,1.39,393.1,210.4,14.6,1207,14966,0.00,2.20,0.00,0.000,6,0.000,0.035,3216,1685,1337
$GC,15305,1.44,434.8,169.8,10.5,1268,15350,0.00,2.05,37.45,0.822,4,0.000,0.043,3214,3000,1172
$GC,15438,1.44,434.8,154.4,12.2,1290,15444,0.00,2.03,0.00,0.000,6,0.000,0.034,3222,1663,1172
$GC,15784,1.49,475.1,116.4,10.5,1351,15829,0.00,2.10,35.75,0.763,4,0.000,0.048,3222,2995,1008
$GC,15910,1.52,496.3,102.7,11.2,1372,15936,0.00,1.92,19.88,0.719,6,0.000,0.032,3231,1722,921
$GC,16276,1.57,533.2,63.0,10.6,1436,16317,0.10,2.42,32.70,0.698,4,0.076,0.044,3292,189,770
$GC,16404,1.57,533.2,45.7,15.2,1457,16412,0.00,2.40,0.00,0.000,6,0.000,0.030,3292,1810,770
$STATE,16725,end climb,SURFACE_DEPTH_REACHED
$STATE,16726,begin surface coast
$FINISH,0.8,0.998184
$STATE,16750,end surface coast,CONTROL_FINISHED_OK
$STATE,16750,begin surface
$SM_CCo,16830,0.00,0.000,0,0,768,533.77
$SM_GC,1.58,8.25,0.00,0.00,0.042,0.000,0.000,140,2000,768,-8.12,1.41,533.77
$IRIDIUM_FIX,2411.01,12523.74,281098,040402
$TT8_MAMPS,0.026845
$HUMID,1603
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,146
$24V_AH,23.1,94.340
$10V_AH,10.6,62.395
$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,20.075,153.500,672.600,0.000,0.000,50.820,81.639,327.065,44.500,0.000,0.000,13.197,2651.793,10048.616,766.880,3128.560,914.860,0.000,2203.833,0.000,3093.484,0.000,54.434,0.000
$DEVICE_MAMPS,230.867,63.661,1466.504,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1027.197,1042.697,1754.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88376,1518
$CAP_FILE_SIZE,163153,0
$CFSIZE,260165632,199806976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.241, 99.6,1
$GPS,030809,090607,2420.737,12526.973,35,1.9,35,-3.7