version: 66.04
glider: 166
mission: 2
dive: 437
start: 8 4 109 4 42 19
data:
$ID,166
$MISSION,2
$DIVE,437
$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,-14246.283
$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,76
$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
$GPS1,043406,2422.271,12531.098,35,0.9,35,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-69.0
$GPS2,044156,2422.292,12531.238,13,1.6,13,-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,291.6,16785,-17.3,-12.000
$D_GRID,1271
$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,-219.0,0.0,0.0,0,90,0.00,0.00,-72.68,0.000,2,0.000,0.000,128,1991,2297
$GC,94,-1.18,-219.0,3.2,-5.8,11,153,9.30,2.20,-41.88,0.000,4,0.234,0.051,2375,530,3840
$GC,210,-1.18,-219.0,23.3,-20.3,30,217,0.00,2.05,0.00,0.000,6,0.000,0.031,2372,1929,3839
$GC,556,-1.18,-219.0,86.7,-17.5,91,562,0.00,2.12,0.00,0.000,4,0.000,0.044,2372,3357,3841
$GC,648,-1.18,-219.0,102.1,-16.9,107,654,0.00,2.03,0.00,0.000,6,0.000,0.026,2366,1960,3841
$GC,994,-1.18,-219.0,156.7,-15.9,168,1001,0.00,2.05,0.00,0.000,4,0.000,0.037,2367,552,3841
$GC,1025,-1.18,-219.0,161.5,-15.9,173,1032,0.00,2.10,0.00,0.000,6,0.000,0.030,2366,1999,3841
$GC,1371,-1.18,-219.0,209.5,-13.7,234,1378,0.00,2.03,0.00,0.000,4,0.000,0.043,2366,3369,3842
$GC,1493,-1.18,-219.0,227.3,-15.2,255,1499,0.00,1.95,0.00,0.000,6,0.000,0.026,2366,1993,3842
$GC,1839,-1.18,-219.0,274.6,-12.9,316,1847,0.00,2.03,0.00,0.000,4,0.000,0.041,2356,3351,3842
$GC,1872,-1.18,-219.0,278.7,-12.6,321,1877,0.00,1.88,0.00,0.000,6,0.000,0.027,2357,2030,3841
$GC,2206,-1.18,-219.0,321.6,-12.5,366,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2030,3841
$GC,2527,-1.18,-219.0,360.1,-12.0,396,2531,0.00,2.00,0.00,0.000,4,0.000,0.045,2352,3356,3840
$GC,2544,-1.18,-219.0,362.8,-12.4,397,2550,0.12,1.90,0.00,0.000,6,0.152,0.028,2385,2018,3840
$GC,2869,-1.18,-219.0,402.6,-12.2,428,2872,0.00,2.00,0.00,0.000,4,0.000,0.046,2382,3346,3839
$GC,2937,-1.18,-219.0,411.1,-12.4,434,2940,0.00,1.83,0.00,0.000,6,0.000,0.028,2382,2063,3838
$GC,3272,-1.18,-219.0,447.2,-10.5,465,3275,0.00,1.95,0.00,0.000,4,0.000,0.048,2380,3348,3836
$GC,3312,-1.18,-219.0,451.9,-10.6,468,3320,0.00,1.83,0.00,0.000,6,0.000,0.029,2380,2092,3836
$GC,3643,-1.18,-219.0,486.9,-10.9,499,3647,0.00,1.92,0.00,0.000,4,0.000,0.050,2379,3360,3833
$GC,3671,-1.18,-219.0,490.7,-11.5,501,3677,0.00,1.80,0.00,0.000,6,0.000,0.029,2379,2103,3834
$GC,3991,-1.18,-219.0,525.6,-11.1,521,3995,0.00,2.30,0.00,0.000,4,0.000,0.044,2380,570,3832
$GC,4043,-1.18,-219.0,531.8,-11.6,523,4047,0.00,2.25,0.00,0.000,6,0.000,0.036,2377,2082,3832
$GC,4365,-1.18,-219.0,565.8,-10.5,539,4369,0.00,1.92,0.00,0.000,4,0.000,0.051,2377,3349,3829
$GC,4439,-1.18,-219.0,573.7,-10.7,542,4443,0.00,1.77,0.00,0.000,6,0.000,0.031,2377,2121,3828
$GC,4766,-1.18,-219.0,607.3,-10.0,558,4770,0.00,1.90,0.00,0.000,4,0.000,0.051,2370,3348,3826
$GC,4795,-1.18,-219.0,610.4,-11.4,559,4798,0.00,1.77,0.00,0.000,6,0.000,0.032,2370,2128,3825
$GC,5123,-1.18,-219.0,646.6,-11.5,575,5127,0.00,2.38,0.00,0.000,4,0.000,0.047,2370,565,3822
$GC,5186,-1.18,-219.0,654.5,-12.3,578,5190,0.00,2.33,0.00,0.000,6,0.000,0.039,2366,2105,3821
