version: 66.04
glider: 166
mission: 2
dive: 436
start: 8 3 109 23 51 33
data:
$ID,166
$MISSION,2
$DIVE,436
$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,-14232.046
$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,71
$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
$GPS1,234106,2421.861,12529.623,34,1.1,34,-3.7
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,1
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-69.7
$GPS2,235107,2421.819,12529.756,11,1.4,16,-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,305.6,16165,-17.3,-12.000
$D_GRID,1343
$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,12,begin dive
$GC,15,-1.18,-219.0,0.0,0.0,0,91,0.00,0.00,-73.53,0.000,2,0.000,0.000,141,1985,2362
$GC,95,-1.18,-219.0,3.3,-5.7,11,153,8.93,2.10,-39.47,0.000,4,0.225,0.055,2368,3328,3840
$GC,279,-1.18,-219.0,37.8,-19.2,42,286,0.00,2.03,0.00,0.000,6,0.000,0.029,2370,1927,3840
$GC,624,-1.18,-219.0,95.2,-15.1,103,630,0.00,2.12,0.00,0.000,4,0.000,0.044,2376,3337,3841
$GC,695,-1.18,-219.0,106.0,-15.4,115,701,0.00,2.00,0.00,0.000,6,0.000,0.028,2395,1972,3841
$GC,1038,-1.18,-219.0,156.9,-14.3,176,1046,0.00,2.10,0.00,0.000,4,0.000,0.042,2395,556,3842
$GC,1099,-1.18,-219.0,166.0,-15.0,186,1106,0.00,2.03,0.00,0.000,6,0.000,0.031,2391,1953,3842
$GC,1447,-1.18,-219.0,210.5,-11.9,247,1453,0.00,2.10,0.00,0.000,4,0.000,0.044,2392,3366,3842
$GC,1551,-1.18,-219.0,225.1,-14.6,265,1558,0.00,1.98,0.00,0.000,6,0.000,0.028,2391,1990,3842
$GC,1897,-1.18,-219.0,272.5,-12.3,326,1904,0.00,2.12,0.00,0.000,4,0.000,0.041,2391,551,3842
$GC,1911,-1.18,-219.0,274.1,-12.0,328,1918,0.00,2.12,0.00,0.000,6,0.000,0.031,2390,2011,3841
$GC,2251,-1.18,-219.0,311.8,-11.2,379,2255,0.00,2.00,0.00,0.000,4,0.000,0.045,2366,3360,3841
$GC,2300,-1.18,-219.0,318.1,-12.1,383,2307,0.00,1.95,0.00,0.000,6,0.000,0.028,2375,1996,3840
$GC,2626,-1.18,-219.0,356.6,-11.7,414,2630,0.00,2.05,0.00,0.000,4,0.000,0.045,2364,3354,3840
$GC,2706,-1.18,-219.0,366.2,-11.7,421,2710,0.00,1.88,0.00,0.000,6,0.000,0.028,2365,2043,3839
$GC,3037,-1.18,-219.0,402.5,-10.9,452,3041,0.00,2.00,0.00,0.000,4,0.000,0.046,2364,3360,3837
$GC,3087,-1.18,-219.0,408.6,-12.1,456,3094,0.00,1.90,0.00,0.000,6,0.000,0.029,2364,2061,3837
$GC,3416,-1.18,-219.0,447.9,-11.8,487,3420,0.00,1.98,0.00,0.000,4,0.000,0.047,2363,3361,3835
$GC,3451,-1.18,-219.0,452.5,-11.7,490,3455,0.00,1.88,0.00,0.000,6,0.000,0.030,2364,2081,3835
$GC,3788,-1.18,-219.0,490.1,-10.9,521,3791,0.00,1.95,0.00,0.000,4,0.000,0.049,2363,3360,3832
$GC,3816,-1.18,-219.0,494.0,-11.6,523,3822,0.00,1.85,0.00,0.000,6,0.000,0.031,2364,2077,3832
$GC,4144,-1.18,-219.0,529.7,-10.9,542,4148,0.00,2.30,0.00,0.000,4,0.000,0.045,2364,554,3830
$GC,4185,-1.18,-219.0,534.5,-12.3,544,4190,0.12,2.30,0.00,0.000,6,0.153,0.035,2388,2096,3829
$GC,4513,-1.18,-219.0,569.6,-10.7,560,4517,0.00,1.90,0.00,0.000,4,0.000,0.051,2382,3345,3826
$GC,4543,-1.18,-219.0,573.0,-11.5,561,4546,0.00,1.80,0.00,0.000,6,0.000,0.032,2383,2108,3826
$GC,4871,-1.18,-219.0,608.8,-11.1,577,4875,0.00,2.35,0.00,0.000,4,0.000,0.047,2385,559,3823
$GC,4905,-1.18,-219.0,613.1,-12.5,578,4909,0.00,2.33,0.00,0.000,6,0.000,0.037,2380,2109,3823
