version: 66.04
glider: 166
mission: 2
dive: 435
start: 8 3 109 18 58 17
data:
$ID,166
$MISSION,2
$DIVE,435
$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,-14214.503
$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,38
$R_STBD_OVSHOOT,75
$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
$GPS1,185007,2420.963,12528.501,33,1.4,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.8
$GPS2,185755,2420.923,12528.662,10,2.0,15,-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,319.3,16923,-17.3,-12.000
$D_GRID,1412
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.18,-219.0,0.0,0.0,0,95,0.00,0.00,-76.75,0.000,2,0.000,0.000,121,1997,2329
$GC,99,-1.18,-219.0,3.0,-4.3,12,157,8.98,2.05,-40.33,0.000,4,0.223,0.056,2377,3318,3840
$GC,283,-1.18,-219.0,37.1,-19.4,43,289,0.00,2.03,0.00,0.000,6,0.000,0.030,2379,1922,3838
$GC,629,-1.18,-219.0,95.6,-15.8,104,636,0.00,2.12,0.00,0.000,4,0.000,0.042,2375,3336,3841
$GC,688,-1.18,-219.0,105.6,-17.3,114,695,0.00,2.03,0.00,0.000,6,0.000,0.028,2394,1952,3841
$GC,1035,-1.18,-219.0,159.8,-14.8,175,1041,0.00,2.08,0.00,0.000,4,0.000,0.042,2392,3334,3842
$GC,1150,-1.18,-219.0,178.0,-15.8,195,1157,0.00,1.98,0.00,0.000,6,0.000,0.028,2391,1981,3842
$GC,1496,-1.18,-219.0,224.5,-13.1,256,1503,0.00,2.12,0.00,0.000,4,0.000,0.041,2392,543,3843
$GC,1528,-1.18,-219.0,228.8,-14.2,261,1534,0.00,2.08,0.00,0.000,6,0.000,0.031,2390,1969,3843
$GC,1872,-1.18,-219.0,275.9,-12.4,322,1879,0.00,2.08,0.00,0.000,4,0.000,0.044,2384,3346,3842
$GC,1904,-1.18,-219.0,280.4,-13.9,327,1910,0.00,1.98,0.00,0.000,6,0.000,0.028,2391,1968,3843
$GC,2239,-1.18,-219.0,321.7,-11.3,371,2243,0.00,2.10,0.00,0.000,4,0.000,0.044,2369,3365,3842
$GC,2300,-1.18,-219.0,329.6,-12.5,376,2307,0.00,1.98,0.00,0.000,6,0.000,0.028,2391,2011,3842
$GC,2629,-1.18,-219.0,366.0,-10.2,407,2632,0.00,2.17,0.00,0.000,4,0.000,0.041,2380,548,3841
$GC,2669,-1.18,-219.0,370.9,-12.0,410,2677,0.00,2.15,0.00,0.000,6,0.000,0.031,2365,2000,3841
$GC,2996,-1.18,-219.0,408.7,-12.0,441,3000,0.00,2.03,0.00,0.000,4,0.000,0.046,2364,3354,3840
$GC,3076,-1.18,-219.0,418.8,-12.4,448,3080,0.00,1.92,0.00,0.000,6,0.000,0.029,2364,2021,3839
$GC,3408,-1.18,-219.0,457.0,-11.0,479,3412,0.00,2.20,0.00,0.000,4,0.000,0.043,2363,554,3837
$GC,3489,-1.18,-219.0,466.1,-11.6,486,3493,0.00,2.12,0.00,0.000,6,0.000,0.033,2363,1997,3836
$GC,3822,-1.18,-219.0,499.1,-10.2,517,3825,0.00,2.05,0.00,0.000,4,0.000,0.049,2363,3355,3834
$GC,3873,-1.18,-219.0,505.0,-11.2,520,3877,0.00,1.95,0.00,0.000,6,0.000,0.031,2364,2006,3833
$GC,4200,-1.18,-219.0,542.2,-11.5,536,4204,0.00,2.08,0.00,0.000,4,0.000,0.049,2364,3363,3831
$GC,4229,-1.18,-219.0,545.5,-11.7,537,4232,0.00,1.95,0.00,0.000,6,0.000,0.032,2364,2025,3831
$GC,4557,-1.18,-219.0,582.5,-10.7,553,4561,0.00,2.05,0.00,0.000,4,0.000,0.051,2364,3362,3829
$GC,4608,-1.18,-219.0,588.1,-10.4,555,4611,0.00,1.92,0.00,0.000,6,0.000,0.032,2365,2043,3828
$GC,4936,-1.18,-219.0,618.9,-8.7,571,4940,0.00,2.03,0.00,0.000,4,0.000,0.051,2357,3357,3825
$GC,4993,-1.18,-219.0,624.1,-9.7,573,4996,0.00,1.90,0.00,0.000,6,0.000,0.034,2358,2063,3825
$GC,5316,-1.18,-219.0,653.7,-9.7,589,5320,0.00,2.00,0.00,0.000,4,0.000,0.052,2349,3356,3822