$GC,5515,-1.18,-219.0,693.2,-11.5,594,5519,0.00,2.35,0.00,0.000,4,0.000,0.047,2366,570,3819
$GC,5538,-1.18,-219.0,696.2,-11.7,595,5542,0.00,2.33,0.00,0.000,6,0.000,0.041,2367,2107,3819
$GC,5865,-1.18,-219.0,731.2,-10.4,611,5869,0.00,2.38,0.00,0.000,4,0.000,0.048,2367,564,3816
$GC,5899,-1.18,-219.0,735.0,-10.6,612,5907,0.12,2.30,0.00,0.000,6,0.158,0.040,2388,2091,3815
$GC,6216,-1.18,-219.0,764.1,-9.1,628,6219,0.00,1.95,0.00,0.000,4,0.000,0.057,2382,3351,3812
$GC,6294,-1.18,-219.0,771.7,-9.8,631,6298,0.00,1.80,0.00,0.000,6,0.000,0.036,2382,2127,3812
$GC,6618,-1.18,-219.0,799.8,-8.8,647,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2127,3810
$GC,6925,-1.18,-219.0,828.1,-9.3,662,6929,0.00,1.92,0.00,0.000,4,0.000,0.060,2379,3352,3807
$GC,6949,-1.18,-219.0,830.4,-9.9,663,6953,0.00,1.77,0.00,0.000,6,0.000,0.037,2380,2156,3807
$GC,7284,-1.18,-219.0,861.8,-9.4,679,7288,0.00,1.92,0.00,0.000,4,0.000,0.063,2379,3342,3805
$GC,7323,-1.18,-219.0,865.9,-10.1,680,7331,0.00,1.75,0.00,0.000,6,0.000,0.038,2379,2182,3804
$GC,7639,-1.18,-219.0,895.2,-9.3,696,7643,0.00,2.53,0.00,0.000,4,0.000,0.051,2382,565,3803
$GC,7673,-1.18,-219.0,898.8,-10.7,697,7679,0.00,2.45,0.00,0.000,6,0.000,0.049,2371,2151,3802
$GC,7991,-1.18,-219.0,933.4,-11.1,713,7995,0.00,2.47,0.00,0.000,4,0.000,0.051,2372,567,3800
$GC,8035,-1.18,-219.0,939.1,-12.7,715,8039,0.00,2.40,0.00,0.000,6,0.000,0.045,2367,2126,3800
$GC,8358,-1.18,-219.0,977.9,-12.0,731,8362,0.00,2.42,0.00,0.000,4,0.000,0.052,2374,574,3798
$GC,8430,-1.18,-219.0,987.5,-13.1,734,8434,0.00,2.38,0.00,0.000,6,0.000,0.046,2363,2100,3797
$STATE,8459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8459,begin apogee
$GC,8467,-0.26,0.0,991.4,12.9,736,8666,1.00,0.00,189.82,1.453,6,0.127,0.000,2676,1609,2945
$STATE,8667,end apogee,CONTROL_FINISHED_OK
$STATE,8667,begin climb
$GC,8670,1.18,219.0,1007.1,0.0,746,8876,1.27,2.35,195.20,1.422,4,0.048,0.057,3158,214,2051
$GC,8907,1.18,219.0,993.8,14.9,757,8910,0.00,2.15,0.00,0.000,6,0.000,0.041,3158,1584,2048
$GC,9240,1.18,219.0,948.3,13.8,773,9243,0.00,2.17,0.00,0.000,4,0.000,0.056,3168,208,2043
$GC,9295,1.18,219.0,939.9,14.8,775,9299,0.00,2.10,0.00,0.000,6,0.000,0.043,3168,1577,2043
$GC,9618,1.18,219.0,892.0,15.4,791,9622,0.00,2.20,0.00,0.000,4,0.000,0.056,3163,2997,2042
$GC,9701,1.18,219.0,878.4,16.3,794,9709,0.00,2.20,0.00,0.000,6,0.000,0.044,3171,1575,2040
$GC,10018,1.18,219.0,831.1,14.6,810,10022,0.00,2.22,0.00,0.000,4,0.000,0.056,3171,2993,2039
$GC,10081,1.18,219.0,821.1,15.7,812,10088,0.10,2.17,0.00,0.000,6,0.193,0.044,3153,1586,2039
$GC,10398,1.18,219.0,777.1,13.6,828,10402,0.00,2.20,0.00,0.000,4,0.000,0.054,3152,2990,2038
$GC,10476,1.18,219.0,765.6,14.3,831,10480,0.00,2.12,0.00,0.000,6,0.000,0.043,3159,1593,2037
$GC,10799,1.18,219.0,722.7,13.1,847,10803,0.00,2.20,0.00,0.000,4,0.000,0.055,3159,2998,2037
$GC,10838,1.18,219.0,716.9,14.4,848,10844,0.00,2.12,0.00,0.000,6,0.000,0.043,3167,1596,2037
$GC,11154,1.18,219.0,677.5,12.5,864,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,1596,2036
$GC,11465,1.18,219.0,640.5,12.1,879,11468,0.00,2.20,0.00,0.000,4,0.000,0.055,3162,2999,2036
$GC,11533,1.19,224.9,632.0,11.8,882,11537,0.00,2.15,0.00,0.000,6,0.000,0.043,3170,1590,2036
