version: 66.04
glider: 166
mission: 2
dive: 433
start: 8 3 109 9 14 59
data:
$ID,166
$MISSION,2
$DIVE,433
$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,-14182.354
$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,36
$R_STBD_OVSHOOT,79
$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
$GPS1,090607,2420.737,12526.973,35,1.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-69.5
$GPS2,091437,2420.760,12527.064,36,1.4,37,-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,309.9,16488,-17.3,-12.000
$D_GRID,1559
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.18,-219.0,0.0,0.0,0,87,0.00,0.00,-67.32,0.000,2,0.000,0.000,129,2000,2285
$GC,91,-1.18,-219.0,3.1,-5.2,10,150,9.15,2.20,-43.20,0.000,4,0.230,0.051,2376,536,3839
$GC,220,-1.18,-219.0,24.3,-19.0,31,228,0.00,2.03,0.00,0.000,6,0.000,0.031,2374,1923,3840
$GC,567,-1.18,-219.0,85.8,-16.2,92,573,0.00,2.10,0.00,0.000,4,0.000,0.040,2392,537,3840
$GC,639,-1.18,-219.0,97.6,-16.1,104,645,0.00,2.12,0.00,0.000,6,0.000,0.031,2382,1993,3841
$GC,984,-1.18,-219.0,151.3,-16.2,165,990,0.00,2.20,0.00,0.000,4,0.000,0.041,2385,542,3842
$GC,1094,-1.18,-219.0,169.3,-16.2,184,1100,0.00,2.15,0.00,0.000,6,0.000,0.031,2388,2019,3842
$GC,1438,-1.18,-219.0,219.9,-14.0,245,1444,0.00,2.22,0.00,0.000,4,0.000,0.041,2384,535,3843
$GC,1530,-1.18,-219.0,233.1,-15.1,261,1536,0.00,2.22,0.00,0.000,6,0.000,0.031,2377,2056,3843
$GC,1875,-1.18,-219.0,279.6,-13.4,322,1881,0.00,1.95,0.00,0.000,4,0.000,0.045,2375,3346,3842
$GC,1905,-1.18,-219.0,283.9,-13.6,327,1912,0.00,1.88,0.00,0.000,6,0.000,0.028,2382,2033,3843
$GC,2244,-1.18,-219.0,326.5,-10.9,369,2248,0.00,2.22,0.00,0.000,4,0.000,0.041,2373,541,3843
$GC,2290,-1.18,-219.0,332.5,-13.1,373,2294,0.00,2.22,0.00,0.000,6,0.000,0.031,2368,2060,3842
$GC,2616,-1.18,-219.0,370.9,-12.0,403,2620,0.00,1.92,0.00,0.000,4,0.000,0.045,2365,3351,3841
$GC,2640,-1.18,-219.0,373.9,-12.6,405,2643,0.00,1.90,0.00,0.000,6,0.000,0.028,2366,2033,3841
$GC,2971,-1.18,-219.0,411.3,-11.0,436,2975,0.00,2.25,0.00,0.000,4,0.000,0.042,2366,524,3840
$GC,3013,-1.18,-219.0,416.1,-12.1,439,3017,0.00,2.28,0.00,0.000,6,0.000,0.033,2364,2068,3840
$GC,3340,-1.18,-219.0,451.9,-11.0,469,3343,0.00,1.92,0.00,0.000,4,0.000,0.047,2363,3349,3837
$GC,3391,-1.18,-219.0,457.8,-11.0,473,3397,0.00,1.88,0.00,0.000,6,0.000,0.030,2363,2051,3837
$GC,3719,-1.18,-219.0,494.4,-11.6,504,3723,0.00,2.28,0.00,0.000,4,0.000,0.044,2363,538,3835
$GC,3770,-1.18,-219.0,501.3,-12.7,508,3774,0.00,2.28,0.00,0.000,6,0.000,0.034,2363,2073,3834
$GC,4088,-1.18,-219.0,537.9,-10.9,523,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2073,3832
$GC,4395,-1.18,-219.0,571.5,-10.8,538,4399,0.00,2.35,0.00,0.000,4,0.000,0.045,2363,529,3829
$GC,4423,-1.18,-219.0,574.8,-11.7,539,4432,0.12,2.30,0.00,0.000,6,0.157,0.035,2388,2070,3829
$GC,4750,-1.18,-219.0,607.7,-10.0,555,4754,0.00,2.35,0.00,0.000,4,0.000,0.046,2388,531,3826
$GC,4777,-1.18,-219.0,610.9,-10.6,556,4782,0.00,2.30,0.00,0.000,6,0.000,0.038,2382,2062,3826
$GC,5095,-1.18,-219.0,642.6,-9.8,571,5099,0.00,1.98,0.00,0.000,4,0.000,0.054,2383,3356,3822