$GC,5363,-1.18,-219.0,658.9,-10.7,591,5367,0.12,1.88,0.00,0.000,6,0.148,0.035,2384,2084,3821
$GC,5699,-1.18,-219.0,694.8,-11.1,607,5703,0.00,2.33,0.00,0.000,4,0.000,0.048,2384,562,3819
$GC,5744,-1.18,-219.0,700.5,-11.8,609,5748,0.00,2.28,0.00,0.000,6,0.000,0.038,2376,2075,3818
$GC,6068,-1.18,-219.0,737.2,-11.4,625,6071,0.00,1.98,0.00,0.000,4,0.000,0.055,2369,3358,3815
$GC,6140,-1.18,-219.0,746.4,-12.5,628,6144,0.00,1.92,0.00,0.000,6,0.000,0.036,2369,2077,3814
$GC,6468,-1.18,-219.0,782.4,-10.7,644,6472,0.00,2.35,0.00,0.000,4,0.000,0.051,2369,551,3812
$GC,6491,-1.18,-219.0,785.1,-11.5,645,6495,0.00,2.33,0.00,0.000,6,0.000,0.041,2364,2080,3812
$GC,6813,-1.18,-219.0,817.3,-9.7,661,6816,0.00,2.00,0.00,0.000,4,0.000,0.064,2362,3358,3809
$GC,6874,-1.18,-219.0,823.7,-10.6,663,6880,0.00,1.90,0.00,0.000,6,0.000,0.038,2360,2090,3809
$GC,7192,-1.18,-219.0,854.1,-9.8,679,7194,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2090,3806
$GC,7499,-1.18,-219.0,885.3,-10.2,694,7503,0.00,2.38,0.00,0.000,4,0.000,0.052,2366,553,3804
$GC,7522,-1.18,-219.0,887.8,-11.1,695,7527,0.00,2.38,0.00,0.000,6,0.000,0.044,2362,2102,3804
$GC,7847,-1.18,-219.0,926.5,-11.9,711,7851,0.00,1.98,0.00,0.000,4,0.000,0.059,2358,3369,3803
$GC,7886,-1.18,-219.0,931.9,-12.6,712,7892,0.00,1.90,0.00,0.000,6,0.000,0.039,2358,2119,3802
$GC,8203,-1.18,-219.0,969.9,-11.9,728,8207,0.00,2.42,0.00,0.000,4,0.000,0.054,2358,561,3800
$GC,8225,-1.18,-219.0,972.9,-12.8,729,8229,0.12,2.40,0.00,0.000,6,0.167,0.045,2384,2102,3800
$STATE,8398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8398,begin apogee
$GC,8405,-0.26,0.0,990.4,9.3,738,8604,0.93,0.00,190.10,1.453,6,0.123,0.000,2678,1597,2945
$STATE,8605,end apogee,CONTROL_FINISHED_OK
$STATE,8605,begin climb
$GC,8609,1.18,219.0,999.8,0.0,748,8813,1.30,2.28,194.52,1.418,4,0.052,0.056,3148,2980,2053
$GC,8825,1.18,219.0,982.0,16.3,757,8829,0.00,2.22,0.00,0.000,6,0.000,0.043,3159,1578,2049
$GC,9141,1.18,219.0,932.0,15.5,772,9145,0.00,2.17,0.00,0.000,4,0.000,0.058,3170,195,2045
$GC,9174,1.18,219.0,926.3,15.6,773,9178,0.00,2.12,0.00,0.000,6,0.000,0.044,3170,1578,2044
$GC,9496,1.18,219.0,880.1,14.3,789,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,1578,2043
$GC,9806,1.18,219.0,837.3,14.1,804,9809,0.00,2.20,0.00,0.000,4,0.000,0.055,3165,2994,2042
$GC,9856,1.18,219.0,829.6,15.1,806,9861,0.12,2.20,0.00,0.000,6,0.202,0.044,3149,1552,2040
$GC,10178,1.18,219.0,787.5,13.1,822,10182,0.00,2.12,0.00,0.000,4,0.000,0.058,3155,194,2040
$GC,10248,1.18,219.0,777.9,14.1,825,10252,0.00,2.10,0.00,0.000,6,0.000,0.047,3153,1560,2039
$GC,10581,1.18,219.0,733.8,13.0,841,10584,0.00,2.22,0.00,0.000,4,0.000,0.055,3152,2988,2038
$GC,10642,1.18,219.0,725.3,13.2,843,10648,0.00,2.20,0.00,0.000,6,0.000,0.044,3161,1552,2038
$GC,10960,1.18,219.0,685.2,12.7,859,10964,0.00,2.25,0.00,0.000,4,0.000,0.056,3161,2982,2038
$GC,11051,1.18,219.0,673.3,13.1,863,11055,0.00,2.17,0.00,0.000,6,0.000,0.043,3170,1557,2037
$GC,11385,1.18,222.9,633.5,11.9,879,11389,0.00,2.25,0.00,0.000,4,0.000,0.056,3166,2988,2036
$GC,11481,1.18,222.9,621.8,12.1,883,11485,0.00,2.15,0.00,0.000,6,0.000,0.043,3175,1579,2036
$GC,11810,1.18,222.9,583.7,12.2,899,11814,0.00,2.15,0.00,0.000,4,0.000,0.055,3187,201,2036