$GC,11866,1.19,224.9,592.5,12.2,898,11869,0.00,2.20,0.00,0.000,4,0.000,0.054,3170,2997,2035
$GC,11958,1.19,224.9,580.8,13.1,902,11963,0.15,2.12,0.00,0.000,6,0.196,0.042,3146,1603,2034
$GC,12285,1.19,230.7,541.6,11.8,918,12295,0.00,0.00,8.73,1.068,6,0.000,0.000,3146,1603,2004
$GC,12595,1.26,281.5,506.8,10.1,933,12654,0.00,2.25,48.72,1.116,4,0.000,0.053,3136,2990,1796
$GC,12747,1.31,322.3,490.3,10.5,943,12791,0.12,2.12,38.00,1.113,6,0.069,0.041,3197,1610,1629
$GC,13116,1.31,322.3,443.5,13.3,978,13120,0.00,2.20,0.00,0.000,4,0.000,0.053,3209,205,1624
$GC,13151,1.31,322.3,438.5,13.9,981,13155,0.00,2.15,0.00,0.000,6,0.000,0.041,3205,1620,1623
$GC,13481,1.31,322.3,391.0,14.1,1012,13484,0.00,2.10,0.00,0.000,4,0.000,0.051,3206,2982,1622
$GC,13587,1.31,322.3,375.7,12.9,1021,13594,0.12,2.03,0.00,0.000,6,0.193,0.039,3187,1640,1621
$GC,13912,1.34,351.5,339.1,10.9,1052,13947,0.00,2.30,25.80,0.989,4,0.000,0.052,3198,206,1510
$GC,14042,1.34,351.5,322.0,13.3,1063,14048,0.00,2.30,0.00,0.000,6,0.000,0.038,3195,1716,1509
$GC,14377,1.41,403.7,282.4,10.1,1108,14431,0.00,2.03,46.72,0.939,4,0.000,0.047,3196,2989,1299
$GC,14564,1.43,420.4,262.0,11.4,1140,14584,0.00,1.92,16.42,0.870,6,0.000,0.037,3201,1732,1230
$GC,14924,1.43,420.4,214.1,12.6,1203,14930,0.00,2.38,0.00,0.000,4,0.000,0.048,3213,195,1229
$GC,14949,1.43,420.4,210.7,12.9,1207,14955,0.00,2.40,0.00,0.000,6,0.000,0.035,3212,1786,1227
$GC,15295,1.46,445.6,170.3,11.1,1268,15327,0.00,2.53,23.45,0.810,4,0.000,0.049,3225,200,1128
$GC,15450,1.46,445.6,152.3,12.9,1294,15458,0.00,2.42,0.00,0.000,6,0.000,0.034,3227,1824,1127
$GC,15797,1.50,482.7,112.2,10.6,1355,15836,0.00,1.83,33.15,0.759,4,0.000,0.041,3230,2992,977
$GC,15874,1.52,496.9,104.1,11.5,1367,15894,0.00,1.77,13.90,0.702,6,0.000,0.032,3239,1818,918
$GC,16232,1.58,542.1,63.8,10.3,1430,16278,0.00,2.58,39.75,0.707,4,0.000,0.044,3249,197,734
$GC,16353,1.58,542.1,49.8,12.3,1450,16360,0.00,2.40,0.00,0.000,6,0.000,0.030,3250,1817,734
$GC,16701,1.61,573.6,9.6,10.8,1511,16734,0.00,1.83,28.25,0.643,4,0.000,0.039,3249,3002,607
$GC,16747,1.64,594.1,4.4,11.2,1518,16763,0.00,1.95,11.23,0.578,2,0.000,0.030,3258,1702,559
$STATE,16763,end climb,SURFACE_DEPTH_REACHED
$STATE,16763,begin surface coast
$FINISH,0.7,1.019267
$STATE,16791,end surface coast,CONTROL_FINISHED_OK
$STATE,16791,begin surface
$SM_CCo,16872,0.00,0.000,0,0,557,585.78
$SM_GC,1.51,8.12,0.00,0.00,0.036,0.000,0.000,147,1989,557,-8.11,1.10,585.78
$IRIDIUM_FIX,2411.01,12528.96,281098,232334
$TT8_MAMPS,0.026845
$HUMID,1613
$INTERNAL_PRESSURE,9.94637
$TCM_TEMP,25.50
$XPDR_PINGS,150
$24V_AH,23.1,95.643
$10V_AH,10.6,63.169
$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,20.450,166.900,719.150,0.000,0.000,28.322,32.870,234.227,45.500,0.000,0.000,13.607,2656.325,9962.754,805.086,3144.070,757.714,0.000,2256.772,0.000,3109.177,0.000,54.433,0.000
$DEVICE_MAMPS,233.935,62.894,1453.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.108,1048.738,1788.966,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88517,1525
$CAP_FILE_SIZE,165807,0
$CFSIZE,260165632,199348224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.274, 91.6,1
$GPS,040809,092454,2422.577,12532.350,28,1.4,45,-3.7