$GC,5134,-1.18,-219.0,647.1,-10.6,572,5141,0.00,1.95,0.00,0.000,6,0.000,0.034,2383,2052,3822
$GC,5451,-1.18,-219.0,679.3,-10.2,588,5455,0.00,2.33,0.00,0.000,4,0.000,0.048,2384,536,3819
$GC,5507,-1.18,-219.0,685.8,-11.2,590,5514,0.00,2.35,0.00,0.000,6,0.000,0.039,2381,2069,3818
$GC,5823,-1.18,-219.0,720.5,-11.0,606,5827,0.00,2.38,0.00,0.000,4,0.000,0.049,2382,531,3815
$GC,5851,-1.18,-219.0,724.0,-12.5,607,5855,0.00,2.33,0.00,0.000,6,0.000,0.040,2372,2067,3815
$GC,6168,-1.18,-219.0,758.7,-11.0,622,6172,0.00,2.35,0.00,0.000,4,0.000,0.050,2373,545,3812
$GC,6224,-1.18,-219.0,765.3,-11.7,624,6230,0.00,2.25,0.00,0.000,6,0.000,0.041,2372,2030,3812
$GC,6541,-1.18,-219.0,799.2,-10.6,640,6546,0.00,2.30,0.00,0.000,4,0.000,0.051,2375,544,3809
$GC,6565,-1.18,-219.0,802.0,-11.6,641,6569,0.00,2.25,0.00,0.000,6,0.000,0.042,2378,2017,3809
$GC,6893,-1.18,-219.0,836.9,-10.5,657,6897,0.00,2.08,0.00,0.000,4,0.000,0.058,2390,3352,3806
$GC,6916,-1.18,-219.0,839.5,-10.9,658,6920,0.00,2.00,0.00,0.000,6,0.000,0.038,2384,2012,3806
$GC,7251,-1.18,-219.0,875.5,-11.2,674,7255,0.00,2.10,0.00,0.000,4,0.000,0.058,2383,3351,3804
$GC,7290,-1.18,-219.0,880.5,-12.5,675,7297,0.00,1.95,0.00,0.000,6,0.000,0.038,2382,2043,3804
$GC,7609,-1.18,-219.0,918.0,-12.1,691,7613,0.00,2.35,0.00,0.000,4,0.000,0.060,2383,542,3802
$GC,7627,-1.18,-219.0,920.5,-12.0,692,7631,0.00,2.33,0.00,0.000,6,0.000,0.041,2372,2066,3801
$GC,7954,-1.18,-219.0,961.7,-12.1,708,7958,0.00,2.03,0.00,0.000,4,0.000,0.066,2363,3349,3799
$GC,7978,-1.18,-219.0,964.7,-12.5,709,7981,0.00,1.98,0.00,0.000,6,0.000,0.040,2363,2036,3799
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8184,begin apogee
$GC,8192,-0.26,0.0,990.3,11.9,719,8391,1.02,0.00,189.98,1.455,6,0.130,0.000,2680,1572,2945
$STATE,8392,end apogee,CONTROL_FINISHED_OK
$STATE,8392,begin climb
$GC,8395,1.18,219.0,1004.1,0.0,729,8601,1.30,2.33,194.88,1.421,4,0.055,0.056,3151,2979,2050
$GC,8630,1.18,219.0,988.7,13.9,740,8634,0.00,2.20,0.00,0.000,6,0.000,0.044,3160,1581,2047
$GC,8957,1.18,219.0,942.6,14.0,756,8960,0.00,2.17,0.00,0.000,4,0.000,0.058,3170,204,2043
$GC,9048,1.18,219.0,928.9,14.8,760,9052,0.00,2.10,0.00,0.000,6,0.000,0.043,3169,1573,2042
$GC,9382,1.18,219.0,882.4,13.9,776,9386,0.00,2.22,0.00,0.000,4,0.000,0.056,3165,2997,2041
$GC,9483,1.18,219.0,867.8,14.4,780,9487,0.00,2.17,0.00,0.000,6,0.000,0.044,3173,1571,2039
$GC,9806,1.19,225.5,827.5,11.8,796,9813,0.00,0.00,5.12,1.006,6,0.000,0.000,3173,1570,2025
$GC,10113,1.19,225.5,788.7,12.4,811,10117,0.00,2.22,0.00,0.000,4,0.000,0.057,3172,2985,2023
$GC,10198,1.19,225.5,777.5,13.8,814,10205,0.10,2.15,0.00,0.000,6,0.193,0.044,3152,1597,2022
$GC,10514,1.19,225.5,738.8,12.4,830,10518,0.00,2.20,0.00,0.000,4,0.000,0.062,3143,2998,2022
$GC,10621,1.19,225.5,724.8,13.0,834,10627,0.00,2.12,0.00,0.000,6,0.000,0.044,3150,1602,2021
$GC,10937,1.19,225.5,684.5,13.3,850,10940,0.00,2.20,0.00,0.000,4,0.000,0.056,3162,198,2021
$GC,10970,1.19,225.5,679.7,13.9,851,10974,0.00,2.17,0.00,0.000,6,0.000,0.044,3161,1620,2021
$GC,11293,1.19,225.5,637.4,13.0,867,11297,0.00,2.12,0.00,0.000,4,0.000,0.054,3161,2991,2020
$GC,11401,1.19,225.5,623.2,13.2,871,11407,0.00,2.12,0.00,0.000,6,0.000,0.043,3173,1594,2020