$GC,5223,-1.18,-219.0,649.5,-11.3,593,5227,0.00,1.90,0.00,0.000,4,0.000,0.053,2388,3349,3820
$GC,5307,-1.18,-219.0,659.4,-11.4,596,5314,0.00,1.80,0.00,0.000,6,0.000,0.035,2384,2138,3819
$GC,5624,-1.18,-219.0,693.3,-10.5,612,5628,0.00,2.40,0.00,0.000,4,0.000,0.048,2384,567,3817
$GC,5664,-1.18,-219.0,697.7,-11.1,614,5669,0.00,2.35,0.00,0.000,6,0.000,0.038,2379,2123,3816
$GC,5993,-1.18,-219.0,731.8,-10.4,630,5997,0.00,2.40,0.00,0.000,4,0.000,0.049,2379,566,3813
$GC,6021,-1.18,-219.0,735.1,-11.5,631,6025,0.00,2.33,0.00,0.000,6,0.000,0.039,2369,2104,3813
$GC,6338,-1.18,-219.0,769.4,-10.7,646,6342,0.00,1.92,0.00,0.000,4,0.000,0.055,2369,3355,3811
$GC,6388,-1.18,-219.0,775.6,-12.4,648,6391,0.00,1.77,0.00,0.000,6,0.000,0.035,2370,2147,3810
$GC,6715,-1.18,-219.0,811.6,-10.9,664,6719,0.00,2.47,0.00,0.000,4,0.000,0.054,2372,556,3807
$GC,6794,-1.18,-219.0,821.3,-11.7,667,6800,0.00,2.38,0.00,0.000,6,0.000,0.041,2361,2114,3806
$GC,7111,-1.18,-219.0,858.0,-11.5,683,7115,0.00,2.40,0.00,0.000,4,0.000,0.051,2361,567,3804
$GC,7160,-1.18,-219.0,864.7,-13.4,685,7165,0.12,2.33,0.00,0.000,6,0.164,0.042,2383,2093,3804
$GC,7478,-1.18,-219.0,900.8,-11.0,700,7482,0.00,1.95,0.00,0.000,4,0.000,0.058,2380,3343,3803
$GC,7511,-1.18,-219.0,905.0,-12.5,701,7515,0.00,1.88,0.00,0.000,6,0.000,0.040,2380,2115,3802
$GC,7834,-1.18,-219.0,939.9,-10.9,717,7838,0.00,2.42,0.00,0.000,4,0.000,0.058,2381,567,3800
$GC,7861,-1.18,-219.0,943.4,-12.2,718,7865,0.00,2.35,0.00,0.000,6,0.000,0.043,2371,2102,3800
$GC,8177,-1.18,-219.0,982.6,-12.7,733,8181,0.00,1.95,0.00,0.000,4,0.000,0.061,2354,3346,3798
$GC,8223,-1.18,-219.0,988.4,-12.9,735,8227,0.00,1.85,0.00,0.000,6,0.000,0.044,2357,2142,3797
$STATE,8231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8231,begin apogee
$GC,8240,-0.26,0.0,990.0,12.2,735,8433,1.00,0.00,187.43,1.463,6,0.131,0.000,2671,1593,2945
$STATE,8433,end apogee,CONTROL_FINISHED_OK
$STATE,8434,begin climb
$GC,8436,1.18,219.0,1003.8,0.0,745,8639,1.30,0.00,194.43,1.420,6,0.052,0.000,3144,1593,2052
$GC,8940,1.18,219.0,956.2,12.7,769,8944,0.00,2.17,0.00,0.000,4,0.000,0.057,3143,2984,2044
$GC,9018,1.18,219.0,945.4,14.4,772,9022,0.00,2.12,0.00,0.000,6,0.000,0.043,3152,1593,2043
$GC,9340,1.18,219.0,903.7,13.4,788,9344,0.00,2.17,0.00,0.000,4,0.000,0.058,3162,205,2042
$GC,9401,1.18,219.0,895.1,14.5,790,9407,0.00,2.10,0.00,0.000,6,0.000,0.043,3162,1587,2041
$GC,9717,1.18,219.0,852.0,13.5,806,9721,0.00,2.20,0.00,0.000,4,0.000,0.058,3162,2987,2040
$GC,9847,1.18,219.0,833.2,14.8,811,9853,0.00,2.10,0.00,0.000,6,0.000,0.044,3171,1606,2039
$GC,10163,1.18,219.0,789.5,13.4,827,10167,0.00,2.17,0.00,0.000,4,0.000,0.057,3171,2994,2038
$GC,10235,1.18,219.0,779.2,13.9,830,10240,0.15,2.10,0.00,0.000,6,0.201,0.044,3147,1616,2037
$GC,10557,1.18,219.0,740.3,12.1,846,10561,0.00,2.22,0.00,0.000,4,0.000,0.061,3156,201,2037
$GC,10619,1.18,219.0,732.2,13.2,848,10625,0.00,2.17,0.00,0.000,6,0.000,0.043,3155,1631,2037
$GC,10935,1.18,219.0,692.5,12.6,864,10939,0.00,2.12,0.00,0.000,4,0.000,0.055,3151,2993,2036
$GC,11018,1.18,219.0,681.3,12.3,867,11024,0.00,2.05,0.00,0.000,6,0.000,0.043,3158,1645,2035