$GC,11890,1.19,226.1,573.3,11.9,902,11903,0.17,2.15,4.88,0.897,6,0.189,0.043,3147,1616,2022
$GC,12211,1.19,226.1,535.6,12.2,918,12214,0.00,2.12,0.00,0.000,4,0.000,0.054,3143,2985,2022
$GC,12301,1.19,226.1,524.4,12.7,922,12305,0.00,2.12,0.00,0.000,6,0.000,0.045,3153,1602,2022
$GC,12627,1.23,259.7,487.9,10.8,942,12664,0.00,2.25,31.35,1.140,4,0.000,0.059,3155,2980,1885
$GC,12688,1.26,288.0,481.1,11.0,947,12720,0.00,2.10,26.73,1.100,6,0.000,0.041,3166,1619,1770
$GC,13040,1.27,292.6,440.4,11.8,980,13052,0.00,2.17,4.70,0.788,4,0.000,0.054,3168,2977,1752
$GC,13103,1.27,292.6,432.4,13.0,985,13109,0.00,2.08,0.00,0.000,6,0.000,0.041,3177,1615,1752
$GC,13431,1.29,308.2,394.1,11.4,1016,13464,0.00,2.20,17.85,0.931,4,0.000,0.051,3177,2981,1687
$GC,13616,1.29,308.2,371.4,12.2,1032,13623,0.00,2.03,0.00,0.000,6,0.000,0.040,3185,1643,1686
$GC,13947,1.34,353.6,334.7,10.3,1063,13994,0.00,2.35,40.90,0.999,4,0.000,0.052,3196,206,1503
$GC,14067,1.34,353.6,319.6,12.3,1073,14073,0.00,2.20,0.00,0.000,6,0.000,0.038,3196,1647,1500
$GC,14402,1.39,389.9,280.3,10.7,1119,14444,0.00,2.38,32.58,0.937,4,0.000,0.051,3207,192,1354
$GC,14480,1.39,392.1,271.2,11.9,1132,14486,0.00,2.28,0.00,0.000,6,0.000,0.038,3207,1684,1353
$GC,14825,1.41,403.6,228.8,11.6,1193,14845,0.00,2.03,13.35,0.843,4,0.000,0.045,3207,2985,1299
$GC,14914,1.41,403.6,217.8,12.8,1208,14920,0.00,1.95,0.00,0.000,6,0.000,0.036,3215,1699,1299
$GC,15258,1.43,420.1,177.3,11.4,1269,15279,0.00,2.38,16.17,0.808,4,0.000,0.048,3227,203,1232
$GC,15376,1.43,420.1,162.9,12.4,1289,15383,0.00,2.28,0.00,0.000,6,0.000,0.034,3227,1711,1231
$GC,15722,1.46,450.2,122.9,10.9,1350,15756,0.00,2.00,27.50,0.774,4,0.000,0.041,3227,2991,1108
$GC,15820,1.47,453.2,111.5,11.9,1366,15829,0.00,1.92,4.22,0.502,6,0.000,0.033,3235,1719,1097
$GC,16171,1.51,486.5,71.8,10.8,1427,16209,0.00,1.98,30.15,0.720,4,0.000,0.040,3236,2986,961
$GC,16319,1.51,486.5,55.0,12.0,1452,16325,0.00,1.83,0.00,0.000,6,0.000,0.031,3238,1771,960
$GC,16665,1.58,543.3,17.4,9.9,1513,16722,0.00,1.90,49.17,0.667,4,0.000,0.038,3242,2989,730
$GC,16730,1.59,552.2,10.2,11.7,1523,16744,0.00,1.77,9.43,0.565,6,0.000,0.030,3243,1809,693
$STATE,16794,end climb,SURFACE_DEPTH_REACHED
$STATE,16794,begin surface coast
$FINISH,0.7,1.004403
$STATE,16816,end surface coast,CONTROL_FINISHED_OK
$STATE,16816,begin surface
$SM_CCo,16897,0.00,0.000,0,0,692,552.66
$SM_GC,1.63,8.15,0.00,0.00,0.040,0.000,0.000,152,1983,692,-8.11,0.96,552.66
$IRIDIUM_FIX,2411.01,12530.34,281098,141413
$TT8_MAMPS,0.026845
$HUMID,1602
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.60
$XPDR_PINGS,146
$24V_AH,23.0,95.124
$10V_AH,10.6,62.858
$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,19.900,169.775,693.600,0.000,0.000,26.236,36.920,229.266,44.500,0.000,0.000,15.637,2693.012,9951.732,795.054,3139.697,769.331,0.000,2254.458,0.000,3109.570,0.000,54.431,0.000
$DEVICE_MAMPS,223.197,63.661,1452.698,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.051,1059.621,1778.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91561,1538
$CAP_FILE_SIZE,166694,0
$CFSIZE,260165632,199524352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.197, 95.0,1
$GPS,030809,234106,2421.861,12529.623,34,1.1,34,-3.7