$GC,11717,1.20,239.3,586.2,11.5,887,11742,0.00,2.20,15.55,1.044,4,0.000,0.054,3171,2988,1968
$GC,11805,1.20,239.3,574.9,13.0,891,11809,0.00,2.10,0.00,0.000,6,0.000,0.042,3180,1614,1967
$GC,12134,1.21,246.1,536.2,11.8,907,12148,0.00,2.22,7.30,1.021,4,0.000,0.054,3182,2994,1940
$GC,12201,1.22,249.3,527.8,11.9,910,12211,0.15,2.10,4.45,0.817,6,0.191,0.042,3159,1620,1928
$GC,12530,1.25,278.0,491.6,10.9,929,12564,0.00,2.17,27.23,1.131,4,0.000,0.054,3150,2983,1810
$GC,12622,1.26,284.5,480.2,11.8,937,12635,0.00,2.10,7.38,0.951,6,0.000,0.041,3157,1617,1785
$GC,12953,1.30,315.5,441.1,10.9,968,12988,0.00,2.17,29.20,1.083,4,0.000,0.051,3150,2985,1657
$GC,13125,1.33,340.1,421.8,11.1,983,13159,0.00,2.03,23.27,1.048,6,0.000,0.040,3157,1661,1557
$GC,13476,1.33,340.1,380.0,13.0,1016,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,1661,1553
$GC,13796,1.33,340.1,337.5,12.2,1046,13800,0.00,2.08,0.00,0.000,4,0.000,0.048,3157,2998,1553
$GC,13831,1.33,344.9,333.3,11.8,1049,13844,0.00,2.03,4.90,0.742,6,0.000,0.038,3164,1654,1538
$GC,14161,1.43,424.1,299.6,9.1,1080,14242,0.17,2.38,71.80,0.962,4,0.061,0.051,3252,205,1215
$GC,14302,1.43,424.1,281.0,13.7,1103,14308,0.00,2.35,0.00,0.000,6,0.000,0.037,3252,1735,1213
$GC,14647,1.43,424.1,230.2,14.8,1164,14654,0.00,1.92,0.00,0.000,4,0.000,0.046,3246,2985,1210
$GC,14763,1.43,424.1,214.0,13.7,1184,14769,0.00,1.83,0.00,0.000,6,0.000,0.035,3253,1770,1210
$GC,15108,1.43,424.1,169.0,13.6,1245,15115,0.00,2.38,0.00,0.000,4,0.000,0.045,3265,203,1210
$GC,15164,1.43,424.1,161.5,12.4,1254,15171,0.15,2.40,0.00,0.000,6,0.174,0.035,3228,1817,1209
$GC,15509,1.48,461.3,121.8,10.6,1315,15548,0.00,1.85,33.00,0.782,4,0.000,0.043,3227,3000,1063
$GC,15639,1.48,466.4,106.6,11.8,1337,15653,0.00,1.77,6.30,0.613,6,0.000,0.033,3234,1817,1041
$GC,15994,1.54,512.3,67.2,10.3,1399,16040,0.00,2.58,40.58,0.719,4,0.000,0.044,3245,197,856
$GC,16133,1.58,541.5,52.0,10.9,1422,16165,0.00,2.40,26.45,0.685,6,0.000,0.031,3246,1814,737
$GC,16506,1.64,594.6,11.3,10.0,1487,16557,0.12,0.00,45.83,0.655,6,0.065,0.000,3316,1815,521
$STATE,16567,end climb,SURFACE_DEPTH_REACHED
$STATE,16567,begin surface coast
$FINISH,0.8,1.009058
$STATE,16592,end surface coast,CONTROL_FINISHED_OK
$STATE,16592,begin surface
$SM_CCo,16673,0.00,0.000,0,0,518,595.10
$SM_GC,1.59,8.48,0.00,0.00,0.041,0.000,0.000,167,1989,518,-8.11,1.10,595.10
$IRIDIUM_FIX,2413.38,12533.64,281098,040446
$TT8_MAMPS,0.026845
$HUMID,1598
$INTERNAL_PRESSURE,9.91707
$TCM_TEMP,25.40
$XPDR_PINGS,151
$24V_AH,23.1,94.604
$10V_AH,10.6,62.547
$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,20.775,165.250,733.200,0.000,0.000,33.387,36.472,240.626,45.750,0.000,0.000,37.491,2614.520,9894.300,814.491,3076.930,766.065,0.000,2246.023,0.000,3016.777,0.000,54.446,0.000
$DEVICE_MAMPS,230.100,65.962,1454.999,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.792,1033.512,1738.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88420,1501
$CAP_FILE_SIZE,163496,0
$CFSIZE,260165632,199712768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.203,104.8,1
$GPS,030809,135406,2420.882,12527.671,36,1.0,36,-3.7