$GC,11335,1.18,219.4,642.7,12.0,883,11339,0.00,2.12,0.00,0.000,4,0.000,0.061,3158,2994,2035
$GC,11397,1.18,219.4,634.8,12.5,885,11404,0.00,2.00,0.00,0.000,6,0.000,0.043,3167,1679,2035
$GC,11716,1.18,223.5,596.3,11.8,901,11720,0.00,2.30,0.00,0.000,4,0.000,0.054,3179,205,2035
$GC,11861,1.20,236.6,577.9,11.5,907,11891,0.00,2.22,16.30,1.051,6,0.000,0.042,3179,1661,1979
$GC,12201,1.23,257.4,538.8,11.2,924,12223,0.00,0.00,19.88,1.155,6,0.000,0.000,3179,1661,1894
$GC,12527,1.23,262.3,499.9,11.8,940,12539,0.00,2.08,5.57,0.902,4,0.000,0.053,3177,2991,1874
$GC,12613,1.23,262.3,489.6,12.1,947,12619,0.00,2.08,0.00,0.000,6,0.000,0.042,3185,1637,1873
$GC,12941,1.25,278.7,451.0,11.4,978,12974,0.00,2.33,18.12,0.981,4,0.000,0.054,3198,199,1807
$GC,13003,1.25,278.7,443.4,12.3,983,13009,0.12,2.25,0.00,0.000,6,0.186,0.041,3169,1669,1806
$GC,13328,1.30,314.3,409.0,10.7,1014,13366,0.00,2.08,32.67,1.061,4,0.000,0.051,3170,2987,1663
$GC,13417,1.32,330.0,398.6,11.4,1021,13447,0.00,2.08,17.55,0.906,6,0.000,0.040,3179,1637,1599
$GC,13766,1.32,330.0,358.0,12.2,1054,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,1637,1596
$GC,14087,1.33,338.6,318.7,11.7,1084,14101,0.00,2.25,8.38,0.874,4,0.000,0.051,3194,196,1565
$GC,14215,1.36,365.1,302.9,11.0,1095,14245,0.00,2.22,25.08,0.953,6,0.000,0.038,3192,1665,1456
$GC,14590,1.38,383.1,261.0,11.3,1157,14615,0.00,2.08,17.10,0.894,4,0.000,0.047,3191,2984,1383
$GC,14762,1.38,383.1,239.0,12.6,1187,14768,0.00,1.92,0.00,0.000,6,0.000,0.037,3198,1699,1381
$GC,15107,1.44,435.4,198.0,10.1,1248,15159,0.00,2.08,46.85,0.864,4,0.000,0.044,3199,2991,1169
$GC,15217,1.44,435.4,185.4,12.5,1266,15224,0.00,1.92,0.00,0.000,6,0.000,0.035,3205,1737,1169
$GC,15563,1.48,468.0,146.4,10.8,1327,15602,0.10,2.45,29.23,0.797,4,0.078,0.049,3267,200,1037
$GC,15627,1.48,468.0,138.6,12.8,1337,15635,0.00,2.47,0.00,0.000,6,0.000,0.033,3266,1841,1036
$GC,15974,1.48,468.0,92.7,12.7,1398,15980,0.00,2.53,0.00,0.000,4,0.000,0.044,3277,196,1036
$GC,16106,1.50,479.8,75.6,11.6,1421,16127,0.12,2.35,12.07,0.684,6,0.171,0.032,3246,1791,987
$GC,16469,1.60,559.0,37.3,9.1,1484,16539,0.00,0.00,68.20,0.694,6,0.000,0.000,3246,1792,665
$STATE,16778,end climb,SURFACE_DEPTH_REACHED
$STATE,16778,begin surface coast
$FINISH,0.9,1.008242
$STATE,16800,end surface coast,CONTROL_FINISHED_OK
$STATE,16800,begin surface
$SM_CCo,16880,0.00,0.000,0,0,663,559.77
$SM_GC,1.60,8.18,0.00,0.00,0.038,0.000,0.000,165,1991,663,-8.11,1.16,559.77
$IRIDIUM_FIX,2413.38,12530.34,281098,191938
$TT8_MAMPS,0.026845
$HUMID,1619
$INTERNAL_PRESSURE,9.93661
$TCM_TEMP,25.40
$XPDR_PINGS,144
$24V_AH,22.8,95.382
$10V_AH,10.6,63.015
$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,20.150,162.525,698.850,0.000,0.000,59.816,62.289,247.195,44.000,0.000,0.000,16.913,2686.273,9954.271,789.587,3213.090,825.459,0.000,2268.435,0.000,3169.949,0.000,57.481,0.000
$DEVICE_MAMPS,224.731,61.360,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.509,1058.468,1814.199,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91583,1541
$CAP_FILE_SIZE,167410,0
$CFSIZE,260165632,199438336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.266, 97.2,1
$GPS,040809,043406,2422.271,12531.098,35,0.9,35,-